#include "pub.h"

#define  STOP_ANGLE  -0.65f


class  SingleFootAction {

public:

	SingleFootAction(int foot_type) : can_report_motion(0), pause_signal(0), enter_signal(0), 
		direction_signal(-1), last_zupt(1), left_or_right(foot_type), interation_state(-1),
		last_x(0), last_y(0), last_z(0)
	{};
	void report_siganl_listen(int z);
	void pause_signal_listen(float pitch);
	void direction_signal_listen(int x, int y, int zupt, int rssi);
	void set_motion_signal(int zupt);

	int get_interation_state();

	void run(int x, int y, int z, int zupt, int rssi, float pitch);

private:
	int pause_signal_count;
	int can_report_motion;
	int pause_signal;
	int enter_signal;
	int direction_signal;

	int last_zupt;
	int left_or_right;

	int interation_state;

	int last_x;
	
	int last_y;

	int last_z;
};