Commit | Line | Data |
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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 | ||
f4a68aec L |
29 | #define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode") |
30 | ||
92031952 | 31 | ToolManager::ToolManager(){ |
8adf2390 | 32 | active_tool = 0; |
38b9f24a | 33 | current_tool_name = CHECKSUM("hotend"); |
8adf2390 | 34 | } |
14ecdbd7 | 35 | |
92031952 | 36 | void ToolManager::on_module_loaded(){ |
f4a68aec L |
37 | this->on_config_reload(this); |
38 | ||
8adf2390 | 39 | this->register_for_event(ON_GCODE_RECEIVED); |
38b9f24a L |
40 | this->register_for_event(ON_GET_PUBLIC_DATA); |
41 | this->register_for_event(ON_SET_PUBLIC_DATA); | |
8adf2390 L |
42 | } |
43 | ||
f4a68aec L |
44 | void ToolManager::on_config_reload(void *argument){ |
45 | return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool(); | |
46 | } | |
47 | ||
92031952 | 48 | void ToolManager::on_gcode_received(void *argument){ |
8adf2390 L |
49 | Gcode *gcode = static_cast<Gcode*>(argument); |
50 | ||
51 | if( gcode->has_letter('T') ){ | |
52 | int new_tool = gcode->get_value('T'); | |
c974b296 | 53 | if(new_tool >= (int)this->tools.size() || new_tool < 0){ |
8adf2390 | 54 | // invalid tool |
f4a68aec L |
55 | if( return_error_on_unhandled_gcode ) { |
56 | char buf[32]; // should be big enough for any status | |
57 | int n= snprintf(buf, sizeof(buf), "T%d invalid tool ", new_tool); | |
58 | gcode->txt_after_ok.append(buf, n); | |
59 | } | |
8adf2390 | 60 | } else { |
c974b296 | 61 | if(new_tool != this->active_tool){ |
17c89e4d | 62 | // We must wait for an empty queue before we can disable the current extruder |
f8e5ee9b | 63 | THEKERNEL->conveyor->wait_for_empty_queue(); |
18551e1f L |
64 | this->tools[active_tool]->disable(); |
65 | this->active_tool = new_tool; | |
66 | this->current_tool_name = this->tools[active_tool]->get_name(); | |
67 | this->tools[active_tool]->enable(); | |
68 | ||
69 | //send new_tool_offsets to robot | |
17c89e4d | 70 | const float *new_tool_offset = tools[new_tool]->get_offset(); |
fae93525 | 71 | THEKERNEL->robot->setToolOffset(new_tool_offset); |
8adf2390 L |
72 | } |
73 | } | |
74 | } | |
75 | } | |
14ecdbd7 | 76 | |
38b9f24a L |
77 | void ToolManager::on_get_public_data(void* argument){ |
78 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
79 | ||
80 | if(!pdr->starts_with(tool_manager_checksum)) return; | |
8e8b938e JM |
81 | if(!pdr->second_element_is(is_active_tool_checksum)) return; |
82 | ||
83 | // check that we control the given tool | |
84 | bool managed= false; | |
85 | for(auto t : tools) { | |
86 | uint16_t n= t->get_name(); | |
87 | if(pdr->third_element_is(n)){ | |
88 | managed= true; | |
89 | break; | |
90 | } | |
91 | } | |
92 | ||
93 | // we are not managing this tool so do not answer | |
94 | if(!managed) return; | |
38b9f24a | 95 | |
86fa0b93 | 96 | pdr->set_data_ptr(&this->current_tool_name); |
38b9f24a L |
97 | pdr->set_taken(); |
98 | } | |
99 | ||
100 | void ToolManager::on_set_public_data(void* argument){ | |
101 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); | |
102 | ||
103 | if(!pdr->starts_with(tool_manager_checksum)) return; | |
104 | ||
105 | // ok this is targeted at us, so change tools | |
17c89e4d | 106 | //uint16_t tool_name= *static_cast<float*>(pdr->get_data_ptr()); |
38b9f24a | 107 | // TODO: fire a tool change gcode |
8e8b938e | 108 | //pdr->set_taken(); |
38b9f24a L |
109 | } |
110 | ||
14ecdbd7 | 111 | // Add a tool to the tool list |
92031952 | 112 | void ToolManager::add_tool(Tool* tool_to_add){ |
c974b296 L |
113 | if(this->tools.size() == 0){ |
114 | tool_to_add->enable(); | |
b379d27a | 115 | this->current_tool_name = tool_to_add->get_name(); |
b4ba8089 | 116 | //send new_tool_offsets to robot |
17c89e4d | 117 | const float *new_tool_offset = tool_to_add->get_offset(); |
fae93525 | 118 | THEKERNEL->robot->setToolOffset(new_tool_offset); |
c974b296 L |
119 | } else { |
120 | tool_to_add->disable(); | |
121 | } | |
14ecdbd7 AW |
122 | this->tools.push_back( tool_to_add ); |
123 | } | |
124 | ||
125 | ||
126 |