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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 | using namespace std; | |
9 | #include <vector> | |
10 | #include "libs/Kernel.h" | |
11 | #include "libs/Module.h" | |
12 | #include "libs/Config.h" | |
13 | #include "mbed.h" | |
14 | #include "libs/nuts_bolts.h" | |
15 | ||
16 | #include "modules/communication/SerialConsole.h" | |
17 | #include "modules/communication/GcodeDispatch.h" | |
18 | #include "modules/robot/Planner.h" | |
19 | #include "modules/robot/Robot.h" | |
20 | #include "modules/robot/Stepper.h" | |
21 | ||
22 | // List of callback functions, ordered as their corresponding events | |
23 | const ModuleCallback kernel_callback_functions[NUMBER_OF_DEFINED_EVENTS] = { | |
24 | &Module::on_main_loop, | |
25 | &Module::on_console_line_received, | |
26 | &Module::on_gcode_received, | |
27 | &Module::on_stepper_wake_up, | |
28 | &Module::on_gcode_execute, | |
29 | &Module::on_speed_change, | |
30 | &Module::on_block_begin, | |
31 | &Module::on_block_end | |
32 | }; | |
33 | ||
34 | #define baud_rate_setting_ckeckusm 10922 | |
35 | ||
36 | // The kernel is the central point in Smoothie : it stores modules, and handles event calls | |
37 | Kernel::Kernel(){ | |
38 | ||
39 | // Config first, because we need the baud_rate setting before we start serial | |
40 | this->config = new Config(); | |
41 | // Serial second, because the other modules might want to say something | |
42 | this->serial = new SerialConsole(USBTX, USBRX, this->config->get(baud_rate_setting_ckeckusm)); | |
43 | ||
44 | this->add_module( this->config ); | |
45 | this->add_module( this->serial ); | |
46 | ||
47 | // Core modules | |
48 | this->gcode_dispatch = new GcodeDispatch(); | |
49 | this->robot = new Robot(); | |
50 | this->stepper = new Stepper(); | |
51 | this->planner = new Planner(); | |
52 | ||
53 | this->add_module( this->gcode_dispatch ); | |
54 | this->add_module( this->robot ); | |
55 | this->add_module( this->stepper ); | |
56 | this->add_module( this->planner ); | |
57 | ||
58 | } | |
59 | ||
60 | void Kernel::add_module(Module* module){ | |
61 | module->kernel = this; | |
62 | module->on_module_loaded(); | |
63 | } | |
64 | ||
65 | void Kernel::register_for_event(unsigned int id_event, Module* module){ | |
66 | this->hooks[id_event].push_back(module); | |
67 | } | |
68 | ||
69 | void Kernel::call_event(unsigned int id_event){ | |
70 | for(unsigned int i=0; i < this->hooks[id_event].size(); i++){ | |
71 | (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(this); | |
72 | } | |
73 | } | |
74 | ||
75 | void Kernel::call_event(unsigned int id_event, void * argument){ | |
76 | for(unsigned int i=0; i < this->hooks[id_event].size(); i++){ | |
77 | (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(argument); | |
78 | } | |
79 | } |