From ec021af82fdef0d09b5ab371df8c259bb1398ebd Mon Sep 17 00:00:00 2001
From: Dario Sassi <dario.sassi@egalware.com>
Date: Wed, 10 Sep 2025 08:54:09 +0200
Subject: [PATCH] EgtMachKernel 2.7i2 : - aggiunta in interfaccia funzione
 GetRobotAngles.

---
 EgtMachKernel.rc    | Bin 11774 -> 11774 bytes
 MachMgr.h           |   2 ++
 MachMgrMachines.cpp |   9 +++++++++
 3 files changed, 11 insertions(+)

diff --git a/EgtMachKernel.rc b/EgtMachKernel.rc
index 7dea14d9ef45cb2e6b17ee076676712f8b96d015..74a4a462784a73ce5975d6ac0cfea9ba83946c61 100644
GIT binary patch
delta 236
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ze_&=~W;ELTUhX2(<P)4ZK&GKoDdXl<+#V2NM-XMG1QHU43L&Z7%L3L5Rg_Jt^#><&
nF)y2}rOv|(a;PWRX*mp)Acsx<z?`-DjJggps?=sq?XOG#vj{!|

delta 241
zcmewt{V#gMI%aiGhCGIJh8%`ehGHOAV9;O)W+-7u1ma8}FBB-731Uz7R&U)L$1;bB
z(Qxx`Hd|&!!^saNbvLJRO<)0wTx6PjLa+cPDg+fpQs=?Ad6l#WP#;h`nqrWY@;63e
oowE6~YB8f=KG?0EV7KM~-I%!9TYV!lrtsv`ss}fp(l%iN08+|C82|tP

diff --git a/MachMgr.h b/MachMgr.h
index a5801ed..eef5b99 100644
--- a/MachMgr.h
+++ b/MachMgr.h
@@ -357,6 +357,8 @@ class MachMgr : public IMachMgr
                              int& nStat, double& dX, double& dY, double& dZ) const override ;
       bool GetCalcPositions( const Point3d& ptP, const DBLVECTOR& vAng,
                              int& nStat, double& dX, double& dY, double& dZ) const override ;
+      bool GetRobotAngles( const Point3d& ptP, const Vector3d& vtDirT, const Vector3d& vtDirA,
+                           DBLVECTOR& vAng1, DBLVECTOR& vAng2) const override ;
       bool GetCalcTipFromPositions( double dX, double dY, double dZ, double dAngA, double dAngB,
                                     bool bOverall, bool bBottom, Point3d& ptTip) const override ;
       bool GetCalcTipFromPositions( double dX, double dY, double dZ, const DBLVECTOR& vAng,
diff --git a/MachMgrMachines.cpp b/MachMgrMachines.cpp
index 65f1319..e079bcb 100644
--- a/MachMgrMachines.cpp
+++ b/MachMgrMachines.cpp
@@ -796,6 +796,15 @@ MachMgr::GetCalcPositions( const Point3d& ptP, const DBLVECTOR& vAng,
    return ( ( pMch != nullptr) ? pMch->GetPositions( ptP, vAng, nStat, dX, dY, dZ) : false) ;
 }
 
+//----------------------------------------------------------------------------
+bool
+MachMgr::GetRobotAngles( const Point3d& ptP, const Vector3d& vtDirT, const Vector3d& vtDirA,
+                         DBLVECTOR& vAng1, DBLVECTOR& vAng2) const
+{
+   Machine* pMch = GetCurrMachine() ;
+   return ( ( pMch != nullptr) ? pMch->GetRobotAngles( ptP, vtDirT, vtDirA, vAng1, vAng2) : false) ;
+}
+
 //----------------------------------------------------------------------------
 bool
 MachMgr::GetCalcTipFromPositions( double dX, double dY, double dZ, double dAngA, double dAngB,