Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Services/Navigation/CSharp/CircularBuffer.cs

@@ -0,0 +1,59 @@
+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;
+    }
+}
+