Revision: 8349
http://playerstage.svn.sourceforge.net/playerstage/?rev=8349&view=rev
Author: thjc
Date: 2009-10-31 13:51:18 +0000 (Sat, 31 Oct 2009)
Log Message:
-----------
Applied patch 2888905: sphereptz driver
Modified Paths:
--------------
code/player/trunk/server/drivers/ptz/CMakeLists.txt
Added Paths:
-----------
code/player/trunk/server/drivers/ptz/sphereptz/
code/player/trunk/server/drivers/ptz/sphereptz/CMakeLists.txt
code/player/trunk/server/drivers/ptz/sphereptz/sphereptz.cc
code/player/trunk/server/drivers/ptz/sphereptz/v4l2_controls.h
Modified: code/player/trunk/server/drivers/ptz/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/ptz/CMakeLists.txt 2009-10-31 13:43:16 UTC
(rev 8348)
+++ code/player/trunk/server/drivers/ptz/CMakeLists.txt 2009-10-31 13:51:18 UTC
(rev 8349)
@@ -13,3 +13,5 @@
PLAYERDRIVER_OPTION (sonyevid30 build_sonyevid30 ON)
PLAYERDRIVER_REJECT_OS (sonyevid30 build_sonyevid30 PLAYER_OS_WIN)
PLAYERDRIVER_ADD_DRIVER (sonyevid30 build_sonyevid30 SOURCES sonyevid30.cc)
+
+ADD_SUBDIRECTORY (sphereptz)
Added: code/player/trunk/server/drivers/ptz/sphereptz/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/ptz/sphereptz/CMakeLists.txt
(rev 0)
+++ code/player/trunk/server/drivers/ptz/sphereptz/CMakeLists.txt
2009-10-31 13:51:18 UTC (rev 8349)
@@ -0,0 +1,4 @@
+PLAYERDRIVER_OPTION (sphereptz build_sphereptz ON)
+PLAYERDRIVER_REJECT_OS (sphereptz build_sphereptz PLAYER_OS_WIN)
+PLAYERDRIVER_REQUIRE_HEADER (sphereptz build_sphereptz linux/videodev2.h
sys/types.h)
+PLAYERDRIVER_ADD_DRIVER (sphereptz build_sphereptz SOURCES sphereptz.cc)
Added: code/player/trunk/server/drivers/ptz/sphereptz/sphereptz.cc
===================================================================
--- code/player/trunk/server/drivers/ptz/sphereptz/sphereptz.cc
(rev 0)
+++ code/player/trunk/server/drivers/ptz/sphereptz/sphereptz.cc 2009-10-31
13:51:18 UTC (rev 8349)
@@ -0,0 +1,431 @@
+/*
+ * Player - One Hell of a Robot Server
+ * Copyright (C) 2000 Brian Gerkey et al.
+ *
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+/*
+ *
+ * PTZ for Logitech Sphere AF webcams (based on experiences with real device).
+ */
+
+/** @ingroup drivers */
+/** @{ */
+/** @defgroup driver_SpherePTZ SpherePTZ
+ * @brief PTZ for Logitech Sphere AF webcams (based on experiences with real
device).
+
+...@par Compile-time dependencies
+
+- <sys/types.h>
+- <linux/videodev2.h>
+
+...@par Provides
+
+- @ref interface_ptz
+
+...@par Requires
+
+- None
+
+...@par Configuration requests
+
+- None
+
+...@par Configuration file options
+
+- port (string)
+ - Default: "/dev/video0"
+ - %Device to connect to.
+- autoreset (integer)
+ - Default: 1
+ - If set to 1, camera will reset itself whenever it achieve zero position
+ (this can be annoying, therefore it can be turned off)
+
+...@par Example
+
+Can be safely used together with camerauvc driver:
+
+...@verbatim
+driver
+(
+ name "camerauvc"
+ provides ["camera:0"]
+ port "/dev/video0"
+ size [640 480]
+)
+
+driver
+(
+ name "sphereptz"
+ provides ["ptz:0"]
+ port "/dev/video0"
+)
+...@endverbatim
+
+...@author Paul Osmialowski, Paulo Assis
+
+*/
+/** @} */
+
+#include <libplayercore/playercore.h>
+
+#if !defined (sun)
+ #include <linux/fs.h>
+ #include <linux/kernel.h>
+#endif
+#include <sys/types.h>
+#include <linux/videodev.h>
+#include <sys/ioctl.h>
+#include <stddef.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <time.h>
+#include <math.h>
+
+#include "v4l2_controls.h"
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+#ifndef DTOR
+#define DTOR(d) ((d) * (M_PI) / 180.0)
+#endif
+
+#ifndef RTOD
+#define RTOD(r) ((static_cast<double>(r)) * 180.0 / M_PI)
+#endif
+
+class SpherePTZ : public ThreadedDriver
+{
+ public:
+ SpherePTZ(ConfigFile * cf, int section);
+ virtual ~SpherePTZ();
+ virtual int MainSetup();
+ virtual void MainQuit();
+ virtual int ProcessMessage(QueuePointer & resp_queue, player_msghdr * hdr,
void * data);
+ private:
+ virtual void Main();
+ player_devaddr_t ptz_addr;
+ const char * port;
+ int autoreset;
+ int fd;
+ int currentX;
+ int currentY;
+ int desiredX;
+ int desiredY;
+};
+
+SpherePTZ::SpherePTZ(ConfigFile * cf, int section) : ThreadedDriver(cf,
section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
+{
+ memset(&(this->ptz_addr), 0, sizeof(player_devaddr_t));
+ this->port = NULL;
+ this->autoreset = 0;
+ this->fd = -1;
+ this->currentX = 0;
+ this->currentY = 0;
+ this->desiredX = 0;
+ this->desiredY = 0;
+ if (cf->ReadDeviceAddr(&(this->ptz_addr), section, "provides",
PLAYER_PTZ_CODE, -1, NULL))
+ {
+ this->SetError(-1);
+ return;
+ }
+ if (this->AddInterface(this->ptz_addr))
+ {
+ this->SetError(-1);
+ return;
+ }
+ this->port = cf->ReadString(section, "port", "/dev/video0");
+ if (!(this->port))
+ {
+ this->SetError(-1);
+ return;
+ }
+ this->autoreset = cf->ReadInt(section, "autoreset", 1);
+}
+
+SpherePTZ::~SpherePTZ()
+{
+ if (this->fd >= 0) close(this->fd);
+}
+
+int SpherePTZ::MainSetup()
+{
+ struct v4l2_capability cap;
+ struct v4l2_ext_control xctrls[1];
+ struct v4l2_ext_controls ctrls;
+ struct timespec tspec;
+
+ this->currentX = 0;
+ this->currentY = 0;
+ this->desiredX = 0;
+ this->desiredY = 0;
+ PLAYER_WARN1("opening %s", this->port);
+ this->fd = open(this->port, O_RDWR);
+ if (this->fd < 0)
+ {
+ PLAYER_ERROR1("Cannot open %s", this->port);
+ return -1;
+ }
+ memset(&cap, 0, sizeof cap);
+ if (ioctl(this->fd, VIDIOC_QUERYCAP, &cap) == -1)
+ {
+ PLAYER_ERROR("VIDIOC_QUERYCAP failed");
+ close(this->fd);
+ this->fd = -1;
+ return -1;
+ }
+ if (!(cap.capabilities & V4L2_CAP_STREAMING))
+ {
+ PLAYER_WARN("V4L2_CAP_READWRITE check failed (ignored)");
+ }
+ if (!(cap.capabilities & V4L2_CAP_READWRITE))
+ {
+ PLAYER_WARN("V4L2_CAP_READWRITE check failed (ignored)");
+ }
+ memset(&ctrls, 0, sizeof ctrls);
+ memset(&xctrls, 0, sizeof xctrls);
+ xctrls[0].id = V4L2_CID_PAN_RESET_NEW;
+ xctrls[0].value = 1;
+ ctrls.count = 1;
+ ctrls.controls = xctrls;
+ if (ioctl(this->fd, VIDIOC_S_EXT_CTRLS, &ctrls) == -1)
+ {
+ PLAYER_ERROR("VIDIOC_S_EXT_CTRLS failed on V4L2_CID_PAN_RESET_NEW");
+ close(this->fd);
+ this->fd = -1;
+ return -1;
+ }
+ tspec.tv_sec = 2;
+ tspec.tv_nsec = 0;
+ nanosleep(&tspec, NULL);
+ memset(&ctrls, 0, sizeof ctrls);
+ memset(&xctrls, 0, sizeof xctrls);
+ xctrls[0].id = V4L2_CID_TILT_RESET_NEW;
+ xctrls[0].value = 1;
+ ctrls.count = 1;
+ ctrls.controls = xctrls;
+ if (ioctl(this->fd, VIDIOC_S_EXT_CTRLS, &ctrls) == -1)
+ {
+ PLAYER_ERROR("VIDIOC_S_EXT_CTRLS failed on V4L2_CID_TILT_RESET_NEW");
+ close(this->fd);
+ this->fd = -1;
+ return -1;
+ }
+ tspec.tv_sec = 2;
+ tspec.tv_nsec = 0;
+ nanosleep(&tspec, NULL);
+ return 0;
+}
+
+void SpherePTZ::MainQuit()
+{
+ if (this->fd >= 0) close(this->fd);
+ this->fd = -1;
+}
+
+void SpherePTZ::Main()
+{
+ struct timespec tspec;
+ player_ptz_data_t mPtzData;
+ struct v4l2_ext_control xctrls[2];
+ struct v4l2_ext_controls ctrls;
+ int reset_pan, reset_tilt;
+
+ for (;;)
+ {
+ tspec.tv_sec = 0;
+ tspec.tv_nsec = 10000000;
+ nanosleep(&tspec, NULL);
+ pthread_testcancel();
+ this->ProcessMessages();
+ reset_pan = 0;
+ reset_tilt = 0;
+ if ((this->desiredX) > (this->currentX))
+ {
+ memset(xctrls, 0, sizeof xctrls);
+ memset(&ctrls, 0, sizeof ctrls);
+ xctrls[0].id = V4L2_CID_PAN_RELATIVE_NEW;
+ xctrls[0].value = 128;
+ xctrls[1].id = V4L2_CID_TILT_RELATIVE_NEW;
+ xctrls[1].value = 0;
+ ctrls.count = 2;
+ ctrls.controls = xctrls;
+ if (ioctl(this->fd, VIDIOC_S_EXT_CTRLS, &ctrls) == -1)
+ {
+ PLAYER_ERROR("VIDIOC_S_EXT_CTRLS failed while panning right");
+ } else
+ {
+ this->currentX++;
+ if ((!(this->currentX)) && (!(this->currentY))) reset_pan = !0;
+ }
+ } else if ((this->desiredX) < (this->currentX))
+ {
+ memset(xctrls, 0, sizeof xctrls);
+ memset(&ctrls, 0, sizeof ctrls);
+ xctrls[0].id = V4L2_CID_PAN_RELATIVE_NEW;
+ xctrls[0].value = -128;
+ xctrls[1].id = V4L2_CID_TILT_RELATIVE_NEW;
+ xctrls[1].value = 0;
+ ctrls.count = 2;
+ ctrls.controls = xctrls;
+ if (ioctl(this->fd, VIDIOC_S_EXT_CTRLS, &ctrls) == -1)
+ {
+ PLAYER_ERROR("VIDIOC_S_EXT_CTRLS failed while panning left");
+ } else
+ {
+ this->currentX--;
+ if ((!(this->currentX)) && (!(this->currentY))) reset_pan = !0;
+ }
+ }
+ if ((this->desiredY) > (this->currentY))
+ {
+ memset(xctrls, 0, sizeof xctrls);
+ memset(&ctrls, 0, sizeof ctrls);
+ xctrls[0].id = V4L2_CID_PAN_RELATIVE_NEW;
+ xctrls[0].value = 0;
+ xctrls[1].id = V4L2_CID_TILT_RELATIVE_NEW;
+ xctrls[1].value = -128;
+ ctrls.count = 2;
+ ctrls.controls = xctrls;
+ if (ioctl(this->fd, VIDIOC_S_EXT_CTRLS, &ctrls) == -1)
+ {
+ PLAYER_ERROR("VIDIOC_S_EXT_CTRLS failed while tilting up");
+ } else
+ {
+ this->currentY++;
+ if ((!(this->currentX)) && (!(this->currentY))) reset_tilt = !0;
+ }
+ } else if ((this->desiredY) < (this->currentY))
+ {
+ memset(xctrls, 0, sizeof xctrls);
+ memset(&ctrls, 0, sizeof ctrls);
+ xctrls[0].id = V4L2_CID_PAN_RELATIVE_NEW;
+ xctrls[0].value = 0;
+ xctrls[1].id = V4L2_CID_TILT_RELATIVE_NEW;
+ xctrls[1].value = 128;
+ ctrls.count = 2;
+ ctrls.controls = xctrls;
+ if (ioctl(this->fd, VIDIOC_S_EXT_CTRLS, &ctrls) == -1)
+ {
+ PLAYER_ERROR("VIDIOC_S_EXT_CTRLS failed while tilting down");
+ } else
+ {
+ this->currentY--;
+ if ((!(this->currentX)) && (!(this->currentY))) reset_tilt = !0;
+ }
+ }
+ pthread_testcancel();
+ if ((!(this->currentX)) && (!(this->currentY)))
+ {
+ if ((reset_pan) && (this->autoreset))
+ {
+ memset(xctrls, 0, sizeof xctrls);
+ memset(&ctrls, 0, sizeof ctrls);
+ xctrls[0].id = V4L2_CID_PAN_RESET_NEW;
+ xctrls[0].value = 1;
+ ctrls.count = 1;
+ ctrls.controls = xctrls;
+ if (ioctl(this->fd, VIDIOC_S_EXT_CTRLS, &ctrls) == -1)
+ {
+ PLAYER_ERROR("VIDIOC_S_EXT_CTRLS failed on V4L2_CID_PAN_RESET_NEW");
+ } else
+ {
+ tspec.tv_sec = 2;
+ tspec.tv_nsec = 0;
+ nanosleep(&tspec, NULL);
+ pthread_testcancel();
+ }
+ }
+ if ((reset_tilt) && (this->autoreset))
+ {
+ memset(xctrls, 0, sizeof xctrls);
+ memset(&ctrls, 0, sizeof ctrls);
+ xctrls[0].id = V4L2_CID_TILT_RESET_NEW;
+ xctrls[0].value = 1;
+ ctrls.count = 1;
+ ctrls.controls = xctrls;
+ if (ioctl(this->fd, VIDIOC_S_EXT_CTRLS, &ctrls) == -1)
+ {
+ PLAYER_ERROR("VIDIOC_S_EXT_CTRLS failed on V4L2_CID_TILT_RESET_NEW");
+ } else
+ {
+ tspec.tv_sec = 2;
+ tspec.tv_nsec = 0;
+ nanosleep(&tspec, NULL);
+ pthread_testcancel();
+ }
+ }
+ }
+ memset(&mPtzData, 0, sizeof mPtzData);
+ mPtzData.pan = DTOR(this->currentX * 2.5);
+ mPtzData.tilt = DTOR(this->currentY * 2.5);
+ mPtzData.zoom = -1.0;
+ mPtzData.panspeed = -1.0;
+ mPtzData.tiltspeed = -1.0;
+ this->Publish(this->ptz_addr, PLAYER_MSGTYPE_DATA, PLAYER_PTZ_DATA_STATE,
reinterpret_cast<void *>(&mPtzData));
+ pthread_testcancel();
+ }
+}
+
+int SpherePTZ::ProcessMessage(QueuePointer & resp_queue,
+ player_msghdr * hdr,
+ void * data)
+{
+ player_ptz_cmd_t * cmd;
+
+ if (!hdr)
+ {
+ PLAYER_ERROR("NULL header");
+ return -1;
+ }
+ if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD, PLAYER_PTZ_CMD_STATE,
this->ptz_addr))
+ {
+ if (!data)
+ {
+ PLAYER_ERROR("NULL data");
+ return -1;
+ }
+ cmd = reinterpret_cast<player_ptz_cmd_t *>(data);
+ if (!cmd)
+ {
+ PLAYER_ERROR("NULL cmd");
+ return -1;
+ }
+ this->desiredX = static_cast<int>(RTOD(cmd->pan) / 2.5);
+ if ((this->desiredX) > 36) this->desiredX = 36;
+ if ((this->desiredX) < -36) this->desiredX = -36;
+ this->desiredY = static_cast<int>(RTOD(cmd->tilt) / 2.5);
+ if ((this->desiredY) > 12) this->desiredY = 12;
+ if ((this->desiredY) < -12) this->desiredY = -12;
+ return 0;
+ }
+ return -1;
+}
+
+Driver * SpherePTZ_Init(ConfigFile * cf, int section)
+{
+ return reinterpret_cast<Driver *>(new SpherePTZ(cf, section));
+}
+
+void sphereptz_Register(DriverTable* table)
+{
+ table->AddDriver("sphereptz", SpherePTZ_Init);
+}
Added: code/player/trunk/server/drivers/ptz/sphereptz/v4l2_controls.h
===================================================================
--- code/player/trunk/server/drivers/ptz/sphereptz/v4l2_controls.h
(rev 0)
+++ code/player/trunk/server/drivers/ptz/sphereptz/v4l2_controls.h
2009-10-31 13:51:18 UTC (rev 8349)
@@ -0,0 +1,83 @@
+/*******************************************************************************#
+# guvcview http://guvcview.berlios.de
#
+#
#
+# Paulo Assis <pj.as...@gmail.com>
#
+#
#
+# This program is free software; you can redistribute it and/or modify
#
+# it under the terms of the GNU General Public License as published by
#
+# the Free Software Foundation; either version 2 of the License, or
#
+# (at your option) any later version.
#
+#
#
+# This program is distributed in the hope that it will be useful,
#
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
#
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
#
+# GNU General Public License for more details.
#
+#
#
+# You should have received a copy of the GNU General Public License
#
+# along with this program; if not, write to the Free Software
#
+# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#
+#
#
+********************************************************************************/
+#ifndef V4L2_CONTROLS_H
+#define V4L2_CONTROLS_H
+
+/*
+ * Private V4L2 control identifiers from UVC driver. - this seems to change
acording to driver version
+ * all other User-class control IDs are defined by V4L2 (videodev.h)
+ */
+
+/*------------------------- new camera class controls ---------------------*/
+#define V4L2_CTRL_CLASS_USER_NEW 0x00980000
+#define V4L2_CID_BASE_NEW (V4L2_CTRL_CLASS_USER_NEW |
0x900)
+#define V4L2_CID_POWER_LINE_FREQUENCY_NEW (V4L2_CID_BASE_NEW+24)
+#define V4L2_CID_HUE_AUTO_NEW (V4L2_CID_BASE_NEW+25)
+#define V4L2_CID_WHITE_BALANCE_TEMPERATURE_NEW (V4L2_CID_BASE_NEW+26)
+#define V4L2_CID_SHARPNESS_NEW (V4L2_CID_BASE_NEW+27)
+#define V4L2_CID_BACKLIGHT_COMPENSATION_NEW (V4L2_CID_BASE_NEW+28)
+#define V4L2_CID_LAST_NEW (V4L2_CID_BASE_NEW+31)
+
+#define V4L2_CTRL_CLASS_CAMERA_NEW 0x009A0000 /* Camera class controls */
+#define V4L2_CID_CAMERA_CLASS_BASE_NEW
(V4L2_CTRL_CLASS_CAMERA_NEW | 0x900)
+
+#define V4L2_CID_EXPOSURE_AUTO_NEW
(V4L2_CID_CAMERA_CLASS_BASE_NEW+1)
+#define V4L2_CID_EXPOSURE_ABSOLUTE_NEW
(V4L2_CID_CAMERA_CLASS_BASE_NEW+2)
+#define V4L2_CID_EXPOSURE_AUTO_PRIORITY_NEW
(V4L2_CID_CAMERA_CLASS_BASE_NEW+3)
+
+#define V4L2_CID_PAN_RELATIVE_NEW
(V4L2_CID_CAMERA_CLASS_BASE_NEW+4)
+#define V4L2_CID_TILT_RELATIVE_NEW
(V4L2_CID_CAMERA_CLASS_BASE_NEW+5)
+#define V4L2_CID_PAN_RESET_NEW
(V4L2_CID_CAMERA_CLASS_BASE_NEW+6)
+#define V4L2_CID_TILT_RESET_NEW
(V4L2_CID_CAMERA_CLASS_BASE_NEW+7)
+
+#define V4L2_CID_PAN_ABSOLUTE_NEW
(V4L2_CID_CAMERA_CLASS_BASE_NEW+8)
+#define V4L2_CID_TILT_ABSOLUTE_NEW
(V4L2_CID_CAMERA_CLASS_BASE_NEW+9)
+
+#define V4L2_CID_FOCUS_ABSOLUTE_NEW
(V4L2_CID_CAMERA_CLASS_BASE_NEW+10)
+#define V4L2_CID_FOCUS_RELATIVE_NEW
(V4L2_CID_CAMERA_CLASS_BASE_NEW+11)
+#define V4L2_CID_FOCUS_AUTO_NEW
(V4L2_CID_CAMERA_CLASS_BASE_NEW+12)
+#define V4L2_CID_CAMERA_CLASS_LAST
(V4L2_CID_CAMERA_CLASS_BASE_NEW+13)
+
+/*--------------- old private class controls ------------------------------*/
+
+#define V4L2_CID_PRIVATE_BASE_OLD 0x08000000
+#define V4L2_CID_BACKLIGHT_COMPENSATION_OLD (V4L2_CID_PRIVATE_BASE_OLD+0)
+#define V4L2_CID_POWER_LINE_FREQUENCY_OLD (V4L2_CID_PRIVATE_BASE_OLD+1)
+#define V4L2_CID_SHARPNESS_OLD (V4L2_CID_PRIVATE_BASE_OLD+2)
+#define V4L2_CID_HUE_AUTO_OLD (V4L2_CID_PRIVATE_BASE_OLD+3)
+
+#define V4L2_CID_FOCUS_AUTO_OLD
(V4L2_CID_PRIVATE_BASE_OLD+4)
+#define V4L2_CID_FOCUS_ABSOLUTE_OLD (V4L2_CID_PRIVATE_BASE_OLD+5)
+#define V4L2_CID_FOCUS_RELATIVE_OLD (V4L2_CID_PRIVATE_BASE_OLD+6)
+
+#define V4L2_CID_PAN_RELATIVE_OLD (V4L2_CID_PRIVATE_BASE_OLD+7)
+#define V4L2_CID_TILT_RELATIVE_OLD (V4L2_CID_PRIVATE_BASE_OLD+8)
+#define V4L2_CID_PANTILT_RESET_OLD (V4L2_CID_PRIVATE_BASE_OLD+9)
+
+#define V4L2_CID_EXPOSURE_AUTO_OLD (V4L2_CID_PRIVATE_BASE_OLD+10)
+#define V4L2_CID_EXPOSURE_ABSOLUTE_OLD (V4L2_CID_PRIVATE_BASE_OLD+11)
+
+#define V4L2_CID_WHITE_BALANCE_TEMPERATURE_AUTO_OLD
(V4L2_CID_PRIVATE_BASE_OLD+12)
+#define V4L2_CID_WHITE_BALANCE_TEMPERATURE_OLD
(V4L2_CID_PRIVATE_BASE_OLD+13)
+
+#define V4L2_CID_PRIVATE_LAST
(V4L2_CID_WHITE_BALANCE_TEMPERATURE_OLD+1)
+
+#endif
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