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_GCODE_RECEIVED);
  42     this->register_for_event(ON_GET_PUBLIC_DATA);
  43     this->register_for_event(ON_SET_PUBLIC_DATA);
  44 }
  45
  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();
  48 }
  49
  50 void ToolManager::on_gcode_received(void *argument){
  51     Gcode *gcode = static_cast<Gcode*>(argument);
  52
  53     if( gcode->has_letter('T') ){
  54         int new_tool = gcode->get_value('T');
  55         gcode->mark_as_taken();
  56         if(new_tool >= (int)this->tools.size() || new_tool < 0){
  57             // invalid tool
  58             if( return_error_on_unhandled_gcode ) {
  59                 char buf[32]; // should be big enough for any status
  60                 int n= snprintf(buf, sizeof(buf), "T%d invalid tool ", new_tool);
  61                 gcode->txt_after_ok.append(buf, n);
  62             }
  63         } else {
  64             if(new_tool != this->active_tool){
  65                 // We must wait for an empty queue before we can disable the current extruder
  66                 THEKERNEL->conveyor->wait_for_empty_queue();
  67                 this->tools[active_tool]->disable();
  68                 this->active_tool = new_tool;
  69                 this->current_tool_name = this->tools[active_tool]->get_name();
  70                 this->tools[active_tool]->enable();
  71
  72                 //send new_tool_offsets to robot
  73                 const float *new_tool_offset = tools[new_tool]->get_offset();
  74                 THEKERNEL->robot->setToolOffset(new_tool_offset);
  75             }
  76         }
  77     }
  78 }
  79
  80 void ToolManager::on_get_public_data(void* argument){
  81     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
  82
  83     if(!pdr->starts_with(tool_manager_checksum)) return;
  84     if(!pdr->second_element_is(is_active_tool_checksum)) return;
  85
  86     // check that we control the given tool
  87     bool managed= false;
  88     for(auto t : tools) {
  89         uint16_t n= t->get_name();
  90         if(pdr->third_element_is(n)){
  91             managed= true;
  92             break;
  93         }
  94     }
  95
  96     // we are not managing this tool so do not answer
  97     if(!managed) return;
  98
  99     pdr->set_data_ptr(&this->current_tool_name);
 100     pdr->set_taken();
 101 }
 102
 103 void ToolManager::on_set_public_data(void* argument){
 104     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 105
 106     if(!pdr->starts_with(tool_manager_checksum)) return;
 107
 108     // ok this is targeted at us, so change tools
 109     //uint16_t tool_name= *static_cast<float*>(pdr->get_data_ptr());
 110     // TODO: fire a tool change gcode
 111     //pdr->set_taken();
 112 }
 113
 114 // Add a tool to the tool list
 115 void ToolManager::add_tool(Tool* tool_to_add){
 116     if(this->tools.size() == 0){
 117         tool_to_add->enable();
 118         this->current_tool_name = tool_to_add->get_name();
 119         //send new_tool_offsets to robot
 120         const float *new_tool_offset = tool_to_add->get_offset();
 121         THEKERNEL->robot->setToolOffset(new_tool_offset);
 122     } else {
 123         tool_to_add->disable();
 124     }
 125     this->tools.push_back( tool_to_add );
 126 }
 127
 128
 129