src/modules/robot/Conveyor.h

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