Diff: modules/robot/Player.cpp

Revision:

0:31e91bb0ef3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modules/robot/Player.cpp	Tue Jul 31 21:11:18 2012 +0000
@@ -0,0 +1,99 @@
+/*  
+      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 "Player.h"
+#include "Planner.h"
+
+Player::Player(){
+    this->current_block = NULL;
+    this->looking_for_new_block = false;
+}
+
+// Append a block to the list
+Block* Player::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
+    //Block* block = this->queue.get_ref( this->queue.size()-1 );
+    Block* block = this->queue.get_ref( this->queue.size() );
+    if( block->player == this ){
+        for(short index=0; index<block->gcodes.size(); index++){
+            block->gcodes.pop_back(); 
+        }     
+    }
+    
+    // Create a new virgin Block in the queue 
+    this->queue.push_back(Block());
+    block = this->queue.get_ref( this->queue.size()-1 );
+    block->is_ready = false;
+    block->initial_rate = -2;
+    block->final_rate = -2;
+    block->player = this;
+    
+    return block;
+}
+
+// Used by blocks to signal when they are ready to be used by the system
+void Player::new_block_added(){
+    if( this->current_block == NULL ){
+        this->pop_and_process_new_block(33);
+    }
+}
+
+// Process a new block in the queue
+void Player::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 ){
+        this->looking_for_new_block = false;
+        this->current_block->release();
+    }
+
+    this->looking_for_new_block = false;
+
+}
+
+void Player::wait_for_queue(int free_blocks){
+    mbed::Timer t;
+    while( this->queue.size() >= this->queue.capacity()-free_blocks ){
+        t.reset();
+        t.start();
+        this->kernel->call_event(ON_IDLE);
+        t.stop();
+        if(t.read_us() < 500)
+            wait_us(500 - t.read_us());
+    }
+}