From 7bad9a5cc6246ea2b3c66a5310f02ef5e4539849 Mon Sep 17 00:00:00 2001
From: Dario Sassi <dario.sassi@egalware.com>
Date: Sun, 26 Oct 2025 19:25:10 +0100
Subject: [PATCH] =?UTF-8?q?EgtMachKernel=20:=20-=20miglioria=20nel=20calco?=
 =?UTF-8?q?lo=20assi=20per=20robot=20(verifica=20continuit=C3=A0).?=
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---
 CamData.h     |  2 ++
 Operation.cpp | 31 +++++++++++++++++++++++++++++++
 2 files changed, 33 insertions(+)

diff --git a/CamData.h b/CamData.h
index a410ed1..96bf94c 100644
--- a/CamData.h
+++ b/CamData.h
@@ -72,6 +72,8 @@ class CamData : public IUserObj
               { m_bToolShow = bShow ; return true ; }
       int             GetMoveType( void) const
                          { return m_nMove ; }
+      bool            IsRapid( void) const
+                         { return ( m_nMove == 0) ; }
       bool            IsLine( void) const
                          { return ( m_nMove == 0  ||  m_nMove == 1) ; }
       bool            IsArc( void) const
diff --git a/Operation.cpp b/Operation.cpp
index 8ebaf6d..665c8f5 100644
--- a/Operation.cpp
+++ b/Operation.cpp
@@ -2722,6 +2722,37 @@ Operation::CalculateClPathRobotAxesValues( int nClPathId, double dAngDeltaMinFor
       nFlag2Prec = pCamData->GetFlag2() ;
       bToolShowPrec = pCamData->GetToolShow() ;
    }
+  // controllo la continuità del movimento
+   const double MAX_DELTA_ANG = 45 ;
+   bool bRotContOnNext = ( GetType() != OPER_DISP) ;
+   int nInd = 0 ;
+   int nCount = m_pGeomDB->GetGroupObjs( nClPathId) ;
+   const DBLVECTOR* pvPrevAxVal = nullptr ;
+   for ( int nEntId = m_pGeomDB->GetFirstInGroup( nClPathId) ;
+         nEntId != GDB_ID_NULL ;
+         nEntId = m_pGeomDB->GetNext( nEntId)) {
+     // indice del movimento
+      ++ nInd ;
+     // recupero i dati Cam dell'entità
+      CamData* pCamData = GetCamData( m_pGeomDB->GetUserObj( nEntId)) ;
+      if ( pCamData == nullptr)
+         continue ;
+      const DBLVECTOR& vCurrAxVal = pCamData->GetAxesVal() ;
+     // se movimento di lavoro ed esiste precedente, li confronto
+      if ( ! pCamData->IsRapid()  &&  pvPrevAxVal != nullptr) {
+        // Se richiesta continuità, verifico non ci siano salti
+         double dDeltaR4 = vCurrAxVal[3] - (*pvPrevAxVal)[3] ;
+         double dDeltaR6 = vCurrAxVal[5] - (*pvPrevAxVal)[5] ;
+         if ( bRotContOnNext  &&  ( abs( dDeltaR4) > MAX_DELTA_ANG  ||  abs( dDeltaR6) > MAX_DELTA_ANG)) {
+            string sOut = "Lost continuity on R4 (Diff=" + ToString( dDeltaR4, 1) +
+                                        ") or R6 (Diff=" + ToString( dDeltaR6, 1) +
+                                        ") at move " + ToString( nInd) + " of "  + ToString( nCount) ;
+            m_pMchMgr->SetWarning( 1101, sOut) ;
+         }
+      }
+     // salvo nuovi precedenti
+      pvPrevAxVal = &vCurrAxVal ;
+   }
 
    return bOk ;
 }