From dcbf9a497a0233d09e3dfb19a4f41e91f2489f05 Mon Sep 17 00:00:00 2001
From: Dario Sassi <dario.sassi@egalware.com>
Date: Wed, 13 Aug 2025 18:09:06 +0200
Subject: [PATCH] EgtMachKernel : - in GetRobotAngles aggiunti controlli dei
 limiti di corsa.

---
 MachineCalc.cpp | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/MachineCalc.cpp b/MachineCalc.cpp
index b0b215f..60212f8 100644
--- a/MachineCalc.cpp
+++ b/MachineCalc.cpp
@@ -2300,5 +2300,23 @@ Machine::GetRobotAngles( const Point3d& ptP, const Vector3d& vtDirT, const Vecto
    vAng1.push_back( dAng6) ;
    vAng2.push_back( dAng6 + ( dAng6 > EPS_ANG_ZERO ? -ANG_STRAIGHT : ANG_STRAIGHT)) ;
 
+  // verifiche dei limiti di corsa
+   for ( int i = 0 ; i < int( vAng2.size()) ; ++ i) {
+      if ( ! AdjustAngleInStroke( m_vCalcRotAx[i].stroke, vAng2[i])) {
+         vAng2.clear() ;
+         break ;
+      }
+   }
+   for ( int i = 0 ; i < int( vAng1.size()) ; ++ i) {
+      if ( ! AdjustAngleInStroke( m_vCalcRotAx[i].stroke, vAng1[i])) {
+         vAng1 = vAng2 ;
+         break ;
+      }
+   }
+   if ( vAng1.empty()) {
+      LOG_ERROR( GetEMkLogger(), "Error : angles out stroke (robot)")
+      return false ;      
+   }
+
    return true ;
 }