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/>.
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"
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/tools/toolmanager/ToolManager.h"
21 #include "modules/robot/Planner.h"
22 #include "modules/robot/Robot.h"
23 #include "modules/robot/Stepper.h"
27 #define THEKERNEL Kernel::instance
39 static Kernel
* instance
; // the Singleton instance of Kernel usable anywhere
40 const char* config_override_filename(){ return "/sd/config-override"; }
42 void add_module(Module
* module
);
43 void register_for_event(_EVENT_ENUM id_event
, Module
* module
);
44 void call_event(_EVENT_ENUM id_event
);
45 void call_event(_EVENT_ENUM id_event
, void * argument
);
47 // These modules are aviable to all other modules
48 SerialConsole
* serial
;
49 StreamOutputPool
* streams
;
51 GcodeDispatch
* gcode_dispatch
;
58 ToolManager
* toolmanager
;
61 SlowTicker
* slow_ticker
;
62 StepTicker
* step_ticker
;
64 PublicData
* public_data
;
69 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