tinkerforge 2.1.4 → 2.1.6

data/lib/tinkerforge/bricklet_industrial_quad_relay.rb

@@ -1,18 +1,19 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2014-12-10.      #
+# This file was automatically generated on 2015-11-17.      #
 #                                                           #
-# Bindings Version 2.1.4                                    #
+# Bindings Version 2.1.6                                    #
 #                                                           #
 # If you have a bugfix for this file and want to commit it, #
 # please fix the bug in the generator. You can find a link  #
-# to the generator git on tinkerforge.com                   #
+# to the generators git repository on tinkerforge.com       #
 #############################################################
 
 module Tinkerforge
-  # Device for controlling up to 4 Solid State Relays
+  # 4 galvanically isolated solid state relays
   class BrickletIndustrialQuadRelay < Device
     DEVICE_IDENTIFIER = 225 # :nodoc:
+    DEVICE_DISPLAY_NAME = 'Industrial Quad Relay Bricklet' # :nodoc:
 
     # This callback is triggered whenever a monoflop timer reaches 0. The
     # parameters contain the involved pins and the current value of the pins

data/lib/tinkerforge/bricklet_io16.rb

@@ -1,18 +1,19 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2014-12-10.      #
+# This file was automatically generated on 2015-11-17.      #
 #                                                           #
-# Bindings Version 2.1.4                                    #
+# Bindings Version 2.1.6                                    #
 #                                                           #
 # If you have a bugfix for this file and want to commit it, #
 # please fix the bug in the generator. You can find a link  #
-# to the generator git on tinkerforge.com                   #
+# to the generators git repository on tinkerforge.com       #
 #############################################################
 
 module Tinkerforge
-  # Device for controlling up to 16 general purpose input/output pins
+  # 16-channel digital input/output
   class BrickletIO16 < Device
     DEVICE_IDENTIFIER = 28 # :nodoc:
+    DEVICE_DISPLAY_NAME = 'IO-16 Bricklet' # :nodoc:
 
     # This callback is triggered whenever a change of the voltage level is detected
     # on pins where the interrupt was activated with BrickletIO16#set_port_interrupt.
@@ -226,7 +227,7 @@ module Tinkerforge
     # If you set the reset counter to *true*, the count is set back to 0
     # directly after it is read.
     # 
-    # .. versionadded:: 2.0.3~(Plugin)
+    # .. versionadded:: 2.0.3$nbsp;(Plugin)
     def get_edge_count(pin, reset_counter)
       send_request(FUNCTION_GET_EDGE_COUNT, [pin, reset_counter], 'C ?', 4, 'L')
     end
@@ -250,7 +251,7 @@ module Tinkerforge
     # 
     # Default values: 0 (edge type) and 100ms (debounce time)
     # 
-    # .. versionadded:: 2.0.3~(Plugin)
+    # .. versionadded:: 2.0.3$nbsp;(Plugin)
     def set_edge_count_config(pin, edge_type, debounce)
       send_request(FUNCTION_SET_EDGE_COUNT_CONFIG, [pin, edge_type, debounce], 'C C C', 0, '')
     end
@@ -258,7 +259,7 @@ module Tinkerforge
     # Returns the edge type and debounce time for the selected pin of port A as set by
     # BrickletIO16#set_edge_count_config.
     # 
-    # .. versionadded:: 2.0.3~(Plugin)
+    # .. versionadded:: 2.0.3$nbsp;(Plugin)
     def get_edge_count_config(pin)
       send_request(FUNCTION_GET_EDGE_COUNT_CONFIG, [pin], 'C', 2, 'C C')
     end

data/lib/tinkerforge/bricklet_io4.rb

@@ -1,18 +1,19 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2014-12-10.      #
+# This file was automatically generated on 2015-11-17.      #
 #                                                           #
-# Bindings Version 2.1.4                                    #
+# Bindings Version 2.1.6                                    #
 #                                                           #
 # If you have a bugfix for this file and want to commit it, #
 # please fix the bug in the generator. You can find a link  #
-# to the generator git on tinkerforge.com                   #
+# to the generators git repository on tinkerforge.com       #
 #############################################################
 
 module Tinkerforge
-  # Device for controlling up to 4 general purpose input/output pins
+  # 4-channel digital input/output
   class BrickletIO4 < Device
     DEVICE_IDENTIFIER = 29 # :nodoc:
+    DEVICE_DISPLAY_NAME = 'IO-4 Bricklet' # :nodoc:
 
     # This callback is triggered whenever a change of the voltage level is detected
     # on pins where the interrupt was activated with BrickletIO4#set_interrupt.
@@ -224,7 +225,7 @@ module Tinkerforge
     # If you set the reset counter to *true*, the count is set back to 0
     # directly after it is read.
     # 
-    # .. versionadded:: 2.0.1~(Plugin)
+    # .. versionadded:: 2.0.1$nbsp;(Plugin)
     def get_edge_count(pin, reset_counter)
       send_request(FUNCTION_GET_EDGE_COUNT, [pin, reset_counter], 'C ?', 4, 'L')
     end
@@ -247,7 +248,7 @@ module Tinkerforge
     # 
     # Default values: 0 (edge type) and 100ms (debounce time)
     # 
-    # .. versionadded:: 2.0.1~(Plugin)
+    # .. versionadded:: 2.0.1$nbsp;(Plugin)
     def set_edge_count_config(selection_mask, edge_type, debounce)
       send_request(FUNCTION_SET_EDGE_COUNT_CONFIG, [selection_mask, edge_type, debounce], 'C C C', 0, '')
     end
@@ -255,7 +256,7 @@ module Tinkerforge
     # Returns the edge type and debounce time for the selected pin as set by
     # BrickletIO4#set_edge_count_config.
     # 
-    # .. versionadded:: 2.0.1~(Plugin)
+    # .. versionadded:: 2.0.1$nbsp;(Plugin)
     def get_edge_count_config(pin)
       send_request(FUNCTION_GET_EDGE_COUNT_CONFIG, [pin], 'C', 2, 'C C')
     end

data/lib/tinkerforge/bricklet_joystick.rb

@@ -1,18 +1,19 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2014-12-10.      #
+# This file was automatically generated on 2015-11-17.      #
 #                                                           #
-# Bindings Version 2.1.4                                    #
+# Bindings Version 2.1.6                                    #
 #                                                           #
 # If you have a bugfix for this file and want to commit it, #
 # please fix the bug in the generator. You can find a link  #
-# to the generator git on tinkerforge.com                   #
+# to the generators git repository on tinkerforge.com       #
 #############################################################
 
 module Tinkerforge
-  # Dual-Axis Joystick with Button
+  # 2-axis joystick with push-button
   class BrickletJoystick < Device
     DEVICE_IDENTIFIER = 210 # :nodoc:
+    DEVICE_DISPLAY_NAME = 'Joystick Bricklet' # :nodoc:
 
     # This callback is triggered periodically with the period that is set by
     # BrickletJoystick#set_position_callback_period. The parameter is the position of the

data/lib/tinkerforge/bricklet_laser_range_finder.rb

@@ -0,0 +1,324 @@
+# -*- ruby encoding: utf-8 -*-
+#############################################################
+# This file was automatically generated on 2015-11-17.      #
+#                                                           #
+# Bindings Version 2.1.6                                    #
+#                                                           #
+# If you have a bugfix for this file and want to commit it, #
+# please fix the bug in the generator. You can find a link  #
+# to the generators git repository on tinkerforge.com       #
+#############################################################
+
+module Tinkerforge
+  # Measures distance up to 40m with laser light
+  class BrickletLaserRangeFinder < Device
+    DEVICE_IDENTIFIER = 255 # :nodoc:
+    DEVICE_DISPLAY_NAME = 'Laser Range Finder Bricklet' # :nodoc:
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickletLaserRangeFinder#set_distance_callback_period. The parameter is the distance value
+    # of the sensor.
+    # 
+    # CALLBACK_DISTANCE is only triggered if the distance value has changed since the
+    # last triggering.
+    CALLBACK_DISTANCE = 20
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickletLaserRangeFinder#set_velocity_callback_period. The parameter is the velocity value
+    # of the sensor.
+    # 
+    # CALLBACK_VELOCITY is only triggered if the velocity has changed since the
+    # last triggering.
+    CALLBACK_VELOCITY = 21
+
+    # This callback is triggered when the threshold as set by
+    # BrickletLaserRangeFinder#set_distance_callback_threshold is reached.
+    # The parameter is the distance value of the sensor.
+    # 
+    # If the threshold keeps being reached, the callback is triggered periodically
+    # with the period as set by BrickletLaserRangeFinder#set_debounce_period.
+    CALLBACK_DISTANCE_REACHED = 22
+
+    # This callback is triggered when the threshold as set by
+    # BrickletLaserRangeFinder#set_velocity_callback_threshold is reached.
+    # The parameter is the velocity value of the sensor.
+    # 
+    # If the threshold keeps being reached, the callback is triggered periodically
+    # with the period as set by BrickletLaserRangeFinder#set_debounce_period.
+    CALLBACK_VELOCITY_REACHED = 23
+
+    FUNCTION_GET_DISTANCE = 1 # :nodoc:
+    FUNCTION_GET_VELOCITY = 2 # :nodoc:
+    FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 3 # :nodoc:
+    FUNCTION_GET_DISTANCE_CALLBACK_PERIOD = 4 # :nodoc:
+    FUNCTION_SET_VELOCITY_CALLBACK_PERIOD = 5 # :nodoc:
+    FUNCTION_GET_VELOCITY_CALLBACK_PERIOD = 6 # :nodoc:
+    FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 7 # :nodoc:
+    FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD = 8 # :nodoc:
+    FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD = 9 # :nodoc:
+    FUNCTION_GET_VELOCITY_CALLBACK_THRESHOLD = 10 # :nodoc:
+    FUNCTION_SET_DEBOUNCE_PERIOD = 11 # :nodoc:
+    FUNCTION_GET_DEBOUNCE_PERIOD = 12 # :nodoc:
+    FUNCTION_SET_MOVING_AVERAGE = 13 # :nodoc:
+    FUNCTION_GET_MOVING_AVERAGE = 14 # :nodoc:
+    FUNCTION_SET_MODE = 15 # :nodoc:
+    FUNCTION_GET_MODE = 16 # :nodoc:
+    FUNCTION_ENABLE_LASER = 17 # :nodoc:
+    FUNCTION_DISABLE_LASER = 18 # :nodoc:
+    FUNCTION_IS_LASER_ENABLED = 19 # :nodoc:
+    FUNCTION_GET_IDENTITY = 255 # :nodoc:
+
+    THRESHOLD_OPTION_OFF = 'x' # :nodoc:
+    THRESHOLD_OPTION_OUTSIDE = 'o' # :nodoc:
+    THRESHOLD_OPTION_INSIDE = 'i' # :nodoc:
+    THRESHOLD_OPTION_SMALLER = '<' # :nodoc:
+    THRESHOLD_OPTION_GREATER = '>' # :nodoc:
+    MODE_DISTANCE = 0 # :nodoc:
+    MODE_VELOCITY_MAX_13MS = 1 # :nodoc:
+    MODE_VELOCITY_MAX_32MS = 2 # :nodoc:
+    MODE_VELOCITY_MAX_64MS = 3 # :nodoc:
+    MODE_VELOCITY_MAX_127MS = 4 # :nodoc:
+
+    # Creates an object with the unique device ID <tt>uid</tt> and adds it to
+    # the IP Connection <tt>ipcon</tt>.
+    def initialize(uid, ipcon)
+      super uid, ipcon
+
+      @api_version = [2, 0, 0]
+
+      @response_expected[FUNCTION_GET_DISTANCE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_DISTANCE_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_DISTANCE_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_VELOCITY_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_VELOCITY_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_VELOCITY_CALLBACK_THRESHOLD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_DEBOUNCE_PERIOD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_DEBOUNCE_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_MOVING_AVERAGE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_MOVING_AVERAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_MODE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_ENABLE_LASER] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_DISABLE_LASER] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_IS_LASER_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[CALLBACK_DISTANCE] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_DISTANCE_REACHED] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_VELOCITY_REACHED] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+
+      @callback_formats[CALLBACK_DISTANCE] = 'S'
+      @callback_formats[CALLBACK_VELOCITY] = 's'
+      @callback_formats[CALLBACK_DISTANCE_REACHED] = 'S'
+      @callback_formats[CALLBACK_VELOCITY_REACHED] = 's'
+    end
+
+    # Returns the measured distance. The value has a range of 0 to 4000
+    # and is given in cm.
+    # 
+    # The Laser Range Finder Bricklet knows different modes. Distances
+    # are only measured in the distance measurement mode,
+    # see BrickletLaserRangeFinder#set_mode. Also the laser has to be enabled, see
+    # BrickletLaserRangeFinder#enable_laser.
+    # 
+    # If you want to get the distance periodically, it is recommended to
+    # use the callback CALLBACK_DISTANCE and set the period with 
+    # BrickletLaserRangeFinder#set_distance_callback_period.
+    def get_distance
+      send_request(FUNCTION_GET_DISTANCE, [], '', 2, 'S')
+    end
+
+    # Returns the measured velocity. The value has a range of 0 to 12700
+    # and is given in 1/100 m/s.
+    # 
+    # The Laser Range Finder Bricklet knows different modes. Velocity 
+    # is only measured in the velocity measurement modes, 
+    # see BrickletLaserRangeFinder#set_mode. Also the laser has to be enabled, see
+    # BrickletLaserRangeFinder#enable_laser.
+    # 
+    # If you want to get the velocity periodically, it is recommended to
+    # use the callback CALLBACK_VELOCITY and set the period with 
+    # BrickletLaserRangeFinder#set_velocity_callback_period.
+    def get_velocity
+      send_request(FUNCTION_GET_VELOCITY, [], '', 2, 's')
+    end
+
+    # Sets the period in ms with which the CALLBACK_DISTANCE callback is triggered
+    # periodically. A value of 0 turns the callback off.
+    # 
+    # CALLBACK_DISTANCE is only triggered if the distance value has changed since the
+    # last triggering.
+    # 
+    # The default value is 0.
+    def set_distance_callback_period(period)
+      send_request(FUNCTION_SET_DISTANCE_CALLBACK_PERIOD, [period], 'L', 0, '')
+    end
+
+    # Returns the period as set by BrickletLaserRangeFinder#set_distance_callback_period.
+    def get_distance_callback_period
+      send_request(FUNCTION_GET_DISTANCE_CALLBACK_PERIOD, [], '', 4, 'L')
+    end
+
+    # Sets the period in ms with which the CALLBACK_VELOCITY callback is triggered
+    # periodically. A value of 0 turns the callback off.
+    # 
+    # CALLBACK_VELOCITY is only triggered if the velocity value has changed since the
+    # last triggering.
+    # 
+    # The default value is 0.
+    def set_velocity_callback_period(period)
+      send_request(FUNCTION_SET_VELOCITY_CALLBACK_PERIOD, [period], 'L', 0, '')
+    end
+
+    # Returns the period as set by BrickletLaserRangeFinder#set_velocity_callback_period.
+    def get_velocity_callback_period
+      send_request(FUNCTION_GET_VELOCITY_CALLBACK_PERIOD, [], '', 4, 'L')
+    end
+
+    # Sets the thresholds for the CALLBACK_DISTANCE_REACHED callback. 
+    # 
+    # The following options are possible:
+    # 
+    #  "Option", "Description"
+    # 
+    #  "'x'",    "Callback is turned off"
+    #  "'o'",    "Callback is triggered when the distance value is *outside* the min and max values"
+    #  "'i'",    "Callback is triggered when the distance value is *inside* the min and max values"
+    #  "'<'",    "Callback is triggered when the distance value is smaller than the min value (max is ignored)"
+    #  "'>'",    "Callback is triggered when the distance value is greater than the min value (max is ignored)"
+    # 
+    # The default value is ('x', 0, 0).
+    def set_distance_callback_threshold(option, min, max)
+      send_request(FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD, [option, min, max], 'k S S', 0, '')
+    end
+
+    # Returns the threshold as set by BrickletLaserRangeFinder#set_distance_callback_threshold.
+    def get_distance_callback_threshold
+      send_request(FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD, [], '', 5, 'k S S')
+    end
+
+    # Sets the thresholds for the CALLBACK_VELOCITY_REACHED callback. 
+    # 
+    # The following options are possible:
+    # 
+    #  "Option", "Description"
+    # 
+    #  "'x'",    "Callback is turned off"
+    #  "'o'",    "Callback is triggered when the velocity is *outside* the min and max values"
+    #  "'i'",    "Callback is triggered when the velocity is *inside* the min and max values"
+    #  "'<'",    "Callback is triggered when the velocity is smaller than the min value (max is ignored)"
+    #  "'>'",    "Callback is triggered when the velocity is greater than the min value (max is ignored)"
+    # 
+    # The default value is ('x', 0, 0).
+    def set_velocity_callback_threshold(option, min, max)
+      send_request(FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD, [option, min, max], 'k s s', 0, '')
+    end
+
+    # Returns the threshold as set by BrickletLaserRangeFinder#set_velocity_callback_threshold.
+    def get_velocity_callback_threshold
+      send_request(FUNCTION_GET_VELOCITY_CALLBACK_THRESHOLD, [], '', 5, 'k s s')
+    end
+
+    # Sets the period in ms with which the threshold callbacks
+    # 
+    # * CALLBACK_DISTANCE_REACHED,
+    # * CALLBACK_VELOCITY_REACHED,
+    # 
+    # are triggered, if the thresholds
+    # 
+    # * BrickletLaserRangeFinder#set_distance_callback_threshold,
+    # * BrickletLaserRangeFinder#set_velocity_callback_threshold,
+    # 
+    # keep being reached.
+    # 
+    # The default value is 100.
+    def set_debounce_period(debounce)
+      send_request(FUNCTION_SET_DEBOUNCE_PERIOD, [debounce], 'L', 0, '')
+    end
+
+    # Returns the debounce period as set by BrickletLaserRangeFinder#set_debounce_period.
+    def get_debounce_period
+      send_request(FUNCTION_GET_DEBOUNCE_PERIOD, [], '', 4, 'L')
+    end
+
+    # Sets the length of a `moving averaging <https://en.wikipedia.org/wiki/Moving_average>`__
+    # for the distance and velocity.
+    # 
+    # Setting the length to 0 will turn the averaging completely off. With less
+    # averaging, there is more noise on the data.
+    # 
+    # The range for the averaging is 0-30.
+    # 
+    # The default value is 10.
+    def set_moving_average(distance_average_length, velocity_average_length)
+      send_request(FUNCTION_SET_MOVING_AVERAGE, [distance_average_length, velocity_average_length], 'C C', 0, '')
+    end
+
+    # Returns the length moving average as set by BrickletLaserRangeFinder#set_moving_average.
+    def get_moving_average
+      send_request(FUNCTION_GET_MOVING_AVERAGE, [], '', 2, 'C C')
+    end
+
+    # The LIDAR has five different modes. One mode is for distance
+    # measurements and four modes are for velocity measurements with
+    # different ranges.
+    # 
+    # The following modes are available:
+    # 
+    # * 0: Distance is measured with resolution 1.0 cm and range 0-400 cm
+    # * 1: Velocity is measured with resolution 0.1 m/s and range is 0-12.7 m/s
+    # * 2: Velocity is measured with resolution 0.25 m/s and range is 0-31.75 m/s
+    # * 3: Velocity is measured with resolution 0.5 m/s and range is 0-63.5 m/s
+    # * 4: Velocity is measured with resolution 1.0 m/s and range is 0-127 m/s
+    # 
+    # The default mode is 0 (distance is measured).
+    def set_mode(mode)
+      send_request(FUNCTION_SET_MODE, [mode], 'C', 0, '')
+    end
+
+    # Returns the mode as set by BrickletLaserRangeFinder#set_mode.
+    def get_mode
+      send_request(FUNCTION_GET_MODE, [], '', 1, 'C')
+    end
+
+    # Activates the laser of the LIDAR.
+    # 
+    # We recommend that you wait 250ms after enabling the laser before
+    # the first call of BrickletLaserRangeFinder#get_distance to ensure stable measurements.
+    def enable_laser
+      send_request(FUNCTION_ENABLE_LASER, [], '', 0, '')
+    end
+
+    # Deactivates the laser of the LIDAR.
+    def disable_laser
+      send_request(FUNCTION_DISABLE_LASER, [], '', 0, '')
+    end
+
+    # Returns *true* if the laser is enabled, *false* otherwise.
+    def is_laser_enabled
+      send_request(FUNCTION_IS_LASER_ENABLED, [], '', 1, '?')
+    end
+
+    # Returns the UID, the UID where the Bricklet is connected to, 
+    # the position, the hardware and firmware version as well as the
+    # device identifier.
+    # 
+    # The position can be 'a', 'b', 'c' or 'd'.
+    # 
+    # The device identifier numbers can be found :ref:`here <device_identifier>`.
+    # |device_identifier_constant|
+    def get_identity
+      send_request(FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S')
+    end
+
+    # Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.
+    def register_callback(id, &block)
+      callback = block
+      @registered_callbacks[id] = callback
+    end
+  end
+end