public override void Deserialize(byte[] serializedMessage, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
//header
header = new Header(serializedMessage, ref currentIndex);
//status_list
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(serializedMessage, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (status_list == null)
{
status_list = new GoalStatus[arraylength];
}
else
{
Array.Resize(ref status_list, arraylength);
}
for (int i = 0; i < status_list.Length; i++)
{
//status_list[i]
status_list[i] = new GoalStatus(serializedMessage, ref currentIndex);
}
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//status_list
arraylength = rand.Next(10);
if (status_list == null)
{
status_list = new Messages.actionlib_msgs.GoalStatus[arraylength];
}
else
{
Array.Resize(ref status_list, arraylength);
}
for (int i = 0; i < status_list.Length; i++)
{
//status_list[i]
status_list[i] = new Messages.actionlib_msgs.GoalStatus();
status_list[i].Randomize();
}
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//header
header = new Header(SERIALIZEDSTUFF, ref currentIndex);
//status_list
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (status_list == null)
{
status_list = new Messages.actionlib_msgs.GoalStatus[arraylength];
}
else
{
Array.Resize(ref status_list, arraylength);
}
for (int i = 0; i < status_list.Length; i++)
{
//status_list[i]
status_list[i] = new Messages.actionlib_msgs.GoalStatus(SERIALIZEDSTUFF, ref currentIndex);
}
}
public ActionFailedExeption(string actionName, Messages.actionlib_msgs.GoalStatus goalStatus)
: base($"The action '{actionName}' failed with final goal status '{GetGoalStatusString( goalStatus )}': {goalStatus?.text}")
{
this.ActionName = actionName;
this.FinalGoalStatus = (goalStatus)?.status ?? GoalStatus.LOST;
this.StatusText = goalStatus?.text;
}
public override byte[] Serialize(bool partofsomethingelse)
{
List <byte[]> pieces = new List <byte[]>();
if (Header == null)
{
Header = new std_msgs.Header();
}
pieces.Add(Header.Serialize(true));
if (GoalStatus == null)
{
GoalStatus = new actionlib_msgs.GoalStatus();
}
pieces.Add(GoalStatus.Serialize(true));
if (Content == null)
{
Content = new T();
}
pieces.Add(Content.Serialize(true));
// combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
//header
header = new Header();
header.Randomize();
//status_list
arraylength = rand.Next(10);
if (status_list == null)
{
status_list = new GoalStatus[arraylength];
}
else
{
Array.Resize(ref status_list, arraylength);
}
for (int i = 0; i < status_list.Length; i++)
{
//status_list[i]
status_list[i] = new GoalStatus();
status_list[i].Randomize();
}
}
public override void Deserialize(byte[] serializedMessage, ref int currentIndex)
{
Header = new std_msgs.Header(serializedMessage, ref currentIndex);
GoalStatus = new actionlib_msgs.GoalStatus(serializedMessage, ref currentIndex);
//Content = (T)Activator.CreateInstance( typeof( T ), serializedMessage, currentIndex );
Content = (T)typeof(T).GetInstance();
Content.Deserialize(serializedMessage, ref currentIndex);
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
//header
header = new Header(SERIALIZEDSTUFF, ref currentIndex);
//status
status = new Messages.actionlib_msgs.GoalStatus(SERIALIZEDSTUFF, ref currentIndex);
//feedback
feedback = new hector_uav_msgs.LandingFeedback(SERIALIZEDSTUFF, ref currentIndex);
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//header
header = new Header(SERIALIZEDSTUFF, ref currentIndex);
//status
status = new Messages.actionlib_msgs.GoalStatus(SERIALIZEDSTUFF, ref currentIndex);
//result
result = new Messages.control_msgs.PointHeadResult(SERIALIZEDSTUFF, ref currentIndex);
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//header
header = new Header(SERIALIZEDSTUFF, ref currentIndex);
//status
status = new Messages.actionlib_msgs.GoalStatus(SERIALIZEDSTUFF, ref currentIndex);
//feedback
feedback = new Messages.object_recognition_msgs.ObjectRecognitionFeedback(SERIALIZEDSTUFF, ref currentIndex);
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//status
status = new Messages.actionlib_msgs.GoalStatus();
status.Randomize();
//feedback
feedback = new Messages.control_msgs.FollowJointTrajectoryFeedback();
feedback.Randomize();
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//status
status = new Messages.actionlib_msgs.GoalStatus();
status.Randomize();
//result
result = new Messages.control_msgs.PointHeadResult();
result.Randomize();
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//status
status = new Messages.actionlib_msgs.GoalStatus();
status.Randomize();
//result
result = new Messages.humanoid_nav_msgs.ExecFootstepsResult();
result.Randomize();
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//status
status = new Messages.actionlib_msgs.GoalStatus();
status.Randomize();
//feedback
feedback = new hector_uav_msgs.LandingFeedback();
feedback.Randomize();
}
public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//header
if (header == null)
{
header = new Header();
}
pieces.Add(header.Serialize(true));
//status_list
hasmetacomponents |= true;
if (status_list == null)
{
status_list = new Messages.actionlib_msgs.GoalStatus[0];
}
pieces.Add(BitConverter.GetBytes(status_list.Length));
for (int i = 0; i < status_list.Length; i++)
{
//status_list[i]
if (status_list[i] == null)
{
status_list[i] = new Messages.actionlib_msgs.GoalStatus();
}
pieces.Add(status_list[i].Serialize(true));
}
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
/* public void updateFeedback<TFeedback> (ClientGoalHandle<ActionSpec> gh, TFeedback actionFeedback) where TFeedback : AActionFeedback, new()
* {
* // Check if this feedback is for us
* if ( actionGoal.GoalID.id != actionFeedback.GoalStatus.goal_id.id )
* // if ( actionGoal.goal_id.id != actionFeedback.status.goal_id.id )
* return;
*
* if ( feedbackCallback != null )
* {
* // EnclosureDeleter<const ActionFeedback> d(actionFeedback);
* // FeedbackConstPtr feedback(&(actionFeedback->feedback), d);
* AFeedback feedback = actionFeedback.Feedback.Clone ();
* feedbackCallback ( gh, feedback );
* }
* }*/
public void updateResult(ClientGoalHandle <ActionSpec> gh, AActionResult actionResult)
{
// Check if this feedback is for us
if (actionGoal.GoalID.id != actionResult.GoalStatus.goal_id.id)
{
// if ( actionGoal.goal_id.id != actionResult.status.goal_id.id )
return;
}
latest_goal_status_ = actionResult.GoalStatus;
// latest_goal_status_ = actionResult.status;
latestResult = actionResult;
switch (state.state)
{
case CommState.StateEnum.WAITING_FOR_GOAL_ACK:
case CommState.StateEnum.PENDING:
case CommState.StateEnum.ACTIVE:
case CommState.StateEnum.WAITING_FOR_RESULT:
case CommState.StateEnum.WAITING_FOR_CANCEL_ACK:
case CommState.StateEnum.RECALLING:
case CommState.StateEnum.PREEMPTING:
{
// A little bit of hackery to call all the right state transitions before processing result
gsarray statusArray = new gsarray();
List <gstat> list = new List <gstat> (statusArray.status_list);
list.Add(actionResult.GoalStatus);
// list.Add ( actionResult.status );
statusArray.status_list = list.ToArray();
updateStatus(gh, statusArray);
transitionToState(gh, CommState.StateEnum.DONE);
break;
}
case CommState.StateEnum.DONE:
ROS.Error("actionlib", "Got a result when we were already in the DONE state");
break;
default:
ROS.Error("actionlib", "In a funny comm state: %u", state.state);
break;
}
}
public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//header
if (header == null)
{
header = new Header();
}
pieces.Add(header.Serialize(true));
//status
if (status == null)
{
status = new Messages.actionlib_msgs.GoalStatus();
}
pieces.Add(status.Serialize(true));
//result
if (result == null)
{
result = new Messages.control_msgs.PointHeadResult();
}
pieces.Add(result.Serialize(true));
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
/**
* \brief Get the terminal state information for this goal
*
* Possible States Are: RECALLED, REJECTED, PREEMPTED, ABORTED, SUCCEEDED, LOST
* This call only makes sense if CommState==DONE. This will send ROS_WARNs if we're not in DONE
* \return The terminal state
*/
public TerminalState getTerminalState()
{
if (!isActive)
{
ROS.Error("actionlib", "Trying to getTerminalState on an inactive ClientGoalHandle. You are incorrectly using a ClientGoalHandle");
return(new TerminalState(TerminalState.StateEnum.LOST));
}
DestructionGuard.ScopedProtector protector = new DestructionGuard.ScopedProtector(guard);
if (!protector.isProtected())
{
ROS.Error("actionlib", "This action client associated with the goal handle has already been destructed. Ignoring this getTerminalState() call");
return(new TerminalState(TerminalState.StateEnum.LOST));
}
UnityEngine.Debug.Assert(goalManager != null);
lock ( lockObject )
{
CommState comm_state = listHandle.GetElement().getCommState();
// CommState comm_state = listHandle.getElem()->getCommState();
if (comm_state != CommState.StateEnum.DONE)
{
ROS.Warn("actionlib", "Asking for the terminal state when we're in [%s]", comm_state.toString());
}
Messages.actionlib_msgs.GoalStatus goal_status = listHandle.GetElement().getGoalStatus();
// Messages.actionlib_msgs.GoalStatus goal_status = listHandle.getElem()->getGoalStatus();
switch (goal_status.status)
{
case gstat.PENDING:
case gstat.ACTIVE:
case gstat.PREEMPTING:
case gstat.RECALLING:
ROS.Error("actionlib", "Asking for terminal state, but latest goal status is %u", goal_status.status);
return(new TerminalState(TerminalState.StateEnum.LOST, goal_status.text));
case gstat.PREEMPTED:
return(new TerminalState(TerminalState.StateEnum.PREEMPTED, goal_status.text));
case gstat.SUCCEEDED:
return(new TerminalState(TerminalState.StateEnum.SUCCEEDED, goal_status.text));
case gstat.ABORTED:
return(new TerminalState(TerminalState.StateEnum.ABORTED, goal_status.text));
case gstat.REJECTED:
return(new TerminalState(TerminalState.StateEnum.REJECTED, goal_status.text));
case gstat.RECALLED:
return(new TerminalState(TerminalState.StateEnum.RECALLED, goal_status.text));
case gstat.LOST:
return(new TerminalState(TerminalState.StateEnum.LOST, goal_status.text));
default:
ROS.Error("actionlib", "Unknown goal status: %u", goal_status.status);
break;
}
ROS.Error("actionlib", "Bug in determining terminal state");
return(new TerminalState(TerminalState.StateEnum.LOST, goal_status.text));
}
}
// Transitions caused by messages
public void updateStatus(ClientGoalHandle <ActionSpec> gh, gsarray statusArray)
{
gstat goal_status = findGoalStatus(statusArray.status_list);
// It's possible to receive old GoalStatus messages over the wire, even after receiving Result with a terminal state.
// Thus, we want to ignore all status that we get after we're done, because it is irrelevant. (See trac #2721)
if (state == CommState.StateEnum.DONE)
{
return;
}
if (goal_status != null)
{
latest_goal_status_ = goal_status;
}
else
{
if (state != CommState.StateEnum.WAITING_FOR_GOAL_ACK &&
state != CommState.StateEnum.WAITING_FOR_RESULT &&
state != CommState.StateEnum.DONE)
{
processLost(gh);
}
return;
}
switch (state.state)
{
case CommState.StateEnum.WAITING_FOR_GOAL_ACK:
{
if (goal_status != null)
{
switch (goal_status.status)
{
case gstat.PENDING:
transitionToState(gh, CommState.StateEnum.PENDING);
break;
case gstat.ACTIVE:
transitionToState(gh, CommState.StateEnum.ACTIVE);
break;
case gstat.PREEMPTED:
transitionToState(gh, CommState.StateEnum.ACTIVE);
transitionToState(gh, CommState.StateEnum.PREEMPTING);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.SUCCEEDED:
transitionToState(gh, CommState.StateEnum.ACTIVE);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.ABORTED:
transitionToState(gh, CommState.StateEnum.ACTIVE);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.REJECTED:
transitionToState(gh, CommState.StateEnum.PENDING);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.RECALLED:
transitionToState(gh, CommState.StateEnum.PENDING);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.PREEMPTING:
transitionToState(gh, CommState.StateEnum.ACTIVE);
transitionToState(gh, CommState.StateEnum.PREEMPTING);
break;
case gstat.RECALLING:
transitionToState(gh, CommState.StateEnum.PENDING);
transitionToState(gh, CommState.StateEnum.RECALLING);
break;
default:
ROS.Error("actionlib", "BUG: Got an unknown status from the ActionServer. status = %u", goal_status.status);
break;
}
}
break;
}
case CommState.StateEnum.PENDING:
{
switch (goal_status.status)
{
case gstat.PENDING:
break;
case gstat.ACTIVE:
transitionToState(gh, CommState.StateEnum.ACTIVE);
break;
case gstat.PREEMPTED:
transitionToState(gh, CommState.StateEnum.ACTIVE);
transitionToState(gh, CommState.StateEnum.PREEMPTING);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.SUCCEEDED:
transitionToState(gh, CommState.StateEnum.ACTIVE);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.ABORTED:
transitionToState(gh, CommState.StateEnum.ACTIVE);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.REJECTED:
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.RECALLED:
transitionToState(gh, CommState.StateEnum.RECALLING);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.PREEMPTING:
transitionToState(gh, CommState.StateEnum.ACTIVE);
transitionToState(gh, CommState.StateEnum.PREEMPTING);
break;
case gstat.RECALLING:
transitionToState(gh, CommState.StateEnum.RECALLING);
break;
default:
ROS.Error("actionlib", "BUG: Got an unknown goal status from the ActionServer. status = %u", goal_status.status);
break;
}
break;
}
case CommState.StateEnum.ACTIVE:
{
switch (goal_status.status)
{
case gstat.PENDING:
ROS.Error("actionlib", "Invalid transition from ACTIVE to PENDING"); break;
case gstat.ACTIVE:
break;
case gstat.REJECTED:
ROS.Error("actionlib", "Invalid transition from ACTIVE to REJECTED"); break;
case gstat.RECALLING:
ROS.Error("actionlib", "Invalid transition from ACTIVE to RECALLING"); break;
case gstat.RECALLED:
ROS.Error("actionlib", "Invalid transition from ACTIVE to RECALLED"); break;
case gstat.PREEMPTED:
transitionToState(gh, CommState.StateEnum.PREEMPTING);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.SUCCEEDED:
case gstat.ABORTED:
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT); break;
case gstat.PREEMPTING:
transitionToState(gh, CommState.StateEnum.PREEMPTING); break;
default:
ROS.Error("actionlib", "BUG: Got an unknown goal status from the ActionServer. status = %u", goal_status.status);
break;
}
break;
}
case CommState.StateEnum.WAITING_FOR_RESULT:
{
switch (goal_status.status)
{
case gstat.PENDING:
ROS.Error("actionlib", "Invalid Transition from WAITING_FOR_RESUT to PENDING"); break;
case gstat.PREEMPTING:
ROS.Error("actionlib", "Invalid Transition from WAITING_FOR_RESUT to PREEMPTING"); break;
case gstat.RECALLING:
ROS.Error("actionlib", "Invalid Transition from WAITING_FOR_RESUT to RECALLING"); break;
case gstat.ACTIVE:
case gstat.PREEMPTED:
case gstat.SUCCEEDED:
case gstat.ABORTED:
case gstat.REJECTED:
case gstat.RECALLED:
break;
default:
ROS.Error("actionlib", "BUG: Got an unknown state from the ActionServer. status = %u", goal_status.status);
break;
}
break;
}
case CommState.StateEnum.WAITING_FOR_CANCEL_ACK:
{
switch (goal_status.status)
{
case gstat.PENDING:
break;
case gstat.ACTIVE:
break;
case gstat.SUCCEEDED:
case gstat.ABORTED:
case gstat.PREEMPTED:
transitionToState(gh, CommState.StateEnum.PREEMPTING);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.RECALLED:
transitionToState(gh, CommState.StateEnum.RECALLING);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.REJECTED:
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT); break;
case gstat.PREEMPTING:
transitionToState(gh, CommState.StateEnum.PREEMPTING); break;
case gstat.RECALLING:
transitionToState(gh, CommState.StateEnum.RECALLING); break;
default:
ROS.Error("actionlib", "BUG: Got an unknown state from the ActionServer. status = %u", goal_status.status);
break;
}
break;
}
case CommState.StateEnum.RECALLING:
{
switch (goal_status.status)
{
case gstat.PENDING:
ROS.Error("actionlib", "Invalid Transition from RECALLING to PENDING"); break;
case gstat.ACTIVE:
ROS.Error("actionlib", "Invalid Transition from RECALLING to ACTIVE"); break;
case gstat.SUCCEEDED:
case gstat.ABORTED:
case gstat.PREEMPTED:
transitionToState(gh, CommState.StateEnum.PREEMPTING);
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.RECALLED:
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT);
break;
case gstat.REJECTED:
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT); break;
case gstat.PREEMPTING:
transitionToState(gh, CommState.StateEnum.PREEMPTING); break;
case gstat.RECALLING:
break;
default:
ROS.Error("actionlib", "BUG: Got an unknown state from the ActionServer. status = %u", goal_status.status);
break;
}
break;
}
case CommState.StateEnum.PREEMPTING:
{
switch (goal_status.status)
{
case gstat.PENDING:
ROS.Error("actionlib", "Invalid Transition from PREEMPTING to PENDING"); break;
case gstat.ACTIVE:
ROS.Error("actionlib", "Invalid Transition from PREEMPTING to ACTIVE"); break;
case gstat.REJECTED:
ROS.Error("actionlib", "Invalid Transition from PREEMPTING to REJECTED"); break;
case gstat.RECALLING:
ROS.Error("actionlib", "Invalid Transition from PREEMPTING to RECALLING"); break;
case gstat.RECALLED:
ROS.Error("actionlib", "Invalid Transition from PREEMPTING to RECALLED"); break;
break;
case gstat.PREEMPTED:
case gstat.SUCCEEDED:
case gstat.ABORTED:
transitionToState(gh, CommState.StateEnum.WAITING_FOR_RESULT); break;
case gstat.PREEMPTING:
break;
default:
ROS.Error("actionlib", "BUG: Got an unknown state from the ActionServer. status = %u", goal_status.status);
break;
}
break;
}
case CommState.StateEnum.DONE:
{
switch (goal_status.status)
{
case gstat.PENDING:
ROS.Error("actionlib", "Invalid Transition from DONE to PENDING"); break;
case gstat.ACTIVE:
ROS.Error("actionlib", "Invalid Transition from DONE to ACTIVE"); break;
case gstat.RECALLING:
ROS.Error("actionlib", "Invalid Transition from DONE to RECALLING"); break;
case gstat.PREEMPTING:
ROS.Error("actionlib", "Invalid Transition from DONE to PREEMPTING"); break;
case gstat.PREEMPTED:
case gstat.SUCCEEDED:
case gstat.ABORTED:
case gstat.RECALLED:
case gstat.REJECTED:
break;
default:
ROS.Error("actionlib", "BUG: Got an unknown state from the ActionServer. status = %u", goal_status.status);
break;
}
break;
}
default:
ROS.Error("actionlib", "In a funny comm state: %u", state.state);
break;
}
}
