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This commit is contained in:
Frank
2019-08-19 23:45:48 +02:00
parent 594afc5b8e
commit 9797d47fbf
2 changed files with 271 additions and 116 deletions
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Moose Development/Moose/Ops/FlightGroup.lua
+247 -116
View File
@@ -43,9 +43,14 @@ FLIGHTGROUP = {
type = nil, type = nil,
element = {}, element = {},
taskqueue = {}, taskqueue = {},
detectedunits = nil, detectedunits = {},
homebase = nil, homebase = nil,
destination = nil, destination = nil,
speedmax = nil,
range = nil,
altmax = nil,
taskcounter = nil,
taskcurrent = nil,
} }
@@ -100,15 +105,23 @@ FLIGHTGROUP.Mission={
} }
--- Flight group tasks. --- Flight group tasks.
-- @type FLIGHTGROUP.Task -- @type FLIGHTGROUP.TaskStatus
-- @param # -- @param #string SCHEDULED Task is sheduled.
-- @param #number time Abs. mission time when to execute the task. -- @param #string EXECUTING Task is being executed.
-- @param #string ACCOMPLISHED Task is accomplished.
FLIGHTGROUP.TaskStatus={
SCHEDULED="scheduled",
EXECUTING="executing",
ACCOMPLISHED="accomplished",
}
--- Flight group tasks. --- Flight group tasks.
-- @type FLIGHTGROUP.TaskCAP -- @type FLIGHTGROUP.Task
-- @param # -- @field #number prio Priority.
-- @param #number time Abs. mission time when to execute the task. -- @field #number time Abs. mission time when to execute the task.
-- @field #table dcstask DCS task structure.
-- @field #string description Brief text which describes the task.
-- @field #string status Task status.
--- FLIGHTGROUP class version. --- FLIGHTGROUP class version.
@@ -151,27 +164,29 @@ function FLIGHTGROUP:New(groupname)
-- Add FSM transitions. -- Add FSM transitions.
-- From State --> Event --> To State -- From State --> Event --> To State
self:AddTransition("Stopped", "Start", "Running") -- Start FSM. self:AddTransition("Stopped", "Start", "Running") -- Start FSM.
self:AddTransition("*", "FlightStatus", "*") -- FLIGHTGROUP status update. self:AddTransition("*", "FlightStatus", "*") -- FLIGHTGROUP status update.
self:AddTransition("*", "AddDetectedUnit", "*") -- Add a newly detected unit to the detected units set. self:AddTransition("*", "AddDetectedUnit", "*") -- Add a newly detected unit to the detected units set.
self:AddTransition("*", "LostDetectedUnit", "*") -- Group lost a detected target. self:AddTransition("*", "LostDetectedUnit", "*") -- Group lost a detected target.
self:AddTransition("*", "ElementSpawned", "*") -- An element was spawned.
self:AddTransition("*", "ElementParking", "*") -- An element was spawned.
self:AddTransition("*", "ElementTaxiing", "*") -- An element spooled up the engines.
self:AddTransition("*", "ElementAirborne", "*") -- An element took off.
self:AddTransition("*", "ElementLanded", "*") -- An element landed.
self:AddTransition("*", "ElementArrived", "*") -- An element arrived.
self:AddTransition("*", "ElementDead", "*") -- An element crashed, ejected, or pilot dead.
self:AddTransition("*", "FlightSpawned", "Spawned") -- The whole flight group is airborne. self:AddTransition("*", "RTB", "Returning") -- Group lost a detected target.
self:AddTransition("*", "FlightParking", "Parking") -- The whole flight group is airborne.
self:AddTransition("*", "FlightTaxiing", "Taxiing") -- The whole flight group is airborne. self:AddTransition("*", "ElementSpawned", "*") -- An element was spawned.
self:AddTransition("*", "FlightAirborne", "Airborne") -- The whole flight group is airborne. self:AddTransition("*", "ElementParking", "*") -- An element was spawned.
self:AddTransition("*", "FlightLanded", "Landed") -- The whole flight group has landed. self:AddTransition("*", "ElementTaxiing", "*") -- An element spooled up the engines.
self:AddTransition("*", "FlightArrived", "Arrived") -- The whole flight group has arrived. self:AddTransition("*", "ElementAirborne", "*") -- An element took off.
self:AddTransition("*", "FlightDead", "*") -- The whole flight group is dead. self:AddTransition("*", "ElementLanded", "*") -- An element landed.
self:AddTransition("*", "ElementArrived", "*") -- An element arrived.
self:AddTransition("*", "ElementDead", "*") -- An element crashed, ejected, or pilot dead.
self:AddTransition("*", "FlightSpawned", "Spawned") -- The whole flight group is airborne.
self:AddTransition("*", "FlightParking", "Parking") -- The whole flight group is airborne.
self:AddTransition("*", "FlightTaxiing", "Taxiing") -- The whole flight group is airborne.
self:AddTransition("*", "FlightAirborne", "Airborne") -- The whole flight group is airborne.
self:AddTransition("*", "FlightLanded", "Landed") -- The whole flight group has landed.
self:AddTransition("*", "FlightArrived", "Arrived") -- The whole flight group has arrived.
self:AddTransition("*", "FlightDead", "Dead") -- The whole flight group is dead.
------------------------ ------------------------
@@ -206,7 +221,7 @@ function FLIGHTGROUP:New(groupname)
-- Debug trace. -- Debug trace.
if true then if false then
self.Debug=true self.Debug=true
BASE:TraceOnOff(true) BASE:TraceOnOff(true)
BASE:TraceClass(self.ClassName) BASE:TraceClass(self.ClassName)
@@ -238,6 +253,29 @@ end
-- User functions -- User functions
------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
--- Get set of decteded units.
-- @param #FLIGHTGROUP self
-- @param #string description Brief text describing the task, e.g. "Attack SAM".
-- @param #table task DCS task table stucture.
-- @param #number prio Priority of the task.
-- @param #string clock Mission time when task is executed.
-- @return #FLIGHTGROUP self
function FLIGHTGROUP:AddTask(description, task, prio, clock)
local newtask={} --#FLIGHTGROUP.Task
newtask.description=description
newtask.status=FLIGHTGROUP.TaskStatus.SCHEDULED
newtask.dcstask=task
newtask.prio=prio or 50
newtask.time=UTILS.ClockToSeconds(clock) or timer.getAbsTime()+60
table.insert(self.taskqueue, newtask)
return self
end
--- Get set of decteded units. --- Get set of decteded units.
-- @param #FLIGHTGROUP self -- @param #FLIGHTGROUP self
-- @return Core.Set#SET_UNIT Set of detected units. -- @return Core.Set#SET_UNIT Set of detected units.
@@ -245,7 +283,6 @@ function FLIGHTGROUP:GetDetectedUnits()
return self.detectedunits return self.detectedunits
end end
--- Check if flight is airborne. --- Check if flight is airborne.
-- @param #FLIGHTGROUP self -- @param #FLIGHTGROUP self
-- @return #boolean -- @return #boolean
@@ -338,12 +375,10 @@ function FLIGHTGROUP:onafterFlightStatus(From, Event, To)
local fsmstate=self:GetState() local fsmstate=self:GetState()
-- Short info. -- Short info.
local text=string.format("Flight group FSM status %s.", fsmstate) local text=string.format("Flight group status %s.", fsmstate)
self:I(self.sid..text) self:I(self.sid..text)
-- Element status.
--TODO: check each element if it is alive?! despawn on runway etc.
text="Elements:" text="Elements:"
for i,_element in pairs(self.element) do for i,_element in pairs(self.element) do
local element=_element --#FLIGHTGROUP.Element local element=_element --#FLIGHTGROUP.Element
@@ -353,6 +388,12 @@ function FLIGHTGROUP:onafterFlightStatus(From, Event, To)
local fuel=unit:GetFuel() or 0 local fuel=unit:GetFuel() or 0
local life=unit:GetLifeRelative() or 0 local life=unit:GetLifeRelative() or 0
-- Check if element is not dead and we missed an event.
if life<0 and element.status~=FLIGHTGROUP.ElementStatus.DEAD then
self:ElementDead(element)
end
-- Output text for element.
text=text..string.format("\n[%d] %s: status=%s, fuel=%.1f, life=%.1f", i, name, status, fuel*100, life*100) text=text..string.format("\n[%d] %s: status=%s, fuel=%.1f, life=%.1f", i, name, status, fuel*100, life*100)
end end
if #self.element==0 then if #self.element==0 then
@@ -360,41 +401,36 @@ function FLIGHTGROUP:onafterFlightStatus(From, Event, To)
end end
self:I(text) self:I(text)
-- Get detected DCS units. -- TODO: GetTask function. Sort tasks by time and prio. Figure out how to determine if task is finished ==> Task combo?
local detectedtargets=self.flightgroup:GetDetectedTargets() if not self.taskcurrent then
if #self.taskqueue>0 then
local detected={} local task=self.taskqueue[1] --#FLIGHTGROUP.Task
for DetectionObjectID, Detection in pairs(detectedtargets or {}) do
local DetectedObject=Detection.object -- DCS#Object if timer.getAbsTime()>=task.time then
self.flightgroup:ClearTasks()
if DetectedObject and DetectedObject:isExist() and DetectedObject.id_<50000000 then self.flightgroup:SetTask(task.dcstask, 1)
local unit=UNIT:Find(DetectedObject) task.status=FLIGHTGROUP.TaskStatus.EXECUTING
if unit and unit:IsAlive() then self.taskcurrent=task
table.insert(detected, unit)
local unitname=unit:GetName()
if self.detectedunits:FindUnit(unitname) then
-- Unit is already in the detected unit set.
self:T(self.sid..string.format("Detected unit %s is already known.", unitname))
else
self:AddDetectedUnit(unit)
end
end end
end end
end end
for _,_unit in pairs(self.detectedunits:GetSet()) do -- Task queue
local unit=_unit --Wrapper.Unit#UNIT text="Tasks:"
local gotit=false for i,_task in pairs(self.taskqueue) do
for _,_du in pairs(detected) do local task=_task --#FLIGHTGROUP.Task
local du=_du --Wrapper.Unit#UNIT local name=task.description
if unit:GetName()==du:GetName() then local status=task.status
gotit=true local clock=UTILS.SecondsToClock(task.time)
end local eta=task.time-timer.getAbsTime()
end -- Output text for element.
if not gotit then text=text..string.format("\n[%d] %s: status=%s, scheduled at %s (ETA %d seconds)", i, name, status, clock, eta)
self:LostDetectedUnit()
end
end end
if #self.taskqueue==0 then
text=text.." none!"
end
self:I(text)
-- Next check in ~30 seconds. -- Next check in ~30 seconds.
self:__FlightStatus(-30) self:__FlightStatus(-30)
@@ -420,8 +456,6 @@ function FLIGHTGROUP:OnEventBirth(EventData)
if not self:_IsElement(unitname) then if not self:_IsElement(unitname) then
local element=self:AddElementByName(unitname) local element=self:AddElementByName(unitname)
self:ElementSpawned(element) self:ElementSpawned(element)
--self:_UpdateStatus(element, FLIGHTGROUP.ElementStatus.SPAWNED)
--self:I(self.sid..string.format("Element %s spawned", element.name))
end end
end end
@@ -444,8 +478,7 @@ function FLIGHTGROUP:OnEventEngineStartup(EventData)
if element then if element then
self:I(self.sid..string.format("Element %s started engines ==> taxiing", element.name)) self:I(self.sid..string.format("Element %s started engines ==> taxiing", element.name))
self:ElementTaxiing(element) self:ElementTaxiing(element)
--self:_UpdateStatus(element, FLIGHTGROUP.ElementStatus.TAXIING)
end end
end end
@@ -488,10 +521,17 @@ function FLIGHTGROUP:OnEventLanding(EventData)
-- Get element. -- Get element.
local element=self:GetElementByName(unitname) local element=self:GetElementByName(unitname)
local airbase=EventData.Place
local airbasename="unknown"
if airbase then
airbasename=tostring(airbase:GetName())
end
if element then if element then
self:I(self.sid..string.format("EVENT: Element %s landed ==> landed", element.name)) self:I(self.sid..string.format("EVENT: Element %s landed at %s ==> landed", element.name, airbasename))
self:ElementLanded(element) self:ElementLanded(element, airbase)
end end
end end
@@ -517,8 +557,7 @@ function FLIGHTGROUP:OnEventEngineShutdown(EventData)
local airbase=coord:GetClosestAirbase() local airbase=coord:GetClosestAirbase()
local _,_,dist,parking=coord:GetClosestParkingSpot(airbase) local _,_,dist,parking=coord:GetClosestParkingSpot(airbase)
if dist and dist<10 and unit:InAir()==false then if dist and dist<10 and unit:InAir()==false then
--self:_UpdateStatus(element, FLIGHTGROUP.ElementStatus.ARRIVED) self:ElementArrived(element, airbase, parking)
self:ElementArrived(element)
self:I(self.sid..string.format("Element %s shut down engines ==> arrived", element.name)) self:I(self.sid..string.format("Element %s shut down engines ==> arrived", element.name))
else else
self:I(self.sid..string.format("Element %s shut down engines (in air) ==> dead", element.name)) self:I(self.sid..string.format("Element %s shut down engines (in air) ==> dead", element.name))
@@ -643,6 +682,24 @@ function FLIGHTGROUP:onafterElementArrived(From, Event, To, Element)
end end
--- On after RTB event. Send flightgroup back to base.
-- @param #FLIGHTGROUP self
-- @param #string From From state.
-- @param #string Event Event.
-- @param #string To To state.
-- @param Wrapper.Airbase#AIRBASE airbase The base to return to.
function FLIGHTGROUP:onafterRTB(From, Event, To, airbase)
-- Debug message.
local text=string.format("Flight group returning to airbase %s.", airbase:GetName())
MESSAGE:New(text, 10, "DEBUG"):ToAllIf(self.Debug)
self:I(self.sid..text)
-- Route helo back home. It is respawned! But this is the only way to ensure that it actually lands at the airbase.
self:RouteRTB(airbase)
end
--- On after "DetectedUnit" event. Add newly detected unit to detected units set. --- On after "DetectedUnit" event. Add newly detected unit to detected units set.
-- @param #FLIGHTGROUP self -- @param #FLIGHTGROUP self
-- @param #string From From state. -- @param #string From From state.
@@ -655,6 +712,20 @@ function FLIGHTGROUP:onafterAddDetectedUnit(From, Event, To, Unit)
self.detectedunits:AddUnit(Unit) self.detectedunits:AddUnit(Unit)
end end
--- On after "ElementDead" event.
-- @param #FLIGHTGROUP self
-- @param #string From From state.
-- @param #string Event Event.
-- @param #string To To state.
-- @param #FLIGHTGROUP.Element Element The flight group element.
function FLIGHTGROUP:onafterElementDead(From, Event, To, Element)
self:I(self.sid..string.format("Element dead %s.", Element.name))
-- Set element status.
self:_UpdateStatus(Element, FLIGHTGROUP.ElementStatus.DEAD)
end
------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
-- Task functions -- Task functions
------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -709,6 +780,52 @@ function FLIGHTGROUP:TaskIntercept(bandit)
end end
--- Route flight group back to base.
-- @param #FLIGHTGROUP self
-- @param Wrapper.Airbase#AIRBASE RTBAirbase
-- @param #number Speed Speed in km/h.
-- @param #number Altitude Altitude in meters.
function FLIGHTGROUP:RouteRTB(RTBAirbase, Speed, Altitude)
-- If speed is not given take 80% of max speed.
local Speed=Speed or self.flightgroup:GetSpeedMax()*0.8
-- Curent (from) waypoint.
local coord=self.flightgroup:GetCoordinate()
if Altitude then
coord:SetAltitude(Altitude)
end
-- Current coordinate.
local PointFrom=coord:WaypointAirTurningPoint(nil, Speed, {}, "Current")
-- Overhead pass.
local PointOverhead=RTBAirbase:GetCoordinate():SetAltitude(Altitude or coord.y):WaypointAirTurningPoint(nil, Speed, {}, "Overhead Pass")
-- Landing waypoint.
local PointLanding=RTBAirbase:GetCoordinate():SetAltitude(20):WaypointAirLanding(Speed, RTBAirbase, {}, "Landing")
-- Waypoint table.
local Points={PointFrom, PointOverhead, PointLanding}
-- Get group template.
local Template=self.flightgroup:GetTemplate()
-- Set route points.
Template.route.points=Points
-- Set modex for respawn.
--self.flightgroup:InitModex(self.modex)
-- Respawn the group.
self.flightgroup=self.flightgroup:Respawn(Template, true)
-- Route the group or this will not work.
self.flightgroup:Route(Points, 1)
end
------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
-- Misc functions -- Misc functions
@@ -807,6 +924,7 @@ function FLIGHTGROUP:_AllSimilarStatus(status)
for _,_element in pairs(self.element) do for _,_element in pairs(self.element) do
local element=_element --#FLIGHTGROUP.Element local element=_element --#FLIGHTGROUP.Element
-- Dead units dont count.
if element.status~=FLIGHTGROUP.ElementStatus.DEAD then if element.status~=FLIGHTGROUP.ElementStatus.DEAD then
if status==FLIGHTGROUP.ElementStatus.SPAWNED then if status==FLIGHTGROUP.ElementStatus.SPAWNED then
@@ -876,8 +994,6 @@ function FLIGHTGROUP:_AllSimilarStatus(status)
return true return true
end end
--- Check if all elements of the flight group have the same status or are dead. --- Check if all elements of the flight group have the same status or are dead.
-- @param #FLIGHTGROUP self -- @param #FLIGHTGROUP self
-- @param #FLIGHTGROUP.Element element Element. -- @param #FLIGHTGROUP.Element element Element.
@@ -897,25 +1013,23 @@ function FLIGHTGROUP:_UpdateStatus(element, newstatus)
-- SPAWNED -- SPAWNED
--- ---
--self:ElementSpawned(element)
if self:_AllSimilarStatus(newstatus) then if self:_AllSimilarStatus(newstatus) then
self:FlightSpawned(group) self:FlightSpawned(group)
end end
--[[
if element.unit:InAir() then if element.unit:InAir() then
self:ElementAirborne(element) self:ElementAirborne(element)
else else
self:ElementParking(element) self:ElementParking(element)
end end
]]
elseif newstatus==FLIGHTGROUP.ElementStatus.PARKING then elseif newstatus==FLIGHTGROUP.ElementStatus.PARKING then
--- ---
-- PARKING -- PARKING
--- ---
--self:ElementParking(element)
if self:_AllSimilarStatus(newstatus) then if self:_AllSimilarStatus(newstatus) then
self:FlightParking(group) self:FlightParking(group)
end end
@@ -924,9 +1038,7 @@ function FLIGHTGROUP:_UpdateStatus(element, newstatus)
--- ---
-- TAXIING -- TAXIING
--- ---
--self:ElementTaxiing(element)
if self:_AllSimilarStatus(newstatus) then if self:_AllSimilarStatus(newstatus) then
self:FlightTaxiing(group) self:FlightTaxiing(group)
end end
@@ -935,9 +1047,7 @@ function FLIGHTGROUP:_UpdateStatus(element, newstatus)
--- ---
-- AIRBORNE -- AIRBORNE
--- ---
--self:ElementAirborne(element)
if self:_AllSimilarStatus(newstatus) then if self:_AllSimilarStatus(newstatus) then
if self:IsTaxiing() then if self:IsTaxiing() then
@@ -958,8 +1068,6 @@ function FLIGHTGROUP:_UpdateStatus(element, newstatus)
-- LANDED -- LANDED
--- ---
--self:ElementLanded(element)
if self:_AllSimilarStatus(newstatus) then if self:_AllSimilarStatus(newstatus) then
self:FlightLanded(group) self:FlightLanded(group)
end end
@@ -969,8 +1077,6 @@ function FLIGHTGROUP:_UpdateStatus(element, newstatus)
-- ARRIVED -- ARRIVED
--- ---
--self:ElementArrived(element)
if self:_AllSimilarStatus(newstatus) then if self:_AllSimilarStatus(newstatus) then
if self:IsLanded() then if self:IsLanded() then
@@ -981,45 +1087,70 @@ function FLIGHTGROUP:_UpdateStatus(element, newstatus)
end end
end end
elseif newstatus==FLIGHTGROUP.ElementStatus.DEAD then
---
-- DEAD
---
if self:_AllSimilarStatus(newstatus) then
self:FlightDead(group)
end
end end
end end
--- Check detected units.
--- Check if all elements of the flight group have the same status or are dead.
-- @param #FLIGHTGROUP self -- @param #FLIGHTGROUP self
-- @param #string unitname Name of unit. -- @param #string unitname Name of the unit.
function FLIGHTGROUP:_CheckAllStatus(status) function FLIGHTGROUP:_CheckDetectedUnits()
if self:_CheckAllSameStatus(FLIGHTGROUP.ElementStatus.DEAD) and not self:IsDead() then
-- All elements are dead.
self:FlightDead()
elseif self:_CheckAllSameStatus(FLIGHTGROUP.ElementStatus.SPAWNED) then
elseif self:_CheckAllSameStatus(FLIGHTGROUP.ElementStatus.PARKING) then
elseif self:_CheckAllSameStatus(FLIGHTGROUP.ElementStatus.TAXIING) then
elseif self:_CheckAllSameStatus(FLIGHTGROUP.ElementStatus.AIRBORNE) then if self.flightgroup and not self:IsDead() then
elseif self:_CheckAllSameStatus(FLIGHTGROUP.ElementStatus.LANDED) then
self:FlightArrived()
elseif self:_CheckAllSameStatus(FLIGHTGROUP.ElementStatus.ARRIVED) and not self:IsArrived() then
self:FlightArrived()
end
if status==FLIGHTGROUP.ElementStatus.DEAD then -- Get detected DCS units.
local detectedtargets=self.flightgroup:GetDetectedTargets()
local detected={}
for DetectionObjectID, Detection in pairs(detectedtargets or {}) do
local DetectedObject=Detection.object -- DCS#Object
if DetectedObject and DetectedObject:isExist() and DetectedObject.id_<50000000 then
local unit=UNIT:Find(DetectedObject)
if unit and unit:IsAlive() then
table.insert(detected, unit)
local unitname=unit:GetName()
if self.detectedunits:FindUnit(unitname) then
-- Unit is already in the detected unit set.
self:T(self.sid..string.format("Detected unit %s is already known.", unitname))
else
self:AddDetectedUnit(unit)
end
end
end
end
elseif status==FLIGHTGROUP.ElementStatus.ARRIVED then -- Loop over units in detected set.
for _,_unit in pairs(self.detectedunits:GetSet()) do
elseif status==FLIGHTGROUP.ElementStatus.AIRBORNE then local unit=_unit --Wrapper.Unit#UNIT
self:FlightAirborne()
-- Loop over detected units
local gotit=false
for _,_du in pairs(detected) do
local du=_du --Wrapper.Unit#UNIT
if unit:GetName()==du:GetName() then
gotit=true
end
end
if not gotit then
self:LostDetectedUnit(unit)
end
end
end end
return true
end end
--- Get onboard number. --- Get onboard number.
Moose Development/Moose/Utilities/Enums.lua
+24
View File
@@ -12,4 +12,28 @@ ENUMS.ROT = {
PassiveDefense = 2, PassiveDefense = 2,
EvadeFire = 3, EvadeFire = 3,
Vertical = 4 Vertical = 4
}
ENUMS.WeaponFlag={
-- Bombs
LGB=2,
TvGB=4,
SNSGB=8,
HEBomb=16,
Penetrator=32,
NapalmBomb=64,
FAEBomb=128,
ClusterBomb=256,
Dispencer=512,
CandleBomb=1024,
ParachuteBomb=2147483648,
GuidedBomb=14, -- (LGB + TvGB + SNSGB)
AnyUnguidedBomb=2147485680, -- (HeBomb + Penetrator + NapalmBomb + FAEBomb + ClusterBomb + Dispencer + CandleBomb + ParachuteBomb)
AnyBomb=2147485694, -- (GuidedBomb + AnyUnguidedBomb)
-- Rockets
LightRocket=2048,
MarkerRocket=4096,
CandleRocket=8192,
HeavyRocket=16384,
AnyRocket=30720 -- (LightRocket + MarkerRocket + CandleRocket + HeavyRocket)
} }