Fork of Smoothie to port to mbed non-LPC targets.
Fork of Smoothie by
Diff: libs/Kernel.h
- Revision:
- 0:31e91bb0ef3c
- Child:
- 2:1df0b61d3b5a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/libs/Kernel.h Tue Jul 31 21:11:18 2012 +0000 @@ -0,0 +1,77 @@ +/* + 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