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+#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