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 #include "modules/robot/RobotPublicAccess.h"
  30
  31 #define return_error_on_unhandled_gcode_checksum    CHECKSUM("return_error_on_unhandled_gcode")
  32
  33 #define X_AXIS      0
  34 #define Y_AXIS      1
  35 #define Z_AXIS      2
  36
  37 ToolManager::ToolManager(){
  38     active_tool = 0;
  39     current_tool_name = CHECKSUM("hotend");
  40 }
  41
  42 void ToolManager::on_module_loaded(){
  43     this->on_config_reload(this);
  44
  45     this->register_for_event(ON_CONFIG_RELOAD);
  46     this->register_for_event(ON_GCODE_RECEIVED);
  47     this->register_for_event(ON_GET_PUBLIC_DATA);
  48     this->register_for_event(ON_SET_PUBLIC_DATA);
  49 }
  50
  51 void ToolManager::on_config_reload(void *argument){
  52     return_error_on_unhandled_gcode = THEKERNEL->config->value( return_error_on_unhandled_gcode_checksum )->by_default(false)->as_bool();
  53 }
  54
  55 void ToolManager::on_gcode_received(void *argument){
  56     Gcode *gcode = static_cast<Gcode*>(argument);
  57
  58     if( gcode->has_letter('T') ){
  59         int new_tool = gcode->get_value('T');
  60         gcode->mark_as_taken();
  61         if(new_tool >= (int)this->tools.size() || new_tool < 0){
  62             // invalid tool
  63             if( return_error_on_unhandled_gcode ) {
  64                 char buf[32]; // should be big enough for any status
  65                 int n= snprintf(buf, sizeof(buf), "T%d invalid tool ", new_tool);
  66                 gcode->txt_after_ok.append(buf, n);
  67             }
  68         } else {
  69             if(new_tool != this->active_tool){
  70                 THEKERNEL->conveyor->wait_for_empty_queue();
  71                 this->tools[active_tool]->disable();
  72                 this->active_tool = new_tool;
  73                 this->current_tool_name = this->tools[active_tool]->get_name();
  74                 this->tools[active_tool]->enable();
  75
  76                 //send new_tool_offsets to robot
  77                 float *new_tool_offset = tools[new_tool]->get_offset();
  78                 THEKERNEL->robot->setToolOffset(new_tool_offset[0], new_tool_offset[1], new_tool_offset[2]);
  79             }
  80         }
  81     }
  82 }
  83
  84 void ToolManager::on_get_public_data(void* argument){
  85     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
  86
  87     if(!pdr->starts_with(tool_manager_checksum)) return;
  88
  89     // ok this is targeted at us, so send back the requested data
  90     // this must be static as it will be accessed long after we have returned
  91     static struct pad_toolmanager tool_return;
  92     tool_return.current_tool_name= this->current_tool_name;
  93
  94     pdr->set_data_ptr(&tool_return);
  95     pdr->set_taken();
  96 }
  97
  98 void ToolManager::on_set_public_data(void* argument){
  99     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 100
 101     if(!pdr->starts_with(tool_manager_checksum)) return;
 102
 103     // ok this is targeted at us, so change tools
 104     uint16_t tool_name= *static_cast<float*>(pdr->get_data_ptr());
 105     // TODO: fire a tool change gcode
 106     pdr->set_taken();
 107 }
 108
 109 // Add a tool to the tool list
 110 void ToolManager::add_tool(Tool* tool_to_add){
 111     if(this->tools.size() == 0){
 112         tool_to_add->enable();
 113         this->current_tool_name = tool_to_add->get_name();
 114         //send new_tool_offsets to robot
 115         float *new_tool_offset = tool_to_add->get_offset();
 116         THEKERNEL->robot->setToolOffset(new_tool_offset[0], new_tool_offset[1], new_tool_offset[2]);
 117     } else {
 118         tool_to_add->disable();
 119     }
 120     this->tools.push_back( tool_to_add );
 121 }
 122
 123
 124