Player.cpp

00001 /*  
00002       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)
00003       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.
00004       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.
00005       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
00006 */
00007 
00008 using namespace std;
00009 #include <vector>
00010 #include "libs/nuts_bolts.h"
00011 #include "libs/RingBuffer.h"
00012 #include "../communication/utils/Gcode.h"
00013 #include "libs/Module.h"
00014 #include "libs/Kernel.h"
00015 #include "Timer.h" // mbed.h lib
00016 #include "wait_api.h" // mbed.h lib
00017 #include "Block.h"
00018 #include "Player.h"
00019 #include "Planner.h"
00020 
00021 Player::Player(){
00022     this->current_block = NULL;
00023     this->looking_for_new_block = false;
00024 }
00025 
00026 // Append a block to the list
00027 Block* Player::new_block(){
00028 
00029     // Clean up the vector of commands in the block we are about to replace
00030     // It is quite strange to do this here, we really should do it inside Block->pop_and_execute_gcode
00031     // but that function is called inside an interrupt and thus can break everything if the interrupt was trigerred during a memory access
00032     //Block* block = this->queue.get_ref( this->queue.size()-1 );
00033     Block* block = this->queue.get_ref( this->queue.size() );
00034     if( block->player == this ){
00035         for(short index=0; index<block->gcodes.size(); index++){
00036             block->gcodes.pop_back(); 
00037         }     
00038     }
00039     
00040     // Create a new virgin Block in the queue 
00041     this->queue.push_back(Block());
00042     block = this->queue.get_ref( this->queue.size()-1 );
00043     block->is_ready = false;
00044     block->initial_rate = -2;
00045     block->final_rate = -2;
00046     block->player = this;
00047     
00048     return block;
00049 }
00050 
00051 // Used by blocks to signal when they are ready to be used by the system
00052 void Player::new_block_added(){
00053     if( this->current_block == NULL ){
00054         this->pop_and_process_new_block(33);
00055     }
00056 }
00057 
00058 // Process a new block in the queue
00059 void Player::pop_and_process_new_block(int debug){
00060     if( this->looking_for_new_block ){ return; }
00061     this->looking_for_new_block = true;
00062 
00063     if( this->current_block != NULL ){ this->looking_for_new_block = false; return; }
00064 
00065     // Return if queue is empty 
00066     if( this->queue.size() == 0 ){
00067         this->current_block = NULL; 
00068         // TODO : ON_QUEUE_EMPTY event 
00069         this->looking_for_new_block = false;
00070         return; 
00071     }
00072     
00073     // Get a new block
00074     this->current_block = this->queue.get_ref(0);
00075 
00076     // Tell all modules about it
00077     this->kernel->call_event(ON_BLOCK_BEGIN, this->current_block);
00078     
00079     // In case the module was not taken
00080     if( this->current_block->times_taken < 1 ){
00081         this->looking_for_new_block = false;
00082         this->current_block->release();
00083     }
00084 
00085     this->looking_for_new_block = false;
00086 
00087 }
00088 
00089 void Player::wait_for_queue(int free_blocks){
00090     mbed::Timer t;
00091     while( this->queue.size() >= this->queue.capacity()-free_blocks ){
00092         t.reset();
00093         t.start();
00094         this->kernel->call_event(ON_IDLE);
00095         t.stop();
00096         if(t.read_us() < 500)
00097             wait_us(500 - t.read_us());
00098     }
00099 }