int main() {
bool result = false;
EthernetInterface eth;
eth.init(); //Use DHCP
eth.connect();
printf("UDP client IP Address is %s\n", eth.getIPAddress());
UDPSocket sock;
sock.init();
Endpoint nist;
nist.set_address(HTTP_SERVER_NAME, HTTP_SERVER_PORT);
char out_buffer[] = "plop"; // Does not matter
sock.sendTo(nist, out_buffer, sizeof(out_buffer));
union {
char in_buffer_tab[4];
unsigned int in_buffer_uint;
};
const int n = sock.receiveFrom(nist, in_buffer_tab, sizeof(in_buffer_tab));
if (n > 0) {
result = true;
const unsigned int timeRes = ntohl(in_buffer_uint);
const float years = timeRes / 60.0 / 60.0 / 24.0 / 365;
printf("UDP: Received %d bytes from server %s on port %d\r\n", n, nist.get_address(), nist.get_port());
printf("UDP: %u seconds since 01/01/1900 00:00 GMT ... %s\r\n", timeRes, timeRes > 0 ? "[OK]" : "[FAIL]");
printf("UDP: %.2f years since 01/01/1900 00:00 GMT ... %s\r\n", years, timeRes > YEARS_TO_PASS ? "[OK]" : "[FAIL]");
if (years < YEARS_TO_PASS) {
result = false;
}
}
sock.close();
eth.disconnect();
notify_completion(result);
return 0;
}
int main() {
//create tcp socket and establish a connection
TCPServerSocket tcpServerSocket;
int ret = tcpServerSocket.initialize();
ASSERT(ret == 0);
int serverUdpPort = tcpServerSocket.negotiate();
ASSERT(serverUdpPort > 1024);
tcpServerSocket.close();
//open a udp socket and listen for str
UDPSocket udpSocket;
ret = udpSocket.open(serverUdpPort);
ASSERT(ret == 0);
LOG("Server opened UDP Port %i\n", serverUdpPort);
char buf[1024];
unsigned long remoteIp;
int remotePort;
//read, reverse string and send it back to client
int readBytes = udpSocket.read(buf, 1024, remoteIp, remotePort);
buf[readBytes] = '\0';
ASSERT(readBytes > 0);
LOG("Server Received: %s\n", buf);
//Reverse the string and write to the buffer again
str_reverse(buf);
int writeBytes = udpSocket.write(remoteIp, remotePort, (const char *) buf, readBytes);
ASSERT(writeBytes > 0);
LOG("Server sent: %s\n", buf);
udpSocket.close();
return 0;
}
/**
* Test UDP data exchange
*/
void test_udp_echo()
{
UDPSocket sock;
SocketAddress host_address;
int x;
int size;
driver.disconnect();
TEST_ASSERT(do_connect(&driver) == 0);
TEST_ASSERT(driver.gethostbyname(MBED_CONF_APP_ECHO_SERVER, &host_address) == 0);
host_address.set_port(MBED_CONF_APP_ECHO_UDP_PORT);
tr_debug("UDP: Server %s address: %s on port %d.",
MBED_CONF_APP_ECHO_SERVER, host_address.get_ip_address(),
host_address.get_port());
TEST_ASSERT(sock.open(&driver) == 0)
sock.set_timeout(10000);
// Test min, max, and some random sizes in-between
do_udp_echo(&sock, &host_address, 1);
do_udp_echo(&sock, &host_address, MBED_CONF_APP_UDP_MAX_PACKET_SIZE);
for (x = 0; x < 10; x++) {
size = (rand() % MBED_CONF_APP_UDP_MAX_PACKET_SIZE) + 1;
size = fix(size, MBED_CONF_APP_UDP_MAX_PACKET_SIZE + 1);
do_udp_echo(&sock, &host_address, size);
}
sock.close();
drop_connection(&driver);
tr_debug("%d UDP packets of size up to %d byte(s) echoed successfully.", x,
MBED_CONF_APP_UDP_MAX_PACKET_SIZE);
}
void echo() {
int success = 0;
int err = sock.open(net);
TEST_ASSERT_EQUAL(0, err);
sock.set_timeout(MBED_CFG_UDP_CLIENT_ECHO_TIMEOUT);
for (int i = 0; success < ECHO_LOOPS; i++) {
prep_buffer(id, uuid, tx_buffer, sizeof(tx_buffer));
const int ret = sock.sendto(udp_addr, tx_buffer, sizeof(tx_buffer));
if (ret >= 0) {
iomutex.lock();
printf("[ID:%01d][%02d] sent %d bytes - %.*s \n", id, i, ret, ret, tx_buffer);
iomutex.unlock();
} else {
iomutex.lock();
printf("[ID:%01d][%02d] Network error %d\n", id, i, ret);
iomutex.unlock();
continue;
}
SocketAddress temp_addr;
const int n = sock.recvfrom(&temp_addr, rx_buffer, sizeof(rx_buffer));
if (n >= 0) {
iomutex.lock();
printf("[ID:%01d][%02d] recv %d bytes - %.*s \n", id, i, n, n, tx_buffer);
iomutex.unlock();
} else {
iomutex.lock();
printf("[ID:%01d][%02d] Network error %d\n", id, i, n);
iomutex.unlock();
continue;
}
if ((temp_addr == udp_addr &&
n == sizeof(tx_buffer) &&
memcmp(rx_buffer, tx_buffer, sizeof(rx_buffer)) == 0)) {
success += 1;
iomutex.lock();
printf("[ID:%01d][%02d] success #%d\n", id, i, success);
iomutex.unlock();
continue;
}
// failed, clean out any remaining bad packets
sock.set_timeout(0);
while (true) {
err = sock.recvfrom(NULL, NULL, 0);
if (err == NSAPI_ERROR_WOULD_BLOCK) {
break;
}
}
sock.set_timeout(MBED_CFG_UDP_CLIENT_ECHO_TIMEOUT);
}
result = success == ECHO_LOOPS;
err = sock.close();
TEST_ASSERT_EQUAL(0, err);
if (err) {
result = false;
}
}
void test_udp_dtls_handshake() {
EthernetInterface eth;
int err = eth.connect();
TEST_ASSERT_EQUAL(0, err);
printf("MBED: UDPClient IP address is '%s'\n", eth.get_ip_address());
printf("MBED: UDPClient waiting for server IP and port...\n");
greentea_send_kv("target_ip", eth.get_ip_address());
bool result = false;
char recv_key[] = "host_port";
char ipbuf[60] = {0};
char portbuf[16] = {0};
unsigned int port = 0;
greentea_send_kv("host_ip", " ");
greentea_parse_kv(recv_key, ipbuf, sizeof(recv_key), sizeof(ipbuf));
greentea_send_kv("host_port", " ");
greentea_parse_kv(recv_key, portbuf, sizeof(recv_key), sizeof(ipbuf));
sscanf(portbuf, "%u", &port);
printf("MBED: UDP Server IP address received: %s:%d \n", ipbuf, port);
// align each size to 4-bits
for (int i = 0; i < udp_dtls_handshake_count; i++) {
udp_dtls_handshake_pattern[i] = (~0xf & udp_dtls_handshake_pattern[i]) + 0x10;
}
printf("MBED: DTLS pattern [");
for (int i = 0; i < udp_dtls_handshake_count; i++) {
printf("%d", udp_dtls_handshake_pattern[i]);
if (i != udp_dtls_handshake_count-1) {
printf(", ");
}
}
printf("]\r\n");
UDPSocket sock;
SocketAddress udp_addr(ipbuf, port);
sock.set_timeout(MBED_CFG_UDP_DTLS_HANDSHAKE_TIMEOUT);
for (int attempt = 0; attempt < MBED_CFG_UDP_DTLS_HANDSHAKE_RETRIES; attempt++) {
err = sock.open(ð);
TEST_ASSERT_EQUAL(0, err);
for (int i = 0; i < udp_dtls_handshake_count; i++) {
buffer[i] = udp_dtls_handshake_pattern[i] >> 4;
}
err = sock.sendto(udp_addr, buffer, udp_dtls_handshake_count);
printf("UDP: tx -> %d\r\n", err);
TEST_ASSERT_EQUAL(udp_dtls_handshake_count, err);
int step = 0;
while (step < udp_dtls_handshake_count) {
err = sock.recvfrom(NULL, buffer, sizeof(buffer));
printf("UDP: rx <- %d ", err);
// check length
if (err != udp_dtls_handshake_pattern[step]) {
printf("x (expected %d)\r\n", udp_dtls_handshake_pattern[step]);
break;
}
// check quick xor of packet
uint8_t check = 0;
for (int j = 0; j < udp_dtls_handshake_pattern[step]; j++) {
check ^= buffer[j];
}
if (check != 0) {
printf("x (checksum 0x%02x)\r\n", check);
break;
}
// successfully got a packet
printf("\r\n");
step += 1;
}
err = sock.close();
TEST_ASSERT_EQUAL(0, err);
// got through all steps, test passed
if (step == udp_dtls_handshake_count) {
result = true;
break;
}
}
eth.disconnect();
TEST_ASSERT(result);
}
main() {
UDPSocket s;
s.send("test","localhost",9999);
s.close();
}
int main(int argc, char* argv[]) {
//parse args
if (argc != 5) {
std::cout << "This program requires 4 arguments in the following format!" << std::endl;
std::cout << "sender <host address of emulator> <udp port number of emulator in FWD direction>" << "\n"
<< "<udp port number of sender to receive acks> <fileName>" << std::endl;
std::cout << "Example: sender 192.168.89.78 49998 11234 test.txt" << std::endl;
return 1;
}
const char* ipAddr = argv[1];
if (0 == strcmp(ipAddr, "localhost")) {
ipAddr = "127.0.0.1";
}
unsigned long remoteIp = inet_addr(ipAddr);
int remotePort = atoi(argv[2]);
int senderPort = atoi(argv[3]);
const char* fileName = argv[4];
int totalPackets = 0;
int totalBytes = 0;
int sentPackets = 0;
int sentBytes = 0;
int seqNum = 0;
signal(SIGALRM, signal_alarm_handler);
bool timer_on = false;
list<Packet *> packetsToSend;
list<Packet *> packetsSent;
//Open the file and prepare the packets for transmission
ifstream transferFile(fileName);
ofstream seqLog(seqFile);
ofstream ackLog(ackFile);
if (!(seqLog.is_open() && ackLog.is_open())) {
return 1;
}
if (transferFile.is_open()) {
char buffer[Packet::MAX_DATA_LENGTH];
while(false == transferFile.eof()) {
transferFile.read(buffer, Packet::MAX_DATA_LENGTH);
Packet* packet = Packet::createPacket(seqNum, transferFile.gcount(), buffer);
packetsToSend.insert(packetsToSend.end(), packet);
LOG("Inserted packet %i in the queue\n", totalPackets);
seqNum++;
seqNum %= Packet::MAX_SEQ_NUMBER;
totalPackets++;
totalBytes += packet->getLength();
}
} else {
LOG("The input file was not found..\n");
return 1;
}
transferFile.close();
//Add EOT packet
Packet *eotPacket = Packet::createEOT(seqNum);
packetsToSend.insert(packetsToSend.end(), eotPacket);
totalPackets++;
LOG("Packets ready for transmission: %i\n", totalPackets);
LOG("Total data to be sent: %i\n", totalBytes);
//open a udp socket and listen for str
UDPSocket udpSocket;
int ret = udpSocket.open(senderPort);
ASSERT(ret == 0);
LOG("Sender is transmitting & receiving on UDP Port %i\n", senderPort);
/**
* Core Logic
* The sender can be in three states
* 1. SEND_DATA : Sends a packet as long as data is available and window size is permitted
* 2. RECV_ACK : Receives an acknowledgement for a previously sent data
* 3. RESEND_DATA: If an ACK is not received for a previously sent data within timer, resend the data
*/
while ((packetsToSend.size() > 0) || (packetsSent.size() > 0)) {
if (udpSocket.hasData()) {
g_state = SENDER_RECV_ACK;
}
switch(g_state)
{
/**
* Within the WINDOW_SIZE, if data is available, send it.
* Remove it from packetsToSend, and add it to packetsSent
* If timer is off, turn it on.
*/
case SENDER_SEND_DATA: {
if (packetsSent.size() < WINDOW_SIZE && packetsToSend.size() > 0) {
list<Packet *>::iterator itr = packetsToSend.begin();
Packet *packet = (*itr);
char *packetData = packet->getUDPData();
udpSocket.write(remoteIp, remotePort, packetData, packet->getUDPSize());
sentPackets++;
sentBytes += packet->getLength();
seqLog << packet->getSeqNum() << endl;
LOG("Sent packet seqnum %i, packet number %i\n", packet->getSeqNum(), sentPackets);
LOG("Sent bytes: %i\n", sentBytes);
if (false == timer_on) {
alarm(TIMER_SECS);
timer_on = true;
}
free(packetData);
packetsToSend.remove(packet);
packetsSent.insert(packetsSent.end(), packet);
}
}
break;
/**
* 1. RECV Packet.
* 2. Check if the ack number belongs to any packets in packetsSent.
* 3. If yes, delete all packets upto and before.
* 4. If not, discard packet
* 5. If any packets are sent and not recieved ack, start timer again.
*/
case SENDER_RECV_ACK: {
char buffer[Packet::MAX_PACKET_LENGTH];
unsigned long ip;
int port;
int length = Packet::MAX_PACKET_LENGTH;
udpSocket.read(buffer, length, ip, port);
Packet *packet = Packet::parseUDPData(buffer);
int seqNum = packet->getSeqNum();
ackLog << seqNum << endl;
//since it is cumulative keep deleting until seq num is found on packetsSent
list<Packet *>::iterator itr = packetsSent.begin();
while (itr != packetsSent.end() && comparePacket((*itr)->getSeqNum(), seqNum) <= 0) { //less than or equal
Packet *sentPacket = (*itr);
packetsSent.remove(sentPacket);
itr = packetsSent.begin();
delete(sentPacket);
}
delete(packet);
if (packetsSent.size() > 0) {
alarm(TIMER_SECS);
}
g_state = SENDER_SEND_DATA;
}
break;
/**
* 1. Resend data if timeout.
* 2. Send all packets in packetsToSend
*/
case SENDER_RESEND_DATA: {
for (list<Packet *>::iterator itr = packetsSent.begin(); itr != packetsSent.end(); ++itr) {
Packet *packet = (*itr);
char *packetData = packet->getUDPData();
udpSocket.write(remoteIp, remotePort, packetData, packet->getUDPSize());
seqLog << packet->getSeqNum() << endl;
LOG("Resent packet seqnum %i\n", packet->getSeqNum());
if (false == timer_on) {
alarm(TIMER_SECS);
timer_on = true;
}
free(packetData);
}
}
break;
default: {
ASSERT(0); //invalid state
}
}
}
LOG("End of Transmission. Exiting \n");
udpSocket.close();
seqLog.close();
ackLog.close();
ASSERT(totalBytes == sentBytes);
ASSERT(totalPackets == sentPackets);
return 0;
}
int main(int argc, char *argv[]) {
//parse args
if (argc != 5) {
std::cout << "This program requires 4 arguments in the following format!" << std::endl;
std::cout << "receiver <ipAddress of network emulator> <udp port of emulator to receive ACKs from receiver>" << endl
<< "<udp port number used by receiver to receive data> <fileName>" << std::endl;
std::cout << "Example: receiver 192.123.45.87 49999 11235 recv_test.txt" << std::endl;
return 1;
}
const char* ipAddr = argv[1];
if (0 == strcmp(ipAddr, "localhost")) {
ipAddr = "127.0.0.1";
}
unsigned long remoteIp = inet_addr(ipAddr);
int remotePort = atoi(argv[2]);
int receiverPort = atoi(argv[3]);
const char *recvFile = argv[4];
list<Packet *> packetsReceived;
unsigned int totalBytes = 0;
unsigned int expectingSeqNum = 0;
bool firstPacketReceived = false;
//create a udp socket
UDPSocket udpSocket;
udpSocket.open(receiverPort);
LOG("Receiver opened UDP port at %i\n", receiverPort);
ofstream arrivalLog(arrivalFile);
if (!arrivalLog.is_open()) {
LOG("Arrival log file cannot be opened\n");
return 1;
}
/**
* RECV Packet.
* If the sequence number is expected, add it to packets list. Send Ack.
* If not discard and send previous ack.
*/
while (true) {
char buf[Packet::MAX_PACKET_LENGTH];
unsigned long ip; int port;
udpSocket.read(buf, Packet::MAX_PACKET_LENGTH, ip, port);
Packet *packet = Packet::parseUDPData(buf);
arrivalLog << packet->getSeqNum() << endl;
LOG("Received packet %i, length %i\n", packet->getSeqNum(), packet->getLength());
if ((unsigned int) packet->getSeqNum() == expectingSeqNum) {
if (packet->getType() == 1) { //data packet
sendAckPacket(udpSocket, expectingSeqNum, remoteIp, remotePort);
totalBytes += packet->getLength();
LOG("Received %i bytes\n", totalBytes);
expectingSeqNum++;
expectingSeqNum %= Packet::MAX_SEQ_NUMBER;
packetsReceived.insert(packetsReceived.end(), packet);
LOG("Total packets received %i\n", (unsigned int) packetsReceived.size());
if (false == firstPacketReceived) {
firstPacketReceived = true;
}
} else if (packet->getType() == 2) { //eot packet
LOG("EOT Packet received.. \n");
sendEotPacket(udpSocket, expectingSeqNum, remoteIp, remotePort);
break;
}
} else {
if (true == firstPacketReceived) {
int previousSeqNum = expectingSeqNum - 1;
previousSeqNum = (previousSeqNum + Packet::MAX_SEQ_NUMBER) % Packet::MAX_SEQ_NUMBER;
sendAckPacket(udpSocket, previousSeqNum, remoteIp, remotePort);
}
delete(packet);
}
}
udpSocket.close();
LOG("Received %u packets \n", (unsigned int) packetsReceived.size());
//Write to a file.
ofstream transferFile(recvFile);
if (transferFile.is_open()) {
for (list<Packet *>::iterator itr = packetsReceived.begin(); itr != packetsReceived.end(); ++itr) {
Packet *packet = (*itr);
transferFile.write(packet->getData(), packet->getLength());
delete(packet);
}
}
LOG("Finished writing %u bytes to the file\n", totalBytes);
transferFile.close();
arrivalLog.close();
return 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;
}