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/>.
8 #include "libs/Module.h"
9 #include "libs/Kernel.h"
13 #include "ToolManager.h"
15 #include "PublicDataRequest.h"
16 #include "ToolManagerPublicAccess.h"
19 #include "ConfigValue.h"
21 #include "checksumm.h"
22 #include "PublicData.h"
25 #include "libs/SerialMessage.h"
26 #include "libs/StreamOutput.h"
27 #include "FileStream.h"
29 #include "modules/robot/RobotPublicAccess.h"
31 #define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode")
37 ToolManager::ToolManager(){
39 current_tool_name
= CHECKSUM("hotend");
42 void ToolManager::on_module_loaded(){
43 this->on_config_reload(this);
45 this->register_for_event(ON_CONFIG_RELOAD
);
46 this->register_for_event(ON_GCODE_RECEIVED
);
47 this->register_for_event(ON_GET_PUBLIC_DATA
);
48 this->register_for_event(ON_SET_PUBLIC_DATA
);
51 void ToolManager::on_config_reload(void *argument
){
52 return_error_on_unhandled_gcode
= THEKERNEL
->config
->value( return_error_on_unhandled_gcode_checksum
)->by_default(false)->as_bool();
55 void ToolManager::on_gcode_received(void *argument
){
56 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
58 if( gcode
->has_letter('T') ){
59 int new_tool
= gcode
->get_value('T');
60 gcode
->mark_as_taken();
61 if(new_tool
>= (int)this->tools
.size() || new_tool
< 0){
63 if( return_error_on_unhandled_gcode
) {
64 char buf
[32]; // should be big enough for any status
65 int n
= snprintf(buf
, sizeof(buf
), "T%d invalid tool ", new_tool
);
66 gcode
->txt_after_ok
.append(buf
, n
);
69 if(new_tool
!= this->active_tool
){
70 this->tools
[active_tool
]->disable();
71 this->active_tool
= new_tool
;
72 this->current_tool_name
= this->tools
[active_tool
]->get_name();
73 this->tools
[active_tool
]->enable();
75 //send new_tool_offsets to robot
76 float *new_tool_offset
= tools
[new_tool
]->get_offset();
77 THEKERNEL
->robot
->setToolOffset(new_tool_offset
[0], new_tool_offset
[1], new_tool_offset
[2]);
83 void ToolManager::on_get_public_data(void* argument
){
84 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
86 if(!pdr
->starts_with(tool_manager_checksum
)) return;
88 // ok this is targeted at us, so send back the requested data
89 // this must be static as it will be accessed long after we have returned
90 static struct pad_toolmanager tool_return
;
91 tool_return
.current_tool_name
= this->current_tool_name
;
93 pdr
->set_data_ptr(&tool_return
);
97 void ToolManager::on_set_public_data(void* argument
){
98 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
100 if(!pdr
->starts_with(tool_manager_checksum
)) return;
102 // ok this is targeted at us, so change tools
103 uint16_t tool_name
= *static_cast<float*>(pdr
->get_data_ptr());
104 // TODO: fire a tool change gcode
108 // Add a tool to the tool list
109 void ToolManager::add_tool(Tool
* tool_to_add
){
110 if(this->tools
.size() == 0){
111 tool_to_add
->enable();
112 this->current_tool_name
= tool_to_add
->get_name();
114 tool_to_add
->disable();
116 this->tools
.push_back( tool_to_add
);