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AP_Buffer: instantiate as a .cpp file, and optimise for const usage

This commit is contained in:
Andrew Tridgell 2013-04-21 20:56:08 +10:00
parent ad40ba57be
commit bad478134d
2 changed files with 114 additions and 109 deletions
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107
libraries/AP_Buffer/AP_Buffer.cpp Normal file
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@ -0,0 +1,107 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @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)
{
// 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;
}
// 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 )
{
// 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;
}
}
// indicate success
return true;
}
// 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) const
{
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];
}
template float AP_Buffer<float,5>::peek(uint8_t position) const;
template AP_Buffer<float, 5>::AP_Buffer();
template void AP_Buffer<float, 5>::clear();
template bool AP_Buffer<float, 5>::add(float);
template float AP_Buffer<float,15>::peek(uint8_t position) const;
template AP_Buffer<float, 15>::AP_Buffer();
template void AP_Buffer<float, 15>::clear();
template bool AP_Buffer<float, 15>::add(float);

116
libraries/AP_Buffer/AP_Buffer.h
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@ -12,134 +12,32 @@
template <class T, uint8_t SIZE>
class AP_Buffer {
public:
// Constructor
AP_Buffer();
// clear - removes all points from the curve
virtual void clear();
void clear();
// add - adds an item to the buffer. returns TRUE if successfully added
virtual bool add( T item );
bool add( T item );
// get - returns the next value in the buffer
virtual T get();
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);
T peek(uint8_t position = 0) const;
// num_values - returns number of values in the buffer
virtual uint8_t num_items() { return _num_items; }
uint8_t num_items() const { return _num_items; }
// print_buffer - display the contents of the buffer on the serial port
//virtual void print_buffer();
protected:
private:
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)
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 for convenience - add more as needed
typedef AP_Buffer<float,5> AP_BufferFloat_Size5;
typedef AP_Buffer<float,10> AP_BufferFloat_Size10;
typedef AP_Buffer<float,15> AP_BufferFloat_Size15;
typedef AP_Buffer<float,20> AP_BufferFloat_Size20;
// 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;
}
// 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 )
{
// 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;
}
}
// indicate success
return true;
}
// 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];
}
#endif // __AP_BUFFER_H__