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100 lines
2.8 KiB
C++
100 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <stdint.h>
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#include <stddef.h>
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namespace px4
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{
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template <size_t N>
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class Bitset
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{
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public:
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size_t count() const
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{
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size_t total = 0;
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for (auto x : _data) {
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while (x) {
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total += x & 1;
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x >>= 1;
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}
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}
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return total;
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}
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size_t size() const { return N; }
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bool operator[](size_t position) const
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{
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return _data[array_index(position)] & element_mask(position);
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}
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void set(size_t pos, bool val = true)
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{
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const uint8_t bitmask = element_mask(pos);
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if (val) {
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_data[array_index(pos)] |= bitmask;
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} else {
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_data[array_index(pos)] &= ~bitmask;
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}
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}
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void reset()
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{
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// set bits to false
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for (auto &d : _data) {
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d = 0;
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}
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}
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private:
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static constexpr uint8_t BITS_PER_ELEMENT = 8;
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static constexpr size_t ARRAY_SIZE = (N % BITS_PER_ELEMENT == 0) ? N / BITS_PER_ELEMENT : N / BITS_PER_ELEMENT + 1;
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static constexpr size_t ALLOCATED_BITS = ARRAY_SIZE * BITS_PER_ELEMENT;
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size_t array_index(size_t position) const { return position / BITS_PER_ELEMENT; }
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uint8_t element_mask(size_t position) const { return (1 << position % BITS_PER_ELEMENT); }
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uint8_t _data[ARRAY_SIZE] {};
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};
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} // namespace px4
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