public IObservable <MotionReading> WhenReadingTaken()
{
this.observable = this.observable ?? Observable.Create <MotionReading>(ob =>
{
var handler = new EventHandler <GyroscopeDataUpdatedEventArgs>((sender, args) =>
ob.OnNext(new MotionReading(args.X, args.Y, args.Z))
);
var sensor = new Gyroscope
{
Interval = 250
};
sensor.DataUpdated += handler;
sensor.Start();
return(() =>
{
sensor.Stop();
sensor.DataUpdated -= handler;
sensor.Dispose();
});
})
.Publish()
.RefCount();
return(this.observable);
}
/// <inheritdoc/>
public void Dispose()
{
if (_shouldDispose)
{
_i2cBus?.Dispose();
}
else
{
LedMatrix?.Dispose();
LedMatrix = null !;
Joystick?.Dispose();
Joystick = null !;
Gyroscope?.Dispose();
Gyroscope = null !;
Magnetometer?.Dispose();
Magnetometer = null !;
TemperatureAndHumidity?.Dispose();
TemperatureAndHumidity = null !;
PressureAndTemperature?.Dispose();
PressureAndTemperature = null !;
}
_i2cBus = null !;
}
private void ClearSensors()
{
if (acc != null)
{
acc.Dispose();
}
if (gyro != null)
{
gyro.Dispose();
}
if (hum != null)
{
hum.Dispose();
}
if (ks != null)
{
ks.Dispose();
}
if (mg != null)
{
mg.Dispose();
}
if (ps != null)
{
ps.Dispose();
}
if (tempSen != null)
{
tempSen.Dispose();
}
}
/// <summary>
/// Releases all resources used by the current instance
/// </summary>
protected virtual void Dispose(bool disposing)
{
if (!_disposed)
{
if (disposing)
{
_sensor.DataUpdated -= OnSensorDataUpdated;
_sensor.Dispose();
}
_sensor = null;
_disposed = true;
}
}