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f80d18b9 L |
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 | ||
f6542ad9 | 8 | #pragma once |
f80d18b9 L |
9 | |
10 | #include "libs/Module.h" | |
4762e5ac | 11 | #include "BlockQueue.h" |
e0ee24ed | 12 | |
61134a65 | 13 | class Block; |
e0ee24ed | 14 | |
95b4885b JM |
15 | class Conveyor : public Module |
16 | { | |
17 | public: | |
18 | Conveyor(); | |
8a9f9313 | 19 | void start(uint8_t n_actuators); |
95b4885b JM |
20 | |
21 | void on_module_loaded(void); | |
b5708347 | 22 | void on_idle(void *); |
b375ba1d | 23 | void on_halt(void *); |
95b4885b | 24 | |
6c0d8cf7 | 25 | void wait_for_idle(bool wait_for_motors=true); |
38bf9a1c | 26 | bool is_queue_empty() { return queue.is_empty(); }; |
728477c4 | 27 | bool is_queue_full() { return queue.is_full(); }; |
b5708347 | 28 | bool is_idle() const; |
2134bcf2 | 29 | |
f6542ad9 JM |
30 | // returns next available block writes it to block and returns true |
31 | bool get_next_block(Block **block); | |
a19a873f | 32 | void block_finished(); |
e0ee24ed | 33 | |
a617ac35 | 34 | void dump_queue(void); |
b375ba1d | 35 | void flush_queue(void); |
c7f4902c | 36 | float get_current_feedrate() const { return current_feedrate; } |
18ca10a3 | 37 | void force_queue() { check_queue(true); } |
a617ac35 | 38 | |
38bf9a1c JM |
39 | friend class Planner; // for queue |
40 | ||
41 | private: | |
d1d120e1 | 42 | void check_queue(bool force= false); |
e518eb86 | 43 | void queue_head_block(void); |
c501670b | 44 | |
4762e5ac | 45 | using Queue_t= BlockQueue; |
c501670b MM |
46 | Queue_t queue; // Queue of Blocks |
47 | ||
121844b7 JM |
48 | uint32_t queue_delay_time_ms; |
49 | size_t queue_size; | |
788e5809 | 50 | float current_feedrate{0}; // actual nominal feedrate that current block is running at in mm/sec |
121844b7 | 51 | |
b375ba1d JM |
52 | struct { |
53 | volatile bool running:1; | |
f6542ad9 | 54 | volatile bool allow_fetch:1; |
a19a873f | 55 | bool flush:1; |
b375ba1d | 56 | }; |
95b4885b | 57 | |
f80d18b9 | 58 | }; |