#ifndef KERNEL_H
#define KERNEL_H
-#include "libs/Module.h"
-#include "libs/Config.h"
-#include "libs/SlowTicker.h"
-#include "libs/StreamOutputPool.h"
-#include "libs/StepTicker.h"
-#include "libs/Adc.h"
-#include "libs/Pauser.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 "modules/tools/endstops/Endstops.h"
+
+#define THEKERNEL Kernel::instance
+
+#include "Module.h"
#include <array>
+#include <vector>
+#include <string>
//Module manager
+class Config;
class Module;
class Conveyor;
class SlowTicker;
+class SerialConsole;
+class StreamOutputPool;
+class GcodeDispatch;
+class Robot;
+class Stepper;
+class Planner;
+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(_EVENT_ENUM id_event, Module* module);
- void call_event(_EVENT_ENUM id_event);
- void call_event(_EVENT_ENUM id_event, void * argument);
+ void register_for_event(_EVENT_ENUM id_event, Module *module);
+ void call_event(_EVENT_ENUM id_event, void * argument= nullptr);
+
+ bool kernel_has_event(_EVENT_ENUM id_event, Module *mod);
+ void unregister_for_event(_EVENT_ENUM id_event, Module *module);
+
+ bool is_using_leds() const { return use_leds; }
+ bool is_halted() const { return halted; }
+ std::string get_query_string();
- // These modules are aviable to all other modules
+ // These modules are available to all other modules
SerialConsole* serial;
StreamOutputPool* streams;
- GcodeDispatch* gcode_dispatch;
Robot* robot;
Stepper* stepper;
Planner* planner;
Config* config;
Conveyor* conveyor;
- Pauser* pauser;
int debug;
SlowTicker* slow_ticker;
StepTicker* step_ticker;
Adc* adc;
+ std::string current_path;
+ uint32_t base_stepping_frequency;
+ uint32_t acceleration_ticks_per_second;
private:
- 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
+ // 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;
+ struct {
+ bool use_leds:1;
+ bool halted:1;
+ };
};