// --------------------------------------------------------------------------
// 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;
}
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;
}
// --------------------------------------------------------------------------
//! @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;
}
// --------------------------------------------------------------------------
// 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;
}
// --------------------------------------------------------------------------
// 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;
}
// --------------------------------------------------------------------------
//! @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;
}
// --------------------------------------------------------------------------
// 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;
}