Diff: libs/Kernel.h

Revision:

2:1df0b61d3b5a

Parent:

0:31e91bb0ef3c

Child:

3:f151d08d335c

--- a/libs/Kernel.h	Sat Mar 01 02:37:29 2014 +0000
+++ b/libs/Kernel.h	Fri Feb 28 18:52:52 2014 -0800
@@ -1,77 +1,73 @@
-/*  
-      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/>. 
-*/
-
-#ifndef KERNEL_H
-#define KERNEL_H
-#include "libs/Module.h"
-#include "libs/Config.h"
-#include "libs/SlowTicker.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"
-
-// See : http://smoothieware.org/listofevents
-#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_GCODE_EXECUTE           4
-#define ON_SPEED_CHANGE            5
-#define ON_BLOCK_BEGIN             6
-#define ON_BLOCK_END               7
-#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 Player;
-class SlowTicker;
-class Kernel {
-    public:
-        Kernel();
-        void add_module(Module* module);
-        void register_for_event(unsigned int id_event, Module* module);
-        void call_event(unsigned int id_event);
-        void call_event(unsigned int id_event, void * argument);
-
-        // These modules are aviable to all other modules
-        SerialConsole*    serial;
-        GcodeDispatch*    gcode_dispatch;
-        Robot*            robot;
-        Stepper*          stepper;
-        Planner*          planner;
-        Config*           config;
-        Player*           player;
-        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
-
-};
-
-#endif
+/*
+      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/>.
+*/
+
+#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/Pauser.h"
+#include "libs/PublicData.h"
+#include "modules/communication/SerialConsole.h"
+#include "modules/communication/GcodeDispatch.h"
+#include "modules/tools/toolsmanager/ToolsManager.h"
+#include "modules/robot/Planner.h"
+#include "modules/robot/Robot.h"
+#include "modules/robot/Stepper.h"
+#include "mri.h"
+#include <array>
+
+#define THEKERNEL Kernel::instance
+
+//Module manager
+class Config;
+class Module;
+class Conveyor;
+class SlowTicker;
+class Pauser;
+
+class Kernel {
+    public:
+        Kernel();
+        static Kernel* instance; // the Singleton instance of Kernel usable anywhere
+        const char* config_override_filename(){ return "/sd/config-override"; }
+
+        void add_module(Module* module);
+        void register_for_event(_EVENT_ENUM id_event, Module* module);
+        void call_event(_EVENT_ENUM id_event);
+        void call_event(_EVENT_ENUM id_event, void * argument);
+
+        // 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;
+        ToolsManager*     toolsmanager;
+
+        int debug;
+        SlowTicker*       slow_ticker;
+        StepTicker*       step_ticker;
+        Adc*              adc;
+        PublicData*       public_data;
+        bool              use_leds;
+        string            current_path;
+
+    private:
+        std::array<std::vector<Module*>, NUMBER_OF_DEFINED_EVENTS> hooks; // When a module asks to be called for a specific event ( a hook ), this is where that request is remembered
+
+};
+
+#endif