Example #1
0
// --------------------------------------------------------------------------
// ARDrone::initNavdata()
// Description  : Initialize Navdata.
// Return value : SUCCESS: 1  FAILURE: 0 
// --------------------------------------------------------------------------
int ARDrone::initNavdata(void)
{
    // Open the IP address and port
    if (!sockNavdata.open(ip, ARDRONE_NAVDATA_PORT)) {
        CVDRONE_ERROR("UDPSocket::open(port=%d) was failed. (%s, %d)\n", ARDRONE_NAVDATA_PORT, __FILE__, __LINE__);
        return 0;
    }

    // Clear Navdata
    memset(&navdata, 0, sizeof(navdata));

    // Start Navdata
    sockNavdata.sendf("\x01\x00\x00\x00");

    // AR.Drone 2.0
    if (version.major == ARDRONE_VERSION_2) {
        // Disable BOOTSTRAP mode
        if (mutexCommand) pthread_mutex_lock(mutexCommand);
        sockCommand.sendf("AT*CONFIG_IDS=%d,\"%s\",\"%s\",\"%s\"\r", ++seq, ARDRONE_SESSION_ID, ARDRONE_PROFILE_ID, ARDRONE_APPLOCATION_ID);
        //sockCommand.sendf("AT*CONFIG=%d,\"general:navdata_demo\",\"TRUE\"\r", ++seq);
        sockCommand.sendf("AT*CONFIG=%d,\"general:navdata_demo\",\"FALSE\"\r", ++seq);
        if (mutexCommand) pthread_mutex_unlock(mutexCommand);
        msleep(100);

        // Seed ACK
        sockCommand.sendf("AT*CTRL=%d,0\r", ++seq);
    }
    // AR.Drone 1.0
    else {
        // Disable BOOTSTRAP mode
        if (mutexCommand) pthread_mutex_lock(mutexCommand);
        //sockCommand.sendf("AT*CONFIG=%d,\"general:navdata_demo\",\"TRUE\"\r", ++seq);
        sockCommand.sendf("AT*CONFIG=%d,\"general:navdata_demo\",\"FALSE\"\r", ++seq);
        if (mutexCommand) pthread_mutex_unlock(mutexCommand);

        // Send ACK
        sockCommand.sendf("AT*CTRL=%d,0\r", ++seq);
    }

    // Create a mutex
    mutexNavdata = new pthread_mutex_t;
    pthread_mutex_init(mutexNavdata, NULL);

    // Create a thread
    threadNavdata = new pthread_t;
    if (pthread_create(threadNavdata, NULL, runNavdata, this) != 0) {
        CVDRONE_ERROR("pthread_create() was failed. (%s, %d)\n", __FILE__, __LINE__);
        return 0;
    }

    return 1;
}
Example #2
0
int ARDrone::getVersionInfo(void)
{
#if _WIN32
    const char *filename = "version.txt";

    // Initialize WinINet
    HINTERNET hInet = InternetOpen(NULL, INTERNET_OPEN_TYPE_DIRECT, NULL, NULL, 0 );

    // Set timeout [ms]
    DWORD ms = 500;
    InternetSetOption(hInet, INTERNET_OPTION_CONNECT_TIMEOUT, &ms, sizeof(ms));

    // Connect to FTP server
    HINTERNET hConnection = InternetConnect(hInet, ip, ARDRONE_VERSION_PORT, "anonymous", "", INTERNET_SERVICE_FTP, INTERNET_FLAG_PASSIVE, 0);
    if (hConnection == NULL) {
        CVDRONE_ERROR("InternetConnect(port=%d) was failed. (%s, %d)\n", ARDRONE_VERSION_PORT, __FILE__, __LINE__);
        InternetCloseHandle(hInet);
        return 0;
    }

    // Clear version
    ZeroMemory(&version, sizeof(ARDRONE_VERSION));

    // Get a file through FTP
    if (!FtpGetFile(hConnection, filename, filename, FALSE, FILE_ATTRIBUTE_NORMAL, INTERNET_FLAG_TRANSFER_BINARY, 0)) {
        CVDRONE_ERROR("FtpGetFile() was failed. (%s, %d)\n", __FILE__, __LINE__);
        InternetCloseHandle(hConnection);
        InternetCloseHandle(hInet);
        return 0;
    }
    // 
    else {
        // Open the file
        FILE *file = fopen(filename, "r");

        // Read FW version
        fscanf(file, "%d.%d.%d\n", &version.major, &version.minor, &version.revision);

        // Close the file
        fclose(file);

        // Delete the file
        remove(filename);
    }

    // Finalize WinINet
    InternetCloseHandle(hConnection);
    InternetCloseHandle(hInet);
#endif
    return 1;
}
Example #3
0
// --------------------------------------------------------------------------
//! @brief   Get the version information via FTP.
//! @return  Result of initialization
//! @retval  1 Success
//! @retval  0 Failure
// --------------------------------------------------------------------------
int ARDrone::getVersionInfo(void)
{
    TCPSocket socket1, socket2;

    // Open the IP address and port
    if (!socket1.open(ip, ARDRONE_FTP_PORT)) {
        CVDRONE_ERROR("TCPSocket::open(port=%d) failed. (%s, %d)\n", ARDRONE_FTP_PORT, __FILE__, __LINE__);
        return 0;
    }

    // Welcome message
    const size_t len = 1024;
    char buf[len] = {'\0'};
    socket1.receive(buf, len);

    // Log in as anonymous
    socket1.sendf("USER %s\r\n\0", "anonymous");
    socket1.receive(buf, len);

    // Set to PASV mode
    int a, b, c, dataport;
    socket1.sendf("PASV\r\n\0");
    socket1.receive(buf, len);
    sscanf(buf, "227 PASV ok (%d,%d,%d,%d,%d,%d)\n", &c, &c, &c, &c, &a, &b);
    dataport = (a << 8) + b;

    // Open the IP address and port
    if (!socket2.open(ip, dataport)) {
        CVDRONE_ERROR("TCPSocket::open(port=%d) failed. (%s, %d)\n", dataport, __FILE__, __LINE__);
        return 0;
    }

    // Send requests
    socket1.sendf("RETR %s\r\n\0", "version.txt");

    // Receive data
    socket2.receive(buf, len);

    // Get version information
    sscanf(buf, "%d.%d.%d", &version.major, &version.minor, &version.revision);
    //printf("AR.Drone Ver %d.%d.%d\n", major, minor, revision);

    // See you
    socket1.close();
    socket2.close();

    return 1;
}
Example #4
0
// --------------------------------------------------------------------------
// ARDrone::initCommand()
// Description  : Initialize AT command.
// Return value : SUCCESS: 1  FAILURE: 0
// --------------------------------------------------------------------------
int ARDrone::initCommand(void)
{
    // Open the IP address and port
    if (!sockCommand.open(ip, ARDRONE_COMMAND_PORT)) {
        CVDRONE_ERROR("UDPSocket::open(port=%d) failed. (%s, %d)\n", ARDRONE_COMMAND_PORT, __FILE__, __LINE__);
        return 0;
    }

    return 1;
}
Example #5
0
// --------------------------------------------------------------------------
// ARDrone::initCommand()
// Description  : Initialize AT command.
// Return value : SUCCESS: 1  FAILURE: 0
// --------------------------------------------------------------------------
int ARDrone::initCommand(void)
{
    // Open the IP address and port
    if (!sockCommand.open(ip, ARDRONE_AT_PORT)) {
        CVDRONE_ERROR("UDPSocket::open(port=%d) failed. (%s, %d)\n", ARDRONE_AT_PORT, __FILE__, __LINE__);
        return 0;
    }

    // AR.Drone 2.0
    if (version.major == ARDRONE_VERSION_2) {
        // Send undocumented command
        sockCommand.sendf("AT*PMODE=%d,%d\r", ++seq, 2);

        // Send undocumented command
        sockCommand.sendf("AT*MISC=%d,%d,%d,%d,%d\r", ++seq, 2, 20, 2000, 3000);

        // Send flat trim
        sockCommand.sendf("AT*FTRIM=%d,\r", ++seq);

        // Set the configuration IDs
        sockCommand.sendf("AT*CONFIG_IDS=%d,\"%s\",\"%s\",\"%s\"\r", ++seq, ARDRONE_SESSION_ID, ARDRONE_PROFILE_ID, ARDRONE_APPLOCATION_ID);
        sockCommand.sendf("AT*CONFIG=%d,\"custom:session_id\",\"%s\"\r", ++seq, ARDRONE_SESSION_ID);
        msleep(100);
        sockCommand.sendf("AT*CONFIG_IDS=%d,\"%s\",\"%s\",\"%s\"\r", ++seq, ARDRONE_SESSION_ID, ARDRONE_PROFILE_ID, ARDRONE_APPLOCATION_ID);
        sockCommand.sendf("AT*CONFIG=%d,\"custom:profile_id\",\"%s\"\r", ++seq, ARDRONE_PROFILE_ID);
        msleep(100);
        sockCommand.sendf("AT*CONFIG_IDS=%d,\"%s\",\"%s\",\"%s\"\r", ++seq, ARDRONE_SESSION_ID, ARDRONE_PROFILE_ID, ARDRONE_APPLOCATION_ID);
        sockCommand.sendf("AT*CONFIG=%d,\"custom:application_id\",\"%s\"\r", ++seq, ARDRONE_APPLOCATION_ID);
        msleep(100);

        // Set maximum altitude
        sockCommand.sendf("AT*CONFIG_IDS=%d,\"%s\",\"%s\",\"%s\"\r", ++seq, ARDRONE_SESSION_ID, ARDRONE_PROFILE_ID, ARDRONE_APPLOCATION_ID);
        sockCommand.sendf("AT*CONFIG=%d,\"control:altitude_max\",\"%d\"\r", ++seq, 3000);
        msleep(100);

        // Disable bitrate control mode
        sockCommand.sendf("AT*CONFIG_IDS=%d,\"%s\",\"%s\",\"%s\"\r", ++seq, ARDRONE_SESSION_ID, ARDRONE_PROFILE_ID, ARDRONE_APPLOCATION_ID);
        sockCommand.sendf("AT*CONFIG=%d,\"video:bitrate_ctrl_mode\",\"0\"\r", ++seq);
        msleep(100);

        // Set video codec
        sockCommand.sendf("AT*CONFIG_IDS=%d,\"%s\",\"%s\",\"%s\"\r", ++seq, ARDRONE_SESSION_ID, ARDRONE_PROFILE_ID, ARDRONE_APPLOCATION_ID);
        sockCommand.sendf("AT*CONFIG=%d,\"video:video_codec\",\"%d\"\r", ++seq, 0x81);   // H264_360P_CODEC
        //sockCommand.sendf("AT*CONFIG=%d,\"video:video_codec\",\"%d\"\r", ++seq, 0x82); // MP4_360P_H264_720P_CODEC
        //sockCommand.sendf("AT*CONFIG=%d,\"video:video_codec\",\"%d\"\r", ++seq, 0x83); // H264_720P_CODEC
        //sockCommand.sendf("AT*CONFIG=%d,\"video:video_codec\",\"%d\"\r", ++seq, 0x88); // MP4_360P_H264_360P_CODEC
        msleep(100);

        // Set video channel to default
        sockCommand.sendf("AT*CONFIG_IDS=%d,\"%s\",\"%s\",\"%s\"\r", ++seq, ARDRONE_SESSION_ID, ARDRONE_PROFILE_ID, ARDRONE_APPLOCATION_ID);
        sockCommand.sendf("AT*CONFIG=%d,\"video:video_channel\",\"0\"\r", ++seq);
        msleep(100);

        // Disable USB recording
        sockCommand.sendf("AT*CONFIG_IDS=%d,\"%s\",\"%s\",\"%s\"\r", ++seq, ARDRONE_SESSION_ID, ARDRONE_PROFILE_ID, ARDRONE_APPLOCATION_ID);
        sockCommand.sendf("AT*CONFIG=%d,\"video:video_on_usb\",\"FALSE\"\r", ++seq);
        msleep(100);
    }
    // AR.Drone 1.0
    else {
        // Send undocumented command
        sockCommand.sendf("AT*PMODE=%d,%d\r", ++seq, 2);

        // Send undocumented command
        sockCommand.sendf("AT*MISC=%d,%d,%d,%d,%d\r", ++seq, 2, 20, 2000, 3000);

        // Send flat trim
        sockCommand.sendf("AT*FTRIM=%d,\r", ++seq);

        // Set maximum altitude
        sockCommand.sendf("AT*CONFIG=%d,\"control:altitude_max\",\"%d\"\r", ++seq, 3000);
        msleep(100);

        // Disable bitrate control mode
        sockCommand.sendf("AT*CONFIG=%d,\"video:bitrate_ctrl_mode\",\"0\"\r", ++seq);
        msleep(100);

		

        // Set video codec
        sockCommand.sendf("AT*CONFIG=%d,\"video:video_codec\",\"%d\"\r", ++seq, 0x20);   // UVLC_CODEC
        //sockCommand.sendf("AT*CONFIG=%d,\"video:video_codec\",\"%d\"\r", ++seq, 0x40); // P264_CODEC (not supported)
        msleep(100);
        
        // Set video channel to default
        sockCommand.sendf("AT*CONFIG=%d,\"video:video_channel\",\"0\"\r", ++seq);
        msleep(100);

		
    }

    // Disable outdoor mode
    setOutdoorMode(false);

    // Create a mutex
    mutexCommand = new pthread_mutex_t;
    pthread_mutex_init(mutexCommand, NULL);

    // Create a thread
    threadCommand = new pthread_t;
    if (pthread_create(threadCommand, NULL, runCommand, this) != 0) {
        CVDRONE_ERROR("pthread_create() was failed. (%s, %d)\n", __FILE__, __LINE__);
        return 0;
    }

    return 1;
}
Example #6
0
// --------------------------------------------------------------------------
//! @brief   Initialize video.
//! @return  Result of initialization
//! @retval  1 Success
//! @retval  0 Failure
// --------------------------------------------------------------------------
int ARDrone::initVideo(void)
{
    // AR.Drone 2.0
    if (version.major == ARDRONE_VERSION_2) {
        // Open the IP address and port
        char filename[256];
        sprintf(filename, "tcp://%s:%d", ip, ARDRONE_VIDEO_PORT);
        if (avformat_open_input(&pFormatCtx, filename, NULL, NULL) < 0) {
            CVDRONE_ERROR("avformat_open_input() was failed. (%s, %d)\n", __FILE__, __LINE__);
            return 0;
        }

        // Retrive and dump stream information
        avformat_find_stream_info(pFormatCtx, NULL);
        av_dump_format(pFormatCtx, 0, filename, 0);

        // Find the decoder for the video stream
        pCodecCtx = pFormatCtx->streams[0]->codec;
        AVCodec *pCodec = avcodec_find_decoder(pCodecCtx->codec_id);
        if (pCodec == NULL) {
            CVDRONE_ERROR("avcodec_find_decoder() was failed. (%s, %d)\n", __FILE__, __LINE__);
            return 0;
        }

        // Open codec
        if (avcodec_open2(pCodecCtx, pCodec, NULL) < 0) {
            CVDRONE_ERROR("avcodec_open2() was failed. (%s, %d)\n", __FILE__, __LINE__);
            return 0;
        }

        // Allocate video frames and a buffer
        #if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(55,28,1)
        pFrame = av_frame_alloc();
        pFrameBGR = av_frame_alloc();
        #else
        pFrame = avcodec_alloc_frame();
        pFrameBGR = avcodec_alloc_frame();
        #endif
        bufferBGR = (uint8_t*)av_mallocz(avpicture_get_size(PIX_FMT_BGR24, pCodecCtx->width, pCodecCtx->height) * sizeof(uint8_t));

        // Assign appropriate parts of buffer to image planes in pFrameBGR
        avpicture_fill((AVPicture*)pFrameBGR, bufferBGR, PIX_FMT_BGR24, pCodecCtx->width, pCodecCtx->height);

        // Convert it to BGR
        pConvertCtx = sws_getContext(pCodecCtx->width, pCodecCtx->height, pCodecCtx->pix_fmt, pCodecCtx->width, pCodecCtx->height, PIX_FMT_BGR24, SWS_SPLINE, NULL, NULL, NULL);
    }
    // AR.Drone 1.0
    else {
        // Open the IP address and port
        if (!sockVideo.open(ip, ARDRONE_VIDEO_PORT)) {
            CVDRONE_ERROR("UDPSocket::open(port=%d) was failed. (%s, %d)\n", ARDRONE_VIDEO_PORT, __FILE__, __LINE__);
            return 0;
        }

        // Set codec
        pCodecCtx = avcodec_alloc_context3(NULL);
        pCodecCtx->width = 320;
        pCodecCtx->height = 240;

        // Allocate a buffer
        bufferBGR = (uint8_t*)av_mallocz(avpicture_get_size(PIX_FMT_BGR24, pCodecCtx->width, pCodecCtx->height));
    }

    // Allocate an IplImage
    img = cvCreateImage(cvSize(pCodecCtx->width, (pCodecCtx->height == 368) ? 360 : pCodecCtx->height), IPL_DEPTH_8U, 3);
    if (!img) {
        CVDRONE_ERROR("cvCreateImage() was failed. (%s, %d)\n", __FILE__, __LINE__);
        return 0;
    }

    // Clear the image
    cvZero(img);

    // Create a mutex
    mutexVideo = new pthread_mutex_t;
    pthread_mutex_init(mutexVideo, NULL);

    // Create a thread
    threadVideo = new pthread_t;
    if (pthread_create(threadVideo, NULL, runVideo, this) != 0) {
        CVDRONE_ERROR("pthread_create() was failed. (%s, %d)\n", __FILE__, __LINE__);
        return 0;
    }

    return 1;
}
Example #7
0
// --------------------------------------------------------------------------
// ARDrone::getConfig()
// Description  : Get current configurations of AR.Drone.
// Return value : SUCCESS: 1  FAILURE: 0
// --------------------------------------------------------------------------
int ARDrone::getConfig(void)
{
    // Open the IP address and port
    TCPSocket sockConfig;
    if (!sockConfig.open(ip, ARDRONE_CONFIG_PORT)) {
        CVDRONE_ERROR("TCPSocket::open(port=%d) failed. (%s, %d)\n", ARDRONE_CONFIG_PORT, __FILE__, __LINE__);
        return 0;
    }

    // Send requests
    UDPSocket tmpCommand;
    tmpCommand.open(ip, ARDRONE_COMMAND_PORT);
    tmpCommand.sendf("AT*CTRL=%d,5,0\r", seq++);
    tmpCommand.sendf("AT*CTRL=%d,4,0\r", seq++);
    msleep(500);
    tmpCommand.close();

    // Receive data
    char buf[4096] = {'\0'};
    int size = sockConfig.receive((void*)&buf, sizeof(buf));

    // Received something
    if (size > 0) {
        // Clear config struct
        memset(&config, 0, sizeof(ARDRONE_CONFIG));

        // Parsing configurations
        char *token = strtok(buf, "\n");
        if (token != NULL) parse(token, &config);
        while (token != NULL) {
            token = strtok(NULL, "\n");
            if (token != NULL) parse(token, &config);
        }
    }

    #if 0
    // For debug
    printf("general.num_version_config = %d\n", config.general.num_version_config);
    printf("general.num_version_mb = %d\n", config.general.num_version_mb);
    printf("general.num_version_soft = %s\n", config.general.num_version_soft);
    printf("general.drone_serial = %s\n", config.general.drone_serial);
    printf("general:soft_build_date = %s\n", config.general.soft_build_date);
    printf("general:motor1_soft = %f\n", config.general.motor1_soft);
    printf("general:motor1_hard = %f\n", config.general.motor1_hard);
    printf("general:motor1_supplier = %f\n", config.general.motor1_supplier);
    printf("general:motor2_soft = %f\n", config.general.motor2_soft);
    printf("general:motor2_hard = %f\n", config.general.motor2_hard);
    printf("general:motor2_supplier = %f\n", config.general.motor2_supplier);
    printf("general:motor3_soft = %f\n", config.general.motor3_soft);
    printf("general:motor3_hard = %f\n", config.general.motor3_hard);
    printf("general:motor3_supplier = %f\n", config.general.motor3_supplier);
    printf("general:motor4_soft = %f\n", config.general.motor4_soft);
    printf("general:motor4_hard = %f\n", config.general.motor4_hard);
    printf("general:motor4_supplier = %f\n", config.general.motor4_supplier);
    printf("general.ardrone_name = %s\n", config.general.ardrone_name);
    printf("general.flying_time = %d\n", config.general.flying_time);
    printf("general.navdata_demo = %s\n", config.general.navdata_demo ? "true" : "false");
    printf("general.com_watchdog = %d\n", config.general.com_watchdog);
    printf("general.video_enable = %s\n", config.general.video_enable ? "true" : "false");
    printf("general.vision_enable = %s\n", config.general.vision_enable ? "true" : "false");
    printf("general.vbat_min = %d\n", config.general.vbat_min);
    printf("general.localtime = %d\n", config.general.localtime);
    printf("general.navdata_options = %d\n", config.general.navdata_options);
    printf("control:accs_offset = {%f, %f, %f}\n", config.control.accs_offset[0], config.control.accs_offset[1], config.control.accs_offset[2]);
    printf("control:accs_gains = { %f %f %f %f %f %f %f %f %f }\n", config.control.accs_gains[0], config.control.accs_gains[1], config.control.accs_gains[2], config.control.accs_gains[3], config.control.accs_gains[4], config.control.accs_gains[5], config.control.accs_gains[6], config.control.accs_gains[7], config.control.accs_gains[8]);
    printf("control:gyros_offset = { %f %f %f }\n", config.control.gyros_offset[0], config.control.gyros_offset[1], config.control.gyros_offset[2]);
    printf("control:gyros_gains = { %f %f %f }\n", config.control.gyros_gains[0], config.control.gyros_gains[1], config.control.gyros_gains[2]);
    printf("control:gyros110_offset = { %f %f }\n", config.control.gyros110_offset[0], config.control.gyros110_offset[1]);
    printf("control:gyros110_gains = { %f %f }\n", config.control.gyros110_gains[0], config.control.gyros110_gains[1]);
    printf("control:magneto_offset = { %f %f %f }\n", config.control.magneto_offset[0], config.control.magneto_offset[1], config.control.magneto_offset[2]);
    printf("control:magneto_radius = %f\n", config.control.magneto_radius);
    printf("control:gyro_offset_thr_x = %f\n", config.control.gyro_offset_thr_x);
    printf("control:gyro_offset_thr_y = %f\n", config.control.gyro_offset_thr_y);
    printf("control:gyro_offset_thr_z = %f\n", config.control.gyro_offset_thr_z);
    printf("control:pwm_ref_gyros = %d\n", config.control.pwm_ref_gyros);
    printf("control:osctun_value = %d\n", config.control.osctun_value);
    printf("control:osctun_test = %s\n", config.control.osctun_test ? "true" : "false");
    printf("control:altitude_max = %d\n", config.control.altitude_max);
    printf("control:altitude_min = %d\n", config.control.altitude_min);
    printf("control:outdoor = %s\n", config.control.outdoor ? "true" : "false");
    printf("control:flight_without_shell = %s\n", config.control.flight_without_shell ? "true" : "false");
    printf("control:autonomous_flight = %s\n", config.control.autonomous_flight ? "true" : "false");
    printf("control:flight_anim = %d,%d\n", config.control.flight_anim[0], config.control.flight_anim[1]);
    printf("control:control_level = %d\n", config.control.control_level);
    printf("control:euler_angle_max = %f\n", config.control.euler_angle_max);
    printf("control:control_iphone_tilt = %f\n", config.control.control_iphone_tilt);
    printf("control:control_vz_max = %f\n", config.control.control_vz_max);
    printf("control:control_yaw = %f\n", config.control.control_yaw);
    printf("control:manual_trim = %s\n", config.control.manual_trim ? "true" : "false");
    printf("control:indoor_euler_angle_max = %f\n", config.control.indoor_euler_angle_max);
    printf("control:indoor_control_vz_max = %f\n", config.control.indoor_control_vz_max);
    printf("control:indoor_control_yaw = %f\n", config.control.indoor_control_yaw);
    printf("control:outdoor_euler_angle_max = %f\n", config.control.outdoor_euler_angle_max);
    printf("control:outdoor_control_vz_max = %f\n", config.control.outdoor_control_vz_max);
    printf("control:outdoor_control_yaw = %f\n", config.control.outdoor_control_yaw);
    printf("control:flying_mode = %d\n", config.control.flying_mode);
    printf("control:hovering_range = %d\n", config.control.hovering_range);
    printf("network:ssid_single_player = %s\n", config.network.ssid_single_player);
    printf("network:ssid_multi_player = %s\n", config.network.ssid_multi_player);
    printf("network:wifi_mode = %d\n", config.network.wifi_mode);
    printf("network:wifi_rate = %d\n", config.network.wifi_rate);
    printf("network:owner_mac = %s\n", config.network.owner_mac);
    printf("pic:ultrasound_freq = %d\n", config.pic.ultrasound_freq);
    printf("pic:ultrasound_watchdog = %d\n", config.pic.ultrasound_watchdog);
    printf("pic:pic_version = %d\n", config.pic.pic_version);
    printf("video:camif_fps = %d\n", config.video.camif_fps);
    printf("video:camif_buffers = %d\n", config.video.camif_buffers);
    printf("video:num_trackers = %d\n", config.video.num_trackers);
    printf("video:video_storage_space = %d\n", config.video.video_storage_space);
    printf("video:video_on_usb = %s\n", config.video.video_on_usb ? "true" : "false");
    printf("video:video_file_index = %d\n", config.video.video_file_index);
    printf("video:bitrate = %d\n", config.video.bitrate);
    printf("video:bitrate_ctrl_mode = %d\n", config.video.bitrate_ctrl_mode);
    printf("video:bitrate_storage = %d\n", config.video.bitrate_storage);
    printf("video:codec_fps = %d\n", config.video.codec_fps);
    printf("video:video_codec = %d\n", config.video.video_codec);
    printf("video:video_slices = %d\n", config.video.video_slices);
    printf("video:video_live_socket = %d\n", config.video.video_live_socket);
    printf("video:max_bitrate = %d\n", config.video.max_bitrate);
    printf("video:video_channel = %d\n", config.video.video_channel);
    printf("leds:leds_anim = %d,%d,%d\n", config.leds.leds_anim[0], config.leds.leds_anim[1], config.leds.leds_anim[2]);
    printf("detect:enemy_colors = %d\n", config.detect.enemy_colors);
    printf("detect:enemy_without_shell = %d\n", config.detect.enemy_without_shell);
    printf("detect:groundstripe_colors = %d\n", config.detect.groundstripe_colors);
    printf("detect:detect_type = %d\n", config.detect.detect_type);
    printf("detect:detections_select_h = %d\n", config.detect.detections_select_h);
    printf("detect:detections_select_v_hsync = %d\n", config.detect.detections_select_v_hsync);
    printf("detect:detections_select_v = %d\n", config.detect.detections_select_v);
    printf("syslog:output = %d\n", config.syslog.output);
    printf("syslog:max_size = %d\n", config.syslog.max_size);
    printf("syslog:nb_files = %d\n", config.syslog.nb_files);
    printf("custom:application_desc = %s\n", config.custom.application_desc);
    printf("custom:profile_desc = %s\n", config.custom.profile_desc);
    printf("custom:session_desc = %s\n", config.custom.session_desc);
    printf("custom:application_id = %s\n", config.custom.application_id);
    printf("custom:profile_id = %s\n", config.custom.profile_id);
    printf("custom:session_id = %s\n", config.custom.session_id);
    printf("userbox:userbox_cmd = %d\n", config.userbox.userbox_cmd);
    printf("gps:latitude = %f\n", config.gps.latitude);
    printf("gps:longitude = %f\n", config.gps.longitude);
    printf("gps:altitude = %f\n", config.gps.altitude);
    #endif

    // Finalize
    sockConfig.close();

    return 1;
}