हम हेक्सापॉड को पुनर्जीवित करते हैं। भाग एक

class GeksaFoot {
private:
//         
  Vector3D m_p0;
//          
  Vector3D m_r0;
//  Multiservo,    
  Multiservo m_coxaServo;   //  
  Multiservo m_femoraServo; //  
  Multiservo m_tibiaServo;  //  
public:
  GeksaFoot(Vector3D p0,Vector3D r0);
//   
  void begin(int coxaPin, int femoraPin, int tibiaPin);
//   
  void end();   

//   

  void coxaAngle(int);      //      (-90 .. 90 )
  int coxaAngle();          //     

  void femoraAngle(int);    //       (-90 .. 90 )
  int femoraAngle();        //     

  void tibiaAngle(int);     //       (-90 .. 90 )
  int tibiaAngle();         //     

//         

  //         
  int getAngles(Vector3D p, int& coxaAngle, int& femoraAngle, int& tibiaAngle);
  //       
  int getPoint(int coxaAngle, int femoraAngle, int tibiaAngle, Vector3D& p);
};

class Geksapod: public AJobManager {
  friend class MotionJob;
  friend CommandProcessorJob;
  //  
  GeksaFoot m_LeftFrontFoot;
  GeksaFoot m_LeftMidleFoot;
  GeksaFoot m_LeftBackFoot;
  GeksaFoot m_RigthFrontFoot;
  GeksaFoot m_RigthMidleFoot;
  GeksaFoot m_RigthBackFoot;
  // ,    
  MotionJob m_MotionJob;
private:
  //       
  //       
  //     
  int _setPose(int idx, int ca, int fa, int ta);
  int _setPose(int[FOOTS_COUNT][3]);  
  int _setPose(Vector3D points[FOOTS_COUNT]); 
protected:
  //          
  int setPose(int idx, int ca, int fa, int ta, int actionTime); 
  int setPose(int pose[FOOTS_COUNT][3], int actionTime);
  int setPose(int idx, Vector3D p, int actionTime);
  int setPose(Vector3D points[FOOTS_COUNT], int actionTime = 0);
  int setPose(int ca, int fa, int ta, int actionTime);
  //      
  void getPose(int idx, int& ca, int& fa, int& ta);
  void getPose(int pose[FOOTS_COUNT][3]);
  void getPose(int idx, Vector3D& p);
  void getPose(Vector3D points[FOOTS_COUNT]);
  //    
  int execute(Motion* pMotion);
public:
  Geksapod();
  void setup();
  //   
  int move(int speed, int time);    //   
  int rotate(int speed, int time);  //   
  void stop();                      //  
  //         
  int getAngles(int idx, Vector3D p, int& ca, int& fa, int& ta);
  int getPoint(int idx, int coxaAngle, int femoraAngle, int tibiaAngle, Vector3D& p);
  int getAngles(Vector3D points[FOOTS_COUNT], int pose[FOOTS_COUNT][3]);
  int getPoints(int pose[FOOTS_COUNT][3], Vector3D points[FOOTS_COUNT]);
};

class AJob {
  friend class AJobManager;
private:
  AJobManager* m_pAJobManager;   
  AJob* mJobNext;                      
  unsigned long m_counter;         //    onRun
  unsigned long m_previousMillis; //     onRun
  unsigned long m_currentMillis;  //   
  unsigned long m_delayMillis;    //    onRun
  void run();
public:
  AJob(AJobManager*, unsigned long delay = 0L);
  ~AJob();
                  
  void finish();  //     
  long counter(); //    onRun    
  long setDelay(unsigned long); //    onRun
  unsigned long previousMillis();//      onRun
  unsigned long currentMillis(); //    
                              
  virtual void onInit();  //      
  virtual void onRun();   //     
  virtual void onDone();  //        finish
};

class AJobManager {
  friend class AJob;
  AJob* mJobFirst;  //      
  void attach(AJob*);   //    
  void dettach(AJob*); //    
  void dettachAll();   //   
public:  
  AJobManager();
  ~AJobManager();
  void setup();
  void loop();
};

class Motion {
  friend class MotionJob;
protected:
  long m_MaxTime;     //      
  long m_TotalTime;   //      
  bool m_IsLooped;    //   
  Motion* m_pNext;    //     
public:  
  Motion(long maxTime, bool isLooped, long totalTime = -1, Motion* pNext = NULL);
  ~Motion();
  
  inline long maxTime() { return m_MaxTime; }
  inline long totalTime() { return m_TotalTime; }
  inline bool isLooped() { return m_IsLooped; }

  //          

  //       0 <= time <= m_MaxTime 
  virtual int getPose(long time, Vector3D points[FOOTS_COUNT]) { return E_NOT_IMPL; };  
  //        0 <= time <= m_MaxTime
  virtual int getPose(long time, int pose[FOOTS_COUNT][3]) { return E_NOT_IMPL; };       
};

class MotionJob: public AJob {
  enum STATUS { 
    NONE, RUNING, STOPING 
   } m_Status;
  
  Geksapod* m_pGeksapod;
  Motion* m_pMotion;
  long m_MotionTime;
  long m_TotalTime;
public:  
  MotionJob(Geksapod* pGeksapod);
  int execute(Motion* pMotion);
  void onRun();
};

class AJob {
  friend class AJobManager;
private:
  AJobManager* m_pAJobManager;   
  AJob* mJobNext;                      
  unsigned long m_counter;         //    onRun
  unsigned long m_previousMillis; //     onRun
  unsigned long m_currentMillis;  //   
  unsigned long m_delayMillis;    //    onRun
  void run();
protected:
  virtual void onInit();  //      
  virtual void onRun();   //     
  virtual void onDone();  //        finish
public:
  AJob(AJobManager*, unsigned long delay = 0L);
  ~AJob();

  void finish();  //     
  long counter(); //    onRun    
  long setDelay(unsigned long); //    onRun
  unsigned long previousMillis();//      onRun
  unsigned long currentMillis(); //    
};