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ros melodic library with custom message

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ros_lib/BufferedSerial/Buffer/Buffer.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1
scarter1 0:020db18a476d 2 /**
scarter1 0:020db18a476d 3 * @file Buffer.h
scarter1 0:020db18a476d 4 * @brief Software Buffer - Templated Ring Buffer for most data types
scarter1 0:020db18a476d 5 * @author sam grove
scarter1 0:020db18a476d 6 * @version 1.0
scarter1 0:020db18a476d 7 * @see
scarter1 0:020db18a476d 8 *
scarter1 0:020db18a476d 9 * Copyright (c) 2013
scarter1 0:020db18a476d 10 *
scarter1 0:020db18a476d 11 * Licensed under the Apache License, Version 2.0 (the "License");
scarter1 0:020db18a476d 12 * you may not use this file except in compliance with the License.
scarter1 0:020db18a476d 13 * You may obtain a copy of the License at
scarter1 0:020db18a476d 14 *
scarter1 0:020db18a476d 15 * http://www.apache.org/licenses/LICENSE-2.0
scarter1 0:020db18a476d 16 *
scarter1 0:020db18a476d 17 * Unless required by applicable law or agreed to in writing, software
scarter1 0:020db18a476d 18 * distributed under the License is distributed on an "AS IS" BASIS,
scarter1 0:020db18a476d 19 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
scarter1 0:020db18a476d 20 * See the License for the specific language governing permissions and
scarter1 0:020db18a476d 21 * limitations under the License.
scarter1 0:020db18a476d 22 */
scarter1 0:020db18a476d 23
scarter1 0:020db18a476d 24 #ifndef BUFFER_H
scarter1 0:020db18a476d 25 #define BUFFER_H
scarter1 0:020db18a476d 26
scarter1 0:020db18a476d 27 #include <stdint.h>
scarter1 0:020db18a476d 28 #include <string.h>
scarter1 0:020db18a476d 29
scarter1 0:020db18a476d 30 /** A templated software ring buffer
scarter1 0:020db18a476d 31 *
scarter1 0:020db18a476d 32 * Example:
scarter1 0:020db18a476d 33 * @code
scarter1 0:020db18a476d 34 * #include "mbed.h"
scarter1 0:020db18a476d 35 * #include "Buffer.h"
scarter1 0:020db18a476d 36 *
scarter1 0:020db18a476d 37 * Buffer <char> buf;
scarter1 0:020db18a476d 38 *
scarter1 0:020db18a476d 39 * int main()
scarter1 0:020db18a476d 40 * {
scarter1 0:020db18a476d 41 * buf = 'a';
scarter1 0:020db18a476d 42 * buf.put('b');
scarter1 0:020db18a476d 43 * char *head = buf.head();
scarter1 0:020db18a476d 44 * puts(head);
scarter1 0:020db18a476d 45 *
scarter1 0:020db18a476d 46 * char whats_in_there[2] = {0};
scarter1 0:020db18a476d 47 * int pos = 0;
scarter1 0:020db18a476d 48 *
scarter1 0:020db18a476d 49 * while(buf.available())
scarter1 0:020db18a476d 50 * {
scarter1 0:020db18a476d 51 * whats_in_there[pos++] = buf;
scarter1 0:020db18a476d 52 * }
scarter1 0:020db18a476d 53 * printf("%c %c\n", whats_in_there[0], whats_in_there[1]);
scarter1 0:020db18a476d 54 * buf.clear();
scarter1 0:020db18a476d 55 * error("done\n\n\n");
scarter1 0:020db18a476d 56 * }
scarter1 0:020db18a476d 57 * @endcode
scarter1 0:020db18a476d 58 */
scarter1 0:020db18a476d 59
scarter1 0:020db18a476d 60 template <typename T>
scarter1 0:020db18a476d 61 class Buffer
scarter1 0:020db18a476d 62 {
scarter1 0:020db18a476d 63 private:
scarter1 0:020db18a476d 64 T *_buf;
scarter1 0:020db18a476d 65 volatile uint32_t _wloc;
scarter1 0:020db18a476d 66 volatile uint32_t _rloc;
scarter1 0:020db18a476d 67 uint32_t _size;
scarter1 0:020db18a476d 68
scarter1 0:020db18a476d 69 public:
scarter1 0:020db18a476d 70 /** Create a Buffer and allocate memory for it
scarter1 0:020db18a476d 71 * @param size The size of the buffer
scarter1 0:020db18a476d 72 */
scarter1 0:020db18a476d 73 Buffer(uint32_t size = 0x100);
scarter1 0:020db18a476d 74
scarter1 0:020db18a476d 75 /** Get the size of the ring buffer
scarter1 0:020db18a476d 76 * @return the size of the ring buffer
scarter1 0:020db18a476d 77 */
scarter1 0:020db18a476d 78 uint32_t getSize();
scarter1 0:020db18a476d 79
scarter1 0:020db18a476d 80 /** Destry a Buffer and release it's allocated memory
scarter1 0:020db18a476d 81 */
scarter1 0:020db18a476d 82 ~Buffer();
scarter1 0:020db18a476d 83
scarter1 0:020db18a476d 84 /** Add a data element into the buffer
scarter1 0:020db18a476d 85 * @param data Something to add to the buffer
scarter1 0:020db18a476d 86 */
scarter1 0:020db18a476d 87 void put(T data);
scarter1 0:020db18a476d 88
scarter1 0:020db18a476d 89 /** Remove a data element from the buffer
scarter1 0:020db18a476d 90 * @return Pull the oldest element from the buffer
scarter1 0:020db18a476d 91 */
scarter1 0:020db18a476d 92 T get(void);
scarter1 0:020db18a476d 93
scarter1 0:020db18a476d 94 /** Get the address to the head of the buffer
scarter1 0:020db18a476d 95 * @return The address of element 0 in the buffer
scarter1 0:020db18a476d 96 */
scarter1 0:020db18a476d 97 T *head(void);
scarter1 0:020db18a476d 98
scarter1 0:020db18a476d 99 /** Reset the buffer to 0. Useful if using head() to parse packeted data
scarter1 0:020db18a476d 100 */
scarter1 0:020db18a476d 101 void clear(void);
scarter1 0:020db18a476d 102
scarter1 0:020db18a476d 103 /** Determine if anything is readable in the buffer
scarter1 0:020db18a476d 104 * @return 1 if something can be read, 0 otherwise
scarter1 0:020db18a476d 105 */
scarter1 0:020db18a476d 106 uint32_t available(void);
scarter1 0:020db18a476d 107
scarter1 0:020db18a476d 108 /** Overloaded operator for writing to the buffer
scarter1 0:020db18a476d 109 * @param data Something to put in the buffer
scarter1 0:020db18a476d 110 * @return
scarter1 0:020db18a476d 111 */
scarter1 0:020db18a476d 112 Buffer &operator= (T data)
scarter1 0:020db18a476d 113 {
scarter1 0:020db18a476d 114 put(data);
scarter1 0:020db18a476d 115 return *this;
scarter1 0:020db18a476d 116 }
scarter1 0:020db18a476d 117
scarter1 0:020db18a476d 118 /** Overloaded operator for reading from the buffer
scarter1 0:020db18a476d 119 * @return Pull the oldest element from the buffer
scarter1 0:020db18a476d 120 */
scarter1 0:020db18a476d 121 operator int(void)
scarter1 0:020db18a476d 122 {
scarter1 0:020db18a476d 123 return get();
scarter1 0:020db18a476d 124 }
scarter1 0:020db18a476d 125
scarter1 0:020db18a476d 126 uint32_t peek(char c);
scarter1 0:020db18a476d 127
scarter1 0:020db18a476d 128 };
scarter1 0:020db18a476d 129
scarter1 0:020db18a476d 130 template <class T>
scarter1 0:020db18a476d 131 inline void Buffer<T>::put(T data)
scarter1 0:020db18a476d 132 {
scarter1 0:020db18a476d 133 _buf[_wloc++] = data;
scarter1 0:020db18a476d 134 _wloc %= (_size-1);
scarter1 0:020db18a476d 135
scarter1 0:020db18a476d 136 return;
scarter1 0:020db18a476d 137 }
scarter1 0:020db18a476d 138
scarter1 0:020db18a476d 139 template <class T>
scarter1 0:020db18a476d 140 inline T Buffer<T>::get(void)
scarter1 0:020db18a476d 141 {
scarter1 0:020db18a476d 142 T data_pos = _buf[_rloc++];
scarter1 0:020db18a476d 143 _rloc %= (_size-1);
scarter1 0:020db18a476d 144
scarter1 0:020db18a476d 145 return data_pos;
scarter1 0:020db18a476d 146 }
scarter1 0:020db18a476d 147
scarter1 0:020db18a476d 148 template <class T>
scarter1 0:020db18a476d 149 inline T *Buffer<T>::head(void)
scarter1 0:020db18a476d 150 {
scarter1 0:020db18a476d 151 T *data_pos = &_buf[0];
scarter1 0:020db18a476d 152
scarter1 0:020db18a476d 153 return data_pos;
scarter1 0:020db18a476d 154 }
scarter1 0:020db18a476d 155
scarter1 0:020db18a476d 156 template <class T>
scarter1 0:020db18a476d 157 inline uint32_t Buffer<T>::available(void)
scarter1 0:020db18a476d 158 {
scarter1 0:020db18a476d 159 return (_wloc == _rloc) ? 0 : 1;
scarter1 0:020db18a476d 160 }
scarter1 0:020db18a476d 161
scarter1 0:020db18a476d 162 #endif
scarter1 0:020db18a476d 163