From 48f1955f8eb9299d61b32aef79cf5a62ca81012e Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Mon, 5 Nov 2012 13:29:29 +0900
Subject: [PATCH] AP_Buffer: initial implementation of FIFO buffer for use with
 inertial nav

---
 libraries/AP_Buffer/AP_Buffer.h | 193 ++++++++++++++++++++++++++++++++
 1 file changed, 193 insertions(+)
 create mode 100644 libraries/AP_Buffer/AP_Buffer.h

diff --git a/libraries/AP_Buffer/AP_Buffer.h b/libraries/AP_Buffer/AP_Buffer.h
new file mode 100644
index 0000000000..2dd74fcf39
--- /dev/null
+++ b/libraries/AP_Buffer/AP_Buffer.h
@@ -0,0 +1,193 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+/// @file	AP_Buffer.h
+/// @brief	fifo buffer template class
+
+#ifndef AP_BUFFER
+#define AP_BUFFER
+
+#include <FastSerial.h>
+#include <AP_Common.h>
+#include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
+
+/// @class      AP_Buffer
+template <class T, uint8_t SIZE>
+class AP_Buffer {
+public:
+
+    // Constructor
+    AP_Buffer();
+
+    // clear - removes all points from the curve
+    virtual void clear();
+
+    // add - adds an item to the buffer.  returns TRUE if successfully added
+    virtual bool add( T item );
+
+    // get - returns the next value in the buffer
+    virtual T get();
+
+    // peek - check what the next value in the buffer is but don't pull it off
+    virtual T peek(uint8_t position = 0);
+
+    // num_values - returns number of values in the buffer
+    virtual uint8_t num_items() { return _num_items; }
+
+    // print_buffer - display the contents of the buffer on the serial port
+    //virtual void print_buffer();
+
+protected:
+    uint8_t     _num_items;             // number of items in the buffer
+    uint8_t     _head;                  // first item in the buffer (will be returned with the next get call)
+    uint8_t     _tail;                  // last item added to the buffer (most recently added with the add method)
+    T           _buff[SIZE];            // x values of each point on the curve
+};
+
+// Typedef for convenience
+typedef AP_Buffer<uint8_t,8> AP_BufferUInt8_Size8;
+typedef AP_Buffer<uint8_t,16> AP_BufferUnt8_Size16;
+typedef AP_Buffer<uint8_t,32> AP_BufferUInt8_Size32;
+typedef AP_Buffer<uint8_t,64> AP_BufferUInt8_Size64;
+typedef AP_Buffer<uint8_t,128> AP_BufferUInt8_Size128;
+
+typedef AP_Buffer<float,10> AP_BufferFloat_Size10;
+typedef AP_Buffer<float,15> AP_BufferFloat_Size15;
+
+// Constructor
+template <class T, uint8_t SIZE>
+AP_Buffer<T,SIZE>::AP_Buffer() :
+	_num_items(0)
+{
+	// clear the buffer
+	clear();
+};
+
+// 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;
+    _tail = 0;
+}
+
+// add - adds an item to the buffer.  returns TRUE if successfully added
+template <class T, uint8_t SIZE>
+bool AP_Buffer<T,SIZE>::add( T item )
+{
+    // add item at the tail
+    _buff[_tail] = item;
+
+    // move tail forward one position
+    _tail++;
+
+    // wrap around to front of buffer if required
+    if( _tail >= SIZE )
+        _tail = 0;
+
+    // if the tail bumps into the head, move the head forward (throw away the oldest item)
+    if( _tail == _head ) {
+        _head++;
+        if( _head >= SIZE )
+            _head = 0;
+    }else{
+        // increment number of items
+        _num_items++;
+    }
+
+    // indicate success
+    return true;
+
+/*   Old method that fails when buffer fills up
+	if( _num_items < SIZE ) {
+        // add item at the tail
+        _buff[_tail] = item;
+
+        // move tail forward one position
+		_tail++;
+
+        // wrap around to front of buffer if required
+        if( _tail >= SIZE )
+            _tail = 0;
+
+        // increment number of items
+        _num_items++;
+
+        // indicate success
+        return true;
+    }else{
+        // we do not have room for the new item
+        return false;
+    }
+*/
+}
+
+// get - returns the next value in the buffer
+template <class T, uint8_t SIZE>
+T AP_Buffer<T,SIZE>::get()
+{
+	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;
+}
+
+// peek - check what the next value in the buffer is but don't pull it off
+template <class T, uint8_t SIZE>
+T AP_Buffer<T,SIZE>::peek(uint8_t position)
+{
+    uint8_t j = _head+position;
+
+    // return zero if position is out of range
+    if( position >= _num_items )
+        return 0;
+
+    // wrap around if necessary
+    if( j >= SIZE )
+        j -= SIZE;
+
+    // return desired value
+    return _buff[j];
+}
+
+// displays the contents of the curve (for debugging)
+/*template <class T, uint8_t SIZE>
+void AP_Buffer<T,SIZE>::print_buffer()
+{
+    uint8_t i;
+	Serial.print_P(PSTR("AP_Buffer: "));
+	for( i = 0; i<_num_items; i++ ){
+        if( i > 0 ) {
+            Serial.print_P(PSTR(", "));
+        }
+		Serial.print(peek(i));
+	}
+    Serial.println();
+}*/
+
+/*
+// displays the contents of the curve (for debugging)
+template <class Vector3f, uint8_t SIZE>
+void AP_Buffer<Vector3f,SIZE>::print_buffer()
+{
+    // we cannot print Vector3f types
+}
+*/
+
+#endif  // AP_BUFFER
\ No newline at end of file