/// <summary>
/// Releases all resource used by the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoProvider"/> object.
/// </summary>
/// <remarks>Call <see cref="Dispose"/> when you are finished using the
/// <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoProvider"/>. The <see cref="Dispose"/> method
/// leaves the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoProvider"/> in an unusable state. After
/// calling <see cref="Dispose"/>, you must release all references to the
/// <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoProvider"/> so the garbage collector can reclaim
/// the memory that the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoProvider"/> was occupying.</remarks>
public void Dispose()
{
if (this._isDisposed)
{
return;
}
if (this._provider != null)
{
this._provider.Dispose();
this._provider = null;
}
// Dispose the drivers, but not the pins.
if (this._allocatedDrivers != null)
{
foreach (KeyValuePair <IPCA9685Pin, PCA9685GpioServoDriver> drv in this._allocatedDrivers)
{
drv.Value.Dispose();
}
this._allocatedDrivers.Clear();
this._allocatedDrivers = null;
}
this._isDisposed = true;
}
/// <summary>
/// Initializes a new instance of the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoProvider"/>
/// class with the GPIO provider for the PCA9685.
/// </summary>
/// <param name="provider">
/// A GPIO provider for the PCA9685
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="provider"/> cannot be null.
/// </exception>
public PCA9685GpioServoProvider(PCA9685GpioProvider provider)
{
if (provider == null)
{
throw new ArgumentNullException("provider");
}
this._provider = provider;
this._allocatedDrivers = new Dictionary <IPCA9685Pin, PCA9685GpioServoDriver>();
}
/// <summary>
/// Initializes a new instance of the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/>
/// class with a PCA9685 GPIO provider and pin.
/// </summary>
/// <param name="provider">
/// The PCA9685 GPIO provider.
/// </param>
/// <param name="pin">
/// The PCA9685 pin (channel) the servo is attached to.
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="provider"/> cannot be null. - or -
/// <paramref name="pin"/> cannot be null.
/// </exception>
public PCA9685GpioServoDriver(PCA9685GpioProvider provider, IPCA9685Pin pin)
{
if (provider == null)
{
throw new ArgumentNullException("provider");
}
if (pin == null)
{
throw new ArgumentNullException("pin");
}
this._provider = provider;
this._pin = pin;
this.UpdateResolution();
}
/// <summary>
/// Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.
/// </summary>
/// <filterpriority>2</filterpriority>
/// <remarks>Call <see cref="Dispose"/> when you are finished using the
/// <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/>. The <see cref="Dispose"/> method leaves
/// the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/> in an unusable state. After calling
/// <see cref="Dispose"/>, you must release all references to the
/// <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/> so the garbage collector can reclaim the
/// memory that the <see cref="CyrusBuilt.MonoPi.Components.Servos.PCA9685GpioServoDriver"/> was occupying.</remarks>
public void Dispose()
{
if (this._isDisposed)
{
return;
}
if (this._provider != null)
{
this._provider.Dispose();
this._provider = null;
}
if (this._pin != null)
{
this._pin.Dispose();
this._pin = null;
}
this._pos = 0;
this._res = 0;
this._isDisposed = true;
}