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 #ifndef CONVEYOR_H
   9 #define CONVEYOR_H
  10
  11 #include "libs/Module.h"
  12 #include "libs/Kernel.h"
  13 #include "HeapRing.h"
  14
  15 using namespace std;
  16 #include <string>
  17 #include <vector>
  18
  19 class Gcode;
  20
  21 class Conveyor : public Module
  22 {
  23 public:
  24     Conveyor();
  25
  26     void on_module_loaded(void);
  27     void on_idle(void*);
  28     void on_main_loop(void*);
  29     void on_block_end(void*);
  30     void on_config_reload(void*);
  31
  32     void notify_block_finished(Block*);
  33
  34     void wait_for_empty_queue();
  35
  36     void ensure_running(void);
  37
  38     void append_gcode(Gcode*);
  39     void queue_head_block(void);
  40
  41     void dump_queue(void);
  42
  43     // right now block queue size can only be changed at compile time by changing the value below
  44     typedef HeapRing<Block> Queue_t;
  45
  46     Queue_t queue;  // Queue of Blocks
  47
  48     volatile bool running;
  49
  50     volatile unsigned int gc_pending;
  51 };
  52
  53 #endif // CONVEYOR_H