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 #include "TemperatureControlPublicAccess.h"
  32
  33 #ifndef NO_TOOLS_LASER
  34 #include "Laser.h"
  35 #endif
  36
  37 #include "platform_memory.h"
  38
  39 #include <malloc.h>
  40 #include <array>
  41 #include <string>
  42
  43 #define laser_checksum CHECKSUM("laser")
  44 #define baud_rate_setting_checksum CHECKSUM("baud_rate")
  45 #define uart0_checksum             CHECKSUM("uart0")
  46
  47 #define base_stepping_frequency_checksum            CHECKSUM("base_stepping_frequency")
  48 #define microseconds_per_step_pulse_checksum        CHECKSUM("microseconds_per_step_pulse")
  49 #define disable_leds_checksum                       CHECKSUM("leds_disable")
  50 #define grbl_mode_checksum                          CHECKSUM("grbl_mode")
  51 #define feed_hold_enable_checksum                   CHECKSUM("enable_feed_hold")
  52 #define ok_per_line_checksum                        CHECKSUM("ok_per_line")
  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->add_module( this->serial );
 123
 124     // HAL stuff
 125     add_module( this->slow_ticker = new SlowTicker());
 126
 127     this->step_ticker = new StepTicker();
 128     this->adc = new Adc();
 129
 130     // TODO : These should go into platform-specific files
 131     // LPC17xx-specific
 132     NVIC_SetPriorityGrouping(0);
 133     NVIC_SetPriority(TIMER0_IRQn, 2);
 134     NVIC_SetPriority(TIMER1_IRQn, 1);
 135     NVIC_SetPriority(TIMER2_IRQn, 4);
 136     NVIC_SetPriority(PendSV_IRQn, 3);
 137
 138     // Set other priorities lower than the timers
 139     NVIC_SetPriority(ADC_IRQn, 5);
 140     NVIC_SetPriority(USB_IRQn, 5);
 141
 142     // If MRI is enabled
 143     if( MRI_ENABLE ) {
 144         if( NVIC_GetPriority(UART0_IRQn) > 0 ) { NVIC_SetPriority(UART0_IRQn, 5); }
 145         if( NVIC_GetPriority(UART1_IRQn) > 0 ) { NVIC_SetPriority(UART1_IRQn, 5); }
 146         if( NVIC_GetPriority(UART2_IRQn) > 0 ) { NVIC_SetPriority(UART2_IRQn, 5); }
 147         if( NVIC_GetPriority(UART3_IRQn) > 0 ) { NVIC_SetPriority(UART3_IRQn, 5); }
 148     } else {
 149         NVIC_SetPriority(UART0_IRQn, 5);
 150         NVIC_SetPriority(UART1_IRQn, 5);
 151         NVIC_SetPriority(UART2_IRQn, 5);
 152         NVIC_SetPriority(UART3_IRQn, 5);
 153     }
 154
 155     // Configure the step ticker
 156     this->base_stepping_frequency = this->config->value(base_stepping_frequency_checksum)->by_default(100000)->as_number();
 157     float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(1)->as_number();
 158
 159     // Configure the step ticker
 160     this->step_ticker->set_frequency( this->base_stepping_frequency );
 161     this->step_ticker->set_unstep_time( microseconds_per_step_pulse );
 162
 163     // Core modules
 164     this->add_module( this->conveyor       = new Conveyor()      );
 165     this->add_module( this->gcode_dispatch = new GcodeDispatch() );
 166     this->add_module( this->robot          = new Robot()         );
 167     this->add_module( this->simpleshell    = new SimpleShell()   );
 168
 169     this->planner = new Planner();
 170     this->configurator = new Configurator();
 171 }
 172
 173 // return a GRBL-like query string for serial ?
 174 std::string Kernel::get_query_string()
 175 {
 176     std::string str;
 177     bool homing;
 178     bool ok = PublicData::get_value(endstops_checksum, get_homing_status_checksum, 0, &homing);
 179     if(!ok) homing = false;
 180     bool running = false;
 181
 182     str.append("<");
 183     if(halted) {
 184         str.append("Alarm");
 185     } else if(homing) {
 186         running = true;
 187         str.append("Home");
 188     } else if(feed_hold) {
 189         str.append("Hold");
 190     } else if(this->conveyor->is_idle()) {
 191         str.append("Idle");
 192     } else {
 193         running = true;
 194         str.append("Run");
 195     }
 196
 197     if(running) {
 198         float mpos[3];
 199         robot->get_current_machine_position(mpos);
 200         // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
 201         if(robot->compensationTransform) robot->compensationTransform(mpos, true); // get inverse compensation transform
 202
 203         char buf[128];
 204         // machine position
 205         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]));
 206         if(n > sizeof(buf)) n= sizeof(buf);
 207
 208         str.append("|MPos:").append(buf, n);
 209
 210 #if MAX_ROBOT_ACTUATORS > 3
 211         // deal with the ABC axis (E will be A)
 212         for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) {
 213             // current actuator position
 214             n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position()));
 215             if(n > sizeof(buf)) n= sizeof(buf);
 216             str.append(buf, n);
 217         }
 218 #endif
 219
 220         // work space position
 221         Robot::wcs_t pos = robot->mcs2wcs(mpos);
 222         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)));
 223         if(n > sizeof(buf)) n= sizeof(buf);
 224
 225         str.append("|WPos:").append(buf, n);
 226         // current feedrate
 227         float fr= robot->from_millimeters(conveyor->get_current_feedrate()*60.0F);
 228         n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr);
 229         if(n > sizeof(buf)) n= sizeof(buf);
 230         str.append(buf, n);
 231         float sr= robot->get_s_value();
 232         n = snprintf(buf, sizeof(buf), "|S:%1.4f", sr);
 233         if(n > sizeof(buf)) n= sizeof(buf);
 234         str.append(buf, n);
 235
 236         // current Laser power
 237         #ifndef NO_TOOLS_LASER
 238             Laser *plaser= nullptr;
 239             if(PublicData::get_value(laser_checksum, (void *)&plaser) && plaser != nullptr) {
 240                float lp= plaser->get_current_power();
 241                 n = snprintf(buf, sizeof(buf), "|L:%1.4f", lp);
 242                 if(n > sizeof(buf)) n= sizeof(buf);
 243                 str.append(buf, n);
 244             }
 245         #endif
 246
 247     } else {
 248         // return the last milestone if idle
 249         char buf[128];
 250         // machine position
 251         Robot::wcs_t mpos = robot->get_axis_position();
 252         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)));
 253         if(n > sizeof(buf)) n= sizeof(buf);
 254
 255         str.append("|MPos:").append(buf, n);
 256
 257 #if MAX_ROBOT_ACTUATORS > 3
 258         // deal with the ABC axis (E will be A)
 259         for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) {
 260             // current actuator position
 261             n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position()));
 262             if(n > sizeof(buf)) n= sizeof(buf);
 263             str.append(buf, n);
 264         }
 265 #endif
 266
 267         // work space position
 268         Robot::wcs_t pos = robot->mcs2wcs(mpos);
 269         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)));
 270         if(n > sizeof(buf)) n= sizeof(buf);
 271         str.append("|WPos:").append(buf, n);
 272
 273         float fr= robot->from_millimeters(robot->get_feed_rate());
 274         n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr);
 275         if(n > sizeof(buf)) n= sizeof(buf);
 276         str.append(buf, n);
 277     }
 278
 279     // if not grbl mode get temperatures
 280     if(!is_grbl_mode()) {
 281         struct pad_temperature temp;
 282         // scan all temperature controls
 283         std::vector<struct pad_temperature> controllers;
 284         bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers);
 285         if (ok) {
 286             char buf[32];
 287             for (auto &c : controllers) {
 288                 size_t n= snprintf(buf, sizeof(buf), "|%s:%1.1f,%1.1f", c.designator.c_str(), c.current_temperature, c.target_temperature);
 289                 if(n > sizeof(buf)) n= sizeof(buf);
 290                 str.append(buf, n);
 291             }
 292         }
 293     }
 294
 295     str.append(">\n");
 296     return str;
 297 }
 298
 299 // Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded
 300 void Kernel::add_module(Module* module)
 301 {
 302     module->on_module_loaded();
 303 }
 304
 305 // Adds a hook for a given module and event
 306 void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod)
 307 {
 308     this->hooks[id_event].push_back(mod);
 309 }
 310
 311 // Call a specific event with an argument
 312 void Kernel::call_event(_EVENT_ENUM id_event, void * argument)
 313 {
 314     bool was_idle = true;
 315     if(id_event == ON_HALT) {
 316         this->halted = (argument == nullptr);
 317         was_idle = conveyor->is_idle(); // see if we were doing anything like printing
 318     }
 319
 320     // send to all registered modules
 321     for (auto m : hooks[id_event]) {
 322         (m->*kernel_callback_functions[id_event])(argument);
 323     }
 324
 325     if(id_event == ON_HALT) {
 326         if(!this->halted || !was_idle) {
 327             // if we were running and this is a HALT
 328             // or if we are clearing the halt with $X or M999
 329             // fix up the current positions in case they got out of sync due to backed up commands
 330             this->robot->reset_position_from_current_actuator_position();
 331         }
 332     }
 333 }
 334
 335 // These are used by tests to test for various things. basically mocks
 336 bool Kernel::kernel_has_event(_EVENT_ENUM id_event, Module *mod)
 337 {
 338     for (auto m : hooks[id_event]) {
 339         if(m == mod) return true;
 340     }
 341     return false;
 342 }
 343
 344 void Kernel::unregister_for_event(_EVENT_ENUM id_event, Module *mod)
 345 {
 346     for (auto i = hooks[id_event].begin(); i != hooks[id_event].end(); ++i) {
 347         if(*i == mod) {
 348             hooks[id_event].erase(i);
 349             return;
 350         }
 351     }
 352 }
 353