public Pi2GoWebSocketServer(IPi2GoLiteRobot robot, int port, IImageCapture imageCapture = null, TextWriter traceWriter = null)
{
state = new Pi2GoLiteState();
webSocket = new WebSocketSharp.Server.WebSocketServer(port);
webSocket.AddWebSocketService(pathOperations, () => new WebSocketOperationMessageReceiver(robot, state)
{
TraceWriter = traceWriter
});
if (imageCapture != null)
{
webSocket.AddWebSocketService(pathImages, () => new WebSocketImageMessageSender(imageCapture));
}
webSocket.Start();
}
static void Main(string[] args)
{
try
{
// direct control
//robot = BuildLocalRobot();
// remote control via web socket
robot = BuildRemoteRobot();
robot.Setup();
ManualControl();
}
finally
{
if (robot != null)
{
robot.Dispose();
}
}
Console.WriteLine("done.");
}
internal WebSocketOperationMessageReceiver(IPi2GoLiteRobot robot, Pi2GoLiteState state)
{
this.robot = robot;
this.state = state;
}