forked from xin/TowerOptoSifAndSpectral
670 lines
18 KiB
C++
670 lines
18 KiB
C++
#include "AbstractFSController.h"
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#include "ZZ_Math_HDRONLY.h"
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#include <math.h>
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void Delay_MSec(ZZ_U16 usMS)
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{
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QEventLoop qeLoop;
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QTimer::singleShot(usMS, &qeLoop, SLOT(quit()));
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qeLoop.exec();
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}
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CAbstractFSController::CAbstractFSController(QObject* parent /*= nullptr*/)
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{
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iFlagInit = 0;
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m_pFSCtrl = NULL;
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m_iThreadID = -1;
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m_vecDataFrameDark.clear();
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m_vecDataFrameSignal.clear();
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m_qstrCalFilePath = "/home/data/Cal";
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m_vecNonLinearCalP.clear();
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for (int i=0;i<10;i++) {
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m_taginfolast.ITtimeChange[i] =true;
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m_taginfolast.LastMAXValue[i] = 0;
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m_taginfolast.lastITTIME[i] = 0;
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}
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}
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CAbstractFSController::~CAbstractFSController()
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{
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if (m_pFSCtrl!= 0 )
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{
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delete m_pFSCtrl;
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}
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}
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int CAbstractFSController::SetRunParas(int iThreadID, FSInfo fsInfo)
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{
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connect(this, &CAbstractFSController::SignalInit_Self, this, &CAbstractFSController::InitializeFSControl);
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m_iThreadID = iThreadID;
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m_fsInfo = fsInfo;
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return 0;
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}
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int CAbstractFSController::InitializeFSControl()
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{
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using namespace ZZ_MISCDEF::IRIS;
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int iRes = 0;
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if (m_iThreadID == -1/*|| m_iDeviceType == -1*/)
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{
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qDebug() << "Params Err. Call SetRunParas first";
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return 1;
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}
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switch (m_fsInfo.ucDeviceModel)
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{
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case DeviceModel::OSIFAlpha:
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m_pFSCtrl = new OceanOptics_lib;
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if (m_pFSCtrl->Initialize(false, m_fsInfo.strInterface, m_fsInfo.strSN) != 0)
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{
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qDebug() << "OSIFAlpha Not Opened";
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return 2;
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}
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iRes = LoadQEProLinearCalibrationFile();
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if (iRes != 0)
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{
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qDebug() << "LoadQEProLinearCalibrationFile Failed" << iRes;
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//return 5;
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}
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break;
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case DeviceModel::OSIFBeta:
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m_pFSCtrl = new OceanOptics_lib;
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if (m_pFSCtrl->Initialize(false, m_fsInfo.strInterface, m_fsInfo.strSN) !=0)
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{
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qDebug() << "OSIFBeta Not Opened";
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return 2;
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}
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iRes = LoadQEProLinearCalibrationFile();
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if (iRes != 0)
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{
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qDebug() << "LoadQEProLinearCalibrationFile Failed" << iRes;
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//return 5;
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}
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break;
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case DeviceModel::ISIF:
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m_pFSCtrl = new ZZ_ATPControl_Serial_Qt;
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//m_pFSCtrl->Initialize(false, m_fsInfo.strInterface, NULL);
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if (m_pFSCtrl->Initialize(false, m_fsInfo.strInterface, m_fsInfo.strSN) != 0)
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{
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qDebug() << "ISIF Not Opened";
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return 3;
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}
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break;
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case DeviceModel::IS1:
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m_pFSCtrl = new ZZ_ATPControl_Serial_Qt;
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//m_pFSCtrl->Initialize(false, m_fsInfo.strInterface, NULL);
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if (m_pFSCtrl->Initialize(false, m_fsInfo.strInterface, m_fsInfo.strSN) != 0)
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{
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qDebug() << "IS1 Not Opened";
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return 3;
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}
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break;
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case DeviceModel::IS2:
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m_pFSCtrl = new ZZ_ATPControl_Serial_Qt;
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//m_pFSCtrl->Initialize(false, m_fsInfo.strInterface, NULL);
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if (m_pFSCtrl->Initialize(false, m_fsInfo.strInterface, m_fsInfo.strSN) != 0)
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{
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qDebug() << "IS2 Not Opened";
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return 3;
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}
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break;
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default:
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break;
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}
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iRes = m_pFSCtrl->GetDeviceAttribute(m_daDeviceAttr);
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if (iRes != 0)
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{
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qDebug() << "GetDeviceAttribute Failed" << iRes;
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return 4;
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}
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iRes = m_pFSCtrl->SetDeviceTemperature(0);
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if (iRes != 0)
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{
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qDebug() << "SetDeviceTemperature Failed" << iRes;
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//return 5;
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}
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iFlagInit = 1;
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return 0;
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}
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int CAbstractFSController::InitializeFSControl_Self()
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{
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//InitializeFSControl();
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emit SignalInit_Self();
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return 0;
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}
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int CAbstractFSController::GetDeviceAttr(DeviceAttribute &daAttr)
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{
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daAttr = m_daDeviceAttr;
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return 0;
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}
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int CAbstractFSController::PerformAutoExposure(int position)
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{
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if (position!=0) {
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// m_taginfolast.ITtimeChange[position] = true;
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m_taginfolast.lastITTIME[position] = m_taginfolast.lastITTIME[0]*0.5 ;
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m_pFSCtrl->SetExposureTime(m_taginfolast.lastITTIME[position] );
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return 0;
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}
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qDebug() << "--------------------------Starting PerformAutoExposure" << " Thread ID:" << m_iThreadID;
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using namespace ZZ_MATH;
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float fPredictedExposureTime;
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int iDeviceDepth = (int)m_fsInfo.lDepth;
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qDebug() << "MAX---Min" << m_fsInfo.fMaxFactor << "---" << m_fsInfo.fMinFactor << " Thread ID:" << m_iThreadID;
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bool bFlagIsOverTrying = false;
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bool bFlagIsLowerMinExposureTime = false;
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bool bFlagIsOverMaxExposureTime = false;
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bool bFlagIsAutoExposureOK = false;
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bool bFlagIsAutoExposureFailed = false;
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bool bIsValueOverflow = false;
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bool bIsLastValueOverflow = false;
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int iExposureTime = 1000;
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float fTempExposureTime = 0;
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double fLastExposureTime = 0.1;
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int iRepeatCount = 0;
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//int iRes = m_pFSCtrl->SetExposureTime(1000);//need change to load from files
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int iRes = 0;
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if (iRes != 0)
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{
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qDebug() << "Err:PerformAutoExposure Failed.Exit Code:1" << " Thread ID:" << m_iThreadID;
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return 1;
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}
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while (!bFlagIsAutoExposureOK && !bFlagIsAutoExposureFailed)
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{
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DataFrame dfTemp;
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if (iRepeatCount++ > 30)
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{
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bFlagIsAutoExposureFailed = true;
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bFlagIsOverTrying = true;
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break;
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}
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//m_pFSCtrl->SetExposureTime(5000);
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// m_pFSCtrl->GetExposureTime(iExposureTime);
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// qDebug() << "Current ExpTime:" << iExposureTime << " Thread ID:" << m_iThreadID;
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m_pFSCtrl->SetExposureTime(iExposureTime);
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//fExposureTime = (float)m_daDeviceAttr.iMinIntegrationTimeInMS;
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fTempExposureTime = iExposureTime;
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iRes = m_pFSCtrl->SingleShot(dfTemp);
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//iRes = m_pFSCtrl->SingleShot(dfTemp);
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if (iRes != 0)
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{
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qDebug() << "Err:PerformAutoExposure Failed.Exit Code:2" << " Thread ID:" << m_iThreadID;
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return 2;
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}
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HeapSort(dfTemp.lData, m_daDeviceAttr.iPixels);
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double dSum = 0;
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int iCount = m_daDeviceAttr.iPixels / 200;
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for (int i = 0; i < iCount; i++)
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{
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dSum += dfTemp.lData[i];
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}
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double dTemp = dSum / iCount;
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qDebug() << "Avg " << dTemp << " Thread ID:" << m_iThreadID;
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if (dTemp >= iDeviceDepth * 0.99)
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{
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bIsValueOverflow = true;
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if (!bIsLastValueOverflow)
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{
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iExposureTime = (float)(fLastExposureTime + iExposureTime) / 2;
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}
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else
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{
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iExposureTime = iExposureTime / 2;
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}
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}
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else if (iDeviceDepth * m_fsInfo.fMaxFactor >= dTemp && dTemp >= iDeviceDepth * m_fsInfo.fMinFactor)
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{
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qDebug() << "trace bFlagIsAutoExposureOK =1 " << iExposureTime << " Thread ID:" << m_iThreadID;
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bFlagIsAutoExposureOK = 1;
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}
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else if (dTemp > iDeviceDepth * m_fsInfo.fMaxFactor)
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{
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bIsValueOverflow = true;
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if (!bIsLastValueOverflow)
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{
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iExposureTime = (float)(fLastExposureTime + iExposureTime) / 2;
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}
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else
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{
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iExposureTime = iExposureTime * 3 / 4;
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}
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}
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else if (dTemp < iDeviceDepth * m_fsInfo.fMinFactor)
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{
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bIsValueOverflow = false;
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if (bIsLastValueOverflow)
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{
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iExposureTime = (float)(fLastExposureTime + iExposureTime) / 2;
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}
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else
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{
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double dFactor;
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dFactor = dTemp / (iDeviceDepth * m_fsInfo.fMaxFactor);
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iExposureTime = (float)(iExposureTime / dFactor);
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}
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}
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bIsLastValueOverflow = bIsValueOverflow;
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fLastExposureTime = fTempExposureTime;
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if (/*fExposureTime > 100 || */iExposureTime <= m_daDeviceAttr.iMinIntegrationTimeInMS)
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{
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bFlagIsAutoExposureOK = false;
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bFlagIsAutoExposureFailed = true;
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bFlagIsLowerMinExposureTime = true;
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// qDebug() << "Warning:PerformAutoExposure lower than min integration time.Will be limited to " << m_daDeviceAttr.iMinIntegrationTimeInMS - 1 << "MS" << " Thread ID:" << m_iThreadID;
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// iRes = m_pFSCtrl->SetExposureTime((int)iExposureTime);
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// if (iRes != 0)
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// {
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// qDebug() << "Err:PerformAutoExposure Failed.Exit Code:4" << " Thread ID:" << m_iThreadID;
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// return 3;
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// }
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// else
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// {
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// qDebug() << "Success:PerformAutoExposure. Value" << iExposureTime << " Thread ID:" << m_iThreadID;
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// }
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m_taginfolast.ITtimeChange[position] = true;
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m_taginfolast.lastITTIME[position] = m_daDeviceAttr.iMinIntegrationTimeInMS;
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iRes = m_pFSCtrl->SetExposureTime(m_daDeviceAttr.iMinIntegrationTimeInMS);
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if (iRes != 0)
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{
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qDebug() << "Err:PerformAutoExposure Failed.Exit Code:3" << " Thread ID:" << m_iThreadID;
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return 3;
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}
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else
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{
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qDebug() << "Warning:PerformAutoExposure lower than min integration time.Will be limited to " << m_daDeviceAttr.iMinIntegrationTimeInMS << "MS" << " Thread ID:" << m_iThreadID;
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}
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break;
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}
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if (iExposureTime > m_daDeviceAttr.iMaxIntegrationTimeInMS-1)
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{
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bFlagIsAutoExposureOK = false;
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bFlagIsAutoExposureFailed = true;
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bFlagIsOverMaxExposureTime = true;
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//float fPredictedExposureTime = m_daDeviceAttr.iMaxIntegrationTimeInMS-1;
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//iRes = m_pFSCtrl->SetExposureTime(m_daDeviceAttr.iMaxIntegrationTimeInMS-1);
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//if (iRes != 0)
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//{
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//qDebug() << "Err:PerformAutoExposure Failed.Exit Code:3" << " Thread ID:" << m_iThreadID;
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//return 3;
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//}
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//else
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//{
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//qDebug() << "Warning:PerformAutoExposure exceed max integration time.Will be limited to 30sec";
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//}
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m_taginfolast.ITtimeChange[position] = true;
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m_taginfolast.lastITTIME[position] =m_daDeviceAttr.iMaxIntegrationTimeInMS - 1;
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iRes = m_pFSCtrl->SetExposureTime(m_daDeviceAttr.iMaxIntegrationTimeInMS - 1);
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if (iRes != 0)
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{
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qDebug() << "Err:PerformAutoExposure Failed.Exit Code:3" << " Thread ID:" << m_iThreadID;
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return 3;
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}
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else
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{
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qDebug() << "Warning:PerformAutoExposure exceed max integration time.Will be limited to " << m_daDeviceAttr.iMaxIntegrationTimeInMS - 1 << "MS" << " Thread ID:" << m_iThreadID;
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}
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break;
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}
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m_taginfolast.ITtimeChange[position] = true;
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m_taginfolast.lastITTIME[position] =(int)iExposureTime;
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iRes = m_pFSCtrl->SetExposureTime((int)iExposureTime);
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if (iRes != 0)
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{
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qDebug() << "Err:PerformAutoExposure Failed.Exit Code:4" << " Thread ID:" << m_iThreadID;
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return 3;
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}
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else
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{
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qDebug() << "Success:PerformAutoExposure. Value" << iExposureTime << " Thread ID:" << m_iThreadID;
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}
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}
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fPredictedExposureTime = iExposureTime;
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qDebug() << "--------------------------Stop PerformAutoExposure" << " Thread ID:" << m_iThreadID;
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//emit SignalAcqFinished(m_iThreadID, 1);
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return 0;
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}
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int CAbstractFSController::ComputExposure(int position) {
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if (position==0) {
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int lastittime=m_taginfolast.lastITTIME[position];
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int lastmaxvalue=m_taginfolast.LastMAXValue[position];
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int maxallowvalue=m_fsInfo.lDepth * m_fsInfo.fMaxFactor;
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int minallowvalue=m_fsInfo.lDepth * m_fsInfo.fMinFactor;
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if (lastmaxvalue>maxallowvalue) {
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if (lastmaxvalue>=m_fsInfo.lDepth) {
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lastittime=lastittime/2;
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}else {
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lastittime=lastittime*(maxallowvalue*1.0/lastmaxvalue)*0.95;
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}
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m_taginfolast.ITtimeChange[position]=true;
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m_taginfolast.lastITTIME[position]=lastittime;
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m_pFSCtrl->SetExposureTime(lastittime);
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qDebug()<< "Set exposure time for position"<<position<<" to "<<lastittime;
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return lastittime;
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}
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if (lastmaxvalue<minallowvalue) {
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lastittime=lastittime*(minallowvalue*1.0/lastmaxvalue)*1.05;
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if (lastittime>=60000) {
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lastittime=60000;
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}
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m_taginfolast.ITtimeChange[position]=true;
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m_taginfolast.lastITTIME[position]=lastittime;
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m_pFSCtrl->SetExposureTime(lastittime);
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qDebug()<< "Set exposure time for position"<<position<<" to "<<lastittime;
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return lastittime;
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}
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m_taginfolast.ITtimeChange[position]=false;
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m_pFSCtrl->SetExposureTime(lastittime);
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qDebug()<< "Set exposure time for position"<<position<<" to "<<lastittime;
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return lastittime;
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}
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int lasttimeindev=0;
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m_pFSCtrl->GetExposureTime(lasttimeindev);
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m_pFSCtrl->SetExposureTime(m_taginfolast.lastITTIME[0]*0.5);
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if (lasttimeindev!=m_taginfolast.lastITTIME[0]*0.5) {
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Delay_MSec(lasttimeindev);
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}
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qDebug()<< "Set exposure time for position"<<position<<" to "<<m_taginfolast.lastITTIME[0]*0.5;
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return m_taginfolast.lastITTIME[0]*0.5;
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}
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int CAbstractFSController::TakeDarkFrame(int position)
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{
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int shuttertime = 0;
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m_pFSCtrl->GetExposureTime(shuttertime);
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qDebug() << "Starting TakeDarkFrame" << " position ID:" << position<<" ITtime:"<<shuttertime<<"\n";
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if (m_taginfolast.ITtimeChange[0]) {
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m_taginfolast.LastDarkframe[position]=TakeOneFrame();
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}
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m_vecDataFrameDark.push_back(m_taginfolast.LastDarkframe[position]);
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qDebug() << "Stop TakeDarkFrame" << " Thread ID:" << m_iThreadID;
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//emit SignalAcqFinished(m_iThreadID, 1);
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return 0;
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}
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int CAbstractFSController::ComputeMaxValue(DataFrame Data) {
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ZZ_S32 *pData = Data.lData;
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int number = 4096;
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int maxvalue=0;
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for (int i=0;i<number-1;i++) {
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if (pData[i]>maxvalue) {
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maxvalue=pData[i];
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}
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}
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return maxvalue;
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// if (number <= 10) {
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// // 如果数据量小，直接排序计算
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// int sum = 0;
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// for (int i = 0; i < number; i++) {
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// sum += pData[i];
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// }
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// return number > 0 ? sum / number : 0;
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// }
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//
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// // 复制数据（或者直接操作原数组如果允许修改）
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// std::vector<int> temp(pData, pData + number);
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//
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// // 使用nth_element找到第10大的元素
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// std::nth_element(temp.begin(), temp.begin() + 9, temp.end(), std::greater<int>());
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//
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// // 计算前10个最大值的平均
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// int sum = 0;
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// for (int i = 0; i < 10; i++) {
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// sum += temp[i];
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// }
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//
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// return sum / 10;
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// int maxvalue[10]={0};
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// ZZ_S32 *pData=Data.lData;
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// int number=4096;
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// //获取pdata中最大的10个值
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// for (int i=0;i<number;i++) {
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// int val=pData[i];
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// for (int j=0;j<10;j++) {
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// if (val>maxvalue[j]) {
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// //插入到maxvalue中
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// for (int k=9;k>j;k--) {
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// maxvalue[k]=maxvalue[k-1];
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// }
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// maxvalue[j]=val;
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// break;
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// }
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// }
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// }
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|
}
|
|
int CAbstractFSController::TakeSignalFrame(int position)
|
|
{
|
|
int shuttertime = 0;
|
|
m_pFSCtrl->GetExposureTime(shuttertime);
|
|
qDebug() << "Starting TakeSignal" << " position" << position<<" ITtime:"<<shuttertime<<"\n";
|
|
|
|
m_vecDataFrameSignal.push_back(TakeOneFrame());
|
|
// todo: compute max ten value 计算前10个值平均值
|
|
m_taginfolast.LastMAXValue[position]=ComputeMaxValue(m_vecDataFrameSignal.at(m_vecDataFrameSignal.size()-1));
|
|
if (m_taginfolast.LastMAXValue[position]>=65535) {
|
|
m_vecDataFrameSignal.at(m_vecDataFrameSignal.size()-1).bIsValid=false;
|
|
}
|
|
qDebug() << "Stop TakeSignal" << " Thread ID:" << m_iThreadID;
|
|
qDebug()<< "Max 10 Average Value:" << m_taginfolast.LastMAXValue[position] << " Thread ID:" << m_iThreadID;
|
|
//emit SignalAcqFinished(m_iThreadID, 1);
|
|
return 0;
|
|
}
|
|
|
|
DataFrame CAbstractFSController::TakeOneFrame()
|
|
{
|
|
using namespace ZZ_MISCDEF::IRIS;
|
|
//int iExpTime = 0;
|
|
DataFrame dfTemp;
|
|
// m_pFSCtrl->GetExposureTime(iExpTime);
|
|
// dfTemp.usExposureTimeInMS = iExpTime;
|
|
// m_pFSCtrl->GetDeviceTemperature(dfTemp.fTemperature);
|
|
|
|
if (m_fsInfo.ucDeviceModel== DeviceModel::ISIF)
|
|
{
|
|
float fTemp;
|
|
m_pFSCtrl->GetDeviceTemperature(fTemp);
|
|
dfTemp.fTemperature = fTemp;
|
|
}
|
|
else if(m_fsInfo.ucDeviceModel == DeviceModel::IS1)
|
|
{
|
|
dfTemp.fTemperature = 0;
|
|
}
|
|
|
|
int iRes = m_pFSCtrl->SingleShot(dfTemp);
|
|
if (iRes != 0)
|
|
{
|
|
qDebug() << "Err. SingleShot" << " Thread ID:" << m_iThreadID;
|
|
}
|
|
|
|
if (m_fsInfo.ucDeviceModel == DeviceModel::OSIFAlpha|| m_fsInfo.ucDeviceModel == DeviceModel::OSIFBeta)
|
|
{
|
|
if (m_vecNonLinearCalP.size() != 8)
|
|
{
|
|
qDebug() << "Err.Non Linear calibration parameters not fit.Skip..." << " Thread ID:" << m_iThreadID;
|
|
return dfTemp;
|
|
}
|
|
for (int i=0;i<m_daDeviceAttr.iPixels;i++)
|
|
{
|
|
dfTemp.lData[i] = dfTemp.lData[i] / ( m_vecNonLinearCalP[0] +
|
|
m_vecNonLinearCalP[1] * dfTemp.lData[i] +
|
|
m_vecNonLinearCalP[2] * pow(dfTemp.lData[i], 2) +
|
|
m_vecNonLinearCalP[3] * pow(dfTemp.lData[i], 3) +
|
|
m_vecNonLinearCalP[4] * pow(dfTemp.lData[i], 4) +
|
|
m_vecNonLinearCalP[5] * pow(dfTemp.lData[i], 5) +
|
|
m_vecNonLinearCalP[6] * pow(dfTemp.lData[i], 6) +
|
|
m_vecNonLinearCalP[7] * pow(dfTemp.lData[i], 7)
|
|
);
|
|
}
|
|
}
|
|
|
|
|
|
return dfTemp;
|
|
// DataFrame dfTemp;
|
|
// int iRes = m_pFSCtrl->SingleShot(dfTemp);
|
|
// if (iRes != 0)
|
|
// {
|
|
// qDebug() << "Err. SingleShot" << " Thread ID:" << m_iThreadID;
|
|
// }
|
|
//
|
|
// return dfTemp;
|
|
}
|
|
|
|
|
|
|
|
int CAbstractFSController::SaveDataFile()
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
int CAbstractFSController::LoadQEProLinearCalibrationFile()
|
|
{
|
|
m_vecNonLinearCalP.clear();
|
|
|
|
QDir qdirPath(m_qstrCalFilePath);
|
|
if (!qdirPath.exists())
|
|
{
|
|
qDebug() << "Non-Linear Calibration Folder not exist" << " Thread ID:" << m_iThreadID;
|
|
return 1;
|
|
}
|
|
QString qstrFilePath;
|
|
|
|
qstrFilePath = m_qstrCalFilePath + QString("/")+QString::fromStdString(m_fsInfo.strSN)+ QString(".NLC");
|
|
|
|
QFile qfCalFile(qstrFilePath);
|
|
bool bRes = qfCalFile.open(QFile::ReadOnly);
|
|
if (!bRes)
|
|
{
|
|
qDebug() << "Non-Linear Calibration File open Failed" << " Thread ID:" << m_iThreadID;
|
|
return 2;
|
|
}
|
|
|
|
while (!qfCalFile.atEnd())
|
|
{
|
|
QByteArray qbData = qfCalFile.readLine();
|
|
qbData.remove(qbData.size()-1, 1);
|
|
m_vecNonLinearCalP.push_back(qbData.toDouble());
|
|
//qDebug() << qbData;
|
|
}
|
|
qfCalFile.close();
|
|
|
|
qDebug() <<"Non-Linear Calibration Params:"<< m_vecNonLinearCalP.size() << " Thread ID:" << m_iThreadID;
|
|
|
|
|
|
|
|
return 0;
|
|
}
|
|
|
|
int CAbstractFSController::StartAcquisitionSignal(int position)
|
|
{
|
|
//
|
|
qDebug() << "Starting acq Signal" << " Thread ID:" << m_iThreadID;
|
|
|
|
// DataFrame struDF;
|
|
// int iii;
|
|
// m_pFSCtrl->SetExposureTime(10000000);
|
|
// m_pFSCtrl->GetExposureTime(iii);
|
|
// m_pFSCtrl->SingleShot(struDF);
|
|
|
|
if (m_taginfolast.lastITTIME[position]==0) {
|
|
PerformAutoExposure(position);
|
|
}else {
|
|
ComputExposure(position);
|
|
}
|
|
|
|
|
|
TakeSignalFrame(position);
|
|
|
|
qDebug() << "Stop acq Signal" << " Thread ID:" << m_iThreadID;
|
|
emit SignalAcqFinished_Signal(m_iThreadID, 1);
|
|
return 0;
|
|
}
|
|
|
|
int CAbstractFSController::StartAcquisitionDark(int position)
|
|
{
|
|
qDebug() << "Starting acq Dark" << " Thread ID:" << m_iThreadID;
|
|
TakeDarkFrame(position);
|
|
qDebug() << "Stop acq Dark"<< " Thread ID:" << m_iThreadID;
|
|
emit SignalAcqFinished_Dark(m_iThreadID, 1);
|
|
|
|
return 0;
|
|
}
|
|
|
|
int CAbstractFSController::StopAcquisition()
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
int CAbstractFSController::ClearBuffer()
|
|
{
|
|
m_vecDataFrameDark.clear();
|
|
m_vecDataFrameSignal.clear();
|
|
return 0;
|
|
}
|
|
|
|
int CAbstractFSController::GetBuffer(std::vector<DataFrame> &pvecDataFrameDark, std::vector<DataFrame> &pvecDataFrameSignal)
|
|
{
|
|
for (size_t i=0; i < m_vecDataFrameSignal.size(); i++)
|
|
{
|
|
pvecDataFrameSignal.push_back(m_vecDataFrameSignal[i]);
|
|
pvecDataFrameDark.push_back(m_vecDataFrameDark[i]);
|
|
}
|
|
return 0;
|
|
}
|
|
|