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authordufourj2006-04-09 15:53:14 +0000
committerdufourj2006-04-09 15:53:14 +0000
commitfe8085484038b83d431459ac7fc3980cbbac9137 (patch)
tree5f4bd11fbbb60ee311e969630bbe9d294849ca75
parent1cb15048a3da2076ea3d41b53b2791cbb8925eec (diff)
Data:
- ajout du buffer circulaire (enfin !)
-rw-r--r--i/marvin/src/data/Makefile.defs6
-rw-r--r--i/marvin/src/data/data_buffer.hh4
-rw-r--r--i/marvin/src/data/data_circular_buffer.cc123
-rw-r--r--i/marvin/src/data/data_circular_buffer.hh64
-rw-r--r--i/marvin/src/data/test_data_circular_buffer.cc92
5 files changed, 285 insertions, 4 deletions
diff --git a/i/marvin/src/data/Makefile.defs b/i/marvin/src/data/Makefile.defs
index 54e6cb6..aa64e47 100644
--- a/i/marvin/src/data/Makefile.defs
+++ b/i/marvin/src/data/Makefile.defs
@@ -1,8 +1,10 @@
-PROGRAMS += test_data test_data_buffer
+PROGRAMS += test_data test_data_buffer test_data_circular_buffer
data_OBJECTS = data_input.o data_input_file.o data_input_zlib.o \
- data_buffer.o data_output.o -lz
+ data_buffer.o data_output.o data_circular_buffer.o -lz
test_data_OBJECTS = test_data.o $(data_OBJECTS)
test_data_buffer_OBJECTS = test_data_buffer.o data_buffer.o
+
+test_data_circular_buffer_OBJECTS = test_data_circular_buffer.o data_circular_buffer.o
diff --git a/i/marvin/src/data/data_buffer.hh b/i/marvin/src/data/data_buffer.hh
index 3d2201d..e0d526e 100644
--- a/i/marvin/src/data/data_buffer.hh
+++ b/i/marvin/src/data/data_buffer.hh
@@ -51,8 +51,6 @@ class DataBuffer : public DataInput, public DataOutput
dataType_e type_;
/// Augmente la taille du buffer pour correspondre à size.
void grow (const unsigned size);
- /// Echange les buffers.
- void swap (DataBuffer &d);
public:
/// Constructeur par défaut.
DataBuffer (void);
@@ -73,6 +71,8 @@ class DataBuffer : public DataInput, public DataOutput
void write (const uint8_t *buf, unsigned size);
/// Taille utile du buffer.
unsigned size (void) const { return tailPos_ - headPos_; }
+ /// Echange les buffers.
+ void swap (DataBuffer &d);
/// Type de données du buffer.
dataType_e type (void) const { return type_; }
/// Change le type de données du buffer.
diff --git a/i/marvin/src/data/data_circular_buffer.cc b/i/marvin/src/data/data_circular_buffer.cc
new file mode 100644
index 0000000..be17526
--- /dev/null
+++ b/i/marvin/src/data/data_circular_buffer.cc
@@ -0,0 +1,123 @@
+// data_circular_buffer.cc
+// marvin - programme du robot 2006. {{{
+//
+// Copyright (C) 2006 Dufour Jérémy
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "data_circular_buffer.hh"
+
+#include <cstring> // std::memcpy
+#include <stdexcept> // std::runtime_error
+#include <algorithm> // std::swap, std::min
+
+#include <iostream> // XXX
+
+/// Default constructor.
+/// Size is the allocated size in memory.
+DataCircularBuffer::DataCircularBuffer (unsigned size)
+ : size_ (size + 1), startPos_ (0), endPos_ (0)
+{
+ // The + 1 for size is because, in some cases, we will have an empty case.
+ buffer_ = new uint8_t [size_];
+}
+
+/// Destructor.
+DataCircularBuffer::~DataCircularBuffer (void)
+{
+ delete [] buffer_;
+}
+
+/// Read data of maximum size in the data pointer (data must be allocated of
+/// size).
+unsigned
+DataCircularBuffer::read (uint8_t *data, unsigned size)
+{
+ if (!data || !size)
+ throw std::invalid_argument ("Invalid parameter");
+ return internalRead (data, size);
+}
+
+/// Internal read, do the real job.
+unsigned
+DataCircularBuffer::internalRead (uint8_t *data, unsigned size)
+{
+ // Size of data to read
+ unsigned sizeToRead = std::min (maxReadableData (), size);
+ // Size of data to read for the end of the buffer
+ unsigned sizeToReadEnd = std::min (size_ - startPos_, sizeToRead);
+ // Copy end part of buffer
+ if (data)
+ std::memcpy (&data[0], &buffer_[startPos_], sizeToReadEnd);
+ // Need to do the begin part of buffer ?
+ int sizeToReadStart = sizeToRead - sizeToReadEnd;
+ if (sizeToReadStart > 0)
+ {
+ if (data)
+ std::memcpy (&data[sizeToReadEnd], &buffer_[0], sizeToReadStart);
+ // Move start of data
+ startPos_ = 0 + sizeToReadStart;
+ }
+ else
+ // Move start of data
+ startPos_ = (startPos_ + sizeToRead) % size_;
+ return sizeToRead;
+}
+
+/// Write data of size length.
+void
+DataCircularBuffer::write (const uint8_t *data, unsigned size)
+{
+ if (!data || !size)
+ throw std::invalid_argument ("Invalid parameter");
+
+ // Max size we can write
+ unsigned sizeToWrite = std::min (size, size_ - 1);
+
+ // Read data before overwrite it if needed
+ int sizeToRead = sizeToWrite - (size_ - maxReadableData ()) + 1;
+ if (sizeToRead > 0)
+ if (internalRead (0, sizeToRead) != (unsigned) sizeToRead)
+ throw std::runtime_error ("Unexpected error");
+
+ // Max size we can write until the end of the buffer
+ unsigned sizeToWriteEnd = std::min (size_ - endPos_, sizeToWrite);
+ // Write first part.
+ std::memcpy (&buffer_[endPos_], &data[size - sizeToWrite + 0], sizeToWriteEnd);
+ // More to write ?
+ unsigned sizeToWriteStart = sizeToWrite - sizeToWriteEnd;
+ if (sizeToWriteStart > 0)
+ {
+ std::memcpy (&buffer_[0], &data[size - sizeToWrite + sizeToWriteEnd], sizeToWriteStart);
+ endPos_ = 0 + sizeToWriteStart;
+ }
+ else
+ endPos_ = (endPos_ + sizeToWrite) % size_;
+}
+
+/// Swap data between tow DataCircularBuffer.
+void
+DataCircularBuffer::swap (DataCircularBuffer &d)
+{
+ std::swap (buffer_, d.buffer_);
+ std::swap (size_, d.size_);
+ std::swap (startPos_, d.startPos_);
+ std::swap (endPos_, d.endPos_);
+}
diff --git a/i/marvin/src/data/data_circular_buffer.hh b/i/marvin/src/data/data_circular_buffer.hh
new file mode 100644
index 0000000..f08426d
--- /dev/null
+++ b/i/marvin/src/data/data_circular_buffer.hh
@@ -0,0 +1,64 @@
+#ifndef data_circular_buffer_hh
+#define data_circular_buffer_hh
+// data_circular_buffer.hh
+// marvin - programme du robot 2006. {{{
+//
+// Copyright (C) 2006 Dufour Jérémy
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+
+#include "data_input.hh"
+#include "data_output.hh"
+
+#include <stdint.h> // uint8_t
+
+class DataCircularBuffer : public DataInput, public DataOutput
+{
+ private:
+ /// Calculate the quantity of maximum data we can read.
+ unsigned maxReadableData (void)
+ { return (endPos_ + size_ - startPos_) % size_; }
+ /// Internal read, do the real job.
+ unsigned internalRead (uint8_t *data, unsigned size);
+ /// Buffer.
+ uint8_t *buffer_;
+ /// Size of the buffer.
+ unsigned size_;
+ /// Start and end positions of data in the buffer.
+ unsigned startPos_, endPos_;
+ public:
+ /// Default constructor.
+ /// Size is the allocated size in memory.
+ DataCircularBuffer (unsigned size);
+ /// Destructor.
+ ~DataCircularBuffer (void);
+ /// Read data of maximum size in the data pointer (data must be allocated
+ /// of size).
+ unsigned read (uint8_t *data, unsigned size);
+ /// Write data of size length.
+ void write (const uint8_t *data, unsigned size);
+ /// Size of the buffer.
+ unsigned size (void) const { return size_; }
+ /// Swap data between tow DataCircularBuffer.
+ void swap (DataCircularBuffer &d);
+};
+
+#endif // data_circular_buffer_hh
diff --git a/i/marvin/src/data/test_data_circular_buffer.cc b/i/marvin/src/data/test_data_circular_buffer.cc
new file mode 100644
index 0000000..9bdc063
--- /dev/null
+++ b/i/marvin/src/data/test_data_circular_buffer.cc
@@ -0,0 +1,92 @@
+// test_data_circular_buffer.cc
+// marvin - programme du robot 2006. {{{
+//
+// Copyright (C) 2006 Dufour Jérémy
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "data_circular_buffer.hh"
+
+#include <iostream>
+#include <stdexcept>
+#include <unistd.h>
+#include <time.h>
+
+#define MAX_SIZE_BUFF 101
+#define MAX_SIZE_CIRC 99
+
+unsigned
+randVal (double max)
+{
+ return 1 + (int) (max * std::rand () / (RAND_MAX + 1.0));
+}
+
+int
+main (void)
+{
+ // Init random
+ std::srand (std::time (NULL));
+ try
+ {
+ DataCircularBuffer d (MAX_SIZE_CIRC);
+ uint8_t buffOrig[MAX_SIZE_BUFF];
+ uint8_t buffRes[MAX_SIZE_BUFF];
+
+ int i, compt, tmp;
+ // Fill buffer
+ for (i = 0; i < MAX_SIZE_BUFF; i++)
+ memset (&buffOrig[i], i, 1);
+
+ // Fill circular buffer
+ compt = 0;
+ for (i = 0; i < 42; i++)
+ {
+ tmp = randVal (MAX_SIZE_BUFF - compt);
+ d.write (&buffOrig[compt], tmp);
+ compt = (tmp + compt) % MAX_SIZE_BUFF;
+ }
+
+ // Read
+ compt = 0;
+ unsigned res;
+ do
+ {
+ tmp = randVal (7.);
+ res = d.read (&buffRes[compt], tmp);
+ compt += tmp;
+ } while (res != 0);
+
+ // Compare
+ for (i = 0; i < MAX_SIZE_CIRC - 1; i++)
+ {
+ if (buffRes [i] != buffOrig [(buffRes[0] +i) % MAX_SIZE_BUFF])
+ throw std::runtime_error ("Test failed !");
+ }
+
+ }
+
+ catch (const std::exception &e)
+ {
+ std::cerr << e.what () << std::endl;
+ return 1;
+ }
+ return 0;
+}
+