Michael Spencer / Smoothie

Fork of Smoothie to port to mbed non-LPC targets.

Dependencies:   mbed

Fork of Smoothie by Stéphane Cachat

modules/robot/Player.cpp@3:f151d08d335c, 2014-03-02 (annotated)

Committer:
Bigcheese
Date:
Sun Mar 02 06:33:08 2014 +0000
Revision:
3:f151d08d335c
Parent:
0:31e91bb0ef3c 
Bunch of stuff. Need to locally merge in updated USB changes.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scachat 0:31e91bb0ef3c 1 /*
scachat 0:31e91bb0ef3c 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)
scachat 0:31e91bb0ef3c 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.
scachat 0:31e91bb0ef3c 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.
scachat 0:31e91bb0ef3c 5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
scachat 0:31e91bb0ef3c 6 */
scachat 0:31e91bb0ef3c 7
scachat 0:31e91bb0ef3c 8 using namespace std;
scachat 0:31e91bb0ef3c 9 #include <vector>
scachat 0:31e91bb0ef3c 10 #include "libs/nuts_bolts.h"
scachat 0:31e91bb0ef3c 11 #include "libs/RingBuffer.h"
scachat 0:31e91bb0ef3c 12 #include "../communication/utils/Gcode.h"
scachat 0:31e91bb0ef3c 13 #include "libs/Module.h"
scachat 0:31e91bb0ef3c 14 #include "libs/Kernel.h"
scachat 0:31e91bb0ef3c 15 #include "Timer.h" // mbed.h lib
scachat 0:31e91bb0ef3c 16 #include "wait_api.h" // mbed.h lib
scachat 0:31e91bb0ef3c 17 #include "Block.h"
scachat 0:31e91bb0ef3c 18 #include "Player.h"
scachat 0:31e91bb0ef3c 19 #include "Planner.h"
scachat 0:31e91bb0ef3c 20
scachat 0:31e91bb0ef3c 21 Player::Player(){
scachat 0:31e91bb0ef3c 22 this->current_block = NULL;
scachat 0:31e91bb0ef3c 23 this->looking_for_new_block = false;
scachat 0:31e91bb0ef3c 24 }
scachat 0:31e91bb0ef3c 25
scachat 0:31e91bb0ef3c 26 // Append a block to the list
scachat 0:31e91bb0ef3c 27 Block* Player::new_block(){
scachat 0:31e91bb0ef3c 28
scachat 0:31e91bb0ef3c 29 // Clean up the vector of commands in the block we are about to replace
scachat 0:31e91bb0ef3c 30 // It is quite strange to do this here, we really should do it inside Block->pop_and_execute_gcode
scachat 0:31e91bb0ef3c 31 // but that function is called inside an interrupt and thus can break everything if the interrupt was trigerred during a memory access
scachat 0:31e91bb0ef3c 32 //Block* block = this->queue.get_ref( this->queue.size()-1 );
scachat 0:31e91bb0ef3c 33 Block* block = this->queue.get_ref( this->queue.size() );
scachat 0:31e91bb0ef3c 34 if( block->player == this ){
scachat 0:31e91bb0ef3c 35 for(short index=0; index<block->gcodes.size(); index++){
scachat 0:31e91bb0ef3c 36 block->gcodes.pop_back();
scachat 0:31e91bb0ef3c 37 }
scachat 0:31e91bb0ef3c 38 }
scachat 0:31e91bb0ef3c 39
scachat 0:31e91bb0ef3c 40 // Create a new virgin Block in the queue
scachat 0:31e91bb0ef3c 41 this->queue.push_back(Block());
scachat 0:31e91bb0ef3c 42 block = this->queue.get_ref( this->queue.size()-1 );
scachat 0:31e91bb0ef3c 43 block->is_ready = false;
scachat 0:31e91bb0ef3c 44 block->initial_rate = -2;
scachat 0:31e91bb0ef3c 45 block->final_rate = -2;
scachat 0:31e91bb0ef3c 46 block->player = this;
scachat 0:31e91bb0ef3c 47
scachat 0:31e91bb0ef3c 48 return block;
scachat 0:31e91bb0ef3c 49 }
scachat 0:31e91bb0ef3c 50
scachat 0:31e91bb0ef3c 51 // Used by blocks to signal when they are ready to be used by the system
scachat 0:31e91bb0ef3c 52 void Player::new_block_added(){
scachat 0:31e91bb0ef3c 53 if( this->current_block == NULL ){
scachat 0:31e91bb0ef3c 54 this->pop_and_process_new_block(33);
scachat 0:31e91bb0ef3c 55 }
scachat 0:31e91bb0ef3c 56 }
scachat 0:31e91bb0ef3c 57
scachat 0:31e91bb0ef3c 58 // Process a new block in the queue
scachat 0:31e91bb0ef3c 59 void Player::pop_and_process_new_block(int debug){
scachat 0:31e91bb0ef3c 60 if( this->looking_for_new_block ){ return; }
scachat 0:31e91bb0ef3c 61 this->looking_for_new_block = true;
scachat 0:31e91bb0ef3c 62
scachat 0:31e91bb0ef3c 63 if( this->current_block != NULL ){ this->looking_for_new_block = false; return; }
scachat 0:31e91bb0ef3c 64
scachat 0:31e91bb0ef3c 65 // Return if queue is empty
scachat 0:31e91bb0ef3c 66 if( this->queue.size() == 0 ){
scachat 0:31e91bb0ef3c 67 this->current_block = NULL;
scachat 0:31e91bb0ef3c 68 // TODO : ON_QUEUE_EMPTY event
scachat 0:31e91bb0ef3c 69 this->looking_for_new_block = false;
scachat 0:31e91bb0ef3c 70 return;
scachat 0:31e91bb0ef3c 71 }
scachat 0:31e91bb0ef3c 72
scachat 0:31e91bb0ef3c 73 // Get a new block
scachat 0:31e91bb0ef3c 74 this->current_block = this->queue.get_ref(0);
scachat 0:31e91bb0ef3c 75
scachat 0:31e91bb0ef3c 76 // Tell all modules about it
scachat 0:31e91bb0ef3c 77 this->kernel->call_event(ON_BLOCK_BEGIN, this->current_block);
scachat 0:31e91bb0ef3c 78
scachat 0:31e91bb0ef3c 79 // In case the module was not taken
scachat 0:31e91bb0ef3c 80 if( this->current_block->times_taken < 1 ){
scachat 0:31e91bb0ef3c 81 this->looking_for_new_block = false;
scachat 0:31e91bb0ef3c 82 this->current_block->release();
scachat 0:31e91bb0ef3c 83 }
scachat 0:31e91bb0ef3c 84
scachat 0:31e91bb0ef3c 85 this->looking_for_new_block = false;
scachat 0:31e91bb0ef3c 86
scachat 0:31e91bb0ef3c 87 }
scachat 0:31e91bb0ef3c 88
scachat 0:31e91bb0ef3c 89 void Player::wait_for_queue(int free_blocks){
scachat 0:31e91bb0ef3c 90 mbed::Timer t;
scachat 0:31e91bb0ef3c 91 while( this->queue.size() >= this->queue.capacity()-free_blocks ){
scachat 0:31e91bb0ef3c 92 t.reset();
scachat 0:31e91bb0ef3c 93 t.start();
scachat 0:31e91bb0ef3c 94 this->kernel->call_event(ON_IDLE);
scachat 0:31e91bb0ef3c 95 t.stop();
scachat 0:31e91bb0ef3c 96 if(t.read_us() < 500)
scachat 0:31e91bb0ef3c 97 wait_us(500 - t.read_us());
scachat 0:31e91bb0ef3c 98 }
scachat 0:31e91bb0ef3c 99 }