Fix selected tool param (#1381)

* first cut of adding _selected_tool * Got rid of gc_state.tool It is now .selected_tool * Added some test gcode to fixtures * Test fixture now works with the python script * Cleanup * Update GCode.h Removed commented-out line --------- Co-authored-by: Mitch Bradley <[email protected]>
bdring · Nov 17, 2024 · 119a8b4 · 119a8b4
1 parent 870d88f
commit 119a8b4
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Showing 8 changed files with 108 additions and 18 deletions.
diff --git a/FluidNC/src/Channel.cpp b/FluidNC/src/Channel.cpp
@@ -93,11 +93,11 @@ void Channel::autoReportGCodeState() {
         // Force the compare to succeed if the only change is the motion mode
         _lastModal.motion = gc_state.modal.motion;
     }
-    if (memcmp(&_lastModal, &gc_state.modal, sizeof(_lastModal)) || _lastTool != gc_state.tool ||
+    if (memcmp(&_lastModal, &gc_state.modal, sizeof(_lastModal)) || _lastTool != gc_state.selected_tool ||
         (!motionState() && (_lastSpindleSpeed != gc_state.spindle_speed || _lastFeedRate != gc_state.feed_rate))) {
         report_gcode_modes(*this);
         memcpy(&_lastModal, &gc_state.modal, sizeof(_lastModal));
-        _lastTool         = gc_state.tool;
+        _lastTool         = gc_state.selected_tool;
         _lastSpindleSpeed = gc_state.spindle_speed;
         _lastFeedRate     = gc_state.feed_rate;
     }

diff --git a/FluidNC/src/GCode.cpp b/FluidNC/src/GCode.cpp
@@ -69,6 +69,7 @@ void gc_init() {
     // Load default G54 coordinate system.
     gc_state.modal          = modal_defaults;
     gc_state.modal.override = config->_start->_deactivateParking ? Override::Disabled : Override::ParkingMotion;
+    gc_state.current_tool   = -1;
     coords[gc_state.modal.coord_select]->get(gc_state.coord_system);
     flowcontrol_init();
 }
@@ -1604,32 +1605,31 @@ Error gc_execute_line(char* line) {
         pl_data->spindle_speed = gc_state.spindle_speed;  // Record data for planner use.
     }  // else { pl_data->spindle_speed = 0.0; } // Initialized as zero already.
     // [5. Select tool ]: NOT SUPPORTED. Only tracks tool value.
-    //	gc_state.tool = gc_block.values.t;
     // [M6. Change tool ]:
     if (gc_block.modal.tool_change == ToolChange::Enable) {
-        if (gc_state.selected_tool != gc_state.tool) {
+        if (gc_state.selected_tool != gc_state.current_tool) {
             bool stopped_spindle = false;   // was spindle stopped via the change
             bool new_spindle     = false;   // was the spindle changed
             protocol_buffer_synchronize();  // wait for motion in buffer to finish
-            Spindles::Spindle::switchSpindle(gc_state.selected_tool, Spindles::SpindleFactory::objects(), spindle, stopped_spindle, new_spindle);
+            Spindles::Spindle::switchSpindle(
+                gc_state.selected_tool, Spindles::SpindleFactory::objects(), spindle, stopped_spindle, new_spindle);
             if (stopped_spindle) {
                 gc_block.modal.spindle = SpindleState::Disable;
             }
             if (new_spindle) {
                 gc_state.spindle_speed = 0.0;
             }
             spindle->tool_change(gc_state.selected_tool, false, false);
-            gc_state.tool      = gc_state.selected_tool;
-            report_ovr_counter = 0;  // Set to report change immediately
+            gc_state.current_tool = gc_state.selected_tool;
+            report_ovr_counter    = 0;  // Set to report change immediately
             gc_ovr_changed();
         }
     }
     if (gc_block.modal.set_tool_number == SetToolNumber::Enable) {
         gc_state.selected_tool = gc_block.values.q;
-        gc_state.tool          = gc_state.selected_tool;
-        bool stopped_spindle   = false;  // was spindle stopped via the change
-        bool new_spindle       = false;  // was the spindle changed
-        protocol_buffer_synchronize();   // wait for motion in buffer to finish
+        bool stopped_spindle = false;   // was spindle stopped via the change
+        bool new_spindle     = false;   // was the spindle changed
+        protocol_buffer_synchronize();  // wait for motion in buffer to finish
         Spindles::Spindle::switchSpindle(gc_state.selected_tool, Spindles::SpindleFactory::objects(), spindle, stopped_spindle, new_spindle);
         if (stopped_spindle) {
             gc_block.modal.spindle = SpindleState::Disable;
@@ -1638,7 +1638,8 @@ Error gc_execute_line(char* line) {
             gc_state.spindle_speed = 0.0;
         }
         spindle->tool_change(gc_state.selected_tool, false, true);
-        report_ovr_counter = 0;  // Set to report change immediately
+        gc_state.current_tool = gc_block.values.q;
+        report_ovr_counter    = 0;  // Set to report change immediately
         gc_ovr_changed();
     }
     // [7. Spindle control ]:

diff --git a/FluidNC/src/GCode.h b/FluidNC/src/GCode.h
@@ -300,8 +300,8 @@ struct parser_state_t {
 
     float    spindle_speed;  // RPM
     float    feed_rate;      // Millimeters/min
-    uint32_t tool;           // Tracks tool number
     uint32_t selected_tool;  // tool from T value
+    int32_t  current_tool;   // the tool in use. default is -1
     int32_t  line_number;    // Last line number sent
 
     float position[MAX_N_AXIS];  // Where the interpreter considers the tool to be at this point in the code

diff --git a/FluidNC/src/Parameters.cpp b/FluidNC/src/Parameters.cpp
@@ -162,7 +162,7 @@ bool get_numbered_param(ngc_param_id_t id, float& result) {
         return true;
     }
     if (id == 5400) {
-        result = static_cast<float>(gc_state.tool);
+        result = static_cast<float>(gc_state.selected_tool);
         return true;
     }
 
@@ -291,10 +291,16 @@ bool get_system_param(const std::string& name, float& result) {
         result = gc_state.spindle_speed;
         return true;
     }
-    if (sysn == "_current_tool" || sysn == "_selected_tool") {
-        result = gc_state.tool;
+    if (sysn == "_selected_tool") {
+        result = gc_state.selected_tool;
         return true;
     }
+
+    if (sysn == "_current_tool") {
+        result = gc_state.current_tool;
+        return true;
+    }
+
     if (sysn == "_vmajor") {
         std::string version(grbl_version);
         auto        major = version.substr(0, version.find('.'));

diff --git a/FluidNC/src/Report.cpp b/FluidNC/src/Report.cpp
@@ -367,7 +367,7 @@ void report_gcode_modes(Channel& channel) {
         msg << " M56";
     }
 
-    msg << " T" << gc_state.tool;
+    msg << " T" << gc_state.selected_tool;
     int digits = config->_reportInches ? 1 : 0;
     msg << " F" << std::fixed << std::setprecision(digits) << gc_state.feed_rate;
     msg << " S" << uint32_t(gc_state.spindle_speed);

diff --git a/FluidNC/src/ToolChangers/atc_manual.cpp b/FluidNC/src/ToolChangers/atc_manual.cpp
@@ -161,7 +161,7 @@ namespace ATCs {
     void Manual_ATC::reset() {
         _is_OK                   = true;
         _have_tool_setter_offset = false;
-        _prev_tool               = gc_state.tool;  // Double check this
+        _prev_tool               = gc_state.selected_tool;  // Double check this
         _macro.addf("G43.1Z0");                    // reset the TLO to 0
         _macro.addf("(MSG: TLO Z reset to 0)");    //
     }

diff --git a/fixture_tests/fixtures/current_tool_test.nc b/fixture_tests/fixtures/current_tool_test.nc
@@ -0,0 +1,55 @@
+-> $X
+<~ [MSG:INFO: Caution: Unlocked]
+<- ok
+-> $G
+<- [GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
+<- ok
+-> (print, Cur tool=%d#<_current_tool>, Sel tool=%d#<_selected_tool>)
+<- [MSG:INFO: PRINT, Cur tool=-1 Sel tool=0]
+<- ok
+-> T1
+<- ok
+-> $G
+<- [GC:G0 G54 G17 G21 G90 G94 M5 M9 T1 F0 S0]
+<- ok
+-> (print, Cur tool=%d#<_current_tool>, Sel tool=%d#<_selected_tool>)
+<- [MSG:INFO: PRINT, Cur tool=-1 Sel tool=1]
+<- ok
+-> M6
+<- ok
+-> $G
+<- [GC:G0 G54 G17 G21 G90 G94 M5 M9 T1 F0 S0]
+<- ok
+-> (print, Cur tool=%d#<_current_tool>, Sel tool=%d#<_selected_tool>)
+<- [MSG:INFO: PRINT, Cur tool=1 Sel tool=1]
+<- ok
+-> M6T2
+<- ok
+-> $G
+<- [GC:G0 G54 G17 G21 G90 G94 M5 M9 T2 F0 S0]
+<- ok
+-> (print, Cur tool=%d#<_current_tool>, Sel tool=%d#<_selected_tool>)
+<- [MSG:INFO: PRINT, Cur tool=2 Sel tool=2]
+<- ok
+-> (print, Cur tool=%d#<_current_tool>)
+<- [MSG:INFO: PRINT, Cur tool=2]
+<- ok
+-> (print, Sel tool=%d#<_selected_tool>)
+<- [MSG:INFO: PRINT, Sel tool=2]
+<- ok
+-> M61Q3
+<- ok
+-> $G
+<- [GC:G0 G54 G17 G21 G90 G94 M5 M9 T3 F0 S0]
+<- ok
+-> (print, Cur tool=%d#<_current_tool>, Sel tool=%d#<_selected_tool>)
+<- [MSG:INFO: PRINT, Cur tool=3 Sel tool=3]
+<- ok
+-> M6T0
+<- ok
+-> $G
+<- [GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
+<- ok
+-> (print, Cur tool=%d#<_current_tool>, Sel tool=%d#<_selected_tool>)
+<- [MSG:INFO: PRINT, Cur tool=0 Sel tool=0]
+<- ok
diff --git a/fixture_tests/fixtures/tool_param_test.nc b/fixture_tests/fixtures/tool_param_test.nc
@@ -0,0 +1,28 @@
+$G
+(print, $G)
+(print, Current tool=%d#<_current_tool>)
+(print, Selected tool=%d#<_selected_tool>)
+T1
+(print, T1)
+$G
+(print, $G)
+(print, Current tool=%d#<_current_tool>)
+(print, Selected tool=%d#<_selected_tool>)
+M6
+(print, M6)
+$G
+(print, $G)
+(print, Current tool=%d#<_current_tool>)
+(print, Selected tool=%d#<_selected_tool>)
+M6T2
+(print, M6T2)
+$G
+(print, $G)
+(print, Current tool=%d#<_current_tool>)
+(print, Selected tool=%d#<_selected_tool>)
+M61Q3
+(print, M61Q3)
+$G
+(print, $G)
+(print, Current tool=%d#<_current_tool>)
+(print, Selected tool=%d#<_selected_tool>)