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 "Conveyor.h"
  15
  16 ToolManager::ToolManager(){
  17     active_tool = 0;
  18 }
  19
  20 void ToolManager::on_module_loaded(){
  21     this->register_for_event(ON_GCODE_RECEIVED);
  22 }
  23
  24 void ToolManager::on_gcode_received(void *argument){
  25     Gcode *gcode = static_cast<Gcode*>(argument);
  26
  27     if( gcode->has_letter('T') ){
  28         int new_tool = gcode->get_value('T');
  29         bool make_move = false;
  30         if ( gcode->has_letter('F') ){
  31             make_move = true;
  32         }
  33         gcode->mark_as_taken();
  34         if(new_tool > (int)this->tools.size() || new_tool < 0){
  35             // invalid tool
  36             gcode->stream->printf(";;T%d invalid tool\r\n", new_tool);
  37         } else {
  38             if( gcode->has_letter('T') ){
  39                 int new_tool = gcode->get_value('T');
  40                 if(new_tool != this->active_tool){
  41                     void *returned_data;
  42                     bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
  43                     if(ok){
  44                         // save current position to return to after applying extruder offset
  45                         float *pos = static_cast<float *>(returned_data);
  46                         float current_pos[3];
  47                         for(int i=0;i<3;i++){
  48                             current_pos[i] = pos[i];
  49                         }
  50                         // update virtual tool position to the offset of the new tool and select it as active
  51                         float new_pos[3];
  52                         float *active_tool_offset = tools[this->active_tool]->get_offset();
  53                         float *new_tool_offset = tools[new_tool]->get_offset();
  54                         for(int i=0;i<3;i++){
  55                             new_pos[i] = current_pos[i] - active_tool_offset[i] + new_tool_offset[i];
  56                         }
  57
  58                         this->tools[active_tool]->disable();
  59                         this->active_tool = new_tool;
  60                         this->tools[active_tool]->enable();
  61
  62                         char buf[32];
  63                         snprintf(buf, 31, "G92 X%g Y%g Z%g", new_pos[X_AXIS], new_pos[Y_AXIS], new_pos[Z_AXIS]);
  64                         string s = buf;
  65                         Gcode *g = new Gcode(s, gcode->stream);
  66                         THEKERNEL->call_event(ON_GCODE_RECEIVED, g);
  67                         delete g;
  68
  69                         if(make_move){
  70                             //move to old position
  71                             snprintf(buf, 25, "G0 X%g Y%g Z%g", current_pos[X_AXIS], current_pos[Y_AXIS], current_pos[Z_AXIS]);
  72                             s = buf;
  73                             g = new Gcode(s, gcode->stream);
  74                             THEKERNEL->call_event(ON_GCODE_RECEIVED, g);
  75                             delete g;
  76                         }
  77                     }
  78                 }
  79             }
  80         }
  81     }
  82 }
  83
  84 // Add a tool to the tool list
  85 void ToolManager::add_tool(Tool* tool_to_add){
  86     this->tools.push_back( tool_to_add );
  87 }
  88
  89
  90