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     flush_blocks = 0;
  27 }
  28
  29 void Conveyor::on_module_loaded(){
  30     register_for_event(ON_IDLE);
  31 }
  32
  33 // Delete blocks here, because they can't be deleted in interrupt context ( see Block.cpp:release )
  34 void Conveyor::on_idle(void* argument){
  35     if (flush_blocks){
  36         // Cleanly delete block
  37         Block* block = queue.get_tail_ref();
  38         block->gcodes.clear();
  39         queue.delete_first();
  40         __disable_irq();
  41         flush_blocks--;
  42         __enable_irq();
  43     }
  44 }
  45
  46 // Append a block to the list
  47 Block* Conveyor::new_block(){
  48
  49     // Take the next untaken block on the queue ( the one after the last one )
  50     Block* block = this->queue.get_tail_ref();
  51     // Then clean it up
  52     if( block->conveyor == this ){
  53         block->gcodes.clear();
  54     }
  55
  56     // Create a new virgin Block in the queue
  57     this->queue.push_back(Block());
  58     block = this->queue.get_ref( this->queue.size()-1 );
  59     while( block == NULL ){
  60         block = this->queue.get_ref( this->queue.size()-1 );
  61     }
  62     block->is_ready = false;
  63     block->initial_rate = -2;
  64     block->final_rate = -2;
  65     block->conveyor = this;
  66
  67     return block;
  68 }
  69
  70 // Used by blocks to signal when they are ready to be used by the system
  71 void Conveyor::new_block_added(){
  72     if( this->current_block == NULL ){
  73         this->pop_and_process_new_block(33);
  74     }
  75 }
  76
  77 // Process a new block in the queue
  78 void Conveyor::pop_and_process_new_block(int debug){
  79     if( this->looking_for_new_block ){ return; }
  80     this->looking_for_new_block = true;
  81
  82     if( this->current_block != NULL ){ this->looking_for_new_block = false; return; }
  83
  84     // Return if queue is empty
  85     if( this->queue.size() == 0 ){
  86         this->current_block = NULL;
  87         // TODO : ON_QUEUE_EMPTY event
  88         this->looking_for_new_block = false;
  89         return;
  90     }
  91
  92     // Get a new block
  93     this->current_block = this->queue.get_ref(0);
  94
  95     // Tell all modules about it
  96     this->kernel->call_event(ON_BLOCK_BEGIN, this->current_block);
  97
  98     // In case the module was not taken
  99     if( this->current_block->times_taken < 1 ){
 100         Block* temp = this->current_block;
 101         this->current_block = NULL; // It seems this was missing and adding it fixes things, if something breaks, this may be a suspect
 102         temp->take();
 103         temp->release();
 104     }
 105
 106     this->looking_for_new_block = false;
 107
 108 }
 109
 110 // Wait for the queue to have a given number of free blocks
 111 void Conveyor::wait_for_queue(int free_blocks){
 112     while( this->queue.size() >= this->queue.capacity()-free_blocks ){
 113         this->kernel->call_event(ON_IDLE);
 114     }
 115 }
 116
 117 // Wait for the queue to be empty
 118 void Conveyor::wait_for_empty_queue(){
 119     while( this->queue.size() > 0){
 120         this->kernel->call_event(ON_IDLE);
 121     }
 122 }
 123