Egalware/EgtMachKernel
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EgtMachKernel :

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- in simulatore separata gestione VirtualMilling da gestione CollisionDetection.
This commit is contained in:
Dario Sassi
2019-11-17 09:49:01 +00:00
parent 9a7ee3a971
commit 7a36ae0bcb
3 changed files with 19 additions and 14 deletions
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OutputConst.h
+2 -1
View File
@@ -140,7 +140,8 @@ static const std::string GVAR_ENABAXES = ".EnabAxes" ; // (bool) flag abili
static const std::string GVAR_AUXAXES = ".AuxAxes" ; // (int) numero assi ausiliari per simulazione
static const std::string GVAR_AN = ".AN" ; // (num) valore del N-esimo asse ausiliario per simulazione
static const std::string GVAR_ANN = ".ANn" ; // (string) nome del N-esimo asse ausiliario per simulazione
static const std::string GVAR_VMILL = ".VMILL" ; // (int) identificativo Zmap attivo
static const std::string GVAR_VMILL = ".VMILL" ; // (int/s) identificativi Zmap attivi per Virtual Milling
static const std::string GVAR_CODET = ".CODET" ; // (int/s) identificativi Zmap attivi per Collision Detection
static const std::string GVAR_SIM1ST = ".SIM1ST" ; // (bool) flag inizio simulazione
static const std::string GVAR_SIMSTEP = ".SIMSTEP" ; // (num) step di movimento durante la simulazione
static const std::string GVAR_SIMUISTAT = ".SIMUISTAT" ; // (num) stato simulazione imposto da utente
Simulator.cpp
+14 -11
View File
@@ -192,6 +192,7 @@ Simulator::ResetInterpolation( void)
m_nAuxETot = 0 ;
m_nAuxEInd = 0 ;
m_VmId.clear() ;
m_CdId.clear() ;
m_dVmTdOffs = 0 ;
m_dVmAdOffs = 0 ;
m_dSafeDist = SAFEDIST_STD ;
@@ -1023,11 +1024,11 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
}
// Eseguo eventuale verifica di collisione
int nVmInd, nObjInd ;
if ( ! ExecCollisionCheck( nVmInd, nObjInd)) {
int nCdInd, nObjInd ;
if ( ! ExecCollisionCheck( nCdInd, nObjInd)) {
// Richiamo funzione di convalida collisione
int nErr ;
if ( ! OnCollision( nVmInd, nObjInd, nErr)) {
if ( ! OnCollision( nCdInd, nObjInd, nErr)) {
nStatus = ( Stopped() ? MCH_SIM_STOP : ( nErr == 1 ? MCH_SIM_COLLISION : MCH_SIM_ERR)) ;
// Se arrivato a fine interpolazione movimento, salvo posizioni
if ( m_dCoeff > COEFF_LIM && m_bEnabAxes) {
@@ -1111,17 +1112,17 @@ Simulator::ExecLineVmill( int nVmId, const Point3d& ptHi, const Vector3d& vtHi,
//----------------------------------------------------------------------------
bool
Simulator::ExecCollisionCheck( int& nVmInd, int& nObjInd)
Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd)
{
// se non ci sono oggetti da controllare o non c'è il grezzo lavorato, tutto bene
if ( m_CollObj.empty() || m_VmId.empty())
if ( m_CollObj.empty() || m_CdId.empty())
return true ;
// ciclo sui grezzi
for ( int i = 0 ; i < int( m_VmId.size()) ; ++ i) {
const IVolZmap* pVZM = GetVolZmap( m_pGeomDB->GetGeoObj( m_VmId[i])) ;
for ( int i = 0 ; i < int( m_CdId.size()) ; ++ i) {
const IVolZmap* pVZM = GetVolZmap( m_pGeomDB->GetGeoObj( m_CdId[i])) ;
if ( pVZM == nullptr)
continue ;
Frame3d frZM ; m_pGeomDB->GetGlobFrame( m_VmId[i], frZM) ;
Frame3d frZM ; m_pGeomDB->GetGlobFrame( m_CdId[i], frZM) ;
// ciclo sugli oggetti da verificare
for ( int j = 0 ; j < int( m_CollObj.size()) ; ++ j) {
bool bOk = true ;
@@ -1142,7 +1143,7 @@ Simulator::ExecCollisionCheck( int& nVmInd, int& nObjInd)
bOk = pVZM->AvoidSphere( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist) ;
}
if ( ! bOk) {
nVmInd = i ;
nCdInd = i ;
nObjInd = j ;
return false ;
}
@@ -1226,6 +1227,7 @@ Simulator::OnDispositionStart( int nOpId, int nOpInd, int nPhase,
bOk = bOk && m_pMachine->LuaCallFunction( ON_SIMUL_DISPOSITION_START) ;
// recupero i dati di ritorno
m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_VMILL, m_VmId) ;
m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_CODET, m_CdId) ;
// forzo aggiornamento posizione assi (possono essere stati mossi nello script)
UpdateAxesPos() ;
return bOk ;
@@ -1242,6 +1244,7 @@ Simulator::OnDispositionEnd( void)
bool bOk = m_pMachine->LuaCallFunction( ON_SIMUL_DISPOSITION_END) ;
// recupero i dati di ritorno
m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_VMILL, m_VmId) ;
m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_CODET, m_CdId) ;
// forzo aggiornamento posizione assi (possono essere stati mossi nello script)
UpdateAxesPos() ;
return bOk ;
@@ -1584,7 +1587,7 @@ Simulator::OnMoveEnd( void)
//----------------------------------------------------------------------------
bool
Simulator::OnCollision( int nVmInd, int nObjInd, int& nErr)
Simulator::OnCollision( int nCdInd, int nObjInd, int& nErr)
{
// reset stato di errore da script
nErr = 0 ;
@@ -1595,7 +1598,7 @@ Simulator::OnCollision( int nVmInd, int nObjInd, int& nErr)
if ( ! m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_ERR, nErr))
return false ;
// assegno identificativi grezzo e oggetto in collisione
if ( ! m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_SIMVMID, m_VmId[nVmInd]))
if ( ! m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_SIMVMID, m_CdId[nCdInd]))
return false ;
if ( ! m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_SIMCOBIND, m_CollObj[nObjInd].nInd))
return false ;
Simulator.h
+3 -2
View File
@@ -60,7 +60,7 @@ class Simulator
bool GetHeadCurrPosDirAux( Point3d& ptH, Vector3d& vtH, Vector3d& vtA) ;
bool ExecLineVmill( int nVmId, const Point3d& ptHi, const Vector3d& vtHi, const Vector3d& vtAi, const Frame3d& frVzmI,
const Point3d& ptHf, const Vector3d& vtHf, const Vector3d& vtAf, const Frame3d& frVzmF) ;
bool ExecCollisionCheck( int& nVmInd, int& nObjInd) ;
bool ExecCollisionCheck( int& nCdInd, int& nObjInd) ;
bool Stopped( void)
{ return ( m_nUiStatus == MCH_UISIM_STOP) ; }
bool OnStart( bool bFirst) ;
@@ -81,7 +81,7 @@ class Simulator
bool OnPathEnd( int nAE) ;
bool OnMoveStart( const CamData* pCamData, int& nErr) ;
bool OnMoveEnd( void) ;
bool OnCollision( int nVmInd, int nObjInd, int& nErr) ;
bool OnCollision( int nCdInd, int nObjInd, int& nErr) ;
bool OnResetMachine( void) ;
private :
@@ -118,6 +118,7 @@ class Simulator
int m_nAuxEInd ; // indice del movimento ausiliario di fine percorso corrente
std::string m_sTool ; // nome dell'utensile corrente
INTVECTOR m_VmId ; // vettore identificativi Zmap per Virtual Milling
INTVECTOR m_CdId ; // vettore identificativi Zmap per Collision Detection
double m_dVmTdOffs ; // offset utensile in direzione principale per VM
double m_dVmAdOffs ; // offset utensile in direzione ausiliaria per VM
COBVECTOR m_CollObj ; // vettore oggetti da testare per collisione con grezzo