src/modules/robot/Player.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 "mbed.h"
  11 #include "libs/nuts_bolts.h"
  12 #include "libs/RingBuffer.h"
  13 #include "../communication/utils/Gcode.h"
  14 #include "libs/Module.h"
  15 #include "libs/Kernel.h"
  16 #include "Block.h"
  17 #include "Player.h"
  18 #include "Planner.h"
  19
  20 Player::Player(){
  21     this->current_block = NULL;
  22     this->looking_for_new_block = false;
  23 }
  24
  25 // Append a block to the list
  26 Block* Player::new_block(){
  27
  28     // Clean up the vector of commands in the block we are about to replace
  29     // It is quite strange to do this here, we really should do it inside Block->pop_and_execute_gcode
  30     // but that function is called inside an interrupt and thus can break everything if the interrupt was trigerred during a memory access
  31     //Block* block = this->queue.get_ref( this->queue.size()-1 );
  32     Block* block = this->queue.get_ref( this->queue.size() );
  33     if( block->player == this ){
  34         for(short index=0; index<block->gcodes.size(); index++){
  35             block->gcodes.pop_back();
  36         }
  37         //for(short index=0; index<block->commands.size(); index++){
  38         //    block->commands.pop_back();
  39         //    block->travel_distances.pop_back();
  40         //}
  41     }
  42
  43     // Create a new virgin Block in the queue
  44     this->queue.push_back(Block());
  45     block = this->queue.get_ref( this->queue.size()-1 );
  46     block->is_ready = false;
  47     block->initial_rate = -2;
  48     block->final_rate = -2;
  49     block->player = this;
  50
  51     return block;
  52 }
  53
  54 // Used by blocks to signal when they are ready to be used by the system
  55 void Player::new_block_added(){
  56     //this->kernel->serial->printf("new block: %p\r\n", this->current_block);
  57
  58     //if( this->current_block == 0x00 || this->queue.size() == 0 ){
  59         //this->kernel->serial->printf("f %p %d\r\n", this->current_block, this->queue.size() );
  60     //}
  61
  62
  63     if( this->current_block == NULL ){
  64         this->pop_and_process_new_block(33);
  65     }
  66 }
  67
  68 // Process a new block in the queue
  69 void Player::pop_and_process_new_block(int debug){
  70     if( this->looking_for_new_block ){ return; }
  71     this->looking_for_new_block = true;
  72
  73     if( this->current_block != NULL ){ this->looking_for_new_block = false; return; }
  74
  75     // Return if queue is empty
  76     if( this->queue.size() == 0 ){
  77         this->current_block = NULL;
  78         // TODO : ON_QUEUE_EMPTY event
  79         this->looking_for_new_block = false;
  80         return;
  81     }
  82
  83     // Get a new block
  84     this->current_block = this->queue.get_ref(0);
  85
  86     // Tell all modules about it
  87     this->kernel->call_event(ON_BLOCK_BEGIN, this->current_block);
  88
  89     // In case the module was not taken
  90     if( this->current_block->times_taken < 1 ){
  91         //this->kernel->serial->printf("e %p %d %d %d\r\n", this->current_block, this->queue.size(), this->current_block == 0x00, debug );
  92         //wait(0.1);
  93         this->looking_for_new_block = false;
  94         this->current_block->release();
  95     }
  96
  97     this->looking_for_new_block = false;
  98
  99 }