src/libs/Kernel.h

   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"
  12 #include "libs/SlowTicker.h"
  13 #include "libs/StreamOutputPool.h"
  14 #include "libs/StepTicker.h"
  15 #include "libs/Adc.h"
  16 #include "libs/Pauser.h"
  17 #include "libs/PublicData.h"
  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"
  23 #include "modules/tools/endstops/Endstops.h"
  24 #include <array>
  25
  26 #define THEKERNEL Kernel::instance
  27
  28 //Module manager
  29 class Module;
  30 class Conveyor;
  31 class SlowTicker;
  32 class Kernel {
  33     public:
  34         Kernel();
  35         static Kernel* instance; // the Singleton instance of Kernel usable anywhere
  36
  37         void add_module(Module* module);
  38         void register_for_event(_EVENT_ENUM id_event, Module* module);
  39         void call_event(_EVENT_ENUM id_event);
  40         void call_event(_EVENT_ENUM id_event, void * argument);
  41
  42         // These modules are aviable to all other modules
  43         SerialConsole*    serial;
  44         StreamOutputPool* streams;
  45
  46         GcodeDispatch*    gcode_dispatch;
  47         Robot*            robot;
  48         Stepper*          stepper;
  49         Planner*          planner;
  50         Config*           config;
  51         Conveyor*         conveyor;
  52         Pauser*           pauser;
  53
  54         int debug;
  55         SlowTicker*       slow_ticker;
  56         StepTicker*       step_ticker;
  57         Adc*              adc;
  58         PublicData*       public_data;
  59
  60     private:
  61         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
  62
  63 };
  64
  65 #endif