mirror of https://github.com/ArduPilot/ardupilot
AP_Buffer: bug fix to allow buffer to completely fill up.
Also removed redundant _tail parameter which saves 1 byte.
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@ -39,7 +39,6 @@ public:
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protected:
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uint8_t _num_items; // number of items in the buffer
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uint8_t _head; // first item in the buffer (will be returned with the next get call)
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uint8_t _tail; // last item added to the buffer (most recently added with the add method)
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T _buff[SIZE]; // x values of each point on the curve
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};
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@ -52,6 +51,7 @@ typedef AP_Buffer<uint8_t,128> AP_BufferUInt8_Size128;
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typedef AP_Buffer<float,10> AP_BufferFloat_Size10;
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typedef AP_Buffer<float,15> AP_BufferFloat_Size15;
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typedef AP_Buffer<float,20> AP_BufferFloat_Size20;
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// Constructor
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template <class T, uint8_t SIZE>
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@ -68,58 +68,34 @@ void AP_Buffer<T,SIZE>::clear() {
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// clear the curve
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_num_items = 0;
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_head = 0;
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_tail = 0;
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}
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// add - adds an item to the buffer. returns TRUE if successfully added
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template <class T, uint8_t SIZE>
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bool AP_Buffer<T,SIZE>::add( T item )
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{
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// add item at the tail
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_buff[_tail] = item;
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// determine position of new item
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uint8_t tail = _head + _num_items;
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if( tail >= SIZE ) {
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tail -= SIZE;
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}
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// move tail forward one position
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_tail++;
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// add item to buffer
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_buff[tail] = item;
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// wrap around to front of buffer if required
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if( _tail >= SIZE )
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_tail = 0;
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// if the tail bumps into the head, move the head forward (throw away the oldest item)
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if( _tail == _head ) {
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_head++;
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if( _head >= SIZE )
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_head = 0;
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}else{
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// increment number of items
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// increment number of items
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if( _num_items < SIZE ) {
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_num_items++;
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}else{
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// no room for new items so drop oldest item
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_head++;
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if( _head >= SIZE ) {
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_head = 0;
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}
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}
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// indicate success
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return true;
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/* Old method that fails when buffer fills up
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if( _num_items < SIZE ) {
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// add item at the tail
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_buff[_tail] = item;
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// move tail forward one position
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_tail++;
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// wrap around to front of buffer if required
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if( _tail >= SIZE )
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_tail = 0;
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// increment number of items
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_num_items++;
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// indicate success
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return true;
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}else{
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// we do not have room for the new item
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return false;
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}
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*/
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}
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// get - returns the next value in the buffer
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@ -155,8 +131,9 @@ T AP_Buffer<T,SIZE>::peek(uint8_t position)
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uint8_t j = _head+position;
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// return zero if position is out of range
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if( position >= _num_items )
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if( position >= _num_items ) {
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return 0;
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}
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// wrap around if necessary
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if( j >= SIZE )
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@ -166,28 +143,4 @@ T AP_Buffer<T,SIZE>::peek(uint8_t position)
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return _buff[j];
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}
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// displays the contents of the curve (for debugging)
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/*template <class T, uint8_t SIZE>
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void AP_Buffer<T,SIZE>::print_buffer()
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{
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uint8_t i;
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Serial.print_P(PSTR("AP_Buffer: "));
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for( i = 0; i<_num_items; i++ ){
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if( i > 0 ) {
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Serial.print_P(PSTR(", "));
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}
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Serial.print(peek(i));
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}
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Serial.println();
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}*/
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/*
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// displays the contents of the curve (for debugging)
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template <class Vector3f, uint8_t SIZE>
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void AP_Buffer<Vector3f,SIZE>::print_buffer()
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{
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// we cannot print Vector3f types
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}
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*/
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#endif // AP_BUFFER
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