mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
ll40ls: Refactor interface(PWM and I2C) selection and allow probe in more I2C buses
This commit is contained in:
José Roberto de Souza
Lorenz Meier
parent
fb3d60850e
commit
66e77c49ae
@ -80,6 +80,8 @@ public:
|
||||
*/
|
||||
virtual void print_registers() = 0;
|
||||
|
||||
virtual const char *get_dev_name() = 0;
|
||||
|
||||
protected:
|
||||
/**
|
||||
* Set the min and max distance thresholds if you want the end points of the sensors
|
||||
|
||||
@ -564,3 +564,8 @@ void LidarLiteI2C::print_info()
|
||||
printf("distance: %ucm (0x%04x)\n",
|
||||
(unsigned)_last_distance, (unsigned)_last_distance);
|
||||
}
|
||||
|
||||
const char *LidarLiteI2C::get_dev_name()
|
||||
{
|
||||
return get_devname();
|
||||
}
|
||||
|
||||
@ -54,7 +54,6 @@
|
||||
|
||||
|
||||
/* Configuration Constants */
|
||||
#define LL40LS_BUS PX4_I2C_BUS_EXPANSION
|
||||
#define LL40LS_BASEADDR 0x62 /* 7-bit address */
|
||||
#define LL40LS_BASEADDR_OLD 0x42 /* previous 7-bit address */
|
||||
|
||||
@ -90,6 +89,8 @@ public:
|
||||
*/
|
||||
void print_registers() override;
|
||||
|
||||
const char *get_dev_name() override;
|
||||
|
||||
protected:
|
||||
int probe();
|
||||
int read_reg(uint8_t reg, uint8_t &val);
|
||||
|
||||
@ -282,3 +282,8 @@ int LidarLitePWM::reset_sensor()
|
||||
::close(fd);
|
||||
return ret;
|
||||
}
|
||||
|
||||
const char *LidarLitePWM::get_dev_name()
|
||||
{
|
||||
return get_devname();
|
||||
}
|
||||
|
||||
@ -94,6 +94,8 @@ public:
|
||||
*/
|
||||
static void cycle_trampoline(void *arg);
|
||||
|
||||
const char *get_dev_name() override;
|
||||
|
||||
protected:
|
||||
|
||||
int measure() override;
|
||||
|
||||
@ -54,10 +54,31 @@
|
||||
# error This requires CONFIG_SCHED_WORKQUEUE.
|
||||
#endif
|
||||
|
||||
#define LL40LS_DEVICE_PATH_INT "/dev/ll40ls_int"
|
||||
#define LL40LS_DEVICE_PATH_EXT "/dev/ll40ls_ext"
|
||||
#define LL40LS_DEVICE_PATH_PWM "/dev/ll40ls_pwm"
|
||||
|
||||
enum LL40LS_BUS {
|
||||
LL40LS_BUS_I2C_ALL = 0,
|
||||
LL40LS_BUS_I2C_INTERNAL,
|
||||
LL40LS_BUS_I2C_EXTERNAL,
|
||||
LL40LS_BUS_PWM
|
||||
};
|
||||
|
||||
static struct ll40ls_bus_option {
|
||||
enum LL40LS_BUS busid;
|
||||
const char *devname;
|
||||
uint8_t busnum;
|
||||
} bus_options[] = {
|
||||
#ifdef PX4_I2C_BUS_EXPANSION
|
||||
{ LL40LS_BUS_I2C_EXTERNAL, "/dev/ll40ls_ext", PX4_I2C_BUS_EXPANSION },
|
||||
#endif
|
||||
#ifdef PX4_I2C_BUS_EXPANSION1
|
||||
{ LL40LS_BUS_I2C_EXTERNAL, "/dev/ll40ls_ext1", PX4_I2C_BUS_EXPANSION1 },
|
||||
#endif
|
||||
#ifdef PX4_I2C_BUS_ONBOARD
|
||||
{ LL40LS_BUS_I2C_INTERNAL, "/dev/ll40ls_int", PX4_I2C_BUS_ONBOARD },
|
||||
#endif
|
||||
};
|
||||
|
||||
/*
|
||||
* Driver 'main' command.
|
||||
*/
|
||||
@ -70,210 +91,97 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[]);
|
||||
namespace ll40ls
|
||||
{
|
||||
|
||||
LidarLiteI2C *g_dev_int;
|
||||
LidarLiteI2C *g_dev_ext;
|
||||
LidarLitePWM *g_dev_pwm;
|
||||
LidarLite *instance = nullptr;
|
||||
|
||||
LidarLite *get_dev(const bool use_i2c, const int bus);
|
||||
void start(const bool use_i2c, const int bus);
|
||||
void stop(const bool use_i2c, const int bus);
|
||||
void test(const bool use_i2c, const int bus);
|
||||
void reset(const bool use_i2c, const int bus);
|
||||
void info(const bool use_i2c, const int bus);
|
||||
void regdump(const bool use_i2c, const int bus);
|
||||
void start(enum LL40LS_BUS busid);
|
||||
void stop();
|
||||
void test();
|
||||
void reset();
|
||||
void info();
|
||||
void regdump();
|
||||
void usage();
|
||||
|
||||
/**
|
||||
* Get the correct device pointer
|
||||
*/
|
||||
LidarLite *get_dev(const bool use_i2c, const int bus)
|
||||
{
|
||||
LidarLite *g_dev = nullptr;
|
||||
|
||||
if (use_i2c) {
|
||||
g_dev = static_cast<LidarLite *>(bus == PX4_I2C_BUS_EXPANSION ? g_dev_ext : g_dev_int);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "i2c driver not running");
|
||||
}
|
||||
|
||||
} else {
|
||||
g_dev = static_cast<LidarLite *>(g_dev_pwm);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "pwm driver not running");
|
||||
}
|
||||
}
|
||||
|
||||
return g_dev;
|
||||
};
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
void start(const bool use_i2c, const int bus)
|
||||
void start(enum LL40LS_BUS busid)
|
||||
{
|
||||
if (g_dev_int != nullptr || g_dev_ext != nullptr || g_dev_pwm != nullptr) {
|
||||
errx(1, "driver already started");
|
||||
int fd, ret;
|
||||
|
||||
if (instance) {
|
||||
warnx("driver already started");
|
||||
}
|
||||
|
||||
if (use_i2c) {
|
||||
/* create the driver, attempt expansion bus first */
|
||||
if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) {
|
||||
if (g_dev_ext != nullptr) {
|
||||
errx(0, "already started external");
|
||||
}
|
||||
if (busid == LL40LS_BUS_PWM) {
|
||||
instance = new LidarLitePWM(LL40LS_DEVICE_PATH_PWM);
|
||||
|
||||
g_dev_ext = new LidarLiteI2C(PX4_I2C_BUS_EXPANSION, LL40LS_DEVICE_PATH_EXT);
|
||||
|
||||
if (g_dev_ext != nullptr && PX4_OK != g_dev_ext->init()) {
|
||||
delete g_dev_ext;
|
||||
g_dev_ext = nullptr;
|
||||
|
||||
if (bus == PX4_I2C_BUS_EXPANSION) {
|
||||
goto fail;
|
||||
}
|
||||
}
|
||||
if (!instance) {
|
||||
warnx("Failed to instantiate LidarLitePWM");
|
||||
return;
|
||||
}
|
||||
|
||||
#ifdef PX4_I2C_BUS_ONBOARD
|
||||
|
||||
/* if this failed, attempt onboard sensor */
|
||||
if (bus == -1 || bus == PX4_I2C_BUS_ONBOARD) {
|
||||
if (g_dev_int != nullptr) {
|
||||
errx(0, "already started internal");
|
||||
}
|
||||
|
||||
g_dev_int = new LidarLiteI2C(PX4_I2C_BUS_ONBOARD, LL40LS_DEVICE_PATH_INT);
|
||||
|
||||
if (g_dev_int != nullptr && PX4_OK != g_dev_int->init()) {
|
||||
/* tear down the failing onboard instance */
|
||||
delete g_dev_int;
|
||||
g_dev_int = nullptr;
|
||||
|
||||
if (bus == PX4_I2C_BUS_ONBOARD) {
|
||||
goto fail;
|
||||
}
|
||||
}
|
||||
|
||||
if (g_dev_int == nullptr && bus == PX4_I2C_BUS_ONBOARD) {
|
||||
goto fail;
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
if (g_dev_int != nullptr) {
|
||||
int fd = open(LL40LS_DEVICE_PATH_INT, O_RDONLY);
|
||||
|
||||
if (fd == -1) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
|
||||
close(fd);
|
||||
|
||||
if (ret < 0) {
|
||||
goto fail;
|
||||
}
|
||||
}
|
||||
|
||||
if (g_dev_ext != nullptr) {
|
||||
int fd = open(LL40LS_DEVICE_PATH_EXT, O_RDONLY);
|
||||
|
||||
if (fd == -1) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
|
||||
close(fd);
|
||||
|
||||
if (ret < 0) {
|
||||
goto fail;
|
||||
}
|
||||
if (instance->init() != PX4_OK) {
|
||||
warnx("failed to initialize LidarLitePWM");
|
||||
goto fail;
|
||||
}
|
||||
|
||||
} else {
|
||||
g_dev_pwm = new LidarLitePWM(LL40LS_DEVICE_PATH_PWM);
|
||||
|
||||
if (g_dev_pwm != nullptr && PX4_OK != g_dev_pwm->init()) {
|
||||
delete g_dev_pwm;
|
||||
g_dev_pwm = nullptr;
|
||||
warnx("failed to init PWM");
|
||||
}
|
||||
|
||||
if (g_dev_pwm != nullptr) {
|
||||
int fd = open(LL40LS_DEVICE_PATH_PWM, O_RDONLY);
|
||||
|
||||
if (fd == -1) {
|
||||
warnx("fd nothing");
|
||||
goto fail;
|
||||
for (uint8_t i = 0; i < (sizeof(bus_options) / sizeof(bus_options[0])); i++) {
|
||||
if (busid != LL40LS_BUS_I2C_ALL && busid != bus_options[i].busid) {
|
||||
continue;
|
||||
}
|
||||
|
||||
int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
|
||||
close(fd);
|
||||
instance = new LidarLiteI2C(bus_options[i].busnum, bus_options[i].devname);
|
||||
|
||||
if (ret < 0) {
|
||||
warnx("pollrate fail");
|
||||
goto fail;
|
||||
if (!instance) {
|
||||
warnx("Failed to instantiate LidarLiteI2C");
|
||||
return;
|
||||
}
|
||||
|
||||
if (instance->init() == PX4_OK) {
|
||||
break;
|
||||
}
|
||||
|
||||
warnx("failed to initialize LidarLiteI2C on busnum=%u", bus_options[i].busnum);
|
||||
delete instance;
|
||||
instance = nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
exit(0);
|
||||
if (!instance) {
|
||||
warnx("No LidarLite found");
|
||||
return;
|
||||
}
|
||||
|
||||
fd = open(instance->get_dev_name(), O_RDONLY);
|
||||
|
||||
if (fd == -1) {
|
||||
warnx("Error opening fd");
|
||||
goto fail;
|
||||
}
|
||||
|
||||
ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
|
||||
close(fd);
|
||||
|
||||
if (ret < 0) {
|
||||
warnx("pollrate fail");
|
||||
goto fail;
|
||||
}
|
||||
|
||||
return;
|
||||
|
||||
fail:
|
||||
|
||||
#ifdef PX4_I2C_BUS_ONBOARD
|
||||
|
||||
if (g_dev_int != nullptr && (bus == -1 || bus == PX4_I2C_BUS_ONBOARD)) {
|
||||
delete g_dev_int;
|
||||
g_dev_int = nullptr;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
if (g_dev_ext != nullptr && (bus == -1 || bus == PX4_I2C_BUS_EXPANSION)) {
|
||||
delete g_dev_ext;
|
||||
g_dev_ext = nullptr;
|
||||
}
|
||||
|
||||
if (g_dev_pwm != nullptr) {
|
||||
delete g_dev_pwm;
|
||||
g_dev_pwm = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
delete instance;
|
||||
instance = nullptr;
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop the driver
|
||||
*/
|
||||
void stop(const bool use_i2c, const int bus)
|
||||
void stop()
|
||||
{
|
||||
if (use_i2c) {
|
||||
if (bus == PX4_I2C_BUS_EXPANSION) {
|
||||
if (g_dev_ext != nullptr) {
|
||||
delete g_dev_ext;
|
||||
g_dev_ext = nullptr;
|
||||
}
|
||||
|
||||
} else {
|
||||
if (g_dev_int != nullptr) {
|
||||
delete g_dev_int;
|
||||
g_dev_int = nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
if (g_dev_pwm != nullptr) {
|
||||
delete g_dev_pwm;
|
||||
g_dev_pwm = nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
exit(0);
|
||||
delete instance;
|
||||
instance = nullptr;
|
||||
}
|
||||
|
||||
/**
|
||||
@ -282,32 +190,30 @@ void stop(const bool use_i2c, const int bus)
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test(const bool use_i2c, const int bus)
|
||||
test()
|
||||
{
|
||||
struct distance_sensor_s report;
|
||||
ssize_t sz;
|
||||
int ret;
|
||||
|
||||
const char *path;
|
||||
|
||||
if (use_i2c) {
|
||||
path = ((bus == -1 || bus == PX4_I2C_BUS_EXPANSION) ? LL40LS_DEVICE_PATH_EXT : LL40LS_DEVICE_PATH_INT);
|
||||
|
||||
} else {
|
||||
path = LL40LS_DEVICE_PATH_PWM;
|
||||
if (!instance) {
|
||||
warnx("No ll40ls driver running");
|
||||
errx(1, "FAIL");
|
||||
}
|
||||
|
||||
int fd = open(path, O_RDONLY);
|
||||
int fd = open(instance->get_dev_name(), O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "%s %s open failed, is the driver running?", (use_i2c) ? "I2C" : "PWM", path);
|
||||
warnx("Error opening fd");
|
||||
errx(1, "FAIL");
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "immediate read failed");
|
||||
warnx("immediate read failed");
|
||||
goto error;
|
||||
}
|
||||
|
||||
warnx("single read");
|
||||
@ -316,7 +222,8 @@ test(const bool use_i2c, const int bus)
|
||||
|
||||
/* start the sensor polling at 2Hz */
|
||||
if (PX4_OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
|
||||
errx(1, "failed to set 2Hz poll rate");
|
||||
warnx("failed to set 2Hz poll rate");
|
||||
goto error;
|
||||
}
|
||||
|
||||
/* read the sensor 5 times and report each value */
|
||||
@ -329,14 +236,16 @@ test(const bool use_i2c, const int bus)
|
||||
ret = poll(&fds, 1, 2000);
|
||||
|
||||
if (ret != 1) {
|
||||
errx(1, "timed out waiting for sensor data");
|
||||
warnx("timed out waiting for sensor data");
|
||||
goto error;
|
||||
}
|
||||
|
||||
/* now go get it */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "periodic read failed");
|
||||
warnx("periodic read failed");
|
||||
goto error;
|
||||
}
|
||||
|
||||
warnx("periodic read %u", i);
|
||||
@ -348,67 +257,78 @@ test(const bool use_i2c, const int bus)
|
||||
|
||||
/* reset the sensor polling to default rate */
|
||||
if (PX4_OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
|
||||
errx(1, "failed to set default poll rate");
|
||||
warnx("failed to set default poll rate");
|
||||
goto error;
|
||||
}
|
||||
|
||||
close(fd);
|
||||
errx(0, "PASS");
|
||||
|
||||
error:
|
||||
close(fd);
|
||||
errx(1, "FAIL");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset(const bool use_i2c, const int bus)
|
||||
reset()
|
||||
{
|
||||
|
||||
const char *path;
|
||||
|
||||
if (use_i2c) {
|
||||
path = ((bus == PX4_I2C_BUS_EXPANSION) ? LL40LS_DEVICE_PATH_EXT : LL40LS_DEVICE_PATH_INT);
|
||||
|
||||
} else {
|
||||
path = LL40LS_DEVICE_PATH_PWM;
|
||||
if (!instance) {
|
||||
warnx("No ll40ls driver running");
|
||||
return;
|
||||
}
|
||||
|
||||
int fd = open(path, O_RDONLY);
|
||||
int fd = open(instance->get_dev_name(), O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "failed ");
|
||||
warnx("Error opening fd");
|
||||
return;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
warnx("driver reset failed");
|
||||
goto error;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "driver poll restart failed");
|
||||
warnx("driver poll restart failed");
|
||||
goto error;
|
||||
}
|
||||
|
||||
exit(0);
|
||||
error:
|
||||
close(fd);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info(const bool use_i2c, const int bus)
|
||||
info()
|
||||
{
|
||||
LidarLite *g_dev = get_dev(use_i2c, bus);
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
exit(0);
|
||||
if (!instance) {
|
||||
warnx("No ll40ls driver running");
|
||||
return;
|
||||
}
|
||||
|
||||
printf("state @ %p\n", instance);
|
||||
instance->print_info();
|
||||
}
|
||||
|
||||
/**
|
||||
* Dump registers
|
||||
*/
|
||||
void
|
||||
regdump(const bool use_i2c, const int bus)
|
||||
regdump()
|
||||
{
|
||||
LidarLite *g_dev = get_dev(use_i2c, bus);
|
||||
printf("regdump @ %p\n", g_dev);
|
||||
g_dev->print_registers();
|
||||
exit(0);
|
||||
if (!instance) {
|
||||
warnx("No ll40ls driver running");
|
||||
return;
|
||||
}
|
||||
|
||||
printf("regdump @ %p\n", instance);
|
||||
instance->print_registers();
|
||||
}
|
||||
|
||||
void
|
||||
@ -428,44 +348,41 @@ int
|
||||
ll40ls_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
int bus = -1;
|
||||
enum LL40LS_BUS busid = LL40LS_BUS_I2C_ALL;
|
||||
|
||||
while ((ch = getopt(argc, argv, "XI")) != EOF) {
|
||||
switch (ch) {
|
||||
#ifdef PX4_I2C_BUS_ONBOARD
|
||||
|
||||
case 'I':
|
||||
bus = PX4_I2C_BUS_ONBOARD;
|
||||
busid = LL40LS_BUS_I2C_INTERNAL;
|
||||
break;
|
||||
#endif
|
||||
|
||||
case 'X':
|
||||
bus = PX4_I2C_BUS_EXPANSION;
|
||||
busid = LL40LS_BUS_I2C_EXTERNAL;
|
||||
break;
|
||||
|
||||
default:
|
||||
ll40ls::usage();
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
/* default to I2C if no protocol is given */
|
||||
bool use_i2c = true;
|
||||
|
||||
/* determine protocol first because it's needed next */
|
||||
if (argc > optind + 1) {
|
||||
const char *protocol = argv[optind + 1];
|
||||
|
||||
if (!strcmp(protocol, "pwm")) {
|
||||
use_i2c = false;
|
||||
busid = LL40LS_BUS_PWM;;
|
||||
|
||||
} else if (!strcmp(protocol, "i2c")) {
|
||||
use_i2c = true;
|
||||
// Do nothing
|
||||
|
||||
} else {
|
||||
warnx("unknown protocol, choose pwm or i2c");
|
||||
ll40ls::usage();
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
@ -473,43 +390,32 @@ ll40ls_main(int argc, char *argv[])
|
||||
if (argc > optind) {
|
||||
const char *verb = argv[optind];
|
||||
|
||||
/* Start/load the driver. */
|
||||
if (!strcmp(verb, "start")) {
|
||||
ll40ls::start(use_i2c, bus);
|
||||
}
|
||||
ll40ls::start(busid);
|
||||
|
||||
/* Stop the driver */
|
||||
if (!strcmp(verb, "stop")) {
|
||||
ll40ls::stop(use_i2c, bus);
|
||||
}
|
||||
} else if (!strcmp(verb, "stop")) {
|
||||
ll40ls::stop();
|
||||
|
||||
/* Test the driver/device. */
|
||||
else if (!strcmp(verb, "test")) {
|
||||
ll40ls::test(use_i2c, bus);
|
||||
}
|
||||
} else if (!strcmp(verb, "test")) {
|
||||
ll40ls::test();
|
||||
|
||||
/* Reset the driver. */
|
||||
else if (!strcmp(verb, "reset")) {
|
||||
ll40ls::reset(use_i2c, bus);
|
||||
}
|
||||
} else if (!strcmp(verb, "reset")) {
|
||||
ll40ls::reset();
|
||||
|
||||
/* dump registers */
|
||||
else if (!strcmp(verb, "regdump")) {
|
||||
ll40ls::regdump(use_i2c, bus);
|
||||
}
|
||||
} else if (!strcmp(verb, "regdump")) {
|
||||
ll40ls::regdump();
|
||||
|
||||
/* Print driver information. */
|
||||
else if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
|
||||
ll40ls::info(use_i2c, bus);
|
||||
}
|
||||
} else if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
|
||||
ll40ls::info();
|
||||
|
||||
else {
|
||||
} else {
|
||||
ll40ls::usage();
|
||||
exit(0);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
warnx("unrecognized command, try 'start', 'test', 'reset', 'info' or 'regdump'");
|
||||
ll40ls::usage();
|
||||
exit(0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user