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/Digipot.h"
17 #include "libs/Pauser.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"
24 // See : http://smoothieware.org/listofevents
25 #define NUMBER_OF_DEFINED_EVENTS 12
26 #define ON_MAIN_LOOP 0
27 #define ON_CONSOLE_LINE_RECEIVED 1
28 #define ON_GCODE_RECEIVED 2
29 #define ON_STEPPER_WAKE_UP 3 //TODO : Remove the need for this event, then this event itself eg: have planner call stepper directly
30 #define ON_GCODE_EXECUTE 4
31 #define ON_SPEED_CHANGE 5
32 #define ON_BLOCK_BEGIN 6
33 #define ON_BLOCK_END 7
34 #define ON_CONFIG_RELOAD 8
40 typedef void (Module::*ModuleCallback
)(void * argument
);
49 void add_module(Module
* module
);
50 void register_for_event(unsigned int id_event
, Module
* module
);
51 void call_event(unsigned int id_event
);
52 void call_event(unsigned int id_event
, void * argument
);
54 // These modules are aviable to all other modules
55 SerialConsole
* serial
;
56 StreamOutputPool
* streams
;
58 GcodeDispatch
* gcode_dispatch
;
67 SlowTicker
* slow_ticker
;
68 StepTicker
* step_ticker
;
73 Module
* hooks
[NUMBER_OF_DEFINED_EVENTS
][32]; // When a module asks to be called for a specific event ( a hook ), this is where that request is remembered