-- Descrizione macchina Essetre-90480014 by Egalware s.r.l.   2024/09/20
-- Macchina Wall.

require( 'EmtGenerator')
EgtEnableDebug( false)

PP_VER = '2.6i1'
PP_NVER = '2.6.9.1'

-- Parametri macchina
NumericalControl = 'NUM'                                      -- NUM o TPA
MinY = 0.0
MaxY = 15320.0
MinX1 = -4820.0
MaxX1 = 0.0
ParkTSpecX1 = -4200
MinZ1 = -1320.0
MaxZ1 = 0.0
MinB1 = -135.0
MaxB1 = 135.0
MinC1 = -275.0
MaxC1 = 275.0
MillOffs = 170.0
ChSawLen = 90.0
MinX2 = -5570.0
MaxX2 = -750.0
MinZ2 = -1000.0
MaxZ2 = 0.0
MinB2 = 0.0
MaxB2 = 90.0
MinC2 = -275.0
MaxC2 = 275.0
SawDeltaX = 348.0
SawDeltaY = 0.0
SawDeltaZ = -292.0
SawOffs = 154.0
Nail11DeltaX = 362.0
Nail11DeltaY = -135.0
Nail11DeltaZ = -10.0
Orig2DeltaX = 0
Orig2DeltaY = -3500
Orig2DeltaZ = 0
Orig3DeltaX = 21120
Orig3DeltaY = 0
Orig3DeltaZ = 0
Orig4DeltaX = 21120
Orig4DeltaY = -3500
Orig4DeltaZ = 0
DimTabX = 13920.0
DimTabY = 3500.0
DeltaTabX = 900.0
DeltaTabY = -1030.0 - DimTabY   -- -4530.0
DeltaTabZ = -1118.0
CoeffVM = 0.5

-- Aggiornamento con dati da TechnoEssetre7
local sTs3Data = EgtGetStringFromIni( 'Wall', 'DATA_DIR', "C:\\TechnoEssetre7\\EgtData", EgtGetIniFile()).."\\Essetre-90480014_MW.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_U or MinX2
      MaxX2 = MchOffs.MAX_U or MaxX2
      MinZ2 = MchOffs.MIN_W or MinZ2
      MaxZ2 = MchOffs.MAX_W or MaxZ2
      MinB2 = MchOffs.MIN_V or MinB2
      MaxB2 = MchOffs.MAX_V or MaxB2
      MinC2 = MchOffs.MIN_A or MinC2
      MaxC2 = MchOffs.MAX_A or MaxC2
      MillOffs = MchOffs.PIVOT_MILL or MillOffs
      SawOffs = MchOffs.PIVOT_SAW or SawOffs
      if MchOffs.OFFSET_ZERO3_Y then DimTabX = - MchOffs.OFFSET_ZERO3_Y end
      if MchOffs.OFFSET_ZERO2_X then DimTabY = - MchOffs.OFFSET_ZERO2_X end
      if MchOffs.ZERO_Y_MILL then DeltaTabX = - MchOffs.ZERO_Y_MILL end
      if MchOffs.ZERO_X_MILL then DeltaTabY = ( MchOffs.ZERO_X_MILL - DimTabY) 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_NAIL11_Y then Nail11DeltaX = - ( MchOffs.ZERO_Y_MILL - MchOffs.ZERO_NAIL11_Y) end
      if MchOffs.ZERO_X_MILL and MchOffs.ZERO_NAIL11_X then Nail11DeltaY = ( MchOffs.ZERO_X_MILL - MchOffs.ZERO_NAIL11_X) end
      if MchOffs.ZERO_Z_MILL and MchOffs.ZERO_NAIL11_Z then Nail11DeltaZ = ( MchOffs.ZERO_Z_MILL - MchOffs.ZERO_NAIL11_Z) end
      if MchOffs.OFFSET_ZERO2_Y then Orig2DeltaX = -MchOffs.OFFSET_ZERO2_Y end
      if MchOffs.OFFSET_ZERO2_X then Orig2DeltaY = MchOffs.OFFSET_ZERO2_X end
      if MchOffs.OFFSET_ZERO2_Z then Orig2DeltaZ = MchOffs.OFFSET_ZERO2_Z end
      if MchOffs.OFFSET_ZERO3_Y then Orig3DeltaX = -MchOffs.OFFSET_ZERO3_Y end
      if MchOffs.OFFSET_ZERO3_X then Orig3DeltaY = MchOffs.OFFSET_ZERO3_X end
      if MchOffs.OFFSET_ZERO3_Z then Orig3DeltaZ = MchOffs.OFFSET_ZERO3_Z end
      if MchOffs.OFFSET_ZERO4_Y then Orig4DeltaX = -MchOffs.OFFSET_ZERO4_Y end
      if MchOffs.OFFSET_ZERO4_X then Orig4DeltaY = MchOffs.OFFSET_ZERO4_X end
      if MchOffs.OFFSET_ZERO4_Z then Orig4DeltaZ = MchOffs.OFFSET_ZERO4_Z end
   end
end

-- Spostamenti della lama rispetto al disegno
local SawOffsX = SawDeltaX - 348.0
local SawOffsY = SawDeltaY - 0.0
local SawOffsZ = SawDeltaZ + 292.0
-- Spostamenti delle chiodatrici rispetto al disegno
local Nail11OffsX = Nail11DeltaX - 362.0
local Nail11OffsY = Nail11DeltaY + 135.0
local Nail11OffsZ = Nail11DeltaZ + 10.0

EmtGeneral {
      File='Essetre-90480014_MW.nge',
      Offset = Vector3d( -540.0, -2780.00, -1837.0),
      AxisMaxAdjust = 250,
      ExitMaxAdjust = 250,
      Special = 'Essetre-WALL.mlse',
      Processor = 'Essetre-WALL.mlpe'}
local BaseId = EmtBase {
      Name = 'Base',
      Geo='BASE/GEO',
      Aux={'BASE/LOAD', 'BASE/MOD01', 'BASE/MOD02', 'BASE/MOD03', 'BASE/MOD04', 'BASE/MOD05', 'BASE/MOD06', 'BASE/COLLISION'}}
   local vtMove = Vector3d( DeltaTabX - 900.0, DeltaTabY + 4530.0, DeltaTabZ + 1118)
   EgtMove( BaseId, vtMove, GDB_RT.GLOB)
-- Tavola
EmtTable {
      Name = 'Tab',
      Parent = 'Base',
      Type = MCH_TT.FLAT,
      Ref1 = Point3d( DeltaTabX, DeltaTabY, DeltaTabZ),
      Scale = {DimTabX/13920, DimTabY/3500, 1},
      Geo = 'TABLE/GEO'}
-- Traversa
EmtAxis {
      Name = 'Y',
      Parent = 'Base',
      Invert = true,
      Type = MCH_AT.LINEAR,
      Dir = X_AX(),
      Pos = Point3d( 0, 0, 0),
      Stroke = {MinY, MaxY},
      Home = 0,
      Geo = 'Y_AXIS/GEO',
      Aux = {'Y_AXIS/SOLID', 'Y_AXIS/TC', 'Y_AXIS/COLLISION'}}
-- Testa 1 per frese
EmtAxis {
      Name = 'X1',
      Parent = 'Y',
      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', 'X1_AXIS/COLLISION'}}
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', 'Z1_AXIS/H11_FIXED'}}
-- Chiodatrice
local H11Id = EmtHead {
         Name = 'H11',
         Parent = 'Z1',
         HSet = 'H11',
         Type = MCH_HT.STD,
         Pos = Point3d( Nail11DeltaX, Nail11DeltaY, Nail11DeltaZ),
         TDir = Z_AX(),
         Geo = 'H11_HEAD/GEO',
         Aux = {'H11_HEAD/SOLID'}}
      EgtMove( EgtGetFirstNameInGroup( H11Id, 'SOLID'), Vector3d( Nail11OffsX, Nail11OffsY, Nail11OffsZ), GDB_RT.GLOB)
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 = { 0, 270},
      Home = 180,
      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', 120)
-- Testa per Lama
local X2Id = EmtAxis {
      Name = 'X2',
      Parent = 'Y',
      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'}}
   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)
   EgtMove( EgtGetFirstNameInGroup( C2Id, 'COLLISION'), 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)
   EgtMove( EgtGetFirstNameInGroup( B2Id, 'COLLISION'), 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'}
-- ToolChanger
local ptTcA = Point3d( -240.26,-383.0,-326.8)
EmtTcPos {
      Name = 'T1',
      Parent = 'Y',
      Pos = ptTcA,
      TDir = -Y_AX(),
      ADir = X_AX(),
      Geo = 'Y_AXIS/TA1'}
EmtTcPos {
      Name = 'T2',
      Parent = 'Y',
      Pos = ptTcA - 120 * Z_AX(),
      TDir = -Y_AX(),
      ADir = X_AX(),
      Geo = 'Y_AXIS/TA2'}
EmtTcPos {
      Name = 'T3',
      Parent = 'Y',
      Pos = ptTcA - 240 * Z_AX(),
      TDir = -Y_AX(),
      ADir = X_AX(),
      Geo = 'Y_AXIS/TA3'}
EmtTcPos {
      Name = 'T4',
      Parent = 'Y',
      Pos = ptTcA - 360 * Z_AX(),
      TDir = -Y_AX(),
      ADir = X_AX(),
      Geo = 'Y_AXIS/TA4'}
EmtTcPos {
      Name = 'T5',
      Parent = 'Y',
      Pos = ptTcA - 480 * Z_AX(),
      TDir = -Y_AX(),
      ADir = X_AX(),
      Geo = 'Y_AXIS/TA5'}
EmtTcPos {
      Name = 'T6',
      Parent = 'Y',
      Pos = ptTcA - 600 * Z_AX(),
      TDir = -Y_AX(),
      ADir = X_AX(),
      Geo = 'Y_AXIS/TA6'}
EmtTcPos {
      Name = 'T7',
      Parent = 'Y',
      Pos = ptTcA - 720 * Z_AX(),
      TDir = -Y_AX(),
      ADir = X_AX(),
      Geo = 'Y_AXIS/TA7'}
EmtTcPos {
      Name = 'T8',
      Parent = 'Y',
      Pos = ptTcA - 840 * Z_AX(),
      TDir = -Y_AX(),
      ADir = X_AX(),
      Geo = 'Y_AXIS/TA8'}
EmtTcPos {
      Name = 'T101',
      Parent = 'Y',
      Pos = Point3d(-468.0,-1047.4,-250.8),
      TDir = X_AX(),
      ADir = Z_AX(),
      Geo = 'Y_AXIS/TC1'}

---------------------------------------------------------------------
-- 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 == 'H11', 0, 580)
   MoveGroup( EgtGetFirstNameInGroup( H11Id, 'SOLID'), Z_AX(), dPos, true)
   MoveGroup( EgtGetFirstNameInGroup( H11Id, 'T1'), Z_AX(), dPos, true)
   -- se sega a catena
   if EMC.HEAD == 'H3' then
      -- gestione distanza da naso mandrino
      local dDist = EgtIf( EMC.DIST and abs( EMC.DIST) > 1, EMC.DIST, ChSawLen)
      EmtModifyExitPosition( EMC.HEAD, EMC.EXIT, Point3d( 0, 0, -dDist))
      local vtMove = Point3d( 0, 0, -dDist) - Point3d( EMC.EXITPOS)
      local ExitId = EgtGetFirstNameInGroup( EgtGetHeadId( EMC.HEAD), 'T'..tostring( EMC.EXIT))
      EgtMove( ExitId, vtMove)
      -- gestione assi
      local sVal = EgtGetMachiningParam( MCH_MP.BLOCKEDAXIS)
      local CSawPosA = EgtGetVal( sVal, 'A1', 'd') or 180
      EmtModifyAxisHome( 'X1', ParkTSpecX1)
      EmtModifyAxisHome( 'Z1', GetChainSawZHomeFromVirtualAxis( CSawPosA))
      EmtModifyAxisStroke( 'C1', { MinC1, MaxC1})
      EmtModifyAxisHome( 'C1', GetChainSawCHomeFromVirtualAxis( CSawPosA))
      EmtModifyAxisStroke( 'B1', { MinB1, MaxB1})
   -- se utensile di grande diametro su testa fresa
   elseif EMC.HEAD == 'H1' and EMC.TOTDIAM > 400 then
      EmtModifyAxisHome( 'X1', MaxX1)
      EmtModifyAxisHome( 'Z1', MaxZ1)
      EmtModifyAxisStroke( 'C1', { -180.1, 0.1})
      EmtModifyAxisHome( 'C1', 0)
      EmtModifyAxisStroke( 'B1', { -90.1, 0.1})
   -- altri casi su testa fresa
   elseif EMC.HEAD == 'H1' or EMC.HEAD == 'H11' then 
      EmtModifyAxisHome( 'X1', MaxX1)
      EmtModifyAxisHome( 'Z1', MaxZ1)
      EmtModifyAxisStroke( 'C1', { MinC1, MaxC1})
      EmtModifyAxisHome( 'C1', 0)
      EmtModifyAxisStroke( 'B1', { MinB1, MaxB1})
   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()
   EMC = { HEAD='H1', TOTDIAM=0}
   OnSetHead()
   -- 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