update with altimeter, swimfile.txt endleg.txt, etc see changes_13sep.txt also reset_PI()
Dependencies: mbed MODSERIAL FATFileSystem
main.cpp@81:7ff2c6467892, 2018-11-08 (annotated)
- Committer:
- tnhnrl
- Date:
- Thu Nov 08 22:30:32 2018 +0000
- Revision:
- 81:7ff2c6467892
- Parent:
- 80:4e5d306d695b
- Child:
- 82:0981b9ada820
Minor fixes 11/8/18
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tzyoung | 0:ea293bbf9717 | 1 | #include "mbed.h" |
tzyoung | 0:ea293bbf9717 | 2 | #include "StaticDefs.hpp" |
tnhnrl | 65:2ac186553959 | 3 | |
tnhnrl | 65:2ac186553959 | 4 | ////////////////////////////////////////////////////////////////// NEW TICKER |
tnhnrl | 65:2ac186553959 | 5 | Ticker systemTicker; |
tnhnrl | 65:2ac186553959 | 6 | bool setup_complete = false; |
tnhnrl | 65:2ac186553959 | 7 | volatile unsigned int bTick = 0; |
tnhnrl | 65:2ac186553959 | 8 | volatile unsigned int timer_counter = 0; |
tnhnrl | 65:2ac186553959 | 9 | |
tnhnrl | 65:2ac186553959 | 10 | static unsigned int read_ticker(void) { //Basically this makes sure you're reading the data at one instance (not while it's changing) |
tnhnrl | 65:2ac186553959 | 11 | unsigned int val = bTick; |
tnhnrl | 65:2ac186553959 | 12 | if( val ) |
tnhnrl | 65:2ac186553959 | 13 | bTick = 0; |
tnhnrl | 65:2ac186553959 | 14 | return( val ); |
tnhnrl | 65:2ac186553959 | 15 | } |
tnhnrl | 65:2ac186553959 | 16 | ////////////////////////////////////////////////////////////////// NEW TICKER |
tnhnrl | 32:f2f8ae34aadc | 17 | |
tnhnrl | 65:2ac186553959 | 18 | volatile bool fsm_loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable) |
tnhnrl | 34:9b66c5188051 | 19 | volatile bool log_loop = false; //used so the compiler does not optimize this variable (load from memory, do not assume state of variable) |
tnhnrl | 32:f2f8ae34aadc | 20 | |
tnhnrl | 65:2ac186553959 | 21 | void loop_trigger() { fsm_loop = true;} // loop trigger (used in while loop) |
tnhnrl | 34:9b66c5188051 | 22 | void log_loop_trigger() { log_loop = true;} // log loop trigger (used in while loop) |
tnhnrl | 32:f2f8ae34aadc | 23 | |
tnhnrl | 65:2ac186553959 | 24 | static int current_state = 0; |
tnhnrl | 65:2ac186553959 | 25 | static bool file_opened = false; |
tnhnrl | 65:2ac186553959 | 26 | |
tnhnrl | 73:f6f378311c8d | 27 | void FSM() { // FSM loop runs at 10 hz |
tnhnrl | 65:2ac186553959 | 28 | if(fsm_loop) { |
tnhnrl | 73:f6f378311c8d | 29 | // led one removed |
tnhnrl | 65:2ac186553959 | 30 | fsm_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 65:2ac186553959 | 31 | current_state = stateMachine().runStateMachine(); //running State Machine. Returns 0 if sitting idle or keyboard press (SIT_IDLE state). |
tnhnrl | 65:2ac186553959 | 32 | } |
tnhnrl | 65:2ac186553959 | 33 | } |
tnhnrl | 65:2ac186553959 | 34 | |
tnhnrl | 65:2ac186553959 | 35 | void log_function() { |
tnhnrl | 65:2ac186553959 | 36 | // log loop runs at 1 hz |
tnhnrl | 65:2ac186553959 | 37 | if (log_loop) { |
tnhnrl | 65:2ac186553959 | 38 | //when the state machine is not in SIT_IDLE state (or a random keyboard press) |
tnhnrl | 65:2ac186553959 | 39 | |
tnhnrl | 68:8f549749b8ce | 40 | if(current_state != 0) { |
tnhnrl | 65:2ac186553959 | 41 | if (!file_opened) { //if the log file is not open, open it |
tnhnrl | 65:2ac186553959 | 42 | mbedLogger().appendLogFile(current_state, 0); //open MBED file once |
tnhnrl | 80:4e5d306d695b | 43 | //sdLogger().appendLogFile(current_state, 0); //open SD file once |
tnhnrl | 65:2ac186553959 | 44 | |
tnhnrl | 65:2ac186553959 | 45 | file_opened = true; //stops it from continuing to open it |
tnhnrl | 56:48a8a5a65b82 | 46 | |
tnhnrl | 74:d281aaef9766 | 47 | xbee().printf(">>>>>>>> Recording. Log file opened. <<<<<<<<\n\r"); |
tnhnrl | 65:2ac186553959 | 48 | } |
tnhnrl | 65:2ac186553959 | 49 | |
tnhnrl | 65:2ac186553959 | 50 | //record to Mbed file system |
tnhnrl | 65:2ac186553959 | 51 | |
tnhnrl | 65:2ac186553959 | 52 | mbedLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 80:4e5d306d695b | 53 | //sdLogger().appendLogFile(current_state, 1); //writing data |
tnhnrl | 65:2ac186553959 | 54 | } |
tnhnrl | 65:2ac186553959 | 55 | |
tnhnrl | 65:2ac186553959 | 56 | //when the current FSM state is zero (SIT_IDLE), close the file |
tnhnrl | 65:2ac186553959 | 57 | else { |
tnhnrl | 65:2ac186553959 | 58 | //this can only happen once |
tnhnrl | 65:2ac186553959 | 59 | if (file_opened) { |
tnhnrl | 67:c86a4b464682 | 60 | //WRITE ONCE |
tnhnrl | 67:c86a4b464682 | 61 | mbedLogger().appendLogFile(current_state, 1); //write the idle state, then close |
tnhnrl | 80:4e5d306d695b | 62 | //sdLogger().appendLogFile(current_state, 1); //write the idle state, then close |
tnhnrl | 67:c86a4b464682 | 63 | |
tnhnrl | 65:2ac186553959 | 64 | mbedLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 80:4e5d306d695b | 65 | //sdLogger().appendLogFile(current_state, 0); //close log file |
tnhnrl | 65:2ac186553959 | 66 | |
tnhnrl | 65:2ac186553959 | 67 | file_opened = false; |
tnhnrl | 65:2ac186553959 | 68 | |
tnhnrl | 74:d281aaef9766 | 69 | xbee().printf(">>>>>>>> Stopped recording. Log file closed. <<<<<<<<\n\r"); |
tnhnrl | 65:2ac186553959 | 70 | } |
tnhnrl | 65:2ac186553959 | 71 | } |
tnhnrl | 74:d281aaef9766 | 72 | } //END OF LOG LOOP8 |
tnhnrl | 65:2ac186553959 | 73 | |
tnhnrl | 65:2ac186553959 | 74 | log_loop = false; // wait until the loop rate timer fires again |
tnhnrl | 65:2ac186553959 | 75 | } |
tnhnrl | 56:48a8a5a65b82 | 76 | |
tnhnrl | 72:250b2665755c | 77 | //single system timer to run hardware/electronics timing |
tnhnrl | 65:2ac186553959 | 78 | static void system_timer(void) { |
tnhnrl | 65:2ac186553959 | 79 | bTick = 1; |
tnhnrl | 65:2ac186553959 | 80 | |
tnhnrl | 56:48a8a5a65b82 | 81 | timer_counter++; |
tnhnrl | 56:48a8a5a65b82 | 82 | |
tnhnrl | 56:48a8a5a65b82 | 83 | //only start these updates when everything is properly setup (through setup function) |
tnhnrl | 56:48a8a5a65b82 | 84 | if (setup_complete) { |
tnhnrl | 74:d281aaef9766 | 85 | if ( (timer_counter % 5) == 0) { //this runs at 0.005 second intervals (200 Hz) |
tnhnrl | 65:2ac186553959 | 86 | adc().update(); //every iteration of this the A/D converter runs //now this runs at 0.01 second intervals 03/12/2018 |
tnhnrl | 65:2ac186553959 | 87 | } |
tnhnrl | 65:2ac186553959 | 88 | |
tnhnrl | 65:2ac186553959 | 89 | if ( (timer_counter % 10) == 0) { |
tnhnrl | 65:2ac186553959 | 90 | bce().update(); //update() inside LinearActuator class (running at 0.01 second intervals) |
tnhnrl | 65:2ac186553959 | 91 | batt().update(); |
tnhnrl | 65:2ac186553959 | 92 | } |
tnhnrl | 65:2ac186553959 | 93 | |
tnhnrl | 65:2ac186553959 | 94 | if ( (timer_counter % 20) == 0 ) { // 0.02 second intervals |
tnhnrl | 74:d281aaef9766 | 95 | rudder().runServo(); |
tnhnrl | 65:2ac186553959 | 96 | } |
tnhnrl | 65:2ac186553959 | 97 | |
tnhnrl | 65:2ac186553959 | 98 | if ( (timer_counter % 50) == 0 ) { // 0.05 second intervals |
tnhnrl | 67:c86a4b464682 | 99 | imu().runIMU(); |
tnhnrl | 65:2ac186553959 | 100 | } |
tnhnrl | 73:f6f378311c8d | 101 | |
tnhnrl | 65:2ac186553959 | 102 | if ( (timer_counter % 100) == 0) { // 100,000 microseconds = 0.1 second intervals |
tnhnrl | 65:2ac186553959 | 103 | depthLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 104 | pitchLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 105 | headingLoop().runOuterLoop(); |
tnhnrl | 65:2ac186553959 | 106 | } |
tnhnrl | 73:f6f378311c8d | 107 | |
tnhnrl | 73:f6f378311c8d | 108 | if ( (timer_counter % 1000) == 0) { // update at 1.0 second intervals |
tnhnrl | 73:f6f378311c8d | 109 | //gui().updateGUI(); |
tnhnrl | 73:f6f378311c8d | 110 | } |
tnhnrl | 74:d281aaef9766 | 111 | |
tnhnrl | 74:d281aaef9766 | 112 | if ( (timer_counter % 30000) == 0) { // update at 30.0 second intervals |
tnhnrl | 74:d281aaef9766 | 113 | //pc().printf("XB!\n"); |
tnhnrl | 74:d281aaef9766 | 114 | } |
tnhnrl | 56:48a8a5a65b82 | 115 | } |
tnhnrl | 56:48a8a5a65b82 | 116 | } |
tnhnrl | 56:48a8a5a65b82 | 117 | |
danstrider | 10:085ab7328054 | 118 | void setup() { |
tnhnrl | 74:d281aaef9766 | 119 | xbee().baud(115200); |
tnhnrl | 81:7ff2c6467892 | 120 | xbee().printf("\n\n\r 2018-11-08 FSG PCB XBee\n\n\r"); |
tnhnrl | 74:d281aaef9766 | 121 | |
tnhnrl | 74:d281aaef9766 | 122 | //pc().baud(57600); |
tnhnrl | 65:2ac186553959 | 123 | |
danstrider | 10:085ab7328054 | 124 | // start up the system timer |
tnhnrl | 65:2ac186553959 | 125 | //systemTimer().start(); |
tnhnrl | 20:8987a9ae2bc7 | 126 | |
danstrider | 10:085ab7328054 | 127 | // set up and start the adc. This runs on a fixed interval and is interrupt driven |
tnhnrl | 65:2ac186553959 | 128 | adc().initialize(); |
tnhnrl | 67:c86a4b464682 | 129 | //one central interrupt is updating the ADC (not using the start function) |
tnhnrl | 65:2ac186553959 | 130 | |
tnhnrl | 65:2ac186553959 | 131 | // setup and run the rudder(servo) pwm signal (start the ticker) |
tnhnrl | 65:2ac186553959 | 132 | //rudder().init(); |
tnhnrl | 74:d281aaef9766 | 133 | xbee().printf("Rudder servo initialized!\n\r"); |
danstrider | 10:085ab7328054 | 134 | |
danstrider | 10:085ab7328054 | 135 | // set up and start the imu. This polls in the background |
danstrider | 10:085ab7328054 | 136 | imu().initialize(); |
tnhnrl | 65:2ac186553959 | 137 | //imu().start(); |
danstrider | 10:085ab7328054 | 138 | |
tnhnrl | 48:20e681885161 | 139 | // construct the MBED local file system |
danstrider | 10:085ab7328054 | 140 | local(); |
tnhnrl | 48:20e681885161 | 141 | |
tnhnrl | 79:3688c3a0d7f4 | 142 | // construct the SD card file system TEST 10/23/18 |
tnhnrl | 80:4e5d306d695b | 143 | //sd_card(); |
tnhnrl | 20:8987a9ae2bc7 | 144 | |
danstrider | 10:085ab7328054 | 145 | // load config data from files |
tnhnrl | 65:2ac186553959 | 146 | configFileIO().load_BCE_config(); // load the buoyancy engine parameters from the file "bce.txt" |
tnhnrl | 65:2ac186553959 | 147 | configFileIO().load_BATT_config(); // load the battery mass mover parameters from the file "batt.txt" |
tnhnrl | 65:2ac186553959 | 148 | |
tnhnrl | 65:2ac186553959 | 149 | configFileIO().load_DEPTH_config(); // load the depth control loop parameters from the file "depth.txt" (contains neutral position) |
tnhnrl | 65:2ac186553959 | 150 | configFileIO().load_PITCH_config(); // load the depth control loop parameters from the file "pitch.txt" (contains neutral position) |
tnhnrl | 65:2ac186553959 | 151 | |
tnhnrl | 65:2ac186553959 | 152 | configFileIO().load_RUDDER_config(); // load the rudder servo inner loop parameters from the file "SERVO.txt" |
tnhnrl | 65:2ac186553959 | 153 | configFileIO().load_HEADING_config(); // load the rudder servo outer loop HEADING control parameters from the file "HEADING.txt" (contains neutral position) |
tnhnrl | 43:891baf306e0a | 154 | |
danstrider | 10:085ab7328054 | 155 | // set up the linear actuators. adc has to be running first. |
tnhnrl | 65:2ac186553959 | 156 | bce().setPIDHighLimit(bce().getTravelLimit()); //travel limit of this linear actuator |
danstrider | 10:085ab7328054 | 157 | bce().init(); |
tnhnrl | 65:2ac186553959 | 158 | //bce().start(); //removed start, it's handled by the interrupt |
tnhnrl | 67:c86a4b464682 | 159 | bce().runLinearActuator(); |
mkelly10 | 12:a0519d11d2b6 | 160 | bce().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 161 | |
tnhnrl | 65:2ac186553959 | 162 | batt().setPIDHighLimit(batt().getTravelLimit()); //travel limit of this linear actuator |
danstrider | 10:085ab7328054 | 163 | batt().init(); |
tnhnrl | 65:2ac186553959 | 164 | batt().runLinearActuator(); // _init = true; |
tnhnrl | 65:2ac186553959 | 165 | //batt().start();//removed start, it's handled by the interrupt |
mkelly10 | 12:a0519d11d2b6 | 166 | batt().pause(); // start by not moving |
tnhnrl | 20:8987a9ae2bc7 | 167 | |
tnhnrl | 65:2ac186553959 | 168 | // set up the depth, pitch, and rudder outer loop controllers |
danstrider | 10:085ab7328054 | 169 | depthLoop().init(); |
tnhnrl | 65:2ac186553959 | 170 | //removed start, it's handled by the interrupt |
tnhnrl | 16:3363b9f14913 | 171 | depthLoop().setCommand(stateMachine().getDepthCommand()); |
tnhnrl | 20:8987a9ae2bc7 | 172 | |
danstrider | 10:085ab7328054 | 173 | pitchLoop().init(); |
tnhnrl | 65:2ac186553959 | 174 | //removed start, it's handled by the interrupt |
tnhnrl | 16:3363b9f14913 | 175 | pitchLoop().setCommand(stateMachine().getPitchCommand()); |
tnhnrl | 55:f4ec445c42fe | 176 | |
tnhnrl | 55:f4ec445c42fe | 177 | headingLoop().init(); |
tnhnrl | 65:2ac186553959 | 178 | //removed start, it's handled by the interrupt |
tnhnrl | 65:2ac186553959 | 179 | //headingLoop().setCommand(stateMachine().getHeadingCommand()); // FIX LATER |
tnhnrl | 65:2ac186553959 | 180 | //heading flag that adjust the PID error is set in the constructor |
tnhnrl | 65:2ac186553959 | 181 | |
tnhnrl | 65:2ac186553959 | 182 | //systemTicker.attach_us(&system_timer, 10000); // Interrupt timer running at 0.01 seconds (slower than original ADC time interval) |
tnhnrl | 65:2ac186553959 | 183 | |
tnhnrl | 65:2ac186553959 | 184 | |
tnhnrl | 20:8987a9ae2bc7 | 185 | |
tnhnrl | 20:8987a9ae2bc7 | 186 | // show that the PID gains are loading from the file |
tnhnrl | 74:d281aaef9766 | 187 | xbee().printf("bce P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", bce().getControllerP(), bce().getControllerI(), bce().getControllerD(), bce().getZeroCounts(), bce().getTravelLimit(), bce().getPotSlope()); |
tnhnrl | 74:d281aaef9766 | 188 | xbee().printf("batt P:%6.2f, I:%6.2f, D:%6.2f, zero %3i, limit %6.1f mm, slope %0.5f \r\n", batt().getControllerP(), batt().getControllerI(), batt().getControllerD(), batt().getZeroCounts(), batt().getTravelLimit(), batt().getPotSlope()); |
tnhnrl | 74:d281aaef9766 | 189 | xbee().printf("rudder min pwm: %6.2f, max pwm: %6.2f, center pwm: %6.2f, min deg: %6.2f, max deg: %6.2f\r\n", rudder().getMinPWM(), rudder().getMaxPWM(), rudder().getCenterPWM(), rudder().getMinDeg(), rudder().getMaxDeg()); |
tnhnrl | 65:2ac186553959 | 190 | |
tnhnrl | 74:d281aaef9766 | 191 | xbee().printf("depth P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", depthLoop().getControllerP(), depthLoop().getControllerI(), depthLoop().getControllerD(), depthLoop().getOutputOffset()); |
tnhnrl | 74:d281aaef9766 | 192 | xbee().printf("pitch P:%6.2f, I:%6.2f, D:%6.2f, offset:%6.1f mm \r\n", pitchLoop().getControllerP(), pitchLoop().getControllerI(), pitchLoop().getControllerD(), pitchLoop().getOutputOffset()); |
tnhnrl | 74:d281aaef9766 | 193 | xbee().printf("heading P: %3.2f, I: %3.2f, D %3.2f, offset: %3.1f deg (deadband: %0.1f)\r\n", headingLoop().getControllerP(), headingLoop().getControllerI(), headingLoop().getControllerD(), headingLoop().getOutputOffset(), headingLoop().getDeadband()); |
tnhnrl | 65:2ac186553959 | 194 | |
tnhnrl | 74:d281aaef9766 | 195 | xbee().printf("\n\r"); |
tnhnrl | 21:38c8544db6f4 | 196 | |
tnhnrl | 17:7c16b5671d0e | 197 | //load sequence from file |
tnhnrl | 17:7c16b5671d0e | 198 | sequenceController().loadSequence(); |
tnhnrl | 32:f2f8ae34aadc | 199 | |
tnhnrl | 47:fb3c7929d3f3 | 200 | //set time of logger (to current or close-to-current time) |
tnhnrl | 65:2ac186553959 | 201 | mbedLogger().setLogTime(); |
tnhnrl | 65:2ac186553959 | 202 | //sdLogger().setLogTime(); |
tnhnrl | 47:fb3c7929d3f3 | 203 | |
tnhnrl | 47:fb3c7929d3f3 | 204 | //create log files if not present on file system |
tnhnrl | 47:fb3c7929d3f3 | 205 | mbedLogger().initializeLogFile(); |
tnhnrl | 80:4e5d306d695b | 206 | //sdLogger().initializeLogFile(); // works 10/23/18 |
tnhnrl | 65:2ac186553959 | 207 | |
tnhnrl | 68:8f549749b8ce | 208 | setup_complete = true; |
tnhnrl | 65:2ac186553959 | 209 | } |
tnhnrl | 58:94b7fd55185e | 210 | |
tnhnrl | 68:8f549749b8ce | 211 | /*************************** v1.8 **************************/ |
tnhnrl | 68:8f549749b8ce | 212 | |
tnhnrl | 73:f6f378311c8d | 213 | int main() { |
tnhnrl | 73:f6f378311c8d | 214 | setup(); //setup electronics/hardware |
tnhnrl | 56:48a8a5a65b82 | 215 | |
tnhnrl | 72:250b2665755c | 216 | systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) |
tnhnrl | 68:8f549749b8ce | 217 | |
tnhnrl | 65:2ac186553959 | 218 | unsigned int tNow = 0; |
tnhnrl | 74:d281aaef9766 | 219 | |
tnhnrl | 75:92e79d23d29a | 220 | xbee().printf("\n\n\r 2018-08-14 FSG PCB XBee (setup complete) \n\n\r"); |
tnhnrl | 56:48a8a5a65b82 | 221 | |
tnhnrl | 56:48a8a5a65b82 | 222 | systemTicker.attach_us(&system_timer, 1000); // Interrupt timer running at 0.001 seconds (slower than original ADC time interval) |
tnhnrl | 65:2ac186553959 | 223 | |
tnhnrl | 65:2ac186553959 | 224 | while (1) { |
tnhnrl | 66:0f20870117b7 | 225 | if( read_ticker() ) // read_ticker runs at the speed of 10 kHz (adc timing) |
tnhnrl | 65:2ac186553959 | 226 | { |
tnhnrl | 65:2ac186553959 | 227 | ++tNow; |
mkelly10 | 51:c5c40272ecc3 | 228 | |
tnhnrl | 81:7ff2c6467892 | 229 | //Note to self: Retest data transmission code. |
tnhnrl | 81:7ff2c6467892 | 230 | //This is currently running at 0.1 second intervals (10 hz) and was working well for data transmission |
tnhnrl | 74:d281aaef9766 | 231 | if (current_state == TX_MBED_LOG or current_state == RX_SEQUENCE) { |
tnhnrl | 73:f6f378311c8d | 232 | if ( (tNow % 100) == 0 ) { // 0.01 second intervals (100 Hz) |
tnhnrl | 66:0f20870117b7 | 233 | fsm_loop = true; |
tnhnrl | 66:0f20870117b7 | 234 | FSM(); |
tnhnrl | 66:0f20870117b7 | 235 | } |
tnhnrl | 45:16b8162188ca | 236 | } |
tnhnrl | 34:9b66c5188051 | 237 | |
tnhnrl | 67:c86a4b464682 | 238 | //NOT TRANSMITTING DATA, NORMAL OPERATIONS |
tnhnrl | 68:8f549749b8ce | 239 | else { |
tnhnrl | 68:8f549749b8ce | 240 | //FSM |
tnhnrl | 68:8f549749b8ce | 241 | if ( (tNow % 100) == 0 ) { // 0.1 second intervals |
tnhnrl | 66:0f20870117b7 | 242 | fsm_loop = true; |
tnhnrl | 66:0f20870117b7 | 243 | FSM(); |
tnhnrl | 73:f6f378311c8d | 244 | |
tnhnrl | 73:f6f378311c8d | 245 | //get commands and update GUI |
tnhnrl | 73:f6f378311c8d | 246 | gui().getCommandFSM(); |
tnhnrl | 68:8f549749b8ce | 247 | } |
tnhnrl | 68:8f549749b8ce | 248 | //LOGGING |
tnhnrl | 68:8f549749b8ce | 249 | if ( (tNow % 1000) == 0 ) { // 1.0 second intervals |
tnhnrl | 66:0f20870117b7 | 250 | log_loop = true; |
tnhnrl | 66:0f20870117b7 | 251 | log_function(); |
tnhnrl | 66:0f20870117b7 | 252 | } |
tnhnrl | 66:0f20870117b7 | 253 | } |
tnhnrl | 65:2ac186553959 | 254 | } |
danstrider | 10:085ab7328054 | 255 | } |
tnhnrl | 74:d281aaef9766 | 256 | } |