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https://github.com/ArduPilot/ardupilot
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70 lines
2.2 KiB
C++
70 lines
2.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_Buffer.h
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/// @brief fifo (queue) buffer template class
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#ifndef __AP_BUFFER_H__
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#define __AP_BUFFER_H__
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#include <stdint.h>
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/// @class AP_Buffer
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template <class T, uint8_t SIZE>
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class AP_Buffer {
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public:
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/// Constructor
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///
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AP_Buffer();
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/// clear - removes all elements from the queue
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///
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void clear();
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/// push_back - adds an item to the end of the buffer.
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/// If the buffer is full, the oldest element (i.e. the element at the begin) is removed
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/// @param item
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void push_back( const T &item );
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/// pop_front - removes an element from the begin of the buffer (i.e. the oldest element)
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/// and returns it. If the buffer is empty, 0 is returned
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/// @return
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T pop_front();
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/// peek - returns a reference to an element of the buffer
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/// if position isn't valid (i.e. >= size()) 0 is returned
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/// @param position : index of the element
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/// "0" is the oldest, size()-1 is the newest
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/// @return
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const T& peek(uint8_t position) const;
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/// front - return a reference to the element at the begin of the queue (i.e. the oldest element)
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/// If the queue is empty, 0 is returned.
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/// @return : oldest element
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const T& front() const { return this->peek(0); }
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/// size - returns the number of elements in the queue
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/// @return
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uint8_t size() const { return _num_items; }
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/// is_full - return true if the queue is full (i.e. size() == SIZE)
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/// @return
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bool is_full() const { return _num_items >= SIZE; }
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/// is_empty - returns true if the queue is empty
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/// @return
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bool is_empty() const { return _num_items == 0; }
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private:
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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 pop_front call)
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T _buff[SIZE]; // x values of each point on the curve
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};
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// Typedef for convenience - add more as needed
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// (The used template instances have also to be instantiated explicitly in the source file.)
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typedef AP_Buffer<float,5> AP_BufferFloat_Size5;
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typedef AP_Buffer<float,15> AP_BufferFloat_Size15;
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#endif // __AP_BUFFER_H__
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