author | Florian Pose <fp@igh-essen.com> |
Mon, 16 May 2011 10:59:10 +0200 | |
branch | stable-1.5 |
changeset 2075 | 876b2482608e |
parent 1975 | 8e173dddd183 |
child 2383 | 572948e8b2ed |
child 2392 | cc98844cc65c |
permissions | -rw-r--r-- |
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1 |
/****************************************************************************** |
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Added LGPL licence headers to userspace library.
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2 |
* |
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merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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3 |
* $Id$ |
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4 |
* |
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5 |
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH |
ef907b0b5125
merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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6 |
* |
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merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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7 |
* This file is part of the IgH EtherCAT master userspace library. |
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8 |
* |
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merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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9 |
* The IgH EtherCAT master userspace library is free software; you can |
ef907b0b5125
merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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10 |
* redistribute it and/or modify it under the terms of the GNU Lesser General |
ef907b0b5125
merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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11 |
* Public License as published by the Free Software Foundation; version 2.1 |
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12 |
* of the License. |
1287 | 13 |
* |
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14 |
* The IgH EtherCAT master userspace library is distributed in the hope that |
ef907b0b5125
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15 |
* it will be useful, but WITHOUT ANY WARRANTY; without even the implied |
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16 |
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 |
* GNU Lesser General Public License for more details. |
1287 | 18 |
* |
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* You should have received a copy of the GNU Lesser General Public License |
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20 |
* along with the IgH EtherCAT master userspace library. If not, see |
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* <http://www.gnu.org/licenses/>. |
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22 |
* |
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* --- |
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24 |
* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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First version of userspace library with requesting/releasing.
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* |
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First version of userspace library with requesting/releasing.
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*****************************************************************************/ |
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First version of userspace library with requesting/releasing.
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|
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First version of userspace library with requesting/releasing.
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include <fcntl.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <errno.h> |
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#include <string.h> |
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#include <sys/ioctl.h> |
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#include <sys/mman.h> |
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#include <unistd.h> |
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#include <sys/socket.h> |
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#include "master.h" |
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#include "master/ioctl.h" |
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45 |
|
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46 |
/*****************************************************************************/ |
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47 |
|
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No kernel handles in userspace; Domain creation.
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48 |
unsigned int ecrt_version_magic(void) |
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49 |
{ |
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50 |
return ECRT_VERSION_MAGIC; |
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51 |
} |
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First version of userspace library with requesting/releasing.
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52 |
|
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First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
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53 |
/*****************************************************************************/ |
632a6b91f8e4
First version of userspace library with requesting/releasing.
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54 |
|
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Separated master requesting into open and reserve for userspace library.
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55 |
ec_master_t *ecrt_request_master(unsigned int master_index) |
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Separated master requesting into open and reserve for userspace library.
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56 |
{ |
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Separated master requesting into open and reserve for userspace library.
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57 |
ec_master_t *master = ecrt_open_master(master_index); |
c9308eb34c0e
Separated master requesting into open and reserve for userspace library.
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58 |
if (master) { |
c9308eb34c0e
Separated master requesting into open and reserve for userspace library.
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59 |
if (ecrt_master_reserve(master) < 0) { |
1959
656f114153c2
Free all userspace library objects on releasing master.
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60 |
ec_master_clear(master); |
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61 |
free(master); |
1959
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Free all userspace library objects on releasing master.
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62 |
master = NULL; |
1497
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Separated master requesting into open and reserve for userspace library.
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63 |
} |
c9308eb34c0e
Separated master requesting into open and reserve for userspace library.
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64 |
} |
c9308eb34c0e
Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
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|
65 |
|
c9308eb34c0e
Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
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66 |
return master; |
c9308eb34c0e
Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
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67 |
} |
c9308eb34c0e
Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
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|
68 |
|
c9308eb34c0e
Separated master requesting into open and reserve for userspace library.
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69 |
/*****************************************************************************/ |
c9308eb34c0e
Separated master requesting into open and reserve for userspace library.
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|
70 |
|
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88f242b722ce
Reverted accidential checkin.
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71 |
#define MAX_PATH_LEN 64 |
88f242b722ce
Reverted accidential checkin.
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72 |
|
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Separated master requesting into open and reserve for userspace library.
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73 |
ec_master_t *ecrt_open_master(unsigned int master_index) |
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First version of userspace library with requesting/releasing.
Florian Pose <fp@igh-essen.com>
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74 |
{ |
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Reverted accidential checkin.
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|
75 |
char path[MAX_PATH_LEN]; |
1826
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Multi-master support for command-line tool. The --master option supports
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76 |
ec_master_t *master = NULL; |
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
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77 |
ec_ioctl_module_t module_data; |
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|
78 |
|
88f242b722ce
Reverted accidential checkin.
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|
79 |
master = malloc(sizeof(ec_master_t)); |
88f242b722ce
Reverted accidential checkin.
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|
80 |
if (!master) { |
88f242b722ce
Reverted accidential checkin.
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|
81 |
fprintf(stderr, "Failed to allocate memory.\n"); |
88f242b722ce
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|
82 |
return 0; |
88f242b722ce
Reverted accidential checkin.
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|
83 |
} |
88f242b722ce
Reverted accidential checkin.
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parents:
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|
84 |
|
88f242b722ce
Reverted accidential checkin.
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|
85 |
master->process_data = NULL; |
88f242b722ce
Reverted accidential checkin.
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|
86 |
master->process_data_size = 0; |
1959
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
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|
87 |
master->first_domain = NULL; |
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
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|
88 |
master->first_config = NULL; |
1495
88f242b722ce
Reverted accidential checkin.
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|
89 |
|
88f242b722ce
Reverted accidential checkin.
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|
90 |
snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index); |
88f242b722ce
Reverted accidential checkin.
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diff
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|
91 |
|
88f242b722ce
Reverted accidential checkin.
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|
92 |
master->fd = open(path, O_RDWR); |
88f242b722ce
Reverted accidential checkin.
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parents:
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|
93 |
if (master->fd == -1) { |
88f242b722ce
Reverted accidential checkin.
Florian Pose <fp@igh-essen.com>
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|
94 |
fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno)); |
1959
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
95 |
goto out_clear; |
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
96 |
} |
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1497
diff
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|
97 |
|
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
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|
98 |
if (ioctl(master->fd, EC_IOCTL_MODULE, &module_data) < 0) { |
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
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|
99 |
fprintf(stderr, "Failed to get module information from %s: %s\n", |
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
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|
100 |
path, strerror(errno)); |
1959
656f114153c2
Free all userspace library objects on releasing master.
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parents:
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changeset
|
101 |
goto out_clear; |
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
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|
102 |
} |
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
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|
103 |
|
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
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|
104 |
if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) { |
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
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|
105 |
fprintf(stderr, "ioctl() version magic is differing:" |
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
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|
106 |
" %s: %u, libethercat: %u.\n", |
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|
107 |
path, module_data.ioctl_version_magic, |
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Multi-master support for command-line tool. The --master option supports
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|
108 |
EC_IOCTL_VERSION_MAGIC); |
1959
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Free all userspace library objects on releasing master.
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|
109 |
goto out_clear; |
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|
110 |
} |
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|
111 |
|
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return master; |
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out_clear: |
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ec_master_clear(master); |
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free(master); |
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return 0; |
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} |
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|
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/*****************************************************************************/ |
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|
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void ecrt_release_master(ec_master_t *master) |
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{ |
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ec_master_clear(master); |
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free(master); |
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} |
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|
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/*****************************************************************************/ |