@Override
protected void doRun() {
connectToVideoDataPort();
initializeCommunication();
setReady();
while (!isStopped()) {
try {
udpComponent.receive(incomingDataPacket);
processData();
udpComponent.sendKeepAlivePacket();
} catch (RuntimeException e) {
// This happens sometimes, but does not hinder the video data from being displayed
}
}
disconnectFromVideoDataPort();
}
private void initializeCommunication() {
udpComponent.sendKeepAlivePacket();
sleep(1000);
}
private void connectToVideoDataPort() {
logger.info(String.format("Connecting to video data port %d", getVideoDataPort()));
udpComponent.connect(getDroneAddress(), getVideoDataPort());
}
private void disconnectFromVideoDataPort() {
logger.info(String.format("Disconnecting from video data port %d", getVideoDataPort()));
udpComponent.disconnect();
}