#include <ros/ros.h>

#include <string>

#include <stdlib.h>

#include <iostream>

#include <sys/msg.h>

#include <cstdio>

#include <cstdlib>

#include <sys/types.h>

#include <sys/ipc.h>

#include <unistd.h>

using namespace std;

typedef struct _QUEUE_NODE

{

    int *pData;

    int length;

    int head;

    int tail;

    int count;

}QUEUE_NODE;

QUEUE_NODE* alloca_queue(QUEUE_NODE* pQueue_Node,int number)

{

    if( == number)

        return NULL;

    pQueue_Node = (QUEUE_NODE*)malloc(sizeof(QUEUE_NODE));

    memset(pQueue_Node, , sizeof(QUEUE_NODE));

    pQueue_Node->pData = (int*)malloc(sizeof(int)*number);

    memset(pQueue_Node->pData, , sizeof(pQueue_Node->pData));

    if(NULL == pQueue_Node->pData)

    {

        free(pQueue_Node);

        return NULL;

    }

    pQueue_Node->length = number;

    return pQueue_Node;

}

bool delete_queue(const QUEUE_NODE* pQueue_Node)

{

    if(NULL == pQueue_Node)

        return false;

    free(pQueue_Node->pData);

    free((void*)pQueue_Node);

    return true;

}

bool insert_queue(QUEUE_NODE* pQueue_Node, int value)

{

    if(NULL == pQueue_Node)

        return false;

    if(pQueue_Node->length == pQueue_Node->count)

        return false;

    pQueue_Node->pData[pQueue_Node->tail] = value;

    pQueue_Node->tail = (pQueue_Node->tail + ) % pQueue_Node->length;

    pQueue_Node->count ++;

    return true;

}

int main(int argc, char **argv)

{

    std::cout<<"test qusetion9 start !"<<std::endl;

    ros::init(argc,argv,"question9_node");

    ros::NodeHandle node;

    ros::Rate r();

    QUEUE_NODE* qQueue_node;

    qQueue_node = alloca_queue(qQueue_node,);

    cout << "size is : " << qQueue_node->length << endl;

    cout << "tail is : " << qQueue_node->tail << endl;

    cout << "head is : " << qQueue_node->head << endl;

    cout << "pData->tail is : " << qQueue_node->pData[qQueue_node->tail] << endl;

    if(insert_queue(qQueue_node,) == true)

    {

        cout << "size is : " << qQueue_node->length << endl;

        cout << "data is : " << qQueue_node->pData[qQueue_node->tail] << endl;

    }

    if(insert_queue(qQueue_node,) == true)

    {

        cout << "size is : " << qQueue_node->length << endl;

        cout << "data is : " << qQueue_node->pData[qQueue_node->head+] << endl;

    }

}