src/libs/Kernel.cpp

   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 #include "libs/SlowTicker.h"
  16 #include "libs/Adc.h"
  17 #include "libs/Pauser.h"
  18
  19 #include "modules/communication/SerialConsole.h"
  20 #include "modules/communication/GcodeDispatch.h"
  21 #include "modules/robot/Planner.h"
  22 #include "modules/robot/Robot.h"
  23 #include "modules/robot/Stepper.h"
  24 #include "modules/robot/Player.h"
  25
  26
  27 // List of callback functions, ordered as their corresponding events
  28 const ModuleCallback kernel_callback_functions[NUMBER_OF_DEFINED_EVENTS] = {
  29         &Module::on_main_loop,
  30         &Module::on_console_line_received,
  31         &Module::on_gcode_received,
  32         &Module::on_stepper_wake_up,
  33         &Module::on_gcode_execute,
  34         &Module::on_speed_change,
  35         &Module::on_block_begin,
  36         &Module::on_block_end,
  37         &Module::on_config_reload,
  38         &Module::on_play,
  39         &Module::on_pause
  40 };
  41
  42 #define baud_rate_setting_ckeckusm 10922
  43 #define uart0_checksum             16877
  44
  45 // The kernel is the central point in Smoothie : it stores modules, and handles event calls
  46 Kernel::Kernel(){
  47
  48     // Config first, because we need the baud_rate setting before we start serial
  49     this->config         = new Config();
  50     // Serial second, because the other modules might want to say something
  51     this->serial         = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_ckeckusm)->by_default(9600)->as_number());
  52
  53     this->add_module( this->config );
  54     this->add_module( this->serial );
  55
  56     // HAL stuff
  57     this->slow_ticker          = new SlowTicker();
  58     this->slow_ticker->kernel  = this; // TODO DEBUG: To remove
  59     this->step_ticker          = new StepTicker();
  60     this->adc                  = new Adc();
  61
  62     // LPC17xx-specific
  63     NVIC_SetPriority(TIMER0_IRQn, 1);
  64     NVIC_SetPriority(TIMER2_IRQn, 2);
  65
  66     // Core modules
  67     this->add_module( this->gcode_dispatch = new GcodeDispatch() );
  68     this->add_module( this->robot          = new Robot()         );
  69     this->add_module( this->stepper        = new Stepper()       );
  70     this->add_module( this->planner        = new Planner()       );
  71     this->add_module( this->player         = new Player()        );
  72     this->add_module( this->pauser         = new Pauser()        );
  73 }
  74
  75 void Kernel::add_module(Module* module){
  76     module->kernel = this;
  77     module->on_module_loaded();
  78     module->register_for_event(ON_CONFIG_RELOAD);
  79 }
  80
  81 void Kernel::register_for_event(unsigned int id_event, Module* module){
  82     this->hooks[id_event].push_back(module);
  83 }
  84
  85 void Kernel::call_event(unsigned int id_event){
  86     for(unsigned int i=0; i < this->hooks[id_event].size(); i++){
  87         (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(this);
  88     }
  89 }
  90
  91 void Kernel::call_event(unsigned int id_event, void * argument){
  92     for(unsigned int i=0; i < this->hooks[id_event].size(); i++){
  93         (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(argument);
  94     }
  95 }