Program Listing for File realtime_circular_buffer.hpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
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 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef FILTERS__REALTIME_CIRCULAR_BUFFER_HPP_
#define FILTERS__REALTIME_CIRCULAR_BUFFER_HPP_

#include <algorithm>
#include <vector>

#include "boost/circular_buffer.hpp"

namespace filters
{

template<typename T>
class RealtimeCircularBuffer
{
public:
  RealtimeCircularBuffer(size_t size, const T & default_val)
  : counter_(0), cb_(size)
  {
    for (size_t i = 0; i < cb_.capacity(); ++i) {
      cb_.push_back(default_val);
    }
  }

  void push_back(const T & item)
  {
    if (cb_.capacity() == 0) {
      return;
    }

    if (counter_ < cb_.size()) {
      cb_[counter_] = item;
    } else {
      cb_.push_back(item);
    }
    counter_++;
  }

  void push_front(const T & item)
  {
    if (cb_.capacity() == 0) {return;}
    cb_.push_front(item);
    counter_++;
  }

  void clear() {counter_ = 0;}

  void set_capacity(unsigned int order, const T & value);

  T & front()
  {
    return cb_.front();
  }

  T & back()
  {
    if (counter_ < cb_.size()) {
      return cb_[counter_];
    } else {
      return cb_.back();
    }
  }

  size_t size() {return std::min(counter_, cb_.size());}
  bool empty() {return cb_.empty();}
  T & at(size_t index) {return cb_.at(index);}
  T & operator[](size_t index) {return cb_[index];}

private:
  RealtimeCircularBuffer();

  size_t counter_;

  boost::circular_buffer<T> cb_;
};

}  // namespace filters

#endif  // FILTERS__REALTIME_CIRCULAR_BUFFER_HPP_