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Merge branch 'master' of https://gitlab.steamware.net/egaltech/EgtMachKernel

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This commit is contained in:
Riccardo Elitropi
2026-06-09 15:18:42 +02:00
parent 1395ba2c04 1a4faa645c
commit ad8a69b7e5
4 changed files with 261 additions and 25 deletions
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EgtMachKernel.rc
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Machine.h
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@@ -385,6 +385,7 @@ class Machine
static int LuaEmtRemoveClimb( lua_State* L) ;
static int LuaEmtAddRise( lua_State* L) ;
static int LuaEmtRemoveRise( lua_State* L) ;
static int LuaEmtAdjustConcavePartsInPath( lua_State* L) ;
static int LuaEmtGetMoveType( lua_State* L) ;
static int LuaEmtGetAxesPos( lua_State* L) ;
static int LuaEmtGetBackAuxDir( lua_State* L) ;
MachineLua.cpp
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@@ -128,6 +128,7 @@ Machine::LuaInit( const string& sMachineName)
m_LuaMgr.RegisterFunction( "EmtGetInitialAxesPos", Machine::LuaEmtGetInitialAxesPos) ;
m_LuaMgr.RegisterFunction( "EmtGetFinalAxesPos", Machine::LuaEmtGetFinalAxesPos) ;
m_LuaMgr.RegisterFunction( "EmtGetCurrAxesHomePos", Machine::LuaEmtGetCurrAxesHomePos) ;
m_LuaMgr.RegisterFunction( "EmtAdjustConcavePartsInPath", Machine::LuaEmtAdjustConcavePartsInPath) ;
// registro le funzioni di lettura entità CL per lua
m_LuaMgr.RegisterFunction( "EmtGetMoveType", Machine::LuaEmtGetMoveType) ;
m_LuaMgr.RegisterFunction( "EmtGetAxesPos", Machine::LuaEmtGetAxesPos) ;
MachineLuaCL.cpp
+259 -25
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@@ -19,12 +19,16 @@
#include "Operation.h"
#include "/EgtDev/Include/EXeExecutor.h"
#include "/EgtDev/Include/EGkGeoPoint3d.h"
#include "/EgtDev/Include/EGkGeoVector3d.h"
#include "/EgtDev/Include/EGkCurveLine.h"
#include "/EgtDev/Include/EGkCurveArc.h"
#include "/EgtDev/Include/EGkIntersLineCylinder.h"
#include "/EgtDev/Include/EGkGeomDB.h"
#include "/EgtDev/Include/EGkLuaAux.h"
#include "/EgtDev/Include/EGkStringUtils3d.h"
#include "/EgtDev/Include/EGnStringUtils.h"
#include "/EgtDev/Include/EGnFileUtils.h"
#include "/EgtDev/Include/ENkPolynomialRoots.h"
#include "/EgtDev/Include/EgtPointerOwner.h"
using namespace std ;
@@ -153,6 +157,41 @@ Machine::LuaEmtAddRapidMove( lua_State* L)
return 1 ;
}
//----------------------------------------------------------------------------
int
AddLinearMove( const Point3d& ptIni, const Point3d& ptFin, IGeomDB* pGeomDB , int nPathId, const Vector3d& vtTool,
const Vector3d& vtCorr, const Vector3d& vtAux, double dFeed, int nFlag, int nFlag2, bool bToolShow, int nRefId = GDB_ID_NULL)
{
// creo oggetto linea per DB geometrico
PtrOwner<ICurveLine> pLine( CreateCurveLine()) ;
bool bOk = ! IsNull( pLine) ;
// assegno gli estremi della linea
bOk = bOk && pLine->Set( ptIni, ptFin) ;
// inserisco l'oggetto nel DB geometrico
int nId = ( bOk ? pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pLine)) : GDB_ID_NULL) ;
bOk = bOk && ( nId != GDB_ID_NULL) ;
if ( bOk && nRefId != GDB_ID_NULL)
pGeomDB->RelocateGlob( nId, nRefId, GDB_AFTER) ;
// creo oggetto dati Cam
PtrOwner<CamData> pCam( new( nothrow) CamData) ;
bOk = bOk && ! IsNull( pCam) ;
if ( bOk) {
// assegno valori
pCam->SetMoveType( 1) ;
pCam->SetToolDir( vtTool) ;
pCam->SetCorrDir( vtCorr) ;
pCam->SetAuxDir( vtAux) ;
pCam->SetEndPoint( ptFin) ;
pCam->SetFeed( dFeed) ;
pCam->SetFlag( nFlag) ;
pCam->SetFlag2( nFlag2) ;
pCam->SetToolShow( bToolShow) ;
// associo questo oggetto a quello geometrico
pGeomDB->SetUserObj( nId, Release( pCam)) ;
}
return nId ;
}
//----------------------------------------------------------------------------
int
Machine::LuaEmtAddLinearMove( lua_State* L)
@@ -185,31 +224,8 @@ Machine::LuaEmtAddLinearMove( lua_State* L)
if ( m_pMchLua == nullptr ||
m_pMchLua->m_pMchMgr == nullptr || m_pMchLua->m_pGeomDB == nullptr)
return luaL_error( L, " Unknown Machine") ;
// creo oggetto linea per DB geometrico
PtrOwner<ICurveLine> pLine( CreateCurveLine()) ;
bool bOk = ! IsNull( pLine) ;
// assegno gli estremi della linea
bOk = bOk && pLine->Set( ptIni, ptFin) ;
// inserisco l'oggetto nel DB geometrico
int nId = ( bOk ? m_pMchLua->m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pLine)) : GDB_ID_NULL) ;
bOk = bOk && ( nId != GDB_ID_NULL) ;
// creo oggetto dati Cam
PtrOwner<CamData> pCam( new( nothrow) CamData) ;
bOk = bOk && ! IsNull( pCam) ;
if ( bOk) {
// assegno valori
pCam->SetMoveType( 1) ;
pCam->SetToolDir( vtTool) ;
pCam->SetCorrDir( vtCorr) ;
pCam->SetAuxDir( vtAux) ;
pCam->SetEndPoint( ptFin) ;
pCam->SetFeed( dFeed) ;
pCam->SetFlag( nFlag) ;
pCam->SetFlag2( nFlag2) ;
pCam->SetToolShow( bToolShow) ;
// associo questo oggetto a quello geometrico
m_pMchLua->m_pGeomDB->SetUserObj( nId, Release( pCam)) ;
}
int nId = AddLinearMove( ptIni, ptFin, m_pMchLua->m_pGeomDB, nPathId, vtTool, vtCorr, vtAux, dFeed, nFlag, nFlag2, bToolShow) ;
bool bOk = nId != GDB_ID_NULL ;
// assegno risultato
if ( bOk)
LuaSetParam( L, nId) ;
@@ -581,3 +597,221 @@ Machine::LuaEmtGetBackAuxDir( lua_State* L)
return 1 ;
}
struct Cyl {
Cyl( void): frCyl( GLOB_FRM), dH( 0.), dRad( 0.) {;} ;
Cyl( const Frame3d& _frCyl, double _dH, double _dRad, double _dLinTol) :
frCyl( _frCyl), dH( _dH), dRad( _dRad) { ;}
Cyl( const Point3d& _ptBase, const Vector3d& vtZ, double _dH, double _dRad, double _dLinTol) :
dH( _dH), dRad( _dRad){
frCyl.Set( _ptBase, vtZ); }
public :
Frame3d frCyl ;
public:
double dH ;
double dRad ;
};
typedef vector<Cyl> OFFSETCYLVECT ;
//----------------------------------------------------------------------------
bool
IsPointInsideCylinder( const Point3d& ptTest, const Cyl& offCyl)
{
Point3d ptTestLoc = ptTest ; ptTestLoc.ToLoc( offCyl.frCyl) ;
if ( ptTestLoc.z > offCyl.dH || ptTestLoc.z < 0)
return false ;
double dDist = ptTestLoc.x * ptTestLoc.x + ptTestLoc.y * ptTestLoc.y ;
double dRadSq = offCyl.dRad * offCyl.dRad ;
if ( dDist > dRadSq)
return false ;
return true ;
}
//----------------------------------------------------------------------------
int
Machine::LuaEmtAdjustConcavePartsInPath( lua_State* L)
{
bool bOk = true ;
// 3 parametri : nPathId, nAuxPathId, dRad
int nPathId ;
LuaCheckParam( L, 1, nPathId)
int nAuxPathId ;
LuaCheckParam( L, 2, nAuxPathId)
double dRad ;
LuaCheckParam( L, 3, dRad)
LuaClearStack( L) ;
IGeomDB* pGeomDB = m_pMchLua->m_pGeomDB ;
int nId = pGeomDB->GetFirstInGroup( nPathId) ;
int nIdCrvAux = pGeomDB->GetFirstInGroup( nAuxPathId) ;
const ICurve* pCrvAux = GetCurve( pGeomDB->GetGeoObj(nIdCrvAux)) ;
const double dLinTol = 5 * EPS_SMALL ;
while ( nId != GDB_ID_NULL) {
if ( pGeomDB->GetGeoType( nId) == CRV_LINE) {
int nFlag = 0 ; pGeomDB->GetInfo( nId, "Flg2", nFlag) ;
if ( nFlag == 1) {
// scorro i prossimi finchè trovo la fine della zona concava
INTINTVECTOR vLines ;
while ( nFlag == 1 && nId != GDB_ID_NULL) {
nId = pGeomDB->GetNext( nId) ;
if ( nId != GDB_ID_NULL && pGeomDB->GetGeoType( nId) == CRV_LINE) {
int nDerivedFromId = GDB_ID_NULL ;
if ( pGeomDB->GetInfo( nId, "DerivFrom", nDerivedFromId)) {
pGeomDB->GetInfo( nId, "Flg2", nFlag) ;
vLines.emplace_back( nId, nDerivedFromId) ;
}
}
}
OFFSETCYLVECT vCyl ;
// creo un cilindro della dimensione del raggio
for ( int i = 0 ; i < ssize( vLines) ; ++i) {
const IGeoVector3d* pGV = GetGeoVector3d( pGeomDB->GetGeoObj( vLines[i].second)) ;
if ( pGV == nullptr)
return false ;
Point3d ptBase = pGV->GetBase() ;
double dPar = 0 ;
if ( ! pCrvAux->GetParamAtPoint( ptBase, dPar))
return false ;
dPar = round( dPar) ;
if ( dPar > 0) {
Point3d ptStart, ptEnd ;
Vector3d vtHeight ;
pCrvAux->GetPointD1D2( dPar, ICurve::FROM_MINUS, ptEnd, &vtHeight) ;
pCrvAux->GetPointD1D2( dPar - 1, ICurve::FROM_MINUS, ptStart) ;
vtHeight = ptEnd - ptStart ;
double dHeight = vtHeight.Len() ;
// questa altezza dovrebbe coincidere con quella precedentemente calcolata come direzione della linea
vtHeight.Normalize() ;
vCyl.emplace_back( ptStart, vtHeight, dHeight, dRad, dLinTol) ;
}
}
// controllo l'end di ogni linea per verificare se sta nel cilindro definito da uno degli altri tratti
// controllo tutto i punti
bool bErasedSomePart = false ;
bool bErasedPrev = false ;
INTINTVECTOR vInters ;
for ( int i = 0 ; i < ssize( vLines) ; ++i) {
Point3d ptStart, ptEnd ;
const ICurveLine* pCL = GetCurveLine( pGeomDB->GetGeoObj( vLines[i].first)) ;
if ( pCL == nullptr)
return false ;
pCL->GetEndPoint( ptEnd) ;
pCL->GetStartPoint( ptStart) ;
// se stanno in uno dei cilindri degli altri tratti della zona concava
for ( int j = 0 ; j < ssize( vLines) ; ++j) {
if ( i == j)
continue ;
bool bToErase = IsPointInsideCylinder( ptEnd, vCyl[j]) ;
if ( bErasedPrev && ! bToErase)
bToErase = bToErase || IsPointInsideCylinder( ptStart, vCyl[j]) ;
if ( bToErase) {
bErasedSomePart = true ;
bErasedPrev = true ;
vInters.emplace_back(vLines[i].first,i) ;
vInters.emplace_back(vLines[i+1].first,i+1) ;
++i ;
break ;
}
else
bErasedPrev = false ;
}
}
if ( bErasedSomePart) {
// calcolo le intersezioni effettive del primo e ultimo tratto cancellati con i cilindri che li hanno cancellati
// controllo che effettivamente tutti i tratti cancellati siano consecutivi
for ( int i = 1 ; i < ssize( vInters) ; ++i) {
if ( vInters[i].first != vInters[i-1].first + 1)
return false ;
}
for ( int i = 0 ; i < ssize( vInters) ; ++i) {
// cancello i tratti intermedi
if ( i > 0 && i < ssize( vInters) - 1) {
pGeomDB->Erase( vInters[i].first) ;
continue ;
}
// per il primo e ultimo controllo le intersezioni con tutti i cilindri
ICurveLine* pCL = GetCurveLine( pGeomDB->GetGeoObj( vInters[i].first)) ;
Point3d ptStart = pCL->GetStart() ;
Vector3d vtStart ; pCL->GetStartDir( vtStart) ;
double dLen ; pCL->GetLength( dLen) ;
double dUTrim = ( i == 0 ? INFINITO : 0) ;
Point3d ptTrim = P_INVALID ;
for ( int j = 0 ; j < ssize( vCyl) ; ++j) {
if ( vInters[i].second == j)
continue ;
Point3d ptInt1 = P_INVALID, ptInt2 = P_INVALID ;
double dU1, dU2 ;
Vector3d vtN1, vtN2 ;
if ( IntersLineCyl( ptStart, vtStart * dLen, vCyl[j].frCyl, vCyl[j].dH, vCyl[j].dRad, dU1, ptInt1, vtN1, dU2, ptInt2, vtN2)) {
bool bUpdate = ( i == 0 ? dU1 < dUTrim : dU1 > dUTrim) ;
bUpdate = bUpdate && ptInt1.IsValid() && dU1 > 0 && dU1 < 1 ;
bUpdate = bUpdate && vtN1 * vtStart < 0 ;
if ( bUpdate) {
dUTrim = dU1 ;
ptTrim = ptInt1 ;
}
bUpdate = ( i == 0 ? dU2 < dUTrim : dU2 > dUTrim) ;
bUpdate = bUpdate && ptInt2.IsValid() && dU2 > 0 && dU2 < 1 ;
bUpdate = bUpdate && vtN2 * vtStart > 0 ;
if ( bUpdate) {
dUTrim = dU2 ;
ptTrim = ptInt2 ;
}
}
}
if ( ptTrim.IsValid()) {
if ( i == 0) {
pCL->ModifyEnd( ptTrim) ;
double dNewLen ; pCL->GetLength( dNewLen) ;
if ( dNewLen < 0.1) {
int nPrev = pGeomDB->GetPrev( vInters[0].first) ;
pGeomDB->Erase( vInters[0].first) ;
vInters[0].first = nPrev ;
ICurveLine* pCLPrev = GetCurveLine( pGeomDB->GetGeoObj( nPrev)) ;
pCLPrev->ModifyEnd( ptTrim) ;
}
CamData* camData = GetCamData( pGeomDB->GetUserObj( vInters[0].first)) ;
camData->SetEndPoint( ptTrim) ;
}
else {
pCL->ModifyStart( ptTrim) ;
double dNewLen ; pCL->GetLength( dNewLen) ;
if ( dNewLen < 0.1) {
int nNext = pGeomDB->GetNext( vInters[i].first) ;
pGeomDB->Erase( vInters[i].first) ;
vInters[i].first = nNext ;
ICurveLine* pCLNext = GetCurveLine( pGeomDB->GetGeoObj( nNext)) ;
pCLNext->ModifyStart( ptTrim) ;
}
}
}
}
// giunto questi due punti
ICurveLine* pCLprev = GetCurveLine( pGeomDB->GetGeoObj( vInters[0].first)) ;
Point3d ptIni = pCLprev->GetEnd() ;
ICurveLine* pCLnext = GetCurveLine( pGeomDB->GetGeoObj( vInters.back().first)) ;
Point3d ptFin = pCLnext->GetStart() ;
const CamData* camDataPrev = GetCamData( pGeomDB->GetUserObj( vInters[0].first)) ;
const CamData* camDataNext = GetCamData( pGeomDB->GetUserObj( vInters.back().first)) ;
Vector3d vtTool = Media( camDataPrev->GetToolDir(), camDataNext->GetToolDir()) ;
Vector3d vtCorr = Media( camDataPrev->GetCorrDir(), camDataNext->GetCorrDir()) ;
Vector3d vtAux = Media( camDataPrev->GetAuxDir(), camDataNext->GetAuxDir()) ;
double dFeed = camDataPrev->GetFeed() ;
int nFlag = camDataPrev->GetFlag() ;
int nFlag2 = camDataPrev->GetFlag2() ;
bool bToolShow = camDataPrev->GetToolShow() ;
AddLinearMove( ptIni, ptFin, pGeomDB, nPathId, vtTool, vtCorr, vtAux, dFeed, nFlag, nFlag2, bToolShow, vInters[0].first) ;
}
nId = vLines.back().first ;
}
}
nId = m_pMchLua->m_pGeomDB->GetNext( nId) ;
}
LuaSetParam( L, bOk) ;
return 1 ;
}