Fork of Smoothie to port to mbed non-LPC targets.
Fork of Smoothie by
Diff: libs/Kernel.h
- Revision:
- 2:1df0b61d3b5a
- Parent:
- 0:31e91bb0ef3c
- Child:
- 3:f151d08d335c
diff -r ab59fc9af055 -r 1df0b61d3b5a libs/Kernel.h --- 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