libavdevice/v4l2.c

   1 /*
   2  * Video4Linux2 grab interface
   3  * Copyright (c) 2000,2001 Fabrice Bellard
   4  * Copyright (c) 2006 Luca Abeni
   5  *
   6  * Part of this file is based on the V4L2 video capture example
   7  * (http://v4l2spec.bytesex.org/v4l2spec/capture.c)
   8  *
   9  * Thanks to Michael Niedermayer for providing the mapping between
  10  * V4L2_PIX_FMT_* and PIX_FMT_*
  11  *
  12  *
  13  * This file is part of FFmpeg.
  14  *
  15  * FFmpeg is free software; you can redistribute it and/or
  16  * modify it under the terms of the GNU Lesser General Public
  17  * License as published by the Free Software Foundation; either
  18  * version 2.1 of the License, or (at your option) any later version.
  19  *
  20  * FFmpeg is distributed in the hope that it will be useful,
  21  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  22  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  23  * Lesser General Public License for more details.
  24  *
  25  * You should have received a copy of the GNU Lesser General Public
  26  * License along with FFmpeg; if not, write to the Free Software
  27  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
  28  */
  29
  30 #undef __STRICT_ANSI__ //workaround due to broken kernel headers
  31 #include "config.h"
  32 #include "libavformat/avformat.h"
  33 #include <unistd.h>
  34 #include <fcntl.h>
  35 #include <sys/ioctl.h>
  36 #include <sys/mman.h>
  37 #include <sys/time.h>
  38 #if HAVE_SYS_VIDEOIO_H
  39 #include <sys/videoio.h>
  40 #else
  41 #include <asm/types.h>
  42 #include <linux/videodev2.h>
  43 #endif
  44 #include <time.h>
  45 #include <strings.h>
  46
  47 static const int desired_video_buffers = 256;
  48
  49 enum io_method {
  50     io_read,
  51     io_mmap,
  52     io_userptr
  53 };
  54
  55 struct video_data {
  56     int fd;
  57     int frame_format; /* V4L2_PIX_FMT_* */
  58     enum io_method io_method;
  59     int width, height;
  60     int frame_size;
  61     int top_field_first;
  62
  63     int buffers;
  64     void **buf_start;
  65     unsigned int *buf_len;
  66 };
  67
  68 struct buff_data {
  69     int index;
  70     int fd;
  71 };
  72
  73 struct fmt_map {
  74     enum PixelFormat ff_fmt;
  75     int32_t v4l2_fmt;
  76 };
  77
  78 static struct fmt_map fmt_conversion_table[] = {
  79     {
  80         .ff_fmt = PIX_FMT_YUV420P,
  81         .v4l2_fmt = V4L2_PIX_FMT_YUV420,
  82     },
  83     {
  84         .ff_fmt = PIX_FMT_YUV422P,
  85         .v4l2_fmt = V4L2_PIX_FMT_YUV422P,
  86     },
  87     {
  88         .ff_fmt = PIX_FMT_YUYV422,
  89         .v4l2_fmt = V4L2_PIX_FMT_YUYV,
  90     },
  91     {
  92         .ff_fmt = PIX_FMT_UYVY422,
  93         .v4l2_fmt = V4L2_PIX_FMT_UYVY,
  94     },
  95     {
  96         .ff_fmt = PIX_FMT_YUV411P,
  97         .v4l2_fmt = V4L2_PIX_FMT_YUV411P,
  98     },
  99     {
 100         .ff_fmt = PIX_FMT_YUV410P,
 101         .v4l2_fmt = V4L2_PIX_FMT_YUV410,
 102     },
 103     {
 104         .ff_fmt = PIX_FMT_RGB555,
 105         .v4l2_fmt = V4L2_PIX_FMT_RGB555,
 106     },
 107     {
 108         .ff_fmt = PIX_FMT_RGB565,
 109         .v4l2_fmt = V4L2_PIX_FMT_RGB565,
 110     },
 111     {
 112         .ff_fmt = PIX_FMT_BGR24,
 113         .v4l2_fmt = V4L2_PIX_FMT_BGR24,
 114     },
 115     {
 116         .ff_fmt = PIX_FMT_RGB24,
 117         .v4l2_fmt = V4L2_PIX_FMT_RGB24,
 118     },
 119     {
 120         .ff_fmt = PIX_FMT_BGRA,
 121         .v4l2_fmt = V4L2_PIX_FMT_BGR32,
 122     },
 123     {
 124         .ff_fmt = PIX_FMT_GRAY8,
 125         .v4l2_fmt = V4L2_PIX_FMT_GREY,
 126     },
 127 };
 128
 129 static int device_open(AVFormatContext *ctx, uint32_t *capabilities)
 130 {
 131     struct v4l2_capability cap;
 132     int fd;
 133     int res;
 134     int flags = O_RDWR;
 135
 136     if (ctx->flags & AVFMT_FLAG_NONBLOCK) {
 137         flags |= O_NONBLOCK;
 138     }
 139     fd = open(ctx->filename, flags, 0);
 140     if (fd < 0) {
 141         av_log(ctx, AV_LOG_ERROR, "Cannot open video device %s : %s\n",
 142                  ctx->filename, strerror(errno));
 143
 144         return -1;
 145     }
 146
 147     res = ioctl(fd, VIDIOC_QUERYCAP, &cap);
 148     // ENOIOCTLCMD definition only availble on __KERNEL__
 149     if (res < 0 && errno == 515)
 150     {
 151         av_log(ctx, AV_LOG_ERROR, "QUERYCAP not implemented, probably V4L device but not supporting V4L2\n");
 152         close(fd);
 153
 154         return -1;
 155     }
 156     if (res < 0) {
 157         av_log(ctx, AV_LOG_ERROR, "ioctl(VIDIOC_QUERYCAP): %s\n",
 158                  strerror(errno));
 159         close(fd);
 160
 161         return -1;
 162     }
 163     if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
 164         av_log(ctx, AV_LOG_ERROR, "Not a video capture device\n");
 165         close(fd);
 166
 167         return -1;
 168     }
 169     *capabilities = cap.capabilities;
 170
 171     return fd;
 172 }
 173
 174 static int device_init(AVFormatContext *ctx, int *width, int *height, int pix_fmt)
 175 {
 176     struct video_data *s = ctx->priv_data;
 177     int fd = s->fd;
 178     struct v4l2_format fmt;
 179     int res;
 180
 181     memset(&fmt, 0, sizeof(struct v4l2_format));
 182     fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 183     fmt.fmt.pix.width = *width;
 184     fmt.fmt.pix.height = *height;
 185     fmt.fmt.pix.pixelformat = pix_fmt;
 186     fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
 187     res = ioctl(fd, VIDIOC_S_FMT, &fmt);
 188     if ((*width != fmt.fmt.pix.width) || (*height != fmt.fmt.pix.height)) {
 189         av_log(ctx, AV_LOG_INFO, "The V4L2 driver changed the video from %dx%d to %dx%d\n", *width, *height, fmt.fmt.pix.width, fmt.fmt.pix.height);
 190         *width = fmt.fmt.pix.width;
 191         *height = fmt.fmt.pix.height;
 192     }
 193
 194     if (pix_fmt != fmt.fmt.pix.pixelformat) {
 195         av_log(ctx, AV_LOG_DEBUG, "The V4L2 driver changed the pixel format from 0x%08X to 0x%08X\n", pix_fmt, fmt.fmt.pix.pixelformat);
 196         res = -1;
 197     }
 198
 199     return res;
 200 }
 201
 202 static int first_field(int fd)
 203 {
 204     int res;
 205     v4l2_std_id std;
 206
 207     res = ioctl(fd, VIDIOC_G_STD, &std);
 208     if (res < 0) {
 209         return 0;
 210     }
 211     if (std & V4L2_STD_NTSC) {
 212         return 0;
 213     }
 214
 215     return 1;
 216 }
 217
 218 static uint32_t fmt_ff2v4l(enum PixelFormat pix_fmt)
 219 {
 220     int i;
 221
 222     for (i = 0; i < FF_ARRAY_ELEMS(fmt_conversion_table); i++) {
 223         if (fmt_conversion_table[i].ff_fmt == pix_fmt) {
 224             return fmt_conversion_table[i].v4l2_fmt;
 225         }
 226     }
 227
 228     return 0;
 229 }
 230
 231 static enum PixelFormat fmt_v4l2ff(uint32_t pix_fmt)
 232 {
 233     int i;
 234
 235     for (i = 0; i < FF_ARRAY_ELEMS(fmt_conversion_table); i++) {
 236         if (fmt_conversion_table[i].v4l2_fmt == pix_fmt) {
 237             return fmt_conversion_table[i].ff_fmt;
 238         }
 239     }
 240
 241     return PIX_FMT_NONE;
 242 }
 243
 244 static int mmap_init(AVFormatContext *ctx)
 245 {
 246     struct video_data *s = ctx->priv_data;
 247     struct v4l2_requestbuffers req;
 248     int i, res;
 249
 250     memset(&req, 0, sizeof(struct v4l2_requestbuffers));
 251     req.count = desired_video_buffers;
 252     req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 253     req.memory = V4L2_MEMORY_MMAP;
 254     res = ioctl (s->fd, VIDIOC_REQBUFS, &req);
 255     if (res < 0) {
 256         if (errno == EINVAL) {
 257             av_log(ctx, AV_LOG_ERROR, "Device does not support mmap\n");
 258         } else {
 259             av_log(ctx, AV_LOG_ERROR, "ioctl(VIDIOC_REQBUFS)\n");
 260         }
 261
 262         return -1;
 263     }
 264
 265     if (req.count < 2) {
 266         av_log(ctx, AV_LOG_ERROR, "Insufficient buffer memory\n");
 267
 268         return -1;
 269     }
 270     s->buffers = req.count;
 271     s->buf_start = av_malloc(sizeof(void *) * s->buffers);
 272     if (s->buf_start == NULL) {
 273         av_log(ctx, AV_LOG_ERROR, "Cannot allocate buffer pointers\n");
 274
 275         return -1;
 276     }
 277     s->buf_len = av_malloc(sizeof(unsigned int) * s->buffers);
 278     if (s->buf_len == NULL) {
 279         av_log(ctx, AV_LOG_ERROR, "Cannot allocate buffer sizes\n");
 280         av_free(s->buf_start);
 281
 282         return -1;
 283     }
 284
 285     for (i = 0; i < req.count; i++) {
 286         struct v4l2_buffer buf;
 287
 288         memset(&buf, 0, sizeof(struct v4l2_buffer));
 289         buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 290         buf.memory = V4L2_MEMORY_MMAP;
 291         buf.index = i;
 292         res = ioctl (s->fd, VIDIOC_QUERYBUF, &buf);
 293         if (res < 0) {
 294             av_log(ctx, AV_LOG_ERROR, "ioctl(VIDIOC_QUERYBUF)\n");
 295
 296             return -1;
 297         }
 298
 299         s->buf_len[i] = buf.length;
 300         if (s->buf_len[i] < s->frame_size) {
 301             av_log(ctx, AV_LOG_ERROR, "Buffer len [%d] = %d != %d\n", i, s->buf_len[i], s->frame_size);
 302
 303             return -1;
 304         }
 305         s->buf_start[i] = mmap (NULL, buf.length,
 306                         PROT_READ | PROT_WRITE, MAP_SHARED, s->fd, buf.m.offset);
 307         if (s->buf_start[i] == MAP_FAILED) {
 308             av_log(ctx, AV_LOG_ERROR, "mmap: %s\n", strerror(errno));
 309
 310             return -1;
 311         }
 312     }
 313
 314     return 0;
 315 }
 316
 317 static int read_init(AVFormatContext *ctx)
 318 {
 319     return -1;
 320 }
 321
 322 static void mmap_release_buffer(AVPacket *pkt)
 323 {
 324     struct v4l2_buffer buf;
 325     int res, fd;
 326     struct buff_data *buf_descriptor = pkt->priv;
 327
 328     if (pkt->data == NULL) {
 329          return;
 330     }
 331
 332     memset(&buf, 0, sizeof(struct v4l2_buffer));
 333     buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 334     buf.memory = V4L2_MEMORY_MMAP;
 335     buf.index = buf_descriptor->index;
 336     fd = buf_descriptor->fd;
 337     av_free(buf_descriptor);
 338
 339     res = ioctl (fd, VIDIOC_QBUF, &buf);
 340     if (res < 0) {
 341         av_log(NULL, AV_LOG_ERROR, "ioctl(VIDIOC_QBUF)\n");
 342     }
 343     pkt->data = NULL;
 344     pkt->size = 0;
 345 }
 346
 347 static int mmap_read_frame(AVFormatContext *ctx, AVPacket *pkt)
 348 {
 349     struct video_data *s = ctx->priv_data;
 350     struct v4l2_buffer buf;
 351     struct buff_data *buf_descriptor;
 352     int res;
 353
 354     memset(&buf, 0, sizeof(struct v4l2_buffer));
 355     buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 356     buf.memory = V4L2_MEMORY_MMAP;
 357
 358     /* FIXME: Some special treatment might be needed in case of loss of signal... */
 359     while ((res = ioctl(s->fd, VIDIOC_DQBUF, &buf)) < 0 && (errno == EINTR));
 360     if (res < 0) {
 361         if (errno == EAGAIN) {
 362             pkt->size = 0;
 363
 364             return AVERROR(EAGAIN);
 365         }
 366         av_log(ctx, AV_LOG_ERROR, "ioctl(VIDIOC_DQBUF): %s\n", strerror(errno));
 367
 368         return -1;
 369     }
 370     assert (buf.index < s->buffers);
 371     if (buf.bytesused != s->frame_size) {
 372         av_log(ctx, AV_LOG_ERROR, "The v4l2 frame is %d bytes, but %d bytes are expected\n", buf.bytesused, s->frame_size);
 373
 374         return -1;
 375     }
 376
 377     /* Image is at s->buff_start[buf.index] */
 378     pkt->data= s->buf_start[buf.index];
 379     pkt->size = buf.bytesused;
 380     pkt->pts = buf.timestamp.tv_sec * INT64_C(1000000) + buf.timestamp.tv_usec;
 381     pkt->destruct = mmap_release_buffer;
 382     buf_descriptor = av_malloc(sizeof(struct buff_data));
 383     if (buf_descriptor == NULL) {
 384         /* Something went wrong... Since av_malloc() failed, we cannot even
 385          * allocate a buffer for memcopying into it
 386          */
 387         av_log(ctx, AV_LOG_ERROR, "Failed to allocate a buffer descriptor\n");
 388         res = ioctl (s->fd, VIDIOC_QBUF, &buf);
 389
 390         return -1;
 391     }
 392     buf_descriptor->fd = s->fd;
 393     buf_descriptor->index = buf.index;
 394     pkt->priv = buf_descriptor;
 395
 396     return s->buf_len[buf.index];
 397 }
 398
 399 static int read_frame(AVFormatContext *ctx, AVPacket *pkt)
 400 {
 401     return -1;
 402 }
 403
 404 static int mmap_start(AVFormatContext *ctx)
 405 {
 406     struct video_data *s = ctx->priv_data;
 407     enum v4l2_buf_type type;
 408     int i, res;
 409
 410     for (i = 0; i < s->buffers; i++) {
 411         struct v4l2_buffer buf;
 412
 413         memset(&buf, 0, sizeof(struct v4l2_buffer));
 414         buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 415         buf.memory = V4L2_MEMORY_MMAP;
 416         buf.index  = i;
 417
 418         res = ioctl (s->fd, VIDIOC_QBUF, &buf);
 419         if (res < 0) {
 420             av_log(ctx, AV_LOG_ERROR, "ioctl(VIDIOC_QBUF): %s\n", strerror(errno));
 421
 422             return -1;
 423         }
 424     }
 425
 426     type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 427     res = ioctl (s->fd, VIDIOC_STREAMON, &type);
 428     if (res < 0) {
 429         av_log(ctx, AV_LOG_ERROR, "ioctl(VIDIOC_STREAMON): %s\n", strerror(errno));
 430
 431         return -1;
 432     }
 433
 434     return 0;
 435 }
 436
 437 static void mmap_close(struct video_data *s)
 438 {
 439     enum v4l2_buf_type type;
 440     int i;
 441
 442     type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 443     /* We do not check for the result, because we could
 444      * not do anything about it anyway...
 445      */
 446     ioctl(s->fd, VIDIOC_STREAMOFF, &type);
 447     for (i = 0; i < s->buffers; i++) {
 448         munmap(s->buf_start[i], s->buf_len[i]);
 449     }
 450     av_free(s->buf_start);
 451     av_free(s->buf_len);
 452 }
 453
 454 static int v4l2_set_parameters( AVFormatContext *s1, AVFormatParameters *ap )
 455 {
 456     struct video_data *s = s1->priv_data;
 457     struct v4l2_input input;
 458     struct v4l2_standard standard;
 459     int i;
 460
 461     if(ap->channel>=0) {
 462         /* set tv video input */
 463         memset (&input, 0, sizeof (input));
 464         input.index = ap->channel;
 465         if(ioctl (s->fd, VIDIOC_ENUMINPUT, &input) < 0) {
 466             av_log(s1, AV_LOG_ERROR, "The V4L2 driver ioctl enum input failed:\n");
 467             return AVERROR(EIO);
 468         }
 469
 470         av_log(s1, AV_LOG_DEBUG, "The V4L2 driver set input_id: %d, input: %s\n",
 471                ap->channel, input.name);
 472         if(ioctl (s->fd, VIDIOC_S_INPUT, &input.index) < 0 ) {
 473             av_log(s1, AV_LOG_ERROR, "The V4L2 driver ioctl set input(%d) failed\n",
 474                    ap->channel);
 475             return AVERROR(EIO);
 476         }
 477     }
 478
 479     if(ap->standard) {
 480         av_log(s1, AV_LOG_DEBUG, "The V4L2 driver set standard: %s\n",
 481                ap->standard );
 482         /* set tv standard */
 483         memset (&standard, 0, sizeof (standard));
 484         for(i=0;;i++) {
 485             standard.index = i;
 486             if (ioctl(s->fd, VIDIOC_ENUMSTD, &standard) < 0) {
 487                 av_log(s1, AV_LOG_ERROR, "The V4L2 driver ioctl set standard(%s) failed\n",
 488                        ap->standard);
 489                 return AVERROR(EIO);
 490             }
 491
 492             if(!strcasecmp(standard.name, ap->standard)) {
 493                 break;
 494             }
 495         }
 496
 497         av_log(s1, AV_LOG_DEBUG, "The V4L2 driver set standard: %s, id: %"PRIu64"\n",
 498                ap->standard, (uint64_t)standard.id);
 499         if (ioctl(s->fd, VIDIOC_S_STD, &standard.id) < 0) {
 500             av_log(s1, AV_LOG_ERROR, "The V4L2 driver ioctl set standard(%s) failed\n",
 501                    ap->standard);
 502             return AVERROR(EIO);
 503         }
 504     }
 505
 506     return 0;
 507 }
 508
 509 static int v4l2_read_header(AVFormatContext *s1, AVFormatParameters *ap)
 510 {
 511     struct video_data *s = s1->priv_data;
 512     AVStream *st;
 513     int width, height;
 514     int res;
 515     uint32_t desired_format, capabilities;
 516
 517     if (ap->width <= 0 || ap->height <= 0) {
 518         av_log(s1, AV_LOG_ERROR, "Wrong size (%dx%d)\n", ap->width, ap->height);
 519         return -1;
 520     }
 521
 522     width = ap->width;
 523     height = ap->height;
 524
 525     if(avcodec_check_dimensions(s1, ap->width, ap->height) < 0)
 526         return -1;
 527
 528     st = av_new_stream(s1, 0);
 529     if (!st) {
 530         return AVERROR(ENOMEM);
 531     }
 532     av_set_pts_info(st, 64, 1, 1000000); /* 64 bits pts in us */
 533
 534     s->width = width;
 535     s->height = height;
 536
 537     capabilities = 0;
 538     s->fd = device_open(s1, &capabilities);
 539     if (s->fd < 0) {
 540         return AVERROR(EIO);
 541     }
 542     av_log(s1, AV_LOG_INFO, "[%d]Capabilities: %x\n", s->fd, capabilities);
 543
 544     desired_format = fmt_ff2v4l(ap->pix_fmt);
 545     if (desired_format == 0 || (device_init(s1, &width, &height, desired_format) < 0)) {
 546         int i, done;
 547
 548         done = 0; i = 0;
 549         while (!done) {
 550             desired_format = fmt_conversion_table[i].v4l2_fmt;
 551             if (device_init(s1, &width, &height, desired_format) < 0) {
 552                 desired_format = 0;
 553                 i++;
 554             } else {
 555                done = 1;
 556             }
 557             if (i == FF_ARRAY_ELEMS(fmt_conversion_table)) {
 558                done = 1;
 559             }
 560         }
 561     }
 562     if (desired_format == 0) {
 563         av_log(s1, AV_LOG_ERROR, "Cannot find a proper format.\n");
 564         close(s->fd);
 565
 566         return AVERROR(EIO);
 567     }
 568     s->frame_format = desired_format;
 569
 570     if( v4l2_set_parameters( s1, ap ) < 0 )
 571         return AVERROR(EIO);
 572
 573     st->codec->pix_fmt = fmt_v4l2ff(desired_format);
 574     s->frame_size = avpicture_get_size(st->codec->pix_fmt, width, height);
 575     if (capabilities & V4L2_CAP_STREAMING) {
 576         s->io_method = io_mmap;
 577         res = mmap_init(s1);
 578         if (res == 0) {
 579             res = mmap_start(s1);
 580         }
 581     } else {
 582         s->io_method = io_read;
 583         res = read_init(s1);
 584     }
 585     if (res < 0) {
 586         close(s->fd);
 587
 588         return AVERROR(EIO);
 589     }
 590     s->top_field_first = first_field(s->fd);
 591
 592     st->codec->codec_type = CODEC_TYPE_VIDEO;
 593     st->codec->codec_id = CODEC_ID_RAWVIDEO;
 594     st->codec->width = width;
 595     st->codec->height = height;
 596     st->codec->time_base.den = ap->time_base.den;
 597     st->codec->time_base.num = ap->time_base.num;
 598     st->codec->bit_rate = s->frame_size * 1/av_q2d(st->codec->time_base) * 8;
 599
 600     return 0;
 601 }
 602
 603 static int v4l2_read_packet(AVFormatContext *s1, AVPacket *pkt)
 604 {
 605     struct video_data *s = s1->priv_data;
 606     int res;
 607
 608     if (s->io_method == io_mmap) {
 609         av_init_packet(pkt);
 610         res = mmap_read_frame(s1, pkt);
 611     } else if (s->io_method == io_read) {
 612         if (av_new_packet(pkt, s->frame_size) < 0)
 613             return AVERROR(EIO);
 614
 615         res = read_frame(s1, pkt);
 616     } else {
 617         return AVERROR(EIO);
 618     }
 619     if (res < 0) {
 620         return res;
 621     }
 622
 623     if (s1->streams[0]->codec->coded_frame) {
 624         s1->streams[0]->codec->coded_frame->interlaced_frame = 1;
 625         s1->streams[0]->codec->coded_frame->top_field_first = s->top_field_first;
 626     }
 627
 628     return s->frame_size;
 629 }
 630
 631 static int v4l2_read_close(AVFormatContext *s1)
 632 {
 633     struct video_data *s = s1->priv_data;
 634
 635     if (s->io_method == io_mmap) {
 636         mmap_close(s);
 637     }
 638
 639     close(s->fd);
 640     return 0;
 641 }
 642
 643 AVInputFormat v4l2_demuxer = {
 644     "video4linux2",
 645     NULL_IF_CONFIG_SMALL("Video4Linux2 device grab"),
 646     sizeof(struct video_data),
 647     NULL,
 648     v4l2_read_header,
 649     v4l2_read_packet,
 650     v4l2_read_close,
 651     .flags = AVFMT_NOFILE,
 652 };