60 lines
1.4 KiB
C#
60 lines
1.4 KiB
C#
using RobotNet10.Shared.Numbers;
|
|
using SysNum = System.Numerics;
|
|
|
|
namespace RobotNet10.RobotApp.Services.Navigation.CSharp;
|
|
|
|
/// <summary>
|
|
/// Circular buffer để lưu lịch sử (fixed size)
|
|
/// </summary>
|
|
public class CircularBuffer<T>(int capacity) where T : SysNum.INumber<T>
|
|
{
|
|
private readonly T[] _buffer = new T[capacity];
|
|
private int _head = 0;
|
|
private int _count = 0;
|
|
private readonly int _capacity = capacity;
|
|
|
|
public int Count => _count;
|
|
public int Capacity => _capacity;
|
|
|
|
public void Add(T item)
|
|
{
|
|
_buffer[_head] = item;
|
|
_head = (_head + 1) % _capacity;
|
|
|
|
if (_count < _capacity)
|
|
_count++;
|
|
}
|
|
|
|
public void Clear()
|
|
{
|
|
_head = 0;
|
|
_count = 0;
|
|
Array.Clear(_buffer, 0, _capacity);
|
|
}
|
|
|
|
public T[] ToArray()
|
|
{
|
|
T[] result = new T[_count];
|
|
for (int i = 0; i < _count; i++)
|
|
{
|
|
int index = (_head - _count + i + _capacity) % _capacity;
|
|
result[i] = _buffer[index];
|
|
}
|
|
return result;
|
|
}
|
|
|
|
public double Average()
|
|
{
|
|
if (_count == 0) return 0;
|
|
|
|
T sum = T.Zero;
|
|
for (int i = 0; i < _count; i++)
|
|
{
|
|
int index = (_head - _count + i + _capacity) % _capacity;
|
|
sum += _buffer[index];
|
|
}
|
|
return double.CreateChecked(sum) / _count;
|
|
}
|
|
}
|
|
|