src/libs/Kernel.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).
   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 #include "libs/Kernel.h"
   9 #include "libs/Module.h"
  10 #include "libs/Config.h"
  11 #include "libs/nuts_bolts.h"
  12 #include "libs/SlowTicker.h"
  13 #include "libs/Adc.h"
  14 #include "libs/StreamOutputPool.h"
  15 #include <mri.h>
  16 #include "checksumm.h"
  17 #include "ConfigValue.h"
  18
  19 #include "libs/StepTicker.h"
  20 #include "libs/PublicData.h"
  21 #include "modules/communication/SerialConsole.h"
  22 #include "modules/communication/GcodeDispatch.h"
  23 #include "modules/robot/Planner.h"
  24 #include "modules/robot/Robot.h"
  25 #include "modules/robot/Conveyor.h"
  26 #include "StepperMotor.h"
  27 #include "BaseSolution.h"
  28 #include "EndstopsPublicAccess.h"
  29 #include "Configurator.h"
  30 #include "SimpleShell.h"
  31
  32 #ifndef NO_TOOLS_LASER
  33 #include "Laser.h"
  34 #endif
  35
  36 #include "platform_memory.h"
  37
  38 #include <malloc.h>
  39 #include <array>
  40 #include <string>
  41
  42 #define laser_checksum CHECKSUM("laser")
  43 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
  44 #define uart0_checksum             CHECKSUM("uart0")
  45
  46 #define base_stepping_frequency_checksum            CHECKSUM("base_stepping_frequency")
  47 #define microseconds_per_step_pulse_checksum        CHECKSUM("microseconds_per_step_pulse")
  48 #define disable_leds_checksum                       CHECKSUM("leds_disable")
  49 #define grbl_mode_checksum                          CHECKSUM("grbl_mode")
  50 #define feed_hold_enable_checksum                   CHECKSUM("enable_feed_hold")
  51 #define ok_per_line_checksum                        CHECKSUM("ok_per_line")
  52 #define new_status_format_checksum                  CHECKSUM("new_status_format")
  53
  54 Kernel* Kernel::instance;
  55
  56 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  57 Kernel::Kernel()
  58 {
  59     halted = false;
  60     feed_hold = false;
  61     enable_feed_hold = false;
  62
  63     instance = this; // setup the Singleton instance of the kernel
  64
  65     // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial
  66     // Set to UART0, this will be changed to use the same UART as MRI if it's enabled
  67     this->serial = new SerialConsole(USBTX, USBRX, DEFAULT_SERIAL_BAUD_RATE);
  68
  69     // Config next, but does not load cache yet
  70     this->config = new Config();
  71
  72     // Pre-load the config cache, do after setting up serial so we can report errors to serial
  73     this->config->config_cache_load();
  74
  75     // now config is loaded we can do normal setup for serial based on config
  76     delete this->serial;
  77     this->serial = NULL;
  78
  79     this->streams = new StreamOutputPool();
  80
  81     this->current_path   = "/";
  82
  83     // Configure UART depending on MRI config
  84     // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
  85     NVIC_SetPriorityGrouping(0);
  86
  87 #if MRI_ENABLE != 0
  88     switch( __mriPlatform_CommUartIndex() ) {
  89         case 0:
  90             this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  91             break;
  92         case 1:
  93             this->serial = new(AHB0) SerialConsole(  p13,   p14, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  94             break;
  95         case 2:
  96             this->serial = new(AHB0) SerialConsole(  p28,   p27, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  97             break;
  98         case 3:
  99             this->serial = new(AHB0) SerialConsole(   p9,   p10, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
 100             break;
 101     }
 102 #endif
 103     // default
 104     if(this->serial == NULL) {
 105         this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
 106     }
 107
 108     //some boards don't have leds.. TOO BAD!
 109     this->use_leds = !this->config->value( disable_leds_checksum )->by_default(false)->as_bool();
 110
 111 #ifdef CNC
 112     this->grbl_mode = this->config->value( grbl_mode_checksum )->by_default(true)->as_bool();
 113 #else
 114     this->grbl_mode = this->config->value( grbl_mode_checksum )->by_default(false)->as_bool();
 115 #endif
 116
 117     this->enable_feed_hold = this->config->value( feed_hold_enable_checksum )->by_default(this->grbl_mode)->as_bool();
 118
 119     // we expect ok per line now not per G code, setting this to false will return to the old (incorrect) way of ok per G code
 120     this->ok_per_line = this->config->value( ok_per_line_checksum )->by_default(true)->as_bool();
 121
 122     this->new_status_format = this->config->value( new_status_format_checksum )->by_default(true)->as_bool();
 123
 124     this->add_module( this->serial );
 125
 126     // HAL stuff
 127     add_module( this->slow_ticker = new SlowTicker());
 128
 129     this->step_ticker = new StepTicker();
 130     this->adc = new Adc();
 131
 132     // TODO : These should go into platform-specific files
 133     // LPC17xx-specific
 134     NVIC_SetPriorityGrouping(0);
 135     NVIC_SetPriority(TIMER0_IRQn, 2);
 136     NVIC_SetPriority(TIMER1_IRQn, 1);
 137     NVIC_SetPriority(TIMER2_IRQn, 4);
 138     NVIC_SetPriority(PendSV_IRQn, 3);
 139
 140     // Set other priorities lower than the timers
 141     NVIC_SetPriority(ADC_IRQn, 5);
 142     NVIC_SetPriority(USB_IRQn, 5);
 143
 144     // If MRI is enabled
 145     if( MRI_ENABLE ) {
 146         if( NVIC_GetPriority(UART0_IRQn) > 0 ) { NVIC_SetPriority(UART0_IRQn, 5); }
 147         if( NVIC_GetPriority(UART1_IRQn) > 0 ) { NVIC_SetPriority(UART1_IRQn, 5); }
 148         if( NVIC_GetPriority(UART2_IRQn) > 0 ) { NVIC_SetPriority(UART2_IRQn, 5); }
 149         if( NVIC_GetPriority(UART3_IRQn) > 0 ) { NVIC_SetPriority(UART3_IRQn, 5); }
 150     } else {
 151         NVIC_SetPriority(UART0_IRQn, 5);
 152         NVIC_SetPriority(UART1_IRQn, 5);
 153         NVIC_SetPriority(UART2_IRQn, 5);
 154         NVIC_SetPriority(UART3_IRQn, 5);
 155     }
 156
 157     // Configure the step ticker
 158     this->base_stepping_frequency = this->config->value(base_stepping_frequency_checksum)->by_default(100000)->as_number();
 159     float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(1)->as_number();
 160
 161     // Configure the step ticker
 162     this->step_ticker->set_frequency( this->base_stepping_frequency );
 163     this->step_ticker->set_unstep_time( microseconds_per_step_pulse );
 164
 165     // Core modules
 166     this->add_module( this->conveyor       = new Conveyor()      );
 167     this->add_module( this->gcode_dispatch = new GcodeDispatch() );
 168     this->add_module( this->robot          = new Robot()         );
 169     this->add_module( this->simpleshell    = new SimpleShell()   );
 170
 171     this->planner = new Planner();
 172     this->configurator = new Configurator();
 173 }
 174
 175 // return a GRBL-like query string for serial ?
 176 std::string Kernel::get_query_string()
 177 {
 178     std::string str;
 179     bool homing;
 180     bool ok = PublicData::get_value(endstops_checksum, get_homing_status_checksum, 0, &homing);
 181     if(!ok) homing = false;
 182     bool running = false;
 183
 184     str.append("<");
 185     if(halted) {
 186         str.append("Alarm");
 187     } else if(homing) {
 188         running = true;
 189         str.append("Home");
 190     } else if(feed_hold) {
 191         str.append("Hold");
 192     } else if(this->conveyor->is_idle()) {
 193         str.append("Idle");
 194     } else {
 195         running = true;
 196         str.append("Run");
 197     }
 198
 199     if(running) {
 200         float mpos[3];
 201         robot->get_current_machine_position(mpos);
 202         // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
 203         if(robot->compensationTransform) robot->compensationTransform(mpos, true); // get inverse compensation transform
 204
 205         char buf[128];
 206         // machine position
 207         size_t n = snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(mpos[0]), robot->from_millimeters(mpos[1]), robot->from_millimeters(mpos[2]));
 208         if(n > sizeof(buf)) n= sizeof(buf);
 209
 210         if(new_status_format) {
 211             str.append("|MPos:").append(buf, n);
 212
 213 #if MAX_ROBOT_ACTUATORS > 3
 214             // deal with the ABC axis (E will be A)
 215             for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) {
 216                 // current actuator position
 217                 n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position()));
 218                 if(n > sizeof(buf)) n= sizeof(buf);
 219                 str.append(buf, n);
 220             }
 221 #endif
 222
 223         }else{
 224             str.append(",MPos:").append(buf, n);
 225         }
 226
 227         // work space position
 228         Robot::wcs_t pos = robot->mcs2wcs(mpos);
 229         n = snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(std::get<X_AXIS>(pos)), robot->from_millimeters(std::get<Y_AXIS>(pos)), robot->from_millimeters(std::get<Z_AXIS>(pos)));
 230         if(n > sizeof(buf)) n= sizeof(buf);
 231
 232         if(new_status_format) {
 233             str.append("|WPos:").append(buf, n);
 234             // current feedrate
 235             float fr= robot->from_millimeters(conveyor->get_current_feedrate()*60.0F);
 236             n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr);
 237             if(n > sizeof(buf)) n= sizeof(buf);
 238             str.append(buf, n);
 239             float sr= robot->get_s_value();
 240             n = snprintf(buf, sizeof(buf), "|S:%1.4f", sr);
 241             if(n > sizeof(buf)) n= sizeof(buf);
 242             str.append(buf, n);
 243
 244             // current Laser power
 245             #ifndef NO_TOOLS_LASER
 246                 Laser *plaser= nullptr;
 247                 if(PublicData::get_value(laser_checksum, (void *)&plaser) && plaser != nullptr) {
 248                    float lp= plaser->get_current_power();
 249                     n = snprintf(buf, sizeof(buf), "|L:%1.4f", lp);
 250                     if(n > sizeof(buf)) n= sizeof(buf);
 251                     str.append(buf, n);
 252                 }
 253             #endif
 254
 255         }else{
 256             str.append(",WPos:").append(buf, n);
 257         }
 258
 259         str.append(">\r\n");
 260
 261     } else {
 262         // return the last milestone if idle
 263         char buf[128];
 264         // machine position
 265         Robot::wcs_t mpos = robot->get_axis_position();
 266         size_t n = snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(std::get<X_AXIS>(mpos)), robot->from_millimeters(std::get<Y_AXIS>(mpos)), robot->from_millimeters(std::get<Z_AXIS>(mpos)));
 267         if(n > sizeof(buf)) n= sizeof(buf);
 268         if(new_status_format) {
 269             str.append("|MPos:").append(buf, n);
 270 #if MAX_ROBOT_ACTUATORS > 3
 271             // deal with the ABC axis (E will be A)
 272             for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) {
 273                 // current actuator position
 274                 n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position()));
 275                 if(n > sizeof(buf)) n= sizeof(buf);
 276                 str.append(buf, n);
 277             }
 278 #endif
 279
 280         }else{
 281             str.append(",MPos:").append(buf, n);
 282         }
 283
 284         // work space position
 285         Robot::wcs_t pos = robot->mcs2wcs(mpos);
 286         n = snprintf(buf, sizeof(buf), "%1.4f,%1.4f,%1.4f", robot->from_millimeters(std::get<X_AXIS>(pos)), robot->from_millimeters(std::get<Y_AXIS>(pos)), robot->from_millimeters(std::get<Z_AXIS>(pos)));
 287         if(n > sizeof(buf)) n= sizeof(buf);
 288         if(new_status_format) {
 289             str.append("|WPos:").append(buf, n);
 290         }else{
 291             str.append(",WPos:").append(buf, n);
 292         }
 293
 294         if(new_status_format) {
 295             float fr= robot->from_millimeters(robot->get_feed_rate());
 296             n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr);
 297             if(n > sizeof(buf)) n= sizeof(buf);
 298             str.append(buf, n);
 299         }
 300
 301         str.append(">\r\n");
 302     }
 303     return str;
 304 }
 305
 306 // Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded
 307 void Kernel::add_module(Module* module)
 308 {
 309     module->on_module_loaded();
 310 }
 311
 312 // Adds a hook for a given module and event
 313 void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod)
 314 {
 315     this->hooks[id_event].push_back(mod);
 316 }
 317
 318 // Call a specific event with an argument
 319 void Kernel::call_event(_EVENT_ENUM id_event, void * argument)
 320 {
 321     bool was_idle = true;
 322     if(id_event == ON_HALT) {
 323         this->halted = (argument == nullptr);
 324         was_idle = conveyor->is_idle(); // see if we were doing anything like printing
 325     }
 326
 327     // send to all registered modules
 328     for (auto m : hooks[id_event]) {
 329         (m->*kernel_callback_functions[id_event])(argument);
 330     }
 331
 332     if(id_event == ON_HALT) {
 333         if(!this->halted || !was_idle) {
 334             // if we were running and this is a HALT
 335             // or if we are clearing the halt with $X or M999
 336             // fix up the current positions in case they got out of sync due to backed up commands
 337             this->robot->reset_position_from_current_actuator_position();
 338         }
 339     }
 340 }
 341
 342 // These are used by tests to test for various things. basically mocks
 343 bool Kernel::kernel_has_event(_EVENT_ENUM id_event, Module *mod)
 344 {
 345     for (auto m : hooks[id_event]) {
 346         if(m == mod) return true;
 347     }
 348     return false;
 349 }
 350
 351 void Kernel::unregister_for_event(_EVENT_ENUM id_event, Module *mod)
 352 {
 353     for (auto i = hooks[id_event].begin(); i != hooks[id_event].end(); ++i) {
 354         if(*i == mod) {
 355             hooks[id_event].erase(i);
 356             return;
 357         }
 358     }
 359 }
 360