-- Descrizione macchina Essetre-90580017 by EgalTech s.r.l.   2024/09/23
-- Macchina Progress (parte Wall).
-- 2021/02/16 DS Aggiunto M05 in fondo al foro con punta orizzonatel lunga.
-- 2021/02/18 DS Aggiunta gestione pausa prima di pulitura spigoli previa rimozione sfridi.
-- 2021/06/08 DS Sistemati codici G speciali aggiungendo 30.
-- 2022/05/24 DS Piccole modifiche per allineare con ultime Wall.
-- 2022/09/26 DS ver 2.4i1 Aggiunti offset in Y e Z.
-- 2022/11/09 DS ver 2.4k1 Migliorata gestione distanza sega a catena da DB utensili.

require( 'EmtGenerator')
EgtEnableDebug( false)

PP_VER = '2.7b1'
PP_NVER = '2.7.2.1'

-- Parametri macchina
NumericalControl = 'NUM'                                      -- NUM o TPA
MinY = 0.0
MaxY = 22000.0
MinX1 = -8000
MaxX1 = -2740.0
MinZ1 = -1585.0
MaxZ1 = 0.0
MinB1 = -135.0
MaxB1 = 135.0
MinC1 = -275.0
MaxC1 = 275.0
MillOffs = 170.0
ChSawLen = 91.0
ParkChSawX1 = ( MinX1 + MaxX1) / 2
ParkChSawZ1 = -250
MinX2 = -8250.0
MaxX2 = -3510.0
MinZ2 = -1180.0
MaxZ2 = 0.0
MinB2 = 0.0
MaxB2 = 90.0
MinC2 = -275.0
MaxC2 = 275.0
SawDeltaX = 347.5
SawDeltaY = 0.0
SawDeltaZ = -112.0
SawOffs = 163.5
NailDeltaX = 530
NailDeltaY = -275
NailDeltaZ = -500
DimTabX = 13484.5
DimTabY = 3500.0
DeltaTabX = 1207.5
DeltaTabY = -7573.5
DeltaTabZ = -939.0
CoeffVM = 0.75

-- Aggiornamento con dati da TechnoEssetre7
local sTs3Data = EgtGetStringFromIni( 'Wall', 'DATA_DIR', "C:\\TechnoEssetre7\\EgtData", EgtGetIniFile()).."\\Essetre-90580015.data"
local sData = EgtGetCurrMachineDir().."\\Wall\\Ts3Data.lua"
if EgtExistsFile( sTs3Data) then
   EgtCopyFile( sTs3Data, sData)
   local sTs3DataOld = sTs3Data..'.old'
   EgtEraseFile( sTs3DataOld)
   EgtRenameFile( sTs3Data, sTs3DataOld)
end

if EgtExistsFile( sData) then
   local Machine = dofile( sData)
   if Machine and Machine.Offsets then
      local MchOffs = Machine.Offsets
      NumericalControl = EgtIf( MchOffs.TIPO_CN ~= 1, 'NUM', 'TPA')
      if MchOffs.MAX_Y then MinY = -MchOffs.MAX_Y end
      if MchOffs.MIN_Y then MaxY = -MchOffs.MIN_Y end
      MinX1 = MchOffs.MIN_X or MinX1
      MaxX1 = MchOffs.MAX_X or MaxX1
      MinZ1 = MchOffs.MIN_Z or MinZ1
      MaxZ1 = MchOffs.MAX_Z or MaxZ1
      MinB1 = MchOffs.MIN_B or MinB1
      MaxB1 = MchOffs.MAX_B or MaxB1
      MinC1 = MchOffs.MIN_C or MinC1
      MaxC1 = MchOffs.MAX_C or MaxC1
      MinX2 = MchOffs.MIN_X3 or MinX2
      MaxX2 = MchOffs.MAX_X3 or MaxX2
      MinZ2 = MchOffs.MIN_Z3 or MinZ2
      MaxZ2 = MchOffs.MAX_Z3 or MaxZ2
      MinB2 = MchOffs.MIN_B3 or MinB2
      MaxB2 = MchOffs.MAX_B3 or MaxB2
      MinC2 = MchOffs.MIN_C3 or MinC2
      MaxC2 = MchOffs.MAX_C3 or MaxC2
      MillOffs = MchOffs.PIVOT_MILL or MillOffs
      SawOffs = MchOffs.PIVOT_SAW or SawOffs
      if MchOffs.ZERO_Y_MILL and MchOffs.OFFSET_ZERO2_Y then DeltaTabX = -MchOffs.ZERO_Y_MILL - MchOffs.OFFSET_ZERO2_Y end
      if MchOffs.ZERO_X_MILL and MchOffs.OFFSET_ZERO2_X then DeltaTabY = MchOffs.ZERO_X_MILL + MchOffs.OFFSET_ZERO2_X end
      DeltaTabZ = MchOffs.ZERO_Z_MILL or DeltaTabZ
      if MchOffs.ZERO_Y_MILL and MchOffs.ZERO_Y_SAW then SawDeltaX = - ( MchOffs.ZERO_Y_MILL - MchOffs.ZERO_Y_SAW) end
      if MchOffs.ZERO_X_MILL and MchOffs.ZERO_X_SAW then SawDeltaY = ( MchOffs.ZERO_X_MILL - MchOffs.ZERO_X_SAW) end
      if MchOffs.ZERO_Z_MILL and MchOffs.ZERO_Z_SAW then SawDeltaZ = ( MchOffs.ZERO_Z_MILL - MchOffs.ZERO_Z_SAW) end
      if MchOffs.ZERO_Y_MILL and MchOffs.ZERO_NAIL_Y then NailDeltaX = - ( MchOffs.ZERO_Y_MILL - MchOffs.ZERO_NAIL_Y) end
      if MchOffs.ZERO_X_MILL and MchOffs.ZERO_NAIL_X then NailDeltaY = ( MchOffs.ZERO_X_MILL - MchOffs.ZERO_NAIL_X) end
      if MchOffs.ZERO_Z_MILL and MchOffs.ZERO_NAIL_Z then NailDeltaZ = ( MchOffs.ZERO_Z_MILL - MchOffs.ZERO_NAIL_Z) end
   end
end

-- Spostamenti della lama rispetto al disegno
local SawOffsX = SawDeltaX - 347.5
local SawOffsY = SawDeltaY - 0
local SawOffsZ = SawDeltaZ + 112.0
-- Spostamenti delle chiodatrici rispetto al disegno
local NailOffsX = NailDeltaX - 530
local NailOffsY = NailDeltaY + 275
local NailOffsZ = NailDeltaZ + 500

EmtGeneral {
      File='Essetre-90580015.nge',
      Offset = Vector3d( -540.35, -5820.00, -1847.0),
      AxisMaxAdjust = 300,
      ExitMaxAdjust = 300,
      Special = 'Essetre-WALL.mlse',
      Processor = 'Essetre-WALL.mlpe'}
local BaseId = EmtBase {
      Name = 'Base',
      Geo='BASE/GEO',
      Aux={'BASE/TRAVERSA', 'BASE/SUBTABLE', 'BASE/COLLISION', 'BASE/TC'}}
   local vtMove = Vector3d( DeltaTabX - 1207.5, DeltaTabY + 7573.5, DeltaTabZ + 939)
   EgtMove( EgtGetFirstNameInGroup( BaseId, 'SUBTABLE'), vtMove, GDB_RT.GLOB)
-- Tavola
local YId =  EmtAxis {
      Name = 'Y',
      Parent = 'Base',
      Invert = true,
      Type = MCH_AT.LINEAR,
      Dir = -X_AX(),
      Pos = Point3d( 0, 0, 0),
      Stroke = {MinY, MaxY},
      Home = MinY,
      Geo = 'Y_AXIS/GEO',
      Aux = {'Y_AXIS/SOLID'}}
   EgtMove( YId, vtMove, GDB_RT.GLOB)
EmtTable {
      Name = 'Tab',
      Parent = 'Y',
      Type = MCH_TT.FLAT,
      Ref1 = Point3d( DeltaTabX, DeltaTabY, DeltaTabZ),
      Geo = 'TABLE/GEO',
      Aux = {'TABLE/SOLID', 'TABLE/COLLISION'}}
-- Testa per frese
EmtAxis {
      Name = 'X1',
      Parent = 'Base',
      Token = 'X',
      Type = MCH_AT.LINEAR,
      Dir = Y_AX(),
      Pos = Point3d( 0, 0, 0),
      Stroke = {MinX1, MaxX1},
      Home = MaxX1,
      Geo = 'X1_AXIS/GEO',
      Aux = {'X1_AXIS/SOLID'}}
EmtAxis {
      Name = 'Z1',
      Parent = 'X1',
      Token = 'Z',
      Type = MCH_AT.LINEAR,
      Dir = Z_AX(),
      Pos = Point3d( 0, 0, 0),
      Stroke = {MinZ1, MaxZ1},
      Home = 0,
      Geo = 'Z1_AXIS/GEO',
      Aux = 'Z1_AXIS/SOLID'}
EmtAxis {
      Name = 'C1',
      Parent = 'Z1',
      Token = 'C',
      Type = MCH_AT.ROTARY,
      Dir = Z_AX(),
      Pos = Point3d( 0, 0, 0),
      Stroke = {MinC1, MaxC1},
      Home = 0,
      Geo = 'C1_AXIS/GEO',
      Aux = {'C1_AXIS/SOLID', 'C1_AXIS/COLLISION'}}
EmtAxis {
      Name = 'B1',
      Parent = 'C1',
      Token = 'B',
      Type = MCH_AT.ROTARY,
      Dir = -X_AX(),
      Pos = Point3d( 0, 0, MillOffs),
      Stroke = {MinB1, MaxB1},
      Home = 0,
      Geo = 'B1_AXIS/GEO',
      Aux = {'B1_AXIS/SOLID', 'B1_AXIS/COLLISION'}}
EmtHead {
      Name = 'H1',
      Parent = 'B1',
      HSet = 'H1',
      Type = MCH_HT.STD,
      Pos = Point3d( 0, 0, 0),
      TDir = Z_AX(),
      ADir = Y_AX(),
      Rot1W = 0.1,
      OthColl = {'B1/SOLID', 'C1/SOLID'},
      Geo = 'H1_HEAD/GEO'}
-- Sega a catena
EmtAxis {
      Name = 'A1',
      Parent = 'B1',
      Token = '**',
      Type = MCH_AT.ROTARY,
      Dir = Z_AX(),
      Pos = Point3d( 0, 0, 0),
      Stroke = { -90, 180},
      Home = 0,
      Geo = 'A1_AXIS/GEO'}
local H3Id = EmtHead {
      Name = 'H3',
      Parent = 'A1',
      HSet = 'H1',
      Type = MCH_HT.STD,
      Pos = Point3d( 0, 0, -ChSawLen),
      TDir = -Y_AX(),
      ADir = Z_AX(),
      Rot1W = 0.1,
      SolCh = MCH_SCC.ADIR_NEAR,
      OthColl = {'B1/SOLID', 'C1/SOLID'},
      Geo = 'H3_HEAD/GEO'}
   EgtSetInfo( H3Id, 'ZSAFEDELTA', 60)
-- Testa per Lama
local X2Id = EmtAxis {
      Name = 'X2',
      Parent = 'Base',
      Token = 'X',
      Type = MCH_AT.LINEAR,
      Dir = Y_AX(),
      Pos = Point3d( 0, 0, 0),
      Stroke = {MinX2, MaxX2},
      Home = MinX2,
      Geo = 'X2_AXIS/GEO',
      Aux = {'X2_AXIS/SOLID'}}
   EgtMove( EgtGetFirstNameInGroup( X2Id, 'SOLID'), Vector3d( SawOffsX, SawOffsY, 0), GDB_RT.GLOB)
local Z2Id = EmtAxis {
      Name = 'Z2',
      Parent = 'X2',
      Token = 'Z',
      Type = MCH_AT.LINEAR,
      Dir = Z_AX(),
      Pos = Point3d( 0, 0, 0),
      Stroke = {MinZ2, MaxZ2},
      Home = 0,
      Geo = 'Z2_AXIS/GEO',
      Aux = {'Z2_AXIS/SOLID', 'Z2_AXIS/H21_FIXED'}}
   EgtMove( EgtGetFirstNameInGroup( Z2Id, 'SOLID'), Vector3d( SawOffsX, SawOffsY, SawOffsZ), GDB_RT.GLOB)
local C2Id = EmtAxis {
      Name = 'C2',
      Parent = 'Z2',
      Token = 'C',
      Type = MCH_AT.ROTARY,
      Dir = Z_AX(),
      Pos = Point3d( SawDeltaX, SawDeltaY, 0),
      Stroke = {MinC2, MaxC2},
      Home = 0,
      Geo = 'C2_AXIS/GEO',
      Aux = {'C2_AXIS/SOLID', 'C2_AXIS/COLLISION'}}
   EgtMove( EgtGetFirstNameInGroup( C2Id, 'SOLID'), Vector3d( SawOffsX, SawOffsY, SawOffsZ), GDB_RT.GLOB)
local B2Id = EmtAxis {
      Name = 'B2',
      Parent = 'C2',
      Token = 'B',
      Type = MCH_AT.ROTARY,
      Dir = -X_AX(),
      Pos = Point3d( SawDeltaX, SawDeltaY, SawDeltaZ + SawOffs),
      Stroke = {MinB2, MaxB2},
      Home = 90,
      Geo = 'B2_AXIS/GEO',
      Aux = {'B2_AXIS/SOLID', 'B2_AXIS/COLLISION'}}
   EgtMove( EgtGetFirstNameInGroup( B2Id, 'SOLID'), Vector3d( SawOffsX, SawOffsY, SawOffsZ), GDB_RT.GLOB)
local H2Id = EmtHead {
      Name = 'H2',
      Parent = 'B2',
      HSet = 'H2',
      Type = MCH_HT.STD,
      Pos = Point3d( SawDeltaX, SawDeltaY, SawDeltaZ),
      TDir = Z_AX(),
      ADir = -Y_AX(),
      Rot1W = 0.2,
      OthColl = {'B2/SOLID', 'C2/SOLID'},
      Geo = 'H2_HEAD/GEO'}
-- Chiodatrice
local H21Id = EmtHead {
   Name = 'H21',
   Parent = 'Z2',
   HSet = 'H21',
   Type = MCH_HT.STD,
   Pos = Point3d( NailDeltaX, NailDeltaY, NailDeltaZ),
   TDir = Z_AX(),
   Geo = 'H21_HEAD/GEO',
   Aux = {'H21_HEAD/SOLID'}}
EgtMove( EgtGetFirstNameInGroup( H21Id, 'SOLID'), Vector3d( NailOffsX, NailOffsY, NailOffsZ), GDB_RT.GLOB)

-- ToolChanger
local ptTC = Point3d( -450.6,-7781.7,-135.0)
EmtTcPos {
      Name = 'T31',
      Parent = 'Base',
      Pos = ptTC,
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T31'}
EmtTcPos {
      Name = 'T32',
      Parent = 'Base',
      Pos = ptTC + 150 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T32'}
EmtTcPos {
      Name = 'T33',
      Parent = 'Base',
      Pos = ptTC + 300 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T33'}
EmtTcPos {
      Name = 'T34',
      Parent = 'Base',
      Pos = ptTC + 450 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T34'}
EmtTcPos {
      Name = 'T35',
      Parent = 'Base',
      Pos = ptTC + 600 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T35'}
EmtTcPos {
      Name = 'T36',
      Parent = 'Base',
      Pos = ptTC + 750 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T36'}
EmtTcPos {
      Name = 'T37',
      Parent = 'Base',
      Pos = ptTC + 900 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T37'}
EmtTcPos {
      Name = 'T38',
      Parent = 'Base',
      Pos = ptTC + 1050 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T38'}
EmtTcPos {
      Name = 'T39',
      Parent = 'Base',
      Pos = ptTC + 1200 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T39'}
EmtTcPos {
      Name = 'T40',
      Parent = 'Base',
      Pos = ptTC + 1350 * Y_AX() - ChSawLen * Z_AX(),
      TDir = -Y_AX(),
      ADir = Z_AX(),
      Geo = 'BASE/T40'}

---------------------------------------------------------------------
-- Funzioni richiamate per modificare i dati macchina in casi particolari
--function OnSetTable()
--end

---------------------------------------------------------------------
local function MoveGroup( nGrpId, vtVers, dPos, bLoc)
   local dVal = EgtGetInfo( nGrpId or GDB_ID.NULL, 'Val')
   if not dVal then return end
   if abs( dPos - dVal) > GEO.EPS_SMALL then
         local nRT = EgtIf( bLoc, GDB_RT.LOC, GDB_RT.GLOB)
         EgtMove( nGrpId, ( dPos - dVal) * vtVers, nRT)
         EgtSetInfo( nGrpId, 'Val', dPos)
   end
end

---------------------------------------------------------------------
function OnSetHead()
   -- posizione slitta chiodatrice
   local dPos = EgtIf( EMC.HEAD == 'H21', 0, 1375)
   MoveGroup( EgtGetFirstNameInGroup( H21Id, 'SOLID'), Z_AX(), dPos, true)
   MoveGroup( EgtGetFirstNameInGroup( H21Id, 'T1'), Z_AX(), dPos, true)
   if EMC.HEAD == 'H1'then
      EmtModifyAxisHome( 'X1', MaxX1)
      EmtModifyAxisHome( 'Z1', MaxZ1)
      EmtModifyAxisHome( 'C1', 0)
   elseif EMC.HEAD == 'H3' then
      EmtModifyAxisHome( 'X1', ( MinX1 + MaxX1) / 2)
      EmtModifyAxisHome( 'Z1', ParkChSawZ1)
      EmtModifyAxisHome( 'C1', 0)
      if EMC.DIST and abs( EMC.DIST) > 1 then
         EmtModifyExitPosition( EMC.HEAD, EMC.EXIT, Point3d( 0, 0, -EMC.DIST))
         local vtMove = Point3d( 0, 0, -EMC.DIST) - Point3d( EMC.EXITPOS)
         local ExitId = EgtGetFirstNameInGroup( EgtGetHeadId( EMC.HEAD), 'T'..tostring( EMC.EXIT))
         EgtMove( ExitId, vtMove)
      end
   elseif EMC.HEAD == 'H21' then
      EgtSetAxisPos( 'B2', 90)
      EgtSetAxisPos( 'C2', 45)
   end
end

---------------------------------------------------------------------
-- Funzione che calcola la posizione Home di Z per la sega a catena dal valore dell'asse virtuale
function GetChainSawZHomeFromVirtualAxis( dPosA)
   -- quota fissa
   return -125
end

---------------------------------------------------------------------
-- Funzione che calcola l'angolo Home di C per la sega a catena dal valore dell'asse virtuale
function GetChainSawCHomeFromVirtualAxis( dPosA)
   -- se A=180 -> T104 -> HomeC = -90
   if abs( dPosA - 180) < 0.1 then
      return -90
   -- altrimenti A=90 -> T101 -> HomeC = 0
   else
      return 0
   end
end

---------------------------------------------------------------------
-- Funzione per resettare tutte le attivazioni della macchina
function OnResetMachine()
   EmtUnlinkAllRawPartsFromGroups()
   EmtUnlinkAllFixturesFromGroups()
   -- nascondo Vmill
   local nRawId = EgtGetFirstRawPart()
   while nRawId do
      local nVmId = EgtGetFirstNameInGroup( nRawId, 'VMill')
      local nId = EgtGetFirstInGroup( nRawId)
      while nId do
         EgtSetStatus( nId, EgtIf( nId ~= nVmId, GDB_ST.ON, GDB_ST.OFF))
         nId = EgtGetNext( nId)
      end
      nRawId = EgtGetNextRawPart( nRawId)
   end
   EgtSetStatus( EgtGetFirstNameInGroup( GDB_ID.ROOT, 'VMill') or GDB_ID.NULL, GDB_ST.OFF)
end