Diff: libs/Kernel.cpp

Revision:

0:31e91bb0ef3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libs/Kernel.cpp	Tue Jul 31 21:11:18 2012 +0000
@@ -0,0 +1,97 @@
+/*  
+      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/>. 
+*/
+
+using namespace std;
+#include <vector>
+#include "libs/Kernel.h"
+#include "libs/Module.h"
+#include "libs/Config.h"
+#include "libs/nuts_bolts.h"
+#include "libs/SlowTicker.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"
+#include "modules/robot/Player.h"
+
+
+// List of callback functions, ordered as their corresponding events
+const ModuleCallback kernel_callback_functions[NUMBER_OF_DEFINED_EVENTS] = { 
+        &Module::on_main_loop, 
+        &Module::on_console_line_received,
+        &Module::on_gcode_received, 
+        &Module::on_stepper_wake_up,
+        &Module::on_gcode_execute,
+        &Module::on_speed_change,
+        &Module::on_block_begin,
+        &Module::on_block_end,
+        &Module::on_config_reload,
+        &Module::on_play,
+        &Module::on_pause,
+        &Module::on_idle
+};
+
+#define baud_rate_setting_checksum 10922
+#define uart0_checksum             16877
+
+// The kernel is the central point in Smoothie : it stores modules, and handles event calls
+Kernel::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->serial         = new SerialConsole(USBTX, USBRX, this->config->value(uart0_checksum,baud_rate_setting_checksum)->by_default(9600)->as_number());
+
+    this->add_module( this->config );
+    this->add_module( this->serial );
+  
+    // HAL stuff 
+    this->slow_ticker          = new SlowTicker();
+    this->step_ticker          = new StepTicker();
+    this->adc                  = new Adc();
+    this->digipot              = new Digipot();
+
+    // LPC17xx-specific 
+    NVIC_SetPriority(TIMER0_IRQn, 1); 
+    NVIC_SetPriority(TIMER2_IRQn, 2); 
+
+    // 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->player         = new Player()        );
+    this->add_module( this->pauser         = new Pauser()        );
+}
+
+void Kernel::add_module(Module* module){
+    module->kernel = this;
+    module->on_module_loaded();
+    module->register_for_event(ON_CONFIG_RELOAD);
+}
+
+void Kernel::register_for_event(unsigned int id_event, Module* module){
+    this->hooks[id_event].push_back(module);
+}
+
+void Kernel::call_event(unsigned int id_event){
+    for(unsigned int i=0; i < this->hooks[id_event].size(); i++){
+        (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(this);
+    }
+}
+
+void Kernel::call_event(unsigned int id_event, void * argument){
+    for(unsigned int i=0; i < this->hooks[id_event].size(); i++){
+        (this->hooks[id_event][i]->*kernel_callback_functions[id_event])(argument);
+    }
+}