public override void Start()
{
_threadWorker = new ThreadQueueWorker();
_data.Init(TypedSettings);
_actualTimestamps = _data.Timestamps.Values
.SelectMany(l => l)
.OrderBy(i => i)
.ToArray();
Converter = new RosConverter();
Converter.SetInitTRS(Vector3.zero, Quaternion.identity);
RosMessageConvertExtender.Converter = Converter;
}
public override void Start()
{
_containerTree.DisplayName = $"Protobuf: {Path.GetFileName(TypedSettings.FilePath)}";
_input = File.OpenRead(TypedSettings.FilePath !);
Converter?.SetInitTRS(Vector3.zero, Quaternion.identity);
_parsersChain.SetConverter(Converter);
_frames = new FramesCollection <Frame>(ReadCommands, TryGetSize());
_threadWorker = new ThreadQueueWorker();
_timer = new Timer(DelayBetweenFrames);
_timer.Elapsed += (_, __) =>
{
_threadWorker.Enqueue(() =>
{
if (NextFrame())
{
return;
}
_timer?.Stop();
MainThreadInvoker.Enqueue(() => Finished?.Invoke());
});
};
}
