-/*
- 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)
- 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.
- 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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-using namespace std;
-#include <vector>
-#include "libs/nuts_bolts.h"
-#include "libs/RingBuffer.h"
-#include "../communication/utils/Gcode.h"
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-#include "Timer.h" // mbed.h lib
-#include "wait_api.h" // mbed.h lib
-#include "Block.h"
-#include "Conveyor.h"
-#include "Planner.h"
-
-Conveyor::Conveyor(){
- this->current_block = NULL;
- this->looking_for_new_block = false;
- flush_blocks = 0;
-}
-
-void Conveyor::on_module_loaded()
-{
- register_for_event(ON_IDLE);
-}
-
-void Conveyor::on_idle(void* argument)
-{
- if (flush_blocks)
- {
- Block* block = queue.get_tail_ref();
-// printf("Block: clean %p\n", block);
- while (block->gcodes.size())
- {
- Gcode* g = block->gcodes.back();
- block->gcodes.pop_back();
- delete g;
- }
- queue.delete_first();
-
- __disable_irq();
- flush_blocks--;
- __enable_irq();
- }
-}
-
-// Append a block to the list
-Block* Conveyor::new_block(){
-
- // Clean up the vector of commands in the block we are about to replace
- // It is quite strange to do this here, we really should do it inside Block->pop_and_execute_gcode
- // but that function is called inside an interrupt and thus can break everything if the interrupt was trigerred during a memory access
-
- // Take the next untaken block on the queue ( the one after the last one )
- Block* block = this->queue.get_tail_ref();
- // Then clean it up
- if( block->conveyor == this ){
- for(; block->gcodes.size(); ){
- Gcode* g = block->gcodes.back();
- block->gcodes.pop_back();
- delete g;
- }
- }
-
- // Create a new virgin Block in the queue
- this->queue.push_back(Block());
- block = this->queue.get_ref( this->queue.size()-1 );
- while( block == NULL ){
- block = this->queue.get_ref( this->queue.size()-1 );
- }
- block->is_ready = false;
- block->initial_rate = -2;
- block->final_rate = -2;
- block->conveyor = this;
-
- return block;
-}
-
-// Used by blocks to signal when they are ready to be used by the system
-void Conveyor::new_block_added(){
- if( this->current_block == NULL ){
- this->pop_and_process_new_block(33);
- }
-}
-
-// Process a new block in the queue
-void Conveyor::pop_and_process_new_block(int debug){
- if( this->looking_for_new_block ){ return; }
- this->looking_for_new_block = true;
-
- if( this->current_block != NULL ){ this->looking_for_new_block = false; return; }
-
- // Return if queue is empty
- if( this->queue.size() == 0 ){
- this->current_block = NULL;
- // TODO : ON_QUEUE_EMPTY event
- this->looking_for_new_block = false;
- return;
- }
-
- // Get a new block
- this->current_block = this->queue.get_ref(0);
-
- // Tell all modules about it
- this->kernel->call_event(ON_BLOCK_BEGIN, this->current_block);
-
- // In case the module was not taken
- if( this->current_block->times_taken < 1 ){
- Block* temp = this->current_block;
- this->current_block = NULL; // It seems this was missing and adding it fixes things, if something breaks, this may be a suspect
- temp->take();
- temp->release();
- }
-
- this->looking_for_new_block = false;
-
-}
-
-void Conveyor::wait_for_queue(int free_blocks)
-{
- while( this->queue.size() >= this->queue.capacity()-free_blocks ){
- this->kernel->call_event(ON_IDLE);
- }
-}
-
-void Conveyor::wait_for_empty_queue(){
- while( this->queue.size() > 0){
- this->kernel->call_event(ON_IDLE);
- }
-}
-
+/*
+ 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)
+ 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.
+ 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.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+using namespace std;
+#include <vector>
+#include "libs/nuts_bolts.h"
+#include "libs/RingBuffer.h"
+#include "../communication/utils/Gcode.h"
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "Timer.h" // mbed.h lib
+#include "wait_api.h" // mbed.h lib
+#include "Block.h"
+#include "Conveyor.h"
+#include "Planner.h"
+
+// The conveyor holds the queue of blocks, takes care of creating them, and starting the executing chain of blocks
+
+Conveyor::Conveyor(){
+ queue.resize(32);
+ gc_pending = queue.tail_i;
+ running = false;
+}
+
+void Conveyor::on_module_loaded(){
+ register_for_event(ON_IDLE);
+ register_for_event(ON_BLOCK_END);
+}
+
+// Delete blocks here, because they can't be deleted in interrupt context ( see Block.cpp:release )
+void Conveyor::on_idle(void* argument){
+ while (queue.tail_i != gc_pending)
+ {
+ // Cleanly delete block
+ Block* block = queue.tail_ref();
+ block->gcodes.clear();
+ THEKERNEL->serial->printf("Popped: ");
+ block->debug();
+ queue.consume_tail();
+ }
+}
+
+void Conveyor::append_gcode(Gcode* gcode)
+{
+ gcode->mark_as_taken();
+ if (running == false)
+ THEKERNEL->call_event(ON_GCODE_EXECUTE, gcode);
+ else
+ queue.head_ref()->append_gcode(gcode);
+}
+
+// Process a new block in the queue
+void Conveyor::on_block_end(void* block)
+{
+ gc_pending = queue.next(gc_pending);
+
+ // Return if queue is empty
+ if (gc_pending == queue.head_i)
+ {
+ running = false;
+ return;
+ }
+
+ // Get a new block
+ Block* next = this->queue.item_ref(gc_pending);
+
+ next->begin();
+}
+
+// Wait for the queue to have a given number of free blocks
+void Conveyor::wait_for_queue(int free_blocks)
+{
+ while (queue.is_full())
+ {
+ ensure_running();
+ THEKERNEL->call_event(ON_IDLE);
+ }
+}
+
+// Wait for the queue to be empty
+void Conveyor::wait_for_empty_queue()
+{
+ while (!queue.is_empty())
+ {
+ ensure_running();
+ THEKERNEL->call_event(ON_IDLE);
+ }
+}
+
+// Return true if the queue is empty
+bool Conveyor::is_queue_empty()
+{
+ return queue.is_empty();
+}
+
+void Conveyor::queue_head_block()
+{
+ while (queue.is_full())
+ {
+ ensure_running();
+ THEKERNEL->call_event(ON_IDLE, this);
+ }
+
+ queue.produce_head();
+}
+
+void Conveyor::ensure_running()
+{
+ if (!running)
+ {
+ running = true;
+ queue.tail_ref()->begin();
+ }
+}
+
+// feels hacky, but apparently the way to do it
+#include "HeapRing.cpp"
+template class HeapRing<Block>;
HCoop / clinton / Smoothieware.git / blobdiff