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This commit is contained in:
Glz
2024-07-13 19:00:45 +08:00
parent af031e23d8
commit b88aaf47e5
13 changed files with 171 additions and 89 deletions
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153
app/gl_barrier.c
View File

@@ -23,8 +23,28 @@ void CheckBarrier()
void RunBarrier() void RunBarrier()
{ {
if (barrier_type == BARRIER_LEFT_BEGIN||barrier_type == BARRIER_LEFT_RUNNING) { if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
track_type = TRACK_RIGHT; track_type = TRACK_RIGHT;
if (barrier_type == BARRIER_LEFT_BEGIN)
{
timer_clear(TIM_2);
timer_start(TIM_2);
barrier_type = BARRIER_LEFT_RUNNING;
}
if (barrier_type == BARRIER_LEFT_RUNNING)
{
if (timer_get(TIM_2) >= 500)
{
barrier_type = BARRIER_NONE;
timer_stop(TIM_2);
timer_clear(TIM_2);
}
else{
barrier_type = BARRIER_LEFT_RUNNING;
}
}
// if (barrier_begin_flag == 0) { // if (barrier_begin_flag == 0) {
// timer_clear(TIM_3); // timer_clear(TIM_3);
// timer_start(TIM_3); // timer_start(TIM_3);
@@ -46,31 +66,35 @@ void RunBarrier()
// } // }
// } // }
// } // }
if (pts_resample_left_count >= 5) // if (pts_resample_left_count >= 5) {
{ // if (Lpt0_found) {
if (Lpt0_found) { // Lpt0_found_count++;
Lpt0_found_count++; // }
} // if (Lpt0_found_count >= 1 && barrier_type == BARRIER_LEFT_BEGIN) {
if (Lpt0_found_count >= 1 && barrier_type == BARRIER_LEFT_BEGIN) { // Lpt0_found_count = 0;
Lpt0_found_count = 0; // barrier_type = BARRIER_LEFT_RUNNING;
barrier_type = BARRIER_LEFT_RUNNING; // track_type = TRACK_RIGHT;
track_type = TRACK_RIGHT; // timer_clear(TIM_2);
timer_clear(TIM_2); // timer_start(TIM_2);
timer_start(TIM_2); // } else if (barrier_type == BARRIER_LEFT_RUNNING) {
} else if (barrier_type == BARRIER_LEFT_RUNNING) { // track_type = TRACK_RIGHT;
track_type = TRACK_RIGHT; // if (timer_get(TIM_2) >= 500) {
if (timer_get(TIM_2) >= 500) { // barrier_type = BARRIER_NONE;
barrier_type = BARRIER_NONE; // track_type = TRACK_RIGHT;
track_type = TRACK_RIGHT; // timer_stop(TIM_2);
timer_stop(TIM_2); // timer_clear(TIM_2);
timer_clear(TIM_2); // }
} // }
} // } else {
} // track_type = TRACK_RIGHT;
else{ // barrier_type = BARRIER_NONE;
track_type = TRACK_RIGHT; // }
barrier_type = BARRIER_NONE;
} // if (barrier_type == BARRIER_LEFT_RUNNING) {
// if (pts_resample_left_count >= 5 && pts_resample_right_count >= 5) {
// barrier_type = BARRIER_NONE;
// }
// }
// if (Lpt0_found) { // if (Lpt0_found) {
// Lpt0_found_count++; // Lpt0_found_count++;
@@ -92,8 +116,26 @@ void RunBarrier()
// } // }
} }
if (barrier_type == BARRIER_RIGHT_BEGIN||barrier_type == BARRIER_RIGHT_RUNNING) { if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
track_type = TRACK_LEFT; track_type = TRACK_LEFT;
if (barrier_type == BARRIER_RIGHT_BEGIN)
{
timer_clear(TIM_2);
timer_start(TIM_2);
barrier_type = BARRIER_RIGHT_RUNNING;
}
if (barrier_type == BARRIER_RIGHT_RUNNING)
{
if (timer_get(TIM_2) >= 500)
{
barrier_type = BARRIER_NONE;
timer_stop(TIM_2);
timer_clear(TIM_2);
}
else{
barrier_type = BARRIER_RIGHT_RUNNING;
}
}
// if (barrier_begin_flag == 0) { // if (barrier_begin_flag == 0) {
// timer_clear(TIM_3); // timer_clear(TIM_3);
// timer_start(TIM_3); // timer_start(TIM_3);
@@ -115,31 +157,35 @@ void RunBarrier()
// } // }
// } // }
// } // }
if (pts_resample_right_count >= 5) // if (pts_resample_right_count >= 5) {
{ // if (Lpt1_found) {
if (Lpt1_found) { // Lpt1_found_count++;
Lpt1_found_count++; // }
} // if (Lpt1_found_count >= 1 && barrier_type == BARRIER_RIGHT_BEGIN) {
if (Lpt1_found_count >= 1 && barrier_type == BARRIER_RIGHT_BEGIN) { // Lpt1_found_count = 0;
Lpt1_found_count = 0; // barrier_type = BARRIER_RIGHT_RUNNING;
barrier_type = BARRIER_RIGHT_RUNNING; // track_type = TRACK_LEFT;
track_type = TRACK_LEFT; // timer_clear(TIM_2);
timer_clear(TIM_2); // timer_start(TIM_2);
timer_start(TIM_2); // } else if (barrier_type == BARRIER_RIGHT_RUNNING) {
} else if (barrier_type == BARRIER_RIGHT_RUNNING) { // track_type = TRACK_LEFT;
track_type = TRACK_LEFT; // if (timer_get(TIM_2) >= 500) {
if (timer_get(TIM_2) >= 500) { // timer_stop(TIM_2);
timer_stop(TIM_2); // timer_clear(TIM_2);
timer_clear(TIM_2); // barrier_type = BARRIER_NONE;
barrier_type = BARRIER_NONE; // track_type = TRACK_LEFT;
track_type = TRACK_LEFT; // }
} // }
} // } else {
} // track_type = TRACK_LEFT;
else{ // barrier_type = BARRIER_NONE;
track_type = TRACK_LEFT; // }
barrier_type = BARRIER_NONE;
} // if (barrier_type == BARRIER_RIGHT_RUNNING) {
// if (pts_resample_left_count >= 5 && pts_resample_right_count >= 5) {
// barrier_type = BARRIER_NONE;
// }
// }
} }
} }
@@ -180,7 +226,6 @@ void RunS()
} }
} }
// void Check_shield(){ // void Check_shield(){
// if (begin_flag == 1) // if (begin_flag == 1)
// { // {
@@ -196,6 +241,4 @@ void RunS()
// timer_clear(TIM_3); // timer_clear(TIM_3);
// } // }
// } // }

10
app/gl_circle.c
View File

@@ -15,6 +15,8 @@ int32_t Right_Border_ToLeft_Circle = 0;
int32_t Left_Border_ToRight_Circle = 0; int32_t Left_Border_ToRight_Circle = 0;
int32_t Right_Border_ToRight_Circle = 0; int32_t Right_Border_ToRight_Circle = 0;
int32_t ceshi = 0;
void CheckCircle() void CheckCircle()
{ {
// 非圆环模式下，单边L角点, 单边长直道 // 非圆环模式下，单边L角点, 单边长直道
@@ -59,7 +61,7 @@ void RunCircle()
} }
} else if (circle_type == CIRCLE_LEFT_RUNNING) // 正常巡线，寻外圆右线 } else if (circle_type == CIRCLE_LEFT_RUNNING) // 正常巡线，寻外圆右线
{ {
//track_type = TRACK_RIGHT; // track_type = TRACK_RIGHT;
track_type = TRACK_LEFT; // 看看加一个如果丢线才切换 track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
if (Lpt1_found) { if (Lpt1_found) {
pts_resample_right_count = mid_right_count = Lpt1_rpts1s_id; pts_resample_right_count = mid_right_count = Lpt1_rpts1s_id;
@@ -125,7 +127,7 @@ void RunCircle()
} else if (circle_type == CIRCLE_RIGHT_RUNNING) // 正常巡线，寻外圆左线 } else if (circle_type == CIRCLE_RIGHT_RUNNING) // 正常巡线，寻外圆左线
{ {
track_type = TRACK_RIGHT; track_type = TRACK_RIGHT;
//track_type = TRACK_LEFT; // 看看加一个如果丢线才切换 // track_type = TRACK_LEFT; // 看看加一个如果丢线才切换
if (Lpt0_found) // 外环存在拐点，可再加拐点距离判据 (左 L 点) if (Lpt0_found) // 外环存在拐点，可再加拐点距离判据 (左 L 点)
{ {
pts_resample_left_count = mid_left_count = Lpt0_rpts0s_id; pts_resample_left_count = mid_left_count = Lpt0_rpts0s_id;
@@ -149,13 +151,13 @@ void RunCircle()
{ {
Right_Border_None_Circle++; Right_Border_None_Circle++;
} }
if (pts_resample_right_count > 0.7 / RESAMPLEDIST && if (pts_resample_right_count > (0.7 / RESAMPLEDIST) && Right_Border_None_Circle > FRAMENONE) {
Right_Border_None_Circle > FRAMENONE) {
circle_type = CIRCLE_NONE; circle_type = CIRCLE_NONE;
Right_Border_None_Circle = 0; Right_Border_None_Circle = 0;
Right_Border_Have_Circle = 0; Right_Border_Have_Circle = 0;
Left_Border_ToLeft_Circle = 0; Left_Border_ToLeft_Circle = 0;
Left_Border_ToRight_Circle = 0; Left_Border_ToRight_Circle = 0;
} }
} }
} }

1
app/gl_circle.h
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@@ -17,6 +17,7 @@ enum circle_type_e {
}; };
extern enum circle_type_e circle_type; extern enum circle_type_e circle_type;
extern int32_t ceshi;
void CheckCircle(void); void CheckCircle(void);
void RunCircle(void); void RunCircle(void);

1
app/gl_common.h
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@@ -16,6 +16,7 @@
#define SELFADAPT_OFFSET (8) // 适应性块大小 #define SELFADAPT_OFFSET (8) // 适应性块大小
#define PIXPERMETER (70.0f) #define PIXPERMETER (70.0f)
#define PIXPERMETER_ACROSS (72.0f) #define PIXPERMETER_ACROSS (72.0f)
#define PIXPERMETER_ACROSS_BARRIER (10.0f)
#define RESAMPLEDIST (0.02f) #define RESAMPLEDIST (0.02f)
#define ANGLEDIST (0.2f) #define ANGLEDIST (0.2f)
#define ANGLEDIST_barrier (0.06f) #define ANGLEDIST_barrier (0.06f)

8
app/gl_cross.c
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@@ -69,9 +69,9 @@ void cross_farline(){
} }
} }
/*如果一行全为白色没写*/ /*如果一行全为白色没写*/
if (far_x1 <= 30) if (far_x1 <= 4)
{ {
far_x1 = 30; far_x1 = 4;
} }
for (; h1 > 0; h1--) { for (; h1 > 0; h1--) {
@@ -98,9 +98,9 @@ void cross_farline(){
} }
} }
/*如果一行全为白色没写*/ /*如果一行全为白色没写*/
if (far_x2 >= 120) if (far_x2 >= 136)
{ {
far_x2 = 120; far_x2 = 136;
} }
for (; h2 > 0; h2--) { for (; h2 > 0; h2--) {

4
app/gl_data.c
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@@ -47,11 +47,15 @@ int32_t pts_far_resample_right_count;
float mid_left[PT_MAXLEN][2]; float mid_left[PT_MAXLEN][2];
float mid_right[PT_MAXLEN][2]; float mid_right[PT_MAXLEN][2];
float mid_left_barrier[PT_MAXLEN][2];
float mid_right_barrier[PT_MAXLEN][2];
float mid_s[PT_MAXLEN][2]; float mid_s[PT_MAXLEN][2];
int32_t mid_left_count; int32_t mid_left_count;
int32_t mid_right_count; int32_t mid_right_count;
int32_t mid_left_barrier_count;
int32_t mid_right_barrier_count;
float angle_new_left[PT_MAXLEN]; float angle_new_left[PT_MAXLEN];
float angle_new_right[PT_MAXLEN]; float angle_new_right[PT_MAXLEN];

5
app/gl_data.h
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@@ -57,9 +57,14 @@ extern int32_t pts_far_resample_right_count;
extern float mid_left[PT_MAXLEN][2]; extern float mid_left[PT_MAXLEN][2];
extern float mid_right[PT_MAXLEN][2]; extern float mid_right[PT_MAXLEN][2];
extern float mid_s[PT_MAXLEN][2]; extern float mid_s[PT_MAXLEN][2];
extern float mid_left_barrier[PT_MAXLEN][2];
extern float mid_right_barrier[PT_MAXLEN][2];
extern int32_t mid_left_count; extern int32_t mid_left_count;
extern int32_t mid_right_count; extern int32_t mid_right_count;
extern int32_t mid_left_barrier_count;
extern int32_t mid_right_barrier_count;
extern float angle_new_left[PT_MAXLEN]; extern float angle_new_left[PT_MAXLEN];
extern float angle_new_right[PT_MAXLEN]; extern float angle_new_right[PT_MAXLEN];

2
app/gl_garage.c
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@@ -44,7 +44,7 @@ void CheckGarage()
int banmaxian_hangshu = 0;//斑马线行数 int banmaxian_hangshu = 0;//斑马线行数
//从下往上扫描 //从下往上扫描
for (int y = BEGINH_L + 2; y >= BEGINH_L - 2; y--) for (int y = BEGINH_L + 4; y >= BEGINH_L - 4; y--)
{ {
int banmaxian_kuandu=0; int banmaxian_kuandu=0;
//int banmaxian_hangshu=0; //int banmaxian_hangshu=0;

1
app/gl_garage.h
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@@ -5,6 +5,7 @@
enum garage_type_e { enum garage_type_e {
GARAGE_NONE, // 非车库模式 GARAGE_NONE, // 非车库模式
GARAGE_FOUND, GARAGE_FOUND,
OUT_STOP,
}; };
extern enum garage_type_e garage_type; extern enum garage_type_e garage_type;

6
app/gl_img_process.c
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@@ -146,5 +146,11 @@ void img_processing() {
GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS * ROADWIDTH / 2); GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS * ROADWIDTH / 2);
mid_right_count = pts_resample_right_count; mid_right_count = pts_resample_right_count;
// 左右中线跟踪(避障专属)
GetMidLine_Left(pts_resample_left, pts_resample_left_count, mid_left_barrier, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS_BARRIER * ROADWIDTH / 2);
mid_left_barrier_count = pts_resample_left_count;
GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right_barrier, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS_BARRIER * ROADWIDTH / 2);
mid_right_barrier_count = pts_resample_right_count;
} }

44
app/gl_tracking.c
View File

@@ -139,13 +139,16 @@ void ElementJudge()
cross_type = CROSS_NONE; cross_type = CROSS_NONE;
circle_type = CIRCLE_NONE; circle_type = CIRCLE_NONE;
barrier_type = BARRIER_NONE; barrier_type = BARRIER_NONE;
} }
if (cross_type != CROSS_NONE) { if (cross_type != CROSS_NONE) {
circle_type = CIRCLE_NONE; circle_type = CIRCLE_NONE;
barrier_type = BARRIER_NONE; barrier_type = BARRIER_NONE;
} }
if (barrier_type != BARRIER_NONE) { if (barrier_type != BARRIER_NONE) {
circle_type = CIRCLE_NONE; circle_type = CIRCLE_NONE;
} }
} }
@@ -183,7 +186,16 @@ void MidLineTrack()
GetMidLine_Right(pts_far_resample_right + far_Lpt1_rpts1s_id, pts_far_resample_right_count - far_Lpt1_rpts1s_id, mid_right, (int)round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2); GetMidLine_Right(pts_far_resample_right + far_Lpt1_rpts1s_id, pts_far_resample_right_count - far_Lpt1_rpts1s_id, mid_right, (int)round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
mid_track_count = pts_far_resample_right_count - far_Lpt1_rpts1s_id; mid_track_count = pts_far_resample_right_count - far_Lpt1_rpts1s_id;
} }
} else if (barrier_type == BARRIER_LEFT_RUNNING || barrier_type == BARRIER_RIGHT_RUNNING)
{
if (track_type == TRACK_LEFT) {
mid_track = mid_left_barrier;
mid_track_count = mid_left_barrier_count;
} else { } else {
mid_track = mid_right_barrier;
mid_track_count = mid_right_barrier_count;
}
}else {
if (track_type == TRACK_LEFT) { if (track_type == TRACK_LEFT) {
mid_track = mid_left; mid_track = mid_left;
mid_track_count = mid_left_count; mid_track_count = mid_left_count;
@@ -287,17 +299,10 @@ void MidLineTrack()
switch (barrier_type) { switch (barrier_type) {
case BARRIER_LEFT_BEGIN: case BARRIER_LEFT_BEGIN:
// dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset; // dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f - 20; pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
break;
case BARRIER_LEFT_RUNNING:
pure_angle = 15.f;
break; break;
case BARRIER_RIGHT_BEGIN: case BARRIER_RIGHT_BEGIN:
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f + 20; pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
break;
case BARRIER_RIGHT_RUNNING:
// dx_near = mid_track[aim_idx_near][1] - cx - barrier_offset;
pure_angle = -15.f;
default: default:
// pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f; // pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * 0.5f * dx / dn) / PI32 * 180.0f;
if (dy > 0) { if (dy > 0) {
@@ -309,12 +314,10 @@ void MidLineTrack()
// pure_angle_half = last_pure_angle_half; // pure_angle_half = last_pure_angle_half;
} }
} }
if (garage_type == GARAGE_FOUND) if (garage_type == GARAGE_FOUND) {
{
pure_angle = 0.f; pure_angle = 0.f;
} }
// if (barrier_type == BARRIER_LEFT_BEGIN) { // if (barrier_type == BARRIER_LEFT_BEGIN) {
// // dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset; // // dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset;
// pure_angle = -25.f; // pure_angle = -25.f;
@@ -349,7 +352,7 @@ void MidLineTrack()
timer_clear(TIM_3); timer_clear(TIM_3);
timer_start(TIM_3); timer_start(TIM_3);
} }
if (circle_type == CIRCLE_LEFT_RUNNING || circle_type == CIRCLE_RIGHT_RUNNING || circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_OUT || circle_type == CIRCLE_LEFT_END || circle_type == CIRCLE_RIGHT_END) { if (circle_type == CIRCLE_LEFT_RUNNING || circle_type == CIRCLE_RIGHT_RUNNING || circle_type == CIRCLE_RIGHT_OUT || circle_type == CIRCLE_LEFT_OUT) {
if (circle_flag == 1) { if (circle_flag == 1) {
state_type = CIRCLE_STATE; state_type = CIRCLE_STATE;
} }
@@ -370,6 +373,12 @@ void MidLineTrack()
circle_flag = 1; circle_flag = 1;
} }
if (circle_type == CIRCLE_LEFT_END || circle_type == CIRCLE_RIGHT_END)
{
state_type = STRAIGHT_STATE;
}
if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING || barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) { if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING || barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING) {
state_type = BARRIER_STATE; state_type = BARRIER_STATE;
} }
@@ -399,4 +408,13 @@ void MidLineTrack()
// timer_clear(TIM_3); // timer_clear(TIM_3);
// } // }
// } // }
if (state_type != BARRIER_STATE || garage_type != GARAGE_FOUND) {
if ((pts_left_count <= 2) && (pts_right_count <= 2) && (GET_PIX_1C(mt9v03x_image_copy[0], BEGINH_L, IMAGE_W / 2 - BEGINW_R) <= FIX_BINTHRESHOLD) && (GET_PIX_1C(mt9v03x_image_copy[0], BEGINH_L, IMAGE_W / 2 + BEGINW_L) <= FIX_BINTHRESHOLD)) {
garage_type = OUT_STOP;
}
}
else{
garage_type = GARAGE_NONE;
}
} }

2
app/page/page_dparam.c
View File

@@ -53,7 +53,7 @@ static void Loop()
ips200_show_int(90, 18 + 38, track_type, 1); ips200_show_int(90, 18 + 38, track_type, 1);
ips200_show_int(90, 18 + 56, garage_type, 1); ips200_show_int(90, 18 + 56, garage_type, 1);
ips200_show_int(90, 18 + 74, cross_type, 1); ips200_show_int(90, 18 + 74, cross_type, 1);
ips200_show_int(90, 18 + 92, circle_type, 1); ips200_show_int(90, 18 + 92, circle_type, 2);
ips200_show_int(90, 18 + 110, s_type, 1); ips200_show_int(90, 18 + 110, s_type, 1);
ips200_show_float(90, 18 + 128, curvature, 4, 5); ips200_show_float(90, 18 + 128, curvature, 4, 5);
ips200_show_int(90, 18 + 146, Lpt0_found_barrier_in, 1); ips200_show_int(90, 18 + 146, Lpt0_found_barrier_in, 1);

1
app/page/page_rtcam.c
View File

@@ -63,6 +63,7 @@ static void Loop()
ips200_show_uint(160, 224, Lpt1_found_barrier_in, 3); ips200_show_uint(160, 224, Lpt1_found_barrier_in, 3);
ips200_show_uint(200, 165, barrier_type, 3); ips200_show_uint(200, 165, barrier_type, 3);
ips200_show_uint(200, 185, state_type, 5); ips200_show_uint(200, 185, state_type, 5);
//ips200_show_uint(200, 205, ceshi, 5);
} }
/** /**