// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
// This is free software; you can redistribute it and/or modify it under
// the terms of the GNU Lesser General Public License as published by the
// Free Software Foundation; either version 2.1 of the License, or (at
// your option) any later version.
//

/// @file	FilterWithBuffer.h
/// @brief	A filter with a buffer.
///         This is implemented separately to the base Filter class to get around
///         restrictions caused by the use of templates which makes different sizes essentially
///         completely different classes

#ifndef FilterWithBuffer_h
#define FilterWithBuffer_h

#include <inttypes.h>
#include <AP_Common.h>
#include <Filter.h>

template <class T, uint8_t FILTER_SIZE>
class FilterWithBuffer : public Filter<T>
{
  public:
	// constructor
	FilterWithBuffer();

	// apply - Add a new raw value to the filter, retrieve the filtered result
	virtual T apply(T sample);

	// reset - clear the filter
	virtual void reset();

	// get filter size
	virtual uint8_t get_filter_size() { return FILTER_SIZE; };

  protected:
	T		samples[FILTER_SIZE];	// buffer of samples
	uint8_t	sample_index;			// pointer to the next empty slot in the buffer
};

// Typedef for convenience
typedef FilterWithBuffer<int16_t,2> FilterWithBufferInt16_Size2;
typedef FilterWithBuffer<int16_t,3> FilterWithBufferInt16_Size3;
typedef FilterWithBuffer<int16_t,4> FilterWithBufferInt16_Size4;
typedef FilterWithBuffer<int16_t,5> FilterWithBufferInt16_Size5;
typedef FilterWithBuffer<int16_t,6> FilterWithBufferInt16_Size6;
typedef FilterWithBuffer<int16_t,7> FilterWithBufferInt16_Size7;
typedef FilterWithBuffer<uint16_t,2> FilterWithBufferUInt16_Size2;
typedef FilterWithBuffer<uint16_t,3> FilterWithBufferUInt16_Size3;
typedef FilterWithBuffer<uint16_t,4> FilterWithBufferUInt16_Size4;
typedef FilterWithBuffer<uint16_t,5> FilterWithBufferUInt16_Size5;
typedef FilterWithBuffer<uint16_t,6> FilterWithBufferUInt16_Size6;
typedef FilterWithBuffer<uint16_t,7> FilterWithBufferUInt16_Size7;

typedef FilterWithBuffer<int32_t,2> FilterWithBufferInt32_Size2;
typedef FilterWithBuffer<int32_t,3> FilterWithBufferInt32_Size3;
typedef FilterWithBuffer<int32_t,4> FilterWithBufferInt32_Size4;
typedef FilterWithBuffer<int32_t,5> FilterWithBufferInt32_Size5;
typedef FilterWithBuffer<int32_t,6> FilterWithBufferInt32_Size6;
typedef FilterWithBuffer<int32_t,7> FilterWithBufferInt32_Size7;
typedef FilterWithBuffer<uint32_t,2> FilterWithBufferUInt32_Size2;
typedef FilterWithBuffer<uint32_t,3> FilterWithBufferUInt32_Size3;
typedef FilterWithBuffer<uint32_t,4> FilterWithBufferUInt32_Size4;
typedef FilterWithBuffer<uint32_t,5> FilterWithBufferUInt32_Size5;
typedef FilterWithBuffer<uint32_t,6> FilterWithBufferUInt32_Size6;
typedef FilterWithBuffer<uint32_t,7> FilterWithBufferUInt32_Size7;

// Constructor
template <class T, uint8_t FILTER_SIZE>
FilterWithBuffer<T,FILTER_SIZE>::FilterWithBuffer() :
	Filter<T>(),
	sample_index(0)
{
	// clear sample buffer
	reset();
}

// reset - clear all samples from the buffer
template <class T, uint8_t FILTER_SIZE>
void FilterWithBuffer<T,FILTER_SIZE>::reset()
{
	// call base class reset
	Filter<T>::reset();

	// clear samples buffer
	for( int8_t i=0; i<FILTER_SIZE; i++ ) {
		samples[i] = 0;
	}

	// reset index back to beginning of the array
	sample_index = 0;
}

// apply - take in a new raw sample, and return the filtered results
template <class T, uint8_t FILTER_SIZE>
T FilterWithBuffer<T,FILTER_SIZE>::apply(T sample)
{
	// add sample to array
	samples[sample_index++] = sample;

	// wrap index if necessary
	if( sample_index >= FILTER_SIZE )
		sample_index = 0;

	// base class doesn't know what filtering to do so we just return the raw sample
	return sample;
}

#endif