feat: add bounded visualization snapshots

2026-08-06 09:27:58 +08:00
parent 55d8e1eebf
commit ab8e4010f8
6 changed files with 269 additions and 0 deletions
@@ -0,0 +1,46 @@
+using System;
+using System.Threading;
+
+namespace TrajectoryPlanningVisualization;
+
+public sealed class VisualizationFrame
+{
+    public VisualizationFrame(long version, PlanningVisualizationDynamicSnapshot snapshot)
+    {
+        Version = version;
+        Snapshot = snapshot ?? throw new ArgumentNullException(nameof(snapshot));
+    }
+
+    public long Version { get; }
+    public PlanningVisualizationDynamicSnapshot Snapshot { get; }
+}
+
+public sealed class LatestVisualizationFrameStore
+{
+    private VisualizationFrame latest;
+    private long nextVersion;
+
+    public void Publish(PlanningVisualizationDynamicSnapshot snapshot)
+    {
+        if (snapshot == null)
+        {
+            throw new ArgumentNullException(nameof(snapshot));
+        }
+
+        long version = Interlocked.Increment(ref nextVersion);
+        Interlocked.Exchange(ref latest, new VisualizationFrame(version, snapshot));
+    }
+
+    public bool TryReadAfter(long version, out VisualizationFrame frame)
+    {
+        VisualizationFrame current = Volatile.Read(ref latest);
+        if (current == null || current.Version <= version)
+        {
+            frame = null;
+            return false;
+        }
+
+        frame = current;
+        return true;
+    }
+}