SurveyItemEditor.qml

import QtQuick          2.3
import QtQuick.Controls 1.2
import QtQuick.Controls.Styles 1.4
import QtQuick.Dialogs  1.2
import QtQuick.Extras   1.4
import QtQuick.Layouts  1.2

import QGroundControl               1.0
import QGroundControl.ScreenTools   1.0
import QGroundControl.Vehicle       1.0
import QGroundControl.Controls      1.0
import QGroundControl.FactControls  1.0
import QGroundControl.Palette       1.0
import QGroundControl.FlightMap     1.0

// Editor for Survery mission items
Rectangle {
    id:         _root
    height:     visible ? (editorColumn.height + (_margin * 2)) : 0
    width:      availableWidth
    color:      qgcPal.windowShadeDark
    radius:     _radius

    // The following properties must be available up the hierarchy chain
    //property real   availableWidth    ///< Width for control
    //property var    missionItem       ///< Mission Item for editor

    property real   _margin:            ScreenTools.defaultFontPixelWidth / 2
    property int    _cameraIndex:       1
    property real   _fieldWidth:        ScreenTools.defaultFontPixelWidth * 10.5
    property var    _cameraList:        [ qsTr("Manual Grid (no camera specs)"), qsTr("Custom Camera Grid") ]
    property var    _vehicle:           QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
    property var    _vehicleCameraList: _vehicle.cameraList

    readonly property int _gridTypeManual:          0
    readonly property int _gridTypeCustomCamera:    1
    readonly property int _gridTypeCamera:          2

    Component.onCompleted: {
        for (var i=0; i<_vehicle.cameraList.length; i++) {
            _cameraList.push(_vehicle.cameraList[i].name)
        }
        gridTypeCombo.model = _cameraList
        if (missionItem.manualGrid.value) {
            gridTypeCombo.currentIndex = _gridTypeManual
        } else {
            var index = -1
            for (index=0; index<_cameraList.length; index++) {
                if (_cameraList[index] == missionItem.camera.value) {
                    break;
                }
            }
            missionItem.cameraOrientationFixed = false
            if (index == _cameraList.length) {
                gridTypeCombo.currentIndex = _gridTypeCustomCamera
            } else {
                gridTypeCombo.currentIndex = index
                if (index != 1) {
                    // Specific camera is selected
                    var camera = _vehicleCameraList[index - _gridTypeCamera]
                    missionItem.cameraOrientationFixed = camera.fixedOrientation
                    missionItem.cameraMinTriggerInterval = camera.minTriggerInterval
                }
            }
        }
    }

    function recalcFromCameraValues() {
        var focalLength     = missionItem.cameraFocalLength.rawValue
        var sensorWidth     = missionItem.cameraSensorWidth.rawValue
        var sensorHeight    = missionItem.cameraSensorHeight.rawValue
        var imageWidth      = missionItem.cameraResolutionWidth.rawValue
        var imageHeight     = missionItem.cameraResolutionHeight.rawValue

        var altitude        = missionItem.gridAltitude.rawValue
        var groundResolution= missionItem.groundResolution.rawValue
        var frontalOverlap  = missionItem.frontalOverlap.rawValue
        var sideOverlap     = missionItem.sideOverlap.rawValue

        if (focalLength <= 0 || sensorWidth <= 0 || sensorHeight <= 0 || imageWidth <= 0 || imageHeight <= 0 || groundResolution <= 0) {
            return
        }

        var imageSizeSideGround     //size in side (non flying) direction of the image on the ground
        var imageSizeFrontGround    //size in front (flying) direction of the image on the ground
        var gridSpacing
        var cameraTriggerDistance

        if (missionItem.fixedValueIsAltitude.value) {
            groundResolution = (altitude * sensorWidth * 100) / (imageWidth * focalLength)
        } else {
            altitude = (imageWidth * groundResolution * focalLength) / (sensorWidth * 100)
        }

        if (missionItem.cameraOrientationLandscape.value) {
            imageSizeSideGround  = (imageWidth  * groundResolution) / 100
            imageSizeFrontGround = (imageHeight * groundResolution) / 100
        } else {
            imageSizeSideGround  = (imageHeight * groundResolution) / 100
            imageSizeFrontGround = (imageWidth  * groundResolution) / 100
        }

        gridSpacing = imageSizeSideGround * ( (100-sideOverlap) / 100 )
        cameraTriggerDistance = imageSizeFrontGround * ( (100-frontalOverlap) / 100 )

        if (missionItem.fixedValueIsAltitude.value) {
            missionItem.groundResolution.rawValue = groundResolution
        } else {
            missionItem.gridAltitude.rawValue = altitude
        }
        missionItem.gridSpacing.rawValue = gridSpacing
        missionItem.cameraTriggerDistance.rawValue = cameraTriggerDistance
    }

    function polygonCaptureStarted() {
        missionItem.clearPolygon()
    }

    function polygonCaptureFinished(coordinates) {
        for (var i=0; i<coordinates.length; i++) {
            missionItem.addPolygonCoordinate(coordinates[i])
        }
    }

    function polygonAdjustVertex(vertexIndex, vertexCoordinate) {
        missionItem.adjustPolygonCoordinate(vertexIndex, vertexCoordinate)
    }

    function polygonAdjustStarted() { }
    function polygonAdjustFinished() { }

    property bool _noCameraValueRecalc: false   ///< Prevents uneeded recalcs

    Connections {
        target: missionItem.camera

        onValueChanged: {
            if (gridTypeCombo.currentIndex >= _gridTypeCustomCamera && !_noCameraValueRecalc) {
                recalcFromCameraValues()
            }
        }
    }

    Connections {
        target: missionItem.gridAltitude

        onValueChanged: {
            if (gridTypeCombo.currentIndex >= _gridTypeCustomCamera && missionItem.fixedValueIsAltitude.value && !_noCameraValueRecalc) {
                recalcFromCameraValues()
            }
        }
    }

    Connections {
        target: missionItem

        onCameraValueChanged: {
            if (gridTypeCombo.currentIndex >= _gridTypeCustomCamera && !_noCameraValueRecalc) {
                recalcFromCameraValues()
            }
        }
    }

    QGCPalette { id: qgcPal; colorGroupEnabled: true }

    ExclusiveGroup {
        id: cameraOrientationGroup

        onCurrentChanged: {
            if (gridTypeCombo.currentIndex >= _gridTypeCustomCamera) {
                recalcFromCameraValues()
            }
        }
    }

    ExclusiveGroup { id: fixedValueGroup }

    Column {
        id:                 editorColumn
        anchors.margins:    _margin
        anchors.top:        parent.top
        anchors.left:       parent.left
        anchors.right:      parent.right
        spacing:            _margin

        QGCLabel {
            anchors.left:   parent.left
            anchors.right:  parent.right
            text:           qsTr("WARNING: Photo interval is below minimum interval (%1 secs) supported by camera.").arg(missionItem.cameraMinTriggerInterval.toFixed(1))
            wrapMode:       Text.WordWrap
            color:          qgcPal.warningText
            visible:        missionItem.manualGrid.value !== true && missionItem.cameraShots > 0 && missionItem.cameraMinTriggerInterval !== 0 && missionItem.cameraMinTriggerInterval > missionItem.timeBetweenShots
        }

        SectionHeader {
            id:         cameraHeader
            text:       qsTr("Camera")
            showSpacer: false
        }

        Column {
            anchors.left:   parent.left
            anchors.right:  parent.right
            spacing:        _margin
            visible:        cameraHeader.checked

            QGCComboBox {
                id:             gridTypeCombo
                anchors.left:   parent.left
                anchors.right:  parent.right
                model:          _cameraList
                currentIndex:   -1

                onActivated: {
                    if (index == _gridTypeManual) {
                        missionItem.manualGrid.value = true
                    } else if (index == _gridTypeCustomCamera) {
                        missionItem.manualGrid.value = false
                        missionItem.camera.value = gridTypeCombo.textAt(index)
                        missionItem.cameraOrientationFixed = false
                        missionItem.cameraMinTriggerInterval = 0
                    } else {
                        missionItem.manualGrid.value = false
                        missionItem.camera.value = gridTypeCombo.textAt(index)
                        _noCameraValueRecalc = true
                        var listIndex = index - _gridTypeCamera
                        missionItem.cameraSensorWidth.rawValue          = _vehicleCameraList[listIndex].sensorWidth
                        missionItem.cameraSensorHeight.rawValue         = _vehicleCameraList[listIndex].sensorHeight
                        missionItem.cameraResolutionWidth.rawValue      = _vehicleCameraList[listIndex].imageWidth
                        missionItem.cameraResolutionHeight.rawValue     = _vehicleCameraList[listIndex].imageHeight
                        missionItem.cameraFocalLength.rawValue          = _vehicleCameraList[listIndex].focalLength
                        missionItem.cameraOrientationLandscape.rawValue = _vehicleCameraList[listIndex].landscape ? 1 : 0
                        missionItem.cameraOrientationFixed              = _vehicleCameraList[listIndex].fixedOrientation
                        missionItem.cameraMinTriggerInterval            = _vehicleCameraList[listIndex].minTriggerInterval
                        _noCameraValueRecalc = false
                        recalcFromCameraValues()
                    }
                }
            }

            RowLayout {
                anchors.left:   parent.left
                anchors.right:  parent.right
                spacing:        _margin
                visible:        missionItem.manualGrid.value == true

                QGCCheckBox {
                    id:                 cameraTriggerDistanceCheckBox
                    anchors.baseline:   cameraTriggerDistanceField.baseline
                    text:               qsTr("Trigger Distance")
                    checked:            missionItem.cameraTriggerDistance.rawValue > 0
                    onClicked: {
                        if (checked) {
                            missionItem.cameraTriggerDistance.value = missionItem.cameraTriggerDistance.defaultValue
                        } else {
                            missionItem.cameraTriggerDistance.value = 0
                        }
                    }
                }

                FactTextField {
                    id:                 cameraTriggerDistanceField
                    Layout.fillWidth:   true
                    fact:               missionItem.cameraTriggerDistance
                    enabled:            cameraTriggerDistanceCheckBox.checked
                }
            }
        }

        // Camera based grid ui
        Column {
            anchors.left:   parent.left
            anchors.right:  parent.right
            spacing:        _margin
            visible:        gridTypeCombo.currentIndex != _gridTypeManual

            Row {
                spacing:                    _margin
                anchors.horizontalCenter:   parent.horizontalCenter
                visible:                    !missionItem.cameraOrientationFixed

                QGCRadioButton {
                    width:          _editFieldWidth
                    text:           "Landscape"
                    checked:        !!missionItem.cameraOrientationLandscape.value
                    exclusiveGroup: cameraOrientationGroup
                    onClicked:      missionItem.cameraOrientationLandscape.value = 1
                }

                QGCRadioButton {
                    id:             cameraOrientationPortrait
                    text:           "Portrait"
                    checked:        !missionItem.cameraOrientationLandscape.value
                    exclusiveGroup: cameraOrientationGroup
                    onClicked:      missionItem.cameraOrientationLandscape.value = 0
                }
            }

            Column {
                id:             custCameraCol
                anchors.left:   parent.left
                anchors.right:  parent.right
                spacing:        _margin
                visible:        gridTypeCombo.currentIndex === _gridTypeCustomCamera

                RowLayout {
                    anchors.left:   parent.left
                    anchors.right:  parent.right
                    spacing:        _margin
                    Item { Layout.fillWidth: true }
                    QGCLabel {
                        Layout.preferredWidth:  _root._fieldWidth
                        text:                   qsTr("Width")
                    }
                    QGCLabel {
                        Layout.preferredWidth:  _root._fieldWidth
                        text:                   qsTr("Height")
                    }
                }

                RowLayout {
                    anchors.left:   parent.left
                    anchors.right:  parent.right
                    spacing:        _margin
                    QGCLabel { text: qsTr("Sensor"); Layout.fillWidth: true }
                    FactTextField {
                        Layout.preferredWidth:  _root._fieldWidth
                        fact:                   missionItem.cameraSensorWidth
                    }
                    FactTextField {
                        Layout.preferredWidth:  _root._fieldWidth
                        fact:                   missionItem.cameraSensorHeight
                    }
                }

                RowLayout {
                    anchors.left:   parent.left
                    anchors.right:  parent.right
                    spacing:        _margin
                    QGCLabel { text: qsTr("Image"); Layout.fillWidth: true }
                    FactTextField {
                        Layout.preferredWidth:  _root._fieldWidth
                        fact:                   missionItem.cameraResolutionWidth
                    }
                    FactTextField {
                        Layout.preferredWidth:  _root._fieldWidth
                        fact:                   missionItem.cameraResolutionHeight
                    }
                }

                RowLayout {
                    anchors.left:   parent.left
                    anchors.right:  parent.right
                    spacing:        _margin
                    QGCLabel {
                        text:                   qsTr("Focal length")
                        Layout.fillWidth:       true
                    }
                    FactTextField {
                        Layout.preferredWidth:  _root._fieldWidth
                        fact:                   missionItem.cameraFocalLength
                    }
                }

            } // Column - custom camera

            RowLayout {
                anchors.left:   parent.left
                anchors.right:  parent.right
                spacing:        _margin
                Item { Layout.fillWidth: true }
                QGCLabel {
                    Layout.preferredWidth:  _root._fieldWidth
                    text:                   qsTr("Front Lap")
                }
                QGCLabel {
                    Layout.preferredWidth:  _root._fieldWidth
                    text:                   qsTr("Side Lap")
                }
            }

            RowLayout {
                anchors.left:   parent.left
                anchors.right:  parent.right
                spacing:        _margin
                QGCLabel { text: qsTr("Overlap"); Layout.fillWidth: true }
                FactTextField {
                    Layout.preferredWidth:  _root._fieldWidth
                    fact:                   missionItem.frontalOverlap
                }
                FactTextField {
                    Layout.preferredWidth:  _root._fieldWidth
                    fact:                   missionItem.sideOverlap
                }
            }

            FactCheckBox {
                text:       qsTr("Hover and capture image")
                fact:       missionItem.hoverAndCapture
                visible:    missionItem.hoverAndCaptureAllowed
                onClicked: {
                    if (checked) {
                        missionItem.cameraTriggerInTurnaround.rawValue = false
                    }
                }
            }

            FactCheckBox {
                text:       qsTr("Take images in turnarounds")
                fact:       missionItem.cameraTriggerInTurnaround
                enabled:    !missionItem.hoverAndCapture.rawValue
            }

            SectionHeader {
                id:     gridHeader
                text:   qsTr("Grid")
            }

            GridLayout {
                anchors.left:   parent.left
                anchors.right:  parent.right
                columnSpacing:  _margin
                rowSpacing:     _margin
                columns:        2
                visible:        gridHeader.checked

                GridLayout {
                    anchors.left:   parent.left
                    anchors.right:  parent.right
                    columnSpacing:  _margin
                    rowSpacing:     _margin
                    columns:        2
                    visible:        gridHeader.checked

                    QGCLabel {
                        id:                 angleText
                        text:               qsTr("Angle")
                        Layout.fillWidth:   true
                    }

                    ToolButton {
                        id:                     windRoseButton
                        anchors.verticalCenter: angleText.verticalCenter
                        iconSource:             qgcPal.globalTheme === QGCPalette.Light ? "/res/wind-roseBlack.svg" : "/res/wind-rose.svg"
                        visible:                _vehicle.fixedWing

                        onClicked: {
                            var cords = windRoseButton.mapToItem(_root, 0, 0)
                            windRosePie.popup(cords.x + windRoseButton.width / 2, cords.y + windRoseButton.height / 2);
                        }
                    }
                }

                FactTextField {
                    id:                 gridAngleText
                    fact:               missionItem.gridAngle
                    Layout.fillWidth:   true
                }

                QGCLabel { text: qsTr("Turnaround dist") }
                FactTextField {
                    fact:                   missionItem.turnaroundDist
                    Layout.fillWidth:       true
                }

                QGCLabel { text: qsTr("Entry") }
                FactComboBox {
                    fact:                   missionItem.gridEntryLocation
                    indexModel:             false
                    Layout.fillWidth:       true
                }

                QGCCheckBox {
                    text:               qsTr("Refly at 90 degree offset")
                    checked:            missionItem.refly90Degrees
                    onClicked:          missionItem.refly90Degrees = checked
                    Layout.columnSpan:  2
                }

                QGCLabel {
                    wrapMode:               Text.WordWrap
                    text:                   qsTr("Select one:")
                    Layout.preferredWidth:  parent.width
                    Layout.columnSpan:      2
                }

                QGCRadioButton {
                    id:                     fixedAltitudeRadio
                    text:                   qsTr("Altitude")
                    checked:                !!missionItem.fixedValueIsAltitude.value
                    exclusiveGroup:         fixedValueGroup
                    onClicked:              missionItem.fixedValueIsAltitude.value = 1
                }

                FactTextField {
                    fact:                   missionItem.gridAltitude
                    enabled:                fixedAltitudeRadio.checked
                    Layout.fillWidth:       true
                }

                QGCRadioButton {
                    id:                     fixedGroundResolutionRadio
                    text:                   qsTr("Ground res")
                    checked:                !missionItem.fixedValueIsAltitude.value
                    exclusiveGroup:         fixedValueGroup
                    onClicked:              missionItem.fixedValueIsAltitude.value = 0
                }

                FactTextField {
                    fact:                   missionItem.groundResolution
                    enabled:                fixedGroundResolutionRadio.checked
                    Layout.fillWidth:       true
                }
            }
        }

        // Manual grid ui
        SectionHeader {
            id:         manualGridHeader
            text:       qsTr("Grid")
            visible:    gridTypeCombo.currentIndex == _gridTypeManual
        }

        GridLayout {
            anchors.left:   parent.left
            anchors.right:  parent.right
            columnSpacing:  _margin
            rowSpacing:     _margin
            columns:        2
            visible:        manualGridHeader.visible && manualGridHeader.checked

            RowLayout {
                spacing: _margin

                QGCLabel {
                    id:                 manualAngleText
                    text:               qsTr("Angle")
                    Layout.fillWidth:  true
                }

                ToolButton {
                    id:                     manualWindRoseButton
                    anchors.verticalCenter: manualAngleText.verticalCenter
                    Layout.columnSpan:      1
                    iconSource:             qgcPal.globalTheme === QGCPalette.Light ? "/res/wind-roseBlack.svg" : "/res/wind-rose.svg"
                    visible:                _vehicle.fixedWing

                    onClicked: {
                        var cords = manualWindRoseButton.mapToItem(_root, 0, 0)
                        windRosePie.popup(cords.x + manualWindRoseButton.width / 2, cords.y + manualWindRoseButton.height / 2);
                    }
                }
            }

            FactTextField {
                id:                 manualGridAngleText
                fact:               missionItem.gridAngle
                Layout.fillWidth:   true
            }

            QGCLabel { text: qsTr("Spacing") }
            FactTextField {
                fact:                   missionItem.gridSpacing
                Layout.fillWidth:       true
            }

            QGCLabel { text: qsTr("Altitude") }
            FactTextField {
                fact:                   missionItem.gridAltitude
                Layout.fillWidth:       true
            }
            QGCLabel { text: qsTr("Turnaround dist") }
            FactTextField {
                fact:                   missionItem.turnaroundDist
                Layout.fillWidth:       true
            }
            QGCLabel { text: qsTr("Entry") }
            FactComboBox {
                fact:                   missionItem.gridEntryLocation
                indexModel:             false
                Layout.fillWidth:       true
            }


            QGCCheckBox {
                text:               qsTr("Refly at 90 degree offset")
                checked:            missionItem.refly90Degrees
                onClicked:          missionItem.refly90Degrees = checked
                Layout.columnSpan:  2
            }

            FactCheckBox {
                anchors.left:       parent.left
                text:               qsTr("Relative altitude")
                fact:               missionItem.gridAltitudeRelative
                Layout.columnSpan:  2
            }
        }

        SectionHeader {
            id:     statsHeader
            text:   qsTr("Statistics") }

        Grid {
            columns:        2
            columnSpacing:  ScreenTools.defaultFontPixelWidth
            visible:        statsHeader.checked

            QGCLabel { text: qsTr("Survey area") }
            QGCLabel { text: QGroundControl.squareMetersToAppSettingsAreaUnits(missionItem.coveredArea).toFixed(2) + " " + QGroundControl.appSettingsAreaUnitsString }

            QGCLabel { text: qsTr("Photo count") }
            QGCLabel { text: missionItem.cameraShots }

            QGCLabel { text: qsTr("Photo interval") }
            QGCLabel {
                text: {
                    var timeVal = missionItem.timeBetweenShots
                    if(!isFinite(timeVal) || missionItem.cameraShots === 0) {
                        return qsTr("N/A")
                    }
                    return timeVal.toFixed(1) + " " + qsTr("secs")
                }
            }
        }
    }

    QGCColoredImage {
        id:      windRoseArrow
        source:  "/res/wind-rose-arrow.svg"
        visible: windRosePie.visible
        width:   windRosePie.width / 5
        height:  width * 1.454
        smooth:  true
        color:   qgcPal.colorGrey
        transform: Rotation {
            origin.x: windRoseArrow.width / 2
            origin.y: windRoseArrow.height / 2
            axis { x: 0; y: 0; z: 1 } angle: windRosePie.angle
        }
        x: windRosePie.x + Math.sin(- windRosePie.angle*Math.PI/180 - Math.PI/2)*(windRosePie.width/2 - windRoseArrow.width/2) + windRosePie.width / 2 - windRoseArrow.width / 2
        y: windRosePie.y + Math.cos(- windRosePie.angle*Math.PI/180 - Math.PI/2)*(windRosePie.width/2 - windRoseArrow.width/2) + windRosePie.height / 2 - windRoseArrow.height / 2
        z: windRosePie.z + 1
    }

    QGCColoredImage {
        id:      windGuru
        source:  "/res/wind-guru.svg"
        visible: windRosePie.visible
        width:   windRosePie.width / 3
        height:  width * 4.28e-1
        smooth:  true
        color:   qgcPal.colorGrey
        transform: Rotation {
            origin.x: windGuru.width / 2
            origin.y: windGuru.height / 2
            axis { x: 0; y: 0; z: 1 } angle: windRosePie.angle + 180
        }
        x: windRosePie.x + Math.sin(- windRosePie.angle*Math.PI/180 - 3*Math.PI/2)*(windRosePie.width/2) + windRosePie.width / 2 - windGuru.width / 2
        y: windRosePie.y + Math.cos(- windRosePie.angle*Math.PI/180 - 3*Math.PI/2)*(windRosePie.height/2) + windRosePie.height / 2 - windGuru.height / 2
        z: windRosePie.z + 1
    }

    Item {
        id:          windRosePie
        height:      2.6*windRoseButton.height
        width:       2.6*windRoseButton.width
        visible:     false
        focus:       true

        property string colorCircle: qgcPal.windowShade
        property string colorBackground: qgcPal.colorGrey
        property real lineWidth: windRoseButton.width / 3
        property real angle: 0

        Canvas {
            id: windRoseCanvas
            anchors.fill: parent

            onPaint: {
                var ctx = getContext("2d")
                var x = width / 2
                var y = height / 2
                var angleWidth = 0.03 * Math.PI
                var start = windRosePie.angle*Math.PI/180 - angleWidth
                var end = windRosePie.angle*Math.PI/180 + angleWidth
                ctx.reset()

                ctx.beginPath();
                ctx.arc(x, y, (width / 3) - windRosePie.lineWidth / 2, 0, 2*Math.PI, false)
                ctx.lineWidth = windRosePie.lineWidth
                ctx.strokeStyle = windRosePie.colorBackground
                ctx.stroke()

                ctx.beginPath();
                ctx.arc(x, y, (width / 3) - windRosePie.lineWidth / 2, start, end, false)
                ctx.lineWidth = windRosePie.lineWidth
                ctx.strokeStyle = windRosePie.colorCircle
                ctx.stroke()
            }
        }

        onFocusChanged: {
            visible = focus
        }

        function popup(x, y) {
            if (x !== undefined)
                windRosePie.x = x - windRosePie.width / 2;
            if (y !== undefined)
                windRosePie.y = y - windRosePie.height / 2;

            windRosePie.visible = true;
            windRosePie.focus = true
        }

        MouseArea {
            id: mouseArea
            anchors.fill: parent
            acceptedButtons: Qt.LeftButton | Qt.RightButton

            onClicked: {
                windRosePie.visible = false;
            }
            onPositionChanged: {
                var point = Qt.point(mouseX - parent.width / 2, mouseY - parent.height / 2)
                var angle = Math.round(Math.atan2(point.y, point.x) * 180 / Math.PI)
                windRoseCanvas.requestPaint()
                windRosePie.angle = angle
                gridAngleText.text = - angle
                gridAngleText.editingFinished();
            }
        }
    }
}