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/>.
10 #include "libs/Module.h"
11 #include "libs/Config.h"
12 #include "libs/SlowTicker.h"
13 #include "libs/StepTicker.h"
14 #include "modules/communication/SerialConsole.h"
15 #include "modules/communication/GcodeDispatch.h"
16 #include "modules/robot/Planner.h"
17 #include "modules/robot/Robot.h"
18 #include "modules/robot/Stepper.h"
21 // See : http://smoothieware.org/listofevents
22 #define NUMBER_OF_DEFINED_EVENTS 11
23 #define ON_MAIN_LOOP 0
24 #define ON_CONSOLE_LINE_RECEIVED 1
25 #define ON_GCODE_RECEIVED 2
26 #define ON_STEPPER_WAKE_UP 3 //TODO : Remove the need for this event, then this event itself eg: have planner call stepper directly
27 #define ON_GCODE_EXECUTE 4
28 #define ON_SPEED_CHANGE 5
29 #define ON_BLOCK_BEGIN 6
30 #define ON_BLOCK_END 7
31 #define ON_CONFIG_RELOAD 8
39 typedef void (Module::*ModuleCallback
)(void * argument
);
48 void add_module(Module
* module
);
49 void register_for_event(unsigned int id_event
, Module
* module
);
50 void call_event(unsigned int id_event
);
51 void call_event(unsigned int id_event
, void * argument
);
53 // These modules are aviable to all other modules
54 SerialConsole
* serial
;
55 GcodeDispatch
* gcode_dispatch
;
63 SlowTicker
* slow_ticker
;
64 StepTicker
* step_ticker
;
67 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