Egalware/EgtMachKernel
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- piccole migliorie a simulazione (aumento velocità in rapidi e log).
This commit is contained in:
Dario Sassi
2023-09-14 17:25:44 +02:00
parent f92cec9d3d
commit e2043a7e3a
1 changed files with 17 additions and 5 deletions
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Simulator.cpp
+17 -5
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@@ -1018,6 +1018,12 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
for ( int i = 0 ; i < int( m_VmId.size()) ; ++ i)
bOkI = m_pGeomDB->GetGlobFrame( m_VmId[i], vFrVzmI[i]) && bOkI ;
// Log per debug
if ( ExeGetDebugLevel() >= 10) {
string sOut = "MoveType=" + ToString( nMoveType) + " Coeff=" + ToString( m_dCoeff) ;
LOG_DBG_INFO( GetEMkLogger(), sOut.c_str())
}
// Eseguo movimento rapido o lineare
if ( nMoveType != 2 && nMoveType != 3) {
// se attivo CollisionCheck approssimo movimento con più step
@@ -1298,8 +1304,8 @@ Simulator::ExecLineVmill( int nVmId, int nCurrTool, double dVmTdOffs, double dVm
ptHfL += dVmTdOffs * vtHfL + dVmAdOffs * vtAfL ;
// Log per debug
if ( ExeGetDebugLevel() >= 10) {
string sOut = "Zmap=" + ToString( nVmId) + " CurrTool=" + ToString( nCurrTool) +
"Pi=(" + ToString( ptHiL) + ") Vi=(" + ToString( vtHiL) + ") Ai=(" + ToString( vtAiL) +
string sOut = "Zmap=" + ToString( nVmId) + " Tool=" + ToString( nCurrTool) +
" Pi=(" + ToString( ptHiL) + ") Vi=(" + ToString( vtHiL) + ") Ai=(" + ToString( vtAiL) +
") Pf=(" + ToString( ptHfL) + ") Vf=(" + ToString( vtHfL) + ") Af=(" + ToString( vtAfL) + ")" ;
LOG_DBG_INFO( GetEMkLogger(), sOut.c_str())
}
@@ -2132,6 +2138,7 @@ Simulator::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
static const int STEP_RAPID = -2 ;
static const int STEP_RAPROT = -3 ;
static const int STEP_COLLROT = -4 ;
bool bViewAllFrames = true ;
int nStep = 1 ;
for ( int i = 0 ; i < nAxCount ; ++ i) {
double dMove = abs( vAxNaEpSt[i].dEndPos - vPrev[i]) ;
@@ -2141,10 +2148,14 @@ Simulator::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
dStep = m_dStep ;
else if ( abs( dStep - STEP_RAPID) < EPS_SMALL)
dStep = 4 * m_dStep ;
else if ( abs( dStep - STEP_RAPROT) < EPS_SMALL)
else if ( abs( dStep - STEP_RAPROT) < EPS_SMALL) {
dStep = 0.4 * m_dStep ;
else // STEP_COLLROT
bViewAllFrames = false ;
}
else { // STEP_COLLROT
dStep = min( 0.4 * m_dStep, 10.) ;
bViewAllFrames = false ;
}
}
dStep = max( dStep, 1.) ;
int nAxStep = int( dMove / dStep) + 1 ;
@@ -2179,7 +2190,8 @@ Simulator::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
}
}
// Aggiorno visualizzazione
ExeDraw() ;
if ( bViewAllFrames || ( i % 2) == 0 || i == nStep)
ExeDraw() ;
// Verifico collisioni
int nCdInd, nObjInd ;
bool bCollCheck = ExecCollisionCheck( nCdInd, nObjInd, nMoveType) ;