StepTicker.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 STEPTICKER_H
00011 #define STEPTICKER_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 
00019 
00020 class StepTicker{
00021     public:
00022         StepTicker();
00023         void set_frequency( double frequency );
00024         void tick();
00025         void set_reset_delay( double seconds );
00026         void reset_tick();
00027 
00028         // For some reason this can't go in the .cpp, see :  http://mbed.org/forum/mbed/topic/2774/?page=1#comment-14221
00029         template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
00030             FPointer* hook = new FPointer(); 
00031             hook->attach(optr, fptr);
00032             this->hooks.push_back(hook);
00033         }
00034 
00035         template<typename T> void reset_attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
00036             FPointer* reset_hook = new FPointer(); 
00037             reset_hook->attach(optr, fptr);
00038             this->reset_hooks.push_back(reset_hook);
00039         }
00040 
00041 
00042         vector<FPointer*> hooks; 
00043         vector<FPointer*> reset_hooks; 
00044         double frequency;
00045 
00046 };
00047 
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00057 
00058 #endif