File content as of revision 3:f151d08d335c:

/*
      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/>.
*/

#include "libs/Kernel.h"
#include "libs/Module.h"
#include "libs/Config.h"
#include "libs/nuts_bolts.h"
#include "libs/SlowTicker.h"
#include "libs/Pauser.h"
#include "libs/StreamOutputPool.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 "modules/robot/Conveyor.h"
#include "modules/tools/endstops/Endstops.h"

#define baud_rate_setting_checksum CHECKSUM("baud_rate")
#define uart0_checksum             CHECKSUM("uart0")

Kernel* Kernel::instance;

// The kernel is the central point in Smoothie : it stores modules, and handles event calls
Kernel::Kernel(){
    instance= this; // setup the Singleton instance of the kernel

    // Config first, because we need the baud_rate setting before we start serial
    this->config         = new Config();

    // Serial second, because the other modules might want to say something
    this->streams        = new StreamOutputPool();

    this->current_path   = "/";

    this->add_module( this->config );
    this->add_module( this->serial );

    // HAL stuff
    add_module( this->slow_ticker          = new SlowTicker());
    this->step_ticker          = new StepTicker();
//    this->adc                  = new Adc();

    // Configure the step ticker
    int base_stepping_frequency          =  this->config->value(base_stepping_frequency_checksum      )->by_default(100000)->as_number();
    float microseconds_per_step_pulse   =  this->config->value(microseconds_per_step_pulse_checksum  )->by_default(5     )->as_number();

    // Configure the step ticker ( TODO : shouldnt this go into stepticker's code ? )
    this->step_ticker->set_reset_delay( microseconds_per_step_pulse / 1000000L );
    this->step_ticker->set_frequency(   base_stepping_frequency );

    // Core modules
    this->add_module( this->gcode_dispatch = new GcodeDispatch() );
    this->add_module( this->robot          = new Robot()         );
    this->add_module( this->stepper        = new Stepper()       );
    this->add_module( this->planner        = new Planner()       );
    this->add_module( this->conveyor       = new Conveyor()      );
    this->add_module( this->pauser         = new Pauser()        );
    this->add_module( this->public_data    = new PublicData()    );
    this->add_module( this->toolsmanager   = new ToolsManager()    );

}

// Add a module to Kernel. We don't actually hold a list of modules, we just tell it where Kernel is
void Kernel::add_module(Module* module){
    module->on_module_loaded();
}

// Adds a hook for a given module and event
void Kernel::register_for_event(_EVENT_ENUM id_event, Module* module){
    this->hooks[id_event].push_back(module);
}

// Call a specific event without arguments
void Kernel::call_event(_EVENT_ENUM id_event){
    for (Module* current : hooks[id_event]) {
        (current->*kernel_callback_functions[id_event])(this);
    }
}

// Call a specific event with an argument
void Kernel::call_event(_EVENT_ENUM id_event, void * argument){
    for (Module* current : hooks[id_event]) {
        (current->*kernel_callback_functions[id_event])(argument);
    }
}