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

libraries/AP_Buffer/AP_Buffer.cpp

@@ -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);

libraries/AP_Buffer/AP_Buffer.h

@@ -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__