ros melodic library with custom message
Dependents: Robot_team1_QEI_Douglas Robot_team1
ros_lib/BufferedSerial/Buffer/Buffer.h
- Committer:
- florine_van
- Date:
- 2019-12-03
- Revision:
- 3:b964e3f71102
- Parent:
- 0:020db18a476d
File content as of revision 3:b964e3f71102:
/** * @file Buffer.h * @brief Software Buffer - Templated Ring Buffer for most data types * @author sam grove * @version 1.0 * @see * * Copyright (c) 2013 * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #ifndef BUFFER_H #define BUFFER_H #include <stdint.h> #include <string.h> /** A templated software ring buffer * * Example: * @code * #include "mbed.h" * #include "Buffer.h" * * Buffer <char> buf; * * int main() * { * buf = 'a'; * buf.put('b'); * char *head = buf.head(); * puts(head); * * char whats_in_there[2] = {0}; * int pos = 0; * * while(buf.available()) * { * whats_in_there[pos++] = buf; * } * printf("%c %c\n", whats_in_there[0], whats_in_there[1]); * buf.clear(); * error("done\n\n\n"); * } * @endcode */ template <typename T> class Buffer { private: T *_buf; volatile uint32_t _wloc; volatile uint32_t _rloc; uint32_t _size; public: /** Create a Buffer and allocate memory for it * @param size The size of the buffer */ Buffer(uint32_t size = 0x100); /** Get the size of the ring buffer * @return the size of the ring buffer */ uint32_t getSize(); /** Destry a Buffer and release it's allocated memory */ ~Buffer(); /** Add a data element into the buffer * @param data Something to add to the buffer */ void put(T data); /** Remove a data element from the buffer * @return Pull the oldest element from the buffer */ T get(void); /** Get the address to the head of the buffer * @return The address of element 0 in the buffer */ T *head(void); /** Reset the buffer to 0. Useful if using head() to parse packeted data */ void clear(void); /** Determine if anything is readable in the buffer * @return 1 if something can be read, 0 otherwise */ uint32_t available(void); /** Overloaded operator for writing to the buffer * @param data Something to put in the buffer * @return */ Buffer &operator= (T data) { put(data); return *this; } /** Overloaded operator for reading from the buffer * @return Pull the oldest element from the buffer */ operator int(void) { return get(); } uint32_t peek(char c); }; template <class T> inline void Buffer<T>::put(T data) { _buf[_wloc++] = data; _wloc %= (_size-1); return; } template <class T> inline T Buffer<T>::get(void) { T data_pos = _buf[_rloc++]; _rloc %= (_size-1); return data_pos; } template <class T> inline T *Buffer<T>::head(void) { T *data_pos = &_buf[0]; return data_pos; } template <class T> inline uint32_t Buffer<T>::available(void) { return (_wloc == _rloc) ? 0 : 1; } #endif