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
  11 #define THEKERNEL Kernel::instance
  12
  13 #include "Module.h"
  14 #include <array>
  15 #include <vector>
  16 #include <string>
  17
  18 //Module manager
  19 class Config;
  20 class Module;
  21 class Conveyor;
  22 class SlowTicker;
  23 class SerialConsole;
  24 class StreamOutputPool;
  25 class GcodeDispatch;
  26 class Robot;
  27 class Stepper;
  28 class Planner;
  29 class StepTicker;
  30 class Adc;
  31 class PublicData;
  32
  33 class Kernel {
  34     public:
  35         Kernel();
  36         static Kernel* instance; // the Singleton instance of Kernel usable anywhere
  37         const char* config_override_filename(){ return "/sd/config-override"; }
  38
  39         void add_module(Module* module);
  40         void register_for_event(_EVENT_ENUM id_event, Module *module);
  41         void call_event(_EVENT_ENUM id_event, void * argument= nullptr);
  42
  43         bool kernel_has_event(_EVENT_ENUM id_event, Module *mod);
  44         void unregister_for_event(_EVENT_ENUM id_event, Module *module);
  45
  46         bool is_using_leds() const { return use_leds; }
  47         bool is_halted() const { return halted; }
  48         std::string get_query_string();
  49
  50         // These modules are available to all other modules
  51         SerialConsole*    serial;
  52         StreamOutputPool* streams;
  53
  54         Robot*            robot;
  55         Stepper*          stepper;
  56         Planner*          planner;
  57         Config*           config;
  58         Conveyor*         conveyor;
  59
  60         int debug;
  61         SlowTicker*       slow_ticker;
  62         StepTicker*       step_ticker;
  63         Adc*              adc;
  64         std::string       current_path;
  65         uint32_t          base_stepping_frequency;
  66         uint32_t          acceleration_ticks_per_second;
  67
  68     private:
  69         // When a module asks to be called for a specific event ( a hook ), this is where that request is remembered
  70         std::array<std::vector<Module*>, NUMBER_OF_DEFINED_EVENTS> hooks;
  71         struct {
  72             bool use_leds:1;
  73             bool halted:1;
  74         };
  75
  76 };
  77
  78 #endif