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Firmware for UT Robotex 2018 basketball robot
Diff: RFManager/CircularBuffer2.h
- Revision:
- 0:ef6268629f0b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RFManager/CircularBuffer2.h Fri Sep 28 10:46:57 2018 +0000 @@ -0,0 +1,74 @@ +/* Copyright (c) 2010-2011 mbed.org, MIT License +* +* Permission is hereby granted, free of charge, to any person obtaining a copy of this software +* and associated documentation files (the "Software"), to deal in the Software without +* restriction, including without limitation the rights to use, copy, modify, merge, publish, +* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the +* Software is furnished to do so, subject to the following conditions: +* +* The above copyright notice and this permission notice shall be included in all copies or +* substantial portions of the Software. +* +* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING +* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, +* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +*/ + +#ifndef CIRCULARBUFFER2_H +#define CIRCULARBUFFER2_H + +template <class T> +class CircularBuffer2 { +public: + + CircularBuffer2(int length) { + write = 0; + read = 0; + size = length + 1; + buf = (T *)malloc(size * sizeof(T)); + }; + + ~CircularBuffer2() { + free(buf); + } + + bool isFull() { + return ((write + 1) % size == read); + }; + + bool isEmpty() { + return (read == write); + }; + + void queue(T k) { + if (isFull()) { + read++; + read %= size; + } + buf[write++] = k; + write %= size; + } + + uint16_t available() { + return (write >= read) ? write - read : size - read + write; + }; + + bool dequeue(T * c) { + bool empty = isEmpty(); + if (!empty) { + *c = buf[read++]; + read %= size; + } + return(!empty); + }; + +private: + volatile uint16_t write; + volatile uint16_t read; + uint16_t size; + T * buf; +}; + +#endif