public async void Run(IBackgroundTaskInstance taskInstance)
{
deferral = taskInstance.GetDeferral();
taskInstance.Canceled += TaskInstance_Canceled;
List <Task> setupTasks = new List <Task>();
setupTasks.Add(ComponentHandler.RegisterComponent(new SocketListener(8027)));
setupTasks.Add(ComponentHandler.RegisterComponent(new SocketListener(8031, DataFormat.Json)));
shield = await FEZUtilityShield.CreateAsync().ConfigureAwait(false);
gripper = new GripperComponent(new Servo(new PCA9685PWMChannel(shield.PCA9685PWM, (int)FEZUtilityShield.PwmPin.P3)));
setupTasks.Add(ComponentHandler.RegisterComponent(gripper));
turntable = new TurnTableComponent(new Servo(new PCA9685PWMChannel(shield.PCA9685PWM, (int)FEZUtilityShield.PwmPin.P0)));
setupTasks.Add(ComponentHandler.RegisterComponent(turntable));
lowerLever = new LeverComponent(new Servo(new PCA9685PWMChannel(shield.PCA9685PWM, (int)FEZUtilityShield.PwmPin.P1)), "LowerLever");
setupTasks.Add(ComponentHandler.RegisterComponent(lowerLever));
upperLever = new LeverComponent(new Servo(new PCA9685PWMChannel(shield.PCA9685PWM, (int)FEZUtilityShield.PwmPin.P2)), "UpperLever");
setupTasks.Add(ComponentHandler.RegisterComponent(upperLever));
var videoDevices = await CameraComponent.GetAllVideoDevices().ConfigureAwait(false);
if (videoDevices.Count > 0)
{
frontCamera = new CameraComponent("FrontCamera",
new MediaCaptureInitializationSettings
{
StreamingCaptureMode = StreamingCaptureMode.Video,
PhotoCaptureSource = PhotoCaptureSource.Auto,
AudioDeviceId = string.Empty,
VideoDeviceId = videoDevices[0].Id
});
setupTasks.Add(ComponentHandler.RegisterComponent(frontCamera));
}
await Task.WhenAll(setupTasks).ConfigureAwait(false);
}