Kernel.h

00001 /*  
00002       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
00003       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.
00004       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.
00005       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
00006 */
00007 
00008 #ifndef KERNEL_H
00009 #define KERNEL_H
00010 #include "libs/Module.h"
00011 #include "libs/Config.h"
00012 #include "libs/SlowTicker.h"
00013 #include "libs/StepTicker.h"
00014 #include "libs/Adc.h"
00015 #include "libs/Digipot.h"
00016 #include "libs/Pauser.h"
00017 #include "modules/communication/SerialConsole.h"
00018 #include "modules/communication/GcodeDispatch.h"
00019 #include "modules/robot/Planner.h"
00020 #include "modules/robot/Robot.h"
00021 #include "modules/robot/Stepper.h"
00022 
00023 // See : http://smoothieware.org/listofevents
00024 #define NUMBER_OF_DEFINED_EVENTS   12
00025 #define ON_MAIN_LOOP               0
00026 #define ON_CONSOLE_LINE_RECEIVED   1
00027 #define ON_GCODE_RECEIVED          2
00028 #define ON_STEPPER_WAKE_UP         3    //TODO : Remove the need for this event, then this event itself eg: have planner call stepper directly
00029 #define ON_GCODE_EXECUTE           4
00030 #define ON_SPEED_CHANGE            5
00031 #define ON_BLOCK_BEGIN             6
00032 #define ON_BLOCK_END               7
00033 #define ON_CONFIG_RELOAD           8
00034 #define ON_PLAY                    9
00035 #define ON_PAUSE                   10
00036 #define ON_IDLE                    11
00037 
00038 
00039 using namespace std;
00040 #include <vector>
00041 
00042 typedef void (Module::*ModuleCallback)(void * argument);
00043 
00044 //Module manager
00045 class Module;
00046 class Player;
00047 class SlowTicker;
00048 class Kernel {
00049     public:
00050         Kernel();
00051         void add_module(Module* module);
00052         void register_for_event(unsigned int id_event, Module* module);
00053         void call_event(unsigned int id_event);
00054         void call_event(unsigned int id_event, void * argument);
00055 
00056         // These modules are aviable to all other modules
00057         SerialConsole*    serial;
00058         GcodeDispatch*    gcode_dispatch;
00059         Robot*            robot;
00060         Stepper*          stepper;
00061         Planner*          planner;
00062         Config*           config;
00063         Player*           player;
00064         Pauser*           pauser;
00065 
00066         int debug;
00067         SlowTicker*       slow_ticker;
00068         StepTicker*       step_ticker;
00069         Adc*              adc;
00070         Digipot*          digipot;
00071 
00072     private:
00073         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
00074 
00075 };
00076 
00077 #endif