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#ifndef CIRCULAR_BUFFER_H

#define CIRCULAR_BUFFER_H

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 list();

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

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

T readBytes(T *buffer, uint16_t length);

T pop_back(T *buffer, uint16_t length);

void flush() { return 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* front() { return _cabuf[peek()]; }

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

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

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

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

protected:

private:

uint16_t head = 0, tail = 0, _available = 0, _array_pointer = 0;

volatile uint16_t head = 0, tail = 0, _available = 0;

bool init_ca = 1;

T _cbuf[_size];

T _cabuf[_size][multi];

void _init();

// T _peek(uint16_t pos = 0); // internal array peek version

};

template<typename T, uint16_t _size, uint16_t multi>

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

uint8_t input_count = 3;

uint8_t queue_position = 0;

bool found = 0;

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

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

Serial.print("Q Size: "); Serial.println(_available);

Serial.println("Displaying current queue: ");

for ( uint8_t j = 0; j < _size; j++ ) {

Serial.print("Peeking: ");

for ( uint8_t i = 0; i < _available; i++ ) {

Serial.print(peek(i));

Serial.print(" ");

} Serial.println();

Serial.print(j); Serial.print(": ");

for ( uint8_t i = 0; i < multi; i++ ) {

Serial.print(_cabuf[peek(j)][i]);

Serial.print(" ");

} Serial.println();

}

//Serial.print(head); Serial.print(" "); Serial.println(tail);

// good when head is in front of tail

Serial.println("Displaying current queue: ");

for ( uint8_t j = 0; j < size(); j++ ) {

Serial.print(j); Serial.print(": ");

for ( uint8_t i = 0; i < multi; i++ ) {

Serial.print(_cabuf[peek(j)][i]);

Serial.print(" ");

} Serial.println();

}

for ( uint8_t j = 0; j <= _available; j++ ) {

queue_position = j;

switch ( input_count ) {

case 3: {

if ( _cabuf[j][pos1] == buffer[pos1] && _cabuf[j][pos2] == buffer[pos2] &&

_cabuf[j][pos3] == buffer[pos3] ) {

found = 1;

break;

}

case 4: {

if ( _cabuf[j][pos1] == buffer[pos1] && _cabuf[j][pos2] == buffer[pos2] &&

_cabuf[j][pos3] == buffer[pos3] && _cabuf[j][pos4] == buffer[pos4] ) {

found = 1;

break;

}

case 5: {

if ( _cabuf[j][pos1] == buffer[pos1] && _cabuf[j][pos2] == buffer[pos2] &&

_cabuf[j][pos3] == buffer[pos3] && _cabuf[j][pos4] == buffer[pos4] &&

_cabuf[j][pos5] == buffer[pos5] ) {

found = 1;

break;

}

if ( found ) {

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

break;

}

Serial.print("Q Size: "); Serial.println(_available);

if ( !found ) { Serial.println("Nothing Found"); }

Serial.println();

Serial.println("Displaying updated queue: ");

for ( uint8_t j = 0; j < _available; j++ ) {

Serial.print(j); Serial.print(": ");

for ( uint8_t i = 0; i < multi; i++ ) {

Serial.print(_cabuf[j][i]);

Serial.print(" ");

} Serial.println();

}

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 ) {

push_front(_array_pointer);

if ( init_ca ) _init();

memmove(_cabuf[peek()],buffer,length*sizeof(T));

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

if ( _array_pointer++ >= _size -1 ) _array_pointer = 0;

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

_cabuf[_cbuf[(head)&(_size-1)]][0] = length;

memmove(_cabuf[_cbuf[(head)&(_size-1)]]+1,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 ) {

_available--;

( !_available ) ? _available = 0 : _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 = _size;

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 ) {

memmove(_cabuf[_array_pointer],buffer,length*sizeof(T));

if ( init_ca ) _init();

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

_cabuf[_cbuf[tail&(_size-1)]][0] = length;

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

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

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

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

if ( _array_pointer++ >= _size -1 ) _array_pointer = 0;

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 = _size;

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();

Serial.print("Queue Size: "); Serial.print(size()); Serial.print(", Index order: ");

for ( uint8_t i = 0; i < size(); i++ ) {

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

} Serial.println();

Serial.print("First Entry: ");

for ( uint8_t i = 1; i <= _cabuf[_cbuf[(head)&(_size-1)]][0]; i++ ) {

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

} Serial.print("("); Serial.print(_cabuf[_cbuf[(head)&(_size-1)]][0]); Serial.println(" entries.)");

Serial.print("Last Entry: ");

for ( uint8_t i = 1; i <= _cabuf[_cbuf[(head+size()-1)&(_size-1)]][0]; i++ ) {

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

} Serial.print("("); Serial.print(_cabuf[_cbuf[(head+size()-1)&(_size-1)]][0]); Serial.println(" entries.)");

Serial.println();

Serial.println("Queue list: ");

for ( uint8_t i = 0; i < _available; i++ ) {

Serial.print(i); Serial.print(") ");

for ( uint8_t j = 1; j <= _cabuf[_cbuf[(head+i)&(_size-1)]][0]; j++ ) {

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

} Serial.print("("); Serial.print(_cabuf[_cbuf[(head+i)&(_size-1)]][0]); Serial.println(" entries.)");

} Serial.println();

}

template<typename T, uint16_t _size, uint16_t multi>

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

_available--;

if ( multi ) {

if ( init_ca ) _init();

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

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

( !_available ) ? _available = 0 : _available--;

return 0;

}

( !_available ) ? _available = 0 : _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>::peek(uint16_t pos) {

if ( multi ) {

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

}

if ( pos > _size ) return 0;

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

}

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 ) {

memmove(&buffer[0],&_cabuf[peek()],length*sizeof(T)); // update CA buffer

if ( init_ca ) _init();

read(); // deque item

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

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

( !_available ) ? _available = 0 : _available--;

return 0;

}

#endif // Circular_Buffer_H

Diferencias guardadas

Texto original

Abrir archivo

#ifndef CIRCULAR_BUFFER_H
#define CIRCULAR_BUFFER_H

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) { readBytes(buffer,length); }
        T read(T *buffer, uint16_t length) { readBytes(buffer,length); }
        T readBytes(T *buffer, uint16_t length);
        void flush() { return 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* front() { return _cabuf[peek()]; }
        T* back() { return _cabuf[(tail-1)&(_size-1)]; }
        void match(T *buffer, uint16_t length, int pos1, int pos2, int pos3, int pos4 = -1, int pos5 = -1);

protected:
    private:
        uint16_t head = 0, tail = 0, _available = 0, _array_pointer = 0;
        T _cbuf[_size];
        T _cabuf[_size][multi];
};

template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T, _size, multi>::match(T *buffer, uint16_t length, int pos1, int pos2, int pos3, int pos4, int pos5) {
  uint8_t input_count = 3;
  uint8_t queue_position = 0;
  bool found = 0;
  if ( pos4 != -1 ) input_count = 4;
  if ( pos5 != -1 ) input_count = 5;
  Serial.print("Q Size: "); Serial.println(_available);

Serial.println("Displaying current queue: ");
  for ( uint8_t j = 0; j < _size; j++ ) {

/*
Serial.print("Peeking: ");
   for ( uint8_t i = 0; i < _available; i++ ) {
      Serial.print(peek(i));
      Serial.print(" ");
    } Serial.println();

Serial.print(j); Serial.print(": ");
   for ( uint8_t i = 0; i < multi; i++ ) {
      Serial.print(_cabuf[peek(j)][i]);
      Serial.print(" ");
    } Serial.println();

*/
  }

//Serial.print(head); Serial.print(" "); Serial.println(tail);

// good when head is in front of tail

Serial.println("Displaying current queue: ");
  for ( uint8_t j = 0; j < size(); j++ ) {
    Serial.print(j); Serial.print(": ");
    for ( uint8_t i = 0; i < multi; i++ ) {
      Serial.print(_cabuf[peek(j)][i]);
      Serial.print(" ");
    } Serial.println();
  }

for ( uint8_t j = 0; j <= _available; j++ ) {
    queue_position = j;
    switch ( input_count ) {
      case 3: {
          if ( _cabuf[j][pos1] == buffer[pos1] && _cabuf[j][pos2] == buffer[pos2] &&
               _cabuf[j][pos3] == buffer[pos3] ) {
            found = 1; 
            break;
          }
        }
      case 4: {
          if ( _cabuf[j][pos1] == buffer[pos1] && _cabuf[j][pos2] == buffer[pos2] &&
               _cabuf[j][pos3] == buffer[pos3] && _cabuf[j][pos4] == buffer[pos4] ) {
            found = 1;
            break;
          }
        }
      case 5: {
          if ( _cabuf[j][pos1] == buffer[pos1] && _cabuf[j][pos2] == buffer[pos2] &&
               _cabuf[j][pos3] == buffer[pos3] && _cabuf[j][pos4] == buffer[pos4] &&
               _cabuf[j][pos5] == buffer[pos5] ) {
            found = 1;
            break;
          }
        }
    }
    if ( found ) {
      memmove(_cabuf[j],buffer,length*sizeof(T));
      break;
    }
  }

Serial.print("Q Size: "); Serial.println(_available);
  if ( !found ) { Serial.println("Nothing Found"); }
  Serial.println();
  Serial.println("Displaying updated queue: ");
  for ( uint8_t j = 0; j < _available; j++ ) {
    Serial.print(j); Serial.print(": ");
    for ( uint8_t i = 0; i < multi; i++ ) {
      Serial.print(_cabuf[j][i]);
      Serial.print(" ");
    } Serial.println();
  }

}
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>::push_front(const T *buffer, uint16_t length) {
  if ( multi ) {
    push_front(_array_pointer);
    memmove(_cabuf[peek()],buffer,length*sizeof(T));
    if ( _array_pointer++ >= _size -1 ) _array_pointer = 0;
    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 ) {
    _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 = _size;
}
template<typename T, uint16_t _size, uint16_t multi>
void Circular_Buffer<T,_size,multi>::write(const T *buffer, uint16_t length) {
  if ( multi ) {
    memmove(_cabuf[_array_pointer],buffer,length*sizeof(T));
    if ( _available++ >= _size ) _available = _size;
    _cbuf[tail&(_size-1)] = _array_pointer;
    if ( tail == (head ^ _size) ) head = (head + 1)&(2*_size-1);
    tail = (tail + 1)&(2*_size-1);
    if ( _array_pointer++ >= _size -1 ) _array_pointer = 0;
    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 = _size;
  _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>::read() {
  _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>::peek(uint16_t pos) {
  if ( multi ) {
    return _cbuf[(head+pos)&(_size-1)];
  }
  if ( pos > _size ) return 0;
  return _cbuf[(head+pos)&(_size-1)];
}

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 ) {
    memmove(&buffer[0],&_cabuf[peek()],length*sizeof(T)); // update CA buffer
    read(); // deque item
    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;
}

#endif // Circular_Buffer_H

Texto modificado

Abrir archivo

#ifndef CIRCULAR_BUFFER_H
#define CIRCULAR_BUFFER_H

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 list();
        T pop_front(T *buffer, uint16_t length) { readBytes(buffer,length); }
        T read(T *buffer, uint16_t length) { readBytes(buffer,length); }
        T readBytes(T *buffer, uint16_t length);
        T pop_back(T *buffer, uint16_t length);
        void flush() { return 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* front() { return _cabuf[_cbuf[(head)&(_size-1)]]+1; }
        T* back() { return _cabuf[(tail-1)&(_size-1)]+1; }

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

protected:
    private:
        volatile uint16_t head = 0, tail = 0, _available = 0;
        bool init_ca = 1;
        T _cbuf[_size];
        T _cabuf[_size][multi];
        void _init();
//        T _peek(uint16_t pos = 0); // internal array peek version
};

Serial.println("Displaying current queue: ");
  for ( uint8_t j = 0; j < _size; j++ ) {

/*
Serial.print("Peeking: ");
   for ( uint8_t i = 0; i < _available; i++ ) {
      Serial.print(peek(i));
      Serial.print(" ");
    } Serial.println();

Serial.print(j); Serial.print(": ");
   for ( uint8_t i = 0; i < multi; i++ ) {
      Serial.print(_cabuf[peek(j)][i]);
      Serial.print(" ");
    } Serial.println();

*/
  }

//Serial.print(head); Serial.print(" "); Serial.println(tail);

// good when head is in front of tail

}
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;
    memmove(_cabuf[_cbuf[(head)&(_size-1)]]+1,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 ) {
    ( !_available ) ? _available = 0 : _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[_cbuf[tail&(_size-1)]][0] = length;
    memmove(_cabuf[_cbuf[tail&(_size-1)]]+1,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();
    Serial.print("Queue Size: "); Serial.print(size()); Serial.print(", Index order: ");
    for ( uint8_t i = 0; i < size(); i++ ) {
      Serial.print(_cbuf[(head+i)&(_size-1)]); Serial.print(" ");
    } Serial.println();
    Serial.print("First Entry: ");
    for ( uint8_t i = 1; i <= _cabuf[_cbuf[(head)&(_size-1)]][0]; i++ ) {
      Serial.print(_cabuf[_cbuf[(head)&(_size-1)]][i]); Serial.print(" ");
    } Serial.print("("); Serial.print(_cabuf[_cbuf[(head)&(_size-1)]][0]); Serial.println(" entries.)");
    Serial.print("Last Entry: ");
    for ( uint8_t i = 1; i <= _cabuf[_cbuf[(head+size()-1)&(_size-1)]][0]; i++ ) {
      Serial.print(_cabuf[_cbuf[(head+size()-1)&(_size-1)]][i]); Serial.print(" ");
    } Serial.print("("); Serial.print(_cabuf[_cbuf[(head+size()-1)&(_size-1)]][0]); Serial.println(" entries.)");
    Serial.println();
    Serial.println("Queue list: ");
    for ( uint8_t i = 0; i < _available; i++ ) {
      Serial.print(i); Serial.print(") ");
      for ( uint8_t j = 1; j <= _cabuf[_cbuf[(head+i)&(_size-1)]][0]; j++ ) {
        Serial.print(_cabuf[_cbuf[(head+i)&(_size-1)]][j]); Serial.print(" ");
      } Serial.print("("); Serial.print(_cabuf[_cbuf[(head+i)&(_size-1)]][0]); Serial.println(" entries.)");
    } Serial.println();
  }
}

template<typename T, uint16_t _size, uint16_t multi>
T Circular_Buffer<T,_size,multi>::read() {
  if ( multi ) {
    if ( init_ca ) _init();
    if ( tail == (head ^ _size) ) tail = (size() - 1)&(2*_size-1);
    head = (head + 1)&(2*_size-1);
    ( !_available ) ? _available = 0 : _available--;
    return 0;
  }
  ( !_available ) ? _available = 0 : _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>::peek(uint16_t pos) {
  if ( pos > _size ) return 0;
  return _cbuf[(head+pos)&(_size-1)];
}

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[_cbuf[(head)&(_size-1)]][1],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)][1],length*sizeof(T));
    tail = (tail - 1)&(2*_size-1);
    ( !_available ) ? _available = 0 : _available--;
    return 0;
  }
}

#endif // Circular_Buffer_H