From 7ab0f5c4a25b7d7ff8359741b2dd945666342a5c Mon Sep 17 00:00:00 2001
From: DarioS <dario.sassi@egaltech.com>
Date: Wed, 8 Jun 2022 11:41:32 +0200
Subject: [PATCH] EgtMachKernel 2.4f2 : - modifiche a fresature per caso con
 tavola tilting/asse a ralla - corretta in simulazione gestione errore
 collisione.

---
 EgtMachKernel.rc | Bin 11774 -> 11774 bytes
 Milling.cpp      |  27 +++++++++++++++++++++------
 Simulator.cpp    |   4 +++-
 3 files changed, 24 insertions(+), 7 deletions(-)

diff --git a/EgtMachKernel.rc b/EgtMachKernel.rc
index 89d3e087327d14f57dab861d0256f42b29410a2e..89cc9ee5b4e86f850ca28fbb20c53385647773ce 100644
GIT binary patch
delta 97
zcmewt{V#gMFE&P_&A-`fnHh~HKa|wnoW?bQ1uSxrY4Qod0+^@}R1`^_2jk{d(jGv4
NK<#LXK~l;gTmU8!BZvS1

delta 97
zcmewt{V#gMFE&QQ&A-`fnHdcyKa|wnoW?bQ1uSxrY4Qod0+^@}R1`^_2jk{d(jGv4
NK<#LXK~l;gTmU3rBY*$^

diff --git a/Milling.cpp b/Milling.cpp
index b2dd76a..3490b37 100644
--- a/Milling.cpp
+++ b/Milling.cpp
@@ -3578,7 +3578,7 @@ Milling::AddApproach( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ,
    }
   // se testa da sopra senza aggregato da sotto, approccio mai da Z negativo
    Vector3d vtAppr = vtTool ;
-   if ( m_bAboveHead  &&  ! m_bAggrBottom  &&  vtTool.z < - EPS_SMALL) {
+   if ( m_bAboveHead  &&  ! m_bAggrBottom  &&  ! m_bTiltingTab  &&  vtTool.z < - EPS_SMALL) {
       vtAppr.z = 0 ;
       vtAppr.Normalize() ;
    }
@@ -3677,7 +3677,7 @@ Milling::AddRetract( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ,
 {
   // se testa da sopra senza aggregato da sotto, retrazione mai da Z negativo
    Vector3d vtAppr = vtTool ;
-   if ( m_bAboveHead  &&  ! m_bAggrBottom  &&  vtTool.z < - EPS_SMALL) {
+   if ( m_bAboveHead  &&  ! m_bAggrBottom  &&  ! m_bTiltingTab  &&  vtTool.z < - EPS_SMALL) {
       vtAppr.z = 0 ;
       vtAppr.Normalize() ;
    }
@@ -5196,11 +5196,26 @@ Milling::GetPointOutOfRaw( const Point3d& ptP, const Vector3d& vtTool, const Vec
       Vector3d vtMove = ( m_bAboveHead ? Z_AX : -Z_AX) ;
       Vector3d vtSafe = vtCorr ; vtSafe.z = 0 ; vtSafe.Normalize() ;
       Point3d ptQ = ptP - ( vtSafe + vtMove) * max( 0.2 * dSafeZ, MIN_SAFEDIST) ;
-      if ( ! GetElevation( m_nPhase, ptQ, vtTool, 0.5 * m_TParams.m_dDiam, vtMove, dTemp)  ||  dTemp > 10 * EPS_SMALL)
-         return false ;
+      bool bOut = true ;
+      if ( ! GetElevation( m_nPhase, ptQ, vtTool, 0.5 * m_TParams.m_dDiam, vtMove, dTemp)  ||  dTemp > 10 * EPS_SMALL) {
+         bOut = false ;
+         if ( ! m_bTiltingTab)
+            return false ;
+      }
       Point3d ptR = ptP + vtTool * m_TParams.m_dThick ;
-      if ( ! GetElevation( m_nPhase, ptR, vtTool, 0.5 * m_TParams.m_dDiam, vtMove, dTemp)  ||  dTemp > 10 * EPS_SMALL)
-         return false ;
+      if ( ! GetElevation( m_nPhase, ptR, vtTool, 0.5 * m_TParams.m_dDiam, vtMove, dTemp)  ||  dTemp > 10 * EPS_SMALL) {
+         bOut = false ;
+         if ( ! m_bTiltingTab)
+            return false ;
+      }
+     // se tavola rotante (o asse basculante) e non esterno, provo in direzione utensile
+      if ( m_bTiltingTab  &&  ! bOut) {
+         vtMove = vtTool ;
+         if ( ! GetElevation( m_nPhase, ptQ, vtTool, 0.5 * m_TParams.m_dDiam, vtMove, dTemp)  ||  dTemp > 10 * EPS_SMALL)
+            return false ;
+         if ( ! GetElevation( m_nPhase, ptR, vtTool, 0.5 * m_TParams.m_dDiam, vtMove, dTemp)  ||  dTemp > 10 * EPS_SMALL)
+            return false ;
+      }
       return true ;
    }
 }
diff --git a/Simulator.cpp b/Simulator.cpp
index e567122..7971b4f 100644
--- a/Simulator.cpp
+++ b/Simulator.cpp
@@ -1879,8 +1879,10 @@ Simulator::OnCollision( int nCdInd, int nObjInd, int& nErr)
   // verifico codice di errore
    m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_ERR, nErr) ;
   // l'errore standard di collisione è stato portato da 1 a 11 per non collidere con altri tipi di errori
-   if ( nErr == 1)
+   if ( nErr == 1) {
       nErr = 11 ;
+      m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_ERR, nErr) ;
+   }
    return ( nErr == 0) ;
 }