Reiko Randoja
/
ut_bbr
Basketball robot mainboard firmware
RFManager/CircularBuffer2.h@0:88887cfb2b04, 2018-09-10 (annotated)
- Committer:
- Reiko
- Date:
- Mon Sep 10 15:24:08 2018 +0000
- Revision:
- 0:88887cfb2b04
Mainboard firmware for basketball robot
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Reiko | 0:88887cfb2b04 | 1 | /* Copyright (c) 2010-2011 mbed.org, MIT License |
Reiko | 0:88887cfb2b04 | 2 | * |
Reiko | 0:88887cfb2b04 | 3 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
Reiko | 0:88887cfb2b04 | 4 | * and associated documentation files (the "Software"), to deal in the Software without |
Reiko | 0:88887cfb2b04 | 5 | * restriction, including without limitation the rights to use, copy, modify, merge, publish, |
Reiko | 0:88887cfb2b04 | 6 | * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the |
Reiko | 0:88887cfb2b04 | 7 | * Software is furnished to do so, subject to the following conditions: |
Reiko | 0:88887cfb2b04 | 8 | * |
Reiko | 0:88887cfb2b04 | 9 | * The above copyright notice and this permission notice shall be included in all copies or |
Reiko | 0:88887cfb2b04 | 10 | * substantial portions of the Software. |
Reiko | 0:88887cfb2b04 | 11 | * |
Reiko | 0:88887cfb2b04 | 12 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
Reiko | 0:88887cfb2b04 | 13 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
Reiko | 0:88887cfb2b04 | 14 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
Reiko | 0:88887cfb2b04 | 15 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
Reiko | 0:88887cfb2b04 | 16 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
Reiko | 0:88887cfb2b04 | 17 | */ |
Reiko | 0:88887cfb2b04 | 18 | |
Reiko | 0:88887cfb2b04 | 19 | #ifndef CIRCULARBUFFER2_H |
Reiko | 0:88887cfb2b04 | 20 | #define CIRCULARBUFFER2_H |
Reiko | 0:88887cfb2b04 | 21 | |
Reiko | 0:88887cfb2b04 | 22 | template <class T> |
Reiko | 0:88887cfb2b04 | 23 | class CircularBuffer2 { |
Reiko | 0:88887cfb2b04 | 24 | public: |
Reiko | 0:88887cfb2b04 | 25 | |
Reiko | 0:88887cfb2b04 | 26 | CircularBuffer2(int length) { |
Reiko | 0:88887cfb2b04 | 27 | write = 0; |
Reiko | 0:88887cfb2b04 | 28 | read = 0; |
Reiko | 0:88887cfb2b04 | 29 | size = length + 1; |
Reiko | 0:88887cfb2b04 | 30 | buf = (T *)malloc(size * sizeof(T)); |
Reiko | 0:88887cfb2b04 | 31 | }; |
Reiko | 0:88887cfb2b04 | 32 | |
Reiko | 0:88887cfb2b04 | 33 | ~CircularBuffer2() { |
Reiko | 0:88887cfb2b04 | 34 | free(buf); |
Reiko | 0:88887cfb2b04 | 35 | } |
Reiko | 0:88887cfb2b04 | 36 | |
Reiko | 0:88887cfb2b04 | 37 | bool isFull() { |
Reiko | 0:88887cfb2b04 | 38 | return ((write + 1) % size == read); |
Reiko | 0:88887cfb2b04 | 39 | }; |
Reiko | 0:88887cfb2b04 | 40 | |
Reiko | 0:88887cfb2b04 | 41 | bool isEmpty() { |
Reiko | 0:88887cfb2b04 | 42 | return (read == write); |
Reiko | 0:88887cfb2b04 | 43 | }; |
Reiko | 0:88887cfb2b04 | 44 | |
Reiko | 0:88887cfb2b04 | 45 | void queue(T k) { |
Reiko | 0:88887cfb2b04 | 46 | if (isFull()) { |
Reiko | 0:88887cfb2b04 | 47 | read++; |
Reiko | 0:88887cfb2b04 | 48 | read %= size; |
Reiko | 0:88887cfb2b04 | 49 | } |
Reiko | 0:88887cfb2b04 | 50 | buf[write++] = k; |
Reiko | 0:88887cfb2b04 | 51 | write %= size; |
Reiko | 0:88887cfb2b04 | 52 | } |
Reiko | 0:88887cfb2b04 | 53 | |
Reiko | 0:88887cfb2b04 | 54 | uint16_t available() { |
Reiko | 0:88887cfb2b04 | 55 | return (write >= read) ? write - read : size - read + write; |
Reiko | 0:88887cfb2b04 | 56 | }; |
Reiko | 0:88887cfb2b04 | 57 | |
Reiko | 0:88887cfb2b04 | 58 | bool dequeue(T * c) { |
Reiko | 0:88887cfb2b04 | 59 | bool empty = isEmpty(); |
Reiko | 0:88887cfb2b04 | 60 | if (!empty) { |
Reiko | 0:88887cfb2b04 | 61 | *c = buf[read++]; |
Reiko | 0:88887cfb2b04 | 62 | read %= size; |
Reiko | 0:88887cfb2b04 | 63 | } |
Reiko | 0:88887cfb2b04 | 64 | return(!empty); |
Reiko | 0:88887cfb2b04 | 65 | }; |
Reiko | 0:88887cfb2b04 | 66 | |
Reiko | 0:88887cfb2b04 | 67 | private: |
Reiko | 0:88887cfb2b04 | 68 | volatile uint16_t write; |
Reiko | 0:88887cfb2b04 | 69 | volatile uint16_t read; |
Reiko | 0:88887cfb2b04 | 70 | uint16_t size; |
Reiko | 0:88887cfb2b04 | 71 | T * buf; |
Reiko | 0:88887cfb2b04 | 72 | }; |
Reiko | 0:88887cfb2b04 | 73 | |
Reiko | 0:88887cfb2b04 | 74 | #endif |