EgtMachKernel/MachineLuaCL.cpp

//----------------------------------------------------------------------------
//  EgalTech 2016-2016
//----------------------------------------------------------------------------
// File : MachineLuaCL.cpp       Data : 26.04.16          Versione : 1.6p4
// Contenuto : Implementazione gestione macchina : funzioni Lua per CL.
//
//
//
// Modifiche : 26.04.16 DS Creazione modulo.
//
//
//----------------------------------------------------------------------------

//--------------------------- Include ----------------------------------------
#include "stdafx.h"
#include "MachMgr.h"
#include "DllMain.h"
#include "CamData.h"
#include "Operation.h"
#include "/EgtDev/Include/EXeExecutor.h"
#include "/EgtDev/Include/EGkGeoPoint3d.h"
#include "/EgtDev/Include/EGkGeoVector3d.h"
#include "/EgtDev/Include/EGkCurveLine.h"
#include "/EgtDev/Include/EGkCurveArc.h"
#include "/EgtDev/Include/EGkCurveComposite.h"
#include "/EgtDev/Include/EGkIntersLineCylinder.h"
#include "/EgtDev/Include/EGkOffsetCurve3d.h"
#include "/EgtDev/Include/EGkGeomDB.h"
#include "/EgtDev/Include/EGkLuaAux.h"
#include "/EgtDev/Include/EGkStringUtils3d.h"
#include "/EgtDev/Include/EGnStringUtils.h"
#include "/EgtDev/Include/EGnFileUtils.h"
#include "/EgtDev/Include/ENkPolynomialRoots.h"
#include "/EgtDev/Include/EgtPointerOwner.h"

using namespace std ;

#define COLOR5AX 0
#define DRAWCYL 0

//----------------------------------------------------------------------------
int
Machine::LuaEmtAddRapidStart( lua_State* L)
{
  // 6, 7 o 8 parametri : nPathId, ptP, vtTool, vtCorr, vtAux, nFlag [, nFlag2] [, bToolShow]
   int nPathId ;
   LuaCheckParam( L, 1, nPathId)
   Point3d ptP ;
   LuaCheckParam( L, 2, ptP)
   Vector3d vtTool ;
   LuaCheckParam( L, 3, vtTool)
   Vector3d vtCorr ;
   LuaCheckParam( L, 4, vtCorr)
   Vector3d vtAux ;
   LuaCheckParam( L, 5, vtAux)
   int nFlag ;
   LuaCheckParam( L, 6, nFlag)
   int nFlag2 = 0 ;
   bool bToolShow = false ;
   if ( LuaGetParam( L, 7, nFlag2))
      LuaGetParam( L, 8, bToolShow) ;
   else
      LuaGetParam( L, 7, bToolShow) ;
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // creo oggetto punto per DB geometrico
   PtrOwner<IGeoPoint3d> pGP( CreateGeoPoint3d()) ;
   bool bOk = ! IsNull( pGP) ;
  // assegno le coordinate del punto
   bOk = bOk && pGP->Set( ptP) ;
  // inserisco l'oggetto nel DB geometrico
   int nId = ( bOk ? m_pMchLua->m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pGP)) : GDB_ID_NULL) ;
   bOk = bOk && ( nId != GDB_ID_NULL) ;
  // creo oggetto dati Cam
   PtrOwner<CamData> pCam( new( nothrow) CamData) ;
   bOk = bOk && ! IsNull( pCam) ;
   if ( bOk) {
     // assegno valori
      pCam->SetMoveType( 0) ;
      pCam->SetToolDir( vtTool) ;
      pCam->SetCorrDir( vtCorr) ;
      pCam->SetAuxDir( vtAux) ;
      pCam->SetEndPoint( ptP) ;
      pCam->SetFeed( 0) ;
      pCam->SetFlag( nFlag) ;
      pCam->SetFlag2( nFlag2) ;
      pCam->SetToolShow( bToolShow) ;
     // associo questo oggetto a quello geometrico
      m_pMchLua->m_pGeomDB->SetUserObj( nId, Release( pCam)) ;
   }
  // assegno risultato
   if ( bOk)
      LuaSetParam( L, nId) ;
   else
      LuaSetParam( L) ;
   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtAddRapidMove( lua_State* L)
{
  // 7, 8 o 9 parametri : nPathId, ptIni, ptFin, vtTool, vtCorr, vtAux, nFlag [, nFlag2] [, bToolShow]
   int nPathId ;
   LuaCheckParam( L, 1, nPathId)
   Point3d ptIni ;
   LuaCheckParam( L, 2, ptIni)
   Point3d ptFin ;
   LuaCheckParam( L, 3, ptFin)
   Vector3d vtTool ;
   LuaCheckParam( L, 4, vtTool)
   Vector3d vtCorr ;
   LuaCheckParam( L, 5, vtCorr)
   Vector3d vtAux ;
   LuaCheckParam( L, 6, vtAux)
   int nFlag ;
   LuaCheckParam( L, 7, nFlag)
   int nFlag2 = 0 ;
   bool bToolShow = false ;
   if ( LuaGetParam( L, 8, nFlag2))
      LuaGetParam( L, 9, bToolShow) ;
   else
      LuaGetParam( L, 8, bToolShow) ;
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // creo oggetto linea per DB geometrico
   PtrOwner<ICurveLine> pLine( CreateCurveLine()) ;
   bool bOk = ! IsNull( pLine) ;
  // assegno gli estremi della linea
   bOk = bOk && pLine->Set( ptIni, ptFin) ;
  // inserisco l'oggetto nel DB geometrico
   int nId = ( bOk ? m_pMchLua->m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pLine)) : GDB_ID_NULL) ;
   bOk = bOk && ( nId != GDB_ID_NULL) ;
  // creo oggetto dati Cam
   PtrOwner<CamData> pCam( new( nothrow) CamData) ;
   bOk = bOk && ! IsNull( pCam) ;
   if ( bOk) {
     // assegno valori
      pCam->SetMoveType( 0) ;
      pCam->SetToolDir( vtTool) ;
      pCam->SetCorrDir( vtCorr) ;
      pCam->SetAuxDir( vtAux) ;
      pCam->SetEndPoint( ptFin) ;
      pCam->SetFeed( 0) ;
      pCam->SetFlag( nFlag) ;
      pCam->SetFlag2( nFlag2) ;
      pCam->SetToolShow( bToolShow) ;
     // associo questo oggetto a quello geometrico
      m_pMchLua->m_pGeomDB->SetUserObj( nId, Release( pCam)) ;
   }
  // assegno risultato
   if ( bOk)
      LuaSetParam( L, nId) ;
   else
      LuaSetParam( L) ;
   return 1 ;
}

//----------------------------------------------------------------------------
int
AddLinearMove( const Point3d& ptIni, const Point3d& ptFin, IGeomDB* pGeomDB , int nPathId, const Vector3d& vtTool,
               const Vector3d& vtCorr, const Vector3d& vtAux, double dFeed, int nFlag, int nFlag2, bool bToolShow, int nRefId = GDB_ID_NULL)
{
   // creo oggetto linea per DB geometrico
   PtrOwner<ICurveLine> pLine( CreateCurveLine()) ;
   bool bOk = ! IsNull( pLine) ;
   // assegno gli estremi della linea
   bOk = bOk && pLine->Set( ptIni, ptFin) ;
   // inserisco l'oggetto nel DB geometrico
   int nId = ( bOk ? pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pLine)) : GDB_ID_NULL) ;
   bOk = bOk && ( nId != GDB_ID_NULL) ;
   if ( bOk  &&  nRefId != GDB_ID_NULL)
      pGeomDB->RelocateGlob( nId, nRefId, GDB_AFTER) ;
   // creo oggetto dati Cam
   PtrOwner<CamData> pCam( new( nothrow) CamData) ;
   bOk = bOk && ! IsNull( pCam) ;
   if ( bOk) {
      // assegno valori
      pCam->SetMoveType( 1) ;
      pCam->SetToolDir( vtTool) ;
      pCam->SetCorrDir( vtCorr) ;
      pCam->SetAuxDir( vtAux) ;
      pCam->SetEndPoint( ptFin) ;
      pCam->SetFeed( dFeed) ;
      pCam->SetFlag( nFlag) ;
      pCam->SetFlag2( nFlag2) ;
      pCam->SetToolShow( bToolShow) ;
      // associo questo oggetto a quello geometrico
      pGeomDB->SetUserObj( nId, Release( pCam)) ;
   }
   return nId ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtAddLinearMove( lua_State* L)
{
  // 8, 9 o 10 parametri : nPathId, ptIni, ptFin, vtTool, vtCorr, vtAux, dFeed, nFlag [, nFlag2] [, bToolShow]
   int nPathId ;
   LuaCheckParam( L, 1, nPathId)
   Point3d ptIni ;
   LuaCheckParam( L, 2, ptIni)
   Point3d ptFin ;
   LuaCheckParam( L, 3, ptFin)
   Vector3d vtTool ;
   LuaCheckParam( L, 4, vtTool)
   Vector3d vtCorr ;
   LuaCheckParam( L, 5, vtCorr)
   Vector3d vtAux ;
   LuaCheckParam( L, 6, vtAux)
   double dFeed ;
   LuaCheckParam( L, 7, dFeed)
   int nFlag ;
   LuaCheckParam( L, 8, nFlag)
   int nFlag2 = 0 ;
   bool bToolShow = false ;
   if ( LuaGetParam( L, 9, nFlag2))
      LuaGetParam( L, 10, bToolShow) ;
   else
      LuaGetParam( L, 9, bToolShow) ;
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
   int nId = AddLinearMove( ptIni, ptFin, m_pMchLua->m_pGeomDB, nPathId, vtTool, vtCorr, vtAux, dFeed, nFlag, nFlag2, bToolShow) ;
   bool bOk = nId != GDB_ID_NULL ;
  // assegno risultato
   if ( bOk)
      LuaSetParam( L, nId) ;
   else
      LuaSetParam( L) ;
   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtAddArcMove( lua_State* L)
{
  // 11 o 12 parametri : nPathId, ptIni, ptFin, ptCen, dAngCen, vtN, vtTool, vtCorr, vtAux, dFeed, nFlag [, bToolShow]
   int nPathId ;
   LuaCheckParam( L, 1, nPathId)
   Point3d ptIni ;
   LuaCheckParam( L, 2, ptIni)
   Point3d ptFin ;
   LuaCheckParam( L, 3, ptFin)
   Point3d ptCen ;
   LuaCheckParam( L, 4, ptCen)
   double dAngCen ;
   LuaCheckParam( L, 5, dAngCen)
   Vector3d vtN ;
   LuaCheckParam( L, 6, vtN)
   Vector3d vtTool ;
   LuaCheckParam( L, 7, vtTool)
   Vector3d vtCorr ;
   LuaCheckParam( L, 8, vtCorr)
   Vector3d vtAux ;
   LuaCheckParam( L, 9, vtAux)
   double dFeed ;
   LuaCheckParam( L, 10, dFeed)
   int nFlag ;
   LuaCheckParam( L, 11, nFlag)
   bool bToolShow = false ;
   LuaGetParam( L, 12, bToolShow) ;
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // creo oggetto arco per DB geometrico
   PtrOwner<ICurveArc> pArc( CreateCurveArc()) ;
   bool bOk = ! IsNull( pArc) ;
  // assegno i dati dell'arco
   double dDeltaZ = ( ptFin - ptIni) * vtN ;
   bOk = bOk && pArc->SetCPAN( ptCen, ptIni, dAngCen, dDeltaZ, vtN) ;
   Point3d ptCalcFin ;
   bOk = bOk && ( pArc->GetEndPoint( ptCalcFin)  &&  AreSamePointApprox( ptCalcFin, ptFin)) ;
   int nMove = ( dAngCen > 0 ? 3 : 2) ;
  // inserisco l'oggetto nel DB geometrico
   int nId = ( bOk ? m_pMchLua->m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pArc)) : GDB_ID_NULL) ;
   bOk = bOk && ( nId != GDB_ID_NULL) ;
  // creo oggetto dati Cam
   PtrOwner<CamData> pCam( new( nothrow) CamData) ;
   bOk = bOk && ! IsNull( pCam) ;
   if ( bOk) {
     // assegno valori
      pCam->SetMoveType( nMove) ;
      pCam->SetToolDir( vtTool) ;
      pCam->SetCorrDir( vtCorr) ;
      pCam->SetAuxDir( vtAux) ;
      pCam->SetEndPoint( ptFin) ;
      pCam->SetCenter( ptCen) ;
      pCam->SetAngCen( dAngCen) ;
      pCam->SetDeltaN( dDeltaZ) ;
      pCam->SetNormDir( vtN) ;
      pCam->SetFeed( dFeed) ;
      pCam->SetFlag( nFlag) ;
      pCam->SetToolShow( bToolShow) ;
     // associo questo oggetto a quello geometrico
      m_pMchLua->m_pGeomDB->SetUserObj( nId, Release( pCam)) ;
   }
  // assegno risultato
   if ( bOk)
      LuaSetParam( L, nId) ;
   else
      LuaSetParam( L) ;
   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtAddClimb( lua_State* L)
{
  // 5 o 6 o 7 parametri : nMachId [, sMain], vAxVal, nMask, nFlag, nFlag2 [, sInfo]
   int nMachId ;
   LuaCheckParam( L, 1, nMachId)
   string sMain = MCH_CL ;
   int nOffs = ( LuaGetParam( L, 2, sMain) ? 1 : 0) ;
   bool bMain = ( ! EqualNoCase( sMain, MCH_DBL)) ;
   DBLVECTOR vAxVal ;
   LuaCheckParam( L, 2 + nOffs, vAxVal)
   int nMask ;
   LuaCheckParam( L, 3 + nOffs, nMask)
   int nFlag ;
   LuaCheckParam( L, 4 + nOffs, nFlag)
   int nFlag2 ;
   LuaCheckParam( L, 5 + nOffs, nFlag2)
   string sInfo = "" ;
   LuaGetParam( L, 6 + nOffs, sInfo) ;
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // verifica "Main" e "Double"
   if ( ! EqualNoCase( sMain, MCH_CL)  &&  ! EqualNoCase( sMain, MCH_DBL))
      return luaL_error( L, ( " Error in EmtAddClimb : " + sMain).c_str()) ;
  // recupero l'operazione
   Operation* pOper = GetOperation( m_pMchLua->m_pGeomDB->GetUserObj( nMachId)) ;
  // imposto la discesa (primo movimento del primo percorso della lavorazione)
   bool bOk = ( pOper != nullptr && pOper->AddSpecialClimb( vAxVal, ( nMask >= 0), GDB_ID_NULL, bMain, nFlag, nFlag2, nMask, sInfo, false)) ;
   if ( ! bOk)
      return luaL_error( L, " Error in EmtAddClimb") ;
   LuaSetParam( L, bOk) ;

   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtRemoveClimb( lua_State* L)
{
  // 1 o 2 parametri : nMachId [, sMain]
   int nMachId ;
   LuaCheckParam( L, 1, nMachId)
   string sMain = MCH_CL ;
   LuaGetParam( L, 2, sMain) ;
   bool bMain = ( ! EqualNoCase( sMain, MCH_DBL)) ;
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // verifica "Main" e "Double"
   if ( ! EqualNoCase( sMain, MCH_CL)  &&  ! EqualNoCase( sMain, MCH_DBL))
      return luaL_error( L, ( " Error in EmtAddClimb : " + sMain).c_str()) ;
  // recupero l'operazione
   Operation* pOper = GetOperation( m_pMchLua->m_pGeomDB->GetUserObj( nMachId)) ;
  // elimino le discese (primi movimenti "CLIMB" del primo percorso della lavorazione)
   bool bOk = ( pOper != nullptr && pOper->RemoveClimb( GDB_ID_NULL, bMain)) ;
   LuaSetParam( L, bOk) ;

   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtAddRise( lua_State* L)
{
  // 5 o 6 o 7 parametri : nMachId [, sMain], vAxVal, nMask, nFlag, nFlag2 [, sInfo]
   int nMachId ;
   LuaCheckParam( L, 1, nMachId)
   string sMain = MCH_CL ;
   int nOffs = ( LuaGetParam( L, 2, sMain) ? 1 : 0) ;
   bool bMain = ( ! EqualNoCase( sMain, MCH_DBL)) ;
   DBLVECTOR vAxVal ;
   LuaCheckParam( L, 2 + nOffs, vAxVal)
   int nMask ;
   LuaCheckParam( L, 3 + nOffs, nMask)
   int nFlag ;
   LuaCheckParam( L, 4 + nOffs, nFlag)
   int nFlag2 ;
   LuaCheckParam( L, 5 + nOffs, nFlag2)
   string sInfo = "" ;
   LuaGetParam( L, 6 + nOffs, sInfo) ;
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // verifica "Main" e "Double"
   if ( ! EqualNoCase( sMain, MCH_CL)  &&  ! EqualNoCase( sMain, MCH_DBL))
      return luaL_error( L, ( " Error in EmtAddClimb : " + sMain).c_str()) ;
  // recupero l'operazione
   Operation* pOper = GetOperation( m_pMchLua->m_pGeomDB->GetUserObj( nMachId)) ;
  // aggiungo la risalita (ultimo movimento dell'ultimo percorso della lavorazione)
   bool bOk = ( pOper != nullptr && pOper->AddSpecialRise( vAxVal, ( nMask >= 0), GDB_ID_NULL, bMain, nFlag, nFlag2, nMask, sInfo)) ;
   if ( ! bOk)
      return luaL_error( L, " Error in EmtAddRise") ;
   LuaSetParam( L, bOk) ;

   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtRemoveRise( lua_State* L)
{
  // 1 o 2 parametri : nMachId [, bMain]
   int nMachId ;
   LuaCheckParam( L, 1, nMachId)
   string sMain = MCH_CL ;
   LuaGetParam( L, 2, sMain) ;
   bool bMain = ( ! EqualNoCase( sMain, MCH_DBL)) ;
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // verifica "Main" e "Double"
   if ( ! EqualNoCase( sMain, MCH_CL)  &&  ! EqualNoCase( sMain, MCH_DBL))
      return luaL_error( L, ( " Error in EmtAddClimb : " + sMain).c_str()) ;
  // recupero l'operazione
   Operation* pOper = GetOperation( m_pMchLua->m_pGeomDB->GetUserObj( nMachId)) ;
  // elimino le risalite (ultimi movimenti "RISE" dell'ultimo percorso della lavorazione)
   bool bOk = ( pOper != nullptr && pOper->RemoveRise( GDB_ID_NULL, bMain)) ;
   LuaSetParam( L, bOk) ;

   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtGetInitialAxesPos( lua_State* L)
{
  // 1 o 2 o 3 parametri : nMachId [, sMain] [, bSkipClimb]
   int nMachId ;
   LuaCheckParam( L, 1, nMachId)
   string sMain = MCH_CL ;
   int nOffs = ( LuaGetParam( L, 2, sMain) ? 1 : 0) ;
   bool bMain = ( ! EqualNoCase( sMain, MCH_DBL)) ;
   bool bSkipClimb = true ;
   LuaGetParam( L, 2 + nOffs, bSkipClimb) ;
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // recupero l'operazione
   Operation* pOper = GetOperation( m_pMchLua->m_pGeomDB->GetUserObj( nMachId)) ;
  // acquisico il valore iniziale degli assi macchina
   DBLVECTOR vAxesVal ;
   bool bOk = ( pOper != nullptr  &&  pOper->GetInitialAxesValues( bSkipClimb, bMain, vAxesVal)) ;
   if ( bOk)
      LuaSetParam( L, vAxesVal) ;
   else
      LuaSetParam( L) ;

   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtGetFinalAxesPos( lua_State* L)
{
  // 1 o 2 o 3 parametri : nMachId [, sMain] [, bSkipRise]
   int nMachId ;
   LuaCheckParam( L, 1, nMachId)
   bool bSkipRise = true ;
   string sMain = MCH_CL ;
   int nOffs = ( LuaGetParam( L, 2, sMain) ? 1 : 0) ;
   bool bMain = ( ! EqualNoCase( sMain, MCH_DBL)) ;
   LuaGetParam( L, 2 + nOffs, bSkipRise) ;
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // recupero l'operazione
   Operation* pOper = GetOperation( m_pMchLua->m_pGeomDB->GetUserObj( nMachId)) ;
  // acquisico il valore finale degli assi macchina
   DBLVECTOR vAxesVal ;
   bool bOk = ( pOper != nullptr  &&  pOper->GetFinalAxesValues( bSkipRise, bMain, vAxesVal)) ;
   if ( bOk)
      LuaSetParam( L, vAxesVal) ;
   else
      LuaSetParam( L) ;

   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtGetCurrAxesHomePos( lua_State* L)
{
  // nessun parametro
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // acquisisco la posizione di home degli assi della catena cinematica corrente
   DBLVECTOR vAxHomeVal ;
   bool bOk = m_pMchLua->GetAllCurrAxesHomePos( vAxHomeVal) ;
   if ( bOk)
      LuaSetParam( L, vAxHomeVal) ;
   else
      LuaSetParam( L) ;

   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtGetMoveType( lua_State* L)
{
  // 1 parametro : nClEntId
   int nClEntId ;
   LuaCheckParam( L, 1, nClEntId)
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // recupero l'oggetto CamData
   const CamData* pCamData = GetCamData( m_pMchLua->m_pGeomDB->GetUserObj( nClEntId)) ;
   bool bOk = ( pCamData != nullptr) ;
   if ( bOk) {
      int nMove = pCamData->GetMoveType() ;
      LuaSetParam( L, nMove) ;
   }
   else
      LuaSetParam( L) ;

   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtGetAxesPos( lua_State* L)
{
  // 1 parametro : nClEntId
   int nClEntId ;
   LuaCheckParam( L, 1, nClEntId)
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // recupero l'oggetto CamData
   const CamData* pCamData = GetCamData( m_pMchLua->m_pGeomDB->GetUserObj( nClEntId)) ;
   bool bOk = ( pCamData != nullptr) ;
   bOk = bOk && ( pCamData->GetAxesStatus() == CamData::AS_OK) ;
   if ( bOk) {
      DBLVECTOR AxesVal = pCamData->GetAxesVal() ;
      LuaSetParam( L, AxesVal) ;
   }
   else
      LuaSetParam( L) ;

   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtGetBackAuxDir( lua_State* L)
{
  // 1 parametro : nClEntId
   int nClEntId ;
   LuaCheckParam( L, 1, nClEntId)
   LuaClearStack( L) ;
  // verifico ci sia una macchina attiva valida
   if ( m_pMchLua == nullptr  ||
        m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
      return luaL_error( L, " Unknown Machine") ;
  // recupero l'oggetto CamData
   const CamData* pCamData = GetCamData( m_pMchLua->m_pGeomDB->GetUserObj( nClEntId)) ;
   bool bOk = ( pCamData != nullptr) ;
   bOk = bOk && ( pCamData->GetAxesStatus() == CamData::AS_OK) ;
   if ( bOk) {
      const Vector3d& vtBackAuxDir  = pCamData->GetBackAuxDir() ;
      LuaSetParam( L, vtBackAuxDir) ;
   }
   else
      LuaSetParam( L) ;

   return 1 ;
}

//----------------------------------------------------------------------------
int
Machine::LuaEmtAdjustConcavePartsInPath( lua_State* L)
{
   bool bOk = true ;
   // 3 parametri : nPathId, nAuxPathId, dRad
   int nPathId ;
   LuaCheckParam( L, 1, nPathId)
   int nAuxPathId ;
   LuaCheckParam( L, 2, nAuxPathId)
   double dRad ;
   LuaCheckParam( L, 3, dRad)
   LuaClearStack( L) ;
   IGeomDB* pGeomDB = m_pMchLua->m_pGeomDB ;
   int nId = pGeomDB->GetFirstInGroup( nPathId) ;
   int nIdCrvAux = pGeomDB->GetFirstInGroup( nAuxPathId) ;
   const ICurveComposite* pCrvAux = GetCurveComposite( pGeomDB->GetGeoObj(nIdCrvAux)) ;
   if ( pCrvAux == nullptr)
      return GDB_ID_NULL ;
   int nFirstCrvOffset = nId ;
   OFFSETSEGVEC vOffsetCrvs ;
   while ( nId != GDB_ID_NULL) {
      if ( pGeomDB->GetGeoType( nId) == CRV_LINE) {
         const ICurve* pCrv = GetCurve( pGeomDB->GetGeoObj( nId)) ;
         int nParent = -1 ;
         int nDerivFrom = - 1 ;
         pGeomDB->GetInfo( nId, "DerivFrom", nDerivFrom) ;
         const IGeoVector3d* pGV = GetGeoVector3d( pGeomDB->GetGeoObj( nDerivFrom)) ;
         if ( pGV != nullptr) {
            Point3d ptBase = pGV->GetBase() ;
            double dPar = 0 ;
            if ( pCrvAux->GetParamAtPoint( ptBase, dPar))
               nParent = int( round( dPar)) - 1 ;
         }
         int nFlagAng = 0 ;
         pGeomDB->GetInfo( nId, "FlgAng", nFlagAng) ;
         vOffsetCrvs.emplace_back( pCrv->Clone(), nFlagAng, nParent) ;
      }
      nId = pGeomDB->GetNext( nId) ;
   }
   EDITCRVINFOVEC vEditInfo ;
   if ( ! CalcAdjustConcavePartsInPath( pCrvAux, vOffsetCrvs, dRad, vEditInfo))
      return GDB_ID_NULL ;

   // applico le modifiche calcolate
   for ( int i = 0 ; i < ssize( vEditInfo) ; ++i) {
      if ( vEditInfo[i].nFlag == EditCrvInfo::NOEDIT)
         continue ;
      else if ( vEditInfo[i].nFlag == EditCrvInfo::DEL) {
         pGeomDB->Erase( nFirstCrvOffset + i) ;
      }
      else if ( vEditInfo[i].nFlag == EditCrvInfo::EDIT) {
         if ( vEditInfo[i].ptStart.IsValid()) {
            ICurveLine* pCL = GetCurveLine( pGeomDB->GetGeoObj( nFirstCrvOffset + i)) ;
            pCL->ModifyStart( vEditInfo[i].ptStart) ;
         }
         if ( vEditInfo[i].ptEnd.IsValid()) {
            ICurveLine* pCL = GetCurveLine( pGeomDB->GetGeoObj( nFirstCrvOffset + i)) ;
            pCL->ModifyEnd( vEditInfo[i].ptEnd) ;
            CamData* camData = GetCamData( pGeomDB->GetUserObj( nFirstCrvOffset + i)) ;
            camData->SetEndPoint( vEditInfo[i].ptEnd) ;
         }
      }
   }

   // scorro tutto il vettore delle linee di offset e unisco aggiungendo una linea dove ne ho cancellate
   for ( int i = 0 ; i < ssize( vEditInfo) - 1 ; ++i) {
      if ( vEditInfo[i].nFlag == EditCrvInfo::DEL  ||  ( vEditInfo[i].nFlag == EditCrvInfo::NOEDIT))
         continue ;
      int nPrevId = nFirstCrvOffset + i ;
      int c = i + 1 ;
      // scorro finché trovo la successiva modificata
      while ( c < ssize( vEditInfo)  &&  vEditInfo[c].nFlag == EditCrvInfo::DEL  ||  vEditInfo[c].nFlag == EditCrvInfo::NOEDIT)
         ++c ;
      if ( vEditInfo[c].nFlag != EditCrvInfo::EDIT)
         return GDB_ID_NULL ;
      int nNextId = nFirstCrvOffset + c ;
      Point3d ptEndCurr, ptStartNext ;
      if ( vEditInfo[i].ptEnd.IsValid())
         ptEndCurr = vEditInfo[i].ptEnd ;
      else
         vOffsetCrvs[i].pCrv->GetEndPoint( ptEndCurr) ;

      if ( vEditInfo[c].ptStart.IsValid())
         ptStartNext = vEditInfo[c].ptStart ;
      else
         vOffsetCrvs[c].pCrv->GetStartPoint( ptStartNext) ;

      if ( ! AreSamePointApprox( ptEndCurr, ptStartNext)) {
         // giunto questi due punti
         ICurveLine* pCLprev = GetCurveLine( pGeomDB->GetGeoObj( nPrevId)) ;
         Point3d ptIni = pCLprev->GetEnd() ;
         ICurveLine* pCLnext = GetCurveLine( pGeomDB->GetGeoObj( nNextId)) ;
         Point3d ptFin = pCLnext->GetStart() ;
         const CamData* camDataPrev = GetCamData( pGeomDB->GetUserObj( nPrevId)) ;
         const CamData* camDataNext = GetCamData( pGeomDB->GetUserObj( nNextId)) ;
         Vector3d vtTool = Media( camDataPrev->GetToolDir(), camDataNext->GetToolDir()) ;
         Vector3d vtCorr = Media( camDataPrev->GetCorrDir(), camDataNext->GetCorrDir()) ;
         Vector3d vtAux = Media( camDataPrev->GetAuxDir(), camDataNext->GetAuxDir()) ;
         double dFeed = camDataPrev->GetFeed() ;
         int nFlag = camDataPrev->GetFlag() ;
         int nFlag2 = camDataPrev->GetFlag2() ;
         bool bToolShow = camDataPrev->GetToolShow() ;
         AddLinearMove( ptIni, ptFin, pGeomDB, nPathId, vtTool, vtCorr, vtAux, dFeed, nFlag, nFlag2, bToolShow, nPrevId) ;
      }
      i = c ;
   }

   LuaSetParam( L, bOk) ;
   return 1 ;
}