source: ntrip/trunk/BNC/bncgetthread.cpp@ 3303

Last change on this file since 3303 was 3303, checked in by mervart, 13 years ago
File size: 20.7 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncGetThread
30 *
31 * Purpose: Thread that retrieves data from NTRIP caster
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Dec-2005
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdlib.h>
42#include <iomanip>
43#include <sstream>
44
45#include <QFile>
46#include <QTextStream>
47#include <QtNetwork>
48#include <QTime>
49
50#include "bncgetthread.h"
51#include "bnctabledlg.h"
52#include "bncapp.h"
53#include "bncutils.h"
54#include "bncrinex.h"
55#include "bnczerodecoder.h"
56#include "bncnetqueryv0.h"
57#include "bncnetqueryv1.h"
58#include "bncnetqueryv2.h"
59#include "bncnetqueryrtp.h"
60#include "bncnetqueryudp.h"
61#include "bncnetqueryudp0.h"
62#include "bncnetquerys.h"
63#include "bncsettings.h"
64#include "latencychecker.h"
65#include "bncpppclient.h"
66#include "upload/bncrtnetdecoder.h"
67#include "RTCM/RTCM2Decoder.h"
68#include "RTCM3/RTCM3Decoder.h"
69#include "RTIGS/RTIGSDecoder.h"
70#include "GPSS/gpssDecoder.h"
71#include "serial/qextserialport.h"
72
73using namespace std;
74
75// Constructor 1
76////////////////////////////////////////////////////////////////////////////
77bncGetThread::bncGetThread(bncRawFile* rawFile) {
78
79 _rawFile = rawFile;
80 _format = rawFile->format();
81 _staID = rawFile->staID();
82 _rawOutput = false;
83 _ntripVersion = "N";
84
85 initialize();
86}
87
88// Constructor 2
89////////////////////////////////////////////////////////////////////////////
90bncGetThread::bncGetThread(const QUrl& mountPoint,
91 const QByteArray& format,
92 const QByteArray& latitude,
93 const QByteArray& longitude,
94 const QByteArray& nmea,
95 const QByteArray& ntripVersion) {
96 _rawFile = 0;
97 _mountPoint = mountPoint;
98 _staID = mountPoint.path().mid(1).toAscii();
99 _format = format;
100 _latitude = latitude;
101 _longitude = longitude;
102 _nmea = nmea;
103 _ntripVersion = ntripVersion;
104
105 bncSettings settings;
106 if (!settings.value("rawOutFile").toString().isEmpty()) {
107 _rawOutput = true;
108 }
109
110 initialize();
111}
112
113// Initialization (common part of the constructor)
114////////////////////////////////////////////////////////////////////////////
115void bncGetThread::initialize() {
116
117 setTerminationEnabled(true);
118
119 bncApp* app = (bncApp*) qApp;
120
121 connect(this, SIGNAL(newMessage(QByteArray,bool)),
122 app, SLOT(slotMessage(const QByteArray,bool)));
123
124 _isToBeDeleted = false;
125 _decoder = 0;
126 _query = 0;
127 _nextSleep = 0;
128 _PPPclient = 0;
129
130 bncSettings settings;
131
132 _miscMount = settings.value("miscMount").toString();
133
134 // RINEX writer
135 // ------------
136 _samplingRate = settings.value("rnxSampl").toInt();
137 if ( settings.value("rnxPath").toString().isEmpty() ) {
138 _rnx = 0;
139 }
140 else {
141 _rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
142 _longitude, _nmea, _ntripVersion);
143 }
144
145 // Serial Port
146 // -----------
147 _serialNMEA = NO_NMEA;
148 _serialOutFile = 0;
149 _serialPort = 0;
150
151 if (settings.value("serialMountPoint").toString() == _staID) {
152 _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
153 _serialPort->setTimeout(0,100);
154
155 // Baud Rate
156 // ---------
157 QString hlp = settings.value("serialBaudRate").toString();
158 if (hlp == "110") {
159 _serialPort->setBaudRate(BAUD110);
160 }
161 else if (hlp == "300") {
162 _serialPort->setBaudRate(BAUD300);
163 }
164 else if (hlp == "600") {
165 _serialPort->setBaudRate(BAUD600);
166 }
167 else if (hlp == "1200") {
168 _serialPort->setBaudRate(BAUD1200);
169 }
170 else if (hlp == "2400") {
171 _serialPort->setBaudRate(BAUD2400);
172 }
173 else if (hlp == "4800") {
174 _serialPort->setBaudRate(BAUD4800);
175 }
176 else if (hlp == "9600") {
177 _serialPort->setBaudRate(BAUD9600);
178 }
179 else if (hlp == "19200") {
180 _serialPort->setBaudRate(BAUD19200);
181 }
182 else if (hlp == "38400") {
183 _serialPort->setBaudRate(BAUD38400);
184 }
185 else if (hlp == "57600") {
186 _serialPort->setBaudRate(BAUD57600);
187 }
188 else if (hlp == "115200") {
189 _serialPort->setBaudRate(BAUD115200);
190 }
191
192 // Parity
193 // ------
194 hlp = settings.value("serialParity").toString();
195 if (hlp == "NONE") {
196 _serialPort->setParity(PAR_NONE);
197 }
198 else if (hlp == "ODD") {
199 _serialPort->setParity(PAR_ODD);
200 }
201 else if (hlp == "EVEN") {
202 _serialPort->setParity(PAR_EVEN);
203 }
204 else if (hlp == "SPACE") {
205 _serialPort->setParity(PAR_SPACE);
206 }
207
208 // Data Bits
209 // ---------
210 hlp = settings.value("serialDataBits").toString();
211 if (hlp == "5") {
212 _serialPort->setDataBits(DATA_5);
213 }
214 else if (hlp == "6") {
215 _serialPort->setDataBits(DATA_6);
216 }
217 else if (hlp == "7") {
218 _serialPort->setDataBits(DATA_7);
219 }
220 else if (hlp == "8") {
221 _serialPort->setDataBits(DATA_8);
222 }
223 hlp = settings.value("serialStopBits").toString();
224 if (hlp == "1") {
225 _serialPort->setStopBits(STOP_1);
226 }
227 else if (hlp == "2") {
228 _serialPort->setStopBits(STOP_2);
229 }
230
231 // Flow Control
232 // ------------
233 hlp = settings.value("serialFlowControl").toString();
234 if (hlp == "XONXOFF") {
235 _serialPort->setFlowControl(FLOW_XONXOFF);
236 }
237 else if (hlp == "HARDWARE") {
238 _serialPort->setFlowControl(FLOW_HARDWARE);
239 }
240 else {
241 _serialPort->setFlowControl(FLOW_OFF);
242 }
243
244 // Open Serial Port
245 // ----------------
246 _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
247 if (!_serialPort->isOpen()) {
248 delete _serialPort;
249 _serialPort = 0;
250 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
251 }
252 connect(_serialPort, SIGNAL(readyRead()),
253 this, SLOT(slotSerialReadyRead()));
254
255 // Automatic NMEA
256 // --------------
257 if (settings.value("serialAutoNMEA").toString() == "Auto") {
258 _serialNMEA = AUTO_NMEA;
259
260 QString fName = settings.value("serialFileNMEA").toString();
261 if (!fName.isEmpty()) {
262 _serialOutFile = new QFile(fName);
263 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
264 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
265 }
266 else {
267 _serialOutFile->open(QIODevice::WriteOnly);
268 }
269 }
270 }
271
272 // Manual NMEA
273 // -----------
274 else {
275 _serialNMEA = MANUAL_NMEA;
276 }
277 }
278
279 // Initialize PPP Client?
280 // ----------------------
281#ifndef MLS_SOFTWARE
282 if (settings.value("pppMount").toString() == _staID) {
283 _PPPclient = new bncPPPclient(_staID);
284 app->_bncPPPclient = _PPPclient;
285 qRegisterMetaType<bncTime>("bncTime");
286 connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
287 this, SIGNAL(newPosition(bncTime, double, double, double)));
288 connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
289 this, SIGNAL(newNMEAstr(QByteArray)));
290 }
291#endif
292
293 // Instantiate the decoder
294 // -----------------------
295 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
296 _format.indexOf("RTCM 2") != -1 ) {
297 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
298 _decoder = new RTCM2Decoder(_staID.data());
299 }
300 else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
301 _format.indexOf("RTCM 3") != -1 ) {
302 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
303 _decoder = new RTCM3Decoder(_staID, _rawFile);
304 connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
305 this, SIGNAL(newMessage(QByteArray,bool)));
306 }
307 else if (_format.indexOf("RTIGS") != -1) {
308 emit(newMessage(_staID + ": Get data in RTIGS format", true));
309 _decoder = new RTIGSDecoder();
310 }
311 else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
312 emit(newMessage(_staID + ": Get Data in GPSS format", true));
313 _decoder = new gpssDecoder();
314 }
315 else if (_format.indexOf("ZERO") != -1) {
316 emit(newMessage(_staID + ": Get data in original format", true));
317 _decoder = new bncZeroDecoder(_staID);
318 }
319 else if (_format.indexOf("RTNET") != -1) {
320 emit(newMessage(_staID + ": Get data in RTNet format", true));
321 _decoder = new bncRtnetDecoder();
322 }
323 else {
324 emit(newMessage(_staID + ": Unknown data format " + _format, true));
325 _isToBeDeleted = true;
326 }
327
328 _latencyChecker = new latencyChecker(_staID);
329
330 msleep(100); //sleep 0.1 sec
331}
332
333// Destructor
334////////////////////////////////////////////////////////////////////////////
335bncGetThread::~bncGetThread() {
336 if (isRunning()) {
337 wait();
338 }
339 if (_query) {
340 _query->stop();
341 _query->deleteLater();
342 }
343 delete _PPPclient;
344 delete _decoder;
345 delete _rnx;
346 delete _rawFile;
347 delete _serialOutFile;
348 delete _serialPort;
349 delete _latencyChecker;
350 emit getThreadFinished(_staID);
351}
352
353//
354////////////////////////////////////////////////////////////////////////////
355void bncGetThread::terminate() {
356 _isToBeDeleted = true;
357 if (!isRunning()) {
358 delete this;
359 }
360}
361
362// Run
363////////////////////////////////////////////////////////////////////////////
364void bncGetThread::run() {
365
366 while (true) {
367 try {
368 if (_isToBeDeleted) {
369 QThread::exit(0);
370 this->deleteLater();
371 return;
372 }
373
374 if (tryReconnect() != success) {
375 _latencyChecker->checkReconnect();
376 continue;
377 }
378
379 // Delete old observations
380 // -----------------------
381 _decoder->_obsList.clear();
382
383 // Read Data
384 // ---------
385 QByteArray data;
386 if (_query) {
387 _query->waitForReadyRead(data);
388 }
389 else if (_rawFile) {
390 data = _rawFile->readChunk();
391
392 if (data.isEmpty()) {
393 cout << "no more data" << endl;
394 QThread::exit(0);
395 this->deleteLater();
396 return;
397 }
398 }
399 qint64 nBytes = data.size();
400
401 // Timeout, reconnect
402 // ------------------
403 if (nBytes == 0) {
404 _latencyChecker->checkReconnect();
405 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
406 msleep(10000); //sleep 10 sec, G. Weber
407 continue;
408 }
409 else {
410 emit newBytes(_staID, nBytes);
411 }
412
413 // Output Data
414 // -----------
415 if (_rawOutput) {
416 bncApp* app = (bncApp*) qApp;
417 app->writeRawData(data, _staID, _format);
418 }
419
420 if (_serialPort) {
421 slotSerialReadyRead();
422 _serialPort->write(data);
423 }
424
425 // Decode Data
426 // -----------
427 vector<string> errmsg;
428 _decoder->_obsList.clear();
429 t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
430
431 // Perform various scans and checks
432 // --------------------------------
433 _latencyChecker->checkOutage(irc == success);
434 _latencyChecker->checkObsLatency(_decoder->_obsList);
435 _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
436
437 emit newLatency(_staID, _latencyChecker->currentLatency());
438
439 scanRTCM();
440
441 // Loop over all observations (observations output)
442 // ------------------------------------------------
443 QListIterator<t_obs> it(_decoder->_obsList);
444 bool firstObs = true;
445 while (it.hasNext()) {
446 const t_obs& obs = it.next();
447
448 QString prn = QString("%1%2").arg(obs.satSys)
449 .arg(obs.satNum, 2, 10, QChar('0'));
450 long iSec = long(floor(obs.GPSWeeks+0.5));
451 long obsTime = obs.GPSWeek * 7*24*3600 + iSec;
452
453 // Check observation epoch
454 // -----------------------
455 if (!_rawFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
456 int week;
457 double sec;
458 currentGPSWeeks(week, sec);
459 long currTime = week * 7*24*3600 + sec;
460 const double maxDt = 600.0;
461 if (fabs(currTime - obsTime) > maxDt) {
462 emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
463 continue;
464 }
465 }
466
467 // Check observations comming twice (e.g. KOUR0 Problem)
468 // -----------------------------------------------------
469 QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
470 if (it == _prnLastEpo.end()) {
471 _prnLastEpo[prn] = obsTime;
472 }
473 else {
474 long oldTime = it.value();
475 if (obsTime < oldTime) {
476 emit( newMessage(_staID +
477 ": old observation " + prn.toAscii(), false));
478 continue;
479 }
480 else if (obsTime == oldTime) {
481 emit( newMessage(_staID +
482 ": observation comming more than once " + prn.toAscii(), false));
483 continue;
484 }
485 else {
486 _prnLastEpo[prn] = obsTime;
487 }
488 }
489
490 // RINEX Output
491 // ------------
492 if (_rnx) {
493 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
494 _rnx->deepCopy(obs);
495 }
496 _rnx->dumpEpoch(obsTime);
497 }
498
499 // PPP Client
500 // ----------
501#ifndef MLS_SOFTWARE
502 if (_PPPclient) {
503 _PPPclient->putNewObs(obs);
504 }
505#endif
506
507 // Emit new observation signal
508 // ---------------------------
509 if (!_isToBeDeleted) {
510 emit newObs(_staID, firstObs, obs);
511 }
512 firstObs = false;
513 }
514 _decoder->_obsList.clear();
515 }
516 catch (...) {
517 emit(newMessage(_staID + "bncGetThread exception", true));
518 _isToBeDeleted = true;
519 }
520 }
521}
522
523// Try Re-Connect
524////////////////////////////////////////////////////////////////////////////
525t_irc bncGetThread::tryReconnect() {
526
527 // Easy Return
528 // -----------
529 if (_query && _query->status() == bncNetQuery::running) {
530 _nextSleep = 0;
531 if (_rnx) {
532 _rnx->setReconnectFlag(false);
533 }
534 return success;
535 }
536
537 // Start a new query
538 // -----------------
539 if (!_rawFile) {
540
541 sleep(_nextSleep);
542 if (_nextSleep == 0) {
543 _nextSleep = 1;
544 }
545 else {
546 _nextSleep = 2 * _nextSleep;
547 if (_nextSleep > 256) {
548 _nextSleep = 256;
549 }
550#ifdef MLS_SOFTWARE
551 if (_nextSleep > 4) {
552 _nextSleep = 4;
553 }
554#endif
555 }
556
557 delete _query;
558 if (_ntripVersion == "U") {
559 _query = new bncNetQueryUdp();
560 }
561 else if (_ntripVersion == "R") {
562 _query = new bncNetQueryRtp();
563 }
564 else if (_ntripVersion == "S") {
565 _query = new bncNetQueryS();
566 }
567 else if (_ntripVersion == "N") {
568 _query = new bncNetQueryV0();
569 }
570 else if (_ntripVersion == "UN") {
571 _query = new bncNetQueryUdp0();
572 }
573 else if (_ntripVersion == "2") {
574 _query = new bncNetQueryV2();
575 }
576 else {
577 _query = new bncNetQueryV1();
578 }
579 if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
580 QByteArray gga = ggaString(_latitude, _longitude, "100.0");
581 _query->startRequest(_mountPoint, gga);
582 }
583 else {
584 _query->startRequest(_mountPoint, "");
585 }
586 if (_query->status() != bncNetQuery::running) {
587 return failure;
588 }
589 }
590
591 if (_rnx) {
592 _rnx->setReconnectFlag(true);
593 }
594
595 return success;
596}
597
598// RTCM scan output
599//////////////////////////////////////////////////////////////////////////////
600void bncGetThread::scanRTCM() {
601
602 bncSettings settings;
603 if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
604
605 if ( _miscMount == _staID || _miscMount == "ALL" ) {
606
607 // RTCM message types
608 // ------------------
609 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
610 QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
611 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
612 }
613
614 // RTCMv3 antenna descriptor
615 // -------------------------
616 for (int ii=0;ii<_decoder->_antType.size();ii++) {
617 QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
618 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
619 }
620
621 // RTCM Antenna Coordinates
622 // ------------------------
623 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
624 QByteArray antT;
625 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
626 antT = "ARP";
627 }
628 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
629 antT = "APC";
630 }
631 QByteArray ant1, ant2, ant3;
632 ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
633 ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
634 ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
635 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
636 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
637 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
638 if (_decoder->_antList[ii].height_f) {
639 QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
640 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
641 }
642 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
643 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
644 antT));
645 }
646 }
647 }
648
649#ifdef MLS_SOFTWARE
650 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
651 QByteArray antT;
652 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
653 antT = "ARP";
654 }
655 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
656 antT = "APC";
657 }
658 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
659 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
660 antT));
661 }
662
663 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
664 emit(newRTCMMessage(_staID, _decoder->_typeList[ii]));
665 }
666#endif
667
668
669
670
671 _decoder->_typeList.clear();
672 _decoder->_antType.clear();
673 _decoder->_antList.clear();
674}
675
676// Handle Data from Serial Port
677////////////////////////////////////////////////////////////////////////////
678void bncGetThread::slotSerialReadyRead() {
679 if (_serialPort) {
680 int nb = _serialPort->bytesAvailable();
681 if (nb > 0) {
682 QByteArray data = _serialPort->read(nb);
683
684 if (_serialNMEA == AUTO_NMEA) {
685 int i1 = data.indexOf("$GPGGA");
686 if (i1 != -1) {
687 int i2 = data.indexOf("*", i1);
688 if (i2 != -1 && data.size() > i2 + 1) {
689 QByteArray gga = data.mid(i1,i2-i1+3);
690 _query->sendNMEA(gga);
691 }
692 }
693 }
694
695 if (_serialOutFile) {
696 _serialOutFile->write(data);
697 _serialOutFile->flush();
698 }
699 }
700 }
701}
702
703//
704//////////////////////////////////////////////////////////////////////////////
705void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
706 RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
707 RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
708
709 if ( decoder2 ) {
710 QMutexLocker locker(&_mutex);
711
712 string storedPRN;
713 vector<int> IODs;
714
715 if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
716#ifdef DEBUG_RTCM2_2021
717 QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
718
719 for (unsigned ii = 0; ii < IODs.size(); ii++) {
720 msg += QString(" %1").arg(IODs[ii],4);
721 }
722
723 emit(newMessage(msg.toAscii()));
724#endif
725 }
726 }
727
728 if ( decoder3 ) {
729 QMutexLocker locker(&_mutex);
730
731 if ( decoder3->storeEph(gpseph) ) {
732#ifdef DEBUG_RTCM3
733 QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
734 emit(newMessage(msg.toAscii(),true));
735#endif
736 }
737 }
738}
739
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