src/modules/robot/Conveyor.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 "Conveyor.h"
  19 #include "Planner.h"
  20
  21 Conveyor::Conveyor(){
  22     this->current_block = NULL;
  23     this->looking_for_new_block = false;
  24     flush_blocks = 0;
  25 }
  26
  27 void Conveyor::on_module_loaded()
  28 {
  29     register_for_event(ON_IDLE);
  30 }
  31
  32 void Conveyor::on_idle(void* argument)
  33 {
  34     if (flush_blocks)
  35     {
  36         Block* block = queue.get_ref(0);
  37 //         printf("Block: clean %p\n", block);
  38         while (block->gcodes.size())
  39         {
  40             Gcode* g = block->gcodes.back();
  41             block->gcodes.pop_back();
  42             delete g;
  43         }
  44         queue.delete_first();
  45
  46         __disable_irq();
  47         flush_blocks--;
  48         __enable_irq();
  49     }
  50 }
  51
  52 // Append a block to the list
  53 Block* Conveyor::new_block(){
  54
  55     // Clean up the vector of commands in the block we are about to replace
  56     // It is quite strange to do this here, we really should do it inside Block->pop_and_execute_gcode
  57     // but that function is called inside an interrupt and thus can break everything if the interrupt was trigerred during a memory access
  58
  59     // Take the next untaken block on the queue ( the one after the last one )
  60     Block* block = this->queue.get_ref( this->queue.size() );
  61 //     printf("cleanup %p\n", block);
  62     // Then clean it up
  63     if( block->conveyor == this ){
  64         for(; block->gcodes.size(); ){
  65             Gcode* g = block->gcodes.back();
  66 //             printf("Block:pop %p (%d refs)\n", g, g->queued);
  67             block->gcodes.pop_back();
  68             if (--g->queued == 0)
  69                 delete g;
  70         }
  71     }
  72
  73     // Create a new virgin Block in the queue
  74     this->queue.push_back(Block());
  75     block = this->queue.get_ref( this->queue.size()-1 );
  76     while( block == NULL ){
  77         block = this->queue.get_ref( this->queue.size()-1 );
  78     }
  79     block->is_ready = false;
  80     block->initial_rate = -2;
  81     block->final_rate = -2;
  82     block->conveyor = this;
  83
  84     return block;
  85 }
  86
  87 // Used by blocks to signal when they are ready to be used by the system
  88 void Conveyor::new_block_added(){
  89     if( this->current_block == NULL ){
  90         this->pop_and_process_new_block(33);
  91     }
  92 }
  93
  94 // Process a new block in the queue
  95 void Conveyor::pop_and_process_new_block(int debug){
  96     if( this->looking_for_new_block ){ return; }
  97     this->looking_for_new_block = true;
  98
  99     if( this->current_block != NULL ){ this->looking_for_new_block = false; return; }
 100
 101     // Return if queue is empty
 102     if( this->queue.size() == 0 ){
 103         this->current_block = NULL;
 104         // TODO : ON_QUEUE_EMPTY event
 105         this->looking_for_new_block = false;
 106         return;
 107     }
 108
 109     // Get a new block
 110     this->current_block = this->queue.get_ref(0);
 111
 112     // Tell all modules about it
 113     this->kernel->call_event(ON_BLOCK_BEGIN, this->current_block);
 114
 115     // In case the module was not taken
 116     if( this->current_block->times_taken < 1 ){
 117         this->current_block->release();
 118         this->current_block = NULL; // It seems this was missing and adding it fixes things, if something breaks, this may be a suspect
 119     }
 120
 121     this->looking_for_new_block = false;
 122
 123 }
 124
 125 void Conveyor::wait_for_queue(int free_blocks)
 126 {
 127     while( this->queue.size() >= this->queue.capacity()-free_blocks ){
 128         this->kernel->call_event(ON_IDLE);
 129     }
 130 }