AP_Buffer.h

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#pragma once

#include <stdint.h>

template <class T, uint8_t SIZE>
class AP_Buffer {
public:
    
    AP_Buffer();

    void clear();

    void push_back( const T &item );

    bool pop_front(T &ret);

    const T& peek(uint8_t position) const;

    T& peek_mutable(uint8_t position);

    const T& front() const { return this->peek(0); }

    uint8_t size() const { return _num_items; }

    bool is_full() const { return _num_items >= SIZE; }

    bool is_empty() const { return _num_items == 0; }

private:
    uint8_t     _num_items;             // number of items in the buffer
    uint8_t     _head;                  // first item in the buffer (will be returned with the next pop_front call)
    T           _buff[SIZE];            // x values of each point on the curve
};

// Typedef for convenience - add more as needed
typedef AP_Buffer<float,5> AP_BufferFloat_Size5;
typedef AP_Buffer<float,15> AP_BufferFloat_Size15;

template <class T, uint8_t SIZE>
AP_Buffer<T,SIZE>::AP_Buffer() :
    _num_items(0), _head(0)
{
}

template <class T, uint8_t SIZE>
void AP_Buffer<T,SIZE>::clear() {
    // clear the curve
    _num_items = 0;
    _head = 0;
}

template <class T, uint8_t SIZE>
void AP_Buffer<T,SIZE>::push_back( const T &item )
{
    // determine position of new item
    uint8_t tail = _head + _num_items;
    if( tail >= SIZE ) {
        tail -= SIZE;
    }

    // add item to buffer
    _buff[tail] = item;

    // increment number of items
    if( _num_items < SIZE ) {
        _num_items++;
    }else{
        // no room for new items so drop oldest item
        _head++;
        if( _head >= SIZE ) {
            _head = 0;
        }
    }
}

template <class T, uint8_t SIZE>
bool AP_Buffer<T,SIZE>::pop_front(T &ret)
{
    if(_num_items == 0) {
        // buffer is empty
        return false;
    }

    // get next value in buffer
    ret = _buff[_head];

    // increment to next point
    _head++;
    if( _head >= SIZE )
        _head = 0;

    // reduce number of items
    _num_items--;

    // success
    return true;
}

template <class T, uint8_t SIZE>
const T& AP_Buffer<T,SIZE>::peek(uint8_t position) const
{
    uint8_t j = _head + position;

    // wrap around if necessary
    if( j >= SIZE )
        j -= SIZE;

    // return desired value
    return _buff[j];
}

template <class T, uint8_t SIZE>
T& AP_Buffer<T,SIZE>::peek_mutable(uint8_t position)
{
    uint8_t j = _head + position;

    // wrap around if necessary
    if( j >= SIZE )
        j -= SIZE;

    // return desired value
    return _buff[j];
}