Egalware/EgtMachKernel
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EgtMachKernel/Machine.h
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Dario Sassi b8b7f42c34 EgtMachKernel 1.6n10 : 
- modifiche per consentire adattamento della geometria macchina alla descrizione cinematica.
2016-03-02 10:52:09 +00:00

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//----------------------------------------------------------------------------
// EgalTech 2015-2015
//----------------------------------------------------------------------------
// File : Machine.h Data : 06.05.15 Versione : 1.6e3
// Contenuto : Dichiarazione della classe Machine.
//
//
//
// Modifiche : 06.05.15 DS Creazione modulo.
//
//
//----------------------------------------------------------------------------
#pragma once
#include "MachineStruConst.h"
#include "/EgtDev/Include/EXeExecutor.h"
#include "/EgtDev/Include/EGkGeomDB.h"
#include "/EgtDev/Include/EGkLuaAux.h"
#include "/EgtDev/Include/EGnLuaMgr.h"
#include "/EgtDev/Include/EGnWriter.h"
#include <unordered_map>
class MachMgr ;
class Axis ;
class Table ;
class Head ;
class Exit ;
//----------------------------------------------------------------------------
class Machine
{
public :
Machine( void) ;
~Machine( void) ;
bool Init( const std::string& sMachinesDir, const std::string& sMachineName, MachMgr* pMchMgr) ;
int GetMGeoId( void) const
{ return m_nGroupId ; }
const std::string& GetMachineName( void) const
{ return m_sName ; }
Table* GetTable( const std::string& sTable) const
{ return GetTable( GetGroup( sTable)) ; }
bool SetLook( int nFlag) ;
bool LoadTool( const std::string& sHead, int nExit, const std::string& sTool) ;
bool ResetHeadSet( const std::string& sHead) ;
bool SetAxisPos( const std::string& sAxis, double dVal) ;
bool SetAxisPos( int nAxGrp, double dVal) ;
bool GetAxisPos( const std::string& sAxis, double& dVal) ;
bool GetAxisHomePos( const std::string& sAxis, double& dHomeVal) ;
bool ResetAxisPos( const std::string& sAxis) ;
bool ResetAllAxesPos( void) ;
bool SetCurrTable( const std::string& sTable) ;
int GetCurrTable( void) ;
bool GetCurrTable( std::string& sTable) ;
bool SetCurrTool( const std::string& sTool, const std::string& sHead, int nExit) ;
int GetCurrTool( void) ;
bool GetCurrTool( std::string& sTool) ;
double GetCurrRot1W( void) ;
std::string GetKinematicAxis( int nInd) ;
int GetCurrLinAxes( void) ;
int GetCurrRotAxes( void) ;
bool GetAllCurrAxesName( STRVECTOR& vAxName) ;
bool GetAllCurrAxesHomePos( DBLVECTOR& vAxHomeVal) ;
bool GetAngles( const Vector3d& vtDirT, const Vector3d& vtDirA,
int& nStat, double& dAngA1, double& dAngB1, double& dAngA2, double& dAngB2) ;
bool GetPositions( const Point3d& ptP, double dA, double dB,
int& nStat, double& dX, double& dY, double& dZ) ;
bool GetTipFromPositions( double dX, double dY, double dZ, double dAngA, double dAngB,
bool bBottom, Point3d& ptTip) ;
bool GetToolDirFromAngles( double dAngA, double dAngB, Vector3d& vtDir) ;
bool GetNearestAngleInStroke( int nId, double dAngRef, double& dAng) ;
bool VerifyOutstroke( double dX, double dY, double dZ, double dAngA, double dAngB, int& nStat) ;
const std::string& GetOutstrokeInfo( void) const
{ return m_sOutstrokeInfo ; }
bool LuaCallFunction( const std::string& sFun) ;
bool LuaCreateGlobTable( const std::string& sName) ;
bool LuaResetGlobVar( const std::string& sName) ;
template <typename T>
bool LuaSetGlobVar( const std::string& sVar, const T& Val) ;
template <typename T>
bool LuaGetGlobVar( const std::string& sVar, T& Val) ;
bool WriterOpen( const std::string& sOutFile) ;
bool WriterClose( void) ;
bool WriterEmit( const std::string& sLine) ;
private :
void Clear( void) ;
bool LoadMachineGeometry( const std::string& sMGeoName, const Vector3d& vtOffset) ;
bool LoadMachineBase( const std::string& sName, const std::string& sGeo) ;
bool LoadMachineTable( const std::string& sName, const std::string& sParent, int nType,
const Point3d& ptRef1, const std::string& sGeo) ;
bool AdjustTablePos( int nLay, const Point3d& ptRef1) ;
bool LoadMachineAxis( const std::string& sName, const std::string& sParent, int nType,
const Point3d& ptPos, const Vector3d& vtDir,
const STROKE& Stroke, const std::string& sGeo, double dHome) ;
bool AdjustAxisVector( int nLay, const std::string& sPart, const std::string& sName,
int nType, const Point3d& ptPos, const Vector3d& vtDir) ;
bool LoadMachineStdHead( const std::string& sName, const std::string& sParent, const std::string& sHSet,
const Point3d& ptPos, const Vector3d& vtTDir, const Vector3d& vtADir,
double dRot1W, const STROKE& Rot2Stroke, int nSolCh, const std::string& sGeo) ;
bool LoadMachineMultiHead( const std::string& sName, const std::string& sParent, const std::string& sHSet,
const MUEXITVECTOR& vMuExit, const Vector3d& vtADir,
double dRot1W, const STROKE& Rot2Stroke, int nSolCh, const std::string& sGeo) ;
int GetGroup( const std::string& sGroup) const ;
Axis* GetAxis( int nGroup) const ;
bool IsAxisGroup( int nGroup) const
{ return ( GetAxis( nGroup) != nullptr) ; }
bool IsLinearAxisGroup( int nGroup) const ;
bool IsRotaryAxisGroup( int nGroup) const ;
Table* GetTable( int nGroup) const ;
bool IsTableGroup( int nGroup) const
{ return ( GetTable( nGroup) != nullptr) ; }
Head* GetHead( int nGroup) const ;
bool IsHeadGroup( int nGroup) const
{ return ( GetHead( nGroup) != nullptr) ; }
Exit* GetExit( int nGroup) const ;
bool IsExitGroup( int nGroup) const
{ return ( GetExit( nGroup) != nullptr) ; }
bool AddHeadToSet( const std::string& sHSet, const std::string& sName) ;
const STRVECTOR& GetHSet( const std::string& sHead) const ;
bool EnableHeadInSet( const std::string& sHead) ;
bool CreateExitGroups( int nLay, const MUEXITVECTOR& vMuExit) ;
bool CalculateKinematicChain( void) ;
bool AddKinematicAxis( bool bOnHead, int nId) ;
bool GetDirection( const Vector3d& vtDir, double dAngA, double dAngB, Vector3d& vtNew) ;
bool VerifyScc( const Vector3d& vtDirI, const Vector3d& vtDirA, int nSolCh) ;
bool AdjustAngleInStroke( int nId, double& dAng) ;
bool LuaInit( const std::string& sMachineName) ;
bool LuaExit( void) ;
bool LuaLoadMachine( const std::string& sFile) ;
private :
typedef std::unordered_map< std::string, int> STRINT_UMAP ;
private :
// generali
MachMgr* m_pMchMgr ; // puntatore al gestore di tutte le lavorazioni
IGeomDB* m_pGeomDB ; // puntatore al DB geometrico
LuaMgr m_LuaMgr ; // interprete lua della macchina
Writer m_Writer ; // scrittore di file di testo
// dati macchina
std::string m_sName ; // nome della macchina
std::string m_sMachineDir ; // direttorio della macchina
int m_nGroupId ; // Id del gruppo della macchina
int m_nTempGroupId ; // Id del gruppo temporaneo macchina per carico
STRINT_UMAP m_mapGroups ; // dizionario dei gruppi della macchina
double m_dAxisMaxAdjust ; // massimo aggiustamento asse da geometria a descrizione cinematica
double m_dExitMaxAdjust ; // massimo aggiustamento uscita da geometria a descrizione cinematica
// dati di calcolo
int m_nCalcTabId ; // tavola corrente per calcoli
int m_nCalcHeadId ; // testa corrente per calcoli
int m_nCalcExitId ; // uscita corrente per calcoli
int m_nCalcToolId ; // utensile corrente per calcoli
double m_dCalcRot1W ; // peso del primo asse rotante per i confronti
int m_nCalcSolCh ; // criterio di scelta della soluzione
Point3d m_ptCalcPos ; // posizione utensile a riposo per calcoli
Vector3d m_vtCalcDir ; // direzione utensile a riposo per calcoli
Vector3d m_vtCalcADir ; // direzione ausiliaria a riposo per calcoli
double m_dCalcTLen ; // lunghezza utensile corrente per calcoli
double m_dCalcTRad ; // raggio utensile corrente per calcoli
KINAXISVECTOR m_vCalcLinAx ; // vettore assi lineari attivi per calcoli
KINAXISVECTOR m_vCalcRotAx ; // vettore assi rotanti attivi per calcoli
std::string m_sOutstrokeInfo ; // informazioni su ultimo extra corsa
// Static per interprete Lua di macchina
private :
static Machine* m_pMchLua ;
private :
static int LuaEmtGeneral( lua_State* L) ;
static int LuaEmtBase( lua_State* L) ;
static int LuaEmtTable( lua_State* L) ;
static int LuaEmtAxis( lua_State* L) ;
static int LuaEmtHead( lua_State* L) ;
static int LuaEmtStdHead( lua_State* L) ;
static int LuaEmtMultiHead( lua_State* L) ;
static int LuaEmtWrite( lua_State* L) ;
} ;
//----------------------------------------------------------------------------
template <typename T>
bool
Machine::LuaSetGlobVar( const std::string& sVar, const T& Val)
{
// imposto contesto corretto
int nOldCtx = ExeGetCurrentContext() ;
if ( nOldCtx != m_pMchMgr->GetContextId())
ExeSetCurrentContext( m_pMchMgr->GetContextId()) ;
// imposto l'oggetto corrente per Lua
m_pMchLua = this ;
// eseguo l'assegnamento
bool bOk = ::LuaSetGlobVar( m_LuaMgr.GetLuaState(), sVar, Val) ;
// ripristino contesto originale
if ( nOldCtx != m_pMchMgr->GetContextId())
ExeSetCurrentContext( nOldCtx) ;
return bOk ;
}
//----------------------------------------------------------------------------
template <typename T>
bool
Machine::LuaGetGlobVar( const std::string& sVar, T& Val)
{
// imposto contesto corretto
int nOldCtx = ExeGetCurrentContext() ;
if ( nOldCtx != m_pMchMgr->GetContextId())
ExeSetCurrentContext( m_pMchMgr->GetContextId()) ;
// imposto l'oggetto corrente per Lua
m_pMchLua = this ;
// eseguo la lettura
bool bOk = ::LuaGetGlobVar( m_LuaMgr.GetLuaState(), sVar, Val) ;
// ripristino contesto originale
if ( nOldCtx != m_pMchMgr->GetContextId())
ExeSetCurrentContext( nOldCtx) ;
return bOk ;
}
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