public void Enqueue(RPositionsMessagePack rPosition)
{
if (record)
{
var positions = rPosition.NavigationData.SelectMany(r =>
r.Points.Select(p => new RPositionEvent(rPosition.Timestamp, r.Name, p.x, p.y, p.z, r.Trajectory.x, r.Trajectory.y, r.Trajectory.z))).ToList();
try
{
LockSlim.EnterWriteLock();
RPositionSamplesData.AddRange(positions);
}
catch (Exception e)
{
Logger.LogError(e, $"Error adding RPosition: {e.Message}");
}
finally
{
LockSlim.ExitWriteLock();
}
}
}
public static RPositionsMessagePack Deserialize(byte[] data)
{
try
{
return(MessagePackSerializer.Deserialize <RPositionsMessagePack>(data));
}
catch (Exception e)
{
string path = $@"RPosition_Error_{DateTime.Now.Ticks}.bin";
File.WriteAllBytes(path, data);
var fallback = RPositionsOld.Deserialize(data);
RPositionsMessagePack msg = new RPositionsMessagePack();
msg.Timestamp = fallback.Timestamp;
msg.NavigationData = new List <NavigationData>(fallback.Data.Count);
foreach (var rpos in fallback.Data)
{
msg.NavigationData.Add(new NavigationData {
Name = rpos.Name, Points = rpos.Points.ToList()
});
}
return(msg);
}
}
