Egalware/EgtMachKernel
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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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Processor.cpp
+14 -10
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@@ -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) ;