47 lines
1.2 KiB
C#
47 lines
1.2 KiB
C#
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using System;
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using System.Threading;
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namespace TrajectoryPlanningVisualization;
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public sealed class VisualizationFrame
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{
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public VisualizationFrame(long version, PlanningVisualizationDynamicSnapshot snapshot)
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{
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Version = version;
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Snapshot = snapshot ?? throw new ArgumentNullException(nameof(snapshot));
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}
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public long Version { get; }
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public PlanningVisualizationDynamicSnapshot Snapshot { get; }
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}
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public sealed class LatestVisualizationFrameStore
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{
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private VisualizationFrame latest;
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private long nextVersion;
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public void Publish(PlanningVisualizationDynamicSnapshot snapshot)
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{
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if (snapshot == null)
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{
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throw new ArgumentNullException(nameof(snapshot));
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}
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long version = Interlocked.Increment(ref nextVersion);
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Interlocked.Exchange(ref latest, new VisualizationFrame(version, snapshot));
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}
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public bool TryReadAfter(long version, out VisualizationFrame frame)
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{
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VisualizationFrame current = Volatile.Read(ref latest);
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if (current == null || current.Version <= version)
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{
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frame = null;
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return false;
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}
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frame = current;
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return true;
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}
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}
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