Commit | Line | Data |
---|---|---|
4cff3ded AW |
1 | /* |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). | |
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. | |
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. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
6 | */ | |
7 | ||
8 | #ifndef KERNEL_H | |
9 | #define KERNEL_H | |
10 | #include "libs/Module.h" | |
11 | #include "libs/Config.h" | |
ded56b35 | 12 | #include "libs/SlowTicker.h" |
3b1e82d2 | 13 | #include "libs/StepTicker.h" |
4cff3ded AW |
14 | #include "modules/communication/SerialConsole.h" |
15 | #include "modules/communication/GcodeDispatch.h" | |
16 | #include "modules/robot/Planner.h" | |
17 | #include "modules/robot/Robot.h" | |
18 | #include "modules/robot/Stepper.h" | |
19 | #include "mbed.h" | |
20 | ||
21 | // See : http://smoothieware.org/listofevents | |
befcf5cc | 22 | #define NUMBER_OF_DEFINED_EVENTS 11 |
4cff3ded AW |
23 | #define ON_MAIN_LOOP 0 |
24 | #define ON_CONSOLE_LINE_RECEIVED 1 | |
25 | #define ON_GCODE_RECEIVED 2 | |
26 | #define ON_STEPPER_WAKE_UP 3 //TODO : Remove the need for this event, then this event itself eg: have planner call stepper directly | |
27 | #define ON_GCODE_EXECUTE 4 | |
28 | #define ON_SPEED_CHANGE 5 | |
29 | #define ON_BLOCK_BEGIN 6 | |
30 | #define ON_BLOCK_END 7 | |
da24d6ae | 31 | #define ON_CONFIG_RELOAD 8 |
befcf5cc AW |
32 | #define ON_PLAY 9 |
33 | #define ON_PAUSE 10 | |
34 | ||
4cff3ded AW |
35 | |
36 | using namespace std; | |
37 | #include <vector> | |
38 | ||
39 | typedef void (Module::*ModuleCallback)(void * argument); | |
40 | ||
41 | //Module manager | |
42 | class Module; | |
3a4fa0c1 | 43 | class Player; |
4cff3ded AW |
44 | class Kernel { |
45 | public: | |
46 | Kernel(); | |
47 | void add_module(Module* module); | |
48 | void register_for_event(unsigned int id_event, Module* module); | |
49 | void call_event(unsigned int id_event); | |
50 | void call_event(unsigned int id_event, void * argument); | |
51 | ||
52 | // These modules are aviable to all other modules | |
53 | SerialConsole* serial; | |
54 | GcodeDispatch* gcode_dispatch; | |
55 | Robot* robot; | |
56 | Stepper* stepper; | |
57 | Planner* planner; | |
58 | Config* config; | |
3a4fa0c1 | 59 | Player* player; |
4cff3ded | 60 | |
13e4a3f9 | 61 | int debug; |
ded56b35 | 62 | SlowTicker* slow_ticker; |
3b1e82d2 | 63 | StepTicker* step_ticker; |
13e4a3f9 | 64 | |
4cff3ded AW |
65 | private: |
66 | vector<Module*> hooks[NUMBER_OF_DEFINED_EVENTS]; // When a module asks to be called for a specific event ( a hook ), this is where that request is remembered | |
67 | ||
68 | }; | |
69 | ||
70 | #endif |