Arduino Multitasking sketch

gistfile1.cpp

class Task {
  public:
    Task (boolean on, int frequency) {
      _on = on;
      _frequency = frequency;
      _nextTick = millis();
    }
    virtual void runTask () = 0;
    void checkTask() {
      int time = millis();
      if (_on && (time >= _nextTick)) {
        runTask();
        _nextTick = time + _frequency;
      }
    }
    void frequency(int frequency) {
      _frequency = frequency; 
    }
    void on() {
      on(true);
    }
    void on(boolean b) {
      _on = b;
    }
    void on(int f) {
      frequency(f);
      on(true);
    }
    void off() {
      on(false);
    }
  private:
    boolean _on;
    int _frequency;
    int _lastTick;
    int _nextTick;
};

class BlinkLedTask : public Task {
  public:
    explicit BlinkLedTask (boolean on, int frequency, int pin)
    : Task(on, frequency) {
      _pin = pin;
      pinMode(_pin, OUTPUT);
    }
    void runTask () {
      doBlink();
    }
    void doBlink () {
      setLed(!_led_state);     
    }
    void setLed(boolean state) {
      _led_state = state;
      digitalWrite(_pin, state);
    }
    
  private:
    boolean _pin;
  protected:
    boolean _led_state;
};

class SuperLedTask : public BlinkLedTask {
  public:
    SuperLedTask (boolean on, int frequency, int pin, BlinkLedTask* blt)
    : BlinkLedTask(on, frequency, pin) {
      _blt_ptr = blt;
    } 
    void runTask () {
      doBlink();
      _blt_ptr->on(_led_state);
      _blt_ptr->setLed(_led_state);
    }
  private:
    BlinkLedTask *_blt_ptr;
};

BlinkLedTask blink1 = BlinkLedTask(true,  100, 11);
SuperLedTask blink2 = SuperLedTask(true, 1000, 13, &blink1);

Task* tasks [] = { &blink1, &blink2 };

void setup () { 
  Serial.begin(9600);
}
void loop () {
  for (int i=0; i<2; i++) {
     tasks[i]->checkTask();
  }
}