protected override void Loop(CancellationToken token)
{
int sequenceNumber = 1;
ConcurrentQueueHelper.Flush(_commandQueue);
using (var udpClient = new UdpClient(CommandPort))
{
udpClient.Connect(_configuration.DroneHostname, CommandPort);
byte[] firstMessage = BitConverter.GetBytes(1);
udpClient.Send(firstMessage, firstMessage.Length);
Stopwatch swKeepAlive = Stopwatch.StartNew();
while (token.IsCancellationRequested == false)
{
ATCommand command;
if (_commandQueue.TryDequeue(out command))
{
byte[] payload = command.CreatePayload(sequenceNumber);
Trace.WriteIf((command is COMWDGCommand) == false, Encoding.ASCII.GetString(payload));
udpClient.Send(payload, payload.Length);
sequenceNumber++;
swKeepAlive.Restart();
}
else if (swKeepAlive.ElapsedMilliseconds > KeepAliveTimeout)
{
_commandQueue.Enqueue(new COMWDGCommand());
}
Thread.Sleep(1);
}
}
}
protected override void Loop(CancellationToken token)
{
ConcurrentQueueHelper.Flush(_packetQueue);
using (var recorder = new PacketWriter(_path))
{
while (token.IsCancellationRequested == false)
{
object packet;
while (_packetQueue.TryDequeue(out packet))
{
recorder.Write(packet);
}
Thread.Sleep(1);
}
}
}
protected override void Loop(CancellationToken token)
{
// flush packet queue
ConcurrentQueueHelper.Flush(_packetQueue);
using (var videoDecoder = new VideoPacketDecoder(_pixelFormat))
while (token.IsCancellationRequested == false)
{
VideoPacket packet;
if (_packetQueue.TryDequeue(out packet))
{
VideoFrame frame;
if (videoDecoder.TryDecode(ref packet, out frame))
{
_onFrameDecoded(frame);
}
}
Thread.Sleep(10);
}
}