SharePoint 2010 REST Upload file

I am looking to upload a file into a sharepoint 2010 document library.

1. Must use REST. (listdata.svc). I don't want to use CSOM or any other mechanism.

2. Must use C# (no javascript).

3. if possible, must use Http library only and not any proprietary pre-packages or autogenerated code like DataConext or something.

I want to use pure HTTP Connection, use C# code and use REST end point and upload a document into a document library.

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