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queue-refactor [2017/01/25 18:55]
arthur 		queue-refactor [2017/09/01 22:29]
77.100.94.53
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 == The problem with the queue == The problem with the queue
  
-So essentially,​ Smoothie was originally coded with no consideration whatsoever for RAM usage. Yes. Sue me.+So essentially,​ Smoothie was originally coded with no consideration whatsoever for RAM usage. Yes. Sue me.
  
 It ended up not too bad, but still very very far from optimal. It ended up not too bad, but still very very far from optimal.
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 I guess we can start by explaining the problem the queue tries to solve before explaining the problem with the way we currently do it. I guess we can start by explaining the problem the queue tries to solve before explaining the problem with the way we currently do it.
  
-A pretty good explanation can be found here : [[howitworks]]+A pretty good explanation can be found here:​ [[howitworks]]
  
 === How it now works === How it now works
  
-In short, when we get say, a G-code for a movement, the following happens ( oversimplified ) : +In short, when we get say, a G-code for a movement, the following happens ( oversimplified ) : 
  
 * Robot interprets the G-code and makes a line from it * Robot interprets the G-code and makes a line from it
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 * Go to first step * Go to first step
  
-Now what this means for a module is there are two different processes/​loops : +Now what this means for a module is there are two different processes/​loops : 
 * The one in which you receive an instruction * The one in which you receive an instruction
 * The one in which you have to execute an instruction * The one in which you have to execute an instruction
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 Then when the time comes, they get that information back. Then when the time comes, they get that information back.
  
-This has so many advantages : +This has so many advantages :
 * Much lower RAM usage * Much lower RAM usage
 * Can be about as simple to the coder as we do now * Can be about as simple to the coder as we do now
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 * Fixed-size ( in bytes not Blocks ) Queue for **all** the data ( including non-movement data ), for easier RAM management * Fixed-size ( in bytes not Blocks ) Queue for **all** the data ( including non-movement data ), for easier RAM management
  
-Here is the proposed format for the new Blocks ( now called "​Actions"​ to differentiate them from the movement Blocks ( which become just another kind of Action ) ) : +Here is the proposed format for the new Blocks ( now called "​Actions"​ to differentiate them from the movement Blocks ( which become just another kind of Action ) ) :
  
 * 1 byte : Owner module ID * 1 byte : Owner module ID
-* 1 byte : Length ​in bytes <​kbd>​n</​kbd>​+* 1 byte : Length ​in bytes <​kbd>​n</​kbd>​
 * <​kbd>​n</​kbd>​ bytes : Data * <​kbd>​n</​kbd>​ bytes : Data
  
 The queue is composed of a series of those Actions. When a module tries to add an Action to the Queue, and the Queue does not have enough room, we wait until there is room ( similar to what the current movement queue does ). The queue is composed of a series of those Actions. When a module tries to add an Action to the Queue, and the Queue does not have enough room, we wait until there is room ( similar to what the current movement queue does ).
  
-Example queue ( random non-real-life actions ) : +Example queue ( random non-real-life actions ) : 
  
 ||~ Byte ||~ Length ||~ Value ||~ Explanation || ||~ Byte ||~ Length ||~ Value ||~ Explanation ||
-|| 0 || uint8 || 2 || Action owner ID 2 ​: Laser ​module ||+|| 0 || uint8 || 2 || Action owner ID 2 : Laser module ||
 || 1 || uint8 || 1 || 1 byte long Action || || 1 || uint8 || 1 || 1 byte long Action ||
 || 2 || uint8 || 127 || Laser module understands this as : set laser power to 50% || || 2 || uint8 || 127 || Laser module understands this as : set laser power to 50% ||
 || 3 || uint8 || 5 || Action owner ID 5 : Extruder module || || 3 || uint8 || 5 || Action owner ID 5 : Extruder module ||
 || 4 || uint8 || 1 || 1 byte long Action || || 4 || uint8 || 1 || 1 byte long Action ||
-|| 5 || uint8 || 3 || Extruder module understands this as : Extruder ​action ID 3 : do ​unretract ​ ||+|| 5 || uint8 || 3 || Extruder module understands this as : Extruder ​action ID 3 : do unretract ​ ||
 || 6 || uint8 || 5 || Action owner ID 5 : Extruder module || || 6 || uint8 || 5 || Action owner ID 5 : Extruder module ||
 || 7 || uint8 || 3 || 3 bytes long Action || || 7 || uint8 || 3 || 3 bytes long Action ||
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 * When there is enough room in the Queue, the Action is added * When there is enough room in the Queue, the Action is added
  
-And it sleeps there for a while, until, in another context : +And it sleeps there for a while, until, in another context :
  
 * All Actions in the queue have been executed up to our Action * All Actions in the queue have been executed up to our Action
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 </​code>​ </​code>​
  
-So now, per module, here is what needs to change : +So now, per module, here is what needs to change :
  
 === Planner === Planner
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 </​code>​ </​code>​
  
-can here too be replaced with : +can here too be replaced with : 
 <​code>​ <​code>​
 on_gcode_received{ on_gcode_received{
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 There are only two possible actions ( Spindle ON, Spindle OFF ), and one bit of data ( Spindle Speed ) There are only two possible actions ( Spindle ON, Spindle OFF ), and one bit of data ( Spindle Speed )
  
-So the action data is, for a Spindle OFF event : +So the action data is, for a Spindle OFF event :
  
-* <​kbd>​0x0</​kbd>​ ( 1 byte ​)+* <​kbd>​0x0</​kbd>​ ( 1 byte ​)
  
 For a Spindle ON event :  For a Spindle ON event : 
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 * <​kbd>​0x1</​kbd>​ ( 1 byte ) * <​kbd>​0x1</​kbd>​ ( 1 byte )
  
-And for a Spindle set speed : +And for a Spindle set speed : 
  
 * <​kbd>​0x2</​kbd>​ ( 1 byte ) * <​kbd>​0x2</​kbd>​ ( 1 byte )
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 Those are simply added to the action queue [[https://​github.com/​Smoothieware/​Smoothieware/​blob/​edge/​src/​modules/​tools/​spindle/​Spindle.cpp#​L198|Here]] Those are simply added to the action queue [[https://​github.com/​Smoothieware/​Smoothieware/​blob/​edge/​src/​modules/​tools/​spindle/​Spindle.cpp#​L198|Here]]
  
-Then [[https://​github.com/​Smoothieware/​Smoothieware/​blob/​edge/​src/​modules/​tools/​spindle/​Spindle.cpp#​L204|on_gcode_execute]] becomes simply : +Then [[https://​github.com/​Smoothieware/​Smoothieware/​blob/​edge/​src/​modules/​tools/​spindle/​Spindle.cpp#​L204|on_gcode_execute]] becomes simply :
  
 <​code>​ <​code>​