src/modules/robot/Conveyor.h

   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).
   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 #ifndef CONVEYOR_H
   9 #define CONVEYOR_H
  10
  11 #include "libs/Module.h"
  12 #include "HeapRing.h"
  13
  14 using namespace std;
  15 #include <string>
  16 #include <vector>
  17
  18 class Gcode;
  19 class Block;
  20
  21 class Conveyor : public Module
  22 {
  23 public:
  24     Conveyor();
  25
  26     void on_module_loaded(void);
  27     void on_idle(void *);
  28     void on_main_loop(void *);
  29     void on_block_end(Block *);
  30     void on_block_begin(Block *);
  31     void on_halt(void *);
  32
  33     void wait_for_empty_queue();
  34     bool is_queue_empty() { return queue.is_empty(); };
  35     bool is_queue_full() { return queue.is_full(); };
  36
  37
  38     //void append_gcode(Gcode *);
  39     void queue_head_block(void);
  40
  41     void dump_queue(void);
  42     void flush_queue(void);
  43     bool is_flushing() const { return flush; }
  44
  45     friend class Planner; // for queue
  46
  47 private:
  48     void all_moves_finished();
  49     void ensure_running(void);
  50
  51     using  Queue_t= HeapRing<Block>;
  52     Queue_t queue;  // Queue of Blocks
  53     volatile unsigned int gc_pending;
  54
  55     struct {
  56         volatile bool running:1;
  57         volatile bool flush:1;
  58         volatile bool halted:1;
  59     };
  60
  61 };
  62
  63 #endif // CONVEYOR_H