src/modules/robot/Conveyor.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) 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;
  24     flush_blocks = 0;
  25 }
  26
  27 void Conveyor::on_module_loaded(){
  28     register_for_event(ON_IDLE);
  29 }
  30
  31 void Conveyor::on_idle(void* argument){
  32     if (flush_blocks){
  33
  34         Block* block = queue.get_tail_ref();
  35         while (block->gcodes.size()){
  36             Gcode* gcode = block->gcodes.back();
  37             block->gcodes.pop_back();
  38
  39             // Do we just delete this gcode from this vector, or do we also actually delete the gcode ?
  40             // This is pretty complex and explained in detail in Gcode.h
  41             if( gcode->passed_thru_all_blocks_added_context_without_deleting == true ){
  42                 delete gcode;
  43             }else{
  44                 gcode->passed_thru_new_block_context_without_deleting = false;
  45             }
  46
  47         }
  48         queue.delete_first();
  49
  50         __disable_irq();
  51         flush_blocks--;
  52         __enable_irq();
  53     }
  54 }
  55
  56 // Append a block to the list
  57 Block* Conveyor::new_block(){
  58
  59     // Clean up the vector of commands in the block we are about to replace
  60     // It is quite strange to do this here, we really should do it inside Block->pop_and_execute_gcode
  61     // but that function is called inside an interrupt and thus can break everything if the interrupt was trigerred during a memory access
  62
  63     // Take the next untaken block on the queue ( the one after the last one )
  64     Block* block = this->queue.get_tail_ref();
  65     // Then clean it up
  66     if( block->conveyor == this ){
  67         for(; block->gcodes.size(); ){
  68             Gcode* gcode = block->gcodes.back();
  69             block->gcodes.pop_back();
  70
  71             // Do we just delete this gcode from this vector, or do we also actually delete the gcode ?
  72             // This is pretty complex and explained in detail in Gcode.h
  73             if( gcode->passed_thru_all_blocks_added_context_without_deleting == true ){
  74                 delete gcode;
  75             }else{
  76                 gcode->passed_thru_new_block_context_without_deleting = false;
  77             }
  78
  79         }
  80     }
  81
  82     // Create a new virgin Block in the queue
  83     this->queue.push_back(Block());
  84     block = this->queue.get_ref( this->queue.size()-1 );
  85     while( block == NULL ){
  86         block = this->queue.get_ref( this->queue.size()-1 );
  87     }
  88     block->is_ready = false;
  89     block->initial_rate = -2;
  90     block->final_rate = -2;
  91     block->conveyor = this;
  92
  93     return block;
  94 }
  95
  96 // Used by blocks to signal when they are ready to be used by the system
  97 void Conveyor::new_block_added(){
  98     if( this->current_block == NULL ){
  99         this->pop_and_process_new_block(33);
 100     }
 101 }
 102
 103 // Process a new block in the queue
 104 void Conveyor::pop_and_process_new_block(int debug){
 105     if( this->looking_for_new_block ){ return; }
 106     this->looking_for_new_block = true;
 107
 108     if( this->current_block != NULL ){ this->looking_for_new_block = false; return; }
 109
 110     // Return if queue is empty
 111     if( this->queue.size() == 0 ){
 112         this->current_block = NULL;
 113         // TODO : ON_QUEUE_EMPTY event
 114         this->looking_for_new_block = false;
 115         return;
 116     }
 117
 118     // Get a new block
 119     this->current_block = this->queue.get_ref(0);
 120
 121     // Tell all modules about it
 122     this->kernel->call_event(ON_BLOCK_BEGIN, this->current_block);
 123
 124     // In case the module was not taken
 125     if( this->current_block->times_taken < 1 ){
 126         Block* temp = this->current_block;
 127         this->current_block = NULL; // It seems this was missing and adding it fixes things, if something breaks, this may be a suspect
 128         temp->take();
 129         temp->release();
 130     }
 131
 132     this->looking_for_new_block = false;
 133
 134 }
 135
 136 void Conveyor::wait_for_queue(int free_blocks)
 137 {
 138     while( this->queue.size() >= this->queue.capacity()-free_blocks ){
 139         this->kernel->call_event(ON_IDLE);
 140     }
 141 }
 142
 143 void Conveyor::wait_for_empty_queue(){
 144     while( this->queue.size() > 0){
 145         this->kernel->call_event(ON_IDLE);
 146     }
 147 }
 148