File content as of revision 2:1df0b61d3b5a:

/*
      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/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/>.
*/

#ifndef PLANNER_H
#define PLANNER_H

#include <vector>
#include "libs/RingBuffer.h"
#include "../communication/utils/Gcode.h"
#include "Block.h"

using namespace std;

class Planner : public Module {
    public:
        Planner();
        void append_block( float target[], float rate_mm_s, float distance, float unit_vec[] );
        float max_allowable_speed( float acceleration, float target_velocity, float distance);
        void recalculate();
        Block* get_current_block();
        void cleanup_queue();
        void on_module_loaded();
        void on_config_reload(void* argument);

        float previous_unit_vec[3];
        Block last_deleted_block;     // Item -1 in the queue, TODO: Grbl does not need this, but Smoothie won't work without it, we are probably doing something wrong
        bool has_deleted_block;       // Flag for above value

        float acceleration;          // Setting
        float junction_deviation;    // Setting
        float minimum_planner_speed; // Setting
};



#endif