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 ToolManager::ToolManager()
  30 {
  31     active_tool = 0;
  32     current_tool_name = CHECKSUM("hotend");
  33 }
  34
  35 void ToolManager::on_module_loaded()
  36 {
  37
  38     this->register_for_event(ON_GCODE_RECEIVED);
  39     this->register_for_event(ON_GET_PUBLIC_DATA);
  40     this->register_for_event(ON_SET_PUBLIC_DATA);
  41 }
  42
  43 void ToolManager::on_gcode_received(void *argument)
  44 {
  45     Gcode *gcode = static_cast<Gcode*>(argument);
  46
  47     if( gcode->has_letter('T') ) {
  48         int new_tool = gcode->get_value('T');
  49         if(new_tool >= (int)this->tools.size() || new_tool < 0) {
  50             // invalid tool
  51             char buf[32]; // should be big enough for any status
  52             int n = snprintf(buf, sizeof(buf), "T%d invalid tool ", new_tool);
  53             gcode->txt_after_ok.append(buf, n);
  54
  55         } else {
  56             if(new_tool != this->active_tool) {
  57                 // We must wait for an empty queue before we can disable the current extruder
  58                 THEKERNEL->conveyor->wait_for_empty_queue();
  59                 this->tools[active_tool]->disable();
  60                 this->active_tool = new_tool;
  61                 this->current_tool_name = this->tools[active_tool]->get_name();
  62                 this->tools[active_tool]->enable();
  63
  64                 //send new_tool_offsets to robot
  65                 const float *new_tool_offset = tools[new_tool]->get_offset();
  66                 THEKERNEL->robot->setToolOffset(new_tool_offset);
  67             }
  68         }
  69     }
  70 }
  71
  72 void ToolManager::on_get_public_data(void* argument)
  73 {
  74     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
  75
  76     if(!pdr->starts_with(tool_manager_checksum)) return;
  77
  78     if(pdr->second_element_is(is_active_tool_checksum)) {
  79
  80         // check that we control the given tool
  81         bool managed = false;
  82         for(auto t : tools) {
  83             uint16_t n = t->get_name();
  84             if(pdr->third_element_is(n)) {
  85                 managed = true;
  86                 break;
  87             }
  88         }
  89
  90         // we are not managing this tool so do not answer
  91         if(!managed) return;
  92
  93         pdr->set_data_ptr(&this->current_tool_name);
  94         pdr->set_taken();
  95
  96     }else if(pdr->second_element_is(get_active_tool_checksum)) {
  97         pdr->set_data_ptr(&this->active_tool);
  98         pdr->set_taken();
  99     }
 100 }
 101
 102 void ToolManager::on_set_public_data(void* argument)
 103 {
 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 {
 117     if(this->tools.size() == 0) {
 118         tool_to_add->enable();
 119         this->current_tool_name = tool_to_add->get_name();
 120         //send new_tool_offsets to robot
 121         const float *new_tool_offset = tool_to_add->get_offset();
 122         THEKERNEL->robot->setToolOffset(new_tool_offset);
 123     } else {
 124         tool_to_add->disable();
 125     }
 126     this->tools.push_back( tool_to_add );
 127 }
 128
 129
 130