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/>.
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
21 // The conveyor holds the queue of blocks, takes care of creating them, and starting the executing chain of blocks
24 this->current_block
= NULL
;
25 this->looking_for_new_block
= false;
29 void Conveyor::on_module_loaded(){
30 register_for_event(ON_IDLE
);
33 // Delete blocks here, because they can't be deleted in interrupt context ( see Block.cpp:release )
34 void Conveyor::on_idle(void* argument
){
35 while (flush_blocks
> 0){
36 // Cleanly delete block
37 Block
* block
= queue
.get_tail_ref();
38 block
->gcodes
.clear();
46 void Conveyor::append_gcode(Gcode
* gcode
)
48 gcode
->mark_as_taken();
49 if (queue
.size() == 0)
50 THEKERNEL
->call_event(ON_GCODE_EXECUTE
, gcode
);
52 queue
.get_ref(queue
.size() - 1)->append_gcode(gcode
);
55 // Append a block to the list
56 Block
* Conveyor::new_block(){
58 // Take the next untaken block on the queue ( the one after the last one )
59 Block
* block
= this->queue
.get_head_ref();
63 block
->initial_rate
= -2;
64 block
->final_rate
= -2;
66 // Create a new virgin Block in the queue
67 this->queue
.push_back(Block());
72 // Used by blocks to signal when they are ready to be used by the system
73 void Conveyor::new_block_added(){
74 if( this->current_block
== NULL
){
75 this->pop_and_process_new_block(33);
79 // Process a new block in the queue
80 void Conveyor::pop_and_process_new_block(int debug
){
81 if( this->looking_for_new_block
){ return; }
82 this->looking_for_new_block
= true;
84 if( this->current_block
!= NULL
){ this->looking_for_new_block
= false; return; }
86 // Return if queue is empty
87 if( this->queue
.size() == 0 ){
88 this->current_block
= NULL
;
89 // TODO : ON_QUEUE_EMPTY event
90 this->looking_for_new_block
= false;
95 this->current_block
= this->queue
.get_ref(0);
97 // Tell all modules about it
98 THEKERNEL
->call_event(ON_BLOCK_BEGIN
, this->current_block
);
100 // In case the module was not taken
101 if( this->current_block
->times_taken
< 1 ){
102 Block
* temp
= this->current_block
;
103 this->current_block
= NULL
; // It seems this was missing and adding it fixes things, if something breaks, this may be a suspect
108 this->looking_for_new_block
= false;
112 // Wait for the queue to have a given number of free blocks
113 void Conveyor::wait_for_queue(int free_blocks
){
114 while( this->queue
.size() >= this->queue
.capacity()-free_blocks
){
115 THEKERNEL
->call_event(ON_IDLE
);
119 // Wait for the queue to be empty
120 void Conveyor::wait_for_empty_queue(){
121 while( this->queue
.size() > 0){
122 THEKERNEL
->call_event(ON_IDLE
);
126 // Return true if the queue is empty
127 bool Conveyor::is_queue_empty(){
128 return (this->queue
.size() == 0);