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 "Timer.h" // mbed.h lib
  16 #include "wait_api.h" // mbed.h lib
  17 #include "Block.h"
  18 #include "Player.h"
  19 #include "Planner.h"
  20
  21 Player::Player(){
  22     this->current_block = NULL;
  23     this->looking_for_new_block = false;
  24 }
  25
  26 // Append a block to the list
  27 Block* Player::new_block(){
  28
  29     // Clean up the vector of commands in the block we are about to replace
  30     // It is quite strange to do this here, we really should do it inside Block->pop_and_execute_gcode
  31     // but that function is called inside an interrupt and thus can break everything if the interrupt was trigerred during a memory access
  32
  33     // Take the next untaken block on the queue ( the one after the last one )
  34     Block* block = this->queue.get_ref( this->queue.size() );
  35     // Then clean it up
  36     if( block->player == this ){
  37         for(unsigned int index=0; index<block->gcodes.size(); index++){
  38             block->gcodes.pop_back();
  39         }
  40     }
  41
  42     // Create a new virgin Block in the queue
  43     this->queue.push_back(Block());
  44     block = this->queue.get_ref( this->queue.size()-1 );
  45     while( block == NULL ){
  46         block = this->queue.get_ref( this->queue.size()-1 );
  47     }
  48     block->is_ready = false;
  49     block->initial_rate = -2;
  50     block->final_rate = -2;
  51     block->player = this;
  52
  53     return block;
  54 }
  55
  56 // Used by blocks to signal when they are ready to be used by the system
  57 void Player::new_block_added(){
  58     if( this->current_block == NULL ){
  59         this->pop_and_process_new_block(33);
  60     }
  61 }
  62
  63 // Process a new block in the queue
  64 void Player::pop_and_process_new_block(int debug){
  65     if( this->looking_for_new_block ){ return; }
  66     this->looking_for_new_block = true;
  67
  68     if( this->current_block != NULL ){ this->looking_for_new_block = false; return; }
  69
  70     // Return if queue is empty
  71     if( this->queue.size() == 0 ){
  72         this->current_block = NULL;
  73         // TODO : ON_QUEUE_EMPTY event
  74         this->looking_for_new_block = false;
  75         return;
  76     }
  77
  78     // Get a new block
  79     this->current_block = this->queue.get_ref(0);
  80
  81     // Tell all modules about it
  82     this->kernel->call_event(ON_BLOCK_BEGIN, this->current_block);
  83
  84     // In case the module was not taken
  85     if( this->current_block->times_taken < 1 ){
  86         this->looking_for_new_block = false;
  87         this->current_block->release();
  88     }
  89
  90     this->looking_for_new_block = false;
  91
  92 }
  93
  94 void Player::wait_for_queue(int free_blocks){
  95     mbed::Timer t;
  96     while( this->queue.size() >= this->queue.capacity()-free_blocks ){
  97         t.reset();
  98         t.start();
  99         this->kernel->call_event(ON_IDLE);
 100         t.stop();
 101         if(t.read_us() < 500)
 102             wait_us(500 - t.read_us());
 103     }
 104 }