Commit 47641f63 authored by Valentin Platzgummer's avatar Valentin Platzgummer

wima planer edited

parent 1ac83998
......@@ -64,6 +64,7 @@ Rectangle {
GridLayout {
id: generalGrid
anchors.left: parent.left
anchors.right: parent.right
columnSpacing: _margin
......@@ -75,7 +76,48 @@ Rectangle {
FactTextField {
fact: missionItem.cameraCalc.distanceToSurface
Layout.fillWidth: true
//onUpdated: rSlider.value = missionItem.deltaR.value
}
QGCCheckBox {
id: relAlt
text: qsTr("Relative altitude")
checked: missionItem.cameraCalc.distanceToSurfaceRelative
enabled: missionItem.cameraCalc.isManualCamera && !missionItem.followTerrain
visible: QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || (!missionItem.cameraCalc.distanceToSurfaceRelative && !missionItem.followTerrain)
onClicked: missionItem.cameraCalc.distanceToSurfaceRelative = checked
Layout.fillWidth: true
Layout.columnSpan: 2
Connections {
target: missionItem.cameraCalc
onDistanceToSurfaceRelativeChanged: relAlt.checked = missionItem.cameraCalc.distanceToSurfaceRelative
}
}
QGCLabel {
text: qsTr("Type")
Layout.columnSpan: 2
}
property var typeFact: missionItem.type
property int type: typeFact.value
property var names: ["Circular", "Linear"]
ExclusiveGroup{id: typeGroup}
Repeater{
model: missionItem.typeCount
QGCRadioButton {
checked: index === generalGrid.type
text: qsTr(generalGrid.names[index])
onCheckedChanged: {
if (checked){
missionItem.type.value = index
}
checked = Qt.binding(function(){ return index === generalGrid.type})
}
}
}
}
......@@ -92,11 +134,10 @@ Rectangle {
columns: 2
visible: transectsHeader.checked
QGCLabel { text: qsTr("Delta R") }
QGCLabel { text: qsTr("Distance") }
FactTextField {
fact: missionItem.deltaR
fact: missionItem.transectDistance
Layout.fillWidth: true
//onUpdated: rSlider.value = missionItem.deltaR.value
}
/*QGCSlider {
......@@ -113,18 +154,16 @@ Rectangle {
updateValueWhileDragging: true
}*/
QGCLabel { text: qsTr("Delta Alpha") }
QGCLabel { text: qsTr("Alpha") }
FactTextField {
fact: missionItem.deltaAlpha
fact: missionItem.alpha
Layout.fillWidth: true
//onUpdated: angleSlider.value = missionItem.deltaAlpha.value
}
QGCLabel { text: qsTr("Min. Length") }
FactTextField {
fact: missionItem.transectMinLength
fact: missionItem.minLength
Layout.fillWidth: true
//onUpdated: angleSlider.value = missionItem.deltaAlpha.value
}
}
......@@ -148,21 +187,6 @@ Rectangle {
Layout.fillWidth: true
}
QGCCheckBox {
id: relAlt
text: qsTr("Relative altitude")
checked: missionItem.cameraCalc.distanceToSurfaceRelative
enabled: missionItem.cameraCalc.isManualCamera && !missionItem.followTerrain
visible: QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || (!missionItem.cameraCalc.distanceToSurfaceRelative && !missionItem.followTerrain)
onClicked: missionItem.cameraCalc.distanceToSurfaceRelative = checked
Layout.fillWidth: true
Layout.columnSpan: 2
Connections {
target: missionItem.cameraCalc
onDistanceToSurfaceRelativeChanged: relAlt.checked = missionItem.cameraCalc.distanceToSurfaceRelative
}
}
}
......
......@@ -73,7 +73,7 @@ void RoutingWorker::run() {
auto &transectsInfo = pRouteData->transectsInfo;
auto &route = pRouteData->route;
const auto routingStart = std::chrono::high_resolution_clock::now();
const auto maxRoutingTime = std::chrono::minutes(1);
const auto maxRoutingTime = std::chrono::minutes(10);
const auto routingEnd = routingStart + maxRoutingTime;
const auto &restart = this->_restart;
auto stopLambda = [&restart, routingEnd] {
......
This diff is collapsed.
This diff is collapsed.
......@@ -13,6 +13,11 @@ class CircularSurvey : public TransectStyleComplexItem {
Q_OBJECT
public:
using PtrRoutingData = QSharedPointer<RoutingData>;
enum class Type {
Circular = 0,
Linear = 1,
Count = 2 // Must me last, onyl for counting
};
/// @param vehicle Vehicle which this is being contructed for
/// @param flyView true: Created for use in the Fly View, false: Created for
......@@ -25,9 +30,11 @@ public:
Q_PROPERTY(QGeoCoordinate refPoint READ refPoint WRITE setRefPoint NOTIFY
refPointChanged)
Q_PROPERTY(Fact *deltaR READ deltaR CONSTANT)
Q_PROPERTY(Fact *deltaAlpha READ deltaAlpha CONSTANT)
Q_PROPERTY(Fact *transectMinLength READ transectMinLength CONSTANT)
Q_PROPERTY(Fact *transectDistance READ transectDistance CONSTANT)
Q_PROPERTY(Fact *alpha READ alpha CONSTANT)
Q_PROPERTY(Fact *minLength READ minLength CONSTANT)
Q_PROPERTY(Fact *type READ type CONSTANT)
Q_PROPERTY(int typeCount READ typeCount CONSTANT)
Q_PROPERTY(bool calculating READ calculating NOTIFY calculatingChanged)
Q_PROPERTY(bool hidePolygon READ hidePolygon NOTIFY hidePolygonChanged)
......@@ -42,13 +49,16 @@ public:
// Property getters
QGeoCoordinate refPoint() const;
Fact *deltaR();
Fact *deltaAlpha();
Fact *transectMinLength();
Fact *transectDistance();
Fact *alpha();
Fact *minLength();
Fact *type();
int typeCount() const;
bool calculating() const;
bool hidePolygon() const;
QGeoCoordinate depot() const;
QList<QGeoCoordinate> safeArea() const;
const QList<QList<QGeoCoordinate>> &rawTransects() const;
// Overrides
bool load(const QJsonObject &complexObject, int sequenceNumber,
......@@ -67,9 +77,10 @@ public:
double additionalTimeDelay(void) const override final;
static const char *settingsGroup;
static const char *deltaRName;
static const char *deltaAlphaName;
static const char *transectMinLengthName;
static const char *transectDistanceName;
static const char *alphaName;
static const char *minLengthName;
static const char *typeName;
static const char *CircularSurveyName;
static const char *refPointLongitudeName;
static const char *refPointLatitudeName;
......@@ -97,16 +108,17 @@ private:
// center of the circular lanes, e.g. base station
QGeoCoordinate _referencePoint;
QMap<QString, FactMetaData *> _metaDataMap;
// distance between two neighbour circles
SettingsFact _deltaR;
SettingsFact _transectDistance;
// angle discretisation of the circles
SettingsFact _deltaAlpha;
SettingsFact _alpha;
// minimal transect lenght, transects are rejected if they are shorter than
// this value
SettingsFact _minLength;
SettingsFact _type;
// Worker
using PtrWorker = std::shared_ptr<RoutingWorker>;
PtrWorker _pWorker;
PtrRoutingData _workerOutput;
......
......@@ -3,20 +3,17 @@
const char *WimaJoinedAreaData::typeString = "WimaJoinedAreaData";
WimaJoinedAreaData::WimaJoinedAreaData(QObject *parent)
:WimaAreaData (parent)
{
: WimaAreaData(parent) {}
}
WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedAreaData &other, QObject *parent)
: WimaAreaData (parent)
{
WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedAreaData &other,
QObject *parent)
: WimaAreaData(parent) {
*this = other;
}
WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedArea &other, QObject *parent)
: WimaAreaData (parent)
{
WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedArea &other,
QObject *parent)
: WimaAreaData(parent) {
*this = other;
}
......@@ -25,8 +22,8 @@ WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedArea &other, QObject *par
*
* Assigns \a other to the invoking object.
*/
WimaJoinedAreaData &WimaJoinedAreaData::operator=(const WimaJoinedAreaData &other)
{
WimaJoinedAreaData &WimaJoinedAreaData::
operator=(const WimaJoinedAreaData &other) {
assign(other);
return *this;
......@@ -37,36 +34,29 @@ WimaJoinedAreaData &WimaJoinedAreaData::operator=(const WimaJoinedAreaData &othe
*
* Assigns \a other to the invoking object.
*/
WimaJoinedAreaData &WimaJoinedAreaData::operator=(const WimaJoinedArea &other)
{
WimaJoinedAreaData &WimaJoinedAreaData::operator=(const WimaJoinedArea &other) {
assign(other);
return *this;
}
QString WimaJoinedAreaData::type() const
{
return this->typeString;
}
QString WimaJoinedAreaData::type() const { return this->typeString; }
void WimaJoinedAreaData::assign(const WimaJoinedAreaData &other)
{
void WimaJoinedAreaData::assign(const WimaJoinedAreaData &other) {
WimaAreaData::assign(other);
}
void WimaJoinedAreaData::assign(const WimaJoinedArea &other)
{
void WimaJoinedAreaData::assign(const WimaJoinedArea &other) {
WimaAreaData::assign(other);
}
/*!
* \class WimaAreaData::WimaJoinedAreaData
* \brief Class to store and exchange data of a \c WimaJoinedAreaData Object.
* Class to store and exchange data of a \c WimaJoinedArea Object. In contrast to \c WimaJoinedArea this class
* does not provied any interface to a grafical user interface, neiter it uses the QGC Fact System.
* It is designed to exchange data between the \c WimaPlaner and the \c WimaController class. And it
* is the derived from WimaAreaData.
* Class to store and exchange data of a \c WimaJoinedArea Object. In contrast
* to \c WimaJoinedArea this class does not provied any interface to a grafical
* user interface, neiter it uses the QGC Fact System. It is designed to
* exchange data between the \c WimaPlaner and the \c WimaController class. And
* it is the derived from WimaAreaData.
*
* \sa WimaJoinedArea, WimaAreaData
*/
#include "WimaMeasurementAreaData.h"
#include "SnakeTile.h"
const char *WimaMeasurementAreaData::typeString = "WimaMeasurementAreaData";
WimaMeasurementAreaData::WimaMeasurementAreaData(QObject *parent)
: WimaAreaData(parent)
{
: WimaAreaData(parent) {}
}
WimaMeasurementAreaData::WimaMeasurementAreaData(const WimaMeasurementAreaData &other, QObject *parent)
: WimaAreaData (parent)
{
WimaMeasurementAreaData::WimaMeasurementAreaData(
const WimaMeasurementAreaData &other, QObject *parent)
: WimaAreaData(parent) {
*this = other;
}
WimaMeasurementAreaData::WimaMeasurementAreaData(const WimaMeasurementArea &other, QObject *parent)
: WimaAreaData (parent)
{
WimaMeasurementAreaData::WimaMeasurementAreaData(
const WimaMeasurementArea &other, QObject *parent)
: WimaAreaData(parent) {
*this = other;
}
......@@ -25,8 +23,8 @@ WimaMeasurementAreaData::WimaMeasurementAreaData(const WimaMeasurementArea &othe
*
* Assigns \a other to the invoking object.
*/
WimaMeasurementAreaData &WimaMeasurementAreaData::operator=(const WimaMeasurementAreaData &other)
{
WimaMeasurementAreaData &WimaMeasurementAreaData::
operator=(const WimaMeasurementAreaData &other) {
assign(other);
return *this;
......@@ -37,28 +35,44 @@ WimaMeasurementAreaData &WimaMeasurementAreaData::operator=(const WimaMeasuremen
*
* Assigns \a other to the invoking object.
*/
WimaMeasurementAreaData &WimaMeasurementAreaData::operator=(const WimaMeasurementArea &other)
{
WimaMeasurementAreaData &WimaMeasurementAreaData::
operator=(const WimaMeasurementArea &other) {
assign(other);
return *this;
}
QString WimaMeasurementAreaData::type() const
{
return this->typeString;
}
QString WimaMeasurementAreaData::type() const { return this->typeString; }
void WimaMeasurementAreaData::assign(const WimaMeasurementAreaData &other)
{
void WimaMeasurementAreaData::assign(const WimaMeasurementAreaData &other) {
WimaAreaData::assign(other);
this->tiles.clearAndDeleteContents();
for (std::size_t i = 0; i < other.tiles.count(); ++i) {
auto *obj = other.tiles.get(i);
auto *tile = qobject_cast<SnakeTile *>(obj);
if (tile != nullptr) {
this->tiles.append(new SnakeTile(*tile, this));
} else {
qWarning() << "WimaMeasurementAreaData::assign(): type cast failed.";
}
}
}
void WimaMeasurementAreaData::assign(const WimaMeasurementArea &other)
{
void WimaMeasurementAreaData::assign(const WimaMeasurementArea &other) {
WimaAreaData::assign(other);
this->tiles.clearAndDeleteContents();
if (other.ready()) {
for (std::size_t i = 0; i < other.tiles()->count(); ++i) {
auto *obj = other.tiles()->get(i);
auto *tile = qobject_cast<SnakeTile *>(obj);
if (tile != nullptr) {
this->tiles.append(new SnakeTile(*tile, this));
} else {
qWarning() << "WimaMeasurementAreaData::assign(): type cast failed.";
}
}
} else {
qWarning()
<< "WimaMeasurementAreaData::assign(): WimaMeasurementArea not ready.";
}
}
#pragma once
#include <QObject>
#include <QGeoCoordinate>
#include <QObject>
#include "WimaAreaData.h"
#include "WimaMeasurementArea.h"
class WimaMeasurementAreaData : public WimaAreaData
{
class WimaMeasurementAreaData : public WimaAreaData {
Q_OBJECT
public:
WimaMeasurementAreaData(QObject *parent = nullptr);
WimaMeasurementAreaData(const WimaMeasurementAreaData &other, QObject *parent = nullptr);
WimaMeasurementAreaData(const WimaMeasurementArea &other, QObject *parent = nullptr);
WimaMeasurementAreaData& operator=(const WimaMeasurementAreaData &other);
WimaMeasurementAreaData& operator=(const WimaMeasurementArea &other);
WimaMeasurementAreaData(const WimaMeasurementAreaData &other,
QObject *parent = nullptr);
WimaMeasurementAreaData(const WimaMeasurementArea &other,
QObject *parent = nullptr);
WimaMeasurementAreaData &operator=(const WimaMeasurementAreaData &other);
WimaMeasurementAreaData &operator=(const WimaMeasurementArea &other);
QString type() const;
WimaMeasurementAreaData *Clone() const {return new WimaMeasurementAreaData(*this);}
WimaMeasurementAreaData *Clone() const {
return new WimaMeasurementAreaData(*this);
}
static const char* typeString;
static const char *typeString;
signals:
......@@ -35,4 +35,5 @@ protected:
private:
// see WimaMeasurementArea.h for explanation
QmlObjectListModel tiles;
};
......@@ -423,38 +423,42 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
emit visualItemsChanged();
// extract mission items
auto tempMissionItems = planData->missionItems();
if (tempMissionItems.size() < 1) {
qWarning("WimaController: Mission items from WimaPlaner empty!");
return false;
}
// Copy transects.
this->_rawTransects = planData->transects();
// // extract mission items
// auto tempMissionItems = planData->missionItems();
// if (tempMissionItems.size() < 1) {
// qWarning("WimaController: Mission items from WimaPlaner empty!");
// return false;
// }
qWarning() << "WimaController:";
for (auto *item : tempMissionItems) {
qWarning() << item->coordinate();
_defaultWM.push_back(item->coordinate());
}
// qWarning() << "WimaController:";
// for (auto *item : tempMissionItems) {
// qWarning() << item->coordinate();
// _defaultWM.push_back(item->coordinate());
// }
_WMSettings.setHomePosition(QGeoCoordinate(
_serviceArea.depot().latitude(), _serviceArea.depot().longitude(), 0));
qWarning() << "service area depot: " << _serviceArea.depot();
// _WMSettings.setHomePosition(QGeoCoordinate(
// _serviceArea.depot().latitude(), _serviceArea.depot().longitude(),
// 0));
// qWarning() << "service area depot: " << _serviceArea.depot();
if (!_defaultWM.reset()) {
qWarning() << "_defaultWM.reset() failed";
return false;
}
// if (!_defaultWM.reset()) {
// qWarning() << "_defaultWM.reset() failed";
// return false;
// }
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit waypointPathChanged();
emit currentWaypointPathChanged();
// emit missionItemsChanged();
// emit currentMissionItemsChanged();
// emit waypointPathChanged();
// emit currentWaypointPathChanged();
// Update Snake Data Manager
_snakeThread.setMeasurementArea(_measurementArea.coordinateList());
_snakeThread.setServiceArea(_serviceArea.coordinateList());
_snakeThread.setCorridor(_corridor.coordinateList());
_currentThread->start();
// // Update Snake Data Manager
// _snakeThread.setMeasurementArea(_measurementArea.coordinateList());
// _snakeThread.setServiceArea(_serviceArea.coordinateList());
// _snakeThread.setCorridor(_corridor.coordinateList());
// _currentThread->start();
_localPlanDataValid = true;
return true;
......
......@@ -254,8 +254,8 @@ private:
// Wima Data.
QmlObjectListModel _areas; // contains all visible areas
WimaJoinedAreaData
_joinedArea; // joined area fromed by opArea, serArea, _corridor
// joined area fromed by opArea, serArea, _corridor
WimaJoinedAreaData _joinedArea;
WimaMeasurementAreaData _measurementArea; // measurement area
WimaServiceAreaData _serviceArea; // area for supplying
WimaCorridorData _corridor; // corridor connecting opArea and serArea
......@@ -274,11 +274,11 @@ private:
// Settings Facts.
QMap<QString, FactMetaData *> _metaDataMap;
SettingsFact _enableWimaController; // enables or disables the wimaControler
SettingsFact
_overlapWaypoints; // determines the number of overlapping waypoints
// between two consecutive mission phases
SettingsFact _maxWaypointsPerPhase; // determines the maximum number waypoints
// per phase
// determines the number of overlapping waypoints between two consecutive
// mission phases
SettingsFact _overlapWaypoints;
// determines the maximum number waypoints per phase
SettingsFact _maxWaypointsPerPhase;
SettingsFact
_nextPhaseStartWaypointIndex; // index (displayed on the map, -1 to get
// index of item in _missionItems) of the
......@@ -294,11 +294,6 @@ private:
SettingsFact _arrivalReturnSpeed; // arrival and return path speed
SettingsFact _altitude; // mission altitude
SettingsFact _enableSnake; // Enable Snake (see snake.h)
SettingsFact _snakeTileWidth;
SettingsFact _snakeTileHeight;
SettingsFact _snakeMinTileArea;
SettingsFact _snakeLineDistance;
SettingsFact _snakeMinTransectLength;
// Smart RTL.
QTimer _smartRTLTimer;
......@@ -308,7 +303,7 @@ private:
double _measurementPathLength; // the lenght of the phase in meters
// Snake
QmlObjectListModel tiles;
QList<QList<QGeoCoordinate>> _rawTransects;
SnakeThread _snakeThread; // Snake Data Manager
SnakeThread _emptyThread;
SnakeThread *_currentThread;
......
......@@ -76,6 +76,10 @@ void WimaPlanData::append(const WimaCorridorData &areaData) {
}
}
void WimaPlanData::setTransects(const QList<QList<QGeoCoordinate>> &transects) {
this->_transects = transects;
}
/*!
* \fn void WimaPlanData::append(const WimaServiceAreaData &areaData)
*
......@@ -110,6 +114,10 @@ const QList<const WimaAreaData *> &WimaPlanData::areaList() const {
return _areaList;
}
const QList<QList<QGeoCoordinate>> &WimaPlanData::transects() const {
return _transects;
}
const QList<MissionItem *> &WimaPlanData::missionItems() const {
return _missionItems;
}
......
#pragma once
#include <QGeoCoordinate>
#include <QObject>
#include "Geometry/WimaAreaData.h"
......@@ -7,7 +8,6 @@
#include "Geometry/WimaJoinedAreaData.h"
#include "Geometry/WimaMeasurementAreaData.h"
#include "Geometry/WimaServiceAreaData.h"
#include "MissionItem.h"
class WimaPlanData : public QObject {
Q_OBJECT
......@@ -20,7 +20,8 @@ public:
void append(const WimaJoinedAreaData &areaData);
void append(const WimaServiceAreaData &areaData);
void append(const WimaCorridorData &areaData);
void append(const WimaMeasurementAreaData &areaData);
void setTransects(const QList<QList<QGeoCoordinate>> &transects);
//!
//! \brief append
//! \param missionItems
......@@ -29,14 +30,11 @@ public:
void clear();
const QList<const WimaAreaData *> &areaList() const;
const QList<MissionItem *> &missionItems() const;
const QList<QList<QGeoCoordinate>> &transects() const;
signals:
void areaListChanged();
private:
void _clearAndDeleteMissionItems();
private:
WimaJoinedAreaData _joinedArea;
WimaServiceAreaData _serviceArea;
......@@ -44,5 +42,5 @@ private:
WimaMeasurementAreaData _measurementArea;
QList<const WimaAreaData *> _areaList;
QList<MissionItem *> _missionItems;
QList<QList<QGeoCoordinate>> _transects;
};
......@@ -666,17 +666,21 @@ void WimaPlaner::updatePolygonInteractivity(int index) {
void WimaPlaner::synchronize() {
if (_wimaBridge != nullptr) {
if (_needsUpdate)
return;
if (readyForSynchronization()) {
auto planData = toPlanData();
(void)_wimaBridge->setWimaPlanData(planData);
this->_synchronized = true;
emit synchronizedChanged();
}
} else {
qWarning("WimaPlaner::uploadToContainer(): no container assigned.");
}
}
bool WimaPlaner::readyForSynchronization() {
return !_needsUpdate && _measurementArea.ready();
}
bool WimaPlaner::shortestPath(const QGeoCoordinate &start,
const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path) {
......@@ -737,14 +741,7 @@ QSharedPointer<WimaPlanData> WimaPlaner::toPlanData() {
planData->append(WimaJoinedAreaData(_joinedArea));
// convert mission items to mavlink commands
QList<MissionItem *> missionItems;
_TSComplexItem->appendMissionItems(missionItems, nullptr);
// store mavlink commands
qWarning() << "WimaPlaner";
for (auto *item : missionItems) {
qWarning() << item->coordinate();
}
planData->append(missionItems);
planData->setTransects(this->_TSComplexItem->rawTransects());
return planData;
}
......
......@@ -84,6 +84,7 @@ public:
Q_INVOKABLE bool update();
/// Pushes the generated mission data to the wimaController.
Q_INVOKABLE void synchronize();
Q_INVOKABLE bool readyForSynchronization();
Q_INVOKABLE void saveToCurrent();
Q_INVOKABLE void saveToFile(const QString &filename);
Q_INVOKABLE bool loadFromCurrent();
......
[
{
"name": "DeltaR",
"shortDescription": "The distance between two consecutive circles.",
"name": "TransectDistance",
"shortDescription": "The distance between transects.",
"type": "double",
"units": "m",
"min": 0.3,
......@@ -9,18 +9,18 @@
"defaultValue": 20.0
},
{
"name": "DeltaAlpha",
"shortDescription": "Angle discretisation of the circles.",
"name": "Alpha",
"shortDescription": "Angle discretisation or transect angle (depending on type).",
"type": "double",
"units": "Deg",
"min": 0.3,
"max": 90,
"min": 0,
"max": 180,
"decimalPlaces": 1,
"defaultValue": 5.0
},
{
"name": "TransectMinLength",
"shortDescription": "The minimal length transects must have to be accepted.",
"name": "MinLength",
"shortDescription": "The minimal transect length.",
"type": "double",
"units": "m",
"min": 0.3,
......@@ -28,23 +28,11 @@
"defaultValue": 5.0
},
{
"name": "FixedDirection",
"shortDescription": "Determines whether all transects have the same direction or not.",
"type": "bool",
"defaultValue": 1
},
{
"name": "Reverse",
"shortDescription": "Reverses the transect path.",
"type": "bool",
"name": "Type",
"shortDescription": "Survey Type.",