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MIT License

Contributors:

Tim - https://github.com/Defragster

Mike - https://github.com/mjs513

Designed and tested for PJRC Teensy 3.2, 3.5, and 3.6 boards.

May or may not work on other microcontrollers, support for them will not be provided.

Use at your own risk.

Forum link : https://forum.pjrc.com/threads/50395-Circular_Buffer

Permission is hereby granted, free of charge, to any person obtaining a copy

of this software and associated documentation files (the "Software"), to deal

in the Software without restriction, including without limitation the rights

to use, copy, modify, merge, publish, distribute, sublicense, and / or sell

copies of the Software, and to permit persons to whom the Software is

furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all

copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE

SOFTWARE.

#ifndef CIRCULAR_BUFFER_H

#define CIRCULAR_BUFFER_H

#include <algorithm>

template<typename T, uint16_t _size, uint16_t multi = 0>

class Circular_Buffer {

public:

void push_back(T value) { return write(value); }

void push_front(T value);

T pop_front() { return read(); }

T pop_back();

void write(T value);

void push_back(const T *buffer, uint16_t length) { write(buffer, length); }

void write(const T *buffer, uint16_t length);

void push_front(const T *buffer, uint16_t length);

T peek(uint16_t pos = 0);

T peekBytes(T *buffer, uint16_t length);

T read();

T pop_front(T *buffer, uint16_t length) { return readBytes(buffer,length); }

T read(T *buffer, uint16_t length) { return readBytes(buffer,length); }

T readBytes(T *buffer, uint16_t length);

void flush() { clear(); }

void clear() { head = tail = _available = 0; }

void print(const char *p);

void println(const char *p);

uint16_t size() { return _available; }

uint16_t available() { return _available; }

T capacity() { return _size; }

uint16_t length_back() { return ((uint16_t)(_cabuf[_cbuf[(head+size()-1)&(_size-1)]][0] << 8*sizeof(T)) | _cabuf[_cbuf[(head+size()-1)&(_size-1)]][1]); }

uint16_t length_back() { return ((uint16_t)(_cabuf[((head+size()-1)&(_size-1))][0] << 8*sizeof(T)) | _cabuf[((head+size()-1)&(_size-1))][1]); }

uint16_t length_front() { return ((uint16_t)_cabuf[_cbuf[(head)&(_size-1)]][0] << 8*sizeof(T) | _cabuf[_cbuf[(head)&(_size-1)]][1]); }

uint16_t length_front() { return ((uint16_t)_cabuf[((head)&(_size-1))][0] << 8*sizeof(T) | _cabuf[((head)&(_size-1))][1]); }

T list();

T variance();

T deviation();

T average();

bool remove(uint16_t pos);

T median(bool override = 0);

void sort_ascending();

void sort_descending();

T sum();

T min();

T max();

T mean() { return average(); }

T max_size() { return multi; }

T pop_back(T *buffer, uint16_t length);

T* peek_front() { return front(); }

T* peek_back() { return back(); }

T* front() { return _cabuf[_cbuf[(head)&(_size-1)]]+2; }

T* front() { return _cabuf[((head)&(_size-1))]+2; }

T* back() { return _cabuf[(tail-1)&(_size-1)]+2; }

T* back() { return _cabuf[((tail-1)&(_size-1))]+2; }

bool replace(T *buffer, uint16_t length, int pos1, int pos2, int pos3, int pos4 = -1, int pos5 = -1);

T* find(int pos1, int pos2, int pos3, int pos4 = -1, int pos5 = -1);

protected:

private:

volatile uint16_t head = 0;

volatile uint16_t tail = 0;

volatile uint16_t _available = 0;

bool init_ca = 1;

T _cbuf[_size];

T _cabuf[_size][multi+2];

void _init();

};

template<typename T, uint16_t _size, uint16_t multi>

bool Circular_Buffer<T,_size,multi>::remove(uint16_t pos) {

if ( multi ) {

if ( pos >= _size ) return 0;

int32_t find_area = -1;

for ( uint16_t i = 0; i < _size; i++ ) {

if ( ((head+i)&(_size-1)) == pos ) {

find_area = i;

break;

}

if ( find_area == -1 ) return 0;

while ( ((head+find_area)&(_size-1)) != ((head)&(_size-1)) ) {

memmove(_cabuf[_cbuf[((head+find_area)&(_size-1))]],_cabuf[_cbuf[((head+find_area-1)&(_size-1))]],((int)((int)_cabuf[(int)_cbuf[(head+find_area-1)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head+find_area-1)&(_size-1)]][1])+3);

memmove(_cabuf[((head+find_area)&(_size-1))],_cabuf[((head+find_area-1)&(_size-1))],((uint16_t)(_cabuf[((head+find_area-1)&(_size-1))][0] << 8*sizeof(T)) | _cabuf[((head+find_area-1)&(_size-1))][1])+3);

find_area--;

}

head = ((head + 1)&(2*_size-1));

_available--;

return 1;

}

return 0;

}

template<typename T, uint16_t _size, uint16_t multi>

T* Circular_Buffer<T, _size, multi>::find(int pos1, int pos2, int pos3, int pos4, int pos5) {

}

template<typename T, uint16_t _size, uint16_t multi>

bool Circular_Buffer<T, _size, multi>::replace(T *buffer, uint16_t length, int pos1, int pos2, int pos3, int pos4, int pos5) {

uint8_t input_count = 3;

bool found = 0;

if ( pos4 != -1 ) input_count = 4;

if ( pos5 != -1 ) input_count = 5;

for ( uint16_t j = 0; j < _available; j++ ) {

switch ( input_count ) {

case 3: {

if ( _cabuf[ (head+j)&(_size-1) ][pos1+2] == buffer[pos1] && _cabuf[ (head+j)&(_size-1) ][pos2+2] == buffer[pos2] &&

if ( _cabuf[ ((head+j)&(_size-1)) ][pos1+2] == buffer[pos1] && _cabuf[ ((head+j)&(_size-1)) ][pos2+2] == buffer[pos2] &&

_cabuf[ (head+j)&(_size-1) ][pos3+2] == buffer[pos3] ) {

_cabuf[ ((head+j)&(_size-1)) ][pos3+2] == buffer[pos3] ) {

found = 1;

break;

}

case 4: {

if ( _cabuf[ (head+j)&(_size-1) ][pos1+2] == buffer[pos1] && _cabuf[ (head+j)&(_size-1) ][pos2+2] == buffer[pos2] &&

if ( _cabuf[ ((head+j)&(_size-1)) ][pos1+2] == buffer[pos1] && _cabuf[ ((head+j)&(_size-1)) ][pos2+2] == buffer[pos2] &&

_cabuf[ (head+j)&(_size-1) ][pos3+2] == buffer[pos3] && _cabuf[ (head+j)&(_size-1) ][pos4+2] == buffer[pos4] ) {

_cabuf[ ((head+j)&(_size-1)) ][pos3+2] == buffer[pos3] && _cabuf[ ((head+j)&(_size-1)) ][pos4+2] == buffer[pos4] ) {

found = 1;

break;

}

case 5: {

if ( _cabuf[ (head+j)&(_size-1) ][pos1+2] == buffer[pos1] && _cabuf[ (head+j)&(_size-1) ][pos2+2] == buffer[pos2] &&

if ( _cabuf[ ((head+j)&(_size-1)) ][pos1+2] == buffer[pos1] && _cabuf[ ((head+j)&(_size-1)) ][pos2+2] == buffer[pos2] &&

_cabuf[ (head+j)&(_size-1) ][pos3+2] == buffer[pos3] && _cabuf[ (head+j)&(_size-1) ][pos4+2] == buffer[pos4] &&

_cabuf[ ((head+j)&(_size-1)) ][pos3+2] == buffer[pos3] && _cabuf[ ((head+j)&(_size-1)) ][pos4+2] == buffer[pos4] &&

_cabuf[ (head+j)&(_size-1) ][pos5+2] == buffer[pos5] ) {

_cabuf[ ((head+j)&(_size-1)) ][pos5+2] == buffer[pos5] ) {

found = 1;

break;

}

if ( found ) {

_cabuf[j][0] = ((uint8_t)(length >> 8*sizeof(T)));

_cabuf[ ((head+j)&(_size-1)) ][0] = ((uint8_t)(length >> 8*sizeof(T)));

_cabuf[j][1] = length;

_cabuf[ ((head+j)&(_size-1)) ][1] = length;

memmove(_cabuf[j]+2,buffer,length*sizeof(T));

memmove(_cabuf[ ((head+j)&(_size-1)) ]+2,buffer,length*sizeof(T));

break;

}

return found;

}

template<typename T, uint16_t _size, uint16_t multi>

void Circular_Buffer<T,_size,multi>::print(const char *p) {

if ( multi ) return;

write((T*)p,strlen(p));

}

template<typename T, uint16_t _size, uint16_t multi>

void Circular_Buffer<T,_size,multi>::println(const char *p) {

if ( multi ) return;

write((T*)p,strlen(p));

write('\n');

}

template<typename T, uint16_t _size, uint16_t multi>

void Circular_Buffer<T,_size,multi>::_init() {

for ( uint16_t i = 0; i < _size; i++ ) _cbuf[i] = i;

init_ca = 0;

}

template<typename T, uint16_t _size, uint16_t multi>

void Circular_Buffer<T,_size,multi>::push_front(const T *buffer, uint16_t length) {

if ( multi ) {

if ( init_ca ) _init();

if ( tail == (head ^ _size) ) tail = (tail - 1)&(2*_size-1);

if ( tail == (head ^ _size) ) tail = ((tail - 1)&(2*_size-1));

head = (head - 1)&(2*_size-1);

head = ((head - 1)&(2*_size-1));

_cabuf[_cbuf[head&(_size-1)]][0] = length >> 8*sizeof(T);

_cabuf[(head&(_size-1))][0] = length >> 8*sizeof(T);

_cabuf[_cbuf[head&(_size-1)]][1] = length;

_cabuf[(head&(_size-1))][1] = length;

memmove(_cabuf[_cbuf[(head)&(_size-1)]]+2,buffer,length*sizeof(T));

memmove(_cabuf[((head)&(_size-1))]+2,buffer,length*sizeof(T));

if ( _available < _size ) _available++;

return;

}

for ( uint16_t i = length-1; i > 0; i-- ) push_front(buffer[i]);

push_front(buffer[0]);

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::pop_back() {

if ( _available ) {

if ( _available ) _available--;

tail = (tail - 1)&(2*_size-1);

tail = ((tail - 1)&(2*_size-1));

return _cbuf[tail&(_size-1)];

return _cbuf[((tail)&(_size-1))];

}

return -1;

}

template<typename T, uint16_t _size, uint16_t multi>

void Circular_Buffer<T,_size,multi>::push_front(T value) {

if ( multi ) return;

head = (head - 1)&(2*_size-1);

head = ((head - 1)&(2*_size-1));

_cbuf[head&(_size-1)] = value;

_cbuf[((head)&(_size-1))] = value;

if ( _available < _size ) _available++;

}

template<typename T, uint16_t _size, uint16_t multi>

void Circular_Buffer<T,_size,multi>::write(const T *buffer, uint16_t length) {

if ( multi ) {

if ( init_ca ) _init();

_cabuf[(int)_cbuf[tail&(_size-1)]][0] = length >> 8*sizeof(T);

_cabuf[((tail)&(_size-1))][0] = length >> 8*sizeof(T);

_cabuf[(int)_cbuf[tail&(_size-1)]][1] = length;

_cabuf[((tail)&(_size-1))][1] = length;

memmove(_cabuf[(int)_cbuf[tail&(_size-1)]]+2,buffer,length*sizeof(T));

memmove(_cabuf[((tail)&(_size-1))]+2,buffer,length*sizeof(T));

if ( tail == (head ^ _size) ) head = (head + 1)&(2*_size-1);

if ( tail == ((head ^ _size)) ) head = ((head + 1)&(2*_size-1));

tail = (tail + 1)&(2*_size-1);

tail = ((tail + 1)&(2*_size-1));

if ( _available < _size ) _available++;

return;

}

if ( ( _available += length ) >= _size ) _available = _size;

if ( length < ( _size - tail ) ) {

memmove(_cbuf+tail,buffer,length*sizeof(T));

tail = (tail + length)&(2*_size-1);

tail = ((tail + length)&(2*_size-1));

}

else for ( uint16_t i = 0; i < length; i++ ) write(buffer[i]);

}

template<typename T, uint16_t _size, uint16_t multi>

void Circular_Buffer<T,_size,multi>::write(T value) {

if ( multi ) return;

if ( _available < _size ) _available++;

_cbuf[tail&(_size-1)] = value;

_cbuf[((tail)&(_size-1))] = value;

if ( tail == (head ^ _size) ) head = (head + 1)&(2*_size-1);

if ( tail == ((head ^ _size)) ) head = ((head + 1)&(2*_size-1));

tail = (tail + 1)&(2*_size-1);

tail = ((tail + 1)&(2*_size-1));

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::list() {

if ( multi ) {

if ( init_ca ) _init();

if ( !size() ) {

Serial.println("There are no queues available..."); return 0;

}

Serial.print("\nCircular Array Buffer Queue Size: "); Serial.print(size()); Serial.print(" / "); Serial.println(_size);

Serial.print("\nFirst Entry: ");

for ( uint16_t i = 2; i <= (((int)_cabuf[(int)_cbuf[(head)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head)&(_size-1)]][1])+1; i++ ) {

for ( uint16_t i = 2; i <= (((int)_cabuf[((head)&(_size-1))][0] << 8*sizeof(T)) | (int)_cabuf[((head)&(_size-1))][1])+1; i++ ) {

if ( (int)(_cabuf[(int)_cbuf[(head+i)&(_size-1)]][i]) != (T)(_cabuf[(int)_cbuf[(head+i)&(_size-1)]][i]) ) { // possible float?

if ( (int)(_cabuf[((head+i)&(_size-1))][i]) != (T)(_cabuf[((head+i)&(_size-1))][i]) ) { // possible float?

Serial.print(_cabuf[(int)_cbuf[(head)&(_size-1)]][i],7);

Serial.print(_cabuf[((head)&(_size-1))][i],7);

}

else Serial.print(_cabuf[(int)_cbuf[(head)&(_size-1)]][i]);

else Serial.print(_cabuf[((head)&(_size-1))][i]);

Serial.print(" ");

} Serial.print("("); Serial.print(((int)((int)_cabuf[(int)_cbuf[(head)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head)&(_size-1)]][1])); Serial.println(" entries.)");

} Serial.print("("); Serial.print((((int)_cabuf[((head)&(_size-1))][0] << 8*sizeof(T)) | (int)_cabuf[((head)&(_size-1))][1])); Serial.println(" entries.)");

Serial.print("Last Entry: ");

for ( uint16_t i = 2; i <= ((int)((int)_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][1])+1; i++ ) {

for ( uint16_t i = 2; i <= (((int)_cabuf[((head+size()-1)&(_size-1))][0] << 8*sizeof(T)) | (int)_cabuf[((head+size()-1)&(_size-1))][1])+1; i++ ) {

if ( (int)(_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][i]) != (T)(_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][i]) ) { // possible float?

if ( (int)(_cabuf[((head+size()-1)&(_size-1))][i]) != (T)(_cabuf[((head+size()-1)&(_size-1))][i]) ) { // possible float?

Serial.print(_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][i],7);

Serial.print(_cabuf[((head+size()-1)&(_size-1))][i],7);

}

else Serial.print(_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][i]);

else Serial.print(_cabuf[((head+size()-1)&(_size-1))][i]);

Serial.print(" ");

} Serial.print("("); Serial.print(((int)((int)_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][1])); Serial.println(" entries.)");

} Serial.print("("); Serial.print((((int)_cabuf[((head+size()-1)&(_size-1))][0] << 8*sizeof(T)) | (int)_cabuf[((head+size()-1)&(_size-1))][1])); Serial.println(" entries.)");

Serial.print("\n[Indice] [Entries]\n\n");

for ( uint16_t i = 0; i < size(); i++ ) {

Serial.print(" ");

Serial.print((head+i)&(_size-1));

Serial.print(((head+i)&(_size-1)));

Serial.print("\t\t");

for ( uint16_t j = 2; j <= ((int)((int)_cabuf[(int)_cbuf[(head+i)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head+i)&(_size-1)]][1])+1; j++ ) {

for ( uint16_t j = 2; j <= (((int)_cabuf[((head+i)&(_size-1))][0] << 8*sizeof(T)) | (int)_cabuf[((head+i)&(_size-1))][1])+1; j++ ) {

if ( (int)(_cabuf[(int)_cbuf[(head+i)&(_size-1)]][j]) != (T)(_cabuf[(int)_cbuf[(head+i)&(_size-1)]][j]) ) { // possible float?

if ( (int)(_cabuf[((head+i)&(_size-1))][j]) != (T)(_cabuf[((head+i)&(_size-1))][j]) ) { // possible float?

Serial.print(_cabuf[(int)_cbuf[(head+i)&(_size-1)]][j],7); Serial.print("\t");

Serial.print(_cabuf[((head+i)&(_size-1))][j],7); Serial.print("\t");

}

else {

Serial.print(_cabuf[(int)_cbuf[(head+i)&(_size-1)]][j]); Serial.print("\t");

Serial.print(_cabuf[((head+i)&(_size-1))][j]); Serial.print("\t");

}

} Serial.print("("); Serial.print(((int)((int)_cabuf[(int)_cbuf[(head+i)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head+i)&(_size-1)]][1])); Serial.println(" entries.)");

} Serial.print("("); Serial.print((((int)_cabuf[((head+i)&(_size-1))][0] << 8*sizeof(T)) | (int)_cabuf[((head+i)&(_size-1))][1])); Serial.println(" entries.)");

}

return _available;

}

if ( !size() ) {

Serial.println("There are no queues available..."); return 0;

}

Serial.print("\nCircular Ring Buffer Queue Size: "); Serial.print(size()); Serial.print(" / "); Serial.println(_size);

Serial.print("\nIndice: \t");

for ( uint16_t i = 0; i < _available; i++ ) {

Serial.print("[");

Serial.print((head+i)&(_size-1)); Serial.print("] \t");

}

Serial.print("\nEntries:\t");

for ( uint16_t i = 0; i < _available; i++ ) {

if ( (int)_cbuf[(head+i)&(_size-1)] != (T)_cbuf[(head+i)&(_size-1)] ) { // possible float?

if ( (int)_cbuf[((head+i)&(_size-1))] != (T)_cbuf[((head+i)&(_size-1))] ) { // possible float?

Serial.print(_cbuf[(head+i)&(_size-1)],7); Serial.print("\t");

Serial.print(_cbuf[((head+i)&(_size-1))],7); Serial.print("\t");

}

else {

Serial.print(_cbuf[(head+i)&(_size-1)]); Serial.print("\t\t");

Serial.print(_cbuf[((head+i)&(_size-1))]); Serial.print("\t\t");

}

} Serial.println('\n');

return _available;

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::read() {

if ( multi ) {

if ( init_ca ) _init();

head = (head + 1)&(2*_size-1);

head = ((head + 1)&(2*_size-1));

if ( _available ) _available--;

return 0;

}

if ( _available ) _available--;

T value = _cbuf[head&(_size-1)];

T value = _cbuf[((head)&(_size-1))];

head = (head + 1)&(2*_size-1);

head = ((head + 1)&(2*_size-1));

return value;

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::sum() {

if ( multi || !_available ) return 0;

T value = 0;

for ( uint16_t i = 0; i < _available; i++ ) value += _cbuf[(head+i)&(_size-1)];

for ( uint16_t i = 0; i < _available; i++ ) value += _cbuf[((head+i)&(_size-1))];

return value;

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::average() {

if ( multi || !_available ) return 0;

return sum()/_available;

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::variance() {

if ( multi || !_available ) return 0;

T _mean = average();

T value = 0;

for ( uint16_t i = 0; i < _available; i++ ) {

value += ((_cbuf[(head+i)&(_size-1)] - _mean) * (_cbuf[(head+i)&(_size-1)] - _mean));

value += ((_cbuf[((head+i)&(_size-1))] - _mean) * (_cbuf[((head+i)&(_size-1))] - _mean));

}

value /= _available;

return value;

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::deviation() {

if ( multi || !_available ) return 0;

return sqrt(variance());

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::peek(uint16_t pos) {

if ( multi ) return 0;

if ( pos > _size ) return 0;

return _cbuf[(head+pos)&(_size-1)];

return _cbuf[((head+pos)&(_size-1))];

}

template<typename T, uint16_t _size, uint16_t multi>

void Circular_Buffer<T,_size,multi>::sort_ascending() {

if ( multi || !_available ) return;

T buffer[_available];

for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[(head+i)&(_size-1)];

for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[((head+i)&(_size-1))];

std::sort(&buffer[0], &buffer[_available]); // sort ascending

for ( uint16_t i = 0; i < _available; i++ ) _cbuf[(head+i)&(_size-1)] = buffer[i];

for ( uint16_t i = 0; i < _available; i++ ) _cbuf[((head+i)&(_size-1))] = buffer[i];

}

template<typename T, uint16_t _size, uint16_t multi>

void Circular_Buffer<T,_size,multi>::sort_descending() {

if ( multi || !_available ) return;

sort_ascending();

T buffer[_available];

for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[(head+i)&(_size-1)];

for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[((head+i)&(_size-1))];

std::reverse(&buffer[0], &buffer[_available]); // sort descending

for ( uint16_t i = 0; i < _available; i++ ) _cbuf[(head+i)&(_size-1)] = buffer[i];

for ( uint16_t i = 0; i < _available; i++ ) _cbuf[((head+i)&(_size-1))] = buffer[i];

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::median(bool override) {

if ( multi || !_available ) return 0;

if ( override ) sort_ascending();

else {

T buffer[_available];

for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[(head+i)&(_size-1)];

for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[((head+i)&(_size-1))];

std::sort(&buffer[0], &buffer[_available]); // sort ascending

}

if ( !(_available % 2) ) {

return ( _cbuf[(head+((_available/2)-1))&(_size-1)] + _cbuf[(head+(_available/2))&(_size-1)] ) /2;

return ( _cbuf[((head+((_available/2)-1))&(_size-1))] + _cbuf[((head+(_available/2))&(_size-1))] ) /2;

}

else return _cbuf[(head+((_available/2)))&(_size-1)];

else return _cbuf[((head+((_available/2)))&(_size-1))];

return 0;

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::max() {

if ( multi || !_available ) return 0;

T buffer[_available];

for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[(head+i)&(_size-1)];

for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[((head+i)&(_size-1))];

std::sort(&buffer[0], &buffer[_available]); // sort ascending

return buffer[_available-1];

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::min() {

if ( multi || !_available ) return 0;

T buffer[_available];

for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[(head+i)&(_size-1)];

for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[((head+i)&(_size-1))];

std::sort(&buffer[0], &buffer[_available]); // sort ascending

return buffer[0];

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::peekBytes(T *buffer, uint16_t length) {

if ( multi ) return 0;

uint16_t _count;

( _available < length ) ? _count = _available : _count = length;

if ( _count < ( _size - head ) ) memmove(buffer,_cbuf,_count*sizeof(T));

else for ( uint16_t i = 0; i < _count; i++ ) buffer[i] = peek(i);

return _count;

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::readBytes(T *buffer, uint16_t length) {

if ( multi ) {

if ( init_ca ) _init();

memmove(&buffer[0],&_cabuf[(int)_cbuf[(head)&(_size-1)]][2],length*sizeof(T)); // update CA buffer

memmove(&buffer[0],&_cabuf[((head)&(_size-1))][2],length*sizeof(T)); // update CA buffer

read();

return 0;

}

uint16_t _count;

( _available < length ) ? _count = _available : _count = length; // memmove if aligned

if ( _count < ( _size - head ) ) {

_available -= length;

memmove(buffer,_cbuf,_count*sizeof(T));

head = (head + _count)&(2*_size-1);

head = ((head + _count)&(2*_size-1));

}

else for ( uint16_t i = 0; i < _count; i++ ) buffer[i] = read(); // if buffer rollover

return _count;

}

template<typename T, uint16_t _size, uint16_t multi>

T Circular_Buffer<T,_size,multi>::pop_back(T *buffer, uint16_t length) {

if ( multi ) {

if ( init_ca ) _init();

memmove(&buffer[0],&_cabuf[(tail-1)&(_size-1)][2],length*sizeof(T));

memmove(&buffer[0],&_cabuf[((tail-1)&(_size-1))][2],length*sizeof(T));

tail = (tail - 1)&(2*_size-1);

if ( _available ) _available--;

return 0;

}

#endif // Circular_Buffer_H

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/*
  MIT License

Contributors:
  Tim - https://github.com/Defragster
  Mike - https://github.com/mjs513

Designed and tested for PJRC Teensy 3.2, 3.5, and 3.6 boards.
  May or may not work on other microcontrollers, support for them will not be provided.
  Use at your own risk.

Forum link : https://forum.pjrc.com/threads/50395-Circular_Buffer

Permission is hereby granted, free of charge, to any person obtaining a copy
  of this software and associated documentation files (the "Software"), to deal
  in the Software without restriction, including without limitation the rights
  to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
  copies of the Software, and to permit persons to whom the Software is
  furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
  copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  SOFTWARE.
*/

#ifndef CIRCULAR_BUFFER_H
#define CIRCULAR_BUFFER_H
#include <algorithm>

template<typename T, uint16_t _size, uint16_t multi = 0>
class Circular_Buffer {
    public:

void push_back(T value) { return write(value); }
        void push_front(T value);
        T pop_front() { return read(); }
        T pop_back();
        void write(T value);
        void push_back(const T *buffer, uint16_t length) { write(buffer, length); }
        void write(const T *buffer, uint16_t length);
        void push_front(const T *buffer, uint16_t length);
        T peek(uint16_t pos = 0);
        T peekBytes(T *buffer, uint16_t length);
        T read();
        T pop_front(T *buffer, uint16_t length) { return readBytes(buffer,length); }
        T read(T *buffer, uint16_t length) { return readBytes(buffer,length); }
        T readBytes(T *buffer, uint16_t length);
        void flush() { clear(); }
        void clear() { head = tail = _available = 0; }
        void print(const char *p);
        void println(const char *p);
        uint16_t size() { return _available; }
        uint16_t available() { return _available; }
        T capacity() { return _size; }
        uint16_t length_back() { return ((uint16_t)(_cabuf[_cbuf[(head+size()-1)&(_size-1)]][0] << 8*sizeof(T)) | _cabuf[_cbuf[(head+size()-1)&(_size-1)]][1]); }
        uint16_t length_front() { return ((uint16_t)_cabuf[_cbuf[(head)&(_size-1)]][0] << 8*sizeof(T) | _cabuf[_cbuf[(head)&(_size-1)]][1]); }
        T list();
        T variance();
        T deviation();
        T average();
        bool remove(uint16_t pos);
        T median(bool override = 0);
        void sort_ascending();
        void sort_descending();
        T sum();
        T min();
        T max();
        T mean() { return average(); }
        T max_size() { return multi; }
        T pop_back(T *buffer, uint16_t length);
        T* peek_front() { return front(); } 
        T* peek_back() { return back(); } 
        T* front() { return _cabuf[_cbuf[(head)&(_size-1)]]+2; }
        T* back() { return _cabuf[(tail-1)&(_size-1)]+2; }
        bool replace(T *buffer, uint16_t length, int pos1, int pos2, int pos3, int pos4 = -1, int pos5 = -1);
        T* find(int pos1, int pos2, int pos3, int pos4 = -1, int pos5 = -1);

protected:
    private:
        volatile uint16_t head = 0;
        volatile uint16_t tail = 0;
        volatile uint16_t _available = 0;

bool init_ca = 1;
        T _cbuf[_size];
        T _cabuf[_size][multi+2];
        void _init();
};

template<typename T, uint16_t _size, uint16_t multi>
bool Circular_Buffer<T,_size,multi>::remove(uint16_t pos) {
  if ( multi ) {
    if ( pos >= _size ) return 0;

int32_t find_area = -1;

for ( uint16_t i = 0; i < _size; i++ ) {
      if ( ((head+i)&(_size-1)) == pos ) {
        find_area = i;
        break;
      }
    }
    if ( find_area == -1 ) return 0;

while ( ((head+find_area)&(_size-1)) != ((head)&(_size-1)) ) {
      memmove(_cabuf[_cbuf[((head+find_area)&(_size-1))]],_cabuf[_cbuf[((head+find_area-1)&(_size-1))]],((int)((int)_cabuf[(int)_cbuf[(head+find_area-1)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head+find_area-1)&(_size-1)]][1])+3);
      find_area--;
    }

head = ((head + 1)&(2*_size-1));
    _available--;
    return 1;
  }
  return 0;
}

template<typename T, uint16_t _size, uint16_t multi>
T* Circular_Buffer<T, _size, multi>::find(int pos1, int pos2, int pos3, int pos4, int pos5) {
}

template<typename T, uint16_t _size, uint16_t multi>
bool Circular_Buffer<T, _size, multi>::replace(T *buffer, uint16_t length, int pos1, int pos2, int pos3, int pos4, int pos5) {
  uint8_t input_count = 3;
  bool found = 0;
  if ( pos4 != -1 ) input_count = 4;
  if ( pos5 != -1 ) input_count = 5;
  for ( uint16_t j = 0; j < _available; j++ ) {
    switch ( input_count ) {
      case 3: {
          if ( _cabuf[ (head+j)&(_size-1) ][pos1+2] == buffer[pos1] && _cabuf[ (head+j)&(_size-1) ][pos2+2] == buffer[pos2] &&
               _cabuf[ (head+j)&(_size-1) ][pos3+2] == buffer[pos3] ) {
            found = 1; 
            break;
          }
        }
      case 4: {
          if ( _cabuf[ (head+j)&(_size-1) ][pos1+2] == buffer[pos1] && _cabuf[ (head+j)&(_size-1) ][pos2+2] == buffer[pos2] &&
               _cabuf[ (head+j)&(_size-1) ][pos3+2] == buffer[pos3] && _cabuf[ (head+j)&(_size-1) ][pos4+2] == buffer[pos4] ) {
            found = 1;
            break;
          }
        }
      case 5: {
          if ( _cabuf[ (head+j)&(_size-1) ][pos1+2] == buffer[pos1] && _cabuf[ (head+j)&(_size-1) ][pos2+2] == buffer[pos2] &&
               _cabuf[ (head+j)&(_size-1) ][pos3+2] == buffer[pos3] && _cabuf[ (head+j)&(_size-1) ][pos4+2] == buffer[pos4] &&
               _cabuf[ (head+j)&(_size-1) ][pos5+2] == buffer[pos5] ) {
            found = 1;
            break;
          }
        }
    }
    if ( found ) {
      _cabuf[j][0] = ((uint8_t)(length >> 8*sizeof(T)));
      _cabuf[j][1] = length;
      memmove(_cabuf[j]+2,buffer,length*sizeof(T));
      break;
    }
  }
  return found;
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::print(const char *p) {
  if ( multi ) return;
  write((T*)p,strlen(p));
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::println(const char *p) {
  if ( multi ) return;
  write((T*)p,strlen(p));
  write('\n');
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::_init() {
  for ( uint16_t i = 0; i < _size; i++ ) _cbuf[i] = i;
  init_ca = 0;
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::push_front(const T *buffer, uint16_t length) {
  if ( multi ) {
    if ( init_ca ) _init();
    if ( tail == (head ^ _size) ) tail = (tail - 1)&(2*_size-1);
    head = (head - 1)&(2*_size-1);
    _cabuf[_cbuf[head&(_size-1)]][0] = length >> 8*sizeof(T);
    _cabuf[_cbuf[head&(_size-1)]][1] = length;
    memmove(_cabuf[_cbuf[(head)&(_size-1)]]+2,buffer,length*sizeof(T));
    if ( _available < _size ) _available++;
    return;
  }
  for ( uint16_t i = length-1; i > 0; i-- ) push_front(buffer[i]);
  push_front(buffer[0]);
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::pop_back() {
  if ( _available ) {
    if ( _available ) _available--;
    tail = (tail - 1)&(2*_size-1);
    return _cbuf[tail&(_size-1)];
  }
  return -1;
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::push_front(T value) {
  if ( multi ) return;
  head = (head - 1)&(2*_size-1);
  _cbuf[head&(_size-1)] = value;
  if ( _available < _size ) _available++;
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::write(const T *buffer, uint16_t length) {
  if ( multi ) {
    if ( init_ca ) _init();
    _cabuf[(int)_cbuf[tail&(_size-1)]][0] = length >> 8*sizeof(T);
    _cabuf[(int)_cbuf[tail&(_size-1)]][1] = length;
    memmove(_cabuf[(int)_cbuf[tail&(_size-1)]]+2,buffer,length*sizeof(T));
    if ( tail == (head ^ _size) ) head = (head + 1)&(2*_size-1);
    tail = (tail + 1)&(2*_size-1);
    if ( _available < _size ) _available++;
    return;
  }
  if ( ( _available += length ) >= _size ) _available = _size;
  if ( length < ( _size - tail ) ) {
    memmove(_cbuf+tail,buffer,length*sizeof(T));
    tail = (tail + length)&(2*_size-1);
  }
  else for ( uint16_t i = 0; i < length; i++ ) write(buffer[i]);
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::write(T value) {
  if ( multi ) return;
  if ( _available < _size ) _available++;
  _cbuf[tail&(_size-1)] = value;
  if ( tail == (head ^ _size) ) head = (head + 1)&(2*_size-1);
  tail = (tail + 1)&(2*_size-1);
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::list() {
  if ( multi ) {
    if ( init_ca ) _init();
    if ( !size() ) {
      Serial.println("There are no queues available..."); return 0;
    }

Serial.print("\nCircular Array Buffer Queue Size: "); Serial.print(size()); Serial.print(" / "); Serial.println(_size);

Serial.print("\nFirst Entry: ");
    for ( uint16_t i = 2; i <= (((int)_cabuf[(int)_cbuf[(head)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head)&(_size-1)]][1])+1; i++ ) {
      if ( (int)(_cabuf[(int)_cbuf[(head+i)&(_size-1)]][i]) != (T)(_cabuf[(int)_cbuf[(head+i)&(_size-1)]][i]) ) { // possible float?
        Serial.print(_cabuf[(int)_cbuf[(head)&(_size-1)]][i],7);
      }
      else Serial.print(_cabuf[(int)_cbuf[(head)&(_size-1)]][i]);
      Serial.print("    ");
    } Serial.print("("); Serial.print(((int)((int)_cabuf[(int)_cbuf[(head)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head)&(_size-1)]][1])); Serial.println(" entries.)");

Serial.print("Last Entry:  ");
    for ( uint16_t i = 2; i <= ((int)((int)_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][1])+1; i++ ) {
      if ( (int)(_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][i]) != (T)(_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][i]) ) { // possible float?
        Serial.print(_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][i],7);
      }
      else Serial.print(_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][i]);
      Serial.print("    ");
    } Serial.print("("); Serial.print(((int)((int)_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head+size()-1)&(_size-1)]][1])); Serial.println(" entries.)");

Serial.print("\n[Indice]      [Entries]\n\n"); 
    for ( uint16_t i = 0; i < size(); i++ ) {
      Serial.print("    ");
      Serial.print((head+i)&(_size-1));
      Serial.print("\t\t");
      for ( uint16_t j = 2; j <= ((int)((int)_cabuf[(int)_cbuf[(head+i)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head+i)&(_size-1)]][1])+1; j++ ) {
        if ( (int)(_cabuf[(int)_cbuf[(head+i)&(_size-1)]][j]) != (T)(_cabuf[(int)_cbuf[(head+i)&(_size-1)]][j]) ) { // possible float?
          Serial.print(_cabuf[(int)_cbuf[(head+i)&(_size-1)]][j],7); Serial.print("\t");
        }
        else {
          Serial.print(_cabuf[(int)_cbuf[(head+i)&(_size-1)]][j]); Serial.print("\t");
        }
      } Serial.print("("); Serial.print(((int)((int)_cabuf[(int)_cbuf[(head+i)&(_size-1)]][0] << 8*sizeof(T)) | (int)_cabuf[(int)_cbuf[(head+i)&(_size-1)]][1])); Serial.println(" entries.)");
    }
    return _available;
  }

if ( !size() ) {
    Serial.println("There are no queues available..."); return 0;
  }
  Serial.print("\nCircular Ring Buffer Queue Size: "); Serial.print(size()); Serial.print(" / "); Serial.println(_size);

Serial.print("\nIndice:  \t");

for ( uint16_t i = 0; i < _available; i++ ) {
    Serial.print("[");
    Serial.print((head+i)&(_size-1)); Serial.print("]      \t");
  }

Serial.print("\nEntries:\t");

for ( uint16_t i = 0; i < _available; i++ ) {
    if ( (int)_cbuf[(head+i)&(_size-1)] != (T)_cbuf[(head+i)&(_size-1)] ) { // possible float?
      Serial.print(_cbuf[(head+i)&(_size-1)],7); Serial.print("\t");
    }
    else {
      Serial.print(_cbuf[(head+i)&(_size-1)]); Serial.print("\t\t");
    }
  } Serial.println('\n');

return _available;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::read() {
  if ( multi ) {
    if ( init_ca ) _init();
    head = (head + 1)&(2*_size-1);
    if ( _available ) _available--;
    return 0;
  }
  if ( _available ) _available--;
  T value = _cbuf[head&(_size-1)];
  head = (head + 1)&(2*_size-1);
  return value;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::sum() {
  if ( multi || !_available ) return 0;
  T value = 0;
  for ( uint16_t i = 0; i < _available; i++ ) value += _cbuf[(head+i)&(_size-1)];
  return value;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::average() {
  if ( multi || !_available ) return 0;
  return sum()/_available;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::variance() {
  if ( multi || !_available ) return 0;
  T _mean = average();
  T value = 0;
  for ( uint16_t i = 0; i < _available; i++ ) {
    value += ((_cbuf[(head+i)&(_size-1)] - _mean) * (_cbuf[(head+i)&(_size-1)] - _mean));
  }
  value /= _available;
  return value;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::deviation() {
  if ( multi || !_available ) return 0;
  return sqrt(variance());
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::peek(uint16_t pos) {
  if ( multi ) return 0;
  if ( pos > _size ) return 0;
  return _cbuf[(head+pos)&(_size-1)];
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::sort_ascending() {
  if ( multi || !_available ) return;
  T buffer[_available];
  for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[(head+i)&(_size-1)];
  std::sort(&buffer[0], &buffer[_available]); // sort ascending
  for ( uint16_t i = 0; i < _available; i++ ) _cbuf[(head+i)&(_size-1)] = buffer[i];
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::sort_descending() {
  if ( multi || !_available ) return;
  sort_ascending();
  T buffer[_available];
  for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[(head+i)&(_size-1)];
  std::reverse(&buffer[0], &buffer[_available]); // sort descending
  for ( uint16_t i = 0; i < _available; i++ ) _cbuf[(head+i)&(_size-1)] = buffer[i];
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::median(bool override) {
  if ( multi || !_available ) return 0;
  if ( override ) sort_ascending();
  else {
    T buffer[_available];
    for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[(head+i)&(_size-1)];
    std::sort(&buffer[0], &buffer[_available]); // sort ascending
  }
  if ( !(_available % 2) ) {
    return ( _cbuf[(head+((_available/2)-1))&(_size-1)]  +  _cbuf[(head+(_available/2))&(_size-1)] ) /2;
  }
  else return _cbuf[(head+((_available/2)))&(_size-1)];  
  return 0;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::max() {
  if ( multi || !_available ) return 0;
  T buffer[_available];
  for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[(head+i)&(_size-1)];
  std::sort(&buffer[0], &buffer[_available]); // sort ascending
  return buffer[_available-1];
}
template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::min() {
  if ( multi || !_available ) return 0;
  T buffer[_available];
  for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[(head+i)&(_size-1)];
  std::sort(&buffer[0], &buffer[_available]); // sort ascending
  return buffer[0];
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::peekBytes(T *buffer, uint16_t length) {
  if ( multi ) return 0;
  uint16_t _count;
  ( _available < length ) ? _count = _available : _count = length;
  if ( _count < ( _size - head ) ) memmove(buffer,_cbuf,_count*sizeof(T));
  else for ( uint16_t i = 0; i < _count; i++ ) buffer[i] = peek(i);
  return _count;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::readBytes(T *buffer, uint16_t length) {
  if ( multi ) {
    if ( init_ca ) _init();
    memmove(&buffer[0],&_cabuf[(int)_cbuf[(head)&(_size-1)]][2],length*sizeof(T)); // update CA buffer
    read();
    return 0;
  }
  uint16_t _count;
  ( _available < length ) ? _count = _available : _count = length; // memmove if aligned
  if ( _count < ( _size - head ) ) {
    _available -= length;
    memmove(buffer,_cbuf,_count*sizeof(T));
    head = (head + _count)&(2*_size-1);
  }
  else for ( uint16_t i = 0; i < _count; i++ ) buffer[i] = read(); // if buffer rollover
  return _count;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::pop_back(T *buffer, uint16_t length) {
  if ( multi ) {
    if ( init_ca ) _init();
    memmove(&buffer[0],&_cabuf[(tail-1)&(_size-1)][2],length*sizeof(T));
    tail = (tail - 1)&(2*_size-1);
    if ( _available ) _available--;
    return 0;
  }
}

#endif // Circular_Buffer_H

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/*
  MIT License

Contributors:
  Tim - https://github.com/Defragster
  Mike - https://github.com/mjs513

Designed and tested for PJRC Teensy 3.2, 3.5, and 3.6 boards.
  May or may not work on other microcontrollers, support for them will not be provided.
  Use at your own risk.

Forum link : https://forum.pjrc.com/threads/50395-Circular_Buffer

The above copyright notice and this permission notice shall be included in all
  copies or substantial portions of the Software.

#ifndef CIRCULAR_BUFFER_H
#define CIRCULAR_BUFFER_H
#include <algorithm>

template<typename T, uint16_t _size, uint16_t multi = 0>
class Circular_Buffer {
    public:

void push_back(T value) { return write(value); }
        void push_front(T value);
        T pop_front() { return read(); }
        T pop_back();
        void write(T value);
        void push_back(const T *buffer, uint16_t length) { write(buffer, length); }
        void write(const T *buffer, uint16_t length);
        void push_front(const T *buffer, uint16_t length);
        T peek(uint16_t pos = 0);
        T peekBytes(T *buffer, uint16_t length);
        T read();
        T pop_front(T *buffer, uint16_t length) { return readBytes(buffer,length); }
        T read(T *buffer, uint16_t length) { return readBytes(buffer,length); }
        T readBytes(T *buffer, uint16_t length);
        void flush() { clear(); }
        void clear() { head = tail = _available = 0; }
        void print(const char *p);
        void println(const char *p);
        uint16_t size() { return _available; }
        uint16_t available() { return _available; }
        T capacity() { return _size; }
        uint16_t length_back() { return ((uint16_t)(_cabuf[((head+size()-1)&(_size-1))][0] << 8*sizeof(T)) | _cabuf[((head+size()-1)&(_size-1))][1]); }
        uint16_t length_front() { return ((uint16_t)_cabuf[((head)&(_size-1))][0] << 8*sizeof(T) | _cabuf[((head)&(_size-1))][1]); }
        T list();
        T variance();
        T deviation();
        T average();
        bool remove(uint16_t pos);
        T median(bool override = 0);
        void sort_ascending();
        void sort_descending();
        T sum();
        T min();
        T max();
        T mean() { return average(); }
        T max_size() { return multi; }
        T pop_back(T *buffer, uint16_t length);
        T* peek_front() { return front(); } 
        T* peek_back() { return back(); } 
        T* front() { return _cabuf[((head)&(_size-1))]+2; }
        T* back() { return _cabuf[((tail-1)&(_size-1))]+2; }
        bool replace(T *buffer, uint16_t length, int pos1, int pos2, int pos3, int pos4 = -1, int pos5 = -1);
        T* find(int pos1, int pos2, int pos3, int pos4 = -1, int pos5 = -1);

protected:
    private:
        volatile uint16_t head = 0;
        volatile uint16_t tail = 0;
        volatile uint16_t _available = 0;

bool init_ca = 1;
        T _cbuf[_size];
        T _cabuf[_size][multi+2];
        void _init();
};

template<typename T, uint16_t _size, uint16_t multi>
bool Circular_Buffer<T,_size,multi>::remove(uint16_t pos) {
  if ( multi ) {
    if ( pos >= _size ) return 0;

int32_t find_area = -1;

for ( uint16_t i = 0; i < _size; i++ ) {
      if ( ((head+i)&(_size-1)) == pos ) {
        find_area = i;
        break;
      }
    }
    if ( find_area == -1 ) return 0;

while ( ((head+find_area)&(_size-1)) != ((head)&(_size-1)) ) {
      memmove(_cabuf[((head+find_area)&(_size-1))],_cabuf[((head+find_area-1)&(_size-1))],((uint16_t)(_cabuf[((head+find_area-1)&(_size-1))][0] << 8*sizeof(T)) | _cabuf[((head+find_area-1)&(_size-1))][1])+3);
      find_area--;
    }

head = ((head + 1)&(2*_size-1));
    _available--;
    return 1;
  }
  return 0;
}

template<typename T, uint16_t _size, uint16_t multi>
T* Circular_Buffer<T, _size, multi>::find(int pos1, int pos2, int pos3, int pos4, int pos5) {
}

template<typename T, uint16_t _size, uint16_t multi>
bool Circular_Buffer<T, _size, multi>::replace(T *buffer, uint16_t length, int pos1, int pos2, int pos3, int pos4, int pos5) {
  uint8_t input_count = 3;
  bool found = 0;
  if ( pos4 != -1 ) input_count = 4;
  if ( pos5 != -1 ) input_count = 5;
  for ( uint16_t j = 0; j < _available; j++ ) {
    switch ( input_count ) {
      case 3: {
          if ( _cabuf[ ((head+j)&(_size-1)) ][pos1+2] == buffer[pos1] && _cabuf[ ((head+j)&(_size-1)) ][pos2+2] == buffer[pos2] &&
               _cabuf[ ((head+j)&(_size-1)) ][pos3+2] == buffer[pos3] ) {
            found = 1; 
            break;
          }
        }
      case 4: {
          if ( _cabuf[ ((head+j)&(_size-1)) ][pos1+2] == buffer[pos1] && _cabuf[ ((head+j)&(_size-1)) ][pos2+2] == buffer[pos2] &&
               _cabuf[ ((head+j)&(_size-1)) ][pos3+2] == buffer[pos3] && _cabuf[ ((head+j)&(_size-1)) ][pos4+2] == buffer[pos4] ) {
            found = 1;
            break;
          }
        }
      case 5: {
          if ( _cabuf[ ((head+j)&(_size-1)) ][pos1+2] == buffer[pos1] && _cabuf[ ((head+j)&(_size-1)) ][pos2+2] == buffer[pos2] &&
               _cabuf[ ((head+j)&(_size-1)) ][pos3+2] == buffer[pos3] && _cabuf[ ((head+j)&(_size-1)) ][pos4+2] == buffer[pos4] &&
               _cabuf[ ((head+j)&(_size-1)) ][pos5+2] == buffer[pos5] ) {
            found = 1;
            break;
          }
        }
    }
    if ( found ) {
      _cabuf[ ((head+j)&(_size-1)) ][0] = ((uint8_t)(length >> 8*sizeof(T)));
      _cabuf[ ((head+j)&(_size-1)) ][1] = length;
      memmove(_cabuf[ ((head+j)&(_size-1)) ]+2,buffer,length*sizeof(T));
      break;
    }
  }
  return found;
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::print(const char *p) {
  if ( multi ) return;
  write((T*)p,strlen(p));
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::println(const char *p) {
  if ( multi ) return;
  write((T*)p,strlen(p));
  write('\n');
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::_init() {
  for ( uint16_t i = 0; i < _size; i++ ) _cbuf[i] = i;
  init_ca = 0;
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::push_front(const T *buffer, uint16_t length) {
  if ( multi ) {
    if ( init_ca ) _init();
    if ( tail == (head ^ _size) ) tail = ((tail - 1)&(2*_size-1));
    head = ((head - 1)&(2*_size-1));
    _cabuf[(head&(_size-1))][0] = length >> 8*sizeof(T);
    _cabuf[(head&(_size-1))][1] = length;
    memmove(_cabuf[((head)&(_size-1))]+2,buffer,length*sizeof(T));
    if ( _available < _size ) _available++;
    return;
  }
  for ( uint16_t i = length-1; i > 0; i-- ) push_front(buffer[i]);
  push_front(buffer[0]);
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::pop_back() {
  if ( _available ) {
    if ( _available ) _available--;
    tail = ((tail - 1)&(2*_size-1));
    return _cbuf[((tail)&(_size-1))];
  }
  return -1;
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::push_front(T value) {
  if ( multi ) return;
  head = ((head - 1)&(2*_size-1));
  _cbuf[((head)&(_size-1))] = value;
  if ( _available < _size ) _available++;
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::write(const T *buffer, uint16_t length) {
  if ( multi ) {
    if ( init_ca ) _init();
    _cabuf[((tail)&(_size-1))][0] = length >> 8*sizeof(T);
    _cabuf[((tail)&(_size-1))][1] = length;
    memmove(_cabuf[((tail)&(_size-1))]+2,buffer,length*sizeof(T));
    if ( tail == ((head ^ _size)) ) head = ((head + 1)&(2*_size-1));
    tail = ((tail + 1)&(2*_size-1));
    if ( _available < _size ) _available++;
    return;
  }
  if ( ( _available += length ) >= _size ) _available = _size;
  if ( length < ( _size - tail ) ) {
    memmove(_cbuf+tail,buffer,length*sizeof(T));
    tail = ((tail + length)&(2*_size-1));
  }
  else for ( uint16_t i = 0; i < length; i++ ) write(buffer[i]);
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::write(T value) {
  if ( multi ) return;
  if ( _available < _size ) _available++;
  _cbuf[((tail)&(_size-1))] = value;
  if ( tail == ((head ^ _size)) ) head = ((head + 1)&(2*_size-1));
  tail = ((tail + 1)&(2*_size-1));
}

Serial.print("\nCircular Array Buffer Queue Size: "); Serial.print(size()); Serial.print(" / "); Serial.println(_size);

Serial.print("\nFirst Entry: ");
    for ( uint16_t i = 2; i <= (((int)_cabuf[((head)&(_size-1))][0] << 8*sizeof(T)) | (int)_cabuf[((head)&(_size-1))][1])+1; i++ ) {
      if ( (int)(_cabuf[((head+i)&(_size-1))][i]) != (T)(_cabuf[((head+i)&(_size-1))][i]) ) { // possible float?
        Serial.print(_cabuf[((head)&(_size-1))][i],7);
      }
      else Serial.print(_cabuf[((head)&(_size-1))][i]);
      Serial.print("    ");
    } Serial.print("("); Serial.print((((int)_cabuf[((head)&(_size-1))][0] << 8*sizeof(T)) | (int)_cabuf[((head)&(_size-1))][1])); Serial.println(" entries.)");

Serial.print("Last Entry:  ");
    for ( uint16_t i = 2; i <= (((int)_cabuf[((head+size()-1)&(_size-1))][0] << 8*sizeof(T)) | (int)_cabuf[((head+size()-1)&(_size-1))][1])+1; i++ ) {
      if ( (int)(_cabuf[((head+size()-1)&(_size-1))][i]) != (T)(_cabuf[((head+size()-1)&(_size-1))][i]) ) { // possible float?
        Serial.print(_cabuf[((head+size()-1)&(_size-1))][i],7);
      }
      else Serial.print(_cabuf[((head+size()-1)&(_size-1))][i]);
      Serial.print("    ");
    } Serial.print("("); Serial.print((((int)_cabuf[((head+size()-1)&(_size-1))][0] << 8*sizeof(T)) | (int)_cabuf[((head+size()-1)&(_size-1))][1])); Serial.println(" entries.)");

Serial.print("\n[Indice]      [Entries]\n\n"); 
    for ( uint16_t i = 0; i < size(); i++ ) {
      Serial.print("    ");
      Serial.print(((head+i)&(_size-1)));
      Serial.print("\t\t");
      for ( uint16_t j = 2; j <= (((int)_cabuf[((head+i)&(_size-1))][0] << 8*sizeof(T)) | (int)_cabuf[((head+i)&(_size-1))][1])+1; j++ ) {
        if ( (int)(_cabuf[((head+i)&(_size-1))][j]) != (T)(_cabuf[((head+i)&(_size-1))][j]) ) { // possible float?
          Serial.print(_cabuf[((head+i)&(_size-1))][j],7); Serial.print("\t");
        }
        else {
          Serial.print(_cabuf[((head+i)&(_size-1))][j]); Serial.print("\t");
        }
      } Serial.print("("); Serial.print((((int)_cabuf[((head+i)&(_size-1))][0] << 8*sizeof(T)) | (int)_cabuf[((head+i)&(_size-1))][1])); Serial.println(" entries.)");
    }
    return _available;
  }

Serial.print("\nIndice:  \t");

for ( uint16_t i = 0; i < _available; i++ ) {
    Serial.print("[");
    Serial.print((head+i)&(_size-1)); Serial.print("]      \t");
  }

Serial.print("\nEntries:\t");

for ( uint16_t i = 0; i < _available; i++ ) {
    if ( (int)_cbuf[((head+i)&(_size-1))] != (T)_cbuf[((head+i)&(_size-1))] ) { // possible float?
      Serial.print(_cbuf[((head+i)&(_size-1))],7); Serial.print("\t");
    }
    else {
      Serial.print(_cbuf[((head+i)&(_size-1))]); Serial.print("\t\t");
    }
  } Serial.println('\n');

return _available;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::read() {
  if ( multi ) {
    if ( init_ca ) _init();
    head = ((head + 1)&(2*_size-1));
    if ( _available ) _available--;
    return 0;
  }
  if ( _available ) _available--;
  T value = _cbuf[((head)&(_size-1))];
  head = ((head + 1)&(2*_size-1));
  return value;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::average() {
  if ( multi || !_available ) return 0;
  return sum()/_available;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::variance() {
  if ( multi || !_available ) return 0;
  T _mean = average();
  T value = 0;
  for ( uint16_t i = 0; i < _available; i++ ) {
    value += ((_cbuf[((head+i)&(_size-1))] - _mean) * (_cbuf[((head+i)&(_size-1))] - _mean));
  }
  value /= _available;
  return value;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::deviation() {
  if ( multi || !_available ) return 0;
  return sqrt(variance());
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::peek(uint16_t pos) {
  if ( multi ) return 0;
  if ( pos > _size ) return 0;
  return _cbuf[((head+pos)&(_size-1))];
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::sort_ascending() {
  if ( multi || !_available ) return;
  T buffer[_available];
  for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[((head+i)&(_size-1))];
  std::sort(&buffer[0], &buffer[_available]); // sort ascending
  for ( uint16_t i = 0; i < _available; i++ ) _cbuf[((head+i)&(_size-1))] = buffer[i];
}

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::sort_descending() {
  if ( multi || !_available ) return;
  sort_ascending();
  T buffer[_available];
  for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[((head+i)&(_size-1))];
  std::reverse(&buffer[0], &buffer[_available]); // sort descending
  for ( uint16_t i = 0; i < _available; i++ ) _cbuf[((head+i)&(_size-1))] = buffer[i];
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::median(bool override) {
  if ( multi || !_available ) return 0;
  if ( override ) sort_ascending();
  else {
    T buffer[_available];
    for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[((head+i)&(_size-1))];
    std::sort(&buffer[0], &buffer[_available]); // sort ascending
  }
  if ( !(_available % 2) ) {
    return ( _cbuf[((head+((_available/2)-1))&(_size-1))]  +  _cbuf[((head+(_available/2))&(_size-1))] ) /2;
  }
  else return _cbuf[((head+((_available/2)))&(_size-1))];  
  return 0;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::max() {
  if ( multi || !_available ) return 0;
  T buffer[_available];
  for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[((head+i)&(_size-1))];
  std::sort(&buffer[0], &buffer[_available]); // sort ascending
  return buffer[_available-1];
}
template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::min() {
  if ( multi || !_available ) return 0;
  T buffer[_available];
  for ( uint16_t i = 0; i < _available; i++ ) buffer[i] = _cbuf[((head+i)&(_size-1))];
  std::sort(&buffer[0], &buffer[_available]); // sort ascending
  return buffer[0];
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::readBytes(T *buffer, uint16_t length) {
  if ( multi ) {
    if ( init_ca ) _init();
    memmove(&buffer[0],&_cabuf[((head)&(_size-1))][2],length*sizeof(T)); // update CA buffer
    read();
    return 0;
  }
  uint16_t _count;
  ( _available < length ) ? _count = _available : _count = length; // memmove if aligned
  if ( _count < ( _size - head ) ) {
    _available -= length;
    memmove(buffer,_cbuf,_count*sizeof(T));
    head = ((head + _count)&(2*_size-1));
  }
  else for ( uint16_t i = 0; i < _count; i++ ) buffer[i] = read(); // if buffer rollover
  return _count;
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::pop_back(T *buffer, uint16_t length) {
  if ( multi ) {
    if ( init_ca ) _init();
    memmove(&buffer[0],&_cabuf[((tail-1)&(_size-1))][2],length*sizeof(T));
    tail = (tail - 1)&(2*_size-1);
    if ( _available ) _available--;
    return 0;
  }
}

#endif // Circular_Buffer_H