// --------------------------------------------------------------------------
// ARDrone::close()
// Description : Finalize
// Return value : NONE
// --------------------------------------------------------------------------
void ARDrone::close(void)
{
// Stop AR.Drone
if (!onGround()) landing();
// Finalize Navdata
finalizeNavdata();
// Finalize configuration
finalizeConfig();
// Finalize AT command
finalizeCommand();
// Finalize video
finalizeVideo();
// Finalize WSA
WSACleanup();
}
/**
* Initializes the configuration sub-system.
*
* @return <tt>0</tt> for success, otherwise a non-zero value
*/
int
initializeConfig(void) {
if (implementationProperties != NULL) {
/* Already initialized. */
return 0;
}
if (initProps(&implementationProperties, &IMPL_PROPERTY_FILE,
storage_get_config_root(INTERNAL_STORAGE_ID)) != 0) {
return -1;
}
if (initProps(&applicationProperties, &APPL_PROPERTY_FILE,
storage_get_config_root(INTERNAL_STORAGE_ID)) != 0) {
finalizeConfig();
return -1;
}
/*
* Make sure the configuration was specified, because
* some older code requires it in the CLDC classes.
*/
if (getSystemProperty(DEFAULT_CONFIGURATION) == NULL) {
setSystemProperty(DEFAULT_CONFIGURATION, DEFAULT_CLDC);
}
if (getSystemProperty(PROFILES_PROP_NAME) == NULL) {
setSystemProperty(PROFILES_PROP_NAME, DEFAULT_PROFILE);
}
if (getSystemProperty(ENCODING_PROP_NAME) == NULL) {
setSystemProperty(ENCODING_PROP_NAME, DEFAULT_CHARACTER_ENCODING);
}
return 0;
}