Commit | Line | Data |
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14ecdbd7 AW |
1 | /* |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). | |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
6 | */ | |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
10 | #include <math.h> | |
11 | using namespace std; | |
12 | #include <vector> | |
18067d90 | 13 | #include "ToolManager.h" |
5882424f | 14 | #include "Tool.h" |
38b9f24a L |
15 | #include "PublicDataRequest.h" |
16 | #include "ToolManagerPublicAccess.h" | |
1440c258 | 17 | #include "Config.h" |
5966b7d0 | 18 | #include "Robot.h" |
1440c258 | 19 | #include "ConfigValue.h" |
8adf2390 | 20 | #include "Conveyor.h" |
1440c258 L |
21 | #include "checksumm.h" |
22 | #include "PublicData.h" | |
23 | #include "Gcode.h" | |
24 | ||
5966b7d0 AT |
25 | #include "libs/SerialMessage.h" |
26 | #include "libs/StreamOutput.h" | |
27 | #include "FileStream.h" | |
28 | ||
c2f7c261 JM |
29 | ToolManager::ToolManager() |
30 | { | |
8adf2390 | 31 | active_tool = 0; |
38b9f24a | 32 | current_tool_name = CHECKSUM("hotend"); |
8adf2390 | 33 | } |
14ecdbd7 | 34 | |
c2f7c261 JM |
35 | void ToolManager::on_module_loaded() |
36 | { | |
f4a68aec | 37 | |
8adf2390 | 38 | this->register_for_event(ON_GCODE_RECEIVED); |
38b9f24a L |
39 | this->register_for_event(ON_GET_PUBLIC_DATA); |
40 | this->register_for_event(ON_SET_PUBLIC_DATA); | |
8adf2390 L |
41 | } |
42 | ||
c2f7c261 JM |
43 | void ToolManager::on_gcode_received(void *argument) |
44 | { | |
8adf2390 L |
45 | Gcode *gcode = static_cast<Gcode*>(argument); |
46 | ||
c2f7c261 | 47 | if( gcode->has_letter('T') ) { |
8adf2390 | 48 | int new_tool = gcode->get_value('T'); |
c2f7c261 | 49 | if(new_tool >= (int)this->tools.size() || new_tool < 0) { |
8adf2390 | 50 | // invalid tool |
c2f7c261 JM |
51 | char buf[32]; // should be big enough for any status |
52 | int n = snprintf(buf, sizeof(buf), "T%d invalid tool ", new_tool); | |
53 | gcode->txt_after_ok.append(buf, n); | |
54 | ||
8adf2390 | 55 | } else { |
c2f7c261 | 56 | if(new_tool != this->active_tool) { |
17c89e4d | 57 | // We must wait for an empty queue before we can disable the current extruder |
f8e5ee9b | 58 | THEKERNEL->conveyor->wait_for_empty_queue(); |
18551e1f L |
59 | this->tools[active_tool]->disable(); |
60 | this->active_tool = new_tool; | |
61 | this->current_tool_name = this->tools[active_tool]->get_name(); | |
62 | this->tools[active_tool]->enable(); | |
63 | ||
64 | //send new_tool_offsets to robot | |
17c89e4d | 65 | const float *new_tool_offset = tools[new_tool]->get_offset(); |
c8bac202 | 66 | THEROBOT->setToolOffset(new_tool_offset); |
8adf2390 L |
67 | } |
68 | } | |
69 | } | |
70 | } | |
14ecdbd7 | 71 | |
c2f7c261 JM |
72 | void ToolManager::on_get_public_data(void* argument) |
73 | { | |
38b9f24a L |
74 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
75 | ||
76 | if(!pdr->starts_with(tool_manager_checksum)) return; | |
40843ebc JM |
77 | |
78 | if(pdr->second_element_is(is_active_tool_checksum)) { | |
79 | ||
80 | // check that we control the given tool | |
81 | bool managed = false; | |
82 | for(auto t : tools) { | |
83 | uint16_t n = t->get_name(); | |
84 | if(pdr->third_element_is(n)) { | |
85 | managed = true; | |
86 | break; | |
87 | } | |
8e8b938e | 88 | } |
8e8b938e | 89 | |
40843ebc JM |
90 | // we are not managing this tool so do not answer |
91 | if(!managed) return; | |
92 | ||
93 | pdr->set_data_ptr(&this->current_tool_name); | |
94 | pdr->set_taken(); | |
38b9f24a | 95 | |
40843ebc JM |
96 | }else if(pdr->second_element_is(get_active_tool_checksum)) { |
97 | pdr->set_data_ptr(&this->active_tool); | |
98 | pdr->set_taken(); | |
99 | } | |
38b9f24a L |
100 | } |
101 | ||
c2f7c261 JM |
102 | void ToolManager::on_set_public_data(void* argument) |
103 | { | |
38b9f24a L |
104 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
105 | ||
106 | if(!pdr->starts_with(tool_manager_checksum)) return; | |
107 | ||
108 | // ok this is targeted at us, so change tools | |
17c89e4d | 109 | //uint16_t tool_name= *static_cast<float*>(pdr->get_data_ptr()); |
38b9f24a | 110 | // TODO: fire a tool change gcode |
8e8b938e | 111 | //pdr->set_taken(); |
38b9f24a L |
112 | } |
113 | ||
14ecdbd7 | 114 | // Add a tool to the tool list |
c2f7c261 JM |
115 | void ToolManager::add_tool(Tool* tool_to_add) |
116 | { | |
117 | if(this->tools.size() == 0) { | |
c974b296 | 118 | tool_to_add->enable(); |
b379d27a | 119 | this->current_tool_name = tool_to_add->get_name(); |
b4ba8089 | 120 | //send new_tool_offsets to robot |
17c89e4d | 121 | const float *new_tool_offset = tool_to_add->get_offset(); |
c8bac202 | 122 | THEROBOT->setToolOffset(new_tool_offset); |
c974b296 L |
123 | } else { |
124 | tool_to_add->disable(); | |
125 | } | |
14ecdbd7 AW |
126 | this->tools.push_back( tool_to_add ); |
127 | } | |
128 | ||
129 | ||
130 |