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 "libs/nuts_bolts.h"
  11 #include "libs/RingBuffer.h"
  12 #include "../communication/utils/Gcode.h"
  13 #include "libs/Module.h"
  14 #include "libs/Kernel.h"
  15 #include "Block.h"
  16 #include "Player.h"
  17 #include "Planner.h"
  18
  19 Player::Player(){
  20     this->current_block = NULL;
  21     this->looking_for_new_block = false;
  22 }
  23
  24 // Append a block to the list
  25 Block* Player::new_block(){
  26
  27     // Clean up the vector of commands in the block we are about to replace
  28     // It is quite strange to do this here, we really should do it inside Block->pop_and_execute_gcode
  29     // but that function is called inside an interrupt and thus can break everything if the interrupt was trigerred during a memory access
  30     //Block* block = this->queue.get_ref( this->queue.size()-1 );
  31     Block* block = this->queue.get_ref( this->queue.size() );
  32     if( block->player == this ){
  33         for(short index=0; index<block->gcodes.size(); index++){
  34             block->gcodes.pop_back();
  35         }
  36     }
  37
  38     // Create a new virgin Block in the queue
  39     this->queue.push_back(Block());
  40     block = this->queue.get_ref( this->queue.size()-1 );
  41     block->is_ready = false;
  42     block->initial_rate = -2;
  43     block->final_rate = -2;
  44     block->player = this;
  45
  46     return block;
  47 }
  48
  49 // Used by blocks to signal when they are ready to be used by the system
  50 void Player::new_block_added(){
  51     if( this->current_block == NULL ){
  52         this->pop_and_process_new_block(33);
  53     }
  54 }
  55
  56 // Process a new block in the queue
  57 void Player::pop_and_process_new_block(int debug){
  58     if( this->looking_for_new_block ){ return; }
  59     this->looking_for_new_block = true;
  60
  61     if( this->current_block != NULL ){ this->looking_for_new_block = false; return; }
  62
  63     // Return if queue is empty
  64     if( this->queue.size() == 0 ){
  65         this->current_block = NULL;
  66         // TODO : ON_QUEUE_EMPTY event
  67         this->looking_for_new_block = false;
  68         return;
  69     }
  70
  71     // Get a new block
  72     this->current_block = this->queue.get_ref(0);
  73
  74     // Tell all modules about it
  75     this->kernel->call_event(ON_BLOCK_BEGIN, this->current_block);
  76
  77     // In case the module was not taken
  78     if( this->current_block->times_taken < 1 ){
  79         this->looking_for_new_block = false;
  80         this->current_block->release();
  81     }
  82
  83     this->looking_for_new_block = false;
  84
  85 }
  86
  87 void Player::wait_for_queue(int free_blocks){
  88     Timer t;
  89     while( this->queue.size() >= this->queue.capacity()-free_blocks ){
  90         t.reset();
  91         t.start();
  92         this->kernel->call_event(ON_IDLE);
  93         t.stop();
  94         if(t.read_us() < 500)
  95             wait_us(500 - t.read_us());
  96     }
  97 }