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EgtMachKernel 2.3e1 :

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- in simulazione se previsto controllo collisione si contralla anche quella tra utensile e pezzo in lavorazione se movimento Rapido
- in simulazione nello stesso caso non si fa più il virtual milling.
This commit is contained in:
DarioS
2021-05-03 12:00:21 +02:00
parent 94de4a72ae
commit fd811f4077
6 changed files with 24 additions and 20 deletions
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EgtMachKernel.rc
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MachMgr.h
+1 -1
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@@ -442,7 +442,7 @@ class MachMgr : public IMachMgr
const ToolData* GetMachiningToolData( void) const ;
// Simulation
bool SimAddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, double dPar2, double dPar3) ;
bool SimExecCollisionCheck( int& nCdInd, int& nObjInd) ;
bool SimExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) ;
bool SimOnCollision( int nCdInd, int nObjInd, int& nErr) ;
// Machine
bool GetHeadAbove( const std::string& sHead) const ;
MachMgrSimulation.cpp
+2 -2
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@@ -161,13 +161,13 @@ MachMgr::SimAddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, do
//----------------------------------------------------------------------------
bool
MachMgr::SimExecCollisionCheck( int& nCdInd, int& nObjInd)
MachMgr::SimExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
{
// verifico simulatore
if ( m_pSimul == nullptr)
return false ;
// eseguo verifica di collisione (nessuna collisione -> true)
return m_pSimul->ExecCollisionCheck( nCdInd, nObjInd) ;
return m_pSimul->ExecCollisionCheck( nCdInd, nObjInd, nMoveType) ;
}
//----------------------------------------------------------------------------
MachineLua.cpp
+5 -3
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@@ -1212,14 +1212,16 @@ Machine::LuaEmtAddCollisionObj( lua_State* L)
int
Machine::LuaEmtExecCollisionCheck( lua_State* L)
{
// Nessun parametro
// 1 parametro opzionale
int nMoveType = 0 ;
LuaGetParam( L, 1, nMoveType) ;
LuaClearStack( L) ;
// verifico ci sia una macchina attiva
if ( m_pMchLua == nullptr)
return luaL_error( L, " Unknown Machine") ;
// eseguo la verifica di collisione (nessuna collisione -> true)
int nCdInd = -1, nObjInd = -1 ;
bool bOk = ( m_pMchLua->m_pMchMgr != nullptr && m_pMchLua->m_pMchMgr->SimExecCollisionCheck( nCdInd, nObjInd)) ;
bool bOk = ( m_pMchLua->m_pMchMgr != nullptr && m_pMchLua->m_pMchMgr->SimExecCollisionCheck( nCdInd, nObjInd, nMoveType)) ;
// assegno risultato
LuaSetParam( L, bOk) ;
LuaSetParam( L, nCdInd) ;
@@ -1231,7 +1233,7 @@ Machine::LuaEmtExecCollisionCheck( lua_State* L)
int
Machine::LuaEmtOnCollision( lua_State* L)
{
// Due parametri : nCdInd, nObjInd
// 2 parametri : nCdInd, nObjInd
int nCdInd ;
LuaCheckParam( L, 1, nCdInd)
int nObjInd ;
Simulator.cpp
+15 -13
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@@ -990,15 +990,17 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
m_pMachine->SetAxisPos( m_AuxAxesName[j], dVal) ;
}
// eseguo eventuale collision check
bCollCheck = bCollCheck && ExecCollisionCheck( nCdInd, nObjInd) ;
bCollCheck = bCollCheck && ExecCollisionCheck( nCdInd, nObjInd, nMoveType) ;
}
// eseguo eventuale Vmill
Point3d ptNoseF ; Vector3d vtDirF ; Vector3d vtAuxF ;
bool bOkF = GetHeadCurrPosDirAux( ptNoseF, vtDirF, vtAuxF) ;
for ( int j = 0 ; j < int( m_VmId.size()) ; ++ j) {
Frame3d frVzmF ;
bOkF = m_pGeomDB->GetGlobFrame( m_VmId[j], frVzmF) && bOkF ;
ExecLineVmill( m_VmId[j], ptNoseI, vtDirI, vtAuxI, vFrVzmI[j], ptNoseF, vtDirF, vtAuxF, frVzmF) ;
// se non è rapido o non c'è verifica collisioni, eseguo eventuale Vmill
if ( nMoveType != 0 || ! NeedCollisionCheck()) {
Point3d ptNoseF ; Vector3d vtDirF ; Vector3d vtAuxF ;
bool bOkF = GetHeadCurrPosDirAux( ptNoseF, vtDirF, vtAuxF) ;
for ( int j = 0 ; j < int( m_VmId.size()) ; ++ j) {
Frame3d frVzmF ;
bOkF = m_pGeomDB->GetGlobFrame( m_VmId[j], frVzmF) && bOkF ;
ExecLineVmill( m_VmId[j], ptNoseI, vtDirI, vtAuxI, vFrVzmI[j], ptNoseF, vtDirF, vtAuxF, frVzmF) ;
}
}
}
// Eseguo movimento su arco
@@ -1051,7 +1053,7 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
vFrVzmI[k] = frVzmF ;
}
// eseguo eventuale collision check
bCollCheck = bCollCheck && ExecCollisionCheck( nCdInd, nObjInd) ;
bCollCheck = bCollCheck && ExecCollisionCheck( nCdInd, nObjInd, nMoveType) ;
// aggiorno prossimo inizio
ptNoseI = ptNoseF ;
vtDirI = vtDirF ;
@@ -1083,7 +1085,7 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
m_pMachine->SetAxisPos( m_AuxAxesName[i], dVal) ;
}
// eseguo eventuale collision check
bCollCheck = bCollCheck && ExecCollisionCheck( nCdInd, nObjInd) ;
bCollCheck = bCollCheck && ExecCollisionCheck( nCdInd, nObjInd, nMoveType) ;
}
// Se riscontrata collisione
@@ -1188,7 +1190,7 @@ Simulator::ExecLineVmill( int nVmId, const Point3d& ptHi, const Vector3d& vtHi,
//----------------------------------------------------------------------------
bool
Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd)
Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
{
// se non ci sono oggetti da controllare o non ci sono grezzi o equivalenti, tutto bene
if ( ! NeedCollisionCheck())
@@ -1219,8 +1221,8 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd)
string sExit ; m_pGeomDB->GetName( m_CollObj[j].nFrameId, sExit) ;
bool bIsTool = ( sHead == m_sHead &&
( sExit == string( "_T") + ToString( m_nExit) || sExit == string( "_TT") + ToString( m_nExit))) ;
// se utensile attivo su grezzo in lavoro, salto
if ( bIsTool && bIsRaw)
// se utensile attivo su grezzo in lavoro e non è rapido, salto
if ( bIsTool && bIsRaw && nMoveType != 0)
continue ;
// se riferimento non trovato, si salta
const IGeoFrame3d* pGeoFrame = GetGeoFrame3d( m_pGeomDB->GetGeoObj( m_CollObj[j].nFrameId)) ;
Simulator.h
+1 -1
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@@ -38,7 +38,7 @@ class Simulator
bool GetOperationInfo( std::string& sName, int& nType) const ;
bool GetMoveInfo( int& nGmove, double& dFeed) const ;
bool AddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, double dPar2, double dPar3) ;
bool ExecCollisionCheck( int& nCdInd, int& nObjInd) ;
bool ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) ;
bool OnCollision( int nCdInd, int nObjInd, int& nErr) ;
private :