Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/JointState.h@0:9e9b7db60fd5, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_sensor_msgs_JointState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_JointState_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class JointState : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 uint32_t name_length;
garyservin 0:9e9b7db60fd5 19 typedef char* _name_type;
garyservin 0:9e9b7db60fd5 20 _name_type st_name;
garyservin 0:9e9b7db60fd5 21 _name_type * name;
garyservin 0:9e9b7db60fd5 22 uint32_t position_length;
garyservin 0:9e9b7db60fd5 23 typedef double _position_type;
garyservin 0:9e9b7db60fd5 24 _position_type st_position;
garyservin 0:9e9b7db60fd5 25 _position_type * position;
garyservin 0:9e9b7db60fd5 26 uint32_t velocity_length;
garyservin 0:9e9b7db60fd5 27 typedef double _velocity_type;
garyservin 0:9e9b7db60fd5 28 _velocity_type st_velocity;
garyservin 0:9e9b7db60fd5 29 _velocity_type * velocity;
garyservin 0:9e9b7db60fd5 30 uint32_t effort_length;
garyservin 0:9e9b7db60fd5 31 typedef double _effort_type;
garyservin 0:9e9b7db60fd5 32 _effort_type st_effort;
garyservin 0:9e9b7db60fd5 33 _effort_type * effort;
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 JointState():
garyservin 0:9e9b7db60fd5 36 header(),
garyservin 0:9e9b7db60fd5 37 name_length(0), name(NULL),
garyservin 0:9e9b7db60fd5 38 position_length(0), position(NULL),
garyservin 0:9e9b7db60fd5 39 velocity_length(0), velocity(NULL),
garyservin 0:9e9b7db60fd5 40 effort_length(0), effort(NULL)
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 }
garyservin 0:9e9b7db60fd5 43
garyservin 0:9e9b7db60fd5 44 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 45 {
garyservin 0:9e9b7db60fd5 46 int offset = 0;
garyservin 0:9e9b7db60fd5 47 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->name_length);
garyservin 0:9e9b7db60fd5 53 for( uint32_t i = 0; i < name_length; i++){
garyservin 0:9e9b7db60fd5 54 uint32_t length_namei = strlen(this->name[i]);
garyservin 0:9e9b7db60fd5 55 varToArr(outbuffer + offset, length_namei);
garyservin 0:9e9b7db60fd5 56 offset += 4;
garyservin 0:9e9b7db60fd5 57 memcpy(outbuffer + offset, this->name[i], length_namei);
garyservin 0:9e9b7db60fd5 58 offset += length_namei;
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->position_length);
garyservin 0:9e9b7db60fd5 65 for( uint32_t i = 0; i < position_length; i++){
garyservin 0:9e9b7db60fd5 66 union {
garyservin 0:9e9b7db60fd5 67 double real;
garyservin 0:9e9b7db60fd5 68 uint64_t base;
garyservin 0:9e9b7db60fd5 69 } u_positioni;
garyservin 0:9e9b7db60fd5 70 u_positioni.real = this->position[i];
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 offset += sizeof(this->position[i]);
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 0) = (this->velocity_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 1) = (this->velocity_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 2) = (this->velocity_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 3) = (this->velocity_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 offset += sizeof(this->velocity_length);
garyservin 0:9e9b7db60fd5 86 for( uint32_t i = 0; i < velocity_length; i++){
garyservin 0:9e9b7db60fd5 87 union {
garyservin 0:9e9b7db60fd5 88 double real;
garyservin 0:9e9b7db60fd5 89 uint64_t base;
garyservin 0:9e9b7db60fd5 90 } u_velocityi;
garyservin 0:9e9b7db60fd5 91 u_velocityi.real = this->velocity[i];
garyservin 0:9e9b7db60fd5 92 *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 93 *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 94 *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 97 *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 100 offset += sizeof(this->velocity[i]);
garyservin 0:9e9b7db60fd5 101 }
garyservin 0:9e9b7db60fd5 102 *(outbuffer + offset + 0) = (this->effort_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 103 *(outbuffer + offset + 1) = (this->effort_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 104 *(outbuffer + offset + 2) = (this->effort_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 3) = (this->effort_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 offset += sizeof(this->effort_length);
garyservin 0:9e9b7db60fd5 107 for( uint32_t i = 0; i < effort_length; i++){
garyservin 0:9e9b7db60fd5 108 union {
garyservin 0:9e9b7db60fd5 109 double real;
garyservin 0:9e9b7db60fd5 110 uint64_t base;
garyservin 0:9e9b7db60fd5 111 } u_efforti;
garyservin 0:9e9b7db60fd5 112 u_efforti.real = this->effort[i];
garyservin 0:9e9b7db60fd5 113 *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 114 *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 115 *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 116 *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 117 *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 118 *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 119 *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 120 *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 121 offset += sizeof(this->effort[i]);
garyservin 0:9e9b7db60fd5 122 }
garyservin 0:9e9b7db60fd5 123 return offset;
garyservin 0:9e9b7db60fd5 124 }
garyservin 0:9e9b7db60fd5 125
garyservin 0:9e9b7db60fd5 126 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 127 {
garyservin 0:9e9b7db60fd5 128 int offset = 0;
garyservin 0:9e9b7db60fd5 129 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 130 uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 131 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 132 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 133 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 134 offset += sizeof(this->name_length);
garyservin 0:9e9b7db60fd5 135 if(name_lengthT > name_length)
garyservin 0:9e9b7db60fd5 136 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 137 name_length = name_lengthT;
garyservin 0:9e9b7db60fd5 138 for( uint32_t i = 0; i < name_length; i++){
garyservin 0:9e9b7db60fd5 139 uint32_t length_st_name;
garyservin 0:9e9b7db60fd5 140 arrToVar(length_st_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 141 offset += 4;
garyservin 0:9e9b7db60fd5 142 for(unsigned int k= offset; k< offset+length_st_name; ++k){
garyservin 0:9e9b7db60fd5 143 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 144 }
garyservin 0:9e9b7db60fd5 145 inbuffer[offset+length_st_name-1]=0;
garyservin 0:9e9b7db60fd5 146 this->st_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 147 offset += length_st_name;
garyservin 0:9e9b7db60fd5 148 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
garyservin 0:9e9b7db60fd5 149 }
garyservin 0:9e9b7db60fd5 150 uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 151 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 152 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 153 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 154 offset += sizeof(this->position_length);
garyservin 0:9e9b7db60fd5 155 if(position_lengthT > position_length)
garyservin 0:9e9b7db60fd5 156 this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 157 position_length = position_lengthT;
garyservin 0:9e9b7db60fd5 158 for( uint32_t i = 0; i < position_length; i++){
garyservin 0:9e9b7db60fd5 159 union {
garyservin 0:9e9b7db60fd5 160 double real;
garyservin 0:9e9b7db60fd5 161 uint64_t base;
garyservin 0:9e9b7db60fd5 162 } u_st_position;
garyservin 0:9e9b7db60fd5 163 u_st_position.base = 0;
garyservin 0:9e9b7db60fd5 164 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 165 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 166 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 167 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 168 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 169 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 170 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 171 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 172 this->st_position = u_st_position.real;
garyservin 0:9e9b7db60fd5 173 offset += sizeof(this->st_position);
garyservin 0:9e9b7db60fd5 174 memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
garyservin 0:9e9b7db60fd5 175 }
garyservin 0:9e9b7db60fd5 176 uint32_t velocity_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 177 velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 178 velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 179 velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 180 offset += sizeof(this->velocity_length);
garyservin 0:9e9b7db60fd5 181 if(velocity_lengthT > velocity_length)
garyservin 0:9e9b7db60fd5 182 this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 183 velocity_length = velocity_lengthT;
garyservin 0:9e9b7db60fd5 184 for( uint32_t i = 0; i < velocity_length; i++){
garyservin 0:9e9b7db60fd5 185 union {
garyservin 0:9e9b7db60fd5 186 double real;
garyservin 0:9e9b7db60fd5 187 uint64_t base;
garyservin 0:9e9b7db60fd5 188 } u_st_velocity;
garyservin 0:9e9b7db60fd5 189 u_st_velocity.base = 0;
garyservin 0:9e9b7db60fd5 190 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 191 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 192 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 193 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 194 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 195 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 196 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 197 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 198 this->st_velocity = u_st_velocity.real;
garyservin 0:9e9b7db60fd5 199 offset += sizeof(this->st_velocity);
garyservin 0:9e9b7db60fd5 200 memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double));
garyservin 0:9e9b7db60fd5 201 }
garyservin 0:9e9b7db60fd5 202 uint32_t effort_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 203 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 204 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 205 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 206 offset += sizeof(this->effort_length);
garyservin 0:9e9b7db60fd5 207 if(effort_lengthT > effort_length)
garyservin 0:9e9b7db60fd5 208 this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 209 effort_length = effort_lengthT;
garyservin 0:9e9b7db60fd5 210 for( uint32_t i = 0; i < effort_length; i++){
garyservin 0:9e9b7db60fd5 211 union {
garyservin 0:9e9b7db60fd5 212 double real;
garyservin 0:9e9b7db60fd5 213 uint64_t base;
garyservin 0:9e9b7db60fd5 214 } u_st_effort;
garyservin 0:9e9b7db60fd5 215 u_st_effort.base = 0;
garyservin 0:9e9b7db60fd5 216 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 217 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 218 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 219 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 220 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 221 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 222 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 223 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 224 this->st_effort = u_st_effort.real;
garyservin 0:9e9b7db60fd5 225 offset += sizeof(this->st_effort);
garyservin 0:9e9b7db60fd5 226 memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double));
garyservin 0:9e9b7db60fd5 227 }
garyservin 0:9e9b7db60fd5 228 return offset;
garyservin 0:9e9b7db60fd5 229 }
garyservin 0:9e9b7db60fd5 230
garyservin 0:9e9b7db60fd5 231 const char * getType(){ return "sensor_msgs/JointState"; };
garyservin 0:9e9b7db60fd5 232 const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };
garyservin 0:9e9b7db60fd5 233
garyservin 0:9e9b7db60fd5 234 };
garyservin 0:9e9b7db60fd5 235
garyservin 0:9e9b7db60fd5 236 }
garyservin 0:9e9b7db60fd5 237 #endif