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f80d18b9 L |
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) with additions from Sungeun K. Jeon (https://github.com/chamnit/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 | using namespace std; | |
9 | #include <vector> | |
10 | #include "libs/nuts_bolts.h" | |
11 | #include "libs/RingBuffer.h" | |
12 | #include "../communication/utils/Gcode.h" | |
13 | #include "libs/Module.h" | |
14 | #include "libs/Kernel.h" | |
15 | #include "Timer.h" // mbed.h lib | |
16 | #include "wait_api.h" // mbed.h lib | |
17 | #include "Block.h" | |
18 | #include "Conveyor.h" | |
19 | #include "Planner.h" | |
20 | ||
21 | Conveyor::Conveyor(){ | |
22 | this->current_block = NULL; | |
23 | this->looking_for_new_block = false; | |
702023f3 MM |
24 | flush_blocks = 0; |
25 | } | |
26 | ||
addfb453 | 27 | void Conveyor::on_module_loaded() |
702023f3 MM |
28 | { |
29 | register_for_event(ON_IDLE); | |
30 | } | |
31 | ||
addfb453 | 32 | void Conveyor::on_idle(void* argument) |
702023f3 MM |
33 | { |
34 | if (flush_blocks) | |
35 | { | |
b3f57927 | 36 | Block* block = queue.get_ref(0); |
702023f3 MM |
37 | // printf("Block: clean %p\n", block); |
38 | while (block->gcodes.size()) | |
39 | { | |
40 | Gcode* g = block->gcodes.back(); | |
41 | block->gcodes.pop_back(); | |
42 | delete g; | |
43 | } | |
44 | queue.delete_first(); | |
45 | ||
46 | __disable_irq(); | |
47 | flush_blocks--; | |
48 | __enable_irq(); | |
49 | } | |
f80d18b9 L |
50 | } |
51 | ||
52 | // Append a block to the list | |
53 | Block* Conveyor::new_block(){ | |
54 | ||
55 | // Clean up the vector of commands in the block we are about to replace | |
56 | // It is quite strange to do this here, we really should do it inside Block->pop_and_execute_gcode | |
57 | // but that function is called inside an interrupt and thus can break everything if the interrupt was trigerred during a memory access | |
702023f3 | 58 | |
f80d18b9 | 59 | // Take the next untaken block on the queue ( the one after the last one ) |
6476be0a | 60 | Block* block = this->queue.get_tail_ref(); |
f80d18b9 L |
61 | // Then clean it up |
62 | if( block->conveyor == this ){ | |
702023f3 MM |
63 | for(; block->gcodes.size(); ){ |
64 | Gcode* g = block->gcodes.back(); | |
f80d18b9 | 65 | block->gcodes.pop_back(); |
6476be0a | 66 | delete g; |
f80d18b9 L |
67 | } |
68 | } | |
702023f3 | 69 | |
f80d18b9 L |
70 | // Create a new virgin Block in the queue |
71 | this->queue.push_back(Block()); | |
72 | block = this->queue.get_ref( this->queue.size()-1 ); | |
73 | while( block == NULL ){ | |
74 | block = this->queue.get_ref( this->queue.size()-1 ); | |
75 | } | |
76 | block->is_ready = false; | |
77 | block->initial_rate = -2; | |
78 | block->final_rate = -2; | |
79 | block->conveyor = this; | |
80 | ||
81 | return block; | |
82 | } | |
83 | ||
84 | // Used by blocks to signal when they are ready to be used by the system | |
85 | void Conveyor::new_block_added(){ | |
86 | if( this->current_block == NULL ){ | |
87 | this->pop_and_process_new_block(33); | |
88 | } | |
89 | } | |
90 | ||
91 | // Process a new block in the queue | |
92 | void Conveyor::pop_and_process_new_block(int debug){ | |
93 | if( this->looking_for_new_block ){ return; } | |
94 | this->looking_for_new_block = true; | |
95 | ||
96 | if( this->current_block != NULL ){ this->looking_for_new_block = false; return; } | |
97 | ||
98 | // Return if queue is empty | |
99 | if( this->queue.size() == 0 ){ | |
100 | this->current_block = NULL; | |
101 | // TODO : ON_QUEUE_EMPTY event | |
102 | this->looking_for_new_block = false; | |
103 | return; | |
104 | } | |
702023f3 | 105 | |
f80d18b9 L |
106 | // Get a new block |
107 | this->current_block = this->queue.get_ref(0); | |
108 | ||
109 | // Tell all modules about it | |
110 | this->kernel->call_event(ON_BLOCK_BEGIN, this->current_block); | |
702023f3 | 111 | |
f80d18b9 L |
112 | // In case the module was not taken |
113 | if( this->current_block->times_taken < 1 ){ | |
12800c08 | 114 | Block* temp = this->current_block; |
bba74182 | 115 | this->current_block = NULL; // It seems this was missing and adding it fixes things, if something breaks, this may be a suspect |
12800c08 AW |
116 | temp->take(); |
117 | temp->release(); | |
f80d18b9 L |
118 | } |
119 | ||
120 | this->looking_for_new_block = false; | |
121 | ||
122 | } | |
123 | ||
addfb453 | 124 | void Conveyor::wait_for_queue(int free_blocks) |
702023f3 | 125 | { |
f80d18b9 | 126 | while( this->queue.size() >= this->queue.capacity()-free_blocks ){ |
f80d18b9 | 127 | this->kernel->call_event(ON_IDLE); |
f80d18b9 L |
128 | } |
129 | } | |
17c68379 | 130 | |
a64021a3 | 131 | void Conveyor::wait_for_empty_queue(){ |
7b4c5e05 | 132 | while( this->queue.size() > 0){ |
17c68379 BG |
133 | this->kernel->call_event(ON_IDLE); |
134 | } | |
135 | } | |
136 |