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/>.
8 #include "libs/Module.h"
9 #include "libs/Kernel.h"
13 #include "ToolManager.h"
15 #include "PublicDataRequest.h"
16 #include "ToolManagerPublicAccess.h"
19 #include "ConfigValue.h"
21 #include "checksumm.h"
22 #include "PublicData.h"
25 #include "libs/SerialMessage.h"
26 #include "libs/StreamOutput.h"
27 #include "FileStream.h"
29 #include "modules/robot/RobotPublicAccess.h"
31 #define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode")
33 ToolManager::ToolManager(){
35 current_tool_name
= CHECKSUM("hotend");
38 void ToolManager::on_module_loaded(){
39 this->on_config_reload(this);
41 this->register_for_event(ON_GCODE_RECEIVED
);
42 this->register_for_event(ON_GET_PUBLIC_DATA
);
43 this->register_for_event(ON_SET_PUBLIC_DATA
);
46 void ToolManager::on_config_reload(void *argument
){
47 return_error_on_unhandled_gcode
= THEKERNEL
->config
->value( return_error_on_unhandled_gcode_checksum
)->by_default(false)->as_bool();
50 void ToolManager::on_gcode_received(void *argument
){
51 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
53 if( gcode
->has_letter('T') ){
54 int new_tool
= gcode
->get_value('T');
55 if(new_tool
>= (int)this->tools
.size() || new_tool
< 0){
57 if( return_error_on_unhandled_gcode
) {
58 char buf
[32]; // should be big enough for any status
59 int n
= snprintf(buf
, sizeof(buf
), "T%d invalid tool ", new_tool
);
60 gcode
->txt_after_ok
.append(buf
, n
);
63 if(new_tool
!= this->active_tool
){
64 // We must wait for an empty queue before we can disable the current extruder
65 THEKERNEL
->conveyor
->wait_for_empty_queue();
66 this->tools
[active_tool
]->disable();
67 this->active_tool
= new_tool
;
68 this->current_tool_name
= this->tools
[active_tool
]->get_name();
69 this->tools
[active_tool
]->enable();
71 //send new_tool_offsets to robot
72 const float *new_tool_offset
= tools
[new_tool
]->get_offset();
73 THEKERNEL
->robot
->setToolOffset(new_tool_offset
);
79 void ToolManager::on_get_public_data(void* argument
){
80 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
82 if(!pdr
->starts_with(tool_manager_checksum
)) return;
83 if(!pdr
->second_element_is(is_active_tool_checksum
)) return;
85 // check that we control the given tool
88 uint16_t n
= t
->get_name();
89 if(pdr
->third_element_is(n
)){
95 // we are not managing this tool so do not answer
98 pdr
->set_data_ptr(&this->current_tool_name
);
102 void ToolManager::on_set_public_data(void* argument
){
103 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
105 if(!pdr
->starts_with(tool_manager_checksum
)) return;
107 // ok this is targeted at us, so change tools
108 //uint16_t tool_name= *static_cast<float*>(pdr->get_data_ptr());
109 // TODO: fire a tool change gcode
113 // Add a tool to the tool list
114 void ToolManager::add_tool(Tool
* tool_to_add
){
115 if(this->tools
.size() == 0){
116 tool_to_add
->enable();
117 this->current_tool_name
= tool_to_add
->get_name();
118 //send new_tool_offsets to robot
119 const float *new_tool_offset
= tool_to_add
->get_offset();
120 THEKERNEL
->robot
->setToolOffset(new_tool_offset
);
122 tool_to_add
->disable();
124 this->tools
.push_back( tool_to_add
);