projects/microb2010/cobboard/commands_gen.c

   1 /*
   2  *  Copyright Droids Corporation (2008)
   3  *
   4  *  This program is free software; you can redistribute it and/or modify
   5  *  it under the terms of the GNU General Public License as published by
   6  *  the Free Software Foundation; either version 2 of the License, or
   7  *  (at your option) any later version.
   8  *
   9  *  This program is distributed in the hope that it will be useful,
  10  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  *  GNU General Public License for more details.
  13  *
  14  *  You should have received a copy of the GNU General Public License
  15  *  along with this program; if not, write to the Free Software
  16  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  17  *
  18  *  Revision : $Id: commands_gen.c,v 1.5 2009-11-08 17:25:00 zer0 Exp $
  19  *
  20  *  Olivier MATZ <zer0@droids-corp.org>
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive/pgmspace.h>
  27 #include <aversive/wait.h>
  28 #include <aversive/error.h>
  29
  30 #include <ax12.h>
  31 #include <uart.h>
  32 #include <pwm_ng.h>
  33 #include <clock_time.h>
  34 #include <encoders_spi.h>
  35 #include <adc.h>
  36
  37 #include <scheduler.h>
  38 #include <pid.h>
  39 #include <quadramp.h>
  40 #include <control_system_manager.h>
  41 #include <blocking_detection_manager.h>
  42
  43 #include <rdline.h>
  44 #include <parse.h>
  45 #include <parse_string.h>
  46 #include <parse_num.h>
  47
  48 #include <diagnostic.h>
  49
  50 #include "main.h"
  51 #include "cmdline.h"
  52 #include "sensor.h"
  53
  54 /**********************************************************/
  55 /* Reset */
  56
  57 /* this structure is filled when cmd_reset is parsed successfully */
  58 struct cmd_reset_result {
  59         fixed_string_t arg0;
  60 };
  61
  62 /* function called when cmd_reset is parsed successfully */
  63 static void cmd_reset_parsed(__attribute__((unused)) void *parsed_result,
  64                              __attribute__((unused)) void *data)
  65 {
  66         reset();
  67 }
  68
  69 prog_char str_reset_arg0[] = "reset";
  70 parse_pgm_token_string_t cmd_reset_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_reset_result, arg0, str_reset_arg0);
  71
  72 prog_char help_reset[] = "Reset the board";
  73 parse_pgm_inst_t cmd_reset = {
  74         .f = cmd_reset_parsed,  /* function to call */
  75         .data = NULL,      /* 2nd arg of func */
  76         .help_str = help_reset,
  77         .tokens = {        /* token list, NULL terminated */
  78                 (prog_void *)&cmd_reset_arg0,
  79                 NULL,
  80         },
  81 };
  82
  83 /**********************************************************/
  84 /* Bootloader */
  85
  86 /* this structure is filled when cmd_bootloader is parsed successfully */
  87 struct cmd_bootloader_result {
  88         fixed_string_t arg0;
  89 };
  90
  91 /* function called when cmd_bootloader is parsed successfully */
  92 static void cmd_bootloader_parsed(__attribute__((unused)) void *parsed_result,
  93                                   __attribute__((unused)) void *data)
  94 {
  95         bootloader();
  96 }
  97
  98 prog_char str_bootloader_arg0[] = "bootloader";
  99 parse_pgm_token_string_t cmd_bootloader_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_bootloader_result, arg0, str_bootloader_arg0);
 100
 101 prog_char help_bootloader[] = "Launch the bootloader";
 102 parse_pgm_inst_t cmd_bootloader = {
 103         .f = cmd_bootloader_parsed,  /* function to call */
 104         .data = NULL,      /* 2nd arg of func */
 105         .help_str = help_bootloader,
 106         .tokens = {        /* token list, NULL terminated */
 107                 (prog_void *)&cmd_bootloader_arg0,
 108                 NULL,
 109         },
 110 };
 111
 112 /**********************************************************/
 113 /* Encoders tests */
 114
 115 /* this structure is filled when cmd_encoders is parsed successfully */
 116 struct cmd_encoders_result {
 117         fixed_string_t arg0;
 118         fixed_string_t arg1;
 119 };
 120
 121 /* function called when cmd_encoders is parsed successfully */
 122 static void cmd_encoders_parsed(void *parsed_result, __attribute__((unused)) void *data)
 123 {
 124         struct cmd_encoders_result *res = parsed_result;
 125
 126         if (!strcmp_P(res->arg1, PSTR("reset"))) {
 127                 encoders_spi_set_value((void *)0, 0);
 128                 encoders_spi_set_value((void *)1, 0);
 129                 encoders_spi_set_value((void *)2, 0);
 130                 encoders_spi_set_value((void *)3, 0);
 131                 return;
 132         }
 133
 134         /* show */
 135         while(!cmdline_keypressed()) {
 136                 printf_P(PSTR("% .8ld % .8ld % .8ld % .8ld\r\n"),
 137                          encoders_spi_get_value((void *)0),
 138                          encoders_spi_get_value((void *)1),
 139                          encoders_spi_get_value((void *)2),
 140                          encoders_spi_get_value((void *)3));
 141                 wait_ms(100);
 142         }
 143 }
 144
 145 prog_char str_encoders_arg0[] = "encoders";
 146 parse_pgm_token_string_t cmd_encoders_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_encoders_result, arg0, str_encoders_arg0);
 147 prog_char str_encoders_arg1[] = "show#reset";
 148 parse_pgm_token_string_t cmd_encoders_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_encoders_result, arg1, str_encoders_arg1);
 149
 150 prog_char help_encoders[] = "Show encoders values";
 151 parse_pgm_inst_t cmd_encoders = {
 152         .f = cmd_encoders_parsed,  /* function to call */
 153         .data = NULL,      /* 2nd arg of func */
 154         .help_str = help_encoders,
 155         .tokens = {        /* token list, NULL terminated */
 156                 (prog_void *)&cmd_encoders_arg0,
 157                 (prog_void *)&cmd_encoders_arg1,
 158                 NULL,
 159         },
 160 };
 161
 162 /**********************************************************/
 163 /* Scheduler show */
 164
 165 /* this structure is filled when cmd_scheduler is parsed successfully */
 166 struct cmd_scheduler_result {
 167         fixed_string_t arg0;
 168         fixed_string_t arg1;
 169 };
 170
 171 /* function called when cmd_scheduler is parsed successfully */
 172 static void cmd_scheduler_parsed( __attribute__((unused)) void *parsed_result,
 173                                   __attribute__((unused)) void *data)
 174 {
 175         scheduler_dump_events();
 176 }
 177
 178 prog_char str_scheduler_arg0[] = "scheduler";
 179 parse_pgm_token_string_t cmd_scheduler_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_scheduler_result, arg0, str_scheduler_arg0);
 180 prog_char str_scheduler_arg1[] = "show";
 181 parse_pgm_token_string_t cmd_scheduler_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_scheduler_result, arg1, str_scheduler_arg1);
 182
 183 prog_char help_scheduler[] = "Show scheduler events";
 184 parse_pgm_inst_t cmd_scheduler = {
 185         .f = cmd_scheduler_parsed,  /* function to call */
 186         .data = NULL,      /* 2nd arg of func */
 187         .help_str = help_scheduler,
 188         .tokens = {        /* token list, NULL terminated */
 189                 (prog_void *)&cmd_scheduler_arg0,
 190                 (prog_void *)&cmd_scheduler_arg1,
 191                 NULL,
 192         },
 193 };
 194
 195 /**********************************************************/
 196 /* Pwms tests */
 197
 198 /* this structure is filled when cmd_pwm is parsed successfully */
 199 struct cmd_pwm_result {
 200         fixed_string_t arg0;
 201         fixed_string_t arg1;
 202         int16_t arg2;
 203 };
 204
 205 /* function called when cmd_pwm is parsed successfully */
 206 static void cmd_pwm_parsed(void * parsed_result, __attribute__((unused)) void *data)
 207 {
 208         void * pwm_ptr = NULL;
 209         struct cmd_pwm_result * res = parsed_result;
 210
 211         if (!strcmp_P(res->arg1, PSTR("1(4A)")))
 212                 pwm_ptr = &gen.pwm1_4A;
 213         else if (!strcmp_P(res->arg1, PSTR("2(4B)")))
 214                 pwm_ptr = &gen.pwm2_4B;
 215         else if (!strcmp_P(res->arg1, PSTR("3(1A)")))
 216                 pwm_ptr = &gen.pwm3_1A;
 217         else if (!strcmp_P(res->arg1, PSTR("4(1B)")))
 218                 pwm_ptr = &gen.pwm4_1B;
 219
 220         else if (!strcmp_P(res->arg1, PSTR("s1(3C)")))
 221                 pwm_ptr = &gen.servo1;
 222         else if (!strcmp_P(res->arg1, PSTR("s2(5A)")))
 223                 pwm_ptr = &gen.servo2;
 224         else if (!strcmp_P(res->arg1, PSTR("s3(5B)")))
 225                 pwm_ptr = &gen.servo3;
 226         else if (!strcmp_P(res->arg1, PSTR("s3(5C)")))
 227                 pwm_ptr = &gen.servo4;
 228
 229         if (pwm_ptr)
 230                 pwm_ng_set(pwm_ptr, res->arg2);
 231
 232         printf_P(PSTR("done\r\n"));
 233 }
 234
 235 prog_char str_pwm_arg0[] = "pwm";
 236 parse_pgm_token_string_t cmd_pwm_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_pwm_result, arg0, str_pwm_arg0);
 237 prog_char str_pwm_arg1[] = "1(4A)#2(4B)#3(1A)#4(1B)#s1(3C)#s2(5A)#s3(5B)#s4(5C)";
 238 parse_pgm_token_string_t cmd_pwm_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_pwm_result, arg1, str_pwm_arg1);
 239 parse_pgm_token_num_t cmd_pwm_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_pwm_result, arg2, INT16);
 240
 241 prog_char help_pwm[] = "Set pwm values [-4096 ; 4095]";
 242 parse_pgm_inst_t cmd_pwm = {
 243         .f = cmd_pwm_parsed,  /* function to call */
 244         .data = NULL,      /* 2nd arg of func */
 245         .help_str = help_pwm,
 246         .tokens = {        /* token list, NULL terminated */
 247                 (prog_void *)&cmd_pwm_arg0,
 248                 (prog_void *)&cmd_pwm_arg1,
 249                 (prog_void *)&cmd_pwm_arg2,
 250                 NULL,
 251         },
 252 };
 253
 254 /**********************************************************/
 255 /* Adcs tests */
 256
 257 /* this structure is filled when cmd_adc is parsed successfully */
 258 struct cmd_adc_result {
 259         fixed_string_t arg0;
 260         fixed_string_t arg1;
 261 };
 262
 263 /* function called when cmd_adc is parsed successfully */
 264 static void cmd_adc_parsed(void *parsed_result, __attribute__((unused)) void *data)
 265 {
 266         struct cmd_adc_result *res = parsed_result;
 267         uint8_t i, loop = 0;
 268
 269         if (!strcmp_P(res->arg1, PSTR("loop_show")))
 270                 loop = 1;
 271
 272         do {
 273                 printf_P(PSTR("ADC values: "));
 274                 for (i=0; i<ADC_MAX; i++) {
 275                         printf_P(PSTR("%.4d "), sensor_get_adc(i));
 276                 }
 277                 printf_P(PSTR("\r\n"));
 278                 wait_ms(100);
 279         } while (loop && !cmdline_keypressed());
 280 }
 281
 282 prog_char str_adc_arg0[] = "adc";
 283 parse_pgm_token_string_t cmd_adc_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_adc_result, arg0, str_adc_arg0);
 284 prog_char str_adc_arg1[] = "show#loop_show";
 285 parse_pgm_token_string_t cmd_adc_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_adc_result, arg1, str_adc_arg1);
 286
 287 prog_char help_adc[] = "Show adc values";
 288 parse_pgm_inst_t cmd_adc = {
 289         .f = cmd_adc_parsed,  /* function to call */
 290         .data = NULL,      /* 2nd arg of func */
 291         .help_str = help_adc,
 292         .tokens = {        /* token list, NULL terminated */
 293                 (prog_void *)&cmd_adc_arg0,
 294                 (prog_void *)&cmd_adc_arg1,
 295                 NULL,
 296         },
 297 };
 298
 299
 300 /**********************************************************/
 301 /* Sensors tests */
 302
 303 /* this structure is filled when cmd_sensor is parsed successfully */
 304 struct cmd_sensor_result {
 305         fixed_string_t arg0;
 306         fixed_string_t arg1;
 307 };
 308
 309 /* function called when cmd_sensor is parsed successfully */
 310 static void cmd_sensor_parsed(void *parsed_result, __attribute__((unused)) void *data)
 311 {
 312         struct cmd_sensor_result *res = parsed_result;
 313         uint8_t i, loop = 0;
 314
 315         if (!strcmp_P(res->arg1, PSTR("loop_show")))
 316                 loop = 1;
 317
 318         do {
 319                 printf_P(PSTR("SENSOR values: "));
 320                 for (i=0; i<SENSOR_MAX; i++) {
 321                         printf_P(PSTR("%d "), !!sensor_get(i));
 322                 }
 323                 printf_P(PSTR("\r\n"));
 324                 wait_ms(100);
 325         } while (loop && !cmdline_keypressed());
 326 }
 327
 328 prog_char str_sensor_arg0[] = "sensor";
 329 parse_pgm_token_string_t cmd_sensor_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_sensor_result, arg0, str_sensor_arg0);
 330 prog_char str_sensor_arg1[] = "show#loop_show";
 331 parse_pgm_token_string_t cmd_sensor_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_sensor_result, arg1, str_sensor_arg1);
 332
 333 prog_char help_sensor[] = "Show sensor values";
 334 parse_pgm_inst_t cmd_sensor = {
 335         .f = cmd_sensor_parsed,  /* function to call */
 336         .data = NULL,      /* 2nd arg of func */
 337         .help_str = help_sensor,
 338         .tokens = {        /* token list, NULL terminated */
 339                 (prog_void *)&cmd_sensor_arg0,
 340                 (prog_void *)&cmd_sensor_arg1,
 341                 NULL,
 342         },
 343 };
 344
 345
 346 /**********************************************************/
 347 /* Log */
 348
 349 /* this structure is filled when cmd_log is parsed successfully */
 350 struct cmd_log_result {
 351         fixed_string_t arg0;
 352         fixed_string_t arg1;
 353         uint8_t arg2;
 354         fixed_string_t arg3;
 355 };
 356
 357 /* keep it sync with string choice */
 358 static const prog_char uart_log[] = "uart";
 359 static const prog_char i2c_log[] = "i2c";
 360 static const prog_char i2cproto_log[] = "i2cproto";
 361 static const prog_char sensor_log[] = "sensor";
 362 static const prog_char block_log[] = "bd";
 363 static const prog_char state_log[] = "state";
 364 static const prog_char ax12_log[] = "ax12";
 365
 366 struct log_name_and_num {
 367         const prog_char * name;
 368         uint8_t num;
 369 };
 370
 371 static const struct log_name_and_num log_name_and_num[] = {
 372         { uart_log, E_UART },
 373         { i2c_log, E_I2C },
 374         { i2cproto_log, E_USER_I2C_PROTO },
 375         { sensor_log, E_USER_SENSOR },
 376         { block_log, E_BLOCKING_DETECTION_MANAGER },
 377         { state_log, E_USER_ST_MACH },
 378         { ax12_log, E_USER_AX12 },
 379 };
 380
 381 static uint8_t
 382 log_name2num(const char * s)
 383 {
 384         uint8_t i;
 385
 386         for (i=0; i<sizeof(log_name_and_num)/sizeof(struct log_name_and_num); i++) {
 387                 if (!strcmp_P(s, log_name_and_num[i].name)) {
 388                         return log_name_and_num[i].num;
 389                 }
 390         }
 391         return 0;
 392 }
 393
 394 const prog_char *
 395 log_num2name(uint8_t num)
 396 {
 397         uint8_t i;
 398
 399         for (i=0; i<sizeof(log_name_and_num)/sizeof(struct log_name_and_num); i++) {
 400                 if (num ==  log_name_and_num[i].num) {
 401                         return log_name_and_num[i].name;
 402                 }
 403         }
 404         return NULL;
 405 }
 406
 407 /* function called when cmd_log is parsed successfully */
 408 static void cmd_log_do_show(void)
 409 {
 410         uint8_t i, empty=1;
 411         const prog_char * name;
 412
 413         printf_P(PSTR("log level is %d\r\n"), gen.log_level);
 414         for (i=0; i<NB_LOGS; i++) {
 415                 name = log_num2name(gen.logs[i]);
 416                 if (name) {
 417                         printf_P(PSTR("log type %S is on\r\n"), name);
 418                         empty = 0;
 419                 }
 420         }
 421         if (empty)
 422                 printf_P(PSTR("no log configured\r\n"), gen.logs[i]);
 423 }
 424
 425 /* function called when cmd_log is parsed successfully */
 426 static void cmd_log_parsed(void * parsed_result, __attribute__((unused)) void *data)
 427 {
 428         struct cmd_log_result *res = (struct cmd_log_result *) parsed_result;
 429
 430         if (!strcmp_P(res->arg1, PSTR("level"))) {
 431                 gen.log_level = res->arg2;
 432         }
 433
 434         /* else it is a show */
 435         cmd_log_do_show();
 436 }
 437
 438 prog_char str_log_arg0[] = "log";
 439 parse_pgm_token_string_t cmd_log_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg0, str_log_arg0);
 440 prog_char str_log_arg1[] = "level";
 441 parse_pgm_token_string_t cmd_log_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg1, str_log_arg1);
 442 parse_pgm_token_num_t cmd_log_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_log_result, arg2, INT32);
 443
 444 prog_char help_log[] = "Set log options: level (0 -> 5)";
 445 parse_pgm_inst_t cmd_log = {
 446         .f = cmd_log_parsed,  /* function to call */
 447         .data = NULL,      /* 2nd arg of func */
 448         .help_str = help_log,
 449         .tokens = {        /* token list, NULL terminated */
 450                 (prog_void *)&cmd_log_arg0,
 451                 (prog_void *)&cmd_log_arg1,
 452                 (prog_void *)&cmd_log_arg2,
 453                 NULL,
 454         },
 455 };
 456
 457 prog_char str_log_arg1_show[] = "show";
 458 parse_pgm_token_string_t cmd_log_arg1_show = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg1, str_log_arg1_show);
 459
 460 prog_char help_log_show[] = "Show configured logs";
 461 parse_pgm_inst_t cmd_log_show = {
 462         .f = cmd_log_parsed,  /* function to call */
 463         .data = NULL,      /* 2nd arg of func */
 464         .help_str = help_log_show,
 465         .tokens = {        /* token list, NULL terminated */
 466                 (prog_void *)&cmd_log_arg0,
 467                 (prog_void *)&cmd_log_arg1_show,
 468                 NULL,
 469         },
 470 };
 471
 472 /* this structure is filled when cmd_log is parsed successfully */
 473 struct cmd_log_type_result {
 474         fixed_string_t arg0;
 475         fixed_string_t arg1;
 476         fixed_string_t arg2;
 477         fixed_string_t arg3;
 478 };
 479
 480 /* function called when cmd_log is parsed successfully */
 481 static void cmd_log_type_parsed(void * parsed_result, __attribute__((unused)) void *data)
 482 {
 483         struct cmd_log_type_result *res = (struct cmd_log_type_result *) parsed_result;
 484         uint8_t lognum;
 485         uint8_t i;
 486
 487         lognum = log_name2num(res->arg2);
 488         if (lognum == 0) {
 489                 printf_P(PSTR("Cannot find log num\r\n"));
 490                 return;
 491         }
 492
 493         if (!strcmp_P(res->arg3, PSTR("on"))) {
 494                 for (i=0; i<NB_LOGS; i++) {
 495                         if (gen.logs[i] == lognum) {
 496                                 printf_P(PSTR("Already on\r\n"));
 497                                 return;
 498                         }
 499                 }
 500                 for (i=0; i<NB_LOGS; i++) {
 501                         if (gen.logs[i] == 0) {
 502                                 gen.logs[i] = lognum;
 503                                 break;
 504                         }
 505                 }
 506                 if (i==NB_LOGS) {
 507                         printf_P(PSTR("no more room\r\n"));
 508                 }
 509         }
 510         else if (!strcmp_P(res->arg3, PSTR("off"))) {
 511                 for (i=0; i<NB_LOGS; i++) {
 512                         if (gen.logs[i] == lognum) {
 513                                 gen.logs[i] = 0;
 514                                 break;
 515                         }
 516                 }
 517                 if (i==NB_LOGS) {
 518                         printf_P(PSTR("already off\r\n"));
 519                 }
 520         }
 521         cmd_log_do_show();
 522 }
 523
 524 prog_char str_log_arg1_type[] = "type";
 525 parse_pgm_token_string_t cmd_log_arg1_type = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg1, str_log_arg1_type);
 526 /* keep it sync with log_name_and_num above */
 527 prog_char str_log_arg2_type[] = "uart#i2c#i2cproto#sensor#bd##state#ax12";
 528 parse_pgm_token_string_t cmd_log_arg2_type = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg2, str_log_arg2_type);
 529 prog_char str_log_arg3[] = "on#off";
 530 parse_pgm_token_string_t cmd_log_arg3 = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg3, str_log_arg3);
 531
 532 prog_char help_log_type[] = "Set log type";
 533 parse_pgm_inst_t cmd_log_type = {
 534         .f = cmd_log_type_parsed,  /* function to call */
 535         .data = NULL,      /* 2nd arg of func */
 536         .help_str = help_log_type,
 537         .tokens = {        /* token list, NULL terminated */
 538                 (prog_void *)&cmd_log_arg0,
 539                 (prog_void *)&cmd_log_arg1_type,
 540                 (prog_void *)&cmd_log_arg2_type,
 541                 (prog_void *)&cmd_log_arg3,
 542                 NULL,
 543         },
 544 };
 545
 546
 547 /**********************************************************/
 548 /* Stack_Space */
 549
 550 /* this structure is filled when cmd_stack_space is parsed successfully */
 551 struct cmd_stack_space_result {
 552         fixed_string_t arg0;
 553 };
 554
 555 /* function called when cmd_stack_space is parsed successfully */
 556 static void cmd_stack_space_parsed(__attribute__((unused)) void *parsed_result,
 557                                    __attribute__((unused)) void *data)
 558 {
 559         printf("res stack: %d\r\n", min_stack_space_available());
 560
 561 }
 562
 563 prog_char str_stack_space_arg0[] = "stack_space";
 564 parse_pgm_token_string_t cmd_stack_space_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_stack_space_result, arg0, str_stack_space_arg0);
 565
 566 prog_char help_stack_space[] = "Display remaining stack space";
 567 parse_pgm_inst_t cmd_stack_space = {
 568         .f = cmd_stack_space_parsed,  /* function to call */
 569         .data = NULL,      /* 2nd arg of func */
 570         .help_str = help_stack_space,
 571         .tokens = {        /* token list, NULL terminated */
 572                 (prog_void *)&cmd_stack_space_arg0,
 573                 NULL,
 574         },
 575 };