Diff: embeddedRTPS/include/rtps/storages/ThreadSafeCircularBuffer.tpp

Revision:

0:580aba13d1a1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/embeddedRTPS/include/rtps/storages/ThreadSafeCircularBuffer.tpp	Thu Dec 30 21:06:29 2021 +0900
@@ -0,0 +1,96 @@
+
+#ifndef RTPS_THREADSAFECIRCULARBUFFER_TPP
+#define RTPS_THREADSAFECIRCULARBUFFER_TPP
+
+#include "rtps/utils/Lock.h"
+
+#define TSCB_VERBOSE 0
+namespace rtps {
+
+template <typename T, uint16_t SIZE>
+bool ThreadSafeCircularBuffer<T, SIZE>::init() {
+  if (m_initialized) {
+    return true;
+  }
+  if (sys_mutex_new(&m_mutex) != ERR_OK) {
+#if TSCB_VERBOSE
+    printf("Failed to create mutex \n");
+#endif
+    return false;
+  } else {
+#if TSCB_VERBOSE
+    printf("Successfully created mutex at %p\n", static_cast<void *>(&m_mutex));
+#endif
+    m_initialized = true;
+    return true;
+  }
+}
+
+template <typename T, uint16_t SIZE>
+ThreadSafeCircularBuffer<T, SIZE>::~ThreadSafeCircularBuffer() {
+  if (m_initialized) {
+    sys_mutex_free(&m_mutex);
+  }
+}
+
+template <typename T, uint16_t SIZE>
+bool ThreadSafeCircularBuffer<T, SIZE>::moveElementIntoBuffer(T &&elem) {
+  Lock lock(m_mutex);
+  if (!isFull()) {
+    m_buffer[m_head] = std::move(elem);
+    incrementHead();
+    return true;
+  } else {
+    return false;
+  }
+}
+
+template <typename T, uint16_t SIZE>
+bool ThreadSafeCircularBuffer<T, SIZE>::moveFirstInto(T &hull) {
+  Lock lock(m_mutex);
+  if (m_head != m_tail) {
+    hull = std::move(m_buffer[m_tail]);
+    incrementTail();
+    return true;
+  } else {
+    return false;
+  }
+}
+
+template <typename T, uint16_t SIZE>
+void ThreadSafeCircularBuffer<T, SIZE>::clear() {
+  Lock lock(m_mutex);
+  m_head = m_tail;
+}
+
+template <typename T, uint16_t SIZE>
+bool ThreadSafeCircularBuffer<T, SIZE>::isFull() {
+  auto it = m_head;
+  incrementIterator(it);
+  return it == m_tail;
+}
+
+template <typename T, uint16_t SIZE>
+inline void
+ThreadSafeCircularBuffer<T, SIZE>::incrementIterator(uint16_t &iterator) {
+  ++iterator;
+  if (iterator >= m_buffer.size()) {
+    iterator = 0;
+  }
+}
+
+template <typename T, uint16_t SIZE>
+inline void ThreadSafeCircularBuffer<T, SIZE>::incrementTail() {
+  incrementIterator(m_tail);
+}
+
+template <typename T, uint16_t SIZE>
+inline void ThreadSafeCircularBuffer<T, SIZE>::incrementHead() {
+  incrementIterator(m_head);
+  if (m_head == m_tail) {
+    incrementTail();
+  }
+}
+} // namespace rtps
+
+#endif // RTPS_THREADSAFECIRCULARBUFFER_TPP