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 class SimpleShell;
  33 class Configurator;
  34
  35 class Kernel {
  36     public:
  37         Kernel();
  38         static Kernel* instance; // the Singleton instance of Kernel usable anywhere
  39         const char* config_override_filename(){ return "/sd/config-override"; }
  40
  41         void add_module(Module* module);
  42         void register_for_event(_EVENT_ENUM id_event, Module *module);
  43         void call_event(_EVENT_ENUM id_event, void * argument= nullptr);
  44
  45         bool kernel_has_event(_EVENT_ENUM id_event, Module *mod);
  46         void unregister_for_event(_EVENT_ENUM id_event, Module *module);
  47
  48         bool is_using_leds() const { return use_leds; }
  49         bool is_halted() const { return halted; }
  50         bool is_grbl_mode() const { return grbl_mode; }
  51         bool is_ok_per_line() const { return ok_per_line; }
  52
  53         void set_feed_hold(bool f) { feed_hold= f; }
  54         bool get_feed_hold() const { return feed_hold; }
  55
  56         std::string get_query_string();
  57
  58         // These modules are available to all other modules
  59         SerialConsole*    serial;
  60         StreamOutputPool* streams;
  61         GcodeDispatch*    gcode_dispatch;
  62         Robot*            robot;
  63         Stepper*          stepper;
  64         Planner*          planner;
  65         Config*           config;
  66         Conveyor*         conveyor;
  67         Configurator*     configurator;
  68         SimpleShell*      simpleshell;
  69
  70         int debug;
  71         SlowTicker*       slow_ticker;
  72         StepTicker*       step_ticker;
  73         Adc*              adc;
  74         std::string       current_path;
  75         uint32_t          base_stepping_frequency;
  76         uint32_t          acceleration_ticks_per_second;
  77
  78     private:
  79         // When a module asks to be called for a specific event ( a hook ), this is where that request is remembered
  80         std::array<std::vector<Module*>, NUMBER_OF_DEFINED_EVENTS> hooks;
  81         struct {
  82             bool use_leds:1;
  83             bool halted:1;
  84             bool grbl_mode:1;
  85             bool feed_hold:1;
  86             bool ok_per_line:1;
  87         };
  88
  89 };
  90
  91 #endif