@Override
public void onNewData(ByteBuffer decompressed) {
long timestamp = decompressed.getLong();
LongBuffer data = decompressed.asLongBuffer();
for (int i = 0; i < variables.size(); i++) {
YoVariable<?> variable = variables.get(i);
long previousValue = variable.getValueAsLongBits();
long newValue = data.get();
variable.setValueFromLongBits(newValue, false);
if (previousValue != newValue) {
ArrayList<VariableChangedListener> changedListeners =
variable.getVariableChangedListeners();
if (changedListeners != null) {
for (int listener = 0; listener < changedListeners.size(); listener++) {
VariableChangedListener changedListener = changedListeners.get(listener);
if (!(changedListener instanceof LogControlVariableChangeListener)) {
changedListener.variableChanged(variable);
}
}
}
}
}
for (int i = 0; i < jointStates.size(); i++) {
jointStates.get(i).update(data);
}
listener.receivedTimestampAndData(timestamp, decompressed);
}
