RingBuf.h

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/*
 * The MIT License (MIT)
 * 
 * Copyright (c) 2015 D. Aaron Wisner
 * 
 * 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 EM_RINGBUF_CPP_H
#define EM_RINGBUF_CPP_H

#include "ros_lib/rosserial_vex_v5/utils/RingBufHelpers.h"
#include "main.h"

template <typename Type, uint16_t MaxElements>
class RingBufCPP
{
public:

RingBufCPP(pros::Mutex& mut): rosvexMutex(mut)
{
   RB_ATOMIC_START
   {
     _numElements = 0;

     _head = 0;
   }
   RB_ATOMIC_END
}

bool add(Type &obj)
{
  bool ret = false;
  RB_ATOMIC_START
  {
    if (!isFull()) {
      _buf[_head] = obj;
      _head = (_head + 1)%MaxElements;
      _numElements++;

      ret = true;
    }
  }
  RB_ATOMIC_END

  return ret;
}


bool pull(Type *dest)
{
  bool ret = false;
  uint16_t tail;

  RB_ATOMIC_START
  {
    if (!isEmpty()) {
      tail = getTail();
      *dest = _buf[tail];
      _numElements--;

      ret = true;
    }
  }
  RB_ATOMIC_END

  return ret;
}


Type peek(uint16_t num)
{
  Type *ret = NULL;

  RB_ATOMIC_START
  {
    if (num < _numElements) //make sure not out of bounds
      ret = &_buf[(getTail() + num)%MaxElements];
  }
  RB_ATOMIC_END

  return ret;
}


bool isFull()
{
  bool ret;

  RB_ATOMIC_START
  {
    ret = _numElements >= MaxElements;
  }
  RB_ATOMIC_END

  return ret;
}


uint16_t numElements()
{
  uint16_t ret;

  RB_ATOMIC_START
  {
    ret = _numElements;
  }
  RB_ATOMIC_END

  return ret;
}


bool isEmpty()
{
  bool ret;

  RB_ATOMIC_START
  {
    ret = !_numElements;
  }
  RB_ATOMIC_END

  return ret;
}

protected:
uint16_t getTail()
{
  return (_head + (MaxElements - _numElements))%MaxElements;
}


// underlying array
Type _buf[MaxElements];

uint16_t _head;
uint16_t _numElements;
private:
  pros::Mutex& rosvexMutex;
};

#endif