You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/
-using namespace std;
-#include <vector>
#include "libs/nuts_bolts.h"
#include "libs/RingBuffer.h"
#include "../communication/utils/Gcode.h"
#include "Config.h"
#include "libs/StreamOutputPool.h"
#include "ConfigValue.h"
+#include "StepTicker.h"
+#include "Robot.h"
+#include "StepperMotor.h"
+
+#include <functional>
+#include <vector>
+
+#include "mbed.h"
#define planner_queue_size_checksum CHECKSUM("planner_queue_size")
+#define queue_delay_time_ms_checksum CHECKSUM("queue_delay_time_ms")
/*
* The conveyor holds the queue of blocks, takes care of creating them, and starting the executing chain of blocks
*
* Both of these are implemented here- see queue_head_block() (where head is pushed) and on_idle() (where tail is consumed)
*
- * The double ring is implemented by adding a third index pointer that lives in between head and tail. We call it gc_pending which describes its function rather than its operation
+ * The double ring is implemented by adding a third index pointer that lives in between head and tail. We call it isr_tail_i.
*
- * in ISR context, we use HEAD as the head pointer, and gc_pending as the tail pointer.
- * As HEAD increments, ISR context can consume the new blocks which appear, and when we're finished with a block, we increment gc_pending to signal that they're finishd, and ready to be cleaned
+ * in ISR context, we use HEAD as the head pointer, and isr_tail_i as the tail pointer.
+ * As HEAD increments, ISR context can consume the new blocks which appear, and when we're finished with a block, we increment isr_tail_i to signal that they're finished, and ready to be cleaned
*
- * in IDLE context, we use gc_pending as the head pointer, and TAIL as the tail pointer.
- * When gc_pending != tail, we clean up the tail block (performing ISR-unsafe delete operations) and consume it (increment tail pointer), returning it to the pool of clean, unused blocks which HEAD is allowed to prepare for queueing
+ * in IDLE context, we use isr_tail_i as the head pointer, and TAIL as the tail pointer.
+ * When isr_tail_i != tail, we clean up the tail block (performing ISR-unsafe delete operations) and consume it (increment tail pointer), returning it to the pool of clean, unused blocks which HEAD is allowed to prepare for queueing
*
* Thus, our two ringbuffers exist sharing the one ring of blocks, and we safely marshall used blocks from ISR context to IDLE context for safe cleanup.
*/
-Conveyor::Conveyor(){
- gc_pending = queue.tail_i;
+
+Conveyor::Conveyor()
+{
running = false;
+ halted = false;
+ allow_fetch = false;
+ flush= false;
}
-void Conveyor::on_module_loaded(){
+void Conveyor::on_module_loaded()
+{
register_for_event(ON_IDLE);
- register_for_event(ON_MAIN_LOOP);
+ register_for_event(ON_HALT);
- on_config_reload(this);
+ // Attach to the end_of_move stepper event
+ //THEKERNEL->step_ticker->finished_fnc = std::bind( &Conveyor::all_moves_finished, this);
+ queue_size = THEKERNEL->config->value(planner_queue_size_checksum)->by_default(32)->as_number();
+ queue_delay_time_ms = THEKERNEL->config->value(queue_delay_time_ms_checksum)->by_default(400)->as_number();
+}
+
+// we allocate the queue here after cpnfig is completed so we do not run out of memory during config
+void Conveyor::start()
+{
+ queue.resize(queue_size);
+ running = true;
}
-// Delete blocks here, because they can't be deleted in interrupt context ( see Block.cpp:release )
-// note that blocks get cleaned as they come off the tail, so head ALWAYS points to a cleaned block.
-void Conveyor::on_idle(void* argument){
- if (queue.tail_i != gc_pending)
- {
+void Conveyor::on_halt(void* argument)
+{
+ if(argument == nullptr) {
+ halted = true;
+ flush_queue();
+ } else {
+ halted = false;
+ }
+}
+
+void Conveyor::on_idle(void*)
+{
+ if (running) {
+ check_queue();
+ }
+
+ // we can garbage collect the block queue here
+ if (queue.tail_i != queue.isr_tail_i) {
if (queue.is_empty()) {
__debugbreak();
- }else{
+ } else {
// Cleanly delete block
Block* block = queue.tail_ref();
-// block->debug();
+ //block->debug();
block->clear();
queue.consume_tail();
}
}
}
-/*
- * In on_main_loop, we check whether the queue should be running, but isn't.
- *
- * The main trigger for this event is other pieces of code adding gcode to a block, but not pushing it. This occurs frequently with gcodes that must be executed at the correct point in the queue, but take zero time to execute.
- * Smoothie will happily attach many of such gcodes onto a single block, to save room in the queue.
- *
- * Any gcode which can potentially take time to execute, or might like to halt the queue MUST push the head block, otherwise gcodes that arrive later may get executed at the same time, and gcode execution order strictness would be violated.
- *
- * If we get back to main loop context and the block has gcode but isn't pushed, then we can safely push it and start the queue.
- *
- *
- * It's also theoretically possible that a race condition could occur where we pop the final block and stop the queue, while at the same time main loop is pushing head but thinks the queue is running and thus does not start it.
- *
- * In this case, we start the queue again when execution returns to main loop.
- * No stuttering or other visible effects could be caused by this event, as the planner will have set the last block to decelerate to zero, and the new block to accelerate from zero.
- *
- */
-
-void Conveyor::on_main_loop(void*)
+// see if we are idle
+// this checks the block queue is empty, and that the step queue is empty and
+// checks that all motors are no longer moving
+bool Conveyor::is_idle() const
{
- if (running)
- return;
-
- if (queue.is_empty())
- {
- if (queue.head_ref()->gcodes.size())
- {
- queue_head_block();
- ensure_running();
+ if(queue.is_empty()) {
+ for(auto &a : THEROBOT->actuators) {
+ if(a->is_moving()) return false;
}
+ return true;
}
- else
- // queue not empty
- ensure_running();
-}
-void Conveyor::on_config_reload(void* argument)
-{
- queue.resize(THEKERNEL->config->value(planner_queue_size_checksum)->by_default(32)->as_number());
+ return false;
}
-void Conveyor::append_gcode(Gcode* gcode)
+// Wait for the queue to be empty and for all the jobs to finish in step ticker
+void Conveyor::wait_for_empty_queue()
{
- gcode->mark_as_taken();
- queue.head_ref()->append_gcode(gcode);
+ // wait for the job queue to empty, this means cycling everything on the block queue into the job queue
+ // forcing them to be jobs
+ running = false; // stops on_idle calling check_queue
+ while (!queue.is_empty()) {
+ check_queue(true); // forces queue to be made available to stepticker
+ THEKERNEL->call_event(ON_IDLE, this);
+ }
+
+ // now we wait for all motors to stop moving
+ while(!is_idle()) {
+ THEKERNEL->call_event(ON_IDLE, this);
+ }
+ running = true;
+ // returning now means that everything has totally finished
}
-// Process a new block in the queue
-void Conveyor::on_block_end(void* block)
+/*
+ * push the pre-prepared head block onto the queue
+ */
+void Conveyor::queue_head_block()
{
- if (queue.is_empty())
- __debugbreak();
-
- gc_pending = queue.next(gc_pending);
-
- // Return if queue is empty
- if (gc_pending == queue.head_i)
- {
- running = false;
+ if(halted) {
+ // we do not want to stick more stuff on the queue if we are in halt state
+ // clear and release the block on the head
+ queue.head_ref()->clear();
return;
}
- // Get a new block
- Block* next = this->queue.item_ref(gc_pending);
+ // upstream caller will block on this until there is room in the queue
+ while (queue.is_full()) {
+ //check_queue();
+ THEKERNEL->call_event(ON_IDLE, this); // will call check_queue();
+ }
+
+ queue.produce_head();
- next->begin();
+ // not sure if this is the correct place but we need to turn on the motors if they were not already on
+ THEKERNEL->call_event(ON_ENABLE, (void*)1); // turn all enable pins on
}
-// Wait for the queue to be empty
-void Conveyor::wait_for_empty_queue()
+void Conveyor::check_queue(bool force)
{
- while (!queue.is_empty())
- {
- ensure_running();
- THEKERNEL->call_event(ON_IDLE, this);
+ static uint32_t last_time_check = us_ticker_read();
+
+ if(queue.is_empty()) {
+ allow_fetch = false;
+ last_time_check = us_ticker_read(); // reset timeout
+ return;
+ }
+
+ // if we have been waiting for more than the required waiting time and the queue is not empty, or the queue is full, then allow stepticker to get the tail
+ // we do this to allow an idle system to pre load the queue a bit so the first few blocks run smoothly.
+ if(force || queue.is_full() || (us_ticker_read() - last_time_check) >= (queue_delay_time_ms * 1000)) {
+ last_time_check = us_ticker_read(); // reset timeout
+ allow_fetch = true;
+ return;
}
}
-/*
- * push the pre-prepared head block onto the queue
- */
-void Conveyor::queue_head_block()
+// called from step ticker ISR
+bool Conveyor::get_next_block(Block **block)
{
- while (queue.is_full())
- {
- ensure_running();
- THEKERNEL->call_event(ON_IDLE, this);
+ // mark entire queue for GC if flush flag is asserted
+ if (flush){
+ while (queue.isr_tail_i != queue.head_i) {
+ queue.isr_tail_i = queue.next(queue.isr_tail_i);
+ }
}
- queue.head_ref()->ready();
- queue.produce_head();
+ if(queue.isr_tail_i == queue.head_i) return false; // we do not have anything to give
+
+ // wait for queue to fill up, optimizes planning
+ if(!allow_fetch) return false;
+
+ Block *b= queue.item_ref(queue.isr_tail_i);
+ // we cannot use this now if it is being updated
+ if(!b->locked) {
+ if(!b->is_ready) __debugbreak(); // should never happen
+
+ b->is_ticking= true;
+ b->recalculate_flag= false;
+
+ *block= b;
+ return true;
+ }
+
+ return false;
}
-void Conveyor::ensure_running()
+// called from step ticker ISR when block is finished, do not do anything slow here
+void Conveyor::block_finished()
{
- if (!running)
- {
- if (gc_pending == queue.head_i)
- return;
+ // we increment the isr_tail_i so we can get the next block
+ queue.isr_tail_i= queue.next(queue.isr_tail_i);
+}
- running = true;
- queue.item_ref(gc_pending)->begin();
- }
+/*
+ In most cases this will not totally flush the queue, as when streaming
+ gcode there is one stalled waiting for space in the queue, in
+ queue_head_block() so after this flush, once main_loop runs again one more
+ gcode gets stuck in the queue, this is bad. Current work around is to call
+ this when the queue in not full and streaming has stopped
+*/
+void Conveyor::flush_queue()
+{
+ allow_fetch = false;
+ flush= true;
+
+ // TODO force deceleration of last block
+
+ // now wait until the job queue has finished and all motors are idle too
+ wait_for_empty_queue();
+ flush= false;
}
// Debug function
void Conveyor::dump_queue()
{
- for (unsigned int index = queue.tail_i, i = 0; true; index = queue.next(index), i++ )
- {
+ for (unsigned int index = queue.tail_i, i = 0; true; index = queue.next(index), i++ ) {
THEKERNEL->streams->printf("block %03d > ", i);
queue.item_ref(index)->debug();
HCoop / clinton / Smoothieware.git / blobdiff