Egalware/EgtMachKernel
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EgtMachKernel :

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- corretti collegamenti tra lavorazioni con teste dal basso.
This commit is contained in:
Dario Sassi
2020-11-04 16:12:48 +00:00
parent 97e868dd7c
commit 9319451494
3 changed files with 69 additions and 32 deletions
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MachineStruConst.h
+2
View File
@@ -104,6 +104,8 @@ const std::string MCH_EXIT = "T" ;
const std::string MCH_ZMAXONROT = "ZMAXONROT" ;
// Info di testa per una extra risalita in Z
const std::string MCH_ZEXTRA = "ZEXTRA" ;
// Info di testa per dichiarazione Home Z in basso
const std::string MCH_ZHOMEDOWN = "ZHOMEDOWN" ;
//----------------------------------------------------------------------------
// Dati aggregato rotante da sotto
Operation.cpp
+65 -31
View File
@@ -1623,6 +1623,8 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
return false ;
// se richiesta verifica collegamento con lavorazione precedente
if ( bVerifyPreviousLink) {
// recupero se ZHome è in basso
bool bZHomeDown = GetZHomeDown() ;
// elimino eventuali CLIMB già presenti
RemoveClimb( m_pGeomDB->GetFirstGroupInGroup( nClId)) ;
// recupero posizione iniziale lavorazione
@@ -1631,23 +1633,24 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
return false ;
// se necessaria, aggiungo risalita parziale
double dDeltaZ = ( vAxIni[2] - vAxVal[2]) ;
if ( dDeltaZ > 100 * EPS_SMALL) {
if ( ! pPrevOp->AddRise( vAxVal, dDeltaZ))
if ( ( ! bZHomeDown && dDeltaZ > 100 * EPS_SMALL) ||
( bZHomeDown && dDeltaZ < -100 * EPS_SMALL)) {
if ( ! pPrevOp->AddRise( vAxVal, dDeltaZ, GDB_ID_NULL, bZHomeDown))
return false ;
// aggiorno quota in Z della posizione iniziale ( anche se verrà aggiornata solo in seguito)
vAxIni[2] = vAxVal[2] ;
}
// Verifico non ci sia collisione a Zmax
double dSafeZ ;
if ( m_pMchMgr->GetCurrAxisHomePos( 2, dSafeZ)) {
DBLVECTOR vAxVal2 = vAxVal ; vAxVal2[2] = dSafeZ ;
DBLVECTOR vAxIni2 = vAxIni ; vAxIni2[2] = dSafeZ ;
// Verifico non ci sia collisione a HomeZ
double dHomeZ ;
if ( m_pMchMgr->GetCurrAxisHomePos( 2, dHomeZ)) {
DBLVECTOR vAxVal2 = vAxVal ; vAxVal2[2] = dHomeZ ;
DBLVECTOR vAxIni2 = vAxIni ; vAxIni2[2] = dHomeZ ;
if ( ! TestCollisionAvoid( vAxVal2, vAxIni2)) {
double dExtraZ = GetExtraZ( dSafeZ) ;
double dExtraZ = GetExtraZ( dHomeZ) ;
if ( dExtraZ > EPS_SMALL) {
dSafeZ += dExtraZ ;
vAxVal2[2] = dSafeZ ;
vAxIni2[2] = dSafeZ ;
dHomeZ += dExtraZ ;
vAxVal2[2] = dHomeZ ;
vAxIni2[2] = dHomeZ ;
if ( ! TestCollisionAvoid( vAxVal2, vAxIni2))
return false ;
}
@@ -1671,19 +1674,28 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
else if ( ! TestCollisionAvoid( vAxVal, vAxIni)) {
// riprovo con risalita parziale
bool bPartRise = false ;
double dUnsafeZ = max( vAxVal[2], vAxIni[2]) ;
double dSafeZ = dHomeZ ;
double dUnsafeZ = ( bZHomeDown ? min( vAxVal[2], vAxIni[2]) : max( vAxVal[2], vAxIni[2])) ;
DBLVECTOR vAxVal2 = vAxVal ;
DBLVECTOR vAxIni2 = vAxIni ;
for ( int i = 1 ; i <= 4 ; ++ i) {
double dTestSafeZ = ( dUnsafeZ + dSafeZ) / 2 ;
vAxVal2[2] = dTestSafeZ ;
vAxIni2[2] = dTestSafeZ ;
if ( TestCollisionAvoid( vAxVal2, vAxIni2)) {
bPartRise = true ;
dSafeZ = dTestSafeZ ;
}
else {
dUnsafeZ = dTestSafeZ ;
vAxVal2[2] = dUnsafeZ ;
vAxIni2[2] = dUnsafeZ ;
if ( TestCollisionAvoid( vAxVal2, vAxIni2)) {
bPartRise = true ;
dSafeZ = dUnsafeZ ;
}
else {
for ( int i = 1 ; i <= 4 ; ++ i) {
double dTestSafeZ = ( dUnsafeZ + dSafeZ) / 2 ;
vAxVal2[2] = dTestSafeZ ;
vAxIni2[2] = dTestSafeZ ;
if ( TestCollisionAvoid( vAxVal2, vAxIni2)) {
bPartRise = true ;
dSafeZ = dTestSafeZ ;
}
else {
dUnsafeZ = dTestSafeZ ;
}
}
}
if ( ! bPartRise) {
@@ -1701,7 +1713,7 @@ Operation::AdjustStartEndMovements( bool bVerifyPreviousLink)
// recupero le nuove quote finali (per calcolare il corretto delta)
pPrevOp->GetFinalAxesValues( false, vAxVal) ;
// aggiungo risalita a Zsafe
if ( ! pPrevOp->AddRise( vAxVal, dSafeZ - vAxVal[2]))
if ( ! pPrevOp->AddRise( vAxVal, dSafeZ - vAxVal[2], GDB_ID_NULL, bZHomeDown))
return false ;
// aggiorno quota iniziale in Z
vAxIni[2] = dSafeZ ;
@@ -1839,8 +1851,10 @@ Operation::AdjustOneStartMovement( int nClPathId, int nPrevClPathId, Operation*
}
// verifico se la testa interferisce con i pezzi o i bloccaggi sulla tavola
else {
// recupero se ZHome è in basso
bool bZHomeDown = GetZHomeDown() ;
// determino la Z più alta tra le due posizioni
double dTopZ = max( vAxPrev[2], vAxCurr[2]) ;
double dTopZ = ( bZHomeDown ? min( vAxPrev[2], vAxCurr[2]) : max( vAxPrev[2], vAxCurr[2])) ;
// per il test uso posizioni temporanee con questa Z
DBLVECTOR vAxPrevTmp = vAxPrev ; vAxPrevTmp[2] = dTopZ ;
DBLVECTOR vAxCurrTmp = vAxCurr ; vAxCurrTmp[2] = dTopZ ;
@@ -1869,11 +1883,11 @@ Operation::AdjustOneStartMovement( int nClPathId, int nPrevClPathId, Operation*
if ( nPrevClPathId == GDB_ID_NULL) {
if ( pPrevOp == nullptr ||
! pPrevOp->RemoveRise() ||
! pPrevOp->AddRise( vAxNew1, dSafeZ - vAxPrev[2]))
! pPrevOp->AddRise( vAxNew1, dSafeZ - vAxPrev[2]), GDB_ID_NULL, bZHomeDown)
return false ;
}
else {
if ( ! AddRise( vAxNew1, dSafeZ - vAxPrev[2], nPrevClPathId))
if ( ! AddRise( vAxNew1, dSafeZ - vAxPrev[2], nPrevClPathId), bZHomeDown)
return false ;
}
// aggiungo posizione elevata prima dell'inizio del percorso corrente
@@ -1903,14 +1917,15 @@ Operation::AdjustOneStartMovement( int nClPathId, int nPrevClPathId, Operation*
// se Z pressochè uguali non devo fare alcunché
if ( abs( vAxCurr[2] - vAxPrev[2]) <= 100 * EPS_SMALL)
return true ;
// se Z corrente maggiore della precedente
else if ( vAxCurr[2] > vAxPrev[2]) {
// se Z corrente maggiore della precedente o viceversa se HomeZ sotto
else if ( ( ! bZHomeDown && vAxCurr[2] > vAxPrev[2]) ||
( bZHomeDown && vAxCurr[2] < vAxPrev[2]) ) {
// devo essere sulla stessa lavorazione
if ( nPrevClPathId == GDB_ID_NULL)
return false ;
// aggiungo risalita alla fine del precedente percorso
DBLVECTOR vAxNew ;
if ( ! AddRise( vAxNew, vAxCurr[2] - vAxPrev[2], nPrevClPathId))
if ( ! AddRise( vAxNew, vAxCurr[2] - vAxPrev[2], nPrevClPathId, bZHomeDown))
return false ;
}
// altrimenti Z corrente minore della precedente
@@ -1980,10 +1995,13 @@ Operation::RemoveClimb( int nClPathId)
//----------------------------------------------------------------------------
bool
Operation::AddRise( DBLVECTOR& vAxVal, double dDelta, int nClPathId)
Operation::AddRise( DBLVECTOR& vAxVal, double dDelta, int nClPathId, bool bZHomeDown)
{
if ( m_pMchMgr == nullptr || m_pGeomDB == nullptr)
return false ;
// se risalita praticamente nulla, esco con successo
if ( abs( dDelta) < 10 * EPS_SMALL)
return true ;
// recupero gruppo per geometria di lavorazione (Cutter Location)
int nClId = m_pGeomDB->GetFirstNameInGroup( GetOwner(), MCH_CL) ;
if ( nClId == GDB_ID_NULL)
@@ -2029,7 +2047,7 @@ Operation::AddRise( DBLVECTOR& vAxVal, double dDelta, int nClPathId)
// flag per tipo di movimento in rapido
int nFlag = 0 ;
// se delta positivo lo uso come incremento di Z
if ( dDelta > 0) {
if ( dDelta > 0 || bZHomeDown) {
vAxVal[2] += dDelta ;
nFlag = 0 ; // movimento standard
}
@@ -2339,6 +2357,22 @@ Operation::ForcedZmax( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const
return false ;
}
//----------------------------------------------------------------------------
bool
Operation::GetZHomeDown( void) const
{
// Recupero macchina corrente
Machine* pMch = ( m_pMchMgr != nullptr ? m_pMchMgr->GetCurrMachine() : nullptr) ;
if ( pMch == nullptr)
return false ;
// Leggo da testa Info ZHOMEDOWN (0=falso[default], altrimenti vero)
int nHeadId = pMch->GetCurrHead() ;
bool bZHomeDown ;
if ( ! m_pGeomDB->GetInfo( nHeadId, MCH_ZHOMEDOWN, bZHomeDown))
bZHomeDown = false ;
return bZHomeDown ;
}
//----------------------------------------------------------------------------
bool
Operation::TestCollisionAvoid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const
Operation.h
+2 -1
View File
@@ -104,13 +104,14 @@ class Operation : public IUserObj
bool AdjustOneStartMovement( int nClPathId, int nPrevClPathId, Operation* pPrevOp, const DBLVECTOR& vAxPrev, bool bMaxZ) ;
bool ToolChangeNeeded( const Operation& Op1, const Operation& Op2) const ;
bool RemoveClimb( int nClPathId) ;
bool AddRise( DBLVECTOR& vAxVal, double dDelta = - 1, int nClPathId = GDB_ID_NULL) ;
bool AddRise( DBLVECTOR& vAxVal, double dDelta = - 1, int nClPathId = GDB_ID_NULL, bool bZHomeDown = false) ;
bool AddSpecialRise( const DBLVECTOR& vAxVal, bool bOk = true, int nClPathId = GDB_ID_NULL) ;
bool RemoveRise( int nClPathId = GDB_ID_NULL) ;
bool AddHome( void) ;
bool CalcDeltaZForHeadRotation( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, double& dDeltaZ) const ;
double GetExtraZ( double dSafeZ) const ;
bool ForcedZmax( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const ;
bool GetZHomeDown( void) const ;
bool TestCollisionAvoid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const ;
bool SpecialMoveZup( Vector3d& vtTool, DBLVECTOR& vAx, bool& bModif) ;
bool SpecialMoveRapid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, DBLVECTOR& vAxNew, bool& bModif) ;