Work on RTSP Video Stream, x86 Android, etc.

QGCCommon.pri

@@ -30,12 +30,18 @@ linux {
         CONFIG += LinuxBuild
         DEFINES += __STDC_LIMIT_MACROS __rasp_pi2__
     } else : android-g++ {
-        message("Android build")
         CONFIG += AndroidBuild MobileBuild
         DEFINES += __android__
         DEFINES += __STDC_LIMIT_MACROS
         DEFINES += QGC_ENABLE_BLUETOOTH
         target.path = $$DESTDIR
+        equals(ANDROID_TARGET_ARCH, x86)  {
+            CONFIG += Androidx86Build
+            DEFINES += __androidx86__
+            message("Android x86 build")
+        } else {
+            message("Android Arm build")
+        }
     } else {
         error("Unsuported Linux toolchain, only GCC 32- or 64-bit is supported")
     }
@@ -54,11 +60,11 @@ linux {
         DEFINES += __macos__
         CONFIG += x86_64
         CONFIG -= x86
-equals(QT_MAJOR_VERSION, 5) | greaterThan(QT_MINOR_VERSION, 5) {
+        equals(QT_MAJOR_VERSION, 5) | greaterThan(QT_MINOR_VERSION, 5) {
                 QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.7
-} else {
+        } else {
                 QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
-}
+        }
         QMAKE_MAC_SDK = macosx10.11
         QMAKE_CXXFLAGS += -fvisibility=hidden
     } else {

qgroundcontrol.pro

@@ -46,6 +46,15 @@ contains (DEFINES, QGC_DISABLE_BLUETOOTH) {
     DEFINES += QGC_ENABLE_BLUETOOTH
 }
 
+# USB Camera and UVC Video Sources
+contains (DEFINES, QGC_DISABLE_UVC) {
+    message("Skipping support for UVC devices (manual override from command line)")
+    DEFINES -= QGC_DISABLE_UVC
+} else:exists(user_config.pri):infile(user_config.pri, DEFINES, QGC_DISABLE_UVC) {
+    message("Skipping support for UVC devices (manual override from user_config.pri)")
+    DEFINES -= QGC_DISABLE_UVC
+}
+
 LinuxBuild {
     CONFIG += link_pkgconfig
 }

qgroundcontrol.qrc

@@ -15,6 +15,8 @@
         <file alias="LogDownload.qml">src/ViewWidgets/LogDownload.qml</file>
         <file alias="FirmwareUpgrade.qml">src/VehicleSetup/FirmwareUpgrade.qml</file>
         <file alias="FlightDisplayView.qml">src/FlightDisplay/FlightDisplayView.qml</file>
+        <file alias="FlightDisplayViewUVC.qml">src/FlightDisplay/FlightDisplayViewUVC.qml</file>
+        <file alias="FlightDisplayViewDummy.qml">src/FlightDisplay/FlightDisplayViewDummy.qml</file>
         <file alias="PX4FlightModes.qml">src/AutoPilotPlugins/PX4/PX4FlightModes.qml</file>
         <file alias="PX4AdvancedFlightModes.qml">src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml</file>
         <file alias="PX4SimpleFlightModes.qml">src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml</file>

src/FlightDisplay/FlightDisplayView.qml

@@ -184,34 +184,17 @@ QGCView {
                     }
                 }
             ]
-            //-- UDP Video Streaming
+            //-- Video Streaming
             FlightDisplayViewVideo {
                 anchors.fill:   parent
                 visible:        QGroundControl.videoManager.isGStreamer
             }
             //-- UVC Video (USB Camera or Video Device)
-            Rectangle {
-                id:             noVideo
-                anchors.fill:   parent
-                color:          Qt.rgba(0,0,0,0.75)
-                visible:        !QGroundControl.videoManager.isGStreamer
-                Camera {
-                    id:             camera
-                    deviceId:       QGroundControl.videoManager.videoSourceID
-                    captureMode:    Camera.CaptureViewfinder
-                }
-                VideoOutput {
-                    id:             viewFinder
-                    source:         camera
+            Loader {
+                id:             cameraLoader
                 anchors.fill:   parent
                 visible:        !QGroundControl.videoManager.isGStreamer
-                }
-                onVisibleChanged: {
-                    if(visible)
-                        camera.start()
-                    else
-                        camera.stop()
-                }
+                source:         QGroundControl.videoManager.uvcEnabled ? "qrc:/qml/FlightDisplayViewUVC.qml" : "qrc:/qml/FlightDisplayViewDummy.qml"
             }
         }
 

src/FlightDisplay/FlightDisplayViewDummy.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick                  2.5
+
+Rectangle {
+    anchors.fill:               parent
+    color:                      Qt.rgba(0,0,0,0.75)
+}

src/FlightDisplay/FlightDisplayViewUVC.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick                  2.5
+import QtMultimedia             5.5
+
+import QGroundControl           1.0
+
+Rectangle {
+    anchors.fill:       parent
+    color:              Qt.rgba(0,0,0,0.75)
+    Camera {
+        id:             camera
+        deviceId:       QGroundControl.videoManager.videoSourceID
+        captureMode:    Camera.CaptureViewfinder
+    }
+    VideoOutput {
+        source:         camera
+        anchors.fill:   parent
+        fillMode:       VideoOutput.PreserveAspectCrop
+        visible:        !QGroundControl.videoManager.isGStreamer
+    }
+    onVisibleChanged: {
+        if(visible)
+            camera.start()
+        else
+            camera.stop()
+    }
+}

src/FlightDisplay/FlightDisplayViewVideo.qml

@@ -41,7 +41,6 @@ Item {
         display:        QGroundControl.videoManager.videoSurface
         receiver:       QGroundControl.videoManager.videoReceiver
         visible:        QGroundControl.videoManager.videoRunning
-        runVideo:       true
         /* TODO: Come up with a way to make this an option
         QGCAttitudeHUD {
             id:                 attitudeHUD

src/FlightDisplay/VideoManager.cc

@@ -19,51 +19,33 @@
 #include "VideoManager.h"
 
 static const char* kVideoSourceKey  = "VideoSource";
-static const char* kGStreamerSource = "UDP Video Stream";
+static const char* kVideoUDPPortKey = "VideoUDPPort";
+static const char* kVideoRTSPUrlKey = "VideoRTSPUrl";
+static const char* kUDPStream       = "UDP Video Stream";
+static const char* kRTSPStream      = "RTSP Video Stream";
 
 QGC_LOGGING_CATEGORY(VideoManagerLog, "VideoManagerLog")
 
 //-----------------------------------------------------------------------------
 VideoManager::VideoManager(QGCApplication* app)
     : QGCTool(app)
+    , _videoSurface(NULL)
+    , _videoReceiver(NULL)
     , _videoRunning(false)
+    , _udpPort(5600) //-- Defalut Port 5600 == Solo UDP Port
+    , _init(false)
 {
-    /*
-     * This is the receiving end of an UDP RTP stream. The sender can be setup with this command:
-     *
-     * gst-launch-1.0 uvch264src initial-bitrate=1000000 average-bitrate=1000000 iframe-period=1000 name=src auto-start=true src.vidsrc ! \
-     * video/x-h264,width=1280,height=720,framerate=24/1 ! h264parse ! rtph264pay ! udpsink host=192.168.1.9 port=5600
-     *
-     * Where the main parameters are:
-     *
-     *  uvch264src:         Your h264 video source (the example above uses a Logitech C920 on an Raspberry PI 2+ or Odroid C1
-     *  host=192.168.1.9    This is the IP address of QGC. You can use Avahi/Zeroconf to find QGC using the "_qgroundcontrol._udp" service.
-     *
-     * Advanced settings (you should probably read the gstreamer documentation before changing these):
-     *
-     * initial-bitrate=1000000 average-bitrate=1000000
-     * The bit rate to use. The greater, the better quality at the cost of higher bandwidth.
-     *
-     * width=1280,height=720,framerate=24/1
-     * The video resolution and frame rate. This depends on the camera used.
-     *
-     * iframe-period=1000
-     * Interval between iFrames. The greater the interval the lesser bandwidth at the cost of a longer time to recover from lost packets.
-     *
-     * Do not change anything else unless you know what you are doing. Any other change will require a matching change on the receiving end.
-     *
-     */
-    _videoSurface  = new VideoSurface;
-    _videoReceiver = new VideoReceiver(this);
-    _videoReceiver->setUri(QLatin1Literal("udp://0.0.0.0:5600"));   // Port 5600=Solo UDP port, if you change it, you will break Solo video support
+    //-- Get saved settings
+    QSettings settings;
+    setVideoSource(settings.value(kVideoSourceKey, kUDPStream).toString());
+    setUdpPort(settings.value(kVideoUDPPortKey, 5600).toUInt());
+    setRtspURL(settings.value(kVideoRTSPUrlKey, "rtsp://192.168.42.1:554/live").toString()); //-- Example RTSP URL
+    _init = true;
 #if defined(QGC_GST_STREAMING)
-    _videoReceiver->setVideoSink(_videoSurface->videoSink());
+    _updateVideo();
     connect(&_frameTimer, &QTimer::timeout, this, &VideoManager::_updateTimer);
     _frameTimer.start(1000);
 #endif
-    //-- Get saved video source
-    QSettings settings;
-    setVideoSource(settings.value(kVideoSourceKey, kGStreamerSource).toString());
 }
 
 //-----------------------------------------------------------------------------
@@ -96,12 +78,21 @@ bool
 VideoManager::isGStreamer()
 {
 #if defined(QGC_GST_STREAMING)
-    return _videoSource == kGStreamerSource;
+    return _videoSource == kUDPStream || _videoSource == kRTSPStream;
 #else
     return false;
 #endif
 }
 
+//-----------------------------------------------------------------------------
+#ifndef QGC_DISABLE_UVC
+bool
+VideoManager::uvcEnabled()
+{
+    return QCameraInfo::availableCameras().count() > 0;
+}
+#endif
+
 //-----------------------------------------------------------------------------
 void
 VideoManager::setVideoSource(QString vSource)
@@ -110,6 +101,7 @@ VideoManager::setVideoSource(QString vSource)
     QSettings settings;
     settings.setValue(kVideoSourceKey, vSource);
     emit videoSourceChanged();
+#ifndef QGC_DISABLE_UVC
     QList<QCameraInfo> cameras = QCameraInfo::availableCameras();
     foreach (const QCameraInfo &cameraInfo, cameras) {
         if(cameraInfo.description() == vSource) {
@@ -119,8 +111,51 @@ VideoManager::setVideoSource(QString vSource)
             break;
         }
     }
+#endif
     emit isGStreamerChanged();
     qCDebug(VideoManagerLog) << "New Video Source:" << vSource;
+    /*
+     * Not working. Requires restart for now
+    if(isGStreamer())
+        _updateVideo();
+    */
+    if(_videoReceiver) {
+        if(isGStreamer()) {
+            _videoReceiver->start();
+        } else {
+            _videoReceiver->stop();
+        }
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+VideoManager::setUdpPort(quint16 port)
+{
+    _udpPort = port;
+    QSettings settings;
+    settings.setValue(kVideoUDPPortKey, port);
+    emit udpPortChanged();
+    /*
+     * Not working. Requires restart for now
+    if(_videoSource == kUDPStream)
+        _updateVideo();
+    */
+}
+
+//-----------------------------------------------------------------------------
+void
+VideoManager::setRtspURL(QString url)
+{
+    _rtspURL = url;
+    QSettings settings;
+    settings.setValue(kVideoRTSPUrlKey, url);
+    emit rtspURLChanged();
+    /*
+     * Not working. Requires restart for now
+    if(_videoSource == kRTSPStream)
+        _updateVideo();
+    */
 }
 
 //-----------------------------------------------------------------------------
@@ -129,20 +164,23 @@ VideoManager::videoSourceList()
 {
     _videoSourceList.clear();
 #if defined(QGC_GST_STREAMING)
-    _videoSourceList.append(kGStreamerSource);
+    _videoSourceList.append(kUDPStream);
+    _videoSourceList.append(kRTSPStream);
 #endif
+#ifndef QGC_DISABLE_UVC
     QList<QCameraInfo> cameras = QCameraInfo::availableCameras();
     foreach (const QCameraInfo &cameraInfo, cameras) {
         qCDebug(VideoManagerLog) << "UVC Video source ID:" << cameraInfo.deviceName() << " Name:" << cameraInfo.description();
         _videoSourceList.append(cameraInfo.description());
     }
+#endif
     return _videoSourceList;
 }
 
 //-----------------------------------------------------------------------------
-#if defined(QGC_GST_STREAMING)
-void VideoManager::_updateTimer(void)
+void VideoManager::_updateTimer()
 {
+#if defined(QGC_GST_STREAMING)
     if(_videoRunning)
     {
         time_t elapsed = 0;
@@ -150,7 +188,7 @@ void VideoManager::_updateTimer(void)
         {
             elapsed = time(0) - _videoSurface->lastFrame();
         }
-        if(elapsed > 2)
+        if(elapsed > 2 && _videoSurface)
         {
             _videoRunning = false;
             _videoSurface->setLastFrame(0);
@@ -167,5 +205,26 @@ void VideoManager::_updateTimer(void)
             }
         }
     }
-}
 #endif
+}
+
+//-----------------------------------------------------------------------------
+void VideoManager::_updateVideo()
+{
+    if(_init) {
+        if(_videoReceiver)
+            delete _videoReceiver;
+        if(_videoSurface)
+            delete _videoSurface;
+        _videoSurface  = new VideoSurface;
+        _videoReceiver = new VideoReceiver(this);
+        _videoReceiver->setVideoSink(_videoSurface->videoSink());
+        #if defined(QGC_GST_STREAMING)
+        if(_videoSource == kUDPStream)
+            _videoReceiver->setUri(QStringLiteral("udp://0.0.0.0:%1").arg(_udpPort));
+        else
+            _videoReceiver->setUri(_rtspURL);
+        #endif
+        _videoReceiver->start();
+    }
+}

src/FlightDisplay/VideoManager.h

@@ -35,6 +35,9 @@ public:
     Q_PROPERTY(QString          videoSource     READ    videoSource     WRITE setVideoSource    NOTIFY videoSourceChanged)
     Q_PROPERTY(QStringList      videoSourceList READ    videoSourceList                         NOTIFY videoSourceListChanged)
     Q_PROPERTY(bool             videoRunning    READ    videoRunning                            NOTIFY videoRunningChanged)
+    Q_PROPERTY(quint16          udpPort         READ    udpPort         WRITE setUdpPort        NOTIFY udpPortChanged)
+    Q_PROPERTY(QString          rtspURL         READ    rtspURL         WRITE setRtspURL        NOTIFY rtspURLChanged)
+    Q_PROPERTY(bool             uvcEnabled      READ    uvcEnabled                              CONSTANT)
     Q_PROPERTY(VideoSurface*    videoSurface    MEMBER  _videoSurface                           CONSTANT)
     Q_PROPERTY(VideoReceiver*   videoReceiver   MEMBER  _videoReceiver                          CONSTANT)
 
@@ -44,7 +47,18 @@ public:
     QString     videoSourceID       () { return _videoSourceID; }
     QString     videoSource         () { return _videoSource; }
     QStringList videoSourceList     ();
+    quint16     udpPort             () { return _udpPort; }
+    QString     rtspURL             () { return _rtspURL; }
+
+#if defined(QGC_DISABLE_UVC)
+    bool        uvcEnabled          () { return false; }
+#else
+    bool        uvcEnabled          ();
+#endif
+
     void        setVideoSource      (QString vSource);
+    void        setUdpPort          (quint16 port);
+    void        setRtspURL          (QString url);
 
     // Override from QGCTool
     void        setToolbox          (QGCToolbox *toolbox);
@@ -56,9 +70,12 @@ signals:
     void videoSourceListChanged ();
     void isGStreamerChanged     ();
     void videoSourceIDChanged   ();
+    void udpPortChanged         ();
+    void rtspURLChanged         ();
 
 private:
-    void _updateTimer(void);
+    void _updateTimer           ();
+    void _updateVideo           ();
 
 private:
     VideoSurface*       _videoSurface;
@@ -70,6 +87,9 @@ private:
     QString             _videoSource;
     QString             _videoSourceID;
     QStringList         _videoSourceList;
+    quint16             _udpPort;
+    QString             _rtspURL;
+    bool                _init;
 };
 
 #endif

src/FlightMap/QGCVideoBackground.qml

@@ -22,20 +22,5 @@ VideoItem {
     id: videoBackground
     property var display
     property var receiver
-    property var runVideo:  false
     surface: display
-    onRunVideoChanged: {
-        if(videoBackground.receiver && videoBackground.display) {
-            if(videoBackground.runVideo) {
-                videoBackground.receiver.start();
-            } else {
-                videoBackground.receiver.stop();
-            }
-        }
-    }
-    Component.onCompleted: {
-        if(videoBackground.runVideo && videoBackground.receiver) {
-            videoBackground.receiver.start();
-        }
-    }
 }

src/VideoStreaming/VideoReceiver.cc

@@ -49,6 +49,21 @@ void VideoReceiver::setVideoSink(GstElement* sink)
 }
 #endif
 
+static void newPadCB(GstElement * element, GstPad* pad, gpointer data)
+{
+    gchar *name;
+    name = gst_pad_get_name(pad);
+    g_print("A new pad %s was created\n", name);
+    GstCaps * p_caps = gst_pad_get_pad_template_caps (pad);
+    gchar * description = gst_caps_to_string(p_caps);
+    qDebug() << p_caps << ", " << description;
+    g_free(description);
+    GstElement * p_rtph264depay = GST_ELEMENT(data);
+    if(gst_element_link_pads(element, name, p_rtph264depay, "sink") == false)
+        qCritical() << "newPadCB : failed to link elements\n";
+    g_free(name);
+}
+
 void VideoReceiver::start()
 {
 #if defined(QGC_GST_STREAMING)
@@ -56,7 +71,6 @@ void VideoReceiver::start()
         qCritical() << "VideoReceiver::start() failed because URI is not specified";
         return;
     }
-
     if (_videoSink == NULL) {
         qCritical() << "VideoReceiver::start() failed because video sink is not set";
         return;
@@ -72,29 +86,44 @@ void VideoReceiver::start()
     GstElement*     parser      = NULL;
     GstElement*     decoder     = NULL;
 
+    bool isUdp = _uri.contains("udp://");
+
     do {
         if ((_pipeline = gst_pipeline_new("receiver")) == NULL) {
             qCritical() << "VideoReceiver::start() failed. Error with gst_pipeline_new()";
             break;
         }
 
-        if ((dataSource = gst_element_factory_make("udpsrc", "udp-source")) == NULL) {
-            qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('udpsrc')";
+        if(isUdp) {
+            dataSource = gst_element_factory_make("udpsrc", "udp-source");
+        } else {
+            dataSource = gst_element_factory_make("rtspsrc", "rtsp-source");
+        }
+
+        if (!dataSource) {
+            qCritical() << "VideoReceiver::start() failed. Error with data source for gst_element_factory_make()";
             break;
         }
 
+        if(isUdp) {
             if ((caps = gst_caps_from_string("application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264")) == NULL) {
                 qCritical() << "VideoReceiver::start() failed. Error with gst_caps_from_string()";
                 break;
             }
-
             g_object_set(G_OBJECT(dataSource), "uri", qPrintable(_uri), "caps", caps, NULL);
+        } else {
+            g_object_set(G_OBJECT(dataSource), "location", qPrintable(_uri), "latency", 0, NULL);
+        }
 
         if ((demux = gst_element_factory_make("rtph264depay", "rtp-h264-depacketizer")) == NULL) {
             qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('rtph264depay')";
             break;
         }
 
+        if(!isUdp) {
+            g_signal_connect(dataSource, "pad-added", G_CALLBACK(newPadCB), demux);
+        }
+
         if ((parser = gst_element_factory_make("h264parse", "h264-parser")) == NULL) {
             qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('h264parse')";
             break;
@@ -107,7 +136,15 @@ void VideoReceiver::start()
 
         gst_bin_add_many(GST_BIN(_pipeline), dataSource, demux, parser, decoder, _videoSink, NULL);
 
-        if (gst_element_link_many(dataSource, demux, parser, decoder, _videoSink, NULL) != (gboolean)TRUE) {
+        gboolean res = FALSE;
+
+        if(isUdp) {
+            res = gst_element_link_many(dataSource, demux, parser, decoder, _videoSink, NULL);
+        } else {
+            res = gst_element_link_many(demux, parser, decoder, _videoSink, NULL);
+        }
+
+        if (!res) {
             qCritical() << "VideoReceiver::start() failed. Error with gst_element_link_many()";
             break;
         }

src/VideoStreaming/VideoStreaming.pri

@@ -73,8 +73,12 @@ LinuxBuild {
         QMAKE_POST_LINK += $$escape_expand(\\n) xcopy \"$$GST_ROOT_WIN\\lib\\gstreamer-1.0\\validate\\*.dll\" \"$$DESTDIR_WIN\\gstreamer-plugins\\validate\\\" /Y $$escape_expand(\\n)
     }
 } else:AndroidBuild {
-    #- gstreamer assumed to be installed in $$PWD/../../android/gstreamer-1.0-android-armv7-1.5.2
+    #- gstreamer assumed to be installed in $$PWD/../../android/gstreamer-1.0-android-armv7-1.5.2 (or x86)
+    Androidx86Build {
+        GST_ROOT = $$PWD/../../gstreamer-1.0-android-x86-1.5.2
+    } else {
         GST_ROOT = $$PWD/../../gstreamer-1.0-android-armv7-1.5.2
+    }
     exists($$GST_ROOT) {
         QMAKE_CXXFLAGS  += -pthread
         CONFIG          += VideoEnabled

src/VideoStreaming/VideoSurface.cc

@@ -27,6 +27,7 @@ VideoSurface::VideoSurface(QObject *parent)
 #if defined(QGC_GST_STREAMING)
     , _data(new VideoSurfacePrivate)
     , _lastFrame(0)
+    , _refed(false)
 #endif
 {
 }
@@ -34,7 +35,7 @@ VideoSurface::VideoSurface(QObject *parent)
 VideoSurface::~VideoSurface()
 {
 #if defined(QGC_GST_STREAMING)
-    if (_data->videoSink != NULL) {
+    if (!_refed && _data->videoSink != NULL) {
         gst_element_set_state(_data->videoSink, GST_STATE_NULL);
     }
     delete _data;
@@ -42,7 +43,7 @@ VideoSurface::~VideoSurface()
 }
 
 #if defined(QGC_GST_STREAMING)
-GstElement* VideoSurface::videoSink() const
+GstElement* VideoSurface::videoSink()
 {
     if (_data->videoSink == NULL) {
         if ((_data->videoSink = gst_element_factory_make("qtquick2videosink", NULL)) == NULL) {
@@ -50,6 +51,7 @@ GstElement* VideoSurface::videoSink() const
             return NULL;
         }
         g_signal_connect(_data->videoSink, "update", G_CALLBACK(onUpdateThunk), (void* )this);
+        _refed = true;
     }
     return _data->videoSink;
 }

src/VideoStreaming/VideoSurface.h

@@ -40,7 +40,7 @@ public:
      * is called. The surface will always keep a reference to this element.
      */
 #if defined(QGC_GST_STREAMING)
-    GstElement* videoSink() const;
+    GstElement* videoSink();
     time_t      lastFrame() { return _lastFrame; }
     void        setLastFrame(time_t t) { _lastFrame = t; }
 #endif
@@ -56,6 +56,7 @@ private:
 #if defined(QGC_GST_STREAMING)
     VideoSurfacePrivate * const _data;
     time_t  _lastFrame;
+    bool    _refed;
 #endif
 };