public static void TestDistanceSensor()
{
UltraSonicDistanceSensor ultraSonicDistanceSensor = new UltraSonicDistanceSensor();
while (!(Console.KeyAvailable && Console.ReadKey(true).Key == ConsoleKey.Escape))
{
var distance = ultraSonicDistanceSensor.GetDistanceFromSensor();
Console.WriteLine("Distance : " + distance);
Thread.Sleep(1000);
}
ultraSonicDistanceSensor.Dispose();
}
static void Main(string[] args)
{
var cmdLineParser = ParseArguments(args);
StartWebServer(cmdLineParser);
IL298NMotorController iL298NMotorController = new L298NMotorController();
IUltraSonicDistanceSensor ultraSonicDistanceSensor = new UltraSonicDistanceSensor();
AutonomousMode autonomousMode = new AutonomousMode(iL298NMotorController, ultraSonicDistanceSensor);
//autonomousMode.RunInAutoMode(3);
Task t = Task.Run(() => autonomousMode.RunInAutoMode(3));
Thread.Sleep(60000);
AutonomousMode.externalCancelRequest = true;
//
PiTest.TestDistanceSensor();
}
private static void StartWebServer(CmdLineParser cmdParser)
{
WebServer ws = null;
IL298NMotorController iL298NMotorController = new L298NMotorController();
IUltraSonicDistanceSensor ultraSonicDistanceSensor = new UltraSonicDistanceSensor();
if (cmdParser != null)
{
ws = new WebServer(string.Format("http://{0}:{1}/", cmdParser.HostIp, cmdParser.HostPort), iL298NMotorController, ultraSonicDistanceSensor);
}
ws.Run();
Console.WriteLine("A simple webserver. Press a key to quit.");
Console.ReadKey();
ws.Stop();
Console.WriteLine("Stopped gracefully. Press a key to quit.");
Console.ReadKey();
}
