X-Git-Url: https://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/01b693531c2a89f68ab2277f73d2925f3c7c5034..b259f517a93c120a836de3c0826ffbe01117fa3e:/src/modules/robot/Conveyor.h

diff --git a/src/modules/robot/Conveyor.h b/src/modules/robot/Conveyor.h
index 508b7ad6..936a7501 100644
--- a/src/modules/robot/Conveyor.h
+++ b/src/modules/robot/Conveyor.h
@@ -9,7 +9,6 @@
 #define CONVEYOR_H
 
 #include "libs/Module.h"
-#include "libs/Kernel.h"
 #include "HeapRing.h"
 
 using namespace std;
@@ -17,6 +16,7 @@ using namespace std;
 #include <vector>
 
 class Gcode;
+class Block;
 
 class Conveyor : public Module
 {
@@ -24,33 +24,42 @@ public:
     Conveyor();
 
     void on_module_loaded(void);
-    void on_idle(void*);
-    void on_main_loop(void*);
-    void on_block_end(void*);
-    void on_config_reload(void*);
+    void on_idle(void *);
+    void on_main_loop(void *);
+    void on_block_end(void *);
+    void on_halt(void *);
+    void on_config_reload(void *);
 
-    void notify_block_finished(Block*);
+    void notify_block_finished(Block *);
 
-    void wait_for_queue(int free_blocks);
     void wait_for_empty_queue();
+    bool is_queue_empty() { return queue.is_empty(); };
+    bool is_queue_full() { return queue.is_full(); };
 
     void ensure_running(void);
 
-    bool is_queue_empty(void);
-
-    void append_gcode(Gcode*);
+    void append_gcode(Gcode *);
     void queue_head_block(void);
 
     void dump_queue(void);
+    void flush_queue(void);
+    bool is_flushing() const { return flush; }
+    float get_current_feedrate() const { return current_feedrate; }
+    friend class Planner; // for queue
 
-    // right now block queue size can only be changed at compile time by changing the value below
+private:
     typedef HeapRing<Block> Queue_t;
 
     Queue_t queue;  // Queue of Blocks
+    volatile unsigned int gc_pending;
+    float current_feedrate{0}; // actual nominal feedrate that current block is running at in mm/sec
 
-    volatile bool running;
+    struct {
+        volatile bool running:1;
+        volatile bool flush:1;
+        volatile bool halted:1;
+    };
 
-    volatile unsigned int gc_pending;
 };
 
 #endif // CONVEYOR_H