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 +1,55 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+
+namespace TrajectoryPlanningVisualization;
+
+public sealed class BoundedCycleHistory
+{
+    private readonly object sync = new object();
+    private readonly int capacity;
+    private readonly Queue<VisualizationCycleSummary> entries = new Queue<VisualizationCycleSummary>();
+    private readonly HashSet<long> versions = new HashSet<long>();
+
+    public BoundedCycleHistory(int capacity)
+    {
+        if (capacity <= 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(capacity));
+        }
+
+        this.capacity = capacity;
+    }
+
+    public void Add(VisualizationCycleSummary summary)
+    {
+        if (summary == null)
+        {
+            throw new ArgumentNullException(nameof(summary));
+        }
+
+        lock (sync)
+        {
+            if (!versions.Add(summary.CycleVersion))
+            {
+                return;
+            }
+
+            entries.Enqueue(summary);
+            while (entries.Count > capacity)
+            {
+                VisualizationCycleSummary removed = entries.Dequeue();
+                versions.Remove(removed.CycleVersion);
+            }
+        }
+    }
+
+    public IReadOnlyList<VisualizationCycleSummary> Snapshot()
+    {
+        lock (sync)
+        {
+            return new ReadOnlyCollection<VisualizationCycleSummary>(
+                new List<VisualizationCycleSummary>(entries));
+        }
+    }
+}