wipcontinued external observation framework. got some output already, but not correct yet (i think)

.vscode/settings.json

@@ -69,7 +69,8 @@
         "cinttypes": "cpp",
         "typeindex": "cpp",
         "typeinfo": "cpp",
-        "variant": "cpp"
+        "variant": "cpp",
+        "codecvt": "cpp"
     },
     "cmake.ignoreCMakeListsMissing": true,
     "python.autoComplete.extraPaths": [

results/existing_system_monitor/uas_edf.json

@@ -0,0 +1,43 @@
+[
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18545986},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 19}, "time": 18545986},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18546487},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 91}, "time": 18546487},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18546987},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 30}, "time": 18546987},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18547487},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 76}, "time": 18547487},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18547986},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 46}, "time": 18547986},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18548488},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 61}, "time": 18548488},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18548986},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 23}, "time": 18548986},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18549487},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 73}, "time": 18549487},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18549987},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 13}, "time": 18549987},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0}, "time": 18550486},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomListenerNode/CustomListenerNode-wildfire_talk", "count": 0, "duration_us": 141}, "time": 18550487},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18545986},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 255}, "time": 18545986},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18546486},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 459}, "time": 18546486},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18546986},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 264}, "time": 18546986},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18547486},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 338}, "time": 18547486},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18547986},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 153}, "time": 18547986},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18548487},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 227}, "time": 18548488},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18548986},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 78}, "time": 18548986},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18549486},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 294}, "time": 18549486},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18549986},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 260}, "time": 18549986},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18550486},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 183}, "time": 18550486},
+{"entry": {"operation": "start_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0}, "time": 18550986},
+{"entry": {"operation": "end_work", "chain": 0, "node": "CustomTalkerNode/CustomTalkerNode-timer", "count": 0, "duration_us": 395}, "time": 18550986}]

src/casestudy/src/casestudy_fire_drone.cpp

@@ -61,8 +61,8 @@ int ros_experiment(
     int const argc,
     char** const argv,
     std::string const& file_name,
-    ExperimentConfig config) {
+    ExperimentConfig config)
-    
+{
     rclcpp::init(argc, argv);
     
     // we have to create a node to process any passed parameters

src/existing_system_monitor/CMakeLists.txt

@@ -1,22 +1,23 @@
 cmake_minimum_required(VERSION 3.5)
-project(existing_system_monitor)
+project(existing_system_monitor VERSION 0.1.0)
 
-# Default to C++14
+# Set C++ standards
-if(NOT CMAKE_CXX_STANDARD)
+set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
-endif()
+set(CMAKE_CXX_EXTENSIONS OFF)
 
+# Compiler options
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+# Find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(casestudy_tools REQUIRED)
 find_package(simple_timer REQUIRED)
 
-include_directories(include)
+# Library targets
-
 add_library(${PROJECT_NAME} src/instrumented_node.cpp)
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -27,44 +28,42 @@ ament_target_dependencies(${PROJECT_NAME}
   simple_timer
 )
 
+# Executable targets
+add_executable(uas src/uas.cpp)
+target_include_directories(uas PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+ament_target_dependencies(uas
+  simple_timer
+  casestudy_tools
+  rclcpp
+)
+target_link_libraries(uas ${PROJECT_NAME})
+
+# Testing
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Installation
 install(
   DIRECTORY include/
   DESTINATION include
 )
 
-install(TARGETS
+install(
-  ${PROJECT_NAME}
+  TARGETS ${PROJECT_NAME} uas
   EXPORT export_${PROJECT_NAME}
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
-  RUNTIME DESTINATION bin
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
   INCLUDES DESTINATION include
 )
 
-# add executable for uas.cpp
+# Export and package configuration
-add_library(uas src/uas.cpp src/instrumented_node.cpp)
-
-ament_target_dependencies(uas
-  rclcpp
-  casestudy_tools
-  simple_timer
-)
-
-target_link_libraries(uas
-  ${PROJECT_NAME}
-)
-
-target_include_directories(uas PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-install(TARGETS
-  uas
-  EXPORT export_${PROJECT_NAME}
-  RUNTIME DESTINATION bin
-)
-
 ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_targets(export_${PROJECT_NAME})
+ament_export_dependencies(rclcpp casestudy_tools simple_timer)
-
 ament_package()

src/existing_system_monitor/include/existing_system_monitor/instrumented_node.hpp

@@ -29,11 +29,15 @@ public:
     template<typename... Args>
     void after_callback(Args&&... args);
 
+    friend class MetricsCollector;
+
+protected:
+    node_time_logger logger_;
+
 private:
     std::string node_name_;
     std::string callback_name_;
     int chain_id_;
-    node_time_logger logger_;
     std::chrono::high_resolution_clock::time_point start_time_;
 };
 
@@ -98,14 +102,24 @@ public:
 // Class to hold metrics collection and analysis
 class MetricsCollector {
 public:
+    struct Config {
+        std::string executor_type = "default";
+    };
+
     static MetricsCollector& get_instance();
     
     void register_callback(std::shared_ptr<InstrumentedCallback> callback);
     void write_logs_to_file(const std::string& file_name, const std::string& experiment_name);
+    void set_config(Config config) { config_ = config; }
 
 private:
-    MetricsCollector() = default;
+    MetricsCollector() {
+        logger_ = create_logger();
+    }
     std::unordered_map<std::string, std::shared_ptr<InstrumentedCallback>> callbacks_;
+    node_time_logger logger_;
+    Config config_;
+    std::string buildLogs(std::vector<node_time_logger> node_logs = {});
 };
 
 } // namespace existing_system_monitor

src/existing_system_monitor/include/existing_system_monitor/node_adapter.hpp

@@ -15,9 +15,14 @@ namespace existing_system_monitor {
 template <typename NodeT>
 class InstrumentedNode : public NodeT {
 public:
+    struct NodeIdentifier {
+        int chain_id;
+        std::string node_name;
+    };
+
     template <typename... Args>
-    InstrumentedNode(int chain_id, Args&&... args) 
+    InstrumentedNode(NodeIdentifier id, Args&&... args) 
-        : NodeT(std::forward<Args>(args)...), chain_id_(chain_id) {
+        : NodeT(std::forward<Args>(args)...), chain_id_(id.chain_id), node_name_(id.node_name) {
     }
 
     // Override subscription creation
@@ -26,20 +31,30 @@ public:
         const std::string& topic_name,
         const rclcpp::QoS& qos,
         CallbackT&& callback,
-        const rclcpp::SubscriptionOptions& options = rclcpp::SubscriptionOptions()) {
+        const rclcpp::SubscriptionOptions& options = rclcpp::SubscriptionOptions())
-        
+    {
         // Create a wrapper for the callback
-        auto instrumented_callback = std::make_shared<InstrumentedSubscriptionCallback<MessageT>>(
+        auto instrumented_callback =
-            this->get_name(), topic_name, chain_id_,
+            std::make_shared<InstrumentedSubscriptionCallback<MessageT>>(
-            std::forward<CallbackT>(callback));
+                this->get_name(),
+                node_name_ + "-" + topic_name,
+                chain_id_,
+                std::forward<CallbackT>(callback)
+        );
+
+        // Register the callback with the MetricsCollector
+        MetricsCollector::get_instance().register_callback(instrumented_callback);
         
         // Create the subscription with the instrumented callback
-        auto subscription = NodeT::template create_subscription<MessageT>(
+        auto subscription =
-            topic_name, qos,
+            NodeT::template create_subscription<MessageT>(
+                topic_name,
+                qos,
                 [instrumented_callback](typename MessageT::SharedPtr msg) {
                     instrumented_callback->callback(msg);
                 },
-            options);
+                options
+        );
         
         return subscription;
     }
@@ -49,26 +64,36 @@ public:
     rclcpp::TimerBase::SharedPtr create_wall_timer(
         DurationT period,
         CallbackT&& callback,
-        rclcpp::CallbackGroup::SharedPtr group = nullptr) {
+        rclcpp::CallbackGroup::SharedPtr group = nullptr)
-        
+    {        
         // Create a wrapper for the callback
-        auto instrumented_callback = std::make_shared<InstrumentedTimerCallback>(
+        auto instrumented_callback =
-            this->get_name(), "timer", chain_id_,
+            std::make_shared<InstrumentedTimerCallback>(
-            std::forward<CallbackT>(callback));
+                this->get_name(),
+                node_name_ + "-timer",
+                chain_id_,
+                std::forward<CallbackT>(callback)
+        );
+
+        // Register the callback with the MetricsCollector
+        MetricsCollector::get_instance().register_callback(instrumented_callback);
         
         // Create the timer with the instrumented callback
-        auto timer = NodeT::create_wall_timer(
+        auto timer =
+            NodeT::create_wall_timer(
                 period,
                 [instrumented_callback]() {
                     instrumented_callback->callback();
                 },
-            group);
+                group
+        );
         
         return timer;
     }
 
 private:
     int chain_id_;
+    std::string node_name_;
 };
 
 } // namespace existing_system_monitor

src/existing_system_monitor/package.xml

@@ -4,7 +4,7 @@
   <name>existing_system_monitor</name>
   <version>0.1.0</version>
   <description>Tools for monitoring existing ROS2 systems</description>
-  <maintainer email="user@todo.todo">user</maintainer>
+  <maintainer email="niklas@niklashalle.net">niklas</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -13,6 +13,9 @@
   <depend>casestudy_tools</depend>
   <depend>simple_timer</depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

src/existing_system_monitor/src/instrumented_node.cpp

@@ -1,5 +1,6 @@
 #include <sstream>
 #include <fstream>
+#include <filesystem>
 
 #include "std_msgs/msg/string.hpp"
 
@@ -91,11 +92,68 @@ MetricsCollector& MetricsCollector::get_instance() {
 }
 
 void MetricsCollector::register_callback(std::shared_ptr<InstrumentedCallback> callback) {
-    // To be implemented
+    // Create a unique key for the callback using its node name and callback name
+    std::string key = std::to_string(callback->chain_id_) + "_" + 
+                     callback->node_name_ + "_" + 
+                     callback->callback_name_;
+    callbacks_[key] = callback;
+}
+
+std::string MetricsCollector::buildLogs(std::vector<node_time_logger> node_logs) {
+    std::stringstream output_file;
+    
+    output_file << "[" << std::endl;
+    
+    // Add logs from MetricsCollector's logger
+    for (auto const& log : *(logger_.recorded_times)) {
+        output_file << "{\"entry\": " << log.first 
+                   << ", \"time\": " << log.second << "}," << std::endl;
+    }
+
+    // Add logs from registered callbacks
+    for (auto const& [name, callback] : callbacks_) {
+        for (auto const& log : *(callback->logger_.recorded_times)) {
+            output_file << "{\"entry\": " << log.first 
+                       << ", \"time\": " << log.second << "}," << std::endl;
+        }
+    }
+    
+    // Add logs from additional node loggers passed in
+    for (auto const& logger : node_logs) {
+        for (auto const& log : *(logger.recorded_times)) {
+            output_file << "{\"entry\": " << log.first 
+                       << ", \"time\": " << log.second << "}," << std::endl;
+        }
+    }
+    
+    // Remove the last comma if there are entries
+    if (!logger_.recorded_times->empty() || !callbacks_.empty() || !node_logs.empty()) {
+        output_file.seekp(-2, std::ios_base::end);
+    }
+    output_file << "]" << std::endl;
+    
+    return output_file.str();
 }
 
 void MetricsCollector::write_logs_to_file(const std::string& file_name, const std::string& experiment_name) {
-    // This would use similar code to the existing Experiment::writeLogsToFile method
+    std::filesystem::path results_dir = "results";
+    std::filesystem::path exp_dir = results_dir / experiment_name;
+
+    // Create directories if they don't exist
+    try {
+        std::filesystem::create_directories(exp_dir);
+    } catch (std::filesystem::filesystem_error const &e) {
+        std::cout << "Could not create results directory: " << e.what() << std::endl;
+        return;
+    }
+
+    std::filesystem::path output_path = exp_dir / (file_name + "_" + config_.executor_type + ".json");
+    
+    std::ofstream output_file(output_path);
+    output_file << buildLogs();
+    output_file.close();
+
+    std::cout << "results written to " << output_path.string() << std::endl;
 }
 
 template class InstrumentedSubscriptionCallback<std_msgs::msg::String>;

src/existing_system_monitor/src/uas.cpp

@@ -20,7 +20,7 @@ constexpr char const* TOPIC_NAME = "wildfire_talk";
 class CustomTalkerNode : public existing_system_monitor::InstrumentedNode<rclcpp::Node> {
 public:
     // Pass chain_id to InstrumentedNode constructor
-    CustomTalkerNode(int chain_id, const std::string& node_name) : InstrumentedNode(chain_id, node_name) {
+    CustomTalkerNode(int chain_id, std::string const &node_name) : InstrumentedNode({chain_id, node_name}, node_name) {
         // The rest of the code stays the same!
         timer_ = create_wall_timer(
             std::chrono::milliseconds(100), 
@@ -49,7 +49,7 @@ private:
 class CustomListenerNode : public existing_system_monitor::InstrumentedNode<rclcpp::Node> {
 public:
     // Pass chain_id to InstrumentedNode constructor
-    CustomListenerNode(int chain_id, const std::string& node_name) : InstrumentedNode(chain_id, node_name) {
+    CustomListenerNode(int chain_id, const std::string& node_name) : InstrumentedNode({chain_id, node_name}, node_name) {
         sub_ = this->create_subscription<std_msgs::msg::String>(
             TOPIC_NAME, 10, std::bind(&CustomListenerNode::topic_callback, this, std::placeholders::_1));
     }
@@ -67,6 +67,11 @@ int main(int argc, char* argv[]) {
     // calibrate the dummy load for the current system
     calibrate_dummy_load();
 
+    existing_system_monitor::MetricsCollector::Config config;
+    config.executor_type = "edf";
+    auto& collector = existing_system_monitor::MetricsCollector::get_instance();
+    collector.set_config(config);
+
     rclcpp::init(argc, argv);
 
     // Create nodes for the experiment
@@ -88,21 +93,16 @@ int main(int argc, char* argv[]) {
     // must be set to post_execute can set new deadlines
     executor->prio_memory_strategy_ = strategy;
 
-
     // the new funcitons in PriorityMemoryStrategy accept the handle of the
     // timer/subscription as the first argument
-    strategy->set_executable_deadline(talker->timer_->get_timer_handle(), 1000, 
+    strategy->set_executable_deadline(talker->timer_->get_timer_handle(), 1000, priority_executor::ExecutableType::TIMER, 0);
-                                      priority_executor::ExecutableType::TIMER, 0);
     // you _must_ set the timer_handle for each chain
-    strategy->get_priority_settings(talker->timer_->get_timer_handle())
+    strategy->get_priority_settings(talker->timer_->get_timer_handle())->timer_handle = talker->timer_;
-        ->timer_handle = talker->timer_;
     // you _must_ mark the first executable in the chain
     strategy->set_first_in_chain(talker->timer_->get_timer_handle());
     // set the same period and chain_id for each callback in the chain
-    strategy->set_executable_deadline(listener1->sub_->get_subscription_handle(),
+    strategy->set_executable_deadline(listener1->sub_->get_subscription_handle(), 1000, priority_executor::ExecutableType::SUBSCRIPTION, 0);
-                                      1000, priority_executor::ExecutableType::SUBSCRIPTION, 0);
+    strategy->set_executable_deadline(listener2->sub_->get_subscription_handle(), 1000, priority_executor::ExecutableType::SUBSCRIPTION, 0);
-    strategy->set_executable_deadline(listener2->sub_->get_subscription_handle(),
-                                      1000, priority_executor::ExecutableType::SUBSCRIPTION, 0);
     // you _must_ mark the last executable in the chain (used to keep track of different instances of the same chain)
     strategy->set_last_in_chain(listener2->sub_->get_subscription_handle());
     // add all the nodes to the executor
@@ -111,22 +111,15 @@ int main(int argc, char* argv[]) {
     executor->add_node(listener2);
 
     // if the executor behaves unexpectedly, you can print the priority settings to make sure they are correct
-    std::cout << *strategy->get_priority_settings(
+    std::cout << *strategy->get_priority_settings(talker->timer_->get_timer_handle()) << std::endl;
-                     talker->timer_->get_timer_handle())
+    std::cout << *strategy->get_priority_settings(listener1->sub_->get_subscription_handle()) << std::endl;
-              << std::endl;
+    std::cout << *strategy->get_priority_settings(listener2->sub_->get_subscription_handle()) << std::endl;
-    std::cout << *strategy->get_priority_settings(
-                     listener1->sub_->get_subscription_handle())
-              << std::endl;
-    std::cout << *strategy->get_priority_settings(
-                     listener2->sub_->get_subscription_handle())
-              << std::endl;
     executor->spin();
 
     rclcpp::shutdown();
 
     // Get all collected metrics and write them to a file
-    auto& collector = existing_system_monitor::MetricsCollector::get_instance();
+    collector.write_logs_to_file("uas", "existing_system_monitor");
-    collector.write_logs_to_file("my_system_analysis", "real_system_test");
     
     return 0;
 }