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 "PublicDataRequest.h"
  15 #include "ToolManagerPublicAccess.h"
  16 #include "Config.h"
  17 #include "Robot.h"
  18 #include "ConfigValue.h"
  19 #include "Conveyor.h"
  20 #include "checksumm.h"
  21 #include "PublicData.h"
  22 #include "Gcode.h"
  23
  24 #include "libs/SerialMessage.h"
  25 #include "libs/StreamOutput.h"
  26 #include "FileStream.h"
  27
  28 #include "modules/robot/RobotPublicAccess.h"
  29
  30 #define return_error_on_unhandled_gcode_checksum    CHECKSUM("return_error_on_unhandled_gcode")
  31
  32 #define X_AXIS      0
  33 #define Y_AXIS      1
  34 #define Z_AXIS      2
  35
  36 ToolManager::ToolManager(){
  37     active_tool = 0;
  38     current_tool_name = CHECKSUM("hotend");
  39 }
  40
  41 void ToolManager::on_module_loaded(){
  42     this->on_config_reload(this);
  43
  44     this->register_for_event(ON_CONFIG_RELOAD);
  45     this->register_for_event(ON_GCODE_RECEIVED);
  46     this->register_for_event(ON_GET_PUBLIC_DATA);
  47     this->register_for_event(ON_SET_PUBLIC_DATA);
  48 }
  49
  50 void ToolManager::on_config_reload(void *argument){
  51     return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
  52 }
  53
  54 void ToolManager::on_gcode_received(void *argument){
  55     Gcode *gcode = static_cast<Gcode*>(argument);
  56
  57     if( gcode->has_letter('T') ){
  58         int new_tool = gcode->get_value('T');
  59         bool make_move = false;
  60         if ( gcode->has_letter('F') ){
  61             make_move = true;
  62         }
  63         gcode->mark_as_taken();
  64         if(new_tool >= (int)this->tools.size() || new_tool < 0){
  65             // invalid tool
  66             if( return_error_on_unhandled_gcode ) {
  67                 char buf[32]; // should be big enough for any status
  68                 int n= snprintf(buf, sizeof(buf), "T%d invalid tool ", new_tool);
  69                 gcode->txt_after_ok.append(buf, n);
  70             }
  71         } else {
  72
  73             //send new_tool_offsets to robot
  74             float new_pos[3];
  75             float *active_tool_offset = tools[this->active_tool]->get_offset();
  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]);
  78
  79             if(new_tool != this->active_tool){
  80                 void *returned_data;
  81                 THEKERNEL->conveyor->wait_for_empty_queue();
  82                 bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
  83                 if(ok){
  84                     // save current position to return to after applying extruder offset
  85                     float *pos = static_cast<float *>(returned_data);
  86                     float current_pos[3];
  87                     for(int i=0;i<3;i++){
  88                         current_pos[i] = pos[i];
  89                     }
  90                     // update virtual tool position to the offset of the new tool and select it as active
  91
  92                     for(int i=0;i<3;i++){
  93                         new_pos[i] = current_pos[i] - active_tool_offset[i] + new_tool_offset[i];
  94                     }
  95
  96                     this->tools[active_tool]->disable();
  97                     this->active_tool = new_tool;
  98                     this->current_tool_name = this->tools[active_tool]->get_name();
  99                     this->tools[active_tool]->enable();
 100
 101                     if(make_move){
 102                         //move to old position
 103                         char buf[32];
 104                         string s = buf;
 105                         Gcode *g = new Gcode(s, gcode->stream);
 106                         snprintf(buf, 31, "G0 X%g Y%g Z%g", current_pos[X_AXIS], current_pos[Y_AXIS], current_pos[Z_AXIS]);
 107                         s = buf;
 108                         g = new Gcode(s, gcode->stream);
 109                         THEKERNEL->call_event(ON_GCODE_RECEIVED, g);
 110                         delete g;
 111                     }
 112                 }
 113             }
 114         }
 115     }
 116 }
 117
 118 void ToolManager::on_get_public_data(void* argument){
 119     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 120
 121     if(!pdr->starts_with(tool_manager_checksum)) return;
 122
 123     // ok this is targeted at us, so send back the requested data
 124     // this must be static as it will be accessed long after we have returned
 125     static struct pad_toolmanager tool_return;
 126     tool_return.current_tool_name= this->current_tool_name;
 127
 128     pdr->set_data_ptr(&tool_return);
 129     pdr->set_taken();
 130 }
 131
 132 void ToolManager::on_set_public_data(void* argument){
 133     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 134
 135     if(!pdr->starts_with(tool_manager_checksum)) return;
 136
 137     // ok this is targeted at us, so change tools
 138     uint16_t tool_name= *static_cast<float*>(pdr->get_data_ptr());
 139     // TODO: fire a tool change gcode
 140     pdr->set_taken();
 141 }
 142
 143 // Add a tool to the tool list
 144 void ToolManager::add_tool(Tool* tool_to_add){
 145     if(this->tools.size() == 0){
 146         tool_to_add->enable();
 147         this->current_tool_name = tool_to_add->get_name();
 148     } else {
 149         tool_to_add->disable();
 150     }
 151     this->tools.push_back( tool_to_add );
 152 }
 153
 154
 155