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