src/modules/robot/Pauser.cpp

   1 #include "Pauser.h"
   2
   3 #include "libs/Kernel.h"
   4 #include "Block.h"
   5 #include "libs/nuts_bolts.h"
   6 #include "libs/utils.h"
   7
   8 #include <string>
   9 using namespace std;
  10
  11 // The Pauser module is the core of the pausing subsystem in smoothie.
  12 // Basically we want several modules to be able to pause smoothie at the same
  13 // time  ( think both the user with a button, and the temperature control
  14 // because a temperature is not reached ). To do that, modules call the take()
  15 // methode,  a pause event is called, and the pause does not end before all
  16 // modules have called the release() method.
  17 // Please note : Modules should keep track of their pause status themselves...
  18 // or Not for instance it may be better for the play/pause button to be able
  19 // to unpause when something else causes a pause
  20 Pauser::Pauser(){
  21     paused_block = NULL;
  22 }
  23
  24 void Pauser::on_module_loaded(){
  25     this->counter = 0;
  26     register_for_event(ON_BLOCK_BEGIN);
  27 }
  28
  29 void Pauser::on_block_begin(void* argument)
  30 {
  31     Block* block = static_cast<Block*>(argument);
  32
  33     if (counter)
  34     {
  35         block->take();
  36         paused_block = block;
  37     }
  38 }
  39
  40 // Pause smoothie if nobody else is currently doing so
  41 void Pauser::take(){
  42     this->counter++;
  43     //THEKERNEL->streams->printf("take: %u \r\n", this->counter );
  44     if( this->counter == 1 ){
  45         THEKERNEL->call_event(ON_PAUSE, &this->counter);
  46     }
  47 }
  48
  49 // Unpause smoothie unless something else is pausing it too
  50 void Pauser::release(){
  51     if( --this->counter <= 0 ){
  52         this->counter= 0;
  53         THEKERNEL->call_event(ON_PLAY, &this->counter);
  54         if (paused_block)
  55         {
  56             Block* tmp = paused_block;
  57             paused_block = NULL;
  58             tmp->release();
  59         }
  60     }
  61 }
  62
  63 // Return wether smoothie is paused
  64 bool Pauser::paused(){
  65     return (counter != 0);
  66 }