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AP_Buffer: remove header/source separation to allow arbitrary template

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parameters without explicit instantiation in the cpp file.

http://stackoverflow.com/questions/495021/why-can-templates-only-be-implemented-in-the-header-file
This commit is contained in:
Tobias 2013-07-30 17:56:33 +02:00 committed by Randy Mackay
parent e23135faa1
commit 0b181dd995
2 changed files with 81 additions and 96 deletions
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95
libraries/AP_Buffer/AP_Buffer.cpp
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@ -1,95 +0,0 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file AP_Buffer.h
/// @brief fifo buffer template class
#include <AP_Buffer.h>
#include <stdint.h>
// Constructor
template <class T, uint8_t SIZE>
AP_Buffer<T,SIZE>::AP_Buffer() :
_num_items(0), _head(0)
{
}
// clear - removes all points from the curve
template <class T, uint8_t SIZE>
void AP_Buffer<T,SIZE>::clear() {
// clear the curve
_num_items = 0;
_head = 0;
}
template <class T, uint8_t SIZE>
void AP_Buffer<T,SIZE>::push_back( const T &item )
{
// determine position of new item
uint8_t tail = _head + _num_items;
if( tail >= SIZE ) {
tail -= SIZE;
}
// add item to buffer
_buff[tail] = item;
// increment number of items
if( _num_items < SIZE ) {
_num_items++;
}else{
// no room for new items so drop oldest item
_head++;
if( _head >= SIZE ) {
_head = 0;
}
}
}
template <class T, uint8_t SIZE>
T AP_Buffer<T,SIZE>::pop_front()
{
T result;
// return zero if buffer is empty
if( _num_items == 0 ) {
return 0;
}
// get next value in buffer
result = _buff[_head];
// increment to next point
_head++;
if( _head >= SIZE )
_head = 0;
// reduce number of items
_num_items--;
// return item
return result;
}
template <class T, uint8_t SIZE>
const T& AP_Buffer<T,SIZE>::peek(uint8_t position) const
{
uint8_t j = _head + position;
// return zero if position is out of range
if( position >= _num_items ) {
const static T r = 0;
return r;
}
// wrap around if necessary
if( j >= SIZE )
j -= SIZE;
// return desired value
return _buff[j];
}
// explicitly instantiate all needed template instances
// (this is needed to allow the separation of declaration and definition into header and source files)
template class AP_Buffer<float, 5>;
template class AP_Buffer<float, 15>;

82
libraries/AP_Buffer/AP_Buffer.h
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@ -62,8 +62,88 @@ private:
};
// Typedef for convenience - add more as needed
// (The used template instances have also to be instantiated explicitly in the source file.)
typedef AP_Buffer<float,5> AP_BufferFloat_Size5;
typedef AP_Buffer<float,15> AP_BufferFloat_Size15;
template <class T, uint8_t SIZE>
AP_Buffer<T,SIZE>::AP_Buffer() :
_num_items(0), _head(0)
{
}
template <class T, uint8_t SIZE>
void AP_Buffer<T,SIZE>::clear() {
// clear the curve
_num_items = 0;
_head = 0;
}
template <class T, uint8_t SIZE>
void AP_Buffer<T,SIZE>::push_back( const T &item )
{
// determine position of new item
uint8_t tail = _head + _num_items;
if( tail >= SIZE ) {
tail -= SIZE;
}
// add item to buffer
_buff[tail] = item;
// increment number of items
if( _num_items < SIZE ) {
_num_items++;
}else{
// no room for new items so drop oldest item
_head++;
if( _head >= SIZE ) {
_head = 0;
}
}
}
template <class T, uint8_t SIZE>
T AP_Buffer<T,SIZE>::pop_front()
{
T result;
// return zero if buffer is empty
if( _num_items == 0 ) {
return 0;
}
// get next value in buffer
result = _buff[_head];
// increment to next point
_head++;
if( _head >= SIZE )
_head = 0;
// reduce number of items
_num_items--;
// return item
return result;
}
template <class T, uint8_t SIZE>
const T& AP_Buffer<T,SIZE>::peek(uint8_t position) const
{
uint8_t j = _head + position;
// return zero if position is out of range
if( position >= _num_items ) {
const static T r = 0;
return r;
}
// wrap around if necessary
if( j >= SIZE )
j -= SIZE;
// return desired value
return _buff[j];
}
#endif // __AP_BUFFER_H__