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interp: keep the current point when G10 L2 turns the system in effect under G92 #4815

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interp: keep the current point when G10 L2 turns the system in effect under G92 #4815

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33 changes: 14 additions & 19 deletions src/emc/rs274ngc/interp_convert.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -5038,6 +5038,15 @@ int Interp::convert_setup(block_pointer block, //!< pointer to a block of RS27
&ca, &cb, &cc,
&cu, &cv, &cw);

// the tool stays where it is: its X Y Z go round the chain, G92
// included, before the change and back after it
bool in_use = p_int == settings->origin_index;
double wx = 0, wy = 0, wz = 0;
if (in_use) {
program_to_world_xyz(settings, settings->current_x, settings->current_y,
settings->current_z, &wx, &wy, &wz);
}

if (block->r_flag) {
CHKS((block->l_number == 20), _("R not allowed in G10 L20"));
r = block->r_number;
Expand Down Expand Up @@ -5072,12 +5081,6 @@ int Interp::convert_setup(block_pointer block, //!< pointer to a block of RS27
// parameters are not rotated
parameters[5201 + (p_int * 20)] = PROGRAM_TO_USER_LEN(x);
parameters[5202 + (p_int * 20)] = PROGRAM_TO_USER_LEN(y);

if (p_int == settings->origin_index) {
// let the code below fix up the current coordinates correctly
rotate(&settings->current_x, &settings->current_y, settings->rotation_xy);
settings->rotation_xy = 0;
}
} else {
if (block->x_flag) {
x = block->x_number;
Expand Down Expand Up @@ -5142,13 +5145,7 @@ int Interp::convert_setup(block_pointer block, //!< pointer to a block of RS27
} else
w = USER_TO_PROGRAM_AX(AXIS_W, parameters[5209 + (p_int * 20)]);

if (p_int == settings->origin_index) { /* system is currently used */

rotate(&settings->current_x, &settings->current_y, settings->rotation_xy);

settings->current_x += settings->origin_offset_x;
settings->current_y += settings->origin_offset_y;
settings->current_z += settings->origin_offset_z;
if (in_use) {
settings->AA_current += settings->AA_origin_offset;
settings->BB_current += settings->BB_origin_offset;
settings->CC_current += settings->CC_origin_offset;
Expand All @@ -5166,20 +5163,18 @@ int Interp::convert_setup(block_pointer block, //!< pointer to a block of RS27
settings->v_origin_offset = v;
settings->w_origin_offset = w;

settings->current_x -= x;
settings->current_y -= y;
settings->current_z -= z;
settings->AA_current -= a;
settings->BB_current -= b;
settings->CC_current -= c;
settings->u_current -= u;
settings->v_current -= v;
settings->w_current -= w;

SET_G5X_OFFSET(p_int, x, y, z, a, b, c, u, v, w);

rotate(&settings->current_x, &settings->current_y, - r);
settings->rotation_xy = r;
world_to_program_xyz(settings, wx, wy, wz, &settings->current_x,
&settings->current_y, &settings->current_z);

SET_G5X_OFFSET(p_int, x, y, z, a, b, c, u, v, w);
SET_XY_ROTATION(settings->rotation_xy);

}
Expand Down
4 changes: 4 additions & 0 deletions tests/interp/rotation/abs-pts/expected
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Expand Up @@ -12,6 +12,8 @@
N..... MESSAGE("1.000000 2.000000 3.000000")
N..... MESSAGE("0.000000 0.000000 0.000000")
N..... MESSAGE("1.000000 2.000000 3.000000")
N..... MESSAGE("1.000000 2.000000 3.000000")
N..... MESSAGE("1.000000 2.000000 3.000000")
N..... MESSAGE("0.000000 0.000000 0.000000")
N..... MESSAGE("1.000000 2.000000 3.000000")
N..... MESSAGE("0.000000 0.000000 0.000000")
Expand All @@ -26,3 +28,5 @@
N..... MESSAGE("1.000000 2.000000 3.000000")
N..... MESSAGE("0.000000 0.000000 0.000000")
N..... MESSAGE("1.000000 2.000000 3.000000")
N..... MESSAGE("1.000000 2.000000 3.000000")
N..... MESSAGE("1.000000 2.000000 3.000000")
11 changes: 11 additions & 0 deletions tests/interp/rotation/abs-pts/test.ngc
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Expand Up @@ -37,6 +37,17 @@ g10l2p1x3y7z0r45
g92x3y7
o<coords> call
g92.2

; the rotation of the system in effect changes under a G92: the current
; point stays where it is
g10l2p1x3y7z0r0
g92x3y7
g53g0x1y2z3
g10l2p1r45
(debug,#<_abs_x> #<_abs_y> #<_abs_z>)
g10l2p1r0
(debug,#<_abs_x> #<_abs_y> #<_abs_z>)
g92.2
o<suite> endsub

g20
Expand Down
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