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df27a6a3 | 1 | /* |
4cff3ded AW |
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. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
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" |
38d375e7 | 13 | #include "libs/StreamOutputPool.h" |
3b1e82d2 | 14 | #include "libs/StepTicker.h" |
3c132bd0 | 15 | #include "libs/Adc.h" |
81b547a1 | 16 | #include "libs/Pauser.h" |
8293d443 | 17 | #include "libs/PublicData.h" |
4cff3ded AW |
18 | #include "modules/communication/SerialConsole.h" |
19 | #include "modules/communication/GcodeDispatch.h" | |
20 | #include "modules/robot/Planner.h" | |
21 | #include "modules/robot/Robot.h" | |
22 | #include "modules/robot/Stepper.h" | |
3857da41 | 23 | #include "modules/tools/endstops/Endstops.h" |
44912e95 | 24 | #include <array> |
4cff3ded AW |
25 | |
26 | //Module manager | |
27 | class Module; | |
3fceb8eb | 28 | class Conveyor; |
d9ebc974 | 29 | class SlowTicker; |
4cff3ded AW |
30 | class Kernel { |
31 | public: | |
32 | Kernel(); | |
33 | void add_module(Module* module); | |
af9072ee MM |
34 | void register_for_event(_EVENT_ENUM id_event, Module* module); |
35 | void call_event(_EVENT_ENUM id_event); | |
36 | void call_event(_EVENT_ENUM id_event, void * argument); | |
4cff3ded AW |
37 | |
38 | // These modules are aviable to all other modules | |
39 | SerialConsole* serial; | |
df27a6a3 | 40 | StreamOutputPool* streams; |
38d375e7 | 41 | |
4cff3ded AW |
42 | GcodeDispatch* gcode_dispatch; |
43 | Robot* robot; | |
44 | Stepper* stepper; | |
45 | Planner* planner; | |
46 | Config* config; | |
663d7943 | 47 | Conveyor* conveyor; |
81b547a1 | 48 | Pauser* pauser; |
4cff3ded | 49 | |
13e4a3f9 | 50 | int debug; |
3c132bd0 AW |
51 | SlowTicker* slow_ticker; |
52 | StepTicker* step_ticker; | |
53 | Adc* adc; | |
b19aa09d JM |
54 | PublicData* public_data; |
55 | ||
4cff3ded | 56 | private: |
44912e95 | 57 | std::array<std::vector<Module*>, NUMBER_OF_DEFINED_EVENTS> hooks; // When a module asks to be called for a specific event ( a hook ), this is where that request is remembered |
4cff3ded AW |
58 | |
59 | }; | |
60 | ||
61 | #endif |