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EgtMachKernel 2.5a2 :

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- in simulazione corretta gestione collisione rilevata durante ToolDeselect che non deve far saltare le successive operazioni
- aggiunta funzione lua EmtMoveAxes per consentire movimento assi in simulazione da esterno.
This commit is contained in:
DarioS
2023-01-17 11:33:37 +01:00
parent 3375e316bd
commit abbc7ee12b
7 changed files with 181 additions and 27 deletions
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Simulator.cpp
+100 -17
View File
@@ -44,8 +44,11 @@ using namespace std ;
static const double MIN_STEP = 1.0 ;
static const double MAX_STEP = 100.0 ;
static const double MID_STEP = 50.0 ;
static const double COLL_STEP = 10. ;
static const double COEFF_LIM = 0.999 ;
static const double SAFEDIST_STD = 5.0 ;
static const int ERR_OUTSTROKE = 1 ;
static const int ERR_COLLISION = 11 ;
//----------------------------------------------------------------------------
Simulator::Simulator( void)
@@ -450,7 +453,7 @@ Simulator::UpdateTool( bool bFirst, int& nErr)
int nCurrErr ;
if ( ! OnToolDeselect( sTool, sHead, nExit, sTcPos, nCurrErr)) {
nErr = ( nErr != 0 ? nErr : nCurrErr) ;
if ( nCurrErr != 11)
if ( nCurrErr != ERR_COLLISION)
return false ;
}
}
@@ -477,7 +480,7 @@ Simulator::UpdateTool( bool bFirst, int& nErr)
int nCurrErr ;
if ( ! OnToolSelect( m_sTool, sHead, nExit, sTcPos, bFirst, nCurrErr)) {
nErr = ( nErr != 0 ? nErr : nCurrErr) ;
if ( nCurrErr != 11)
if ( nCurrErr != ERR_COLLISION)
return false ;
}
}
@@ -495,7 +498,7 @@ Simulator::UpdateTool( bool bFirst, int& nErr)
int nCurrErr ;
if ( ! OnToolDeselect( sTool, sHead, nExit, sTcPos, nCurrErr)) {
nErr = ( nErr != 0 ? nErr : nCurrErr) ;
if ( nCurrErr != 11)
if ( nCurrErr != ERR_COLLISION)
return false ;
}
}
@@ -513,7 +516,7 @@ Simulator::UpdateTool( bool bFirst, int& nErr)
int nCurrErr ;
if ( ! OnToolSelect( m_sTool, sHead, nExit, sTcPos, bFirst, nCurrErr)) {
nErr = ( nErr != 0 ? nErr : nCurrErr) ;
if ( nCurrErr != 11)
if ( nCurrErr != ERR_COLLISION)
return false ;
}
return ( nErr == 0) ;
@@ -622,13 +625,14 @@ Simulator::FindAndManageOperationStart( bool bStart, bool bFirst, int& nStatus)
// se lavorazione valida
Machining* pMch = GetMachining( m_pGeomDB->GetUserObj( m_nOpId)) ;
if ( pMch != nullptr && ! pMch->IsEmpty()) {
bool bOk = true ;
// aggiorno utensile e assi conseguenti
int nErr ;
if ( ! UpdateTool( bFirst, nErr)) {
string sOut = "Err=" + ToString( nErr) ;
LOG_INFO( GetEMkLogger(), sOut.c_str())
nStatus = CalcStatusOnError( nErr) ;
return false ;
bOk = false ;
}
++ m_nOpInd ;
// imposto la lavorazione come corrente
@@ -644,8 +648,10 @@ Simulator::FindAndManageOperationStart( bool bStart, bool bFirst, int& nStatus)
// richiamo gestione evento inizio lavorazione
if ( ! OnMachiningStart( m_nOpId, m_nOpInd, ptMin, ptMax, vAxMin, vAxMax)) {
nStatus = CalcStatusOnError( 0) ;
return false ;
bOk = false ;
}
if ( ! bOk)
return false ;
break ;
}
// se disposizione con cambio di fase
@@ -1004,10 +1010,8 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
if ( nMoveType != 2 && nMoveType != 3) {
// se attivo CollisionCheck approssimo movimento con più step
int nStep = 1 ;
if ( NeedCollisionCheck()) {
const double LEN_COLL_STEP = 10. ;
nStep = max( int( dMove / LEN_COLL_STEP), 1) ;
}
if ( NeedCollisionCheck())
nStep = max( int( dMove / COLL_STEP), 1) ;
for ( int i = 1 ; i <= nStep ; ++ i) {
double dCurrCoeff = dPrevCoeff + ( m_dCoeff - dPrevCoeff) / nStep * i ;
DBLVECTOR vDeltaVal( m_AxesName.size()) ;
@@ -1160,10 +1164,8 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
dMove = ( m_dCoeff - dPrevCoeff) * dDist ;
// se attivo CollisionCheck approssimo movimento con più step
int nStep = 1 ;
if ( NeedCollisionCheck()) {
const double LEN_COLL_STEP = 10. ;
nStep = max( int( dMove / LEN_COLL_STEP), 1) ;
}
if ( NeedCollisionCheck())
nStep = max( int( dMove / COLL_STEP), 1) ;
for ( int i = 1 ; i <= nStep ; ++ i) {
double dCurrCoeff = dPrevCoeff + ( m_dCoeff - dPrevCoeff) / nStep * i ;
// muovo eventuali assi ausiliari
@@ -1223,9 +1225,9 @@ Simulator::CalcStatusOnError( int nErr)
{
if ( Stopped())
return MCH_SIM_STOP ;
else if ( nErr == 1)
else if ( nErr == ERR_OUTSTROKE)
return MCH_SIM_OUTSTROKE ;
else if ( nErr == 11)
else if ( nErr == ERR_COLLISION)
return MCH_SIM_COLLISION ;
else
return MCH_SIM_ERR ;
@@ -1901,7 +1903,7 @@ Simulator::OnCollision( int nCdInd, int nObjInd, int& nErr)
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) {
nErr = 11 ;
nErr = ERR_COLLISION ;
m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_ERR, nErr) ;
}
return ( nErr == 0) ;
@@ -2040,3 +2042,84 @@ Simulator::SetToolForVmill( const string& sTool, const string& sHead, int nExit,
return true ;
}
//----------------------------------------------------------------------------
int
Simulator::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
{
// Salvo lo step di simulazione corrente
double dOrigStep = m_dStep ;
// verifico ci siano assi da muovere
if ( vAxNaEpSt.empty())
return SIM_AXMV_RES_ERR ;
// numero assi da muovere
int nAxCount = int( vAxNaEpSt.size()) ;
// posizioni iniziali
DBLVECTOR vPrev( nAxCount) ;
for ( int i = 0 ; i < nAxCount ; ++ i) {
if ( ! m_pMchMgr->GetAxisPos( vAxNaEpSt[i].sName, vPrev[i]))
return SIM_AXMV_RES_ERR ;
}
// determino gli step di movimento
int nStep = 1 ;
for ( int i = 0 ; i < nAxCount ; ++ i) {
double dMove = abs( vAxNaEpSt[i].dEndPos - vPrev[i]) ;
int nAxStep = int( dMove / max( vAxNaEpSt[i].dStep, 1.)) + 1 ;
nStep = max( nStep, nAxStep) ;
}
// eseguo il movimento
for ( int j = 1 ; j <= nStep ; ++ j) {
// muovo
bool bMoveOk = true ;
double dCoeff = double( j) / nStep ;
for ( int i = 0 ; i < nAxCount ; ++ i)
bMoveOk = m_pMchMgr->SetAxisPos( vAxNaEpSt[i].sName, ( 1 - dCoeff) * vPrev[i] + dCoeff * vAxNaEpSt[i].dEndPos) && bMoveOk ;
ExeDraw() ;
// verifica collisioni
int nCdInd, nObjInd ;
bool bCollCheck = ExecCollisionCheck( nCdInd, nObjInd, nMoveType) ;
if ( ! bCollCheck) {
// Richiamo funzione di convalida collisione
int nPrevErr ;
m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_ERR, nPrevErr) ;
int nErr ;
if ( ! OnCollision( nCdInd, nObjInd, nErr) && nErr == ERR_COLLISION) {
m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_ERR, nErr) ;
if ( ExeGetEnableUI()) {
// Box di messaggio : Collisione! AVVERTIMENTO
ExeMessageBox( ExeGetMsg( 5319), ExeGetMsg( 5315), MB_OK | MB_ICONWARNING) ;
// Gestione Pausa
m_nUiStatus = MCH_UISIM_PAUSE ;
while ( m_nUiStatus == MCH_UISIM_PAUSE) {
// -11 notifica al simulatore pausa dopo collisione
ExeProcessEvents( -11, 2) ;
}
}
}
else {
m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_ERR, nPrevErr) ;
}
}
if ( ! bMoveOk)
return SIM_AXMV_RES_ERR ;
if ( ExeGetEnableUI()) {
// Aggiornamento interfaccia
ExeProcessEvents( 0, 2) ;
while ( m_nUiStatus == MCH_UISIM_PAUSE) {
ExeProcessEvents( 0, 2) ;
}
// Gestione Stop
if ( m_nUiStatus == MCH_UISIM_STOP)
return SIM_AXMV_RES_STOP ;
// Se cambia lo step di simulazione in modo significativo ...
if ( abs( m_dStep - dOrigStep) > 5) {
double dRat = m_dStep / dOrigStep ;
for ( int i = 0 ; i < nAxCount ; ++ i)
const_cast<double&>( vAxNaEpSt[i].dStep) *= dRat ;
return MoveAxes( nMoveType, vAxNaEpSt) ;
}
}
}
return SIM_AXMV_RES_OK ;
}