<commit_before>using dynamixelServo.Quadruped.WebInterface.RTC;
using DynamixelServo.Driver;
using DynamixelServo.Quadruped;
using DynamixelServo.Quadruped.WebInterface.RobotController;
using DynamixelServo.Quadruped.WebInterface.VideoStreaming;
using Microsoft.AspNetCore.Builder;
using Microsoft.AspNetCore.Hosting;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.DependencyInjection;

namespace dynamixelServo.Quadruped.WebInterface
{
    public class Startup
    {
        public Startup(IConfiguration configuration, IHostingEnvironment env)
        {
            Configuration = configuration;
            HostingEnvironment = env;
        }

        public IConfiguration Configuration { get; }
        public IHostingEnvironment HostingEnvironment { get; }

        // This method gets called by the runtime. Use this method to add services to the container.
        public void ConfigureServices(IServiceCollection services)
        {
            services.AddMvc();
            if (HostingEnvironment.IsDevelopment())
            {
                services.AddSingleton<IRobot, MockRobot>();
                services.AddSingleton<IVideoService, MockVideoStream>();
            }
            else
            {
                string portName = Configuration["SerialPortName"];
                services.AddSingleton(new DynamixelDriver(portName));
                services.AddSingleton<QuadrupedIkDriver>();
                services.AddSingleton<BasicQuadrupedGaitEngine>();
                services.AddSingleton<IRobot, Robot>();
                services.AddSingleton<IVideoService, VideoStreamingService>();
            }
        }

        // This method gets called by the runtime. Use this method to configure the HTTP request pipeline.
        public void Configure(IApplicationBuilder app, IHostingEnvironment env)
        {
            if (env.IsDevelopment())
            {
                app.UseDeveloperExceptionPage();
                app.UseBrowserLink();
            }<commit_msg>Change video service for testing instance<commit_after>using dynamixelServo.Quadruped.WebInterface.RTC;
using DynamixelServo.Driver;
using DynamixelServo.Quadruped;
using DynamixelServo.Quadruped.WebInterface.RobotController;
using DynamixelServo.Quadruped.WebInterface.VideoStreaming;
using Microsoft.AspNetCore.Builder;
using Microsoft.AspNetCore.Hosting;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.DependencyInjection;

namespace dynamixelServo.Quadruped.WebInterface
{
    public class Startup
    {
        public Startup(IConfiguration configuration, IHostingEnvironment env)
        {
            Configuration = configuration;
            HostingEnvironment = env;
        }

        public IConfiguration Configuration { get; }
        public IHostingEnvironment HostingEnvironment { get; }

        // This method gets called by the runtime. Use this method to add services to the container.
        public void ConfigureServices(IServiceCollection services)
        {
            services.AddMvc();
            if (HostingEnvironment.IsDevelopment())
            {
                services.AddSingleton<IRobot, MockRobot>();
                services.AddSingleton<IVideoService, MockVideoStream>();
            }
            else
            {
                string portName = Configuration["SerialPortName"];
                services.AddSingleton(new DynamixelDriver(portName));
                services.AddSingleton<QuadrupedIkDriver>();
                services.AddSingleton<BasicQuadrupedGaitEngine>();
                services.AddSingleton<IRobot, Robot>();
                services.AddSingleton<IVideoService, IVideoService>();
            }
        }

        // This method gets called by the runtime. Use this method to configure the HTTP request pipeline.
        public void Configure(IApplicationBuilder app, IHostingEnvironment env)
        {
            if (env.IsDevelopment())
            {
                app.UseDeveloperExceptionPage();
                app.UseBrowserLink();
            }
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