SlowTicker.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 
00009 
00010 #ifndef SLOWTICKER_H
00011 #define SLOWTICKER_H
00012 
00013 using namespace std;
00014 #include <vector>
00015 #include "libs/nuts_bolts.h"
00016 #include "libs/Module.h"
00017 #include "libs/Kernel.h"
00018 #include "libs/Hook.h"
00019 
00020 class SlowTicker : public Module{
00021     public:
00022         SlowTicker();
00023         void set_frequency( int frequency );
00024         void tick();
00025         // For some reason this can't go in the .cpp, see :  http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221
00026         template<typename T> void attach( double frequency, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
00027             Hook* hook = new Hook(); 
00028             hook->frequency = frequency;
00029             hook->attach(optr, fptr);
00030             hook->counter = -2;
00031             if( frequency > this->max_frequency ){ 
00032                 this->max_frequency = frequency; 
00033             } 
00034             this->set_frequency(this->max_frequency); 
00035             this->hooks.push_back(hook);
00036         }
00037 
00038         vector<Hook*> hooks; 
00039         double max_frequency;
00040 };
00041 
00042 
00043 
00044 
00045 
00046 #endif