Egalware/EgtMachKernel
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- in generazione CN e stima si imposta fase a 1 prima dell'inizio e al termine
- in simulazione aggiunta gestione errore in evento OnToolSelect.
This commit is contained in:
Dario Sassi
2023-12-29 13:08:21 +01:00
parent ab84757a80
commit fcaf15cbe1
2 changed files with 14 additions and 4 deletions
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Simulator.cpp
+8 -4
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@@ -47,10 +47,12 @@ static const double MIN_STEP = 1.0 ;
static const double MAX_STEP = 100.0 ;
static const double MID_STEP = 50.0 ;
static const double COLL_STEP = 10. ;
static const double SQ_COEFF_ROT_MOVE = 100. ;
static const double COEFF_LIM = 0.999 ;
static const double SAFEDIST_STD = 5.0 ;
static const int ERR_OUTSTROKE = 1 ;
static const int ERR_COLLISION = 11 ;
static const int ERR_TOOL_SEL = 21 ;
//----------------------------------------------------------------------------
Simulator::Simulator( void)
@@ -997,7 +999,7 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
double dSqDist = 0 ;
for ( size_t i = 0 ; i < m_AxesName.size() ; ++ i) {
// coefficiente moltiplicativo per differenziare assi lineari (primi 3) e rotanti (altri)
double dSqCoeff = (( i < 3) ? 1 : 100) ;
double dSqCoeff = (( i < 3) ? 1 : SQ_COEFF_ROT_MOVE) ;
dSqDist += dSqCoeff * ( AxesEnd[i] - m_AxesVal[i]) * ( AxesEnd[i] - m_AxesVal[i]) ;
}
// Calcolo distanza di movimento eventuali assi ausiliari
@@ -1006,7 +1008,7 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
if ( m_AuxAxesLink[i] != 0)
continue ;
// coefficiente moltiplicativo per differenziare assi lineari e rotanti
double dSqCoeff = ( m_AuxAxesLinear[i] ? 1 : 100) ;
double dSqCoeff = ( m_AuxAxesLinear[i] ? 1 : SQ_COEFF_ROT_MOVE) ;
dSqDistAux += dSqCoeff * ( m_AuxAxesEnd[i] - m_AuxAxesVal[i]) * ( m_AuxAxesEnd[i] - m_AuxAxesVal[i]) ;
}
// Considero il massimo delle due distanze
@@ -1188,7 +1190,7 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
double dSqDist = 0 ;
for ( int i = 0 ; i < int( m_AuxAxesName.size()) ; ++ i) {
// coefficiente moltiplicativo per differenziare assi lineari e rotanti
double dSqCoeff = ( m_AuxAxesLinear[i] ? 1 : 100) ;
double dSqCoeff = ( m_AuxAxesLinear[i] ? 1 : SQ_COEFF_ROT_MOVE) ;
dSqDist += dSqCoeff * ( m_AuxAxesEnd[i] - m_AuxAxesVal[i]) * ( m_AuxAxesEnd[i] - m_AuxAxesVal[i]) ;
}
double dPrevCoeff = m_dCoeff ;
@@ -1634,8 +1636,10 @@ Simulator::OnToolSelect( const string& sTool, const string& sHead, int nExit, co
m_AuxAxesLink.emplace_back( 0) ;
}
}
else
else {
bOk = false ;
nErr = ERR_TOOL_SEL ;
}
}
return ( bOk && nErr == 0) ;