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"
16 #include "ConfigValue.h"
18 #include "checksumm.h"
19 #include "PublicData.h"
22 #include "libs/SerialMessage.h"
23 #include "libs/StreamOutput.h"
24 #include "FileStream.h"
26 #include "modules/robot/RobotPublicAccess.h"
28 #define return_error_on_unhandled_gcode_checksum CHECKSUM("return_error_on_unhandled_gcode")
34 ToolManager::ToolManager(){
38 void ToolManager::on_module_loaded(){
39 this->on_config_reload(this);
41 this->register_for_event(ON_CONFIG_RELOAD
);
42 this->register_for_event(ON_GCODE_RECEIVED
);
45 void ToolManager::on_config_reload(void *argument
){
46 return_error_on_unhandled_gcode
= THEKERNEL
->config
->value( return_error_on_unhandled_gcode_checksum
)->by_default(false)->as_bool();
49 void ToolManager::on_gcode_received(void *argument
){
50 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
52 if( gcode
->has_letter('T') ){
53 int new_tool
= gcode
->get_value('T');
54 bool make_move
= false;
55 if ( gcode
->has_letter('F') ){
58 gcode
->mark_as_taken();
59 if(new_tool
>= (int)this->tools
.size() || new_tool
< 0){
61 if( return_error_on_unhandled_gcode
) {
62 char buf
[32]; // should be big enough for any status
63 int n
= snprintf(buf
, sizeof(buf
), "T%d invalid tool ", new_tool
);
64 gcode
->txt_after_ok
.append(buf
, n
);
68 //send new_tool_offsets to robot
70 float *active_tool_offset
= tools
[this->active_tool
]->get_offset();
71 float *new_tool_offset
= tools
[new_tool
]->get_offset();
72 THEKERNEL
->robot
->setToolOffset(new_tool_offset
[0], new_tool_offset
[1], new_tool_offset
[2]);
74 if(new_tool
!= this->active_tool
){
76 THEKERNEL
->conveyor
->wait_for_empty_queue();
77 bool ok
= THEKERNEL
->public_data
->get_value( robot_checksum
, current_position_checksum
, &returned_data
);
79 // save current position to return to after applying extruder offset
80 float *pos
= static_cast<float *>(returned_data
);
83 current_pos
[i
] = pos
[i
];
85 // update virtual tool position to the offset of the new tool and select it as active
88 new_pos
[i
] = current_pos
[i
] - active_tool_offset
[i
] + new_tool_offset
[i
];
91 this->tools
[active_tool
]->disable();
92 this->active_tool
= new_tool
;
93 this->tools
[active_tool
]->enable();
96 //move to old position
99 Gcode
*g
= new Gcode(s
, gcode
->stream
);
100 snprintf(buf
, 31, "G0 X%g Y%g Z%g", current_pos
[X_AXIS
], current_pos
[Y_AXIS
], current_pos
[Z_AXIS
]);
102 g
= new Gcode(s
, gcode
->stream
);
103 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, g
);
112 // Add a tool to the tool list
113 void ToolManager::add_tool(Tool
* tool_to_add
){
114 if(this->tools
.size() == 0){
115 tool_to_add
->enable();
117 tool_to_add
->disable();
119 this->tools
.push_back( tool_to_add
);