X-Git-Url: https://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/c2f7c261c2c077f8e7af91b02c43dd48835a4d1f..HEAD:/src/modules/tools/toolmanager/ToolManager.cpp

diff --git a/src/modules/tools/toolmanager/ToolManager.cpp b/src/modules/tools/toolmanager/ToolManager.cpp
index 229e4f5e..72e4985d 100644
--- a/src/modules/tools/toolmanager/ToolManager.cpp
+++ b/src/modules/tools/toolmanager/ToolManager.cpp
@@ -7,9 +7,6 @@
 
 #include "libs/Module.h"
 #include "libs/Kernel.h"
-#include <math.h>
-using namespace std;
-#include <vector>
 #include "ToolManager.h"
 #include "Tool.h"
 #include "PublicDataRequest.h"
@@ -26,6 +23,8 @@ using namespace std;
 #include "libs/StreamOutput.h"
 #include "FileStream.h"
 
+#include <math.h>
+
 ToolManager::ToolManager()
 {
     active_tool = 0;
@@ -44,8 +43,11 @@ void ToolManager::on_gcode_received(void *argument)
 {
     Gcode *gcode = static_cast<Gcode*>(argument);
 
-    if( gcode->has_letter('T') ) {
+    if( gcode->has_letter('T') && !gcode->has_m) {
         int new_tool = gcode->get_value('T');
+	char buff[32]; // should be big enough for any status
+	int n = snprintf(buff, sizeof(buff), "T%d,T%d switching ", this->active_tool, new_tool);
+	gcode->txt_after_ok.append(buff, n);
         if(new_tool >= (int)this->tools.size() || new_tool < 0) {
             // invalid tool
             char buf[32]; // should be big enough for any status
@@ -55,15 +57,15 @@ void ToolManager::on_gcode_received(void *argument)
         } else {
             if(new_tool != this->active_tool) {
                 // We must wait for an empty queue before we can disable the current extruder
-                THEKERNEL->conveyor->wait_for_empty_queue();
-                this->tools[active_tool]->disable();
+                THEKERNEL->conveyor->wait_for_idle();
+                this->tools[active_tool]->deselect();
                 this->active_tool = new_tool;
                 this->current_tool_name = this->tools[active_tool]->get_name();
-                this->tools[active_tool]->enable();
+                this->tools[active_tool]->select();
 
                 //send new_tool_offsets to robot
                 const float *new_tool_offset = tools[new_tool]->get_offset();
-                THEKERNEL->robot->setToolOffset(new_tool_offset);
+                THEROBOT->setToolOffset(new_tool_offset);
             }
         }
     }
@@ -74,23 +76,29 @@ void ToolManager::on_get_public_data(void* argument)
     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 
     if(!pdr->starts_with(tool_manager_checksum)) return;
-    if(!pdr->second_element_is(is_active_tool_checksum)) return;
-
-    // check that we control the given tool
-    bool managed = false;
-    for(auto t : tools) {
-        uint16_t n = t->get_name();
-        if(pdr->third_element_is(n)) {
-            managed = true;
-            break;
+
+    if(pdr->second_element_is(is_active_tool_checksum)) {
+
+        // check that we control the given tool
+        bool managed = false;
+        for(auto t : tools) {
+            uint16_t n = t->get_name();
+            if(pdr->third_element_is(n)) {
+                managed = true;
+                break;
+            }
         }
-    }
 
-    // we are not managing this tool so do not answer
-    if(!managed) return;
+        // we are not managing this tool so do not answer
+        if(!managed) return;
 
-    pdr->set_data_ptr(&this->current_tool_name);
-    pdr->set_taken();
+        pdr->set_data_ptr(&this->current_tool_name);
+        pdr->set_taken();
+
+    }else if(pdr->second_element_is(get_active_tool_checksum)) {
+        pdr->set_data_ptr(&this->active_tool);
+        pdr->set_taken();
+    }
 }
 
 void ToolManager::on_set_public_data(void* argument)
@@ -109,13 +117,13 @@ void ToolManager::on_set_public_data(void* argument)
 void ToolManager::add_tool(Tool* tool_to_add)
 {
     if(this->tools.size() == 0) {
-        tool_to_add->enable();
+        tool_to_add->select();
         this->current_tool_name = tool_to_add->get_name();
         //send new_tool_offsets to robot
         const float *new_tool_offset = tool_to_add->get_offset();
-        THEKERNEL->robot->setToolOffset(new_tool_offset);
+        THEROBOT->setToolOffset(new_tool_offset);
     } else {
-        tool_to_add->disable();
+        tool_to_add->deselect();
     }
     this->tools.push_back( tool_to_add );
 }