diff --git a/src/shared/utils/collections/CircularBuffer.h b/src/shared/utils/collections/CircularBuffer.h
index ea8e77bf51d155650f094e34edcde78deb484b15..8dfb8385efc639a3b12a097aad9f895dc32ed414 100644
--- a/src/shared/utils/collections/CircularBuffer.h
+++ b/src/shared/utils/collections/CircularBuffer.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2015-2018 Skyward Experimental Rocketry
- * Author: Luca Erbetta
+ * Author: Luca Erbetta, Davide Mor
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -50,7 +50,7 @@ public:
* @param elem Element to be added to the queue.
* @return The element added.
*/
- virtual T& put(const T& elem)
+ T& put(const T& elem)
{
buffer[writePtr] = elem;
T& added = buffer[writePtr];
@@ -78,7 +78,7 @@ public:
* @param i Index of the element to get, starting from the oldest.
* @return The element.
*/
- virtual T& get(unsigned int i = 0)
+ T& get(unsigned int i = 0)
{
// Here we need to explicitly specify the name of this class because we
// DO NOT want to call the version of count() overridden by a derived
@@ -102,7 +102,7 @@ public:
* @throw range_error if buffer is empty.
* @return The element.
*/
- virtual T& last() { return get(count() - 1); }
+ T& last() { return get(count() - 1); }
/**
* @brief Pops the first element in the buffer.
@@ -111,7 +111,7 @@ public:
* @throw range_error if buffer is empty.
* @return The element that has been popped.
*/
- virtual const T& pop()
+ const T& pop()
{
if (!empty)
{
@@ -131,7 +131,7 @@ public:
*
* @return Number of elements in the buffer.
*/
- virtual size_t count() const
+ size_t count() const
{
if (empty)
return 0;
@@ -145,9 +145,9 @@ public:
}
}
- virtual bool isEmpty() const { return empty; }
+ bool isEmpty() const { return empty; }
- virtual bool isFull() const
+ bool isFull() const
{
// Same as in get(): explicitly specify the name of the class to avoid
// deadlocks!
diff --git a/src/shared/utils/collections/IRQCircularBuffer.h b/src/shared/utils/collections/IRQCircularBuffer.h
index e27d15e2a37652df6e822d29fd8d3ff0cd3af104..276182957972a3a73b1afa070f82a0cfba1bea64 100644
--- a/src/shared/utils/collections/IRQCircularBuffer.h
+++ b/src/shared/utils/collections/IRQCircularBuffer.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2015-2018 Skyward Experimental Rocketry
- * Author: Luca Erbetta
+ * Author: Luca Erbetta, Davide Mor
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -24,6 +24,8 @@
#include <miosix.h>
+#include <type_traits>
+
#include "CircularBuffer.h"
using miosix::FastInterruptDisableLock;
@@ -38,20 +40,20 @@ namespace Boardcore
* interrupt service routines.
*/
template <typename T, unsigned int Size>
-class IRQCircularBuffer : public CircularBuffer<T, Size>
+class IRQCircularBuffer
{
-
- using Super = CircularBuffer<T, Size>;
+ static_assert(std::is_trivially_copy_constructible<T>::value,
+ "T must be trivially copy constructible!");
public:
/**
* @brief Puts a copy of the element in the buffer.
*/
- T& put(const T& elem) override
+ T& put(const T& elem)
{
FastInterruptDisableLock d;
IRQwakeWaitingThread();
- return Super::put(elem);
+ return buffer.put(elem);
}
/**
@@ -65,10 +67,23 @@ public:
* @param i Index of the element to get, starting from the oldest.
* @return The element.
*/
- T& get(unsigned int i = 0) override
+ T get(unsigned int i = 0)
+ {
+ FastInterruptDisableLock d;
+ return buffer.get(i);
+ }
+
+ /**
+ * @brief Returns the last element added in the buffer.
+ *
+ * @warning Remember to catch the exception!
+ * @throw range_error if buffer is empty.
+ * @return The element.
+ */
+ T last()
{
FastInterruptDisableLock d;
- return Super::get(i);
+ return buffer.last();
}
/**
@@ -78,10 +93,10 @@ public:
* @throw range_error if buffer is empty.
* @return The element that has been popped.
*/
- const T& pop() override
+ T pop()
{
FastInterruptDisableLock d;
- return Super::pop();
+ return buffer.pop();
}
/**
@@ -89,22 +104,22 @@ public:
*
* @return Number of elements in the buffer.
*/
- size_t count() const override
+ size_t count() const
{
FastInterruptDisableLock d;
- return Super::count();
+ return buffer.count();
}
- bool isEmpty() const override
+ bool isEmpty() const
{
FastInterruptDisableLock d;
- return Super::isEmpty();
+ return buffer.isEmpty();
}
- bool isFull() const override
+ bool isFull() const
{
FastInterruptDisableLock d;
- return Super::isFull();
+ return buffer.isFull();
}
/**
@@ -112,10 +127,10 @@ public:
*
* @warning Only to be called inside an ISR or with interrupts disabled.
*/
- T& IRQput(const T& elem)
+ void IRQput(const T& elem)
{
IRQwakeWaitingThread();
- return Super::put(elem);
+ buffer.put(elem);
}
/**
@@ -127,14 +142,14 @@ public:
* @param hppw Set to true if the woken thread is higher priority than the
* current one, unchanged otherwise
*/
- T& IRQput(const T& elem, bool& hppw)
+ void IRQput(const T& elem, bool& hppw)
{
if (waiting && (waiting->IRQgetPriority() >
Thread::IRQgetCurrentThread()->IRQgetPriority()))
hppw = true;
IRQwakeWaitingThread();
- return Super::put(elem);
+ buffer.put(elem);
}
/**
@@ -150,7 +165,7 @@ public:
* @param i Index of the element to get, starting from the oldest.
* @return The element.
*/
- T& IRQget(unsigned int i = 0) { return Super::get(i); }
+ T IRQget(unsigned int i = 0) { return buffer.get(i); }
/**
* @brief Pops the first element in the buffer.
@@ -161,7 +176,7 @@ public:
* @throw range_error if buffer is empty.
* @return The element that has been popped.
*/
- const T& IRQpop() { return Super::pop(); }
+ T IRQpop() { return buffer.pop(); }
/**
* @brief Counts the elements in the buffer.
@@ -170,17 +185,17 @@ public:
*
* @return Number of elements in the buffer.
*/
- size_t IRQcount() const { return Super::count(); }
+ size_t IRQcount() const { return buffer.count(); }
/**
* @warning Only to be called inside an ISR or with interrupts disabled.
*/
- bool IRQisEmpty() const { return Super::isEmpty(); }
+ bool IRQisEmpty() const { return buffer.isEmpty(); }
/**
* @warning Only to be called inside an ISR or with interrupts disabled.
*/
- bool IRQisFull() const { return Super::isFull(); }
+ bool IRQisFull() const { return buffer.isFull(); }
/**
* @brief Waits until the buffer contains at least one element.
@@ -188,7 +203,7 @@ public:
void waitUntilNotEmpty()
{
FastInterruptDisableLock d;
- while (Super::isEmpty())
+ while (buffer.isEmpty())
{
IRQwakeWaitingThread();
waiting = Thread::IRQgetCurrentThread();
@@ -201,6 +216,14 @@ public:
}
}
+ /**
+ * @brief Returns the maximum number of elements that can be stored in the
+ * buffer.
+ *
+ * @return Buffer size.
+ */
+ size_t getSize() const { return Size; }
+
private:
void IRQwakeWaitingThread()
{
@@ -212,6 +235,7 @@ private:
}
Thread* waiting = nullptr;
+ CircularBuffer<T, Size> buffer;
};
} // namespace Boardcore
diff --git a/src/shared/utils/collections/SyncCircularBuffer.h b/src/shared/utils/collections/SyncCircularBuffer.h
index 27f757cd1fb03cc745f192f1940157b094149af1..eb2eeeb7d4c059d49b631a166eb90c69fbcd1cd3 100644
--- a/src/shared/utils/collections/SyncCircularBuffer.h
+++ b/src/shared/utils/collections/SyncCircularBuffer.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2015-2018 Skyward Experimental Rocketry
- * Author: Luca Erbetta
+ * Author: Luca Erbetta, Davide Mor
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -24,6 +24,8 @@
#include <miosix.h>
+#include <type_traits>
+
#include "CircularBuffer.h"
using miosix::ConditionVariable;
@@ -37,21 +39,18 @@ namespace Boardcore
* Implementation of a synchronized circular buffer
*/
template <typename T, unsigned int Size>
-class SyncCircularBuffer : public CircularBuffer<T, Size>
+class SyncCircularBuffer
{
-
- using Super = CircularBuffer<T, Size>;
-
public:
/**
* Puts a copy of the element in the buffer
* @param elem element
*/
- T& put(const T& elem) override
+ void put(const T& elem)
{
Lock<FastMutex> l(mutex);
cv.signal();
- return Super::put(elem);
+ buffer.put(elem);
}
/**
@@ -65,10 +64,23 @@ public:
* @param i Index of the element to get, starting from the oldest.
* @return The element.
*/
- T& get(unsigned int i = 0) override
+ T get(unsigned int i = 0)
+ {
+ Lock<FastMutex> l(mutex);
+ return buffer.get(i);
+ }
+
+ /**
+ * @brief Returns the last element added in the buffer.
+ *
+ * @warning Remember to catch the exception!
+ * @throw range_error if buffer is empty.
+ * @return The element.
+ */
+ T last()
{
Lock<FastMutex> l(mutex);
- return Super::get(i);
+ return buffer.last();
}
/**
@@ -78,10 +90,10 @@ public:
* @throw range_error if buffer is empty.
* @return The element that has been popped.
*/
- const T& pop() override
+ T pop()
{
Lock<FastMutex> l(mutex);
- return Super::pop();
+ return buffer.pop();
}
/**
@@ -89,22 +101,22 @@ public:
*
* @return Number of elements in the buffer.
*/
- size_t count() const override
+ size_t count() const
{
Lock<FastMutex> l(mutex);
- return Super::count();
+ return buffer.count();
}
- bool isEmpty() const override
+ bool isEmpty() const
{
Lock<FastMutex> l(mutex);
- return Super::isEmpty();
+ return buffer.isEmpty();
}
- bool isFull() const override
+ bool isFull() const
{
Lock<FastMutex> l(mutex);
- return Super::isFull();
+ return buffer.isFull();
}
/**
@@ -113,15 +125,25 @@ public:
void waitUntilNotEmpty()
{
Lock<FastMutex> l(mutex);
- while (Super::isEmpty())
+ while (buffer.isEmpty())
{
cv.wait(l);
}
}
+ /**
+ * @brief Returns the maximum number of elements that can be stored in the
+ * buffer.
+ *
+ * @return Buffer size.
+ */
+ size_t getSize() const { return Size; }
+
private:
mutable FastMutex mutex;
mutable ConditionVariable cv;
+
+ CircularBuffer<T, Size> buffer;
};
} // namespace Boardcore
diff --git a/src/shared/utils/collections/SyncPacketQueue.h b/src/shared/utils/collections/SyncPacketQueue.h
index 4a28254b2d2803c5f79dad9f3feb3a115abde7a3..b786f7f2916d27401446d351ff0a0c3011f8cfe0 100644
--- a/src/shared/utils/collections/SyncPacketQueue.h
+++ b/src/shared/utils/collections/SyncPacketQueue.h
@@ -271,7 +271,7 @@ public:
/**
* @return The oldest packet, without removing it from the queue.
*/
- const Packet<pktLen>& get()
+ const Packet<pktLen> get()
{
Lock<FastMutex> l(mutex);
return buffer.get();
@@ -280,7 +280,7 @@ public:
/**
* @return The oldest packet, removing it from the queue.
*/
- const Packet<pktLen>& pop()
+ const Packet<pktLen> pop()
{
Lock<FastMutex> l(mutex);
return buffer.pop();