intellibox.cpp

   1 /* $Id$
   2
   3 This file is part of R²C²
   4 Copyright © 2010  Mikkosoft Productions, Mikko Rasa
   5 Distributed under the GPL
   6 */
   7
   8 #include <fcntl.h>
   9 #include <termios.h>
  10 #include <sys/poll.h>
  11 #include <msp/io/print.h>
  12 #include <msp/time/units.h>
  13 #include <msp/time/utils.h>
  14 #include "intellibox.h"
  15
  16 using namespace std;
  17 using namespace Msp;
  18
  19 namespace R2C2 {
  20
  21 Intellibox::Intellibox(const string &dev):
  22         power(false),
  23         halted(false),
  24         update_sensors(false),
  25         command_sent(false)
  26 {
  27         serial_fd = ::open(dev.c_str(), O_RDWR);
  28         if(serial_fd<0)
  29                 throw Exception("Couldn't open serial port\n");
  30
  31         static unsigned baud[]=
  32         {
  33                  2400, B2400,
  34                  4800, B4800,
  35                  9600, B9600,
  36                 19200, B19200,
  37                 0
  38         };
  39
  40         termios attr;
  41         tcgetattr(serial_fd, &attr);
  42         cfmakeraw(&attr);
  43         attr.c_cflag |= CSTOPB;
  44
  45         bool ok = false;
  46         bool p50 = false;
  47         for(unsigned i=0; baud[i]; i+=2)
  48         {
  49                 cfsetospeed(&attr, baud[i+1]);
  50                 tcsetattr(serial_fd, TCSADRAIN, &attr);
  51
  52                 write(serial_fd, "\xC4", 1);
  53
  54                 pollfd pfd = { serial_fd, POLLIN, 0 };
  55                 if(poll(&pfd, 1, 500)>0)
  56                 {
  57                         IO::print("IB detected at %d bits/s\n", baud[i]);
  58                         char buf[2];
  59                         p50 = (read(serial_fd, buf, 2)==2);
  60                         ok = true;
  61                         break;
  62                 }
  63         }
  64
  65         if(!ok)
  66                 throw Exception("IB not detected");
  67
  68         if(p50)
  69                 write(serial_fd, "xZzA1\r", 6);
  70
  71         command(CMD_STATUS);
  72 }
  73
  74 void Intellibox::set_power(bool p)
  75 {
  76         power = p;
  77         if(power)
  78                 command(CMD_POWER_ON);
  79         else
  80                 command(CMD_POWER_OFF);
  81         signal_power.emit(power);
  82 }
  83
  84 void Intellibox::halt(bool h)
  85 {
  86         halted = h;
  87         if(halted)
  88         {
  89                 for(map<unsigned, Locomotive>::iterator i=locos.begin(); i!=locos.end(); ++i)
  90                         if(i->second.speed)
  91                                 set_loco_speed(i->first, 0);
  92         }
  93
  94         signal_halt.emit(halted);
  95 }
  96
  97 const char *Intellibox::enumerate_protocols(unsigned i) const
  98 {
  99         if(i==MM)
 100                 return "MM";
 101         else if(i==MM_27)
 102                 return "MM-27";
 103         return 0;
 104 }
 105
 106 unsigned Intellibox::get_protocol_speed_steps(const string &proto_name) const
 107 {
 108         Protocol proto = map_protocol(proto_name);
 109         if(proto==MM)
 110                 return 14;
 111         else if(proto==MM_27)
 112                 return 27;
 113         return 0;
 114 }
 115
 116 void Intellibox::add_loco(unsigned addr, const string &proto_name)
 117 {
 118         Protocol proto = map_protocol(proto_name);
 119
 120         if(!locos.count(addr))
 121         {
 122                 locos[addr].protocol = proto;
 123
 124                 unsigned char data[2];
 125                 data[0] = addr&0xFF;
 126                 data[1] = (addr>>8)&0xFF;
 127                 command(CMD_LOK_STATUS, addr, data, 2);
 128         }
 129 }
 130
 131 void Intellibox::set_loco_speed(unsigned addr, unsigned speed)
 132 {
 133         Locomotive &loco = locos[addr];
 134         if(speed==loco.speed)
 135         {
 136                 if(loco.pending_half_step)
 137                 {
 138                         loco.pending_half_step = 0;
 139                         loco.half_step_delay = Time::TimeStamp();
 140                         signal_loco_speed.emit(addr, speed, loco.reverse);
 141                 }
 142                 return;
 143         }
 144         if(speed && halted)
 145                 return;
 146
 147         if(loco.protocol==MM_27)
 148         {
 149                 if(speed>27)
 150                         speed = 27;
 151
 152                 if(speed>loco.speed && !(speed&1))
 153                 {
 154                         loco.pending_half_step = -1;
 155                         speed |= 1;
 156                 }
 157                 else if(speed<loco.speed && (speed&1))
 158                 {
 159                         loco.pending_half_step = 1;
 160                         speed &= ~1;
 161                 }
 162                 else
 163                         loco.pending_half_step = 0;
 164                 loco.half_step_delay = Time::TimeStamp();
 165
 166                 loco_command(addr, (speed+1)/2, loco.reverse, loco.funcs|0x100);
 167         }
 168         else
 169         {
 170                 if(speed>14)
 171                         speed = 14;
 172
 173                 loco_command(addr, speed, loco.reverse, loco.funcs|0x100);
 174         }
 175         loco.speed = speed;
 176 }
 177
 178 void Intellibox::set_loco_reverse(unsigned addr, bool rev)
 179 {
 180         Locomotive &loco = locos[addr];
 181         if(rev==loco.reverse)
 182                 return;
 183
 184         loco.reverse = rev;
 185         loco_command(addr, loco.speed, rev, loco.funcs|0x100);
 186 }
 187
 188 void Intellibox::set_loco_function(unsigned addr, unsigned func, bool state)
 189 {
 190         Locomotive &loco = locos[addr];
 191         if(state)
 192                 loco.funcs |= 1<<func;
 193         else
 194                 loco.funcs &= ~(1<<func);
 195         loco_command(addr, loco.speed, loco.reverse, loco.funcs);
 196         signal_loco_function.emit(addr, func, state);
 197 }
 198
 199 void Intellibox::add_turnout(unsigned addr)
 200 {
 201         if(!turnouts.count(addr))
 202         {
 203                 turnouts[addr];
 204
 205                 unsigned char data[2];
 206                 data[0] = addr&0xFF;
 207                 data[1] = (addr>>8)&0xFF;
 208                 command(CMD_TURNOUT_STATUS, addr, data, 2);
 209         }
 210 }
 211
 212 void Intellibox::set_turnout(unsigned addr, bool state)
 213 {
 214         Turnout &turnout = turnouts[addr];
 215         if(state==turnout.state || state==turnout.pending)
 216                 return;
 217
 218         turnout.pending = state;
 219         turnout.active = true;
 220         turnout.off_timeout = Time::TimeStamp();
 221
 222         turnout_command(addr, state, true);
 223 }
 224
 225 bool Intellibox::get_turnout(unsigned addr) const
 226 {
 227         map<unsigned, Turnout>::const_iterator i = turnouts.find(addr);
 228         if(i!=turnouts.end())
 229                 return i->second.state;
 230         return false;
 231 }
 232
 233 void Intellibox::add_sensor(unsigned addr)
 234 {
 235         if(!sensors.count(addr))
 236         {
 237                 sensors[addr];
 238                 update_sensors = true;
 239         }
 240 }
 241
 242 bool Intellibox::get_sensor(unsigned addr) const
 243 {
 244         map<unsigned, Sensor>::const_iterator i = sensors.find(addr);
 245         if(i!=sensors.end())
 246                 return i->second.state;
 247         return false;
 248 }
 249
 250 void Intellibox::tick()
 251 {
 252         const Time::TimeStamp t = Time::now();
 253
 254         if(t>next_event_query)
 255         {
 256                 next_event_query = t+200*Time::msec;
 257                 command(CMD_EVENT);
 258         }
 259
 260         for(map<unsigned, Locomotive>::iterator i=locos.begin(); i!=locos.end(); ++i)
 261                 if(i->second.protocol==MM_27 && i->second.pending_half_step && i->second.half_step_delay && t>i->second.half_step_delay)
 262                 {
 263                         i->second.speed += i->second.pending_half_step;
 264                         i->second.pending_half_step = 0;
 265                         i->second.half_step_delay = Time::TimeStamp();
 266                         loco_command(i->first, (i->second.speed+1)/2, i->second.reverse, i->second.funcs|0x100);
 267                 }
 268
 269         for(map<unsigned, Turnout>::iterator i=turnouts.begin(); i!=turnouts.end(); ++i)
 270                 if(i->second.active && i->second.off_timeout && t>i->second.off_timeout)
 271                 {
 272                         i->second.active = false;
 273                         i->second.off_timeout = Time::TimeStamp();
 274                         turnout_command(i->first, i->second.state, false);
 275                 }
 276
 277         for(map<unsigned, Sensor>::iterator i=sensors.begin(); i!=sensors.end(); ++i)
 278                 if(i->second.off_timeout && t>i->second.off_timeout)
 279                 {
 280                         i->second.state = false;
 281                         i->second.off_timeout = Time::TimeStamp();
 282                         signal_sensor.emit(i->first, false);
 283                 }
 284
 285         if(update_sensors)
 286         {
 287                 unsigned max_addr = (--sensors.end())->first;
 288                 unsigned char data[2];
 289                 data[0] = 0;
 290                 data[1] = (max_addr+7)/8;
 291                 command(CMD_SENSOR_PARAM_SET, data, 2);
 292                 command(CMD_SENSOR_REPORT);
 293                 update_sensors = false;
 294         }
 295
 296         if(!queue.empty() && command_sent)
 297         {
 298                 pollfd pfd = { serial_fd, POLLIN, 0 };
 299                 if(poll(&pfd, 1, 0)>0)
 300                 {
 301                         process_reply(t);
 302                         queue.erase(queue.begin());
 303                         command_sent = false;
 304                 }
 305                 else
 306                         return;
 307         }
 308
 309         if(!queue.empty())
 310         {
 311                 const CommandSlot &slot = queue.front();
 312                 write(serial_fd, slot.data, slot.length);
 313                 command_sent = true;
 314         }
 315 }
 316
 317 void Intellibox::flush()
 318 {
 319         Time::TimeStamp t = Time::now();
 320         for(list<CommandSlot>::iterator i=queue.begin(); i!=queue.end(); ++i)
 321         {
 322                 write(serial_fd, i->data, i->length);
 323                 pollfd pfd = { serial_fd, POLLIN, 0 };
 324                 bool first = true;
 325                 while(poll(&pfd, 1, (first ? -1 : 0))>0)
 326                 {
 327                         char data[16];
 328                         read(serial_fd, data, 16);
 329                         first = false;
 330                 }
 331         }
 332
 333         queue.clear();
 334         command_sent = false;
 335 }
 336
 337 Intellibox::Protocol Intellibox::map_protocol(const string &name) const
 338 {
 339         if(name=="MM")
 340                 return MM;
 341         else if(name=="MM-27")
 342                 return MM_27;
 343         else
 344                 throw InvalidParameterValue("Unknown protocol");
 345 }
 346
 347 void Intellibox::command(Command cmd)
 348 {
 349         command(cmd, 0, 0);
 350 }
 351
 352 void Intellibox::command(Command cmd, const unsigned char *data, unsigned len)
 353 {
 354         command(cmd, 0, data, len);
 355 }
 356
 357 void Intellibox::command(Command cmd, unsigned addr, const unsigned char *data, unsigned len)
 358 {
 359         CommandSlot slot;
 360         slot.cmd = cmd;
 361         slot.addr = addr;
 362         slot.data[0] = cmd;
 363         copy(data, data+len, slot.data+1);
 364         slot.length = 1+len;
 365         queue.push_back(slot);
 366 }
 367
 368 void Intellibox::loco_command(unsigned addr, unsigned speed, bool rev, unsigned funcs)
 369 {
 370         unsigned char data[4];
 371         data[0] = addr&0xFF;
 372         data[1] = (addr>>8)&0xFF;
 373
 374         if(speed==0)
 375                 data[2] = 0;
 376         else if(speed==1)
 377                 data[2] = 2;
 378         else
 379                 data[2] = (speed*19-18)/2;
 380
 381         data[3] = (rev ? 0 : 0x20) | ((funcs&1) ? 0x10 : 0);
 382
 383         if(!(funcs&0x100))
 384                 data[3] |= 0x80 | ((funcs>>1)&0xF);
 385
 386         command(CMD_LOK, addr, data, 4);
 387 }
 388
 389 void Intellibox::turnout_command(unsigned addr, bool state, bool active)
 390 {
 391         unsigned char data[2];
 392         data[0] = addr&0xFF;
 393         data[1] = ((addr>>8)&0x7) | (active ? 0x40 : 0) | (state ? 0x80 : 0);
 394         command(CMD_TURNOUT, addr, data, 2);
 395 }
 396
 397 void Intellibox::process_reply(const Time::TimeStamp &t)
 398 {
 399         Command cmd = queue.front().cmd;
 400
 401         if(cmd==CMD_STATUS)
 402         {
 403                 unsigned char status;
 404                 read_all(&status, 1);
 405                 power = status&0x08;
 406                 signal_power.emit(power);
 407         }
 408         else if(cmd==CMD_EVENT)
 409         {
 410                 for(unsigned i=0;; ++i)
 411                 {
 412                         unsigned char byte;
 413                         read_all(&byte, 1);
 414
 415                         if(i==0)
 416                         {
 417                                 if(byte&0x01)
 418                                         command(CMD_EVENT_LOK);
 419                                 if(byte&0x20)
 420                                         command(CMD_EVENT_TURNOUT);
 421                                 if(byte&0x04)
 422                                         command(CMD_EVENT_SENSOR);
 423                         }
 424                         else if(i==1)
 425                         {
 426                                 if(byte&0x40)
 427                                         command(CMD_STATUS);
 428                         }
 429
 430                         if(!(byte&0x80))
 431                                 break;
 432                 }
 433         }
 434         else if(cmd==CMD_EVENT_LOK)
 435         {
 436                 while(1)
 437                 {
 438                         unsigned char data[5];
 439                         read_all(data, 1);
 440                         if(data[0]==0x80)
 441                                 break;
 442                         read_all(data+1, 4);
 443                 }
 444         }
 445         else if(cmd==CMD_EVENT_TURNOUT)
 446         {
 447                 unsigned char count;
 448                 read_all(&count, 1);
 449                 for(unsigned i=0; i<count; ++i)
 450                 {
 451                         unsigned char data[2];
 452                         read_all(data, 2);
 453
 454                         unsigned addr = data[0]+((data[1]&7)<<8);
 455                         Turnout &turnout = turnouts[addr];
 456                         turnout.state = (data[1]&0x80)!=0;
 457                         turnout.pending = turnout.state;
 458                         signal_turnout.emit(addr, turnout.state);
 459                 }
 460         }
 461         else if(cmd==CMD_EVENT_SENSOR)
 462         {
 463                 while(1)
 464                 {
 465                         unsigned char mod;
 466                         read_all(&mod, 1);
 467                         if(!mod)
 468                                 break;
 469
 470                         unsigned char data[2];
 471                         read_all(data, 2);
 472                         for(unsigned i=0; i<16; ++i)
 473                         {
 474                                 unsigned addr = mod*16+i-15;
 475                                 bool state = (data[i/8]>>(7-i%8))&1;
 476
 477                                 Sensor &sensor = sensors[addr];
 478                                 if(state)
 479                                 {
 480                                         sensor.off_timeout = Time::TimeStamp();
 481                                         if(!sensor.state)
 482                                         {
 483                                                 sensor.state = state;
 484                                                 signal_sensor(addr, state);
 485                                         }
 486                                 }
 487                                 else if(sensor.state)
 488                                         sensor.off_timeout = t+700*Time::msec;
 489                         }
 490                 }
 491         }
 492         else if(cmd==CMD_LOK)
 493         {
 494                 Error err;
 495                 read_status(&err);
 496
 497                 if(err==ERR_NO_ERROR)
 498                 {
 499                         unsigned addr = queue.front().addr;
 500                         Locomotive &loco = locos[addr];
 501                         signal_loco_speed.emit(addr, loco.speed+loco.pending_half_step, loco.reverse);
 502                         if(loco.pending_half_step)
 503                                 loco.half_step_delay = Time::now()+500*Time::msec;
 504                 }
 505                 else
 506                         error(cmd, err);
 507         }
 508         else if(cmd==CMD_TURNOUT)
 509         {
 510                 Error err;
 511                 read_status(&err);
 512
 513                 unsigned addr = queue.front().addr;
 514                 Turnout &turnout = turnouts[addr];
 515
 516                 if(err==ERR_NO_ERROR)
 517                 {
 518                         turnout.state = turnout.pending;
 519                         if(turnout.active)
 520                         {
 521                                 signal_turnout.emit(addr, turnout.state);
 522                                 turnout.off_timeout = t+500*Time::msec;
 523                         }
 524                 }
 525                 else if(err==ERR_NO_I2C_SPACE)
 526                         queue.push_back(queue.front());
 527                 else
 528                 {
 529                         turnout.pending = turnout.state;
 530                         error(cmd, err);
 531                 }
 532         }
 533         else if(cmd==CMD_TURNOUT_STATUS)
 534         {
 535                 Error err;
 536                 read_status(&err);
 537
 538                 if(err==ERR_NO_ERROR)
 539                 {
 540                         unsigned char data;
 541                         read_all(&data, 1);
 542
 543                         unsigned addr = queue.front().addr;
 544                         bool state = data&0x04;
 545
 546                         Turnout &turnout = turnouts[addr];
 547                         if(state!=turnout.state)
 548                         {
 549                                 turnout.state = state;
 550                                 turnout.pending = state;
 551                                 signal_turnout.emit(addr, turnout.state);
 552                         }
 553                 }
 554                 else
 555                         error(cmd, err);
 556         }
 557         else if(cmd==CMD_LOK_STATUS)
 558         {
 559                 Error err;
 560                 read_status(&err);
 561
 562                 if(err==ERR_NO_ERROR)
 563                 {
 564                         unsigned char data[3];
 565                         read_all(data, 3);
 566
 567                         unsigned addr = queue.front().addr;
 568                         Locomotive &loco = locos[addr];
 569
 570                         unsigned speed = (data[0]<=1 ? 0 : data[0]*2/19+1);
 571                         bool reverse = !(data[1]&0x20);
 572                         if(speed!=loco.speed || reverse!=loco.reverse)
 573                         {
 574                                 loco.speed = speed;
 575                                 loco.reverse = reverse;
 576                                 signal_loco_speed.emit(addr, loco.speed, loco.reverse);
 577                         }
 578
 579                         unsigned funcs = (data[1]&0xF)<<1;
 580                         if(data[1]&0x10)
 581                                 funcs |= 1;
 582                         if(funcs!=loco.funcs)
 583                         {
 584                                 unsigned changed = loco.funcs^funcs;
 585                                 loco.funcs = funcs;
 586                                 for(unsigned i=0; i<5; ++i)
 587                                         if(changed&(1<<i))
 588                                                 signal_loco_function.emit(addr, i, loco.funcs&(1<<i));
 589                         }
 590                 }
 591                 else
 592                         error(cmd, err);
 593         }
 594         else
 595         {
 596                 unsigned expected_bytes = 0;
 597                 if(cmd==CMD_FUNC_STATUS)
 598                         expected_bytes = 1;
 599                 if(cmd==CMD_TURNOUT_GROUP_STATUS)
 600                         expected_bytes = 2;
 601                 if(cmd==CMD_LOK_CONFIG)
 602                         expected_bytes = 4;
 603
 604                 Error err;
 605                 read_status(&err);
 606
 607                 if(err==ERR_NO_ERROR)
 608                 {
 609                         unsigned char data[8];
 610                         read_all(data, expected_bytes);
 611                 }
 612                 else
 613                         error(cmd, err);
 614         }
 615 }
 616
 617 unsigned Intellibox::read_all(unsigned char *buf, unsigned len)
 618 {
 619         unsigned pos = 0;
 620         while(pos<len)
 621                 pos += read(serial_fd, buf+pos, len-pos);
 622
 623         return pos;
 624 }
 625
 626 unsigned Intellibox::read_status(Error *err)
 627 {
 628         unsigned char c;
 629         unsigned ret = read_all(&c, 1);
 630         *err = static_cast<Error>(c);
 631         return ret;
 632 }
 633
 634 void Intellibox::error(Command cmd, Error err)
 635 {
 636         const char *cmd_str = 0;
 637         switch(cmd)
 638         {
 639         case CMD_LOK: cmd_str = "CMD_LOK"; break;
 640         case CMD_LOK_STATUS: cmd_str = "CMD_LOK_STATUS"; break;
 641         case CMD_LOK_CONFIG: cmd_str = "CMD_LOK_CONFIG"; break;
 642         case CMD_FUNC: cmd_str = "CMD_FUNC"; break;
 643         case CMD_FUNC_STATUS: cmd_str = "CMD_FUNC_STATUS"; break;
 644         case CMD_TURNOUT: cmd_str = "CMD_TURNOUT"; break;
 645         case CMD_TURNOUT_FREE: cmd_str = "CMD_TURNOUT_FREE"; break;
 646         case CMD_TURNOUT_STATUS: cmd_str = "CMD_TURNOUT_STATUS"; break;
 647         case CMD_TURNOUT_GROUP_STATUS: cmd_str = "CMD_TURNOUT_GROUP_STATUS"; break;
 648         case CMD_SENSOR_STATUS: cmd_str = "CMD_SENSOR_STATUS"; break;
 649         case CMD_SENSOR_REPORT: cmd_str = "CMD_SENSOR_REPORT"; break;
 650         case CMD_SENSOR_PARAM_SET: cmd_str = "CMD_SENSOR_PARAM_SET"; break;
 651         case CMD_STATUS: cmd_str = "CMD_STATUS"; break;
 652         case CMD_POWER_OFF: cmd_str = "CMD_POWER_OFF"; break;
 653         case CMD_POWER_ON: cmd_str = "CMD_POWER_ON"; break;
 654         case CMD_NOP: cmd_str = "CMD_NOP"; break;
 655         case CMD_EVENT: cmd_str = "CMD_EVENT"; break;
 656         case CMD_EVENT_LOK: cmd_str = "CMD_EVENT_LOK"; break;
 657         case CMD_EVENT_TURNOUT: cmd_str = "CMD_EVENT_TURNOUT"; break;
 658         case CMD_EVENT_SENSOR: cmd_str = "CMD_EVENT_SENSOR"; break;
 659         default: cmd_str = "(unknown command)";
 660         }
 661
 662         const char *err_str = 0;
 663         switch(err)
 664         {
 665         case ERR_NO_ERROR: err_str = "ERR_NO_ERROR"; break;
 666         case ERR_SYS_ERROR: err_str = "ERR_SYS_ERROR"; break;
 667         case ERR_BAD_PARAM: err_str = "ERR_BAD_PARAM"; break;
 668         case ERR_POWER_OFF: err_str = "ERR_POWER_OFF"; break;
 669         case ERR_NO_LOK_SPACE: err_str = "ERR_NO_LOK_SPACE"; break;
 670         case ERR_NO_TURNOUT_SPACE: err_str = "ERR_NO_TURNOUT_SPACE"; break;
 671         case ERR_NO_DATA: err_str = "ERR_NO_DATA"; break;
 672         case ERR_NO_SLOT: err_str = "ERR_NO_SLOT"; break;
 673         case ERR_BAD_LOK_ADDR: err_str = "ERR_BAD_LOK_ADDR"; break;
 674         case ERR_LOK_BUSY: err_str = "ERR_LOK_BUSY"; break;
 675         case ERR_BAD_TURNOUT_ADDR: err_str = "ERR_BAD_TURNOUT_ADDR"; break;
 676         case ERR_BAD_SO_VALUE: err_str = "ERR_BAD_SO_VALUE"; break;
 677         case ERR_NO_I2C_SPACE: err_str = "ERR_NO_I2C_SPACE"; break;
 678         case ERR_LOW_TURNOUT_SPACE: err_str = "ERR_LOW_TURNOUT_SPACE"; break;
 679         case ERR_LOK_HALTED: err_str = "ERR_LOK_HALTED"; break;
 680         case ERR_LOK_POWER_OFF: err_str = "ERR_LOK_POWER_OFF"; break;
 681         default: cmd_str = "(unknown error)";
 682         }
 683
 684         IO::print("Error: %s: %s\n", cmd_str, err_str);
 685 }
 686
 687
 688 Intellibox::Locomotive::Locomotive():
 689         speed(0),
 690         reverse(false),
 691         funcs(0)
 692 { }
 693
 694
 695 Intellibox::Turnout::Turnout():
 696         state(false),
 697         active(false),
 698         pending(false)
 699 { }
 700
 701
 702 Intellibox::Sensor::Sensor():
 703         state(false)
 704 { }
 705
 706 } // namespace R2C2