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/********************************************************************
* Description: tcq.c
*\brief queue handling functions for trajectory planner
* These following functions implement the motion queue that
* is fed by tpAddLine/tpAddCircle and consumed by tpRunCycle.
* They have been fully working for a long time and a wise programmer
* won't mess with them.
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
********************************************************************/
/* queue of TC_STRUCT elements*/
#ifndef TCQ_H
#define TCQ_H
#include "tc_types.h"
typedef struct {
TC_STRUCT *queue; /* ptr to the tcs */
int size; /* size of queue */
int _len; /* number of tcs now in queue */
int start, end; /* indices to next to get, next to put */
int allFull; /* flag meaning it's actually full */
} TC_QUEUE_STRUCT;
/* TC_QUEUE_STRUCT functions */
/* create queue of _size */
extern int tcqCreate(TC_QUEUE_STRUCT * const tcq, int _size,
TC_STRUCT * const tcSpace);
/* free up queue */
extern int tcqDelete(TC_QUEUE_STRUCT * const tcq);
/* reset queue to empty */
extern int tcqInit(TC_QUEUE_STRUCT * const tcq);
/* put tc on end */
extern int tcqPut(TC_QUEUE_STRUCT * const tcq, TC_STRUCT const * const tc);
/* remove a single tc from the back of the queue */
extern int tcqPopBack(TC_QUEUE_STRUCT * const tcq);
/* remove n tcs from front */
extern int tcqRemove(TC_QUEUE_STRUCT * const tcq, int n);
/* how many tcs on queue */
extern int tcqLen(TC_QUEUE_STRUCT const * const tcq);
/* look at nth item, first is 0 */
extern TC_STRUCT * tcqItem(TC_QUEUE_STRUCT const * const tcq, int n);
/**
* Get the "end" of the queue, the most recently added item.
*/
extern TC_STRUCT * tcqLast(TC_QUEUE_STRUCT const * const tcq);
/* get full status */
extern int tcqFull(TC_QUEUE_STRUCT const * const tcq);
#endif
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