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EgtMachKernel :

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- aggiunta a MachMgr funzione GetClEntAxesMask
- gestione emissione in generazione/simulazione/stima di tutti gli assi rotanti del robot.
This commit is contained in:
Dario Sassi
2024-04-03 08:14:20 +02:00
parent f8d2f26692
commit f701828a25
6 changed files with 170 additions and 72 deletions
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MachMgr.h
+3 -1
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@@ -1,7 +1,7 @@
//----------------------------------------------------------------------------
// EgalTech 2015-2024
//----------------------------------------------------------------------------
// File : MachMgr.h Data : 30.03.24 Versione : 2.6d1
// File : MachMgr.h Data : 02.04.24 Versione : 2.6d1
// Contenuto : Dichiarazione della classe MachMgr.
//
//
@@ -14,6 +14,7 @@
// 25.08.23 DS Aggiunta CopyMachGroup.
// 28.10.23 DS Aggiunte GetClEntAxesVal e GetToolSetupPosInCurrSetup.
// 30.03.24 DS Aggiunte GetAllAxesNames e GetCalcTable.
// 02.04.24 DS Aggiunta GetClEntAxesMask.
//
//----------------------------------------------------------------------------
@@ -309,6 +310,7 @@ class MachMgr : public IMachMgr
bool GetClEntMove( int nEntId, int& nMove) const override ;
bool GetClEntFlag( int nEntId, int& nFlag, int& nFlag2) const override ;
bool GetClEntIndex( int nEntId, int& nIndex) const override ;
bool GetClEntAxesMask( int nEntId, int& nMask) const override ;
bool GetClEntAxesVal( int nEntId, DBLVECTOR& vAxes) const override ;
// Simulation
bool SimInit( void) override ;
MachMgrClEntities.cpp
+18
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@@ -75,6 +75,24 @@ MachMgr::GetClEntIndex( int nEntId, int& nIndex) const
return true ;
}
//----------------------------------------------------------------------------
bool
MachMgr::GetClEntAxesMask( int nEntId, int& nMask) const
{
// default
nMask = 0 ;
// verifico validita GeomDB
if ( m_pGeomDB == nullptr)
return false ;
// recupero l'oggetto CamData
const CamData* pCamData = GetCamData( m_pGeomDB->GetUserObj( nEntId)) ;
if ( pCamData == nullptr)
return false ;
// recupero il tipo di movimento
nMask = pCamData->GetAxesMask() ;
return true ;
}
//----------------------------------------------------------------------------
bool
MachMgr::GetClEntAxesVal( int nEntId, DBLVECTOR& vAxes) const
Operation.cpp
+13 -9
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@@ -3649,10 +3649,11 @@ Operation::SpecialGetMaxZ( const DBLVECTOR& vAx1, const Vector3d& vtTool1,
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_TCPOS, GetToolTcPos()) ;
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_MCHID, GetOwner()) ;
// valori degli assi
bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
for ( int i = 1 ; i <= nNumAx1 ; ++ i)
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisPrev( i, EMC_VAR), vAx1[i-1]) ;
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisPrev( i, EMC_VAR, bIsRobot), vAx1[i-1]) ;
for ( int i = 1 ; i <= nNumAx2 ; ++ i)
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisValue( i, EMC_VAR), vAx2[i-1]) ;
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisValue( i, EMC_VAR, bIsRobot), vAx2[i-1]) ;
// direzioni utensile
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_TDIRP, vtTool1) ;
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_TDIR, vtTool2) ;
@@ -4052,10 +4053,11 @@ Operation::SpecialTestCollisionAvoid( const DBLVECTOR& vAxStart, const DBLVECTOR
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_TCPOS, GetToolTcPos()) ;
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_MCHID, GetOwner()) ;
// valori degli assi
bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
for ( int i = 1 ; i <= int( vAxStart.size()) ; ++ i)
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisPrev( i, EMC_VAR), vAxStart[i-1]) ;
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisPrev( i, EMC_VAR, bIsRobot), vAxStart[i-1]) ;
for ( int i = 1 ; i <= int( vAxEnd.size()) ; ++ i)
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisValue( i, EMC_VAR), vAxEnd[i-1]) ;
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisValue( i, EMC_VAR, bIsRobot), vAxEnd[i-1]) ;
// eseguo
bOk = bOk && pMch->LuaCallFunction( ON_SPECIAL_TESTCOLLISIONAVOID, false) ;
// recupero valori parametri obbligatori
@@ -4102,9 +4104,10 @@ Operation::SpecialMoveZup( DBLVECTOR& vAx, Vector3d& vtTool, int& nFlag, int& nF
// direzione utensile
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_TDIR, vtTool) ;
// valore degli assi
bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
int nNumAxes = int( vAx.size()) ;
for ( int i = 1 ; i <= nNumAxes ; ++ i)
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisValue( i, EMC_VAR), vAx[i-1]) ;
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisValue( i, EMC_VAR, bIsRobot), vAx[i-1]) ;
// eseguo
bOk = bOk && pMch->LuaCallFunction( ON_SPECIAL_MOVEZUP, false) ;
// recupero valori parametri obbligatori
@@ -4114,7 +4117,7 @@ Operation::SpecialMoveZup( DBLVECTOR& vAx, Vector3d& vtTool, int& nFlag, int& nF
bOk = bOk && pMch->LuaGetGlobVar( EMC_VAR + GVAR_FLAG2, nFlag2) ;
bOk = bOk && pMch->LuaGetGlobVar( EMC_VAR + GVAR_TDIR, vtTool) ;
for ( int i = 1 ; i <= nNumAxes ; ++ i)
bOk = bOk && pMch->LuaGetGlobVar( GetGlobVarAxisValue( i, EMC_VAR), vAx[i-1]) ;
bOk = bOk && pMch->LuaGetGlobVar( GetGlobVarAxisValue( i, EMC_VAR, bIsRobot), vAx[i-1]) ;
// reset
bOk = bOk && pMch->LuaResetGlobVar( EMC_VAR) ;
// segnalo errori
@@ -4156,11 +4159,12 @@ Operation::SpecialMoveRapid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd,
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_EXIT, GetExitNbr()) ;
bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_TCPOS, GetToolTcPos()) ;
// valore degli assi
bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
int nNumAxes = int( vAxStart.size()) ;
for ( int i = 1 ; i <= nNumAxes ; ++ i)
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisPrev( i, EMC_VAR), vAxStart[i-1]) ;
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisPrev( i, EMC_VAR, bIsRobot), vAxStart[i-1]) ;
for ( int i = 1 ; i <= nNumAxes ; ++ i)
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisValue( i, EMC_VAR), vAxEnd[i-1]) ;
bOk = bOk && pMch->LuaSetGlobVar( GetGlobVarAxisValue( i, EMC_VAR, bIsRobot), vAxEnd[i-1]) ;
// eseguo
bOk = bOk && pMch->LuaCallFunction( ON_SPECIAL_MOVERAPID, false) ;
// recupero valori parametri obbligatori
@@ -4168,7 +4172,7 @@ Operation::SpecialMoveRapid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd,
bOk = bOk && pMch->LuaGetGlobVar( EMC_VAR + EVAR_MODIF, bModif) ;
vAxNew.resize( nNumAxes) ;
for ( int i = 1 ; i <= nNumAxes ; ++ i)
bOk = bOk && pMch->LuaGetGlobVar( GetGlobVarAxisValue( i, EMC_VAR), vAxNew[i-1]) ;
bOk = bOk && pMch->LuaGetGlobVar( GetGlobVarAxisValue( i, EMC_VAR, bIsRobot), vAxNew[i-1]) ;
// reset
bOk = bOk && pMch->LuaResetGlobVar( EMC_VAR) ;
// segnalo errori
OutputConst.h
+112 -44
View File
@@ -103,6 +103,9 @@ static const std::string GVAR_R1 = ".R1" ; // (num) valore de
static const std::string GVAR_R2 = ".R2" ; // (num) valore del secondo asse rotante
static const std::string GVAR_R3 = ".R3" ; // (num) valore del terzo asse rotante
static const std::string GVAR_R4 = ".R4" ; // (num) valore del quarto asse rotante
static const std::string GVAR_R5 = ".R5" ; // (num) valore del quinto asse rotante
static const std::string GVAR_R6 = ".R6" ; // (num) valore del sesto asse rotante
static const std::string GVAR_R7 = ".R7" ; // (num) valore del settimo asse rotante
static const std::string GVAR_C1 = ".C1" ; // (num) valore del primo asse lineare per centro arco
static const std::string GVAR_C2 = ".C2" ; // (num) valore del secondo asse lineare per centro arco
static const std::string GVAR_C3 = ".C3" ; // (num) valore del terzo asse lineare per centro arco
@@ -118,6 +121,9 @@ static const std::string GVAR_R1P = ".R1p" ; // (num) valore pr
static const std::string GVAR_R2P = ".R2p" ; // (num) valore precedente del secondo asse rotante
static const std::string GVAR_R3P = ".R3p" ; // (num) valore precedente del terzo asse rotante
static const std::string GVAR_R4P = ".R4p" ; // (num) valore precedente del quarto asse rotante
static const std::string GVAR_R5P = ".R5p" ; // (num) valore precedente del quinto asse rotante
static const std::string GVAR_R6P = ".R6p" ; // (num) valore precedente del sesto asse rotante
static const std::string GVAR_R7P = ".R7p" ; // (num) valore precedente del settimo asse rotante
static const std::string GVAR_L1T = ".L1t" ; // (string) token del primo asse lineare
static const std::string GVAR_L2T = ".L2t" ; // (string) token del secondo asse lineare
static const std::string GVAR_L3T = ".L3t" ; // (string) token del terzo asse lineare
@@ -125,6 +131,9 @@ static const std::string GVAR_R1T = ".R1t" ; // (string) token del
static const std::string GVAR_R2T = ".R2t" ; // (string) token del secondo asse rotante
static const std::string GVAR_R3T = ".R3t" ; // (string) token del terzo asse rotante
static const std::string GVAR_R4T = ".R4t" ; // (string) token del quarto asse rotante
static const std::string GVAR_R5T = ".R5t" ; // (string) token del quinto asse rotante
static const std::string GVAR_R6T = ".R6t" ; // (string) token del sesto asse rotante
static const std::string GVAR_R7T = ".R7t" ; // (string) token del settimo asse rotante
static const std::string GVAR_C1T = ".C1t" ; // (string) token del primo asse lineare per centro arco
static const std::string GVAR_C2T = ".C2t" ; // (string) token del secondo asse lineare per centro arco
static const std::string GVAR_C3T = ".C3t" ; // (string) token del terzo asse lineare per centro arco
@@ -139,6 +148,9 @@ static const std::string GVAR_R1N = ".R1n" ; // (string) nome del
static const std::string GVAR_R2N = ".R2n" ; // (string) nome del secondo asse rotante
static const std::string GVAR_R3N = ".R3n" ; // (string) nome del terzo asse rotante
static const std::string GVAR_R4N = ".R4n" ; // (string) nome del quarto asse rotante
static const std::string GVAR_R5N = ".R5n" ; // (string) nome del quinto asse rotante
static const std::string GVAR_R6N = ".R6n" ; // (string) nome del sesto asse rotante
static const std::string GVAR_R7N = ".R7n" ; // (string) nome del settimo asse rotante
static const std::string GVAR_MASK = ".MASK" ; // (int) mask associato ai movimenti in rapido
static const std::string GVAR_FLAG = ".FLAG" ; // (int) flag associato ad ogni movimento
static const std::string GVAR_FLAG2 = ".FLAG2" ; // (int) secondo flag associato ad ogni movimento
@@ -229,64 +241,120 @@ static const std::string ON_RESET_MACHINE = "OnResetMachine" ;
//----------------------------------------------------------------------------
inline std::string
GetGlobVarAxisValue( int nAx, const std::string& sVar = GLOB_VAR)
GetGlobVarAxisValue( int nAx, const std::string& sVar = GLOB_VAR, bool bIsRobot = false)
{
switch ( nAx) {
case 1 : return ( sVar + GVAR_L1) ;
case 2 : return ( sVar + GVAR_L2) ;
case 3 : return ( sVar + GVAR_L3) ;
case 4 : return ( sVar + GVAR_R1) ;
case 5 : return ( sVar + GVAR_R2) ;
case 6 : return ( sVar + GVAR_R3) ;
case 7 : return ( sVar + GVAR_R4) ;
default : return "" ;
}
if ( ! bIsRobot) {
switch ( nAx) {
case 1 : return ( sVar + GVAR_L1) ;
case 2 : return ( sVar + GVAR_L2) ;
case 3 : return ( sVar + GVAR_L3) ;
case 4 : return ( sVar + GVAR_R1) ;
case 5 : return ( sVar + GVAR_R2) ;
case 6 : return ( sVar + GVAR_R3) ;
case 7 : return ( sVar + GVAR_R4) ;
default : return "" ;
}
}
else {
switch ( nAx) {
case 1 : return ( sVar + GVAR_R1) ;
case 2 : return ( sVar + GVAR_R2) ;
case 3 : return ( sVar + GVAR_R3) ;
case 4 : return ( sVar + GVAR_R4) ;
case 5 : return ( sVar + GVAR_R5) ;
case 6 : return ( sVar + GVAR_R6) ;
case 7 : return ( sVar + GVAR_R7) ;
default : return "" ;
}
}
}
//----------------------------------------------------------------------------
inline std::string
GetGlobVarAxisPrev( int nAx, const std::string& sVar = GLOB_VAR)
GetGlobVarAxisPrev( int nAx, const std::string& sVar = GLOB_VAR, bool bIsRobot = false)
{
switch ( nAx) {
case 1 : return ( sVar + GVAR_L1P) ;
case 2 : return ( sVar + GVAR_L2P) ;
case 3 : return ( sVar + GVAR_L3P) ;
case 4 : return ( sVar + GVAR_R1P) ;
case 5 : return ( sVar + GVAR_R2P) ;
case 6 : return ( sVar + GVAR_R3P) ;
case 7 : return ( sVar + GVAR_R4P) ;
default : return "" ;
}
if ( ! bIsRobot) {
switch ( nAx) {
case 1 : return ( sVar + GVAR_L1P) ;
case 2 : return ( sVar + GVAR_L2P) ;
case 3 : return ( sVar + GVAR_L3P) ;
case 4 : return ( sVar + GVAR_R1P) ;
case 5 : return ( sVar + GVAR_R2P) ;
case 6 : return ( sVar + GVAR_R3P) ;
case 7 : return ( sVar + GVAR_R4P) ;
default : return "" ;
}
}
else {
switch ( nAx) {
case 1 : return ( sVar + GVAR_R1P) ;
case 2 : return ( sVar + GVAR_R2P) ;
case 3 : return ( sVar + GVAR_R3P) ;
case 4 : return ( sVar + GVAR_R4P) ;
case 5 : return ( sVar + GVAR_R5P) ;
case 6 : return ( sVar + GVAR_R6P) ;
case 7 : return ( sVar + GVAR_R7P) ;
default : return "" ;
}
}
}
//----------------------------------------------------------------------------
inline std::string
GetGlobVarAxisToken( int nAx)
GetGlobVarAxisToken( int nAx, bool bIsRobot = false)
{
switch ( nAx) {
case 1 : return ( GLOB_VAR + GVAR_L1T) ;
case 2 : return ( GLOB_VAR + GVAR_L2T) ;
case 3 : return ( GLOB_VAR + GVAR_L3T) ;
case 4 : return ( GLOB_VAR + GVAR_R1T) ;
case 5 : return ( GLOB_VAR + GVAR_R2T) ;
case 6 : return ( GLOB_VAR + GVAR_R3T) ;
case 7 : return ( GLOB_VAR + GVAR_R4T) ;
default : return "" ;
}
if ( ! bIsRobot) {
switch ( nAx) {
case 1 : return ( GLOB_VAR + GVAR_L1T) ;
case 2 : return ( GLOB_VAR + GVAR_L2T) ;
case 3 : return ( GLOB_VAR + GVAR_L3T) ;
case 4 : return ( GLOB_VAR + GVAR_R1T) ;
case 5 : return ( GLOB_VAR + GVAR_R2T) ;
case 6 : return ( GLOB_VAR + GVAR_R3T) ;
case 7 : return ( GLOB_VAR + GVAR_R4T) ;
default : return "" ;
}
}
else {
switch ( nAx) {
case 1 : return ( GLOB_VAR + GVAR_R1T) ;
case 2 : return ( GLOB_VAR + GVAR_R2T) ;
case 3 : return ( GLOB_VAR + GVAR_R3T) ;
case 4 : return ( GLOB_VAR + GVAR_R4T) ;
case 5 : return ( GLOB_VAR + GVAR_R5T) ;
case 6 : return ( GLOB_VAR + GVAR_R6T) ;
case 7 : return ( GLOB_VAR + GVAR_R7T) ;
default : return "" ;
}
}
}
//----------------------------------------------------------------------------
inline std::string
GetGlobVarAxisName( int nAx)
GetGlobVarAxisName( int nAx, bool bIsRobot = false)
{
switch ( nAx) {
case 1 : return ( GLOB_VAR + GVAR_L1N) ;
case 2 : return ( GLOB_VAR + GVAR_L2N) ;
case 3 : return ( GLOB_VAR + GVAR_L3N) ;
case 4 : return ( GLOB_VAR + GVAR_R1N) ;
case 5 : return ( GLOB_VAR + GVAR_R2N) ;
case 6 : return ( GLOB_VAR + GVAR_R3N) ;
case 7 : return ( GLOB_VAR + GVAR_R4N) ;
default : return "" ;
}
if ( ! bIsRobot) {
switch ( nAx) {
case 1 : return ( GLOB_VAR + GVAR_L1N) ;
case 2 : return ( GLOB_VAR + GVAR_L2N) ;
case 3 : return ( GLOB_VAR + GVAR_L3N) ;
case 4 : return ( GLOB_VAR + GVAR_R1N) ;
case 5 : return ( GLOB_VAR + GVAR_R2N) ;
case 6 : return ( GLOB_VAR + GVAR_R3N) ;
case 7 : return ( GLOB_VAR + GVAR_R4N) ;
default : return "" ;
}
}
else {
switch ( nAx) {
case 1 : return ( GLOB_VAR + GVAR_R1N) ;
case 2 : return ( GLOB_VAR + GVAR_R2N) ;
case 3 : return ( GLOB_VAR + GVAR_R3N) ;
case 4 : return ( GLOB_VAR + GVAR_R4N) ;
case 5 : return ( GLOB_VAR + GVAR_R5N) ;
case 6 : return ( GLOB_VAR + GVAR_R6N) ;
case 7 : return ( GLOB_VAR + GVAR_R7N) ;
default : return "" ;
}
}
}
Processor.cpp
+14 -10
View File
@@ -843,15 +843,16 @@ Processor::OnToolSelect( const string& sTool, const string& sHead, int nExit, co
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_EXIT, nExit) ;
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_TCPOS, sTcPos) ;
// assegno il token e il nome degli assi
bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
int nNumAxes = int( m_AxesName.size()) ;
for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
if ( i <= nNumAxes) {
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisToken(i), m_AxesToken[i-1]) ;
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisName(i), m_AxesName[i-1]) ;
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisToken( i, bIsRobot), m_AxesToken[i-1]) ;
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisName( i, bIsRobot), m_AxesName[i-1]) ;
}
else {
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisToken(i)) ;
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisName(i)) ;
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisToken( i, bIsRobot)) ;
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisName( i, bIsRobot)) ;
}
}
// chiamo la funzione di selezione utensile
@@ -983,12 +984,13 @@ Processor::OnRapid( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd
// assegno il tipo di movimento
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVE, nMove) ;
// assegno il valore degli assi
bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
int nNumAxes = int( AxesEnd.size()) ;
for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
if ( i <= nNumAxes)
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue(i), AxesEnd[i-1]) ;
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot), AxesEnd[i-1]) ;
else
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue(i)) ;
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot)) ;
}
// assegno la mascheratura degli assi
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MASK, nAxesMask) ;
@@ -1023,12 +1025,13 @@ Processor::OnLinear( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEn
// assegno il tipo di movimento
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVE, nMove) ;
// assegno il valore degli assi
bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
int nNumAxes = int( AxesEnd.size()) ;
for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
if ( i <= nNumAxes)
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue(i), AxesEnd[i-1]) ;
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot), AxesEnd[i-1]) ;
else
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue(i)) ;
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot)) ;
}
// assegno il valore del versore utensile
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_TDIR, vtTool) ;
@@ -1062,12 +1065,13 @@ Processor::OnArc( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd,
// assegno il tipo di movimento
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVE, nMove) ;
// assegno il valore degli assi
bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
int nNumAxes = int( AxesEnd.size()) ;
for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
if ( i <= nNumAxes)
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue(i), AxesEnd[i-1]) ;
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot), AxesEnd[i-1]) ;
else
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue(i)) ;
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot)) ;
}
// assegno le coordinate del centro
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_C1, ptCen.x) ;
Simulator.cpp
+10 -8
View File
@@ -1622,16 +1622,17 @@ Simulator::OnToolSelect( const string& sTool, const string& sHead, int nExit, co
! m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_TCPOS, sTcPos))
return false ;
// assegno il token e il nome degli assi
bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
int nNumAxes = int( m_AxesName.size()) ;
for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
if ( i <= nNumAxes) {
if ( ! m_pMachine->LuaSetGlobVar( GetGlobVarAxisToken(i), m_AxesToken[i-1]) ||
! m_pMachine->LuaSetGlobVar( GetGlobVarAxisName(i), m_AxesName[i-1]))
if ( ! m_pMachine->LuaSetGlobVar( GetGlobVarAxisToken( i, bIsRobot), m_AxesToken[i-1]) ||
! m_pMachine->LuaSetGlobVar( GetGlobVarAxisName( i, bIsRobot), m_AxesName[i-1]))
return false ;
}
else {
if ( ! m_pMachine->LuaResetGlobVar( GetGlobVarAxisToken(i)) ||
! m_pMachine->LuaResetGlobVar( GetGlobVarAxisName(i)))
if ( ! m_pMachine->LuaResetGlobVar( GetGlobVarAxisToken( i, bIsRobot)) ||
! m_pMachine->LuaResetGlobVar( GetGlobVarAxisName( i, bIsRobot)))
return false ;
}
}
@@ -1874,16 +1875,17 @@ Simulator::OnMoveStart( const CamData* pCamData, int& nErr)
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_INDEX, pCamData->GetIndex()) ;
bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_ERR, nErr) ;
// valore degli assi all'inizio e alla fine del movimento
bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
int nNumAxes = int( m_AxesName.size()) ;
const DBLVECTOR& AxesEnd = pCamData->GetAxesVal() ;
for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
if ( i <= nNumAxes) {
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisPrev( i), m_AxesVal[i-1]) ;
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue( i), AxesEnd[i-1]) ;
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisPrev( i, GLOB_VAR, bIsRobot), m_AxesVal[i-1]) ;
bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot), AxesEnd[i-1]) ;
}
else {
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisPrev( i)) ;
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue( i)) ;
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisPrev( i, GLOB_VAR, bIsRobot)) ;
bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot)) ;
}
}
// versori utensile, correzione e ausiliario alla fine del movimento