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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" |
8adf2390 | 14 | #include "Conveyor.h" |
14ecdbd7 | 15 | |
f4a68aec L |
16 | #define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode") |
17 | ||
92031952 | 18 | ToolManager::ToolManager(){ |
8adf2390 L |
19 | active_tool = 0; |
20 | } | |
14ecdbd7 | 21 | |
92031952 | 22 | void ToolManager::on_module_loaded(){ |
f4a68aec L |
23 | this->on_config_reload(this); |
24 | ||
25 | this->register_for_event(ON_CONFIG_RELOAD); | |
8adf2390 | 26 | this->register_for_event(ON_GCODE_RECEIVED); |
8adf2390 L |
27 | } |
28 | ||
f4a68aec L |
29 | void ToolManager::on_config_reload(void *argument){ |
30 | return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool(); | |
31 | } | |
32 | ||
92031952 | 33 | void ToolManager::on_gcode_received(void *argument){ |
8adf2390 L |
34 | Gcode *gcode = static_cast<Gcode*>(argument); |
35 | ||
36 | if( gcode->has_letter('T') ){ | |
37 | int new_tool = gcode->get_value('T'); | |
5a6dd23d L |
38 | bool make_move = false; |
39 | if ( gcode->has_letter('F') ){ | |
40 | make_move = true; | |
41 | } | |
8adf2390 | 42 | gcode->mark_as_taken(); |
c974b296 | 43 | if(new_tool >= (int)this->tools.size() || new_tool < 0){ |
8adf2390 | 44 | // invalid tool |
f4a68aec L |
45 | if( return_error_on_unhandled_gcode ) { |
46 | char buf[32]; // should be big enough for any status | |
47 | int n= snprintf(buf, sizeof(buf), "T%d invalid tool ", new_tool); | |
48 | gcode->txt_after_ok.append(buf, n); | |
49 | } | |
8adf2390 | 50 | } else { |
c974b296 L |
51 | if(new_tool != this->active_tool){ |
52 | void *returned_data; | |
53 | bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data ); | |
54 | if(ok){ | |
55 | // save current position to return to after applying extruder offset | |
56 | float *pos = static_cast<float *>(returned_data); | |
57 | float current_pos[3]; | |
58 | for(int i=0;i<3;i++){ | |
59 | current_pos[i] = pos[i]; | |
60 | } | |
61 | // update virtual tool position to the offset of the new tool and select it as active | |
62 | float new_pos[3]; | |
63 | float *active_tool_offset = tools[this->active_tool]->get_offset(); | |
64 | float *new_tool_offset = tools[new_tool]->get_offset(); | |
65 | for(int i=0;i<3;i++){ | |
66 | new_pos[i] = current_pos[i] - active_tool_offset[i] + new_tool_offset[i]; | |
67 | } | |
68 | ||
69 | this->tools[active_tool]->disable(); | |
70 | this->active_tool = new_tool; | |
71 | this->tools[active_tool]->enable(); | |
14ecdbd7 | 72 | |
c974b296 L |
73 | char buf[32]; |
74 | snprintf(buf, 31, "G92 X%g Y%g Z%g", new_pos[X_AXIS], new_pos[Y_AXIS], new_pos[Z_AXIS]); | |
75 | string s = buf; | |
76 | Gcode *g = new Gcode(s, gcode->stream); | |
77 | THEKERNEL->call_event(ON_GCODE_RECEIVED, g); | |
78 | delete g; | |
8adf2390 | 79 | |
c974b296 L |
80 | if(make_move){ |
81 | //move to old position | |
82 | snprintf(buf, 31, "G0 X%g Y%g Z%g", current_pos[X_AXIS], current_pos[Y_AXIS], current_pos[Z_AXIS]); | |
83 | s = buf; | |
84 | g = new Gcode(s, gcode->stream); | |
5a6dd23d L |
85 | THEKERNEL->call_event(ON_GCODE_RECEIVED, g); |
86 | delete g; | |
5a6dd23d | 87 | } |
8adf2390 L |
88 | } |
89 | } | |
90 | } | |
91 | } | |
92 | } | |
14ecdbd7 AW |
93 | |
94 | // Add a tool to the tool list | |
92031952 | 95 | void ToolManager::add_tool(Tool* tool_to_add){ |
c974b296 L |
96 | if(this->tools.size() == 0){ |
97 | tool_to_add->enable(); | |
98 | } else { | |
99 | tool_to_add->disable(); | |
100 | } | |
14ecdbd7 AW |
101 | this->tools.push_back( tool_to_add ); |
102 | } | |
103 | ||
104 | ||
105 |