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FRC2016-old/wpilib/cpp/current/include/CircularBuffer.inc
2016-01-28 11:33:19 -05:00

124 lines
2.8 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2015-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <algorithm>
template <class T>
CircularBuffer<T>::CircularBuffer(size_t size) : m_data(size, 0) {}
/**
* Push new value onto front of the buffer. The value at the back is overwritten
* if the buffer is full.
*/
template <class T>
void CircularBuffer<T>::PushFront(T value) {
if (m_data.size() == 0) {
return;
}
m_front = ModuloDec(m_front);
m_data[m_front] = value;
if (m_length < m_data.size()) {
m_length++;
}
}
/**
* Push new value onto back of the buffer. The value at the front is overwritten
* if the buffer is full.
*/
template <class T>
void CircularBuffer<T>::PushBack(T value) {
if (m_data.size() == 0) {
return;
}
m_data[(m_front + m_length) % m_data.size()] = value;
if (m_length < m_data.size()) {
m_length++;
} else {
// Increment front if buffer is full to maintain size
m_front = ModuloInc(m_front);
}
}
/**
* Pop value at front of buffer.
*/
template <class T>
T CircularBuffer<T>::PopFront() {
// If there are no elements in the buffer, do nothing
if (m_length == 0) {
return 0;
}
T& temp = m_data[m_front];
m_front = ModuloInc(m_front);
m_length--;
return temp;
}
/**
* Pop value at back of buffer.
*/
template <class T>
T CircularBuffer<T>::PopBack() {
// If there are no elements in the buffer, do nothing
if (m_length == 0) {
return 0;
}
m_length--;
return m_data[(m_front + m_length) % m_data.size()];
}
template <class T>
void CircularBuffer<T>::Reset() {
std::fill(m_data.begin(), m_data.end(), 0);
m_front = 0;
m_length = 0;
}
/**
* Returns element at index starting from front of buffer.
*/
template <class T>
T& CircularBuffer<T>::operator[](size_t index) {
return m_data[(m_front + index) % m_data.size()];
}
/**
* Returns element at index starting from front of buffer.
*/
template <class T>
const T& CircularBuffer<T>::operator[](size_t index) const {
return m_data[(m_front + index) % m_data.size()];
}
/**
* Increment an index modulo the length of the m_data buffer
*/
template <class T>
size_t CircularBuffer<T>::ModuloInc(size_t index) {
return (index + 1) % m_data.size();
}
/**
* Decrement an index modulo the length of the m_data buffer
*/
template <class T>
size_t CircularBuffer<T>::ModuloDec(size_t index) {
if (index == 0) {
return m_data.size() - 1;
} else {
return index - 1;
}
}