Michael Spencer / Smoothie

Fork of Smoothie to port to mbed non-LPC targets.

Dependencies:   mbed

Fork of Smoothie by Stéphane Cachat

libs/Kernel.h@3:f151d08d335c, 2014-03-02 (annotated)

Committer:
Bigcheese
Date:
Sun Mar 02 06:33:08 2014 +0000
Revision:
3:f151d08d335c
Parent:
2:1df0b61d3b5a 
Bunch of stuff. Need to locally merge in updated USB changes.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Michael J. Spencer 2:1df0b61d3b5a 1 /*
Michael J. Spencer 2:1df0b61d3b5a 2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
Michael J. Spencer 2:1df0b61d3b5a 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.
Michael J. Spencer 2:1df0b61d3b5a 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.
Michael J. Spencer 2:1df0b61d3b5a 5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
Michael J. Spencer 2:1df0b61d3b5a 6 */
Michael J. Spencer 2:1df0b61d3b5a 7
Michael J. Spencer 2:1df0b61d3b5a 8 #ifndef KERNEL_H
Michael J. Spencer 2:1df0b61d3b5a 9 #define KERNEL_H
Bigcheese 3:f151d08d335c 10
Bigcheese 3:f151d08d335c 11 #include "mbed.h"
Bigcheese 3:f151d08d335c 12
Michael J. Spencer 2:1df0b61d3b5a 13 #include "libs/Module.h"
Michael J. Spencer 2:1df0b61d3b5a 14 #include "libs/Config.h"
Michael J. Spencer 2:1df0b61d3b5a 15 #include "libs/SlowTicker.h"
Michael J. Spencer 2:1df0b61d3b5a 16 #include "libs/StreamOutputPool.h"
Michael J. Spencer 2:1df0b61d3b5a 17 #include "libs/StepTicker.h"
Michael J. Spencer 2:1df0b61d3b5a 18 #include "libs/Pauser.h"
Michael J. Spencer 2:1df0b61d3b5a 19 #include "libs/PublicData.h"
Michael J. Spencer 2:1df0b61d3b5a 20 #include "modules/communication/SerialConsole.h"
Michael J. Spencer 2:1df0b61d3b5a 21 #include "modules/communication/GcodeDispatch.h"
Michael J. Spencer 2:1df0b61d3b5a 22 #include "modules/tools/toolsmanager/ToolsManager.h"
Michael J. Spencer 2:1df0b61d3b5a 23 #include "modules/robot/Planner.h"
Michael J. Spencer 2:1df0b61d3b5a 24 #include "modules/robot/Robot.h"
Michael J. Spencer 2:1df0b61d3b5a 25 #include "modules/robot/Stepper.h"
Michael J. Spencer 2:1df0b61d3b5a 26
Michael J. Spencer 2:1df0b61d3b5a 27 #define THEKERNEL Kernel::instance
Michael J. Spencer 2:1df0b61d3b5a 28
Michael J. Spencer 2:1df0b61d3b5a 29 //Module manager
Michael J. Spencer 2:1df0b61d3b5a 30 class Config;
Michael J. Spencer 2:1df0b61d3b5a 31 class Module;
Michael J. Spencer 2:1df0b61d3b5a 32 class Conveyor;
Michael J. Spencer 2:1df0b61d3b5a 33 class SlowTicker;
Michael J. Spencer 2:1df0b61d3b5a 34 class Pauser;
Michael J. Spencer 2:1df0b61d3b5a 35
Michael J. Spencer 2:1df0b61d3b5a 36 class Kernel {
Michael J. Spencer 2:1df0b61d3b5a 37 public:
Michael J. Spencer 2:1df0b61d3b5a 38 Kernel();
Michael J. Spencer 2:1df0b61d3b5a 39 static Kernel* instance; // the Singleton instance of Kernel usable anywhere
Michael J. Spencer 2:1df0b61d3b5a 40 const char* config_override_filename(){ return "/sd/config-override"; }
Michael J. Spencer 2:1df0b61d3b5a 41
Michael J. Spencer 2:1df0b61d3b5a 42 void add_module(Module* module);
Michael J. Spencer 2:1df0b61d3b5a 43 void register_for_event(_EVENT_ENUM id_event, Module* module);
Michael J. Spencer 2:1df0b61d3b5a 44 void call_event(_EVENT_ENUM id_event);
Michael J. Spencer 2:1df0b61d3b5a 45 void call_event(_EVENT_ENUM id_event, void * argument);
Michael J. Spencer 2:1df0b61d3b5a 46
Michael J. Spencer 2:1df0b61d3b5a 47 // These modules are aviable to all other modules
Michael J. Spencer 2:1df0b61d3b5a 48 SerialConsole* serial;
Michael J. Spencer 2:1df0b61d3b5a 49 StreamOutputPool* streams;
Michael J. Spencer 2:1df0b61d3b5a 50
Michael J. Spencer 2:1df0b61d3b5a 51 GcodeDispatch* gcode_dispatch;
Michael J. Spencer 2:1df0b61d3b5a 52 Robot* robot;
Michael J. Spencer 2:1df0b61d3b5a 53 Stepper* stepper;
Michael J. Spencer 2:1df0b61d3b5a 54 Planner* planner;
Michael J. Spencer 2:1df0b61d3b5a 55 Config* config;
Michael J. Spencer 2:1df0b61d3b5a 56 Conveyor* conveyor;
Michael J. Spencer 2:1df0b61d3b5a 57 Pauser* pauser;
Michael J. Spencer 2:1df0b61d3b5a 58 ToolsManager* toolsmanager;
Michael J. Spencer 2:1df0b61d3b5a 59
Michael J. Spencer 2:1df0b61d3b5a 60 int debug;
Michael J. Spencer 2:1df0b61d3b5a 61 SlowTicker* slow_ticker;
Michael J. Spencer 2:1df0b61d3b5a 62 StepTicker* step_ticker;
Bigcheese 3:f151d08d335c 63 AnalogIn* adc;
Michael J. Spencer 2:1df0b61d3b5a 64 PublicData* public_data;
Michael J. Spencer 2:1df0b61d3b5a 65 bool use_leds;
Michael J. Spencer 2:1df0b61d3b5a 66 string current_path;
Michael J. Spencer 2:1df0b61d3b5a 67
Michael J. Spencer 2:1df0b61d3b5a 68 private:
Bigcheese 3:f151d08d335c 69 std::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
Michael J. Spencer 2:1df0b61d3b5a 70
Michael J. Spencer 2:1df0b61d3b5a 71 };
Michael J. Spencer 2:1df0b61d3b5a 72
Michael J. Spencer 2:1df0b61d3b5a 73 #endif