-- Descrizione macchina Essetre-90580012 by EgalTech s.r.l.   2024/09/23
-- Macchina Progress (parte Wall).
-- 2023/09/01 DS ver 2.5i1 Primo rilascio partendo da 90580017.
-- 2023/09/05 DS ver 2.5i2 Sistemazioni varie. Sottratto circa 30 da G1xx.
-- 2023/09/06 DS ver 2.5i3 Impostata origine 3.
-- 2023/09/18 DS ver 2.5i4 Aggiunta gestione due tavole accoppiate.
-- 2023/09/20 DS ver 2.5i5 Grezzi larghi fino a 3520. Rifatta lavorazione lama in DB per eliminare problema ultimo step.
-- 2023/09/20 DS ver 2.5i6 Corretta gestione posizione seconda tavola. Corretto spostamento solidi collisione testa lama.
-- 2024/02/09 AV ver 2.6b1 Forzato posizionamento pezzo sempre in origine 1
--                         Aggiunto magazzino per trucioaltore 600x20mm
--                         Tavole azzerate a X negativo (per Essetre Y positivo)
-- 2024/02/10 DS ver 2.6b2 Sistemazione estremi assi Y.
--                         Aumentato interasse tra le tavole quando accoppiate
-- 2024/02/15 AV ver 2.6b3 Cambiato id motosega EU101->104 (Prima era EU41)
--                         Corretta posizione parcheggio in base al nuovo lato di carico
-- 2024/10/04 AV ver 2.6j1 Modificato controllo collisione tavola. Ora permessi 10mm
-- 2024/11/28 LM ver 2.6k1 In WallData aggiunto parametri MIN_Z_SAW e CUT_VZ_MIN

require( 'EmtGenerator')
EgtEnableDebug( false)

PP_VER = '2.7h1'
PP_NVER = '2.7.8.1'

-- Parametri macchina
NumericalControl = 'NUM'                                      -- NUM o TPA
MinY = 10000.0
MaxY = 35500.0
MinY2 = 0.0
MaxY2 = 25500.0
MinX1 = -5440.0
MaxX1 = -690.0
MinZ1 = -1345.0
MaxZ1 = 0.0
SafeZ1 = -800.0
MinB1 = -127.0
MaxB1 = 127.0
MinC1 = -275.0
MaxC1 = 275.0
MillOffs = 170.0
ChSawLen = 91.0
ParkChSawX1 = ( MinX1 + MaxX1) / 2
ParkChSawZ1 = -400 -- OLD: -250
ParkChSawC1 = 90
MinX2 = -4750.0
MaxX2 = 0.0
MinZ2 = -1155.0
MaxZ2 = 0.0
MinB2 = 0.0
MaxB2 = 90.0
MinC2 = -275.0
MaxC2 = 275.0
SawDeltaX = 104.5
SawDeltaY = 0.0
SawDeltaZ = -253.0
SawOffs = 154.0
DimTabX = 10000.0
DimTabY = 3500.0
DeltaTabX = 12207.5
DeltaTabY = -4789.3
DeltaTabZ = -1150.0
DimTab2X = 10000.0
DimTab2Y = 3500.0
DeltaTab2X = 12207.5
DeltaTab2Y = -4789.3
DeltaTab2Z = -1150.0
GantryTabs = 11000.0
OffsetTabs = 332
CoeffVM = 0.75

-- Aggiornamento con dati da TechnoEssetre7
local sTs3Data = EgtGetStringFromIni( 'Wall', 'DATA_DIR', "C:\\TechnoEssetre7\\EgtData", EgtGetIniFile()).."\\Essetre-90580012.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
      if MchOffs.MAX_Y2 then MinY2 = -MchOffs.MAX_Y2 end
      if MchOffs.MIN_Y2 then MaxY2 = -MchOffs.MIN_Y2 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.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
      DeltaTab2X = DeltaTabX
      DeltaTab2Y = DeltaTabY
      DeltaTab2Z = 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
      GantryTabs = MchOffs.GANTRY_TABLES or GantryTabs
   end
end

-- Spostamenti della lama rispetto al disegno
local SawOffsX = SawDeltaX - 104.5
local SawOffsY = SawDeltaY - 0
local SawOffsZ = SawDeltaZ + 253.0

EmtGeneral {
      File='Essetre-90580012.nge',
      Offset = Vector3d( -783.5, -5820.00, -1778.0),
      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', 'BASE/TCR', 'BASE/TCR2'}}
   local vtMove = Vector3d( DeltaTabX - 12207.5, DeltaTabY + 4789.3, DeltaTabZ + 1150)
   EgtMove( EgtGetFirstNameInGroup( BaseId, 'SUBTABLE'), vtMove, GDB_RT.GLOB)
-- Tavola 1
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 = MaxY,
      Geo = 'Y_AXIS/GEO',
      Aux = {'Y_AXIS/SOLID'}}
   EgtMove( YId, vtMove, GDB_RT.GLOB)
local TabId = EmtTable {
      Name = 'Tab',
      Parent = 'Y',
      Type = MCH_TT.FLAT,
      Ref1 = Point3d( DeltaTabX, DeltaTabY, DeltaTabZ),
      Geo = 'TABLE/GEO',
      Aux = {'TABLE/GEO2', 'TABLE/SOLID', 'TABLE/COLLISION'}}
-- Tavola 2
local Y2Id =  EmtAxis {
      Name = 'Y2',
      Parent = 'Base',
      Invert = true,
      Type = MCH_AT.LINEAR,
      Dir = -X_AX(),
      Pos = Point3d( 0, 0, 0),
      Stroke = {MinY2, MaxY2},
      Home = MinY2,
      Geo = 'Y2_AXIS/GEO',
      Aux = {'Y2_AXIS/SOLID'}}
   EgtMove( Y2Id, vtMove, GDB_RT.GLOB)
EmtTable {
      Name = 'Tab2',
      Parent = 'Y2',
      Type = MCH_TT.FLAT,
      Ref1 = Point3d( DeltaTab2X, DeltaTab2Y, DeltaTab2Z),
      Geo = 'TABLE2/GEO',
      Aux = {'TABLE2/SOLID', 'TABLE2/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 = MinX1,
      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
-- attenzione: gestita solo la home per la posizione 104, unica abilitata. Se si aggiungono altre posizioni, la home sarà da modificare nella OnSetHead
EmtAxis {
      Name = 'A1',
      Parent = 'B1',
      Token = '**',
      Type = MCH_AT.ROTARY,
      Dir = Z_AX(),
      Pos = Point3d( 0, 0, 0),
      Stroke = { -90, 180},
      Home = 90,
      Geo = 'A1_AXIS/GEO'}
local H3Id = EmtHead {
      Name = 'H3',
      Parent = 'A1',
      HSet = 'H1',
      Type = MCH_HT.STD,
      Pos = Point3d( 0, 0, -ChSawLen),
      TDir = X_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 = MaxX2,
      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 ptTC = Point3d( -616.3,-3892.7,-63.0)
EmtTcPos {
      Name = 'T1',
      Parent = 'Base',
      Pos = ptTC,
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T1'}
EmtTcPos {
      Name = 'T2',
      Parent = 'Base',
      Pos = ptTC + 102.5 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T2'}
EmtTcPos {
      Name = 'T3',
      Parent = 'Base',
      Pos = ptTC + 2 * 102.5 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T3'}
EmtTcPos {
      Name = 'T4',
      Parent = 'Base',
      Pos = ptTC + 3 * 102.5 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T4'}
EmtTcPos {
      Name = 'T5',
      Parent = 'Base',
      Pos = ptTC + 4 * 102.5 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T5'}
EmtTcPos {
      Name = 'T6',
      Parent = 'Base',
      Pos = ptTC + 5 * 102.5 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T6'}
EmtTcPos {
      Name = 'T7',
      Parent = 'Base',
      Pos = ptTC + 6 * 102.5 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T7'}
EmtTcPos {
      Name = 'T8',
      Parent = 'Base',
      Pos = ptTC + 7 * 102.5 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T8'}
EmtTcPos {
      Name = 'T9',
      Parent = 'Base',
      Pos = ptTC + 8 * 102.5 * Y_AX(),
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T9'}
local ptTCR = Point3d( -611.0,-5033.7,-197.0)
EmtTcPos {
      Name = 'T101',
      Parent = 'Base',
      Pos = ptTCR - ChSawLen * Z_AX(),
      TDir = X_AX(),
      ADir = Z_AX(),
      Geo = 'BASE/T101'}
local ptTCR2 = Point3d( -901.3,-4392.7,-79)
EmtTcPos {
      Name = 'T201',
      Parent = 'Base',
      Pos = ptTCR2,
      TDir = Z_AX(),
      ADir = X_AX(),
      Geo = 'BASE/T201'}
---------------------------------------------------------------------
-- Funzioni richiamate per modificare i dati macchina in casi particolari
--function OnSetTable()
--end

---------------------------------------------------------------------
function OnSetHead()
   if EMC.HEAD == 'H1' then
      EmtModifyAxisHome( 'X1', MinX1)
      EmtModifyAxisHome( 'Z1', MaxZ1)
      EmtModifyAxisHome( 'C1', 0)
   elseif EMC.HEAD == 'H3' then
      EmtModifyAxisHome( 'X1', ParkChSawX1)
      EmtModifyAxisHome( 'Z1', ParkChSawZ1)
      EmtModifyAxisHome( 'C1', ParkChSawC1)
      local dDist = EgtIf( EMC.DIST and abs( EMC.DIST) > 1, EMC.DIST, ChSawLen)
      EmtModifyExitPosition( EMC.HEAD, EMC.EXIT, Point3d( 0, 0, -dDist))
      if not EMC.VER or EMC.VER < '2.5h2' then
         local vtMove = Point3d( 0, 0, -dDist) - Point3d( EMC.EXITPOS)
         local ExitId = EgtGetFirstNameInGroup( EgtGetHeadId( EMC.HEAD), 'T'..tostring( EMC.EXIT))
         EgtMove( ExitId, vtMove)
      end
   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)
   -- visualizzo geometria ausiliaria tavola
   EgtSetStatus( EgtGetFirstNameInGroup( TabId, 'GEO2') or GDB_ID.NULL, GDB_ST.ON)
end