Gary Servin
Personal fork
Fork of
rosserial_mbed_lib
by 
nucho
Diff: ros/node_handle.h
- Revision:
- 5:19c5437ed9fe
- Parent:
- 4:684f39d0c346
--- a/ros/node_handle.h Wed Feb 29 23:00:21 2012 +0000
+++ b/ros/node_handle.h Thu May 01 06:01:31 2014 +0000
@@ -43,27 +43,41 @@
#define SYNC_SECONDS 5
#define MODE_FIRST_FF 0
-#define MODE_SECOND_FF 1
-#define MODE_TOPIC_L 2 // waiting for topic id
-#define MODE_TOPIC_H 3
-#define MODE_SIZE_L 4 // waiting for message size
-#define MODE_SIZE_H 5
-#define MODE_MESSAGE 6
-#define MODE_CHECKSUM 7
+/*
+ * The second sync byte is a protocol version. It's value is 0xff for the first
+ * version of the rosserial protocol (used up to hydro), 0xfe for the second version
+ * (introduced in hydro), 0xfd for the next, and so on. Its purpose is to enable
+ * detection of mismatched protocol versions (e.g. hydro rosserial_python with groovy
+ * rosserial_arduino. It must be changed in both this file and in
+ * rosserial_python/src/rosserial_python/SerialClient.py
+ */
+#define MODE_PROTOCOL_VER 1
+#define PROTOCOL_VER1 0xff // through groovy
+#define PROTOCOL_VER2 0xfe // in hydro
+#define PROTOCOL_VER PROTOCOL_VER2
+#define MODE_SIZE_L 2
+#define MODE_SIZE_H 3
+#define MODE_SIZE_CHECKSUM 4 // checksum for msg size received from size L and H
+#define MODE_TOPIC_L 5 // waiting for topic id
+#define MODE_TOPIC_H 6
+#define MODE_MESSAGE 7
+#define MODE_MSG_CHECKSUM 8 // checksum for msg and topic id
+
#define MSG_TIMEOUT 20 //20 milliseconds to recieve all of message data
+#define ID_TX_STOP 11 //hardcode for hydro version
+
#include "msg.h"
namespace ros {
-class NodeHandleBase_ {
-public:
- virtual int publish(int16_t id, const Msg* msg)=0;
- virtual int spinOnce()=0;
- virtual bool connected()=0;
-};
-
+ class NodeHandleBase_{
+ public:
+ virtual int publish(int id, const Msg* msg)=0;
+ virtual int spinOnce()=0;
+ virtual bool connected()=0;
+ };
}
#include "publisher.h"
@@ -71,172 +85,216 @@
#include "service_server.h"
#include "service_client.h"
-
namespace ros {
-using rosserial_msgs::TopicInfo;
+ using rosserial_msgs::TopicInfo;
-/* Node Handle */
-template<class Hardware,
-int MAX_SUBSCRIBERS=25,
-int MAX_PUBLISHERS=25,
-int INPUT_SIZE=512,
-int OUTPUT_SIZE=512>
-class NodeHandle_ : public NodeHandleBase_ {
-protected:
- Hardware hardware_;
+ /* Node Handle */
+ template<class Hardware,
+ int MAX_SUBSCRIBERS=25,
+ int MAX_PUBLISHERS=25,
+ int INPUT_SIZE=512,
+ int OUTPUT_SIZE=512>
+ class NodeHandle_ : public NodeHandleBase_
+ {
+ protected:
+ Hardware hardware_;
- /* time used for syncing */
- unsigned long rt_time;
+ /* time used for syncing */
+ unsigned long rt_time;
+
+ /* used for computing current time */
+ unsigned long sec_offset, nsec_offset;
- /* used for computing current time */
- unsigned long sec_offset, nsec_offset;
+ unsigned char message_in[INPUT_SIZE];
+ unsigned char message_out[OUTPUT_SIZE];
+
+ Publisher * publishers[MAX_PUBLISHERS];
+ Subscriber_ * subscribers[MAX_SUBSCRIBERS];
- unsigned char message_in[INPUT_SIZE];
- unsigned char message_out[OUTPUT_SIZE];
+ /*
+ * Setup Functions
+ */
+ public:
+ NodeHandle_() : configured_(false) {
- Publisher * publishers[MAX_PUBLISHERS];
- Subscriber_ * subscribers[MAX_SUBSCRIBERS];
+ for(unsigned int i=0; i< MAX_PUBLISHERS; i++)
+ publishers[i] = 0;
+
+ for(unsigned int i=0; i< MAX_SUBSCRIBERS; i++)
+ subscribers[i] = 0;
+
+ for(unsigned int i=0; i< INPUT_SIZE; i++)
+ message_in[i] = 0;
- /*
- * Setup Functions
- */
-public:
- NodeHandle_() : configured_(false) {}
+ for(unsigned int i=0; i< OUTPUT_SIZE; i++)
+ message_out[i] = 0;
- Hardware* getHardware() {
+ req_param_resp.ints_length = 0;
+ req_param_resp.ints = NULL;
+ req_param_resp.floats_length = 0;
+ req_param_resp.floats = NULL;
+ req_param_resp.ints_length = 0;
+ req_param_resp.ints = NULL;
+ }
+
+ Hardware* getHardware(){
return &hardware_;
- }
+ }
- /* Start serial, initialize buffers */
- void initNode() {
+ /* Start serial, initialize buffers */
+ void initNode(){
hardware_.init();
mode_ = 0;
bytes_ = 0;
index_ = 0;
topic_ = 0;
- };
+ };
-protected:
-//State machine variables for spinOnce
- int mode_;
- int bytes_;
- int topic_;
- int index_;
- int checksum_;
-
- bool configured_;
+ /* Start a named port, which may be network server IP, initialize buffers */
+ void initNode(char *portName){
+ hardware_.init(portName);
+ mode_ = 0;
+ bytes_ = 0;
+ index_ = 0;
+ topic_ = 0;
+ };
- /* used for syncing the time */
- unsigned long last_sync_time;
- unsigned long last_sync_receive_time;
- unsigned long last_msg_timeout_time;
+ protected:
+ //State machine variables for spinOnce
+ int mode_;
+ int bytes_;
+ int topic_;
+ int index_;
+ int checksum_;
+
+ bool configured_;
-public:
- /* This function goes in your loop() function, it handles
- * serial input and callbacks for subscribers.
- */
+ /* used for syncing the time */
+ unsigned long last_sync_time;
+ unsigned long last_sync_receive_time;
+ unsigned long last_msg_timeout_time;
- virtual int spinOnce() {
+ public:
+ /* This function goes in your loop() function, it handles
+ * serial input and callbacks for subscribers.
+ */
+
+
+ virtual int spinOnce(){
/* restart if timed out */
unsigned long c_time = hardware_.time();
- if ( (c_time - last_sync_receive_time) > (SYNC_SECONDS*2200) ) {
+ if( (c_time - last_sync_receive_time) > (SYNC_SECONDS*2200) ){
configured_ = false;
- }
-
+ }
+
/* reset if message has timed out */
- if ( mode_ != MODE_FIRST_FF) {
- if (c_time > last_msg_timeout_time) {
- mode_ = MODE_FIRST_FF;
- }
+ if ( mode_ != MODE_FIRST_FF){
+ if (c_time > last_msg_timeout_time){
+ mode_ = MODE_FIRST_FF;
+ }
}
/* while available buffer, read data */
- while ( true ) {
- int data = hardware_.read();
- if ( data < 0 )//no data
- break;
- checksum_ += data;
- if ( mode_ == MODE_MESSAGE ) { /* message data being recieved */
- message_in[index_++] = data;
- bytes_--;
- if (bytes_ == 0) /* is message complete? if so, checksum */
- mode_ = MODE_CHECKSUM;
- } else if ( mode_ == MODE_FIRST_FF ) {
- if (data == 0xff) {
- mode_++;
- last_msg_timeout_time = c_time + MSG_TIMEOUT;
- }
- } else if ( mode_ == MODE_SECOND_FF ) {
- if (data == 0xff) {
- mode_++;
- } else {
- mode_ = MODE_FIRST_FF;
- }
- } else if ( mode_ == MODE_TOPIC_L ) { /* bottom half of topic id */
- topic_ = data;
- mode_++;
- checksum_ = data; /* first byte included in checksum */
- } else if ( mode_ == MODE_TOPIC_H ) { /* top half of topic id */
- topic_ += data<<8;
- mode_++;
- } else if ( mode_ == MODE_SIZE_L ) { /* bottom half of message size */
- bytes_ = data;
- index_ = 0;
- mode_++;
- } else if ( mode_ == MODE_SIZE_H ) { /* top half of message size */
- bytes_ += data<<8;
- mode_ = MODE_MESSAGE;
- if (bytes_ == 0)
- mode_ = MODE_CHECKSUM;
- } else if ( mode_ == MODE_CHECKSUM ) { /* do checksum */
- mode_ = MODE_FIRST_FF;
- if ( (checksum_%256) == 255) {
- if (topic_ == TopicInfo::ID_PUBLISHER) {
- requestSyncTime();
- negotiateTopics();
- last_sync_time = c_time;
- last_sync_receive_time = c_time;
- return -1;
- } else if (topic_ == TopicInfo::ID_TIME) {
- syncTime(message_in);
- } else if (topic_ == TopicInfo::ID_PARAMETER_REQUEST) {
- req_param_resp.deserialize(message_in);
- param_recieved= true;
- } else {
- if (subscribers[topic_-100])
- subscribers[topic_-100]->callback( message_in );
- }
- }
+ while( true )
+ {
+ int data = hardware_.read();
+ if( data < 0 )
+ break;
+ checksum_ += data;
+ if( mode_ == MODE_MESSAGE ){ /* message data being recieved */
+ message_in[index_++] = data;
+ bytes_--;
+ if(bytes_ == 0) /* is message complete? if so, checksum */
+ mode_ = MODE_MSG_CHECKSUM;
+ }else if( mode_ == MODE_FIRST_FF ){
+ if(data == 0xff){
+ mode_++;
+ last_msg_timeout_time = c_time + MSG_TIMEOUT;
+ }
+ }else if( mode_ == MODE_PROTOCOL_VER ){
+ if(data == PROTOCOL_VER){
+ mode_++;
+ }else{
+ mode_ = MODE_FIRST_FF;
+ if (configured_ == false)
+ requestSyncTime(); /* send a msg back showing our protocol version */
}
+ }else if( mode_ == MODE_SIZE_L ){ /* bottom half of message size */
+ bytes_ = data;
+ index_ = 0;
+ mode_++;
+ checksum_ = data; /* first byte for calculating size checksum */
+ }else if( mode_ == MODE_SIZE_H ){ /* top half of message size */
+ bytes_ += data<<8;
+ mode_++;
+ }else if( mode_ == MODE_SIZE_CHECKSUM ){
+ if( (checksum_%256) == 255)
+ mode_++;
+ else
+ mode_ = MODE_FIRST_FF; /* Abandon the frame if the msg len is wrong */
+ }else if( mode_ == MODE_TOPIC_L ){ /* bottom half of topic id */
+ topic_ = data;
+ mode_++;
+ checksum_ = data; /* first byte included in checksum */
+ }else if( mode_ == MODE_TOPIC_H ){ /* top half of topic id */
+ topic_ += data<<8;
+ mode_ = MODE_MESSAGE;
+ if(bytes_ == 0)
+ mode_ = MODE_MSG_CHECKSUM;
+ }else if( mode_ == MODE_MSG_CHECKSUM ){ /* do checksum */
+ mode_ = MODE_FIRST_FF;
+ if( (checksum_%256) == 255){
+ if(topic_ == TopicInfo::ID_PUBLISHER){
+ requestSyncTime();
+ negotiateTopics();
+ last_sync_time = c_time;
+ last_sync_receive_time = c_time;
+ return -1;
+ }else if(topic_ == TopicInfo::ID_TIME){
+ syncTime(message_in);
+ }else if (topic_ == TopicInfo::ID_PARAMETER_REQUEST){
+ req_param_resp.deserialize(message_in);
+ param_recieved= true;
+ }else if(topic_ == ID_TX_STOP){
+ configured_ = false;
+ }else{
+ if(subscribers[topic_-100])
+ subscribers[topic_-100]->callback( message_in );
+ }
+ }
+ }
}
/* occasionally sync time */
- if ( configured_ && ((c_time-last_sync_time) > (SYNC_SECONDS*500) )) {
- requestSyncTime();
- last_sync_time = c_time;
+ if( configured_ && ((c_time-last_sync_time) > (SYNC_SECONDS*500) )){
+ requestSyncTime();
+ last_sync_time = c_time;
}
return 0;
- }
+ }
+
- /* Are we connected to the PC? */
- virtual bool connected() {
+ /* Are we connected to the PC? */
+ virtual bool connected() {
return configured_;
- };
+ };
- /********************************************************************
- * Time functions
- */
+ /********************************************************************
+ * Time functions
+ */
- void requestSyncTime() {
+ void requestSyncTime()
+ {
std_msgs::Time t;
publish(TopicInfo::ID_TIME, &t);
rt_time = hardware_.time();
- }
+ }
- void syncTime( unsigned char * data ) {
+ void syncTime( unsigned char * data )
+ {
std_msgs::Time t;
unsigned long offset = hardware_.time() - rt_time;
@@ -246,232 +304,234 @@
this->setNow(t.data);
last_sync_receive_time = hardware_.time();
- }
+ }
- Time now() {
+ Time now(){
unsigned long ms = hardware_.time();
Time current_time;
current_time.sec = ms/1000 + sec_offset;
current_time.nsec = (ms%1000)*1000000UL + nsec_offset;
normalizeSecNSec(current_time.sec, current_time.nsec);
return current_time;
- }
+ }
- void setNow( Time & new_now ) {
+ void setNow( Time & new_now )
+ {
unsigned long ms = hardware_.time();
sec_offset = new_now.sec - ms/1000 - 1;
nsec_offset = new_now.nsec - (ms%1000)*1000000UL + 1000000000UL;
normalizeSecNSec(sec_offset, nsec_offset);
- }
+ }
- /********************************************************************
- * Topic Management
- */
+ /********************************************************************
+ * Topic Management
+ */
- /* Register a new publisher */
- bool advertise(Publisher & p) {
- for (int i = 0; i < MAX_PUBLISHERS; i++) {
- if (publishers[i] == 0) { // empty slot
- publishers[i] = &p;
- p.id_ = i+100+MAX_SUBSCRIBERS;
- p.nh_ = this;
- return true;
- }
+ /* Register a new publisher */
+ bool advertise(Publisher & p)
+ {
+ for(int i = 0; i < MAX_PUBLISHERS; i++){
+ if(publishers[i] == 0){ // empty slot
+ publishers[i] = &p;
+ p.id_ = i+100+MAX_SUBSCRIBERS;
+ p.nh_ = this;
+ return true;
+ }
}
return false;
- }
+ }
- /* Register a new subscriber */
- template<typename MsgT>
- bool subscribe(Subscriber< MsgT> & s) {
- for (int i = 0; i < MAX_SUBSCRIBERS; i++) {
- if (subscribers[i] == 0) { // empty slot
- subscribers[i] = (Subscriber_*) &s;
- s.id_ = i+100;
- return true;
- }
+ /* Register a new subscriber */
+ template<typename MsgT>
+ bool subscribe(Subscriber< MsgT> & s){
+ for(int i = 0; i < MAX_SUBSCRIBERS; i++){
+ if(subscribers[i] == 0){ // empty slot
+ subscribers[i] = (Subscriber_*) &s;
+ s.id_ = i+100;
+ return true;
+ }
}
return false;
- }
+ }
- /* Register a new Service Server */
- template<typename MReq, typename MRes>
- bool advertiseService(ServiceServer<MReq,MRes>& srv) {
+ /* Register a new Service Server */
+ template<typename MReq, typename MRes>
+ bool advertiseService(ServiceServer<MReq,MRes>& srv){
bool v = advertise(srv.pub);
- for (int i = 0; i < MAX_SUBSCRIBERS; i++) {
- if (subscribers[i] == 0) { // empty slot
- subscribers[i] = (Subscriber_*) &srv;
- srv.id_ = i+100;
- return v;
- }
+ for(int i = 0; i < MAX_SUBSCRIBERS; i++){
+ if(subscribers[i] == 0){ // empty slot
+ subscribers[i] = (Subscriber_*) &srv;
+ srv.id_ = i+100;
+ return v;
+ }
}
return false;
- }
+ }
- /* Register a new Service Client */
- template<typename MReq, typename MRes>
- bool serviceClient(ServiceClient<MReq, MRes>& srv) {
+ /* Register a new Service Client */
+ template<typename MReq, typename MRes>
+ bool serviceClient(ServiceClient<MReq, MRes>& srv){
bool v = advertise(srv.pub);
- for (int i = 0; i < MAX_SUBSCRIBERS; i++) {
- if (subscribers[i] == 0) { // empty slot
- subscribers[i] = (Subscriber_*) &srv;
- srv.id_ = i+100;
- return v;
- }
+ for(int i = 0; i < MAX_SUBSCRIBERS; i++){
+ if(subscribers[i] == 0){ // empty slot
+ subscribers[i] = (Subscriber_*) &srv;
+ srv.id_ = i+100;
+ return v;
+ }
}
return false;
- }
+ }
- void negotiateTopics() {
- configured_ = true;
-
+ void negotiateTopics()
+ {
rosserial_msgs::TopicInfo ti;
int i;
- for (i = 0; i < MAX_PUBLISHERS; i++)
+ for(i = 0; i < MAX_PUBLISHERS; i++)
{
- if (publishers[i] != 0) // non-empty slot
- {
- ti.topic_id = publishers[i]->id_;
- ti.topic_name = (char *) publishers[i]->topic_;
- ti.message_type = (char *) publishers[i]->msg_->getType();
- ti.md5sum = (char *) publishers[i]->msg_->getMD5();
- ti.buffer_size = OUTPUT_SIZE;
- publish( publishers[i]->getEndpointType(), &ti );
- }
+ if(publishers[i] != 0) // non-empty slot
+ {
+ ti.topic_id = publishers[i]->id_;
+ ti.topic_name = (char *) publishers[i]->topic_;
+ ti.message_type = (char *) publishers[i]->msg_->getType();
+ ti.md5sum = (char *) publishers[i]->msg_->getMD5();
+ ti.buffer_size = OUTPUT_SIZE;
+ publish( publishers[i]->getEndpointType(), &ti );
+ }
}
- for (i = 0; i < MAX_SUBSCRIBERS; i++)
+ for(i = 0; i < MAX_SUBSCRIBERS; i++)
{
- if (subscribers[i] != 0) // non-empty slot
- {
- ti.topic_id = subscribers[i]->id_;
- ti.topic_name = (char *) subscribers[i]->topic_;
- ti.message_type = (char *) subscribers[i]->getMsgType();
- ti.md5sum = (char *) subscribers[i]->getMsgMD5();
- ti.buffer_size = INPUT_SIZE;
- publish( subscribers[i]->getEndpointType(), &ti );
- }
+ if(subscribers[i] != 0) // non-empty slot
+ {
+ ti.topic_id = subscribers[i]->id_;
+ ti.topic_name = (char *) subscribers[i]->topic_;
+ ti.message_type = (char *) subscribers[i]->getMsgType();
+ ti.md5sum = (char *) subscribers[i]->getMsgMD5();
+ ti.buffer_size = INPUT_SIZE;
+ publish( subscribers[i]->getEndpointType(), &ti );
+ }
}
- }
+ configured_ = true;
+ }
- virtual int publish(int16_t id, const Msg * msg)
- {
- if (!configured_) return 0;
+ virtual int publish(int id, const Msg * msg)
+ {
+ if(id >= 100 && !configured_)
+ return 0;
/* serialize message */
- int16_t l = msg->serialize(message_out+6);
+ int l = msg->serialize(message_out+7);
/* setup the header */
message_out[0] = 0xff;
- message_out[1] = 0xff;
- message_out[2] = (unsigned char) id&255;
- message_out[3] = (unsigned char) id>>8;
- message_out[4] = (unsigned char) l&255;
- message_out[5] = ((unsigned char) l>>8);
+ message_out[1] = PROTOCOL_VER;
+ message_out[2] = (unsigned char) l&255;
+ message_out[3] = (unsigned char) l>>8;
+ message_out[4] = 255 - ((message_out[2] + message_out[3])%256);
+ message_out[5] = (unsigned char) id&255;
+ message_out[6] = ((unsigned char) id>>8);
/* calculate checksum */
int chk = 0;
- for (int i =2; i<l+6; i++)
- chk += message_out[i];
- l += 6;
+ for(int i =5; i<l+7; i++)
+ chk += message_out[i];
+ l += 7;
message_out[l++] = 255 - (chk%256);
- if ( l <= OUTPUT_SIZE ) {
- hardware_.write(message_out, l);
- return l;
- } else {
- logerror("Message from device dropped: message larger than buffer.");
- return 1;
+ if( l <= OUTPUT_SIZE ){
+ hardware_.write(message_out, l);
+ return l;
+ }else{
+ logerror("Message from device dropped: message larger than buffer.");
+ return -1;
}
+ }
- }
+ /********************************************************************
+ * Logging
+ */
- /********************************************************************
- * Logging
- */
-
-private:
- void log(char byte, const char * msg) {
+ private:
+ void log(char byte, const char * msg){
rosserial_msgs::Log l;
l.level= byte;
l.msg = (char*)msg;
publish(rosserial_msgs::TopicInfo::ID_LOG, &l);
- }
+ }
-public:
- void logdebug(const char* msg) {
- log(rosserial_msgs::Log::DEBUG, msg);
- }
- void loginfo(const char * msg) {
+ public:
+ void logdebug(const char* msg){
+ log(rosserial_msgs::Log::ROSDEBUG, msg);
+ }
+ void loginfo(const char * msg){
log(rosserial_msgs::Log::INFO, msg);
- }
- void logwarn(const char *msg) {
+ }
+ void logwarn(const char *msg){
log(rosserial_msgs::Log::WARN, msg);
- }
- void logerror(const char*msg) {
+ }
+ void logerror(const char*msg){
log(rosserial_msgs::Log::ERROR, msg);
- }
- void logfatal(const char*msg) {
+ }
+ void logfatal(const char*msg){
log(rosserial_msgs::Log::FATAL, msg);
- }
-
+ }
- /********************************************************************
- * Parameters
- */
+ /********************************************************************
+ * Parameters
+ */
-private:
- bool param_recieved;
- rosserial_msgs::RequestParamResponse req_param_resp;
+ private:
+ bool param_recieved;
+ rosserial_msgs::RequestParamResponse req_param_resp;
- bool requestParam(const char * name, int time_out = 1000) {
+ bool requestParam(const char * name, int time_out = 1000){
param_recieved = false;
rosserial_msgs::RequestParamRequest req;
req.name = (char*)name;
publish(TopicInfo::ID_PARAMETER_REQUEST, &req);
- int end_time = hardware_.time();
- while (!param_recieved ) {
- spinOnce();
- if (end_time > hardware_.time()) return false;
+ unsigned int end_time = hardware_.time() + time_out;
+ while(!param_recieved ){
+ spinOnce();
+ if (hardware_.time() > end_time) return false;
}
return true;
- }
+ }
-public:
- bool getParam(const char* name, int* param, int length =1) {
- if (requestParam(name) ) {
- if (length == req_param_resp.ints_length) {
- //copy it over
- for (int i=0; i<length; i++)
- param[i] = req_param_resp.ints[i];
- return true;
- }
+ public:
+ bool getParam(const char* name, int* param, int length =1){
+ if (requestParam(name) ){
+ if (length == req_param_resp.ints_length){
+ //copy it over
+ for(int i=0; i<length; i++)
+ param[i] = req_param_resp.ints[i];
+ return true;
+ }
}
return false;
- }
- bool getParam(const char* name, float* param, int length=1) {
- if (requestParam(name) ) {
- if (length == req_param_resp.floats_length) {
- //copy it over
- for (int i=0; i<length; i++)
- param[i] = req_param_resp.floats[i];
- return true;
- }
+ }
+ bool getParam(const char* name, float* param, int length=1){
+ if (requestParam(name) ){
+ if (length == req_param_resp.floats_length){
+ //copy it over
+ for(int i=0; i<length; i++)
+ param[i] = req_param_resp.floats[i];
+ return true;
+ }
}
return false;
- }
- bool getParam(const char* name, char** param, int length=1) {
- if (requestParam(name) ) {
- if (length == req_param_resp.strings_length) {
- //copy it over
- for (int i=0; i<length; i++)
- strcpy(param[i],req_param_resp.strings[i]);
- return true;
- }
+ }
+ bool getParam(const char* name, char** param, int length=1){
+ if (requestParam(name) ){
+ if (length == req_param_resp.strings_length){
+ //copy it over
+ for(int i=0; i<length; i++)
+ strcpy(param[i],req_param_resp.strings[i]);
+ return true;
+ }
}
return false;
- }
-};
+ }
+ };
}
-#endif
\ No newline at end of file
+#endif