private void ProcessSensors()
{
ISensorBase[] toProcess;
lock (sensorSync) {
if (sensors.Length > 0)
{
toProcess = new ISensorBase[sensors.Length];
Array.Copy(sensors, toProcess, sensors.Length);
}
else
{
return;
}
}
// process all available sensors
// and relay captured data
for (int i = 0; i < toProcess.Length; i++)
{
if (toProcess[i] == null || !toProcess[i].Capturing)
{
continue;
}
SensorDataPacket packet = toProcess[i].Process(-1);
if (packet == null)
{
continue;
}
SensorObservable observable;
lock (observableSync) {
observable = observables[i];
}
observable.OnDataAvailable(packet);
}
}
/// <summary>
/// Reports data availablility of the observed sensor.
/// </summary>
/// <param name="args">Sensor and data information.</param>
public void OnDataAvailable(SensorDataPacket args)
{
lock (observerSync) {
foreach (var observer in observers)
{
observer.OnDataAvailable(args);
}
}
}