refactor: use new port negotiation style

As changed in the API document, this now uses the new port negotiation style.

ref: N25B-168

src/robot_interface/endpoints/video_sender.py

@@ -15,12 +15,12 @@ class VideoSender(SocketBase):
     def start_video_rcv(self):
         """
         Prepares arguments for retrieving video images from Pepper and starts video loop on a separate thread.
-        """        
-        app = qi.Application()
-        app.start()
-        session = app.session
+        """
+        if not state.qi_session:
+            logging.info("No QI session available, not starting video loop")
+            return
 
-        video = session.service("ALVideoDevice")
+        video = state.session.service("ALVideoDevice")
 
         camera_index = 0
         kQVGA = 2