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 #include "libs/Module.h"
  11 #include "libs/Config.h"
  12 #include "libs/SlowTicker.h"
  13 #include "libs/StreamOutputPool.h"
  14 #include "libs/StepTicker.h"
  15 #include "libs/Adc.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"
  23
  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
  35 #define ON_PLAY                    9
  36 #define ON_PAUSE                   10
  37 #define ON_IDLE                    11
  38
  39
  40 using namespace std;
  41 #include <vector>
  42
  43 typedef void (Module::*ModuleCallback)(void * argument);
  44
  45 //Module manager
  46 class Module;
  47 class Player;
  48 class SlowTicker;
  49 class Kernel {
  50     public:
  51         Kernel();
  52         void add_module(Module* module);
  53         void register_for_event(unsigned int id_event, Module* module);
  54         void call_event(unsigned int id_event);
  55         void call_event(unsigned int id_event, void * argument);
  56
  57         // These modules are aviable to all other modules
  58         SerialConsole*    serial;
  59         StreamOutputPool* streams;
  60
  61         GcodeDispatch*    gcode_dispatch;
  62         Robot*            robot;
  63         Stepper*          stepper;
  64         Planner*          planner;
  65         Config*           config;
  66         Player*           player;
  67         Pauser*           pauser;
  68
  69         int debug;
  70         SlowTicker*       slow_ticker;
  71         StepTicker*       step_ticker;
  72         Adc*              adc;
  73         Digipot*          digipot;
  74
  75     private:
  76         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
  77
  78 };
  79
  80 #endif