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