Egalware/EgtMachKernel
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

EgtMachKernel :

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
Operation.cpp
+13 -9
View File
@@ -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