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Commit 88910757 authored by Julien Malik's avatar Julien Malik
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migration to YAT

parent 490a5208
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src/ImgCalibration.cpp
+ 29
− 20
View file @ 88910757
static const char *RcsId = "$Header: /users/chaize/newsvn/cvsroot/Calculation/ImgCalibration/src/ImgCalibration.cpp,v 1.1 2007-01-09 15:41:36 stephle Exp $"; static const char *RcsId = "$Header: /users/chaize/newsvn/cvsroot/Calculation/ImgCalibration/src/ImgCalibration.cpp,v 1.2 2007-08-01 14:53:41 julien_malik Exp $";
//+============================================================================= //+=============================================================================
// //
// file : ImgCalibration.cpp // file : ImgCalibration.cpp
...@@ -11,9 +11,9 @@ static const char *RcsId = "$Header: /users/chaize/newsvn/cvsroot/Calculation/Im ...@@ -11,9 +11,9 @@ static const char *RcsId = "$Header: /users/chaize/newsvn/cvsroot/Calculation/Im
// //
// project : TANGO Device Server // project : TANGO Device Server
// //
// $Author: stephle $ // $Author: julien_malik $
// //
// $Revision: 1.1 $ // $Revision: 1.2 $
// //
// $Log: not supported by cvs2svn $ // $Log: not supported by cvs2svn $
// //
...@@ -273,8 +273,8 @@ void ImgCalibration::init_device() ...@@ -273,8 +273,8 @@ void ImgCalibration::init_device()
} }
catch (const std::bad_alloc&) catch (const std::bad_alloc&)
{ {
ERROR_STREAM << "Initialization failed - adtb::DeviceTask allocation failed" << std::endl; ERROR_STREAM << "Initialization failed - yat::Task allocation failed" << std::endl;
this->set_status ("Initialization failed - adtb::DeviceTask allocation failed"); this->set_status ("Initialization failed - yat::Task allocation failed");
this->set_state (Tango::FAULT); this->set_state (Tango::FAULT);
this->delete_device (); this->delete_device ();
return; return;
...@@ -448,17 +448,26 @@ void ImgCalibration::read_attr_hardware(vector<long> &attr_list) ...@@ -448,17 +448,26 @@ void ImgCalibration::read_attr_hardware(vector<long> &attr_list)
this->available_data->release (); this->available_data->release ();
this->available_data = 0; this->available_data = 0;
} }
}
catch(...)
{
THROW_DEVFAILED("UNKNOWN_ERROR",
"An unknown error occured",
"ImgCalibration::read_attr_hardware()");
}
if (this->dev_task)
{
//- read data //- read data
//- if not available, return value will be 0 //- if not available, return value will be 0
//- we DON'T put the device in a FAULT state if data is not available //- we DON'T put the device in a FAULT state if data is not available
//- but we update the status... //- but we update the status...
this->dev_task->get_data (this->available_data); this->dev_task->get_data (this->available_data);
} }
catch(...) else
{ {
THROW_DEVFAILED("UNKNOWN_ERROR", THROW_DEVFAILED("INITIALIZATION_ERROR",
"An unknown error occured", "Device is not properly initialized",
"ImgCalibration::read_attr_hardware()"); "ImgCalibration::read_attr_hardware()");
} }
...@@ -630,11 +639,11 @@ void ImgCalibration::write_sourceImage(Tango::WAttribute &attr) ...@@ -630,11 +639,11 @@ void ImgCalibration::write_sourceImage(Tango::WAttribute &attr)
} }
//- allocate a message and associate the image with it //- allocate a message and associate the image with it
adtb::Message* msg = 0; yat::Message* msg = 0;
try try
{ {
msg = new adtb::Message(kMSG_UNDISTORT); msg = yat::Message::allocate(kMSG_UNDISTORT, DEFAULT_MSG_PRIORITY, true);
if (msg == 0) if (msg == 0)
throw std::bad_alloc(); throw std::bad_alloc();
} }
...@@ -771,11 +780,11 @@ void ImgCalibration::write_sourcePattern(Tango::WAttribute &attr) ...@@ -771,11 +780,11 @@ void ImgCalibration::write_sourcePattern(Tango::WAttribute &attr)
} }
//- allocate a message and associate the image with it //- allocate a message and associate the image with it
adtb::Message* msg = 0; yat::Message* msg = 0;
try try
{ {
msg = new adtb::Message(kMSG_CALIBRATE); msg = yat::Message::allocate(kMSG_CALIBRATE, DEFAULT_MSG_PRIORITY, true);
if (msg == 0) if (msg == 0)
throw std::bad_alloc(); throw std::bad_alloc();
} }
...@@ -930,10 +939,10 @@ void ImgCalibration::undistort() ...@@ -930,10 +939,10 @@ void ImgCalibration::undistort()
} }
adtb::Message* msg = 0; yat::Message* msg = 0;
try try
{ {
msg = new adtb::Message(kMSG_UNDISTORT); msg = yat::Message::allocate(kMSG_UNDISTORT, DEFAULT_MSG_PRIORITY, true);
if (msg == 0) if (msg == 0)
throw std::bad_alloc(); throw std::bad_alloc();
} }
...@@ -1036,10 +1045,10 @@ void ImgCalibration::calibrate() ...@@ -1036,10 +1045,10 @@ void ImgCalibration::calibrate()
} }
adtb::Message* msg = 0; yat::Message* msg = 0;
try try
{ {
msg = new adtb::Message(kMSG_CALIBRATE); msg = yat::Message::allocate(kMSG_CALIBRATE, DEFAULT_MSG_PRIORITY, true);
if (msg == 0) if (msg == 0)
throw std::bad_alloc(); throw std::bad_alloc();
} }
...@@ -1112,10 +1121,10 @@ void ImgCalibration::start() ...@@ -1112,10 +1121,10 @@ void ImgCalibration::start()
"ImgCalibration::start"); "ImgCalibration::start");
} }
adtb::Message* msg = 0; yat::Message* msg = 0;
try try
{ {
msg = new adtb::Message(kMSG_START); msg = yat::Message::allocate(kMSG_START, DEFAULT_MSG_PRIORITY, true);
if (msg == 0) if (msg == 0)
throw std::bad_alloc(); throw std::bad_alloc();
} }
...@@ -1166,10 +1175,10 @@ void ImgCalibration::stop() ...@@ -1166,10 +1175,10 @@ void ImgCalibration::stop()
} }
adtb::Message* msg = 0; yat::Message* msg = 0;
try try
{ {
msg = new adtb::Message(kMSG_STOP); msg = yat::Message::allocate(kMSG_STOP, DEFAULT_MSG_PRIORITY, true);
if (msg == 0) if (msg == 0)
throw std::bad_alloc(); throw std::bad_alloc();
} }
......
src/ImgCalibrationTask.cpp
+ 17
− 17
View file @ 88910757
...@@ -16,7 +16,7 @@ ...@@ -16,7 +16,7 @@
// ============================================================================ // ============================================================================
#include <ImgCalibrationTask.h> #include <ImgCalibrationTask.h>
#if !defined (__INLINE_IMPL__) #if !defined (YAT_INLINE_IMPL)
# include "ImgCalibrationTask.i" # include "ImgCalibrationTask.i"
#endif // __INLINE_IMPL___ #endif // __INLINE_IMPL___
...@@ -75,7 +75,7 @@ ImgCalibrationTask::ImgCalibrationTask(Tango::DeviceImpl* _host_device, ...@@ -75,7 +75,7 @@ ImgCalibrationTask::ImgCalibrationTask(Tango::DeviceImpl* _host_device,
bool _auto_start, bool _auto_start,
int _mode) int _mode)
: adtb::DeviceTask(), : yat::Task(),
Tango::LogAdapter(_host_device), Tango::LogAdapter(_host_device),
dev_proxy_(0), dev_proxy_(0),
dev_proxy_allowed_(_dev_proxy_allowed), dev_proxy_allowed_(_dev_proxy_allowed),
...@@ -103,7 +103,7 @@ ImgCalibrationTask::ImgCalibrationTask(Tango::DeviceImpl* _host_device, ...@@ -103,7 +103,7 @@ ImgCalibrationTask::ImgCalibrationTask(Tango::DeviceImpl* _host_device,
if (this->mode_ == MODE_CONTINUOUS) if (this->mode_ == MODE_CONTINUOUS)
{ {
this->enable_periodic_msg(_auto_start); this->enable_periodic_msg(_auto_start);
this->set_periodic_timeout(_config.comput_period); this->set_periodic_msg_period(_config.comput_period);
} }
this->set_state_status(Tango::STANDBY, kSTANDBY_STATUS_MSG); this->set_state_status(Tango::STANDBY, kSTANDBY_STATUS_MSG);
...@@ -120,12 +120,12 @@ ImgCalibrationTask::~ImgCalibrationTask() ...@@ -120,12 +120,12 @@ ImgCalibrationTask::~ImgCalibrationTask()
// ============================================================================ // ============================================================================
// ImgCalibrationTask::handle_message // ImgCalibrationTask::handle_message
// ============================================================================ // ============================================================================
void ImgCalibrationTask::handle_message (adtb::Message& _msg) void ImgCalibrationTask::handle_message (yat::Message& _msg)
throw (Tango::DevFailed) throw (Tango::DevFailed)
{ {
switch (_msg.type()) switch (_msg.type())
{ {
case adtb::THREAD_INIT: case yat::TASK_INIT:
{ {
DEBUG_STREAM << "ImgCalibrationTask::handle_message::thread is initializing" << std::endl; DEBUG_STREAM << "ImgCalibrationTask::handle_message::thread is initializing" << std::endl;
...@@ -163,14 +163,14 @@ void ImgCalibrationTask::handle_message (adtb::Message& _msg) ...@@ -163,14 +163,14 @@ void ImgCalibrationTask::handle_message (adtb::Message& _msg)
this->initialized_ = true; this->initialized_ = true;
} }
break; break;
case adtb::THREAD_EXIT: case yat::TASK_EXIT:
{ {
DEBUG_STREAM << "ImgCalibrationTask::handle_message::thread is quitting" << std::endl; DEBUG_STREAM << "ImgCalibrationTask::handle_message::thread is quitting" << std::endl;
SAFE_DELETE_PTR(this->dev_proxy_); SAFE_DELETE_PTR(this->dev_proxy_);
this->initialized_ = false; this->initialized_ = false;
} }
break; break;
case adtb::THREAD_PERIODIC: case yat::TASK_PERIODIC:
{ {
if (this->initialized_ == false) if (this->initialized_ == false)
{ {
...@@ -204,10 +204,10 @@ void ImgCalibrationTask::handle_message (adtb::Message& _msg) ...@@ -204,10 +204,10 @@ void ImgCalibrationTask::handle_message (adtb::Message& _msg)
return; return;
} }
adtb::Message* msg = 0; yat::Message* msg = 0;
try try
{ {
msg = new adtb::Message(kMSG_UNDISTORT); msg = yat::Message::allocate(kMSG_UNDISTORT, DEFAULT_MSG_PRIORITY, false);
if (msg == 0) if (msg == 0)
throw std::bad_alloc(); throw std::bad_alloc();
} }
...@@ -273,7 +273,7 @@ void ImgCalibrationTask::handle_message (adtb::Message& _msg) ...@@ -273,7 +273,7 @@ void ImgCalibrationTask::handle_message (adtb::Message& _msg)
{ {
try try
{ {
_msg.dettach_data(image); _msg.detach_data(image);
} }
catch(Tango::DevFailed& ex) catch(Tango::DevFailed& ex)
{ {
...@@ -359,7 +359,7 @@ void ImgCalibrationTask::handle_message (adtb::Message& _msg) ...@@ -359,7 +359,7 @@ void ImgCalibrationTask::handle_message (adtb::Message& _msg)
{ {
try try
{ {
_msg.dettach_data(image); _msg.detach_data(image);
} }
catch(Tango::DevFailed& ex) catch(Tango::DevFailed& ex)
{ {
...@@ -749,7 +749,7 @@ isl::Image* ImgCalibrationTask::get_remote_image() ...@@ -749,7 +749,7 @@ isl::Image* ImgCalibrationTask::get_remote_image()
void ImgCalibrationTask::undistort_i(isl::Image & source_image) void ImgCalibrationTask::undistort_i(isl::Image & source_image)
throw (Tango::DevFailed) throw (Tango::DevFailed)
{ {
DEBUG_TRACE("ImgCalibrationTask::undistort_i"); YAT_TRACE("ImgCalibrationTask::undistort_i");
//- Try to allocate the returned Data //- Try to allocate the returned Data
ImgCalibrationData* data = 0; ImgCalibrationData* data = 0;
...@@ -780,7 +780,7 @@ void ImgCalibrationTask::undistort_i(isl::Image & source_image) ...@@ -780,7 +780,7 @@ void ImgCalibrationTask::undistort_i(isl::Image & source_image)
{ {
//- make a raw copy of the configuration //- make a raw copy of the configuration
{ {
adtb::DeviceMutexLock<> guard(this->config_mutex_); yat::MutexLock guard(this->config_mutex_);
config = this->config_; config = this->config_;
} }
...@@ -834,7 +834,7 @@ void ImgCalibrationTask::undistort_i(isl::Image & source_image) ...@@ -834,7 +834,7 @@ void ImgCalibrationTask::undistort_i(isl::Image & source_image)
} }
{ {
adtb::DeviceMutexLock<> guard(this->data_mutex_); yat::MutexLock guard(this->data_mutex_);
this->data_ = data; this->data_ = data;
} }
...@@ -852,7 +852,7 @@ void ImgCalibrationTask::undistort_i(isl::Image & source_image) ...@@ -852,7 +852,7 @@ void ImgCalibrationTask::undistort_i(isl::Image & source_image)
void ImgCalibrationTask::calibrate_i(isl::Image & pattern_image) void ImgCalibrationTask::calibrate_i(isl::Image & pattern_image)
throw (Tango::DevFailed) throw (Tango::DevFailed)
{ {
DEBUG_TRACE("ImgCalibrationTask::calibrate_i"); YAT_TRACE("ImgCalibrationTask::calibrate_i");
//- Try to allocate the returned Data //- Try to allocate the returned Data
...@@ -885,7 +885,7 @@ void ImgCalibrationTask::calibrate_i(isl::Image & pattern_image) ...@@ -885,7 +885,7 @@ void ImgCalibrationTask::calibrate_i(isl::Image & pattern_image)
{ {
//- make a raw copy of the configuration //- make a raw copy of the configuration
{ {
adtb::DeviceMutexLock<> guard(this->config_mutex_); yat::MutexLock guard(this->config_mutex_);
config = this->config_; config = this->config_;
} }
...@@ -968,7 +968,7 @@ void ImgCalibrationTask::calibrate_i(isl::Image & pattern_image) ...@@ -968,7 +968,7 @@ void ImgCalibrationTask::calibrate_i(isl::Image & pattern_image)
ImgCalibrationData* last_data = this->data_; ImgCalibrationData* last_data = this->data_;
{ {
adtb::DeviceMutexLock<> guard(this->data_mutex_); yat::MutexLock guard(this->data_mutex_);
this->data_ = data; this->data_ = data;
} }
......
src/ImgCalibrationTask.h
+ 26
− 19
View file @ 88910757
...@@ -22,8 +22,15 @@ ...@@ -22,8 +22,15 @@
#include <isl/ErrorHandler.h> #include <isl/ErrorHandler.h>
#include <isl/calib/Calib.h> #include <isl/calib/Calib.h>
#include <DeviceTask.h> #include <yat/threading/Task.h>
#include <DataBuffer.h> #include <yat/DataBuffer.h>
#ifdef WIN32
# pragma warning( push )
# pragma warning( disable: 4250 ) // 'x' inherits 'y' via dominance
#endif
#include <yat4tango/CommonHeader.h>
#include <yat4tango/ExceptionHelper.h>
namespace ImgCalibration_ns namespace ImgCalibration_ns
...@@ -32,10 +39,10 @@ namespace ImgCalibration_ns ...@@ -32,10 +39,10 @@ namespace ImgCalibration_ns
const int MODE_ONESHOT = 0; const int MODE_ONESHOT = 0;
const int MODE_CONTINUOUS = 1; const int MODE_CONTINUOUS = 1;
#define kMSG_UNDISTORT (adtb::FIRST_USER_MSG) #define kMSG_UNDISTORT (yat::FIRST_USER_MSG)
#define kMSG_CALIBRATE (adtb::FIRST_USER_MSG + 1) #define kMSG_CALIBRATE (yat::FIRST_USER_MSG + 1)
#define kMSG_START (adtb::FIRST_USER_MSG + 2) #define kMSG_START (yat::FIRST_USER_MSG + 2)
#define kMSG_STOP (adtb::FIRST_USER_MSG + 3) #define kMSG_STOP (yat::FIRST_USER_MSG + 3)
class ImgCalibrationConfig class ImgCalibrationConfig
...@@ -53,7 +60,7 @@ public : ...@@ -53,7 +60,7 @@ public :
int comput_period; int comput_period;
}; };
class ImgCalibrationData : private adtb::SharedObject class ImgCalibrationData : private yat::SharedObject
{ {
friend class ImgCalibrationTask; friend class ImgCalibrationTask;
public: public:
...@@ -78,14 +85,14 @@ public: ...@@ -78,14 +85,14 @@ public:
double y_mag_factor; double y_mag_factor;
double model_error; double model_error;
adtb::ImageBuffer<Tango::DevUShort> source_image; yat::ImageBuffer<Tango::DevUShort> source_image;
adtb::ImageBuffer<Tango::DevUShort> corrected_image; yat::ImageBuffer<Tango::DevUShort> corrected_image;
adtb::ImageBuffer<Tango::DevUShort> source_pattern; yat::ImageBuffer<Tango::DevUShort> source_pattern;
adtb::ImageBuffer<Tango::DevUShort> corrected_pattern; yat::ImageBuffer<Tango::DevUShort> corrected_pattern;
adtb::ImageBuffer<Tango::DevUShort> error_map; yat::ImageBuffer<Tango::DevUShort> error_map;
adtb::ImageBuffer<Tango::DevUShort> delaunay_subdiv; yat::ImageBuffer<Tango::DevUShort> delaunay_subdiv;
private: private:
...@@ -105,7 +112,7 @@ private: ...@@ -105,7 +112,7 @@ private:
//! detailed description to be written //! detailed description to be written
//! //!
// ============================================================================ // ============================================================================
class ImgCalibrationTask : public adtb::DeviceTask, public Tango::LogAdapter class ImgCalibrationTask : public yat::Task, public Tango::LogAdapter
{ {
public: public:
//- ctor --------------------------------- //- ctor ---------------------------------
...@@ -136,7 +143,7 @@ public: ...@@ -136,7 +143,7 @@ public:
protected: protected:
//- handle_message ----------------------- //- handle_message -----------------------
virtual void handle_message (adtb::Message& msg) virtual void handle_message (yat::Message& msg)
throw (Tango::DevFailed); throw (Tango::DevFailed);
private: private:
...@@ -148,10 +155,10 @@ private: ...@@ -148,10 +155,10 @@ private:
isl::Calib calib_; isl::Calib calib_;
adtb::DeviceMutex config_mutex_; yat::Mutex config_mutex_;
ImgCalibrationConfig config_; ImgCalibrationConfig config_;
adtb::DeviceMutex data_mutex_; yat::Mutex data_mutex_;
ImgCalibrationData* data_; ImgCalibrationData* data_;
void undistort_i(isl::Image & source_image) void undistort_i(isl::Image & source_image)
...@@ -167,7 +174,7 @@ private: ...@@ -167,7 +174,7 @@ private:
void clear_error(); void clear_error();
void fault(const char* description); void fault(const char* description);
adtb::DeviceMutex state_status_mutex_; yat::Mutex state_status_mutex_;
Tango::DevState state_; Tango::DevState state_;
std::string status_; std::string status_;
...@@ -178,7 +185,7 @@ private: ...@@ -178,7 +185,7 @@ private:
} // namespace } // namespace
#if defined (__INLINE_IMPL__) #if defined (YAT_INLINE_IMPL)
# include "ImgCalibrationTask.i" # include "ImgCalibrationTask.i"
#endif // __INLINE_IMPL__ #endif // __INLINE_IMPL__
......
src/ImgCalibrationTask.i
+ 13
− 13
View file @ 88910757
...@@ -17,7 +17,7 @@ namespace ImgCalibration_ns ...@@ -17,7 +17,7 @@ namespace ImgCalibration_ns
// ============================================================================ // ============================================================================
// ImgCalibrationData::duplicate // ImgCalibrationData::duplicate
// ============================================================================ // ============================================================================
INLINE_IMPL YAT_INLINE
ImgCalibrationData * ImgCalibrationData *
ImgCalibrationData::duplicate (void) ImgCalibrationData::duplicate (void)
{ {
...@@ -27,7 +27,7 @@ ImgCalibrationData::duplicate (void) ...@@ -27,7 +27,7 @@ ImgCalibrationData::duplicate (void)
// ============================================================================ // ============================================================================
// ImgCalibrationData::release // ImgCalibrationData::release
// ============================================================================ // ============================================================================
INLINE_IMPL YAT_INLINE
void void
ImgCalibrationData::release (void) ImgCalibrationData::release (void)
{ {
...@@ -37,11 +37,11 @@ ImgCalibrationData::release (void) ...@@ -37,11 +37,11 @@ ImgCalibrationData::release (void)
// ============================================================================ // ============================================================================
// ImgCalibrationTask::get_state_status // ImgCalibrationTask::get_state_status
// ============================================================================ // ============================================================================
INLINE_IMPL YAT_INLINE
void void
ImgCalibrationTask::get_state_status (Tango::DevState& state, std::string& status) ImgCalibrationTask::get_state_status (Tango::DevState& state, std::string& status)
{ {
adtb::DeviceMutexLock<> guard(this->state_status_mutex_); yat::MutexLock guard(this->state_status_mutex_);
state = this->state_; state = this->state_;
status = this->status_; status = this->status_;
} }
...@@ -49,11 +49,11 @@ ImgCalibrationTask::get_state_status (Tango::DevState& state, std::string& statu ...@@ -49,11 +49,11 @@ ImgCalibrationTask::get_state_status (Tango::DevState& state, std::string& statu
// ============================================================================ // ============================================================================
// ImgCalibrationTask::set_state_status // ImgCalibrationTask::set_state_status
// ============================================================================ // ============================================================================
INLINE_IMPL YAT_INLINE
void void
ImgCalibrationTask::set_state_status (Tango::DevState state, const char* status) ImgCalibrationTask::set_state_status (Tango::DevState state, const char* status)
{ {
adtb::DeviceMutexLock<> guard(this->state_status_mutex_); yat::MutexLock guard(this->state_status_mutex_);
this->state_ = state; this->state_ = state;
this->status_ = status; this->status_ = status;
} }
...@@ -62,36 +62,36 @@ ImgCalibrationTask::set_state_status (Tango::DevState state, const char* status) ...@@ -62,36 +62,36 @@ ImgCalibrationTask::set_state_status (Tango::DevState state, const char* status)
// ============================================================================ // ============================================================================
// ImgCalibrationTask::get_config // ImgCalibrationTask::get_config
// ============================================================================ // ============================================================================
INLINE_IMPL YAT_INLINE
void void
ImgCalibrationTask::get_config(ImgCalibrationConfig& c) ImgCalibrationTask::get_config(ImgCalibrationConfig& c)
{ {
adtb::DeviceMutexLock<> guard(this->config_mutex_); yat::MutexLock guard(this->config_mutex_);
c = this->config_; c = this->config_;
} }
// ============================================================================ // ============================================================================
// ImgCalibrationTask::configure // ImgCalibrationTask::configure
// ============================================================================ // ============================================================================
INLINE_IMPL YAT_INLINE
void void
ImgCalibrationTask::configure(const ImgCalibrationConfig& config) ImgCalibrationTask::configure(const ImgCalibrationConfig& config)
{ {
adtb::DeviceMutexLock<> guard(this->config_mutex_); yat::MutexLock guard(this->config_mutex_);
this->config_ = config; this->config_ = config;
this->set_periodic_timeout(config.comput_period); this->set_periodic_msg_period(config.comput_period);
} }
// ============================================================================ // ============================================================================
// ImgCalibrationTask::get_data // ImgCalibrationTask::get_data
// ============================================================================ // ============================================================================
INLINE_IMPL YAT_INLINE
void void
ImgCalibrationTask::get_data (ImgCalibrationData*& data) ImgCalibrationTask::get_data (ImgCalibrationData*& data)
throw (Tango::DevFailed) throw (Tango::DevFailed)
{ {
//- enter critical section //- enter critical section
adtb::DeviceMutexLock<> guard(this->data_mutex_); yat::MutexLock guard(this->data_mutex_);
if (this->mode_ == MODE_CONTINUOUS && this->state_ == Tango::STANDBY) if (this->mode_ == MODE_CONTINUOUS && this->state_ == Tango::STANDBY)
data = 0; data = 0;
......
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