From 3f2c38725a70df7cdea02f2a7f8788a46eb32f93 Mon Sep 17 00:00:00 2001
From: Patrick Grawehr <pgrawehr@hotmail.com>
Date: Fri, 23 Aug 2024 08:05:12 +0200
Subject: [PATCH] Fix a possible crash when disposing ADS1115 device (#2345)

* Fix a possible crash when disposing ADS1115 device

* Add extra sleep before retry
---
 src/devices/Ads1115/Ads1115.cs                | 46 +++++++++++++------
 .../Iot/Device/Common/AngleExtensions.cs      |  2 +-
 2 files changed, 34 insertions(+), 14 deletions(-)

diff --git a/src/devices/Ads1115/Ads1115.cs b/src/devices/Ads1115/Ads1115.cs
index 54302550fa..d102a4d5f5 100644
--- a/src/devices/Ads1115/Ads1115.cs
+++ b/src/devices/Ads1115/Ads1115.cs
@@ -7,6 +7,7 @@
 using System.Device;
 using System.Device.I2c;
 using System.Device.Gpio;
+using System.IO;
 using UnitsNet;
 using UnitsNet.Units;
 
@@ -261,19 +262,38 @@ private void SetConfig()
         /// </summary>
         private void DisableAlertReadyPin()
         {
-            _comparatorQueue = ComparatorQueue.Disable;
-            SetConfig();
-            // Reset to defaults
-            Span<byte> writeBuff = stackalloc byte[3]
-            {
-                (byte)Register.ADC_CONFIG_REG_LO_THRESH, 0x80, 0
-            };
-            _i2cDevice.Write(writeBuff);
-            writeBuff = stackalloc byte[3]
-            {
-                (byte)Register.ADC_CONFIG_REG_HI_THRESH, 0x7F, 0xFF
-            };
-            _i2cDevice.Write(writeBuff);
+            bool success = false;
+            int retries = 3;
+            Span<byte> writeBuff = stackalloc byte[3];
+            while (!success)
+            {
+                // Retry this a few times, otherwise Dispose() may throw an exception, which is ugly.
+                try
+                {
+                    _comparatorQueue = ComparatorQueue.Disable;
+                    SetConfig();
+                    // Reset to defaults
+                    writeBuff[0] = (byte)Register.ADC_CONFIG_REG_LO_THRESH;
+                    writeBuff[1] = 0x80;
+                    writeBuff[2] = 0;
+                    _i2cDevice.Write(writeBuff);
+                    writeBuff[0] = (byte)Register.ADC_CONFIG_REG_HI_THRESH;
+                    writeBuff[1] = 0x7F;
+                    writeBuff[2] = 0xFF;
+                    _i2cDevice.Write(writeBuff);
+                    success = true;
+                }
+                catch (IOException)
+                {
+                    if (retries-- < 0)
+                    {
+                        throw;
+                    }
+
+                    Thread.Sleep(100);
+                }
+            }
+
             if (_gpioController is object)
             {
                 _gpioController.UnregisterCallbackForPinValueChangedEvent(_gpioInterruptPin, ConversionReadyCallback);
diff --git a/src/devices/Common/Iot/Device/Common/AngleExtensions.cs b/src/devices/Common/Iot/Device/Common/AngleExtensions.cs
index 8cc75e1432..f20e9948d6 100644
--- a/src/devices/Common/Iot/Device/Common/AngleExtensions.cs
+++ b/src/devices/Common/Iot/Device/Common/AngleExtensions.cs
@@ -71,7 +71,7 @@ public static Angle Normalize(this Angle self, bool toFullCircle)
         /// <param name="currentTrack">First angle, actual direction</param>
         /// <param name="destinationTrack">Second angle, desired direction</param>
         /// <returns>The normalized result of <paramref name="currentTrack"/>-<paramref name="destinationTrack"/>. The value is negative if
-        /// the current track is to port (left) of the the desired track and positive otherwise</returns>
+        /// the current track is to port (left) of the desired track and positive otherwise</returns>
         public static Angle Difference(Angle currentTrack, Angle destinationTrack)
         {
             double val = currentTrack.Radians - destinationTrack.Radians;