static void Calc(IObserver <CompassReading> ob, ref MotionReading lastMag, ref MotionReading lastAccel)
{
if (lastMag == null || lastAccel == null)
{
return;
}
// SensorManager.GetRotationMatrix(this.rMatrix, null, this.lastAccel, this.lastMag);
// SensorManager.GetOrientation(this.rMatrix, this.orientation);
// var degrees = (Math.ToDegrees(this.orientation[0]) + 360) % 360;
// TODO: not so allocatey
// TODO: get compass accuracy
// TODO: calculate true north
//ob.OnNext(new CompassReading(CompassAccuracy.Approximate, degrees, null));
// clear for fresh read
lastMag = null;
lastAccel = null;
}
public IObservable <CompassReading> WhenReadingTaken()
{
if (!this.IsAvailable)
{
return(Observable.Empty <CompassReading>());
}
return(Observable.Create <CompassReading>(ob =>
{
var comp = new CompositeDisposable();
var syncLock = new object();
MotionReading lastAccel = null;
MotionReading lastMag = null;
comp.Add(this.accelerometer
.WhenReadingTaken()
.Synchronize(syncLock)
.Subscribe(x =>
{
lastAccel = x;
Calc(ob, ref lastMag, ref lastAccel);
})
);
comp.Add(this.magnetometer
.WhenReadingTaken()
.Synchronize(syncLock)
.Subscribe(x =>
{
lastMag = x;
Calc(ob, ref lastMag, ref lastAccel);
})
);
return comp;
}));
}