yangyakun921/MoGoEagleEye
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

重构obu模块，新增udp通信

Browse Source
This commit is contained in:
yangjingjing
2020-09-18 19:02:05 +08:00
parent f700d3a88b
commit fc9cf0d6fc
32 changed files with 631 additions and 456 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/MockUtil.kt
View File

@@ -26,12 +26,12 @@ import kotlin.random.Random
*/
object MockUtil {
const val TAG = "MockUtil"
private lateinit var dataCallback : OnMessageReceiveListener
private var dataCallback : OnMessageReceiveListener?=null
private lateinit var intervalObs:Disposable
private lateinit var intervalObs2:Disposable
fun init(context: Context, callback: OnMessageReceiveListener){
fun init(context: Context, callback: OnMessageReceiveListener? = null){
Logger.d(TAG, "使用模拟obu数据===")
dataCallback = callback
val api = ARouter.getInstance().build(MogoServicePaths.PATH_SERVICE_APIS).navigation(context) as IMogoServiceApis
@@ -45,7 +45,7 @@ object MockUtil {
0 -> "已更改前方红绿灯状态，可优先通行"
else -> "已增加前方绿灯时间，可优先通行"
}
dataCallback.showCarEventInfo(carEventInfo)
dataCallback?.showCarEventInfo(carEventInfo)
}
view.findViewById<Button>(R.id.btnRoadCondition).setOnClickListener {
@@ -53,7 +53,7 @@ object MockUtil {
carEventInfo.type = "行人碰撞预警"
carEventInfo.typeCode = "39"
carEventInfo.describe = "这个应该是随便写，反正也不用"
dataCallback.showCarEventInfo(carEventInfo)
dataCallback?.showCarEventInfo(carEventInfo)
}
api.windowManagerApi.addView(view, 500, 300, false)
intervalMockData()
@@ -92,21 +92,21 @@ object MockUtil {
1 -> "建议50km/h车速行驶"
else -> "建议30km/h ~ 50km/h 车速行驶"
}
dataCallback.showCarEventInfo(carEventInfo)
dataCallback?.showCarEventInfo(carEventInfo)
}
1->{
// 前方急刹预警
carEventInfo.type = "紧急制动预警"
carEventInfo.typeCode = "06"
carEventInfo.describe = "这个应该是随便写，反正也不用"
dataCallback.showCarEventInfo(carEventInfo)
dataCallback?.showCarEventInfo(carEventInfo)
}
2->{
// 行人碰撞预警
carEventInfo.type = "行人碰撞预警"
carEventInfo.typeCode = "39"
carEventInfo.describe = "这个应该是随便写，反正也不用"
dataCallback.showCarEventInfo(carEventInfo)
dataCallback?.showCarEventInfo(carEventInfo)
}
3 -> {
// vip变灯提醒
@@ -117,7 +117,7 @@ object MockUtil {
0 -> "已更改前方红绿灯状态，可优先通行"
else -> "已增加前方绿灯时间，可优先通行"
}
dataCallback.showCarEventInfo(carEventInfo)
dataCallback?.showCarEventInfo(carEventInfo)
}
else->{
// 其他，不处理
@@ -135,7 +135,7 @@ object MockUtil {
trafficLightInfo.lightStatus = "R"
for (i in 0..5) {
trafficLightInfo.surplusTime = (5-i).toString()
dataCallback.showTrafficLightInfo(trafficLightInfo)
dataCallback?.showTrafficLightInfo(trafficLightInfo)
Thread.sleep(1000)
}
// 停5秒
@@ -144,7 +144,7 @@ object MockUtil {
trafficLightInfo.lightStatus = "Y"
for (i in 0..5) {
trafficLightInfo.surplusTime = (5-i).toString()
dataCallback.showTrafficLightInfo(trafficLightInfo)
dataCallback?.showTrafficLightInfo(trafficLightInfo)
Thread.sleep(1000)
}
// 停5秒
@@ -153,7 +153,7 @@ object MockUtil {
trafficLightInfo.lightStatus = "G"
for (i in 0..5) {
trafficLightInfo.surplusTime = (5-i).toString()
dataCallback.showTrafficLightInfo(trafficLightInfo)
dataCallback?.showTrafficLightInfo(trafficLightInfo)
Thread.sleep(1000)
}
Logger.d(TAG, "红绿灯模拟数据发送结束====")

127
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/ObuManager.kt
View File

@@ -1,136 +1,47 @@
package com.zhidao.mogo.module.obu
import android.content.Context
import android.os.Bundle
import android.os.Handler
import android.os.Looper
import android.os.Message
import android.view.View
import androidx.fragment.app.Fragment
import com.alibaba.android.arouter.facade.annotation.Route
import com.mogo.commons.debug.DebugConfig
import com.mogo.map.listener.IMogoMapListener
import com.mogo.map.location.IMogoLocationListener
import com.mogo.map.marker.IMogoMarkerClickListener
import com.mogo.map.navi.IMogoNaviListener
import com.mogo.service.MogoServicePaths
import com.mogo.service.module.IMogoModuleLifecycle
import com.mogo.service.obu.IMogoObuDataChangedListener
import com.mogo.service.obu.IMogoObuManager
import com.mogo.utils.logger.Logger
import com.zhidao.mogo.module.obu.obu.CidiObu
import com.zhidao.mogo.module.obu.obu.HualiObu
import com.zhidao.mogo.module.obu.obu.IObu
import com.zhidao.mogo.module.obu.obu.IObuCallback
import com.zhidao.smartv2x.api.V2xController
import com.zhidao.smartv2x.model.obu.CarEventInfo
import com.zhidao.smartv2x.model.obu.CarLocationInfo
import com.zhidao.smartv2x.model.obu.TrafficLightInfo
/**
* obu provider
*
* @author tongchenfei
*/
@Route(path = MogoServicePaths.PATH_OBU)
class ObuManager: IMogoObuManager,Handler.Callback {
class ObuManager {
companion object{
const val TAG = "ObuManger"
const val MSG_MONITOR_OBU_STATUS = 1001
const val DEFAULT_MONITOR_TIME = 10_000L
}
private var dataChangedListener: IMogoObuDataChangedListener? = null
private var handler = Handler(Looper.getMainLooper(), this)
// private var handler = Handler(Looper.getMainLooper(), this)
override fun init(context: Context) {
private lateinit var obu:IObu
fun init(context: Context) {
Logger.d(TAG,"init=======")
if (DebugConfig.isUseMockObuData()) {
MockUtil.init(context,this)
MockUtil.init(context)
} else {
// 初始化sdk，注册数据回调等信息
V2xController.getInstance().setMessageReceiveListener(this)
V2xController.getInstance().init()
// V2xController.getInstance().setMessageReceiveListener(this@ObuManager)
handler.sendEmptyMessageDelayed(MSG_MONITOR_OBU_STATUS, DEFAULT_MONITOR_TIME)
}
}
override fun registerObuDataChangedListener(listener: IMogoObuDataChangedListener?) {
this.dataChangedListener = listener
}
/**
* 车辆位置信息回调接口
*/
override fun showCarLocationInfo(info: CarLocationInfo?) {
Logger.v(TAG, "thread: ${Thread.currentThread()} showCarLocationInfo: ${info?.carId}")
if(!DebugConfig.isUseMockObuData()) {
// 不使用模拟数据时候不做此处理
// 由于obu会频繁回调此接口，故10秒收不到此数据，则认为obu连接不正常，就断开重连一下
handler.removeMessages(MSG_MONITOR_OBU_STATUS)
handler.sendEmptyMessageDelayed(MSG_MONITOR_OBU_STATUS, DEFAULT_MONITOR_TIME)
}
handler.post{
dataChangedListener?.showCarLocationInfo(info)
}
}
/**
* UDP 收发消息回调接口
*/
override fun showOtherInfo(info: String?) {
Logger.d(TAG, "thread: ${Thread.currentThread()} showOtherInfo: $info")
handler.post{
dataChangedListener?.showOtherInfo(info)
}
}
/**
* 交通信号灯信息回调接口
* 17号路口红绿灯倒计时出现了，如果[TrafficLightInfo.lightStatus]为0，或者说，不为G/Y/R时，此条红绿灯数据无效
*/
override fun showTrafficLightInfo(info: TrafficLightInfo?) {
Logger.d(TAG, "thread: ${Thread.currentThread()} showTrafficLightInfo: $info")
Logger.d(TAG, "isTrafficLightInfoValid: ${isTrafficLightInfoValid(info)}")
if(isTrafficLightInfoValid(info)) {
handler.post {
dataChangedListener?.showTrafficLightInfo(info)
obu = if(DebugConfig.getObuType() == DebugConfig.OBU_TYPE_CIDI){
CidiObu()
}else{
HualiObu()
}
obu.init()
}
}
/**
* 判断红绿灯信息是否有效
*
* @return true 有效
*/
private fun isTrafficLightInfoValid(info:TrafficLightInfo?):Boolean{
return info == null||(info.lightStatus=="G"||info.lightStatus=="Y"||info.lightStatus=="R")
}
/**
* 场景触发事件信息回调接口
*/
override fun showCarEventInfo(info: CarEventInfo?) {
Logger.d(TAG, "thread: ${Thread.currentThread()} showCarEventInfo: ${info?.type}")
handler.post {
dataChangedListener?.showCarEventInfo(info)
fun registerObuDataChangedListener(listener: IObuCallback?) {
if (listener != null) {
obu.registerObuCallback(listener)
}
}
/**
* @param msg A [Message][android.os.Message] object
* @return True if no further handling is desired
*/
override fun handleMessage(msg: Message?): Boolean {
if (msg?.what == MSG_MONITOR_OBU_STATUS) {
// obu未正常连接，需要重新连接
Logger.d(TAG,"obu未正常连接，需要重新连接")
V2xController.getInstance().release()
V2xController.getInstance().setMessageReceiveListener(this)
V2xController.getInstance().init()
handler.sendEmptyMessageDelayed(MSG_MONITOR_OBU_STATUS, DEFAULT_MONITOR_TIME)
// V2xController.getInstance().release()
return true
}
return false
}
}

11
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/BaseObu.kt Normal file
View File

@@ -0,0 +1,11 @@
package com.zhidao.mogo.module.obu.obu
open class BaseObu : IObu {
protected var callback: IObuCallback? = null
override fun init() {
}
override fun registerObuCallback(callback: IObuCallback) {
this.callback = callback
}
}

123
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/CidiObu.kt Normal file
View File

@@ -0,0 +1,123 @@
package com.zhidao.mogo.module.obu.obu
import android.os.Handler
import android.os.Message
import com.mogo.commons.debug.DebugConfig
import com.mogo.utils.logger.Logger
import com.zhidao.mogo.module.obu.obu.bean.MogoObuEventInfo
import com.zhidao.mogo.module.obu.obu.bean.MogoObuLocationInfo
import com.zhidao.mogo.module.obu.obu.bean.MogoObuTrafficLightInfo
import com.zhidao.smartv2x.api.V2xController
import com.zhidao.smartv2x.listener.OnMessageReceiveListener
import com.zhidao.smartv2x.model.obu.CarEventInfo
import com.zhidao.smartv2x.model.obu.CarLocationInfo
import com.zhidao.smartv2x.model.obu.TrafficLightInfo
/**
* 西迪obu
*
* @author tongchenfei
*/
class CidiObu : BaseObu(), Handler.Callback, OnMessageReceiveListener {
companion object {
const val TAG = "CidiObu"
const val MSG_MONITOR_OBU_STATUS = 1001
const val DEFAULT_MONITOR_TIME = 10_000L
}
private val handler = Handler(this)
override fun init() {
super.init()
// 初始化sdk，注册数据回调等信息
V2xController.getInstance().setMessageReceiveListener(this)
V2xController.getInstance().init()
handler.sendEmptyMessageDelayed(MSG_MONITOR_OBU_STATUS, DEFAULT_MONITOR_TIME)
}
/**
* 车辆位置信息回调接口
*/
override fun showCarLocationInfo(info: CarLocationInfo?) {
Logger.v(TAG, "thread: ${Thread.currentThread()} showCarLocationInfo: ${info?.carId}")
if (!DebugConfig.isUseMockObuData()) {
// 不使用模拟数据时候不做此处理
// 由于obu会频繁回调此接口，故10秒收不到此数据，则认为obu连接不正常，就断开重连一下
handler.removeMessages(MSG_MONITOR_OBU_STATUS)
handler.sendEmptyMessageDelayed(MSG_MONITOR_OBU_STATUS, DEFAULT_MONITOR_TIME)
}
handler.post {
if (info == null) {
callback?.onLocationInfoCallback(null)
}else {
callback?.onLocationInfoCallback(MogoObuLocationInfo(info))
}
}
}
/**
* UDP 收发消息回调接口
*/
override fun showOtherInfo(info: String?) {
Logger.d(TAG, "thread: ${Thread.currentThread()} showOtherInfo: $info")
}
/**
* 交通信号灯信息回调接口
* 17号路口红绿灯倒计时出现了，如果[TrafficLightInfo.lightStatus]为0，或者说，不为G/Y/R时，此条红绿灯数据无效
*/
override fun showTrafficLightInfo(info: TrafficLightInfo?) {
Logger.d(TAG, "thread: ${Thread.currentThread()} showTrafficLightInfo: $info")
Logger.d(TAG, "isTrafficLightInfoValid: ${isTrafficLightInfoValid(info)}")
if (isTrafficLightInfoValid(info)) {
handler.post {
if (info == null) {
callback?.onTrafficLightInfoCallback(null)
}else{
callback?.onTrafficLightInfoCallback(MogoObuTrafficLightInfo(info))
}
}
}
}
/**
* 判断红绿灯信息是否有效
*
* @return true 有效
*/
private fun isTrafficLightInfoValid(info: TrafficLightInfo?): Boolean {
return info == null || (info.lightStatus == "G" || info.lightStatus == "Y" || info.lightStatus == "R")
}
/**
* 场景触发事件信息回调接口
*/
override fun showCarEventInfo(info: CarEventInfo?) {
Logger.d(TAG, "thread: ${Thread.currentThread()} showCarEventInfo: ${info?.type}")
handler.post {
if (info == null) {
callback?.onEventInfoCallback(null)
}else{
callback?.onEventInfoCallback(MogoObuEventInfo(info))
}
}
}
/**
* @param msg A [Message][android.os.Message] object
* @return True if no further handling is desired
*/
override fun handleMessage(msg: Message?): Boolean {
if (msg?.what == MSG_MONITOR_OBU_STATUS) {
// obu未正常连接，需要重新连接
Logger.d(TAG, "obu未正常连接，需要重新连接")
V2xController.getInstance().release()
V2xController.getInstance().setMessageReceiveListener(this)
V2xController.getInstance().init()
handler.sendEmptyMessageDelayed(MSG_MONITOR_OBU_STATUS, DEFAULT_MONITOR_TIME)
// V2xController.getInstance().release()
return true
}
return false
}
}

47
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/HualiObu.kt Normal file
View File

@@ -0,0 +1,47 @@
package com.zhidao.mogo.module.obu.obu
import com.mogo.utils.logger.Logger
import com.zhidao.mogo.module.obu.socket.IUdpSocketCallback
import com.zhidao.mogo.module.obu.socket.UdpSocketManager
import kotlin.concurrent.thread
/**
* 华砺智行obu 苏州演示项目用到的
*
* @author tongchenfei
*/
class HualiObu : BaseObu(),IUdpSocketCallback {
private val socketManager = UdpSocketManager(this)
companion object{
const val TAG = "HualiObu"
const val IP_ADDRESS = "172.30.33.38"
const val PORT = 10005
}
override fun init() {
super.init()
socketManager.receiveMsgFrom(IP_ADDRESS, PORT)
socketManager.sendMsgTo("Hello ssokit", IP_ADDRESS, PORT)
Logger.d(TAG, "init")
thread {
var count = 0
while (true) {
Logger.d(TAG,"准备发送测试数据===")
socketManager.sendMsgTo("Hello ssokit===$count", IP_ADDRESS, PORT)
count++
Thread.sleep(1000)
if (count == 1000) {
Logger.d(TAG, "测试数据结束")
break
}
}
}
}
override fun onMessageReceived(msg: ByteArray) {
// todo 处理数据
val m = String(msg)
Logger.d(TAG, "onMessageReceived: $msg")
}
}

17
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/IObu.kt Normal file
View File

@@ -0,0 +1,17 @@
package com.zhidao.mogo.module.obu.obu
/**
* Obu基本方法
* @author tongchenfei
*/
interface IObu {
/**
* 初始化
*/
fun init()
/**
* 注册数据回调
*/
fun registerObuCallback(callback: IObuCallback)
}

30
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/IObuCallback.kt Normal file
View File

@@ -0,0 +1,30 @@
package com.zhidao.mogo.module.obu.obu
import com.zhidao.mogo.module.obu.obu.bean.MogoObuEventInfo
import com.zhidao.mogo.module.obu.obu.bean.MogoObuLocationInfo
import com.zhidao.mogo.module.obu.obu.bean.MogoObuTrafficLightInfo
/**
* obu数据回调，目前是根据西迪的数据进行的封装
*
* @author tongchenfei
*/
interface IObuCallback {
/**
* obu事件回调
* @param eventInfo 事件信息
*/
fun onEventInfoCallback(eventInfo:MogoObuEventInfo?)
/**
* obu定位信息回调
* @param locationInfo 定位信息
*/
fun onLocationInfoCallback(locationInfo: MogoObuLocationInfo?)
/**
* obu红绿灯信息回调
* @param trafficLightInfo 红绿灯信息
*/
fun onTrafficLightInfoCallback(trafficLightInfo: MogoObuTrafficLightInfo?)
}

24
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/bean/MogoObuEventInfo.kt Normal file
View File

@@ -0,0 +1,24 @@
package com.zhidao.mogo.module.obu.obu.bean
import com.zhidao.smartv2x.model.obu.CarEventInfo
/**
* obu事件数据封装，根据西迪obu数据进行整理
*
* {"typeCode":"01","type":"前碰撞预警","describe":"等级:1"}
*/
class MogoObuEventInfo(){
var typeCode:String? = null
var type:String? = null
var describe:String? = null
override fun toString(): String {
return "MogoObuEventInfo(typeCode=$typeCode, type=$type, describe=$describe)"
}
constructor(info:CarEventInfo):this(){
this.typeCode = info.typeCode
this.type = info.type
this.describe = info.describe
}
}

32
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/bean/MogoObuLocationInfo.kt Normal file
View File

@@ -0,0 +1,32 @@
package com.zhidao.mogo.module.obu.obu.bean
import com.zhidao.smartv2x.model.obu.CarLocationInfo
/**
* obu定位信息，根据西迪obu进行封装
* {"carId":"1952999795","lat":28.089524299999997,"lng":112.9908293,"speed":"14"," direction":"10112","sateNum":"24","signal":"0"}
* @author tongchenfei
*/
class MogoObuLocationInfo() {
var carId: String? = null
var lat: Double? = 0.0
var lon: Double? = 0.0
var speed: String? = null
var direction: String? = null
var sateNum: String? = null
var signal: String? = null
override fun toString(): String {
return "MogoObuLocationInfo(lat=$lat)"
}
constructor(info:CarLocationInfo?) : this() {
this.carId = info?.carId
this.lat = info?.lat
this.lon = info?.lng
this.speed = info?.speed
this.direction = info?.direction
this.sateNum = info?.sateNum
this.signal = info?.signal
}
}

29
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/bean/MogoObuTrafficLightInfo.kt Normal file
View File

@@ -0,0 +1,29 @@
package com.zhidao.mogo.module.obu.obu.bean
import com.zhidao.smartv2x.model.obu.TrafficLightInfo
/**
* obu信号灯数据，根据西迪obu进行封装
* lightStatus:信号灯的当前状态 G/R/Y 分别对应 绿/红/黄
* surplusTime:当前信号灯剩余时间 十进制 单位:秒
* lightPriority:保留字段，暂无说明
*
* @author tongchenfei
*/
class MogoObuTrafficLightInfo(){
var id:String? =null
var lightStatus:String? =null
var surplusTime:String? =null
var lightPriority:String? =null
override fun toString(): String {
return "MogoObuTrafficLightInfo(id=$id, lightStatus=$lightStatus, surplusTime=$surplusTime, lightPriority=$lightPriority)"
}
constructor(info:TrafficLightInfo):this(){
this.id = info.id
this.lightStatus = info.lightStatus
this.surplusTime = info.surplusTime
this.lightPriority = info.lightPriority
}
}

13
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/IUdpSocketCallback.kt Normal file
View File

@@ -0,0 +1,13 @@
package com.zhidao.mogo.module.obu.socket
/**
* udp 数据回调
*/
interface IUdpSocketCallback {
/**
* udp过来的字节码数据，目前已知数据类型就是ByteArray
*
* @param msg udp发过来的数据
*/
fun onMessageReceived(msg: ByteArray)
}

20
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/SimpleAddress.kt Normal file
View File

@@ -0,0 +1,20 @@
package com.zhidao.mogo.module.obu.socket
class SimpleAddress(val ip: String, val port: Int) {
override fun equals(other: Any?): Boolean {
return when (other) {
is SimpleAddress -> other.ip == ip && port == port
null -> false
else -> false
}
}
override fun hashCode(): Int {
return ip.hashCode() + port.hashCode()
}
override fun toString(): String {
return "SimpleAddress(ip='$ip', port=$port)"
}
}

78
modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/UdpSocketManager.kt Normal file
View File

@@ -0,0 +1,78 @@
package com.zhidao.mogo.module.obu.socket
import android.util.ArrayMap
import com.mogo.utils.logger.Logger
import java.net.DatagramPacket
import java.net.DatagramSocket
import java.net.InetAddress
import java.util.concurrent.Executors
/**
* udp socket 管理类，统一管理udp socket数据接收和发送
*/
class UdpSocketManager(private val callback: IUdpSocketCallback? = null) {
companion object{
const val TAG = "Mogo-UdpSocketManager"
}
private val socketMap = ArrayMap<SimpleAddress, DatagramSocket>()
private val socketExecutor = Executors.newCachedThreadPool()
@Volatile private var isConnected = false
fun sendMsgTo(msg:String,ip: String, port: Int) {
isConnected = true
val address = SimpleAddress(ip, port)
socketExecutor.execute(UdpSenderRunnable(address, msg))
}
fun receiveMsgFrom(ip: String, port: Int) {
isConnected = true
val address = SimpleAddress(ip, port)
socketExecutor.execute(UdpReceiverRunnable(address))
}
fun release(){
isConnected = false
socketMap.forEach {
it.value.close()
}
}
inner class UdpSenderRunnable(private val address: SimpleAddress,private val msg:String):Runnable{
override fun run() {
Logger.d(TAG, "${address}准备发送消息: $msg")
var socket = socketMap[address]
val netAddress = InetAddress.getByName(address.ip)
if (socket == null) {
socket = DatagramSocket(address.port)
socketMap[address] = socket
}
socket.send(DatagramPacket(msg.toByteArray(), msg.toByteArray().size, netAddress, address.port))
}
}
inner class UdpReceiverRunnable(private val address:SimpleAddress):Runnable{
override fun run() {
var socket = socketMap[address]
Logger.d(TAG, "init receiver: $address")
if (socket == null) {
socket = DatagramSocket(address.port)
socketMap[address] = socket
}
val buffer = ByteArray(1024)
val packet = DatagramPacket(buffer, buffer.size)
while (isConnected){
if(socket.isClosed){
break
}
Logger.d(TAG,"准备接受消息====$address")
socket.receive(packet)
val msg = ByteArray(buffer.size)
System.arraycopy(buffer, 0, msg, 0, buffer.size)
callback?.onMessageReceived(msg)
}
}
}
}