-/*
+/*
This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
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.
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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef KERNEL_H
#define KERNEL_H
-#include "libs/Module.h"
-#include "libs/Config.h"
-#include "modules/communication/SerialConsole.h"
-#include "modules/communication/GcodeDispatch.h"
-#include "modules/robot/Planner.h"
-#include "modules/robot/Robot.h"
-#include "modules/robot/Stepper.h"
-#include "mbed.h"
-
-// See : http://smoothieware.org/listofevents
-#define NUMBER_OF_DEFINED_EVENTS 8
-#define ON_MAIN_LOOP 0
-#define ON_CONSOLE_LINE_RECEIVED 1
-#define ON_GCODE_RECEIVED 2
-#define ON_STEPPER_WAKE_UP 3 //TODO : Remove the need for this event, then this event itself eg: have planner call stepper directly
-#define ON_GCODE_EXECUTE 4
-#define ON_SPEED_CHANGE 5
-#define ON_BLOCK_BEGIN 6
-#define ON_BLOCK_END 7
-
-using namespace std;
-#include <vector>
-typedef void (Module::*ModuleCallback)(void * argument);
+#define THEKERNEL Kernel::instance
+
+#include "Module.h"
+#include <array>
+#include <vector>
//Module manager
+class Config;
class Module;
+class Conveyor;
+class SlowTicker;
+class Pauser;
+class SerialConsole;
+class StreamOutputPool;
+class GcodeDispatch;
+class Robot;
+class Stepper;
+class Planner;
+class ToolsManager;
+class StepTicker;
+class Adc;
+class PublicData;
+
class Kernel {
public:
Kernel();
+ static Kernel* instance; // the Singleton instance of Kernel usable anywhere
+ const char* config_override_filename(){ return "/sd/config-override"; }
+
void add_module(Module* module);
- void register_for_event(unsigned int id_event, Module* module);
- void call_event(unsigned int id_event);
- void call_event(unsigned int id_event, void * argument);
+ void register_for_event(_EVENT_ENUM id_event, Module* module);
+ void call_event(_EVENT_ENUM id_event);
+ void call_event(_EVENT_ENUM id_event, void * argument);
// These modules are aviable to all other modules
SerialConsole* serial;
+ StreamOutputPool* streams;
+
GcodeDispatch* gcode_dispatch;
Robot* robot;
Stepper* stepper;
Planner* planner;
Config* config;
+ Conveyor* conveyor;
+ Pauser* pauser;
+ ToolManager* toolmanager;
+
+ int debug;
+ SlowTicker* slow_ticker;
+ StepTicker* step_ticker;
+ Adc* adc;
+ PublicData* public_data;
+ bool use_leds;
+ string current_path;
private:
- vector<Module*> hooks[NUMBER_OF_DEFINED_EVENTS]; // When a module asks to be called for a specific event ( a hook ), this is where that request is remembered
+ 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
};