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 // The conveyor holds the queue of blocks, takes care of creating them, and starting the executing chain of blocks
  22
  23 Conveyor::Conveyor(){
  24     this->current_block = NULL;
  25     this->looking_for_new_block = false;
  26     queue.resize(32);
  27     gc_pending = queue.tail_i;
  28 }
  29
  30 void Conveyor::on_module_loaded(){
  31     register_for_event(ON_IDLE);
  32 }
  33
  34 // Delete blocks here, because they can't be deleted in interrupt context ( see Block.cpp:release )
  35 void Conveyor::on_idle(void* argument){
  36     while (queue.tail_i != gc_pending)
  37     {
  38         // Cleanly delete block
  39         Block* block = queue.tail_ref();
  40         block->gcodes.clear();
  41         queue.consume_tail();
  42     }
  43 }
  44
  45 void Conveyor::append_gcode(Gcode* gcode)
  46 {
  47     gcode->mark_as_taken();
  48     if (queue.is_empty())
  49         THEKERNEL->call_event(ON_GCODE_EXECUTE, gcode);
  50     else
  51         queue.head_ref()->append_gcode(gcode);
  52 }
  53
  54 // Append a block to the list
  55 Block* Conveyor::new_block(){
  56
  57     // Take the next untaken block on the queue ( the one after the last one )
  58     Block* block = this->queue.head_ref();
  59     // Then clean it up
  60     block->clear();
  61
  62     block->initial_rate = -2;
  63     block->final_rate = -2;
  64
  65     // Create a new virgin Block in the queue
  66     queue.produce_head();
  67
  68     return block;
  69 }
  70
  71 // Used by blocks to signal when they are ready to be used by the system
  72 void Conveyor::new_block_added(){
  73     if( this->current_block == NULL ){
  74         this->pop_and_process_new_block(33);
  75     }
  76 }
  77
  78 // Process a new block in the queue
  79 void Conveyor::pop_and_process_new_block(int debug){
  80     if( this->looking_for_new_block ){ return; }
  81     this->looking_for_new_block = true;
  82
  83     if( this->current_block != NULL ){ this->looking_for_new_block = false; return; }
  84
  85     // Return if queue is empty
  86     if( queue.is_empty() ){
  87         this->current_block = NULL;
  88         // TODO : ON_QUEUE_EMPTY event
  89         this->looking_for_new_block = false;
  90         return;
  91     }
  92
  93     // Get a new block
  94     this->current_block = this->queue.tail_ref();
  95
  96     // Tell all modules about it
  97     THEKERNEL->call_event(ON_BLOCK_BEGIN, this->current_block);
  98
  99         // In case the module was not taken
 100     if( this->current_block->times_taken < 1 ){
 101         Block* temp = this->current_block;
 102         this->current_block = NULL; // It seems this was missing and adding it fixes things, if something breaks, this may be a suspect
 103         temp->take();
 104         temp->release();
 105     }
 106
 107     this->looking_for_new_block = false;
 108
 109 }
 110
 111 // Wait for the queue to have a given number of free blocks
 112 void Conveyor::wait_for_queue(int free_blocks)
 113 {
 114     while (queue.is_full())
 115         THEKERNEL->call_event(ON_IDLE);
 116 }
 117
 118 // Wait for the queue to be empty
 119 void Conveyor::wait_for_empty_queue()
 120 {
 121     while (!queue.is_empty())
 122         THEKERNEL->call_event(ON_IDLE);
 123 }
 124
 125 // Return true if the queue is empty
 126 bool Conveyor::is_queue_empty()
 127 {
 128     return queue.is_empty();
 129 }
 130
 131
 132 // feels hacky, but apparently the way to do it
 133 #include "HeapRing.cpp"
 134 template class HeapRing<Block>;