Queue.hpp

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/**
 * @file Queue.hpp
 * @author Planeson, Red Bird Racing
 * @brief Declaration of a simple RingBuffer (circular buffer) template class
 * @version 1.0
 * @date 2026-01-26
 * @dir Queue @brief The Queue library contains a simple RingBuffer (circular buffer) template class, used for buffering ADC readings for filtering.
 */
 
#ifndef QUEUE_HPP
#define QUEUE_HPP
 
#include <stdint.h>
// using uint8_t for size
// highest capacity is 255
 
/**
 * @brief RingBuffer (circular buffer) template class
 * A small circular queue to hold a fixed number of elements.
 * @tparam T Type of elements stored in the buffer
 * @tparam size Capacity of the buffer
 */
template <typename T, uint8_t size>
class RingBuffer
{
public:
    // Constructor
    // Initializes the buffer and head pointer
    constexpr RingBuffer() : buffer{0}, head(0), count(0) {}
 
    /**
     * @brief Pushes a new value into the ring buffer.
     * This will overwrite the oldest value if the buffer is full.
     *
     * @param val The value to be added to the buffer.
     */
    void push(T val)
    {
        buffer[head] = val;
        head = (head + 1) % size;
        if (count < size)
            ++count;
    }
 
    /**
     * @brief Returns the elements in the buffer in linear order.
     *
     * @param out Pointer to an array where the linear buffer will be stored. This array shall be created by the caller and must have at least 'size' elements.
     * @note The order of elements in the output array will be from oldest to newest.
     */
    void getLinearBuffer(T *out)
    {
        if (out == nullptr)
            return;
 
        for (int i = 0; i < count; ++i)
        {
            out[i] = buffer[(head + i) % size];
        }
    }
 
    T buffer[size];
    uint8_t head;
    uint8_t count;
};
 
#endif // QUEUE_HPP