#include "libs/Module.h"
#include "libs/Kernel.h"
-#include <math.h>
-using namespace std;
-#include <vector>
#include "ToolManager.h"
#include "Tool.h"
#include "PublicDataRequest.h"
#include "libs/StreamOutput.h"
#include "FileStream.h"
-#define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode")
+#include <math.h>
-ToolManager::ToolManager(){
+ToolManager::ToolManager()
+{
active_tool = 0;
current_tool_name = CHECKSUM("hotend");
}
-void ToolManager::on_module_loaded(){
- this->on_config_reload(this);
+void ToolManager::on_module_loaded()
+{
this->register_for_event(ON_GCODE_RECEIVED);
this->register_for_event(ON_GET_PUBLIC_DATA);
this->register_for_event(ON_SET_PUBLIC_DATA);
}
-void ToolManager::on_config_reload(void *argument){
- return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
-}
-
-void ToolManager::on_gcode_received(void *argument){
+void ToolManager::on_gcode_received(void *argument)
+{
Gcode *gcode = static_cast<Gcode*>(argument);
- if( gcode->has_letter('T') ){
+ if( gcode->has_letter('T') && !gcode->has_m) {
int new_tool = gcode->get_value('T');
- if(new_tool >= (int)this->tools.size() || new_tool < 0){
+ char buff[32]; // should be big enough for any status
+ int n = snprintf(buff, sizeof(buff), "T%d,T%d switching ", this->active_tool, new_tool);
+ gcode->txt_after_ok.append(buff, n);
+ if(new_tool >= (int)this->tools.size() || new_tool < 0) {
// invalid tool
- if( return_error_on_unhandled_gcode ) {
- char buf[32]; // should be big enough for any status
- int n= snprintf(buf, sizeof(buf), "T%d invalid tool ", new_tool);
- gcode->txt_after_ok.append(buf, n);
- }
+ char buf[32]; // should be big enough for any status
+ int n = snprintf(buf, sizeof(buf), "T%d invalid tool ", new_tool);
+ gcode->txt_after_ok.append(buf, n);
+
} else {
- if(new_tool != this->active_tool){
+ if(new_tool != this->active_tool) {
// We must wait for an empty queue before we can disable the current extruder
- THEKERNEL->conveyor->wait_for_empty_queue();
- this->tools[active_tool]->disable();
+ THEKERNEL->conveyor->wait_for_idle();
+ this->tools[active_tool]->deselect();
this->active_tool = new_tool;
this->current_tool_name = this->tools[active_tool]->get_name();
- this->tools[active_tool]->enable();
+ this->tools[active_tool]->select();
//send new_tool_offsets to robot
const float *new_tool_offset = tools[new_tool]->get_offset();
- THEKERNEL->robot->setToolOffset(new_tool_offset);
+ THEROBOT->setToolOffset(new_tool_offset);
}
}
}
}
-void ToolManager::on_get_public_data(void* argument){
+void ToolManager::on_get_public_data(void* argument)
+{
PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
if(!pdr->starts_with(tool_manager_checksum)) return;
- if(!pdr->second_element_is(is_active_tool_checksum)) return;
-
- // check that we control the given tool
- bool managed= false;
- for(auto t : tools) {
- uint16_t n= t->get_name();
- if(pdr->third_element_is(n)){
- managed= true;
- break;
+
+ if(pdr->second_element_is(is_active_tool_checksum)) {
+
+ // check that we control the given tool
+ bool managed = false;
+ for(auto t : tools) {
+ uint16_t n = t->get_name();
+ if(pdr->third_element_is(n)) {
+ managed = true;
+ break;
+ }
}
- }
- // we are not managing this tool so do not answer
- if(!managed) return;
+ // we are not managing this tool so do not answer
+ if(!managed) return;
+
+ pdr->set_data_ptr(&this->current_tool_name);
+ pdr->set_taken();
- pdr->set_data_ptr(&this->current_tool_name);
- pdr->set_taken();
+ }else if(pdr->second_element_is(get_active_tool_checksum)) {
+ pdr->set_data_ptr(&this->active_tool);
+ pdr->set_taken();
+ }
}
-void ToolManager::on_set_public_data(void* argument){
+void ToolManager::on_set_public_data(void* argument)
+{
PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
if(!pdr->starts_with(tool_manager_checksum)) return;
}
// Add a tool to the tool list
-void ToolManager::add_tool(Tool* tool_to_add){
- if(this->tools.size() == 0){
- tool_to_add->enable();
+void ToolManager::add_tool(Tool* tool_to_add)
+{
+ if(this->tools.size() == 0) {
+ tool_to_add->select();
this->current_tool_name = tool_to_add->get_name();
//send new_tool_offsets to robot
const float *new_tool_offset = tool_to_add->get_offset();
- THEKERNEL->robot->setToolOffset(new_tool_offset);
+ THEROBOT->setToolOffset(new_tool_offset);
} else {
- tool_to_add->disable();
+ tool_to_add->deselect();
}
this->tools.push_back( tool_to_add );
}