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 "HeapRing.h"
  12
  13 using namespace std;
  14 #include <string>
  15 #include <vector>
  16
  17 class Gcode;
  18 class Block;
  19
  20 class Conveyor : public Module
  21 {
  22 public:
  23     Conveyor();
  24     void start(uint8_t n_actuators);
  25
  26     void on_module_loaded(void);
  27     void on_idle(void *);
  28     void on_halt(void *);
  29
  30     void wait_for_empty_queue();
  31     bool is_queue_empty() { return queue.is_empty(); };
  32     bool is_queue_full() { return queue.is_full(); };
  33     bool is_idle() const;
  34
  35     // returns next available block writes it to block and returns true
  36     bool get_next_block(Block **block);
  37     void block_finished();
  38
  39     void dump_queue(void);
  40     void flush_queue(void);
  41     float get_current_feedrate() const { return current_feedrate; }
  42
  43     friend class Planner; // for queue
  44
  45 private:
  46     // void all_moves_finished();
  47     void check_queue(bool force= false);
  48     void queue_head_block(void);
  49
  50     using  Queue_t= HeapRing<Block>;
  51     Queue_t queue;  // Queue of Blocks
  52     //volatile unsigned int gc_pending;
  53
  54     uint32_t queue_delay_time_ms;
  55     size_t queue_size;
  56     float current_feedrate{0}; // actual nominal feedrate that current block is running at in mm/sec
  57
  58     struct {
  59         volatile bool running:1;
  60         volatile bool halted:1;
  61         volatile bool allow_fetch:1;
  62         bool flush:1;
  63     };
  64
  65 };