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EgtMachKernel :

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- aggiunte funzioni lua EmtRemoveCollisionObj e EmtGetCollisionObj per meglio gestire gli oggetti di collisione di tipo testa da postproc.
This commit is contained in:
Dario Sassi
2026-02-25 15:19:28 +01:00
parent 8a289d07b8
commit 9351b9b2d8
9 changed files with 163 additions and 4 deletions
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MachMgr.h
+7 -3
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@@ -488,11 +488,15 @@ class MachMgr : public IMachMgr
bool GetOperationNewName( std::string& sName) const ;
const ToolData* GetMachiningToolData( void) const ;
// Simulation
bool SimAddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) ;
bool SimAddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType,
const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) ;
bool SimRemoveCollisionObj( int nFrameId) ;
bool SimGetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3) const ;
bool SimExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) ;
bool SimOnCollision( int nCdInd, int nObjInd, int& nErr) ;
bool SimSetToolForVmill( const std::string& sTool, const std::string& sHead, int nExit, int nFlag, double dPar1, double dPar2,
const INTVECTOR& vVmill, bool bFirst) ;
bool SimSetToolForVmill( const std::string& sTool, const std::string& sHead, int nExit, int nFlag,
double dPar1, double dPar2, const INTVECTOR& vVmill, bool bFirst) ;
bool SimEnableToolsForVmill( bool bEnable) ;
int SimMoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt) ;
bool SimSaveCmd( int nType, int nPar, const std::string& sPar, const std::string& sPar2) ;
MachMgrSimulation.cpp
+23
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@@ -176,6 +176,29 @@ MachMgr::SimAddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType, co
return m_pSimul->AddCollisionObj( nInd, bToolOn, nFrameId, nType, vtMove, dPar1, dPar2, dPar3) ;
}
//----------------------------------------------------------------------------
bool
MachMgr::SimRemoveCollisionObj( int nFrameId)
{
// verifico simulatore
if ( m_pSimul == nullptr)
return false ;
// rimuovo gli oggetti da verificare per la collisione con il grezzo con FrameId indicato
return m_pSimul->RemoveCollisionObj( nFrameId) ;
}
//----------------------------------------------------------------------------
bool
MachMgr::SimGetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3) const
{
// verifico simulatore
if ( m_pSimul == nullptr)
return false ;
// recupero i dati dell'oggetto di collisione di posizione indicata nel relativo vettore
return m_pSimul->GetCollisionObj( nPos, nInd, bToolOn, nFrameId, nType, vtMove, dPar1, dPar2, dPar3) ;
}
//----------------------------------------------------------------------------
bool
MachMgr::SimExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
Machine.h
+2
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@@ -402,6 +402,8 @@ class Machine
static int LuaEmtSetWarning( lua_State* L) ;
static int LuaEmtAddCollisionObj( lua_State* L) ;
static int LuaEmtAddCollisionObjEx( lua_State* L) ;
static int LuaEmtRemoveCollisionObj( lua_State* L) ;
static int LuaEmtGetCollisionObj( lua_State* L) ;
static int LuaEmtExecCollisionCheck( lua_State* L) ;
static int LuaEmtOnCollision( lua_State* L) ;
static int LuaEmtSetToolForVmill( lua_State* L) ;
MachineLua.cpp
+63
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@@ -144,6 +144,10 @@ Machine::LuaInit( const string& sMachineName)
m_LuaMgr.RegisterFunction( "EmtAddCollisionObj", Machine::LuaEmtAddCollisionObj) ;
// registro la funzione estesa per aggiungere un oggetto da verificare per la collisione in simulazione
m_LuaMgr.RegisterFunction( "EmtAddCollisionObjEx", Machine::LuaEmtAddCollisionObjEx) ;
// registro la funzione per rimuovere oggetti con dato FrameId da verificare per la collisione in simulazione
m_LuaMgr.RegisterFunction( "EmtRemoveCollisionObj", Machine::LuaEmtRemoveCollisionObj) ;
// registro la funzione per avere i dati dell'oggetto con posizione indicata nel vettore da verificare per la collisione in simulazione
m_LuaMgr.RegisterFunction( "EmtGetCollisionObj", Machine::LuaEmtGetCollisionObj) ;
// registro la funzione di esecuzione della verifica di collisione in simulazione
m_LuaMgr.RegisterFunction( "EmtExecCollisionCheck", Machine::LuaEmtExecCollisionCheck) ;
// registro la funzione di gestione della collisione in simulazione
@@ -1428,6 +1432,65 @@ Machine::LuaEmtAddCollisionObjEx( lua_State* L)
return 1 ;
}
//----------------------------------------------------------------------------
int
Machine::LuaEmtRemoveCollisionObj( lua_State* L)
{
// 1 parametro : nFrameId
int nFrameId ;
LuaCheckParam( L, 1, nFrameId)
LuaClearStack( L) ;
// verifico ci sia una macchina attiva
if ( m_pMchLua == nullptr)
return luaL_error( L, " Unknown Machine") ;
// assegno i dati
bool bOk = ( m_pMchLua->m_pMchMgr != nullptr && m_pMchLua->m_pMchMgr->SimRemoveCollisionObj( nFrameId)) ;
// assegno risultato
LuaSetParam( L, bOk) ;
return 1 ;
}
//----------------------------------------------------------------------------
int
Machine::LuaEmtGetCollisionObj( lua_State* L)
{
// 1 parametro : nPos
int nPos ;
LuaCheckParam( L, 1, nPos)
LuaClearStack( L) ;
// verifico ci sia una macchina attiva
if ( m_pMchLua == nullptr)
return luaL_error( L, " Unknown Machine") ;
// recupero i dati
int nInd ;
bool bToolOn ;
int nFrameId ;
int nType ;
Vector3d vtMove ;
double dPar1 ;
double dPar2 ;
double dPar3 ;
bool bOk = ( m_pMchLua->m_pMchMgr != nullptr &&
m_pMchLua->m_pMchMgr->SimGetCollisionObj( nPos, nInd, bToolOn, nFrameId, nType, vtMove, dPar1, dPar2, dPar3)) ;
// assegno risultato
if ( bOk) {
LuaSetParam( L, true) ;
LuaSetParam( L, nInd) ;
LuaSetParam( L, bToolOn) ;
LuaSetParam( L, nFrameId) ;
LuaSetParam( L, nType) ;
LuaSetParam( L, vtMove) ;
LuaSetParam( L, dPar1) ;
LuaSetParam( L, dPar2) ;
LuaSetParam( L, dPar3) ;
return 9 ;
}
else {
LuaSetParam( L, false) ;
return 1 ;
}
}
//----------------------------------------------------------------------------
int
Machine::LuaEmtExecCollisionCheck( lua_State* L)
Simulator.h
+3
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@@ -53,6 +53,9 @@ class __declspec( novtable) ISimulator
virtual bool GetMoveInfo( int& nGmove, double& dFeed) const = 0 ;
virtual bool AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType,
const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) = 0 ;
virtual bool RemoveCollisionObj( int nFrameId) = 0 ;
virtual bool GetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3) = 0 ;
virtual bool ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) = 0 ;
virtual bool OnCollision( int nCdInd, int nObjInd, int& nErr) = 0 ;
virtual bool SetToolForVmill( const std::string& sTool, const std::string& sHead, int nExit, int nFlag,
SimulatorMP.cpp
+28
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@@ -2336,6 +2336,34 @@ SimulatorMP::AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType, c
return true ;
}
//----------------------------------------------------------------------------
bool
SimulatorMP::RemoveCollisionObj( int nFrameId)
{
erase_if( m_CollObj, [nFrameId]( CollObj Item) { return ( Item.nFrameId == nFrameId) ; }) ;
return true ;
}
//----------------------------------------------------------------------------
bool
SimulatorMP::GetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3)
{
// posizione nel vettore non valida
if ( nPos < 0 || nPos >= ssize( m_CollObj))
return false ;
// assegno i dati
nInd = m_CollObj[nPos].nInd ;
bToolOn = m_CollObj[nPos].bToolOn ;
nFrameId = m_CollObj[nPos].nFrameId ;
nType = m_CollObj[nPos].nType ;
vtMove = m_CollObj[nPos].vtMove ;
dPar1 = m_CollObj[nPos].dPar1 ;
dPar2 = m_CollObj[nPos].dPar2 ;
dPar3 = m_CollObj[nPos].dPar3 ;
return true ;
}
//----------------------------------------------------------------------------
bool
SimulatorMP::SetToolForVmill( const string& sTool, const string& sHead, int nExit, int nFlag, double dPar1, double dPar2,
SimulatorMP.h
+3
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@@ -40,6 +40,9 @@ class SimulatorMP : public ISimulator
bool GetMoveInfo( int& nGmove, double& dFeed) const override ;
bool AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType,
const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) override ;
bool RemoveCollisionObj( int nFrameId) override ;
bool GetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3) override ;
bool ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) override ;
bool OnCollision( int nCdInd, int nObjInd, int& nErr) override ;
bool SetToolForVmill( const std::string& sTool, const std::string& sHead, int nExit, int nFlag,
SimulatorSP.cpp
+31 -1
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@@ -2343,7 +2343,8 @@ SimulatorSP::OnResetMachine( void)
//----------------------------------------------------------------------------
bool
SimulatorSP::AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3)
SimulatorSP::AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType,
const Vector3d& vtMove, double dPar1, double dPar2, double dPar3)
{
// verifiche sui parametri
if ( nInd <= 0 || nFrameId <= GDB_ID_NULL)
@@ -2374,6 +2375,35 @@ SimulatorSP::AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType, c
}
// aggiungo al vettore
m_CollObj.emplace_back( nInd, bToolOn, nFrameId, nType, vtMove, dPar1, dPar2, dPar3) ;
return true ;
}
//----------------------------------------------------------------------------
bool
SimulatorSP::RemoveCollisionObj( int nFrameId)
{
erase_if( m_CollObj, [nFrameId]( CollObj Item) { return ( Item.nFrameId == nFrameId) ; }) ;
return true ;
}
//----------------------------------------------------------------------------
bool
SimulatorSP::GetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3)
{
// posizione nel vettore non valida
if ( nPos < 0 || nPos >= ssize( m_CollObj))
return false ;
// assegno i dati
nInd = m_CollObj[nPos].nInd ;
bToolOn = m_CollObj[nPos].bToolOn ;
nFrameId = m_CollObj[nPos].nFrameId ;
nType = m_CollObj[nPos].nType ;
vtMove = m_CollObj[nPos].vtMove ;
dPar1 = m_CollObj[nPos].dPar1 ;
dPar2 = m_CollObj[nPos].dPar2 ;
dPar3 = m_CollObj[nPos].dPar3 ;
return true ;
}
SimulatorSP.h
+3
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@@ -40,6 +40,9 @@ class SimulatorSP : public ISimulator
bool GetMoveInfo( int& nGmove, double& dFeed) const override ;
bool AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType,
const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) override ;
bool RemoveCollisionObj( int nFrameId) override ;
bool GetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3) override ;
bool ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) override ;
bool OnCollision( int nCdInd, int nObjInd, int& nErr) override ;
bool SetToolForVmill( const std::string& sTool, const std::string& sHead, int nExit, int nFlag,