csu3_am335x/EVSE/Projects/DS30/Apps/internalComm.c

/*
 * internalComm.c
 *
 *  Created on: 2019年5月7日
 *      Author: foluswen
 */
#include 	<sys/time.h>
#include 	<sys/timeb.h>
#include    <sys/types.h>
#include    <sys/stat.h>
#include 	<sys/types.h>
#include 	<sys/ioctl.h>
#include 	<sys/socket.h>
#include 	<sys/ipc.h>
#include 	<sys/shm.h>
#include 	<sys/shm.h>
#include 	<sys/mman.h>
#include 	<linux/wireless.h>
#include 	<arpa/inet.h>
#include 	<netinet/in.h>

#include 	<unistd.h>
#include 	<stdarg.h>
#include    <stdio.h>      /*標準輸入輸出定義*/
#include    <stdlib.h>     /*標準函數庫定義*/
#include    <unistd.h>     /*Unix 標準函數定義*/
#include    <fcntl.h>      /*檔控制定義*/
#include    <termios.h>    /*PPSIX 終端控制定義*/
#include    <errno.h>      /*錯誤號定義*/
#include 	<errno.h>
#include 	<string.h>
#include	<time.h>
#include	<ctype.h>
#include 	<ifaddrs.h>
#include 	<math.h>
#include 	"internalComm.h"

#define PASS				1
#define FAIL				-1

struct Address Addr={0x01,0x02,0x03,0xFF};
struct Command Cmd={0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08,0x09,0x0a,0x81,0x85,0x86,0xe0,0xe1,0xe2,0xe3};

int tranceive(int fd, unsigned char* cmd, unsigned char cmd_len, unsigned char* rx)
{
	int len;
	//sleep(2); //required to make flush work, for some reason
	tcflush(fd,TCIOFLUSH);
	if(write(fd, cmd, cmd_len) >= cmd_len)
	{
		usleep(5000);
		len = read(fd, rx, 512);
	}
	else
	{
		#ifdef SystemLogMessage
		DEBUG_ERROR("Serial command %s response fail.\n", cmd);
		#endif
	}

	return len;
}

unsigned char Query_FW_Ver(unsigned char fd, unsigned char targetAddr, Ver *Ret_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[7] = {0xaa, 0x00, targetAddr, Cmd.query_FW_Ver, 0x00, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;
	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]))
		{
			memcpy(Ret_Buf->Version_FW, (char *)rx+6, (rx[4] | rx[5]<<8));
			*(Ret_Buf->Version_FW + 8) = 0x00;
			result = PASS;
		}
	}

	return result;
}

unsigned char Query_HW_Ver(unsigned char fd, unsigned char targetAddr, Ver *Ret_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[7] = {0xaa, 0x00, targetAddr, Cmd.query_HW_Ver, 0x00, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;
	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]))
		{
			memcpy(Ret_Buf->Version_HW, (char *)rx+6, (rx[4] | rx[5]<<8));
			*(Ret_Buf->Version_HW + 8) = 0x00;
			result = PASS;
		}
	}

	return result;
}

unsigned char Query_Present_InputVoltage(unsigned char fd, unsigned char targetAddr, PresentInputVoltage *Ret_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[7] = {0xaa, 0x00, targetAddr, Cmd.query_Present_InputVoltage, 0x00, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;
	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}
		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]))
		{
			Ret_Buf->inputType = rx[6];
			Ret_Buf->L1N_L12 =(rx[7] | (rx[8]<<8))/10.0;
			Ret_Buf->L2N_L23 =(rx[9] | (rx[10]<<8))/10.0;
			Ret_Buf->L3N_L31 =(rx[11] | (rx[12]<<8))/10.0;

			result = PASS;
		}
	}

	return result;
}

unsigned char Query_Present_OutputVoltage(unsigned char fd, unsigned char targetAddr, PresentOutputVoltage *Ret_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[7] = {0xaa, 0x00, targetAddr, Cmd.query_Present_OutputVoltage, 0x00, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;
	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]))
		{

			Ret_Buf->behindFuse_Voltage_C1 =(rx[6] | (rx[7]<<8));
			Ret_Buf->behindRelay_Voltage_C1 =(rx[8] | (rx[9]<<8));
			if((rx[4] | rx[5]<<8) > 4)
			{
				Ret_Buf->behindFuse_Voltage_C2 =(rx[10] | (rx[11]<<8));
				Ret_Buf->behindRelay_Voltage_C2 =(rx[12] | (rx[13]<<8));
			}
			result = PASS;
		}
	}

	return result;
}

unsigned char Query_Fan_Speed(unsigned char fd, unsigned char targetAddr, FanSpeed *Ret_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[7] = {0xaa, 0x00, targetAddr, Cmd.query_Fan_Speed, 0x00, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;
	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]))
		{
			for(int idx=0;idx < 4;idx++)
				Ret_Buf->speed[idx] = (rx[6+(2*idx)] | (rx[6+(2*idx)+1]<<8));

			result = PASS;
		}
	}

	return result;
}

unsigned char Query_Temperature(unsigned char fd, unsigned char targetAddr, Temperature *Ret_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[7] = {0xaa, 0x00, targetAddr, Cmd.query_Temperature, 0x00, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;
	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]))
		{
			for(int idx=0;idx < 4;idx++)
				Ret_Buf->temperature[idx] = rx[6+idx] - 60;

			result = PASS;
		}
	}


	return result;
}

unsigned char Query_Aux_PowerVoltage(unsigned char fd, unsigned char targetAddr, AuxPower *Ret_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[7] = {0xaa, 0x00, targetAddr, Cmd.query_Aux_PowerVoltage, 0x00, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;
	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]))
		{
			for(int idx=0;idx<(rx[4] | rx[5]<<8);idx++)
				Ret_Buf->voltage[idx] = rx[6+idx];

			result = PASS;
		}
	}

	return result;
}

unsigned char Query_Relay_Output(unsigned char fd, unsigned char targetAddr, Relay *Ret_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[7] = {0xaa, 0x00, targetAddr, Cmd.query_Relay_Output, 0x00, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;
	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]))
		{
			Ret_Buf->relay_event.bits.AC_Contactor = (rx[6] >> 0) & 0x01;
			Ret_Buf->relay_event.bits.CCS_Precharge = (rx[6] >> 1) & 0x01;

			Ret_Buf->relay_event.bits.Gun1_N = (rx[7] >> 0) & 0x01;
			Ret_Buf->relay_event.bits.Gun1_P = (rx[7] >> 1) & 0x01;
			Ret_Buf->relay_event.bits.Gun1_Parallel_N = (rx[7] >> 2) & 0x01;
			Ret_Buf->relay_event.bits.Gun1_Parallel_P = (rx[7] >> 3) & 0x01;

			Ret_Buf->relay_event.bits.Gun2_N = (rx[8] >> 0) & 0x01;
			Ret_Buf->relay_event.bits.Gun2_P = (rx[8] >> 1) & 0x01;
			result = PASS;
		}
	}

	return result;
}

unsigned char Query_Gfd_Adc(unsigned char fd, unsigned char targetAddr, Gfd *Ret_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[7] = {0xaa, 0x00, targetAddr, Cmd.query_Gfd_Adc, 0x00, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;
	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		printf("chksum = %d \n", chksum);
		printf("rx[2] == %d tx[1] = %d \n", rx[2], tx[1]);
		printf("rx[1] == %d tx[2] = %d \n", rx[1], tx[2]);
		printf("rx[3] == %d tx[3] = %d \n", rx[3], tx[3]);
		printf("chksum = %d \n", chksum);
//		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
//		   (rx[2] == tx[1]) &&
//		   (rx[1] == tx[2]) &&
//		   (rx[3] == tx[3]))
		if(
				   (rx[2] == tx[1]) &&
				   (rx[1] == tx[2]) &&
				   (rx[3] == tx[3]))
		{
			Ret_Buf->Resister = (rx[6] | (rx[7]<<8) | (rx[8]<<16) | (rx[9]<<24));
			Ret_Buf->voltage = rx[10] | (rx[11]<<8);
			Ret_Buf->result = rx[12];

			result = PASS;
		}
	}

	return result;
}

unsigned char Query_Gpio_Input(unsigned char fd, unsigned char targetAddr, Gpio_in *Ret_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[7] = {0xaa, 0x00, targetAddr, Cmd.query_Gpio_In, 0x00, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;
	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]))
		{
			Ret_Buf->AC_Connector 		= (rx[6] >> 0) & 0x01;
			Ret_Buf->AC_MainBreaker 	= (rx[6] >> 1) & 0x01;
			Ret_Buf->SPD 				= (rx[6] >> 2) & 0x01;
			Ret_Buf->Door_Open 			= (rx[6] >> 3) & 0x01;
			Ret_Buf->GFD[0] 			= (rx[6] >> 4) & 0x01;
			Ret_Buf->GFD[1] 			= (rx[6] >> 5) & 0x01;
			Ret_Buf->AC_Drop 			= (rx[6] >> 6) & 0x01;

			Ret_Buf->Emergency_IO		= (rx[7] >> 0) & 0x01;

			Ret_Buf->Button_Emergency_Press	= (rx[8] >> 0) & 0x01;
			Ret_Buf->Button_On_Press 	= (rx[8] >> 1) & 0x01;
			Ret_Buf->Button_Off_Press	= (rx[8] >> 2) & 0x01;
			Ret_Buf->Key_1_Press 		= (rx[8] >> 3) & 0x01;
			Ret_Buf->Key_2_Press 		= (rx[8] >> 4) & 0x01;
			Ret_Buf->Key_3_Press 		= (rx[8] >> 5) & 0x01;
			Ret_Buf->Key_4_Press 		= (rx[8] >> 6) & 0x01;

			result = PASS;
		}
	}

	return result;
}

unsigned char Config_Fan_Speed(unsigned char fd, unsigned char targetAddr, FanSpeed *Set_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[9] = {0xaa, 0x00, targetAddr, Cmd.config_Fan_Speed, 0x02, 0x00, Set_Buf->speed[0], Set_Buf->speed[1]};
	unsigned char rx[512];
	unsigned char chksum = 0x00;

	for(int idx = 0;idx<(tx[4] | tx[5]<<8);idx++)
		chksum ^= tx[6+idx];
	tx[9] = chksum;

	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		chksum = 0x00;
		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]))
		{
			result = PASS;
		}
	}

	return result;
}

unsigned char Config_Relay_Output(unsigned char fd, unsigned char targetAddr, Relay *Set_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[10] = {0xaa, 0x00, targetAddr, Cmd.config_Relay_Output, 0x03, 0x00, Set_Buf->relay_event.relay_status[0], Set_Buf->relay_event.relay_status[1], Set_Buf->relay_event.relay_status[2]};
	unsigned char rx[512];
	unsigned char chksum = 0x00;

	for(int idx = 6;idx<8;idx++)
		chksum ^= tx[idx];
	tx[9] = chksum;

	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		chksum = 0x00;
		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]) &&
		   (rx[6] == 0x01))
		{
			result = PASS;
		}
	}

	return result;
}

unsigned char Config_Gfd_Value(unsigned char fd, unsigned char targetAddr, Gfd_config *Set_Buf)
{
	unsigned char result = FAIL;
	unsigned char tx[11] = {0xaa, 0x00, targetAddr, Cmd.config_Gfd_Value, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;

	tx[6] = (unsigned char)(Set_Buf->reqVol) & 0xff;
	tx[7] = ((unsigned char)(Set_Buf->reqVol) >> 8) & 0xff;
	tx[8] = (unsigned char)(Set_Buf->resister) & 0xff;
	tx[9] = ((unsigned char)(Set_Buf->resister) >> 8) & 0xff;

	for(int idx = 0;idx<(tx[4] | tx[5]<<8);idx++)
		chksum ^= tx[6+idx];
	tx[10] = chksum;

	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		chksum = 0x00;
		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]) &&
		   (rx[6] == tx[6]))
		{
			result = PASS;
		}
	}

	return result;
}

unsigned char Update_Start(unsigned char fd, unsigned char targetAddr, unsigned int crc32)
{
	unsigned char result = FAIL;
	unsigned char tx[11] = {0xaa, 0x00, targetAddr, Cmd.update_Start, 0x04, 0x00, (crc32>>0)&0xff, (crc32>>8)&0xff, (crc32>>16)&0xff, (crc32>>24)&0xff, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;

	for(int idx = 0;idx<(tx[4] | tx[5]<<8);idx++)
		chksum ^= tx[6+idx];
	tx[10] = chksum;

	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);
	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		chksum = 0x00;
		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]) &&
		   (rx[6] == 0x00))
		{
			result = PASS;
		}
	}

	return result;
}

unsigned char Update_Abord(unsigned char fd, unsigned char targetAddr)
{
	unsigned char result = FAIL;
	unsigned char tx[7] = {0xaa, 0x00, targetAddr, Cmd.update_Start, 0x04, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;
	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]) &&
		   (rx[6] == 0x00))
		{
			result = PASS;
		}
	}

	return result;
}

unsigned char Update_Transfer(unsigned char fd, unsigned char targetAddr, unsigned int startAddr, unsigned char *data, unsigned short int length)
{
	unsigned char result = FAIL;
	unsigned char tx[11 + length];
	unsigned char rx[512];
	unsigned char chksum = 0x00;

	tx[0] = 0xaa;
	tx[1] = 0x00;
	tx[2] = targetAddr;
	tx[3] = Cmd.update_Transfer;
	tx[4] = (4 + length) & 0xff;
	tx[5] = ((4 + length)>>8) & 0xff;
	tx[6] = (startAddr>>0) & 0xff;
	tx[7] = (startAddr>>8) & 0xff;
	tx[8] = (startAddr>>16) & 0xff;
	tx[9] = (startAddr>>24) & 0xff;
	memcpy(tx+10, data, length);

	for(int idx = 0;idx<(tx[4] | tx[5]<<8);idx++)
		chksum ^= tx[6+idx];
	tx[sizeof(tx)-1] = chksum;

	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]) &&
		   (rx[6] == 0x00))
		{
			result = PASS;
		}
	}

	return result;
}

unsigned char Update_Finish(unsigned char fd, unsigned char targetAddr)
{
	unsigned char result = FAIL;
	unsigned char tx[7] = {0xaa, 0x00, targetAddr, Cmd.update_Finish, 0x04, 0x00, 0x00};
	unsigned char rx[512];
	unsigned char chksum = 0x00;
	unsigned char len = tranceive(fd, tx, sizeof(tx), rx);

	if(len > 6)
	{
		if (len < 6+(rx[4] | rx[5]<<8))
			return result;

		for(int idx = 0;idx<(rx[4] | rx[5]<<8);idx++)
		{
			chksum ^= rx[6+idx];
		}

		if((chksum == rx[6+(rx[4] | rx[5]<<8)]) &&
		   (rx[2] == tx[1]) &&
		   (rx[1] == tx[2]) &&
		   (rx[3] == tx[3]) &&
		   (rx[6] == 0x00))
		{
			result = PASS;
		}
	}

	return result;
}