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 #define new_status_format_checksum                  CHECKSUM("new_status_format")
  54
  55 Kernel* Kernel::instance;
  56
  57 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  58 Kernel::Kernel()
  59 {
  60     halted = false;
  61     feed_hold = false;
  62     enable_feed_hold = false;
  63
  64     instance = this; // setup the Singleton instance of the kernel
  65
  66     // serial first at fixed baud rate (DEFAULT_SERIAL_BAUD_RATE) so config can report errors to serial
  67     // Set to UART0, this will be changed to use the same UART as MRI if it's enabled
  68     this->serial = new SerialConsole(USBTX, USBRX, DEFAULT_SERIAL_BAUD_RATE);
  69
  70     // Config next, but does not load cache yet
  71     this->config = new Config();
  72
  73     // Pre-load the config cache, do after setting up serial so we can report errors to serial
  74     this->config->config_cache_load();
  75
  76     // now config is loaded we can do normal setup for serial based on config
  77     delete this->serial;
  78     this->serial = NULL;
  79
  80     this->streams = new StreamOutputPool();
  81
  82     this->current_path   = "/";
  83
  84     // Configure UART depending on MRI config
  85     // Match up the SerialConsole to MRI UART. This makes it easy to use only one UART for both debug and actual commands.
  86     NVIC_SetPriorityGrouping(0);
  87
  88 #if MRI_ENABLE != 0
  89     switch( __mriPlatform_CommUartIndex() ) {
  90         case 0:
  91             this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  92             break;
  93         case 1:
  94             this->serial = new(AHB0) SerialConsole(  p13,   p14, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  95             break;
  96         case 2:
  97             this->serial = new(AHB0) SerialConsole(  p28,   p27, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
  98             break;
  99         case 3:
 100             this->serial = new(AHB0) SerialConsole(   p9,   p10, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
 101             break;
 102     }
 103 #endif
 104     // default
 105     if(this->serial == NULL) {
 106         this->serial = new(AHB0) SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum, baud_rate_setting_checksum)->by_default(DEFAULT_SERIAL_BAUD_RATE)->as_number());
 107     }
 108
 109     //some boards don't have leds.. TOO BAD!
 110     this->use_leds = !this->config->value( disable_leds_checksum )->by_default(false)->as_bool();
 111
 112 #ifdef CNC
 113     this->grbl_mode = this->config->value( grbl_mode_checksum )->by_default(true)->as_bool();
 114 #else
 115     this->grbl_mode = this->config->value( grbl_mode_checksum )->by_default(false)->as_bool();
 116 #endif
 117
 118     this->enable_feed_hold = this->config->value( feed_hold_enable_checksum )->by_default(this->grbl_mode)->as_bool();
 119
 120     // 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
 121     this->ok_per_line = this->config->value( ok_per_line_checksum )->by_default(true)->as_bool();
 122
 123     this->new_status_format = this->config->value( new_status_format_checksum )->by_default(true)->as_bool();
 124
 125     this->add_module( this->serial );
 126
 127     // HAL stuff
 128     add_module( this->slow_ticker = new SlowTicker());
 129
 130     this->step_ticker = new StepTicker();
 131     this->adc = new Adc();
 132
 133     // TODO : These should go into platform-specific files
 134     // LPC17xx-specific
 135     NVIC_SetPriorityGrouping(0);
 136     NVIC_SetPriority(TIMER0_IRQn, 2);
 137     NVIC_SetPriority(TIMER1_IRQn, 1);
 138     NVIC_SetPriority(TIMER2_IRQn, 4);
 139     NVIC_SetPriority(PendSV_IRQn, 3);
 140
 141     // Set other priorities lower than the timers
 142     NVIC_SetPriority(ADC_IRQn, 5);
 143     NVIC_SetPriority(USB_IRQn, 5);
 144
 145     // If MRI is enabled
 146     if( MRI_ENABLE ) {
 147         if( NVIC_GetPriority(UART0_IRQn) > 0 ) { NVIC_SetPriority(UART0_IRQn, 5); }
 148         if( NVIC_GetPriority(UART1_IRQn) > 0 ) { NVIC_SetPriority(UART1_IRQn, 5); }
 149         if( NVIC_GetPriority(UART2_IRQn) > 0 ) { NVIC_SetPriority(UART2_IRQn, 5); }
 150         if( NVIC_GetPriority(UART3_IRQn) > 0 ) { NVIC_SetPriority(UART3_IRQn, 5); }
 151     } else {
 152         NVIC_SetPriority(UART0_IRQn, 5);
 153         NVIC_SetPriority(UART1_IRQn, 5);
 154         NVIC_SetPriority(UART2_IRQn, 5);
 155         NVIC_SetPriority(UART3_IRQn, 5);
 156     }
 157
 158     // Configure the step ticker
 159     this->base_stepping_frequency = this->config->value(base_stepping_frequency_checksum)->by_default(100000)->as_number();
 160     float microseconds_per_step_pulse = this->config->value(microseconds_per_step_pulse_checksum)->by_default(1)->as_number();
 161
 162     // Configure the step ticker
 163     this->step_ticker->set_frequency( this->base_stepping_frequency );
 164     this->step_ticker->set_unstep_time( microseconds_per_step_pulse );
 165
 166     // Core modules
 167     this->add_module( this->conveyor       = new Conveyor()      );
 168     this->add_module( this->gcode_dispatch = new GcodeDispatch() );
 169     this->add_module( this->robot          = new Robot()         );
 170     this->add_module( this->simpleshell    = new SimpleShell()   );
 171
 172     this->planner = new Planner();
 173     this->configurator = new Configurator();
 174 }
 175
 176 // return a GRBL-like query string for serial ?
 177 std::string Kernel::get_query_string()
 178 {
 179     std::string str;
 180     bool homing;
 181     bool ok = PublicData::get_value(endstops_checksum, get_homing_status_checksum, 0, &homing);
 182     if(!ok) homing = false;
 183     bool running = false;
 184
 185     str.append("<");
 186     if(halted) {
 187         str.append("Alarm");
 188     } else if(homing) {
 189         running = true;
 190         str.append("Home");
 191     } else if(feed_hold) {
 192         str.append("Hold");
 193     } else if(this->conveyor->is_idle()) {
 194         str.append("Idle");
 195     } else {
 196         running = true;
 197         str.append("Run");
 198     }
 199
 200     if(running) {
 201         float mpos[3];
 202         robot->get_current_machine_position(mpos);
 203         // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
 204         if(robot->compensationTransform) robot->compensationTransform(mpos, true); // get inverse compensation transform
 205
 206         char buf[128];
 207         // machine position
 208         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]));
 209         if(n > sizeof(buf)) n= sizeof(buf);
 210
 211         if(new_status_format) {
 212             str.append("|MPos:").append(buf, n);
 213
 214 #if MAX_ROBOT_ACTUATORS > 3
 215             // deal with the ABC axis (E will be A)
 216             for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) {
 217                 // current actuator position
 218                 n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position()));
 219                 if(n > sizeof(buf)) n= sizeof(buf);
 220                 str.append(buf, n);
 221             }
 222 #endif
 223
 224         }else{
 225             str.append(",MPos:").append(buf, n);
 226         }
 227
 228         // work space position
 229         Robot::wcs_t pos = robot->mcs2wcs(mpos);
 230         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)));
 231         if(n > sizeof(buf)) n= sizeof(buf);
 232
 233         if(new_status_format) {
 234             str.append("|WPos:").append(buf, n);
 235             // current feedrate
 236             float fr= robot->from_millimeters(conveyor->get_current_feedrate()*60.0F);
 237             n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr);
 238             if(n > sizeof(buf)) n= sizeof(buf);
 239             str.append(buf, n);
 240             float sr= robot->get_s_value();
 241             n = snprintf(buf, sizeof(buf), "|S:%1.4f", sr);
 242             if(n > sizeof(buf)) n= sizeof(buf);
 243             str.append(buf, n);
 244
 245             // current Laser power
 246             #ifndef NO_TOOLS_LASER
 247                 Laser *plaser= nullptr;
 248                 if(PublicData::get_value(laser_checksum, (void *)&plaser) && plaser != nullptr) {
 249                    float lp= plaser->get_current_power();
 250                     n = snprintf(buf, sizeof(buf), "|L:%1.4f", lp);
 251                     if(n > sizeof(buf)) n= sizeof(buf);
 252                     str.append(buf, n);
 253                 }
 254             #endif
 255
 256         }else{
 257             str.append(",WPos:").append(buf, n);
 258         }
 259
 260     } else {
 261         // return the last milestone if idle
 262         char buf[128];
 263         // machine position
 264         Robot::wcs_t mpos = robot->get_axis_position();
 265         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)));
 266         if(n > sizeof(buf)) n= sizeof(buf);
 267         if(new_status_format) {
 268             str.append("|MPos:").append(buf, n);
 269 #if MAX_ROBOT_ACTUATORS > 3
 270             // deal with the ABC axis (E will be A)
 271             for (int i = A_AXIS; i < robot->get_number_registered_motors(); ++i) {
 272                 // current actuator position
 273                 n = snprintf(buf, sizeof(buf), ",%1.4f", robot->from_millimeters(robot->actuators[i]->get_current_position()));
 274                 if(n > sizeof(buf)) n= sizeof(buf);
 275                 str.append(buf, n);
 276             }
 277 #endif
 278
 279         }else{
 280             str.append(",MPos:").append(buf, n);
 281         }
 282
 283         // work space position
 284         Robot::wcs_t pos = robot->mcs2wcs(mpos);
 285         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)));
 286         if(n > sizeof(buf)) n= sizeof(buf);
 287         if(new_status_format) {
 288             str.append("|WPos:").append(buf, n);
 289         }else{
 290             str.append(",WPos:").append(buf, n);
 291         }
 292
 293         if(new_status_format) {
 294             float fr= robot->from_millimeters(robot->get_feed_rate());
 295             n = snprintf(buf, sizeof(buf), "|F:%1.4f", fr);
 296             if(n > sizeof(buf)) n= sizeof(buf);
 297             str.append(buf, n);
 298         }
 299
 300     }
 301
 302     // if not grbl mode get temperatures
 303     if(new_status_format && !is_grbl_mode()) {
 304         struct pad_temperature temp;
 305         // scan all temperature controls
 306         std::vector<struct pad_temperature> controllers;
 307         bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers);
 308         if (ok) {
 309             char buf[32];
 310             for (auto &c : controllers) {
 311                 size_t n= snprintf(buf, sizeof(buf), "|%s:%1.1f,%1.1f", c.designator.c_str(), c.current_temperature, c.target_temperature);
 312                 if(n > sizeof(buf)) n= sizeof(buf);
 313                 str.append(buf, n);
 314             }
 315         }
 316     }
 317
 318     str.append(">\n");
 319     return str;
 320 }
 321
 322 // Add a module to Kernel. We don't actually hold a list of modules we just call its on_module_loaded
 323 void Kernel::add_module(Module* module)
 324 {
 325     module->on_module_loaded();
 326 }
 327
 328 // Adds a hook for a given module and event
 329 void Kernel::register_for_event(_EVENT_ENUM id_event, Module *mod)
 330 {
 331     this->hooks[id_event].push_back(mod);
 332 }
 333
 334 // Call a specific event with an argument
 335 void Kernel::call_event(_EVENT_ENUM id_event, void * argument)
 336 {
 337     bool was_idle = true;
 338     if(id_event == ON_HALT) {
 339         this->halted = (argument == nullptr);
 340         was_idle = conveyor->is_idle(); // see if we were doing anything like printing
 341     }
 342
 343     // send to all registered modules
 344     for (auto m : hooks[id_event]) {
 345         (m->*kernel_callback_functions[id_event])(argument);
 346     }
 347
 348     if(id_event == ON_HALT) {
 349         if(!this->halted || !was_idle) {
 350             // if we were running and this is a HALT
 351             // or if we are clearing the halt with $X or M999
 352             // fix up the current positions in case they got out of sync due to backed up commands
 353             this->robot->reset_position_from_current_actuator_position();
 354         }
 355     }
 356 }
 357
 358 // These are used by tests to test for various things. basically mocks
 359 bool Kernel::kernel_has_event(_EVENT_ENUM id_event, Module *mod)
 360 {
 361     for (auto m : hooks[id_event]) {
 362         if(m == mod) return true;
 363     }
 364     return false;
 365 }
 366
 367 void Kernel::unregister_for_event(_EVENT_ENUM id_event, Module *mod)
 368 {
 369     for (auto i = hooks[id_event].begin(); i != hooks[id_event].end(); ++i) {
 370         if(*i == mod) {
 371             hooks[id_event].erase(i);
 372             return;
 373         }
 374     }
 375 }
 376