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 "ToolManager.h"
  11 #include "Tool.h"
  12 #include "PublicDataRequest.h"
  13 #include "ToolManagerPublicAccess.h"
  14 #include "Config.h"
  15 #include "Robot.h"
  16 #include "ConfigValue.h"
  17 #include "Conveyor.h"
  18 #include "checksumm.h"
  19 #include "PublicData.h"
  20 #include "Gcode.h"
  21
  22 #include "libs/SerialMessage.h"
  23 #include "libs/StreamOutput.h"
  24 #include "FileStream.h"
  25
  26 #include <math.h>
  27
  28 ToolManager::ToolManager()
  29 {
  30     active_tool = 0;
  31     current_tool_name = CHECKSUM("hotend");
  32 }
  33
  34 void ToolManager::on_module_loaded()
  35 {
  36
  37     this->register_for_event(ON_GCODE_RECEIVED);
  38     this->register_for_event(ON_GET_PUBLIC_DATA);
  39     this->register_for_event(ON_SET_PUBLIC_DATA);
  40 }
  41
  42 void ToolManager::on_gcode_received(void *argument)
  43 {
  44     Gcode *gcode = static_cast<Gcode*>(argument);
  45
  46     if( gcode->has_letter('T') ) {
  47         int new_tool = gcode->get_value('T');
  48         if(new_tool >= (int)this->tools.size() || new_tool < 0) {
  49             // invalid tool
  50             char buf[32]; // should be big enough for any status
  51             int n = snprintf(buf, sizeof(buf), "T%d invalid tool ", new_tool);
  52             gcode->txt_after_ok.append(buf, n);
  53
  54         } else {
  55             if(new_tool != this->active_tool) {
  56                 // We must wait for an empty queue before we can disable the current extruder
  57                 THEKERNEL->conveyor->wait_for_idle();
  58                 this->tools[active_tool]->deselect();
  59                 this->active_tool = new_tool;
  60                 this->current_tool_name = this->tools[active_tool]->get_name();
  61                 this->tools[active_tool]->select();
  62
  63                 //send new_tool_offsets to robot
  64                 const float *new_tool_offset = tools[new_tool]->get_offset();
  65                 THEROBOT->setToolOffset(new_tool_offset);
  66             }
  67         }
  68     }
  69 }
  70
  71 void ToolManager::on_get_public_data(void* argument)
  72 {
  73     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
  74
  75     if(!pdr->starts_with(tool_manager_checksum)) return;
  76
  77     if(pdr->second_element_is(is_active_tool_checksum)) {
  78
  79         // check that we control the given tool
  80         bool managed = false;
  81         for(auto t : tools) {
  82             uint16_t n = t->get_name();
  83             if(pdr->third_element_is(n)) {
  84                 managed = true;
  85                 break;
  86             }
  87         }
  88
  89         // we are not managing this tool so do not answer
  90         if(!managed) return;
  91
  92         pdr->set_data_ptr(&this->current_tool_name);
  93         pdr->set_taken();
  94
  95     }else if(pdr->second_element_is(get_active_tool_checksum)) {
  96         pdr->set_data_ptr(&this->active_tool);
  97         pdr->set_taken();
  98     }
  99 }
 100
 101 void ToolManager::on_set_public_data(void* argument)
 102 {
 103     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 104
 105     if(!pdr->starts_with(tool_manager_checksum)) return;
 106
 107     // ok this is targeted at us, so change tools
 108     //uint16_t tool_name= *static_cast<float*>(pdr->get_data_ptr());
 109     // TODO: fire a tool change gcode
 110     //pdr->set_taken();
 111 }
 112
 113 // Add a tool to the tool list
 114 void ToolManager::add_tool(Tool* tool_to_add)
 115 {
 116     if(this->tools.size() == 0) {
 117         tool_to_add->select();
 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         THEROBOT->setToolOffset(new_tool_offset);
 122     } else {
 123         tool_to_add->deselect();
 124     }
 125     this->tools.push_back( tool_to_add );
 126 }
 127
 128
 129