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/StepTicker.h"
  14 #include "libs/Adc.h"
  15 #include "libs/Pauser.h"
  16 #include "modules/communication/SerialConsole.h"
  17 #include "modules/communication/GcodeDispatch.h"
  18 #include "modules/robot/Planner.h"
  19 #include "modules/robot/Robot.h"
  20 #include "modules/robot/Stepper.h"
  21 #include "mbed.h"
  22
  23 // See : http://smoothieware.org/listofevents
  24 #define NUMBER_OF_DEFINED_EVENTS   11
  25 #define ON_MAIN_LOOP               0
  26 #define ON_CONSOLE_LINE_RECEIVED   1
  27 #define ON_GCODE_RECEIVED          2
  28 #define ON_STEPPER_WAKE_UP         3    //TODO : Remove the need for this event, then this event itself eg: have planner call stepper directly
  29 #define ON_GCODE_EXECUTE           4
  30 #define ON_SPEED_CHANGE            5
  31 #define ON_BLOCK_BEGIN             6
  32 #define ON_BLOCK_END               7
  33 #define ON_CONFIG_RELOAD           8
  34 #define ON_PLAY                    9
  35 #define ON_PAUSE                   10
  36
  37
  38 using namespace std;
  39 #include <vector>
  40
  41 typedef void (Module::*ModuleCallback)(void * argument);
  42
  43 //Module manager
  44 class Module;
  45 class Player;
  46 class SlowTicker;
  47 class Kernel {
  48     public:
  49         Kernel();
  50         void add_module(Module* module);
  51         void register_for_event(unsigned int id_event, Module* module);
  52         void call_event(unsigned int id_event);
  53         void call_event(unsigned int id_event, void * argument);
  54
  55         // These modules are aviable to all other modules
  56         SerialConsole*    serial;
  57         GcodeDispatch*    gcode_dispatch;
  58         Robot*            robot;
  59         Stepper*          stepper;
  60         Planner*          planner;
  61         Config*           config;
  62         Player*           player;
  63         Pauser*           pauser;
  64
  65         int debug;
  66         SlowTicker*       slow_ticker;
  67         StepTicker*       step_ticker;
  68         Adc*              adc;
  69
  70     private:
  71         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
  72
  73 };
  74
  75 #endif