-/*
+/*
This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
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.
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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef KERNEL_H
#define KERNEL_H
#include "libs/Module.h"
#include "libs/Config.h"
+#include "libs/SlowTicker.h"
+#include "libs/StreamOutputPool.h"
+#include "libs/StepTicker.h"
+#include "libs/Adc.h"
+#include "libs/Digipot.h"
+#include "libs/Pauser.h"
#include "modules/communication/SerialConsole.h"
#include "modules/communication/GcodeDispatch.h"
#include "modules/robot/Planner.h"
#include "modules/robot/Robot.h"
#include "modules/robot/Stepper.h"
-#include "mbed.h"
// See : http://smoothieware.org/listofevents
-#define NUMBER_OF_DEFINED_EVENTS 11
+#define NUMBER_OF_DEFINED_EVENTS 12
#define ON_MAIN_LOOP 0
#define ON_CONSOLE_LINE_RECEIVED 1
#define ON_GCODE_RECEIVED 2
-#define ON_STEPPER_WAKE_UP 3 //TODO : Remove the need for this event, then this event itself eg: have planner call stepper directly
+#define ON_STEPPER_WAKE_UP 3 //TODO : Remove the need for this event, then this event itself eg: have planner call stepper directly
#define ON_GCODE_EXECUTE 4
#define ON_SPEED_CHANGE 5
#define ON_BLOCK_BEGIN 6
#define ON_CONFIG_RELOAD 8
#define ON_PLAY 9
#define ON_PAUSE 10
+#define ON_IDLE 11
-using namespace std;
-#include <vector>
-
typedef void (Module::*ModuleCallback)(void * argument);
//Module manager
class Module;
+class Conveyor;
+class SlowTicker;
class Kernel {
public:
Kernel();
// These modules are aviable to all other modules
SerialConsole* serial;
+ StreamOutputPool* streams;
+
GcodeDispatch* gcode_dispatch;
Robot* robot;
Stepper* stepper;
Planner* planner;
Config* config;
+ Conveyor* conveyor;
+ Pauser* pauser;
+
+ int debug;
+ SlowTicker* slow_ticker;
+ StepTicker* step_ticker;
+ Adc* adc;
+ Digipot* digipot;
private:
- 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
+ Module* hooks[NUMBER_OF_DEFINED_EVENTS][32]; // When a module asks to be called for a specific event ( a hook ), this is where that request is remembered
};