/**************************************************************************** * * Copyright (C) 2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ #pragma once #include #include // FIFO ringbuffer implementation for packets of variable length. // // The variable length is implemented using a 4 byte header // containing a the length. // // The buffer is not thread-safe. class VariableLengthRingbuffer { public: /* @brief Constructor * * @note Does not allocate automatically. */ VariableLengthRingbuffer() = default; /* * @brief Destructor * * Automatically calls deallocate. */ ~VariableLengthRingbuffer(); /* @brief Allocate ringbuffer * * @note The variable length requires 4 bytes * of overhead per packet. * * @param buffer_size Number of bytes to allocate on heap. * * @returns false if allocation fails. */ bool allocate(size_t buffer_size); /* * @brief Deallocate ringbuffer * * @note only required to deallocate and reallocate again. */ void deallocate(); /* * @brief Copy packet into ringbuffer * * @param packet Pointer to packet to copy from. * @param packet_len Length of packet. * * @returns true if packet could be copied into buffer. */ bool push_back(const uint8_t *packet, size_t packet_len); /* * @brief Get packet from ringbuffer * * @note max_buf_len needs to be bigger equal to any pushed packet. * * @param buf Pointer to where next packet can be copied into. * @param max_buf_len Max size of buf * * @returns 0 if packet is bigger than max_len or buffer is empty. */ size_t pop_front(uint8_t *buf, size_t max_buf_len); private: struct Header { uint32_t len; }; Ringbuffer _ringbuffer {}; };