Big Planner::recalculate rewrite

[clinton/Smoothieware.git] / src / modules / robot / Conveyor.h

/*
      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
      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.
      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.
      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef CONVEYOR_H
#define CONVEYOR_H

#include "libs/Module.h"
#include "libs/Kernel.h"
#include "HeapRing.h"

using namespace std;
#include <string>
#include <vector>

class Gcode;

class Conveyor : public Module
{
public:
    Conveyor();

    void on_module_loaded(void);
    void on_idle(void*);
    void on_block_end(void*);

    void notify_block_finished(Block*);

    void wait_for_queue(int free_blocks);
    void wait_for_empty_queue();

    void ensure_running(void);

    bool is_queue_empty(void);

    void append_gcode(Gcode*);
    void queue_head_block(void);

    void dump_queue(void);

    // right now block queue size can only be changed at compile time by changing the value below
    typedef HeapRing<Block> Queue_t;

    Queue_t queue;  // Queue of Blocks

    volatile bool running;

    volatile unsigned int gc_pending;
};

#endif // CONVEYOR_H