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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 | ||
1440c258 | 29 | #include "modules/robot/RobotPublicAccess.h" |
14ecdbd7 | 30 | |
f4a68aec L |
31 | #define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode") |
32 | ||
1440c258 L |
33 | #define X_AXIS 0 |
34 | #define Y_AXIS 1 | |
35 | #define Z_AXIS 2 | |
36 | ||
92031952 | 37 | ToolManager::ToolManager(){ |
8adf2390 | 38 | active_tool = 0; |
38b9f24a | 39 | current_tool_name = CHECKSUM("hotend"); |
8adf2390 | 40 | } |
14ecdbd7 | 41 | |
92031952 | 42 | void ToolManager::on_module_loaded(){ |
f4a68aec L |
43 | this->on_config_reload(this); |
44 | ||
45 | this->register_for_event(ON_CONFIG_RELOAD); | |
8adf2390 | 46 | this->register_for_event(ON_GCODE_RECEIVED); |
38b9f24a L |
47 | this->register_for_event(ON_GET_PUBLIC_DATA); |
48 | this->register_for_event(ON_SET_PUBLIC_DATA); | |
8adf2390 L |
49 | } |
50 | ||
f4a68aec L |
51 | void ToolManager::on_config_reload(void *argument){ |
52 | return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool(); | |
53 | } | |
54 | ||
92031952 | 55 | void ToolManager::on_gcode_received(void *argument){ |
8adf2390 L |
56 | Gcode *gcode = static_cast<Gcode*>(argument); |
57 | ||
58 | if( gcode->has_letter('T') ){ | |
59 | int new_tool = gcode->get_value('T'); | |
60 | gcode->mark_as_taken(); | |
c974b296 | 61 | if(new_tool >= (int)this->tools.size() || new_tool < 0){ |
8adf2390 | 62 | // invalid tool |
f4a68aec L |
63 | if( return_error_on_unhandled_gcode ) { |
64 | char buf[32]; // should be big enough for any status | |
65 | int n= snprintf(buf, sizeof(buf), "T%d invalid tool ", new_tool); | |
66 | gcode->txt_after_ok.append(buf, n); | |
67 | } | |
8adf2390 | 68 | } else { |
c974b296 | 69 | if(new_tool != this->active_tool){ |
f8e5ee9b | 70 | THEKERNEL->conveyor->wait_for_empty_queue(); |
18551e1f L |
71 | this->tools[active_tool]->disable(); |
72 | this->active_tool = new_tool; | |
73 | this->current_tool_name = this->tools[active_tool]->get_name(); | |
74 | this->tools[active_tool]->enable(); | |
75 | ||
76 | //send new_tool_offsets to robot | |
18551e1f L |
77 | float *new_tool_offset = tools[new_tool]->get_offset(); |
78 | THEKERNEL->robot->setToolOffset(new_tool_offset[0], new_tool_offset[1], new_tool_offset[2]); | |
8adf2390 L |
79 | } |
80 | } | |
81 | } | |
82 | } | |
14ecdbd7 | 83 | |
38b9f24a L |
84 | void ToolManager::on_get_public_data(void* argument){ |
85 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
86 | ||
87 | if(!pdr->starts_with(tool_manager_checksum)) return; | |
88 | ||
89 | // ok this is targeted at us, so send back the requested data | |
90 | // this must be static as it will be accessed long after we have returned | |
91 | static struct pad_toolmanager tool_return; | |
92 | tool_return.current_tool_name= this->current_tool_name; | |
93 | ||
94 | pdr->set_data_ptr(&tool_return); | |
95 | pdr->set_taken(); | |
96 | } | |
97 | ||
98 | void ToolManager::on_set_public_data(void* argument){ | |
99 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
100 | ||
101 | if(!pdr->starts_with(tool_manager_checksum)) return; | |
102 | ||
103 | // ok this is targeted at us, so change tools | |
104 | uint16_t tool_name= *static_cast<float*>(pdr->get_data_ptr()); | |
105 | // TODO: fire a tool change gcode | |
106 | pdr->set_taken(); | |
107 | } | |
108 | ||
14ecdbd7 | 109 | // Add a tool to the tool list |
92031952 | 110 | void ToolManager::add_tool(Tool* tool_to_add){ |
c974b296 L |
111 | if(this->tools.size() == 0){ |
112 | tool_to_add->enable(); | |
b379d27a | 113 | this->current_tool_name = tool_to_add->get_name(); |
b4ba8089 L |
114 | //send new_tool_offsets to robot |
115 | float *new_tool_offset = tool_to_add->get_offset(); | |
116 | THEKERNEL->robot->setToolOffset(new_tool_offset[0], new_tool_offset[1], new_tool_offset[2]); | |
c974b296 L |
117 | } else { |
118 | tool_to_add->disable(); | |
119 | } | |
14ecdbd7 AW |
120 | this->tools.push_back( tool_to_add ); |
121 | } | |
122 | ||
123 | ||
124 |