Dario Sassi
fadb601732
- drag rettangoli rimesso in funzione - corretto controllo extra-corse in spostamento pezzi con ventose - sistemati alcuni nomi.
856 lines
36 KiB
VB.net
856 lines
36 KiB
VB.net
Imports EgtUILib
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Module VacuumCups
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' Tipo manipolatore con ventosa (0=assente, 1=dietro, 2=laterale)
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Private m_nVacType As Integer = 0
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' Dati del manipolatore
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Private m_nTempId As Integer = GDB_ID.NULL
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Private m_nVacId As Integer = GDB_ID.NULL
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Private m_nRefId As Integer = GDB_ID.NULL
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Private m_dPreferredRot As Double = 0
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Private m_dPrefVertRotXMinus As Double = 0
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Private m_dPrefVertRotXPlus As Double = 0
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Private m_dPrefVertRotYMinus As Double = 0
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Private m_dPrefVertRotYPlus As Double = 0
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Private m_dDripRefAng As Double = 0
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' dati carico massimo manipolatore
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Private m_RawDensity As Double = 2500
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Private m_RawWeight As Double = 0
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Private m_MaxWeightSinglePlugger As Double = 250
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Private m_MaxWeightDoublePlugger As Double = 750
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Public m_bOverWeight As Boolean = False
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' dati per rotazione ventose vicino al fine corsa Y e X
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Private m_bRotateVacuumNearExtraStrokeY As Boolean = False
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Private m_bRotateVacuumNearExtraStrokeX As Boolean = False
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' dati stroke
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Public m_bExtraStroke As Boolean = False
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Public m_ptStartPointLift As Point3d
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Public m_dDegRotStartAng As Double
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' Nome del gruppo temporaneo per le ventose
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Private Const VACTMP_GRP As String = "VacTmp"
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Private m_sHeadName As String = VACUUM_HEAD
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Public Sub ResetHeadName()
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Dim bReload As Boolean = (m_sHeadName <> VACUUM_HEAD)
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m_sHeadName = VACUUM_HEAD
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If bReload Then LoadVacuumCups()
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End Sub
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Public Function ChangeHeadName() As Boolean
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If EgtGetHeadId( VACUUM_HEAD_2) = GDB_ID.NULL Then Return False
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m_sHeadName = If( m_sHeadName = VACUUM_HEAD, VACUUM_HEAD_2, VACUUM_HEAD)
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LoadVacuumCups()
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Return True
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End Function
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'-----------------------------------------------------------------------------------------------
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Friend Class RawMoveData
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Public m_nId As Integer
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Public m_vtRawMove As Vector3d
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Public m_dRawAngRotDeg As Double
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Public m_vtDelta As Vector3d
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Public m_dAngRotDeg As Double
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Public m_sCups As String
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Sub New()
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m_nId = GDB_ID.NULL
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m_vtRawMove = Vector3d.NULL()
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m_dRawAngRotDeg = 0
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m_vtDelta = Vector3d.NULL()
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m_dAngRotDeg = 0
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m_sCups = String.Empty
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End Sub
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Sub New(nId As Integer)
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m_nId = nId
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m_vtRawMove = Vector3d.NULL()
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m_dRawAngRotDeg = 0
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m_vtDelta = Vector3d.NULL()
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m_dAngRotDeg = 0
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m_sCups = String.Empty
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End Sub
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End Class
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'-----------------------------------------------------------------------------------------------
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Friend Function GetVacuumType() As Integer
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Return m_nVacType
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End Function
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' carico i dati macchina relativi al peso massimo movimentabile
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Friend Sub SetWeightInformation(Density As Double, MaxSingle As Double, MaxDouble As Double)
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m_RawDensity = Density
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m_MaxWeightSinglePlugger = MaxSingle
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m_MaxWeightDoublePlugger = MaxDouble
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End Sub
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Friend Sub SetRotationForExtraStrokeY(bRotate As Boolean)
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m_bRotateVacuumNearExtraStrokeY = bRotate
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End Sub
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Friend Sub SetRotationForExtraStrokeX(bRotate As Boolean)
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m_bRotateVacuumNearExtraStrokeX = bRotate
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End Sub
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Friend Function GetVacuumId() As Integer
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Return m_nVacId
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End Function
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Friend Function LoadVacuumCups() As Boolean
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' Leggo tipo manipolatore con ventosa
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m_nVacType = 0
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EgtGetInfo(EgtGetHeadId(m_sHeadName), KEY_VAC_TYPE, m_nVacType)
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' Cancello eventuali vecchie ventose
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RemoveVacuumCups()
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' Identificativo ventose nella macchina
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Dim nLayId As Integer = EgtGetFirstNameInGroup(EgtGetHeadId(m_sHeadName), VACUUM_HEAD_LAYOUT)
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If nLayId = GDB_ID.NULL Then Return False
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' Identificativo riferimento della testa nella macchina
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Dim nT1Id As Integer = EgtGetFirstNameInGroup(EgtGetHeadId(m_sHeadName), HEAD_FIRST_EXIT)
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If nT1Id = GDB_ID.NULL Then Return False
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' imposto la l'uscita della ventosa come fosse l'uscita di un utensile
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EgtSetCalcTool("", m_sHeadName, 1)
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' Creo gruppo temporaneo in cui copiarli
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m_nTempId = EgtCreateGroup(GDB_ID.ROOT)
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If m_nTempId = GDB_ID.NULL Then Return False
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EgtSetName(m_nTempId, VACTMP_GRP)
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EgtSetLevel(m_nTempId, GDB_LV.TEMP)
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' Eseguo copia in globale
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m_nVacId = EgtCopyGlob(nLayId, m_nTempId)
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If m_nVacId = GDB_ID.NULL Then Return False
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' Angolo di rotazione preferito
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EgtGetInfo(m_nVacId, KEY_VACLAY_PREFROT, m_dPreferredRot)
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' Angoli di rotazione preferiti per ventosa in verticale (lungo Y) a sinistra e a destra del centro tavola
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EgtGetInfo(m_nVacId, KEY_VACLAY_PREFVROTXMINUS, m_dPrefVertRotXMinus)
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EgtGetInfo(m_nVacId, KEY_VACLAY_PREFVROTXPLUS, m_dPrefVertRotXPlus)
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EgtGetInfo(m_nVacId, KEY_VACLAY_PREFVROTYMINUS, m_dPrefVertRotYMinus)
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EgtGetInfo(m_nVacId, KEY_VACLAY_PREFVROTYPLUS, m_dPrefVertRotYPlus)
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' Direzione di riferimento per tagli Drip
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EgtGetInfo(m_nVacId, KEY_VACLAY_DRIPREFDIR, m_dDripRefAng)
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' Nascondo il gruppo ma rendo visibili le curve di contorno delle ventose
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EgtSetStatus(m_nVacId, GDB_ST.OFF)
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Dim nId As Integer = EgtGetFirstInGroup(m_nVacId)
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While nId <> GDB_ID.NULL
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Select Case EgtGetType(nId)
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Case GDB_TY.CRV_LINE, GDB_TY.CRV_ARC, GDB_TY.CRV_BEZ, GDB_TY.CRV_COMPO
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EgtSetStatus(nId, GDB_ST.ON_)
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Case Else
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EgtSetStatus(nId, GDB_ST.OFF)
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End Select
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nId = EgtGetNext(nId)
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End While
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m_nRefId = EgtCopyGlob(nT1Id, m_nVacId)
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If m_nRefId = GDB_ID.NULL Then Return False
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EgtSetStatus(m_nRefId, GDB_ST.ON_)
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Return True
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End Function
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Friend Function RemoveVacuumCups() As Boolean
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' Cancello eventuali gruppi per ventose usati appena prima
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EgtErase(m_nTempId)
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m_nTempId = GDB_ID.NULL
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m_nVacId = GDB_ID.NULL
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m_nRefId = GDB_ID.NULL
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' Cancello eventuali vecchi gruppi per ventose
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Dim nId As Integer = EgtGetFirstNameInGroup(GDB_ID.ROOT, VACTMP_GRP)
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While nId <> GDB_ID.NULL
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Dim nNextId As Integer = EgtGetNextName(nId, VACTMP_GRP)
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EgtErase(nId)
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nId = nNextId
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End While
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Return True
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End Function
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Friend Function ResetVacuumCups() As Boolean
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' Ripristino posizione e rotazione originali
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Dim frOriRef As New Frame3d
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EgtFrame(EgtGetFirstNameInGroup(EgtGetHeadId(m_sHeadName), HEAD_FIRST_EXIT), GDB_ID.ROOT, frOriRef)
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Dim frCurrRef As New Frame3d
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EgtFrame(m_nRefId, GDB_ID.ROOT, frCurrRef)
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EgtMove(m_nVacId, frOriRef.Orig() - frCurrRef.Orig(), GDB_RT.GLOB)
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frCurrRef.ToLoc(frOriRef)
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Dim dLen, dAngVertDeg, dAngOrizzDeg As Double
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frCurrRef.VersX().ToSpherical(dLen, dAngVertDeg, dAngOrizzDeg)
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EgtRotate(m_nVacId, frOriRef.Orig(), frOriRef.VersZ(), -dAngOrizzDeg, GDB_RT.GLOB)
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' Ripristino visualizzazione originale
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Dim nId As Integer = EgtGetFirstInGroup(m_nVacId)
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While nId <> GDB_ID.NULL
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Select Case EgtGetType(nId)
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Case GDB_TY.CRV_LINE, GDB_TY.CRV_ARC, GDB_TY.CRV_BEZ, GDB_TY.CRV_COMPO
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EgtSetStatus(nId, GDB_ST.ON_)
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Case Else
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EgtSetStatus(nId, GDB_ST.OFF)
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End Select
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nId = EgtGetNext(nId)
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End While
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EgtSetStatus(m_nRefId, GDB_ST.ON_)
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Return True
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End Function
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Friend Function PutVacuumCupsOnRaw(nRawId As Integer, ByRef rmData As RawMoveData) As Boolean
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' Ripristino posizione originale ventose
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ResetVacuumCups()
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' Box e baricentro del grezzo (riportato sopra al grezzo)
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Dim b3Raw As New BBox3d
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EgtGetRawPartBBox(nRawId, b3Raw)
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Dim ptRawCen As Point3d
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EgtGetRawPartCenter(nRawId, ptRawCen)
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ptRawCen.z += b3Raw.DimZ() / 2
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' Se non esiste, creo la regione del kerf del grezzo
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Dim nKerfId As Integer = EgtGetFirstNameInGroup(nRawId, NAME_KERF)
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Dim nRKerfId = EgtGetFirstNameInGroup(nRawId, NAME_KERF_REGION)
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If nRKerfId = GDB_ID.NULL Then
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nRKerfId = EgtCreateSurfFlatRegion(nRawId, nKerfId)
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' se non sono riuscito a crearla, allora è nulla e posso uscire
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If nRKerfId = GDB_ID.NULL Then Return False
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EgtSetName(nRKerfId, NAME_KERF_REGION)
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EgtSetMode(nRKerfId, GDB_MD.HIDDEN)
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End If
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' Box e baricentro della regione di kerf
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Dim b3Kerf As New BBox3d
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EgtGetBBoxGlob(nRKerfId, GDB_BB.STANDARD, b3Kerf)
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Dim ptKerfCen As Point3d
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EgtCentroid(nRKerfId, GDB_ID.ROOT, ptKerfCen)
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'-------------------- INIZIO CALCOLO PESO --------------------
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' recupero l'area del grezzo da muovere
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Dim RawArea As Double = 0
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' superficie del grezzo senza considerare eventuali fori
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EgtSurfFrGrossArea(nRKerfId, RawArea)
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' volume calcolato in mmc
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Dim RawVolume As Double = RawArea * b3Raw.DimZ()
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' peso calcolato in kg
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m_RawWeight = RawVolume * m_RawDensity / Math.Pow(10, 9)
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'-------------------- FINE CALCOLO PESO --------------------
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' Eseguo ricerca
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If FindVacuumCupsOnRaw(nRawId, ptRawCen, b3Kerf, ptKerfCen, nKerfId, nRKerfId, rmData) Then
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Return True
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Else
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If ChangeHeadName() Then Return False
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End If
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' In caso di fallimento, provo riducendo con offset la regione di kerf
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' (così si simula la proiezione del centro sul MAT - medial axis transform)
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Dim bOkFind As Boolean = False
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Dim vOffset() As Double = {-450, -350, -250, -150}
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For i As Integer = 0 To vOffset.Length() - 1
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Dim nRKerfOffsId = EgtCopy(nRKerfId, nRKerfId, GDB_POS.AFTER)
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If EgtSurfFrOffset(nRKerfOffsId, vOffset(i), OFF_TYPE.FILLET) AndAlso
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EgtCentroid(nRKerfOffsId, GDB_ID.ROOT, ptKerfCen) Then
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Dim nOutOffsId As Integer = GetRegionOutLoop(nRKerfOffsId, nRawId)
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bOkFind = FindVacuumCupsOnRaw(nRawId, ptRawCen, b3Kerf, ptKerfCen, nOutOffsId, nRKerfId, rmData)
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EgtErase(nOutOffsId)
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End If
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EgtErase(nRKerfOffsId)
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If bOkFind Then Return True
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Next
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Return False
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End Function
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' utilizzata per gestire la movimentazione dei pezzi per eseguire i drip
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Friend Function PutVacuumCupsOnPart(nPartId As Integer,
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ByRef rmData As RawMoveData, ByRef b3Part As BBox3d) As Boolean
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' Ripristino posizione originale ventose
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ResetVacuumCups()
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' Verifico sia veramente un pezzo
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If EgtGetRawPartFromPart(nPartId) = GDB_ID.NULL Then Return False
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' Cerco la direzione del primo taglio attivo da sotto
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Dim nDripLayId As Integer = EgtGetFirstNameInGroup(nPartId, NAME_DRIPCUT)
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Dim nDripLineId As Integer = EgtGetFirstInGroup(nDripLayId)
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While nDripLineId <> GDB_ID.NULL
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Dim nMchId As Integer = EgtGetOperationId("DripSaw" & nDripLineId.ToString())
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Dim nMode As Integer
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If EgtGetMode(nMchId, nMode) AndAlso nMode = GDB_MD.STD Then Exit While
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nDripLineId = EgtGetNext(nDripLineId)
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End While
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Dim vtDir As New Vector3d
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If EgtStartVector(nDripLineId, GDB_ID.ROOT, vtDir) Then
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Dim dLen, dAngV, dAngH As Double
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vtDir.ToSpherical(dLen, dAngV, dAngH)
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Dim dOffsAng = dAngH - m_dDripRefAng
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While dOffsAng - m_dPreferredRot >= 90
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dOffsAng -= 180
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End While
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While dOffsAng - m_dPreferredRot <= -90
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dOffsAng += 180
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End While
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m_dPreferredRot = dOffsAng
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End If
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' Recupero la regione del pezzo
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Dim nGrpRegId As Integer = EgtGetFirstNameInGroup(nPartId, NAME_REGION)
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Dim nRegId As Integer = EgtGetFirstInGroup(nGrpRegId)
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While nRegId <> GDB_ID.NULL
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If EgtGetType(nRegId) = GDB_TY.SRF_FRGN Then Exit While
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nRegId = EgtGetNext(nRegId)
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End While
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If nRegId = GDB_ID.NULL Then Return False
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' Box e baricentro del pezzo (sempre sopra)
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EgtGetBBoxGlob(nRegId, GDB_BB.STANDARD, b3Part)
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Dim ptPartCen As Point3d
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EgtCentroid(nRegId, GDB_ID.ROOT, ptPartCen)
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' Calcolo il contorno esterno del pezzo
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Dim nOutId As Integer = GetRegionOutLoop(nRegId, nGrpRegId)
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If nOutId = GDB_ID.NULL Then Return False
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' Eseguo ricerca
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If FindVacuumCupsOnRaw(nPartId, ptPartCen, b3Part, ptPartCen, nOutId, nRegId, rmData) Then
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EgtErase(nOutId)
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Return True
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Else
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EgtErase(nOutId)
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End If
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' In caso di fallimento, provo riducendo con offset la regione di kerf
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' (così si simula la proiezione del centro sul MAT - medial axis transform)
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Dim bOkFind As Boolean = False
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Dim vOffset() As Double = {-450, -350, -250, -150}
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For i As Integer = 0 To vOffset.Length() - 1
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Dim nRegOffsId As Integer = EgtCopy(nRegId, nRegId, GDB_POS.AFTER)
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Dim ptRegOffsCen As Point3d
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If EgtSurfFrOffset(nRegOffsId, vOffset(i), OFF_TYPE.FILLET) AndAlso
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EgtCentroid(nRegOffsId, GDB_ID.ROOT, ptRegOffsCen) Then
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Dim nOutOffsId As Integer = GetRegionOutLoop(nRegOffsId, nGrpRegId)
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bOkFind = FindVacuumCupsOnRaw(nPartId, ptRegOffsCen, b3Part, ptPartCen, nOutOffsId, nRegId, rmData)
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EgtErase(nOutOffsId)
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End If
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EgtErase(nRegOffsId)
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If bOkFind Then Return True
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Next
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Return False
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End Function
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Private Function FindVacuumCupsOnRaw(nRawId As Integer, ptRawCen As Point3d,
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b3Kerf As BBox3d, ptKerfCen As Point3d, nOutlineId As Integer, nRKerfId As Integer,
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ByRef rmData As RawMoveData) As Boolean
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' Cerco migliore configurazione di ventose per prendere il grezzo
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Const MAX_SEL As Integer = 20
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For nI As Integer = 1 To MAX_SEL
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' Recupero la configurazione di ventose nI-esima
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Dim sCups() As String = Nothing
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Dim sCups2() As String = Nothing
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If Not GetVacuumCupSelection(nI, sCups, sCups2) Then Return False
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m_bExtraStroke = False
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' Determino validità soluzioni della configurazione
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Dim vtMove As New Vector3d
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Dim ptRotCen As New Point3d
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Dim dRotAngDeg As Double = 0
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Dim vtMove2 As New Vector3d
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Dim ptRotCen2 As New Point3d
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Dim dRotAngDeg2 As Double = 0
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Dim dDist = TestVacuumCupSelection(sCups, b3Kerf, ptKerfCen, nOutlineId, nRKerfId, vtMove, ptRotCen, dRotAngDeg)
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Dim ptStartPointLift_1 As New Point3d( m_ptStartPointLift)
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Dim dDegRotStartAng_1 As Double = m_dDegRotStartAng
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Dim dDist2 = TestVacuumCupSelection(sCups2, b3Kerf, ptKerfCen, nOutlineId, nRKerfId, vtMove2, ptRotCen2, dRotAngDeg2)
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If dDist > INFINITO - 1 And dDist2 > INFINITO - 1 Then Continue For
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If dDist2 < dDist Then
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sCups = sCups2
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vtMove = vtMove2
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ptRotCen = ptRotCen2
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dRotAngDeg = dRotAngDeg2
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Else
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m_ptStartPointLift = ptStartPointLift_1
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m_dDegRotStartAng = dDegRotStartAng_1
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End If
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' Eseguo il movimento
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EgtMove(m_nVacId, vtMove, GDB_RT.GLOB)
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EgtRotate(m_nVacId, ptRotCen, Vector3d.Z_AX(), dRotAngDeg, GDB_RT.GLOB)
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' Visualizzo le ventose
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For nJ As Integer = 0 To sCups.Length() - 1
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Dim nCupId = EgtGetFirstNameInGroup(m_nVacId, sCups(nJ))
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EgtSetStatus(nCupId, GDB_ST.ON_)
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Next
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' Calcolo delta posizione
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Dim frCurrRef As New Frame3d
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EgtFrame(m_nRefId, GDB_ID.ROOT, frCurrRef)
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Dim vtDelta As Vector3d = frCurrRef.Orig() - ptRawCen
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' Assegno dati noti al movimento del grezzo
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rmData.m_nId = nRawId
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rmData.m_vtRawMove = Vector3d.NULL()
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rmData.m_vtDelta = vtDelta
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rmData.m_dAngRotDeg = dRotAngDeg
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Dim sVal As String = String.Empty
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For Each sCup As String In sCups
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If String.IsNullOrEmpty(sVal) Then
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sVal &= sCup
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Else
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sVal &= "," & sCup
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End If
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Next
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rmData.m_sCups = sVal
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Return True
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Next
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Return False
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End Function
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Private Function GetVacuumCupSelection(nInd As Integer, ByRef sCups() As String, ByRef sCups2() As String) As Boolean
|
|
' Recupero elenco ventose nella soluzione
|
|
Dim sSel As String = KEY_VACLAY_SEL & nInd.ToString()
|
|
Dim sVal As String = String.Empty
|
|
If Not EgtGetInfo(m_nVacId, sSel, sVal) Then Return False
|
|
If sVal.IndexOf("/") >= 0 Then
|
|
Dim sSplit() As String = sVal.Split("/".ToCharArray)
|
|
If sSplit.Length() >= 2 Then
|
|
sCups = sSplit(0).Split(",".ToCharArray)
|
|
sCups2 = sSplit(1).Split(",".ToCharArray)
|
|
ElseIf sSplit.Length() >= 1 Then
|
|
sCups = sSplit(0).Split(",".ToCharArray)
|
|
sCups2 = Nothing
|
|
Else
|
|
sCups = Nothing
|
|
sCups2 = Nothing
|
|
End If
|
|
Else
|
|
sCups = sVal.Split(",".ToCharArray)
|
|
sCups2 = Nothing
|
|
End If
|
|
Return True
|
|
End Function
|
|
|
|
Private Function GetVacRotAxisSteps(ByRef vAngRot As List(Of Double)) As Boolean
|
|
' Recupero l'asse rotante della testa ventosa
|
|
Dim nRotAxId As Integer = EgtGetParent(EgtGetHeadId(m_sHeadName))
|
|
' Verifico se contiene info con STEPS
|
|
Dim sSteps As String = ""
|
|
If Not EgtGetInfo(nRotAxId, KEY_ROTVAC_STEPS, sSteps) Then Return False
|
|
' Leggo gli step previsti
|
|
Dim vStep() As String = sSteps.Split(",".ToCharArray)
|
|
For Each sStep As String In vStep
|
|
Dim dStep As Double = 0
|
|
If StringToDouble(sStep, dStep) Then
|
|
vAngRot.Add(dStep)
|
|
End If
|
|
Next
|
|
Return True
|
|
End Function
|
|
|
|
Private Function TestVacuumCupSelection(sCups() As String, b3Raw As BBox3d, ptRawCen As Point3d, nOutlineId As Integer, nRawRegId As Integer,
|
|
ByRef vtMove As Vector3d, ByRef ptRotCen As Point3d, ByRef dRotAngDeg As Double) As Double
|
|
' Se definizione mancante, scarto soluzione
|
|
If IsNothing(sCups) Then Return INFINITO
|
|
' Ne calcolo il box
|
|
Dim b3Vac As New BBox3d
|
|
For nJ As Integer = 0 To sCups.Length() - 1
|
|
Dim nCupId = EgtGetFirstNameInGroup(m_nVacId, sCups(nJ))
|
|
Dim b3Cup As New BBox3d
|
|
If EgtGetBBoxGlob(nCupId, GDB_BB.STANDARD, b3Cup) Then b3Vac.Add(b3Cup)
|
|
Next
|
|
If b3Vac.IsEmpty() Then Return INFINITO
|
|
' Se box maggiore di quello del pezzo, scarto soluzione
|
|
If b3Vac.Radius() > b3Raw.Radius() Then Return INFINITO
|
|
'-------------------- INIZIO VERIFICA PESO --------------------
|
|
m_bOverWeight = False
|
|
Select Case GetPluggerFromCameras(sCups)
|
|
Case 2
|
|
' se peso del grezzo oltre il limite consentito allora scarto la soluzione
|
|
If m_RawWeight > m_MaxWeightDoublePlugger Then
|
|
m_bOverWeight = True
|
|
Return INFINITO
|
|
End If
|
|
Case 1
|
|
' se peso del grezzo oltre il limite consentito allora scarto la soluzione
|
|
If m_RawWeight > m_MaxWeightSinglePlugger Then
|
|
m_bOverWeight = True
|
|
Return INFINITO
|
|
End If
|
|
End Select
|
|
'-------------------- FINE VERIFICA PESO --------------------
|
|
' Recupero l'area della tavola
|
|
Dim b3Tab As New BBox3d
|
|
EgtGetTableArea(1, b3Tab)
|
|
' Determino il movimento
|
|
vtMove = ptRawCen - b3Vac.Center()
|
|
b3Vac.Move(vtMove)
|
|
' Determino la rotazione, allineando il lato lungo delle ventose con quello del grezzo
|
|
ptRotCen = b3Vac.Center()
|
|
Dim frMinRect As New Frame3d
|
|
If EgtCurveMinAreaRectangleXY(nOutlineId, GDB_ID.ROOT, frMinRect) Then
|
|
Dim dLen, dAngVertDeg, dAngOrizzDeg As Double
|
|
frMinRect.VersX().ToSpherical(dLen, dAngVertDeg, dAngOrizzDeg)
|
|
dRotAngDeg = dAngOrizzDeg
|
|
If b3Vac.DimY() > b3Vac.DimX() + EPS_SMALL Then dRotAngDeg -= 90
|
|
Dim dPreferredRot As Double = m_dPreferredRot
|
|
' -------------------- INIZIO GESTIONE ROTAZIONE ASSE C PER NON ANDARE IN EXTRA-CORSA --------------------
|
|
' verifico l'orientamento del pezzo
|
|
If m_bRotateVacuumNearExtraStrokeX And Not IsHorizontal(dAngOrizzDeg) Then
|
|
' se l'orientamento è verticale
|
|
If frMinRect.Orig().x < b3Tab.Center().x Then
|
|
dPreferredRot = m_dPrefVertRotXMinus
|
|
Else
|
|
dPreferredRot = m_dPrefVertRotXPlus
|
|
End If
|
|
ElseIf m_bRotateVacuumNearExtraStrokeY And IsHorizontal(dAngOrizzDeg) Then
|
|
' se l'orientemanto è orizzontale e la macchina è stata abilitata
|
|
If frMinRect.Orig().y < b3Tab.Center().y Then
|
|
dPreferredRot = m_dPrefVertRotYPlus
|
|
Else
|
|
dPreferredRot = m_dPrefVertRotYMinus
|
|
End If
|
|
End If
|
|
' -------------------- FINE GESTIONE ROTAZIONE ASSE C PER NON ANDARE IN EXTRA-CORSA --------------------
|
|
Dim dAngDelta As Double = If(Math.Abs(b3Vac.DimY() - b3Vac.DimX()) < 10 * EPS_SMALL, 90, 180)
|
|
While dRotAngDeg - dPreferredRot >= dAngDelta / 2
|
|
dRotAngDeg -= dAngDelta
|
|
End While
|
|
While dRotAngDeg - dPreferredRot <= -dAngDelta / 2
|
|
dRotAngDeg += dAngDelta
|
|
End While
|
|
Else
|
|
dRotAngDeg = 0
|
|
If (b3Vac.DimX() >= b3Vac.DimY() And b3Raw.DimX() < b3Raw.DimY()) Or
|
|
(b3Vac.DimX() < b3Vac.DimY() And b3Raw.DimX() >= b3Raw.DimY()) Then
|
|
dRotAngDeg = m_dPreferredRot
|
|
End If
|
|
End If
|
|
' Identificativi delle ventose
|
|
Dim nCups(sCups.Length() - 1) As Integer
|
|
For nJ As Integer = 0 To sCups.Length() - 1
|
|
nCups(nJ) = EgtGetFirstNameInGroup(m_nVacId, sCups(nJ))
|
|
Next
|
|
' Angoli di prova
|
|
Dim vAngRot As New List(Of Double)
|
|
' Se asse rotante ventosa a step
|
|
If GetVacRotAxisSteps(vAngRot) Then
|
|
' Ordino secondo distanza angolare crescente da direzione di allineamento (modulo 180 deg)
|
|
Dim dRotRefDeg As Double = dRotAngDeg
|
|
vAngRot.Sort(Function(P, Q)
|
|
Dim dDiffP = Math.Abs(P - dRotRefDeg)
|
|
If Math.Abs(dDiffP - 180) < 10 * EPS_ANG_SMALL Then dDiffP = 1
|
|
Dim dDiffQ = Math.Abs(Q - dRotRefDeg)
|
|
If Math.Abs(dDiffQ - 180) < 10 * EPS_ANG_SMALL Then dDiffQ = 1
|
|
Return (dDiffP - dDiffQ)
|
|
End Function)
|
|
' Annullo la rotazione di allineamento
|
|
dRotAngDeg = 0
|
|
' altrimenti in continuo
|
|
Else
|
|
' Assegno più valori di ricerca e conservo angolo di allineamento
|
|
vAngRot.AddRange({0, +5, -5, +12.5, -12.5, +25, -25, +45, -45})
|
|
End If
|
|
' Eseguo verifica delle ventose rispetto al grezzo
|
|
Dim bVacOk As Boolean = False
|
|
For i As Integer = 0 To vAngRot.Count() - 1
|
|
If TestVacuumCups(nCups, nRawRegId, vtMove, ptRotCen, dRotAngDeg + vAngRot(i)) Then
|
|
dRotAngDeg += vAngRot(i)
|
|
bVacOk = True
|
|
Exit For
|
|
End If
|
|
Next
|
|
If Not bVacOk Then Return INFINITO
|
|
' Recupero riferimento della testa ventose
|
|
Dim frCurrRef As New Frame3d
|
|
EgtFrame(m_nRefId, GDB_ID.ROOT, frCurrRef)
|
|
Dim ptRef As Point3d = frCurrRef.Orig()
|
|
' Applico movimento e rotazione al punto
|
|
ptRef.Move(vtMove)
|
|
ptRef.Rotate(ptRotCen, Vector3d.Z_AX(), dRotAngDeg)
|
|
|
|
' -------------- INIZIO verifica di essere nel limite delle corse macchina --------------
|
|
If VerifyOutOfStrokes(ptRef, dRotAngDeg) <> 0 Then
|
|
m_bExtraStroke = True
|
|
Return INFINITO
|
|
End If
|
|
' se la posizione è accettbaile allora salvo i dati
|
|
m_ptStartPointLift = ptRef
|
|
m_dDegRotStartAng = dRotAngDeg
|
|
' -------------- FINE verifica di essere nel limite delle corse macchina --------------
|
|
|
|
' Ne calcolo la distanza dal centro della tavola
|
|
Dim dDist As Double = Point3d.DistXY(ptRef, b3Tab.Center())
|
|
Return dDist
|
|
End Function
|
|
|
|
Private Function IsHorizontal(dDegAng As Double) As Boolean
|
|
If (Math.Abs(dDegAng) > 45 And Math.Abs(dDegAng) < 135) Or (Math.Abs(dDegAng) > 225 And Math.Abs(dDegAng) < 315) Then
|
|
Return False
|
|
End If
|
|
Return True
|
|
End Function
|
|
|
|
' assegnate le posizioni del centro delle ventose e l'angolo di posizionamento orizzontale verifica che la posizione sia raggiungibile
|
|
Public Function VerifyOutOfStrokes(ptRef As Point3d, dRotAngDeg As Double) As Integer
|
|
' Se macchina con ventosa dietro (VacType=1) non eseguo nessun controllo
|
|
If GetVacuumType() = 1 Then Return 0
|
|
' Verifico se usare l'asse W per la gestione delle ventose
|
|
Dim sAxisName As String = "C"
|
|
' verifico che il nome dell'asse impostato sia corretto
|
|
If EgtGetAxisId(sAxisName) = GDB_ID.NULL Then
|
|
If m_sHeadName = VACUUM_HEAD Then
|
|
sAxisName = "C1"
|
|
Else
|
|
sAxisName = "C2"
|
|
End If
|
|
End If
|
|
' Posizione Home dell'asse rotante
|
|
Dim dCHome As Double
|
|
EgtGetAxisHomePos(sAxisName, dCHome)
|
|
' Corse dell'asse
|
|
Dim dCMin As Double
|
|
EgtGetAxisMin(sAxisName, dCMin)
|
|
Dim dCMax As Double
|
|
EgtGetAxisMax(sAxisName, dCMax)
|
|
' Porto l'angolo nel range
|
|
Dim dRotAngMachDeg As Double = dRotAngDeg + dCHome
|
|
AdjustAngleInRange(dRotAngMachDeg, dCMin, dCMax)
|
|
' Imposto la ventosa come fosse un utensile
|
|
EgtSetCalcTool("", m_sHeadName, 1)
|
|
' Calcolo gli assi macchina
|
|
Dim dX, dY, dZ As Double
|
|
Dim nStat As Integer
|
|
If EgtGetAxisId("A") <> GDB_ID.NULL Then
|
|
' Asse tavola rotante (movimenti solo con A0)
|
|
EgtGetCalcPositions(ptRef, 0, dRotAngMachDeg, nStat, dX, dY, dZ)
|
|
' Verifico le corse
|
|
EgtVerifyOutstroke(dX, dY, dZ, 0, dRotAngMachDeg, nStat)
|
|
Else
|
|
EgtGetCalcPositions(ptRef, dRotAngMachDeg, 0, nStat, dX, dY, dZ)
|
|
' Verifico le corse
|
|
EgtVerifyOutstroke(dX, dY, dZ, dRotAngMachDeg, 0, nStat)
|
|
End If
|
|
|
|
|
|
Return nStat
|
|
End Function
|
|
|
|
' dall'informazione di extra corsa recupera il valore indicato
|
|
Public Function GetExtraStrokeValue(sInfo As String) As Double
|
|
Dim dExtraStroke As Double = 0
|
|
Dim sItems As String() = sInfo.Split("="c)
|
|
If sItems.Count = 2 Then
|
|
Dim nStartIndex As Integer = 0
|
|
For Each ItemChar As Char In sItems(1)
|
|
If ItemChar = "("c Then
|
|
Exit For
|
|
End If
|
|
nStartIndex += 1
|
|
Next
|
|
If nStartIndex > 0 Then
|
|
Dim sValue As String = sItems(1).Remove(nStartIndex, sItems(1).Count - nStartIndex)
|
|
StringToLen(sValue, dExtraStroke)
|
|
End If
|
|
End If
|
|
Return dExtraStroke
|
|
End Function
|
|
|
|
Private Function TestVacuumCups(nCups() As Integer, nRawRegId As Integer,
|
|
vtMove As Vector3d, ptRotCen As Point3d, dRotAngDeg As Double) As Boolean
|
|
' Eseguo verifica delle ventose rispetto al grezzo
|
|
Dim bVacOk As Boolean = True
|
|
For nJ As Integer = 0 To nCups.Length() - 1
|
|
Dim nCupId = nCups(nJ)
|
|
' Eseguo rototraslazione delle ventose per verificare se sono contenute nel grezzo
|
|
EgtMove(nCupId, vtMove, GDB_RT.GLOB)
|
|
EgtRotate(nCupId, ptRotCen, Vector3d.Z_AX(), dRotAngDeg, GDB_RT.GLOB)
|
|
' Confronto le regioni
|
|
If EgtSurfFrChunkSimpleClassify(nRawRegId, 0, nCupId, 0) <> REGC.IN2 Then bVacOk = False
|
|
' Annullo rototraslazione
|
|
EgtRotate(nCupId, ptRotCen, Vector3d.Z_AX(), -dRotAngDeg, GDB_RT.GLOB)
|
|
EgtMove(nCupId, -vtMove, GDB_RT.GLOB)
|
|
' Se verifica fallita, esco dal ciclo
|
|
If Not bVacOk Then Exit For
|
|
Next
|
|
Return bVacOk
|
|
End Function
|
|
|
|
' dato il vettore delle camere restituisco il quali attuatori sono coinvolti
|
|
Private Function GetPluggerFromCameras(sCups() As String) As Integer
|
|
Dim nCountPlunger As Integer = 1
|
|
Dim bPlugger1 As Boolean = False
|
|
Dim bPlugger2 As Boolean = False
|
|
For Each Camera As String In sCups
|
|
If (Camera.Contains("1") Or Camera.Contains("2") Or Camera.Contains("3")) Then
|
|
bPlugger1 = True
|
|
Else
|
|
bPlugger2 = True
|
|
End If
|
|
Next
|
|
' verifico quali sono le camere attive
|
|
If bPlugger1 And bPlugger2 Then
|
|
nCountPlunger = 2
|
|
ElseIf Not bPlugger1 And Not bPlugger2 Then
|
|
nCountPlunger = 0
|
|
End If
|
|
' restituisco il numero di Plugger in uso
|
|
Return nCountPlunger
|
|
End Function
|
|
|
|
Friend Function SaveOneMoveInfo(nId As Integer, rmData As RawMoveData) As Boolean
|
|
' Assegno le informazioni
|
|
EgtSetInfo(nId, "Id", rmData.m_nId)
|
|
EgtSetInfo(nId, "Mv", rmData.m_vtRawMove)
|
|
EgtSetInfo(nId, "Rr", rmData.m_dRawAngRotDeg)
|
|
EgtSetInfo(nId, "Dt", rmData.m_vtDelta)
|
|
EgtSetInfo(nId, "Ad", rmData.m_dAngRotDeg)
|
|
EgtSetInfo(nId, "Vc", rmData.m_sCups)
|
|
EgtSetInfo(nId, "Vt", GetVacuumType())
|
|
Return True
|
|
End Function
|
|
|
|
Friend Function RemoveOneMoveInfo(nId As Integer) As Boolean
|
|
' Rimuovo le informazioni
|
|
EgtRemoveInfo(nId, "Id")
|
|
EgtRemoveInfo(nId, "Mv")
|
|
EgtRemoveInfo(nId, "Rr")
|
|
EgtRemoveInfo(nId, "Dt")
|
|
EgtRemoveInfo(nId, "Ad")
|
|
EgtRemoveInfo(nId, "Vc")
|
|
EgtRemoveInfo(nId, "Vt")
|
|
Return True
|
|
End Function
|
|
|
|
Friend Function SaveOneMoveInfoInDisposition(nDispId As Integer, rmData As RawMoveData) As Boolean
|
|
' Se movimento e rotazione trascurabili, inutile salvare
|
|
If rmData.m_vtRawMove.IsSmall() AndAlso Math.Abs(rmData.m_dRawAngRotDeg) < EPS_ANG_SMALL Then Return True
|
|
' Creo il gruppo
|
|
Dim nRpmId As Integer = EgtCreateGroup(nDispId)
|
|
If nRpmId = GDB_ID.NULL Then Return False
|
|
EgtSetName(nRpmId, "Rpm" & rmData.m_nId.ToString())
|
|
' Assegno le informazioni
|
|
SaveOneMoveInfo(nRpmId, rmData)
|
|
Return True
|
|
End Function
|
|
|
|
Friend Function SaveMoveInfoInDisposition(nDispId As Integer, rmList As List(Of RawMoveData)) As Boolean
|
|
' Verifico DispId
|
|
If EgtGetOperationType(nDispId) <> MCH_OY.DISP Then Return False
|
|
' aggiungo al gruppo disposizione dei sottogruppi con i dati di movimento dei grezzi spostati
|
|
For Each rmData As RawMoveData In rmList
|
|
If Not SaveOneMoveInfoInDisposition(nDispId, rmData) Then Return False
|
|
Next
|
|
Return True
|
|
End Function
|
|
|
|
Friend Function GetMoveInfoInDisposition(nDispId As Integer, ByRef rmList As List(Of RawMoveData)) As Boolean
|
|
' Verifico DispId
|
|
If EgtGetOperationType(nDispId) <> MCH_OY.DISP Then Return False
|
|
' Recupero i gruppi con i dati
|
|
Dim nRpmId As Integer = EgtGetFirstNameInGroup(nDispId, "Rpm*")
|
|
While nRpmId <> GDB_ID.NULL
|
|
' Recupero le informazioni
|
|
Dim rmData As New RawMoveData
|
|
EgtGetInfo(nRpmId, "Id", rmData.m_nId)
|
|
EgtGetInfo(nRpmId, "Mv", rmData.m_vtRawMove)
|
|
EgtGetInfo(nRpmId, "Rr", rmData.m_dRawAngRotDeg)
|
|
EgtGetInfo(nRpmId, "Dt", rmData.m_vtDelta)
|
|
EgtGetInfo(nRpmId, "Ad", rmData.m_dAngRotDeg)
|
|
EgtGetInfo(nRpmId, "Vc", rmData.m_sCups)
|
|
EgtGetInfo(nRpmId, "Vt", GetVacuumType())
|
|
' se non già presenti, le inserisco nella lista
|
|
If FindRawMoveData(rmData.m_nId, rmList) = -1 Then
|
|
rmList.Add(rmData)
|
|
End If
|
|
' Cerco un altro gruppo
|
|
nRpmId = EgtGetNextName(nRpmId, "Rpm*")
|
|
End While
|
|
Return True
|
|
End Function
|
|
|
|
Friend Function FindRawMoveData(nRawId As Integer, ByRef rmList As List(Of RawMoveData)) As Integer
|
|
' Cerco in lista record con dati del grezzo indicato
|
|
Dim nInd As Integer = -1
|
|
For i As Integer = 0 To rmList.Count() - 1
|
|
If rmList(i).m_nId = nRawId Then
|
|
nInd = i
|
|
Exit For
|
|
End If
|
|
Next
|
|
Return nInd
|
|
End Function
|
|
|
|
Private Function AddRawMoveData(nRawId As Integer, ByRef rmList As List(Of RawMoveData)) As Integer
|
|
' Cerco in lista record con dati del grezzo indicato
|
|
Dim nInd As Integer = -1
|
|
For i As Integer = 0 To rmList.Count() - 1
|
|
If rmList(i).m_nId = nRawId Then
|
|
nInd = i
|
|
Exit For
|
|
End If
|
|
Next
|
|
' Se trovato
|
|
If nInd <> -1 Then
|
|
' Se con movimenti trascurabili e non alla fine, lo sposto alla fine
|
|
If rmList(nInd).m_vtRawMove.IsSmall() AndAlso Math.Abs(rmList(nInd).m_dRawAngRotDeg) < EPS_ANG_SMALL AndAlso nInd <> rmList.Count() - 1 Then
|
|
rmList.Add(rmList(nInd))
|
|
rmList.RemoveAt(nInd)
|
|
nInd = rmList.Count() - 1
|
|
End If
|
|
' Se non trovato, lo accodo
|
|
Else
|
|
rmList.Add(New RawMoveData(nRawId))
|
|
nInd = rmList.Count() - 1
|
|
End If
|
|
Return nInd
|
|
End Function
|
|
|
|
Friend Function AddRawMoveData(nRawId As Integer, vtMove As Vector3d, ByRef rmList As List(Of RawMoveData)) As Integer
|
|
' Recupero o creo record con dati del grezzo indicato
|
|
Dim nInd As Integer = AddRawMoveData(nRawId, rmList)
|
|
If nInd = -1 Then Return -1
|
|
' Aggiorno i valori
|
|
rmList(nInd).m_vtRawMove += vtMove
|
|
Return nInd
|
|
End Function
|
|
|
|
Friend Function AddRawMoveData(nRawId As Integer, dRawAngRotDeg As Double, ByRef rmList As List(Of RawMoveData)) As Integer
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' Recupero o creo record con dati del grezzo indicato
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Dim nInd As Integer = AddRawMoveData(nRawId, rmList)
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If nInd = -1 Then Return -1
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' Aggiorno i valori
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rmList(nInd).m_dRawAngRotDeg += dRawAngRotDeg
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Return nInd
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End Function
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Friend Function AddRawMoveData(rmData As RawMoveData, ByRef rmList As List(Of RawMoveData)) As Integer
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' Recupero o creo record con dati del grezzo indicato
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Dim nInd As Integer = AddRawMoveData(rmData.m_nId, rmList)
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If nInd = -1 Then Return -1
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' Aggiorno i valori (tengo conto di quanto già ruotato il pezzo)
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Dim vtDeltaRot As New Vector3d(rmData.m_vtDelta)
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vtDeltaRot.Rotate(Vector3d.Z_AX(), -rmList(nInd).m_dRawAngRotDeg)
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rmList(nInd).m_vtDelta = vtDeltaRot
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rmList(nInd).m_dAngRotDeg = rmData.m_dAngRotDeg - rmList(nInd).m_dRawAngRotDeg
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rmList(nInd).m_sCups = rmData.m_sCups
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Return nInd
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End Function
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Friend Sub RemoveRawMoveData(nRawId As Integer, ByRef rmList As List(Of RawMoveData))
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' Cerco in lista record con dati del grezzo indicato
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Dim nInd As Integer = -1
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For i As Integer = 0 To rmList.Count() - 1
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If rmList(i).m_nId = nRawId Then
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nInd = i
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Exit For
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End If
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Next
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' Se trovato, lo elimino
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If nInd >= 0 Then
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rmList.RemoveAt(nInd)
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End If
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End Sub
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Friend Function SaveRemoveByHandInDisposition(nDispId As Integer, bRemoveByHand As Boolean) As Boolean
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' Verifico DispId
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If EgtGetOperationType(nDispId) <> MCH_OY.DISP Then Return False
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' Imposto flag
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EgtSetInfo(nDispId, "Rbh", bRemoveByHand)
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Return True
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End Function
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Friend Function GetRemoveByHandInDisposition(nDispId As Integer) As Boolean
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' Verifico DispId
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If EgtGetOperationType(nDispId) <> MCH_OY.DISP Then Return False
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' Leggo flag
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Dim bRemoveByHand As Boolean = False
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EgtGetInfo(nDispId, "Rbh", bRemoveByHand)
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Return bRemoveByHand
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End Function
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Friend Function SaveMovePartsOnAuxTable(nDispId As Integer, bMovePartsOnAuxTab As Boolean) As Boolean
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' Verifico DispId
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If EgtGetOperationType(nDispId) <> MCH_OY.DISP Then Return False
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' Imposto flag
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EgtSetInfo(nDispId, "Pat", bMovePartsOnAuxTab)
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Return True
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End Function
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End Module
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