src/modules/tools/toolmanager/ToolManager.cpp

   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>
  13 #include "ToolManager.h"
  14 #include "Tool.h"
  15 #include "PublicDataRequest.h"
  16 #include "ToolManagerPublicAccess.h"
  17 #include "Config.h"
  18 #include "Robot.h"
  19 #include "ConfigValue.h"
  20 #include "Conveyor.h"
  21 #include "checksumm.h"
  22 #include "PublicData.h"
  23 #include "Gcode.h"
  24
  25 #include "libs/SerialMessage.h"
  26 #include "libs/StreamOutput.h"
  27 #include "FileStream.h"
  28
  29 #include "modules/robot/RobotPublicAccess.h"
  30
  31 #define return_error_on_unhandled_gcode_checksum    CHECKSUM("return_error_on_unhandled_gcode")
  32
  33 ToolManager::ToolManager(){
  34     active_tool = 0;
  35     current_tool_name = CHECKSUM("hotend");
  36 }
  37
  38 void ToolManager::on_module_loaded(){
  39     this->on_config_reload(this);
  40
  41     this->register_for_event(ON_CONFIG_RELOAD);
  42     this->register_for_event(ON_GCODE_RECEIVED);
  43     this->register_for_event(ON_GET_PUBLIC_DATA);
  44     this->register_for_event(ON_SET_PUBLIC_DATA);
  45 }
  46
  47 void ToolManager::on_config_reload(void *argument){
  48     return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
  49 }
  50
  51 void ToolManager::on_gcode_received(void *argument){
  52     Gcode *gcode = static_cast<Gcode*>(argument);
  53
  54     if( gcode->has_letter('T') ){
  55         int new_tool = gcode->get_value('T');
  56         gcode->mark_as_taken();
  57         if(new_tool >= (int)this->tools.size() || new_tool < 0){
  58             // invalid tool
  59             if( return_error_on_unhandled_gcode ) {
  60                 char buf[32]; // should be big enough for any status
  61                 int n= snprintf(buf, sizeof(buf), "T%d invalid tool ", new_tool);
  62                 gcode->txt_after_ok.append(buf, n);
  63             }
  64         } else {
  65             if(new_tool != this->active_tool){
  66                 // We must wait for an empty queue before we can disable the current extruder
  67                 THEKERNEL->conveyor->wait_for_empty_queue();
  68                 this->tools[active_tool]->disable();
  69                 this->active_tool = new_tool;
  70                 this->current_tool_name = this->tools[active_tool]->get_name();
  71                 this->tools[active_tool]->enable();
  72
  73                 //send new_tool_offsets to robot
  74                 const float *new_tool_offset = tools[new_tool]->get_offset();
  75                 THEKERNEL->robot->setToolOffset(new_tool_offset);
  76             }
  77         }
  78     }
  79 }
  80
  81 void ToolManager::on_get_public_data(void* argument){
  82     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
  83
  84     if(!pdr->starts_with(tool_manager_checksum)) return;
  85     if(!pdr->second_element_is(is_active_tool_checksum)) return;
  86
  87     // check that we control the given tool
  88     bool managed= false;
  89     for(auto t : tools) {
  90         uint16_t n= t->get_name();
  91         if(pdr->third_element_is(n)){
  92             managed= true;
  93             break;
  94         }
  95     }
  96
  97     // we are not managing this tool so do not answer
  98     if(!managed) return;
  99
 100     // this must be static as it will be accessed long after we have returned
 101     static uint16_t tool_name;
 102     tool_name= this->current_tool_name;
 103
 104     pdr->set_data_ptr(&tool_name);
 105     pdr->set_taken();
 106 }
 107
 108 void ToolManager::on_set_public_data(void* argument){
 109     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 110
 111     if(!pdr->starts_with(tool_manager_checksum)) return;
 112
 113     // ok this is targeted at us, so change tools
 114     //uint16_t tool_name= *static_cast<float*>(pdr->get_data_ptr());
 115     // TODO: fire a tool change gcode
 116     //pdr->set_taken();
 117 }
 118
 119 // Add a tool to the tool list
 120 void ToolManager::add_tool(Tool* tool_to_add){
 121     if(this->tools.size() == 0){
 122         tool_to_add->enable();
 123         this->current_tool_name = tool_to_add->get_name();
 124         //send new_tool_offsets to robot
 125         const float *new_tool_offset = tool_to_add->get_offset();
 126         THEKERNEL->robot->setToolOffset(new_tool_offset);
 127     } else {
 128         tool_to_add->disable();
 129     }
 130     this->tools.push_back( tool_to_add );
 131 }
 132
 133
 134