bool LoggingAvailability::startHook()
{
if (logger)
{
logger->info(RTT::rt_string("Available in startHook"));
}
else
{
log(Error) << "Not available in startHook()" << endlog();
}
return true;
}
bool Controller::startHook(){
if(current_pose_port.read(m_current_pose) == NoData){
log(Debug) << "No current pose received" << endlog();
return false;
}
else{
m_goal_pose.x = m_current_pose[0];
m_goal_pose.y = m_current_pose[1];
m_goal_pose.theta = m_current_pose[2];
return true;
}
}
/**
* OperationCaller objects may be assigned to a part responsible for production
* of an implementation.
* This variant is used when a only a remote implementation is available.
*
* @param part The part used by the OperationCaller to produce an implementation.
*
* @return *this
*/
OperationCaller& operator=(OperationInterfacePart* part)
{
if (part == 0) {
log(Warning) << "Assigning OperationCaller from null part."<<endlog();
this->impl.reset();
}
if (this->impl && this->impl == part->getLocalOperation() )
return *this;
OperationCaller<Signature> tmp(part);
*this = tmp;
return *this;
}
/**
* Create a Property \b mirroring another PropertyBase.
* It copies the name and description, and \b shallow copies
* the value.
* @see ready() to inspect if the creation succeeded.
*/
Property( base::PropertyBase* source)
: base::PropertyBase(source ? source->getName() : "", source ? source->getDescription() : ""),
_value( source ? internal::AssignableDataSource<DataSourceType>::narrow(source->getDataSource().get() ) : 0 )
{
if ( source && ! _value ) {
log(Error) <<"Can not initialize Property from "<<source->getName() <<": ";
if ( source->getDataSource() )
log() << "incompatible type ( destination type: "<< getType() << ", source type: "<< source->getDataSource()->getTypeName() << ")."<<endlog();
else
log() << "source Property was not ready."<<endlog();
}
}
/**
* A Command objects may be assigned to an implementation.
* If the implementation is of the wrong type, it is freed.
*
* @param implementation An implementation which will be owned
* by the command. If it is unusable, it is freed.
*/
Command& operator=(base::DispatchInterface* implementation)
{
if ( this->impl && this->impl == implementation)
return *this;
delete this->impl;
this->impl = dynamic_cast< base::CommandBase<CommandT>* >(implementation);
if (this->impl == 0 && implementation) {
log(Error) << "Tried to assign Command from incompatible type."<< endlog();
delete implementation;
}
return *this;
}
void stopHook()
{
activate(false,internalNumber);
//To write the .cpf property file
// std::string propertyfile = "configuringXMLSlave" + intToStr(internalNumber)+".cpf";
// this->getProvider<Marshalling>("marshalling")->writeProperties(propertyfile);
Logger::log(Logger::Info) << soem_slave::getName()<<" executes stopHook !" <<endlog();
}
bool configureHook()
{
minimumConfigure();
PDOmapping();
setting();
Logger::log(Logger::Info) << soem_slave::getName()<<" configured !" <<endlog();
return true;
}
//read: read the value of one of the 2 channels in Volts ///////////////////////////
double SoemEL3104::read(unsigned int chan)
{
if (chan < m_size)
{
return m_msg.values[chan];
}
else
log(Error) << "Channel " << chan << " is out of the module's range"
<< endlog();
return 0.0;
}
RTT_CORBA_API bool ApplicationServer::InitOrb(int argc, char* argv[], Seconds timeout ) {
if ( !CORBA::is_nil(orb) ){
return false;
}
try {
// First initialize the ORB, that will remove some arguments...
orb =
CORBA::ORB_init (argc, const_cast<char**>(argv),
"omniORB4");
if(timeout >= 0.1e-7)
{
#if defined( CORBA_IS_TAO ) && defined( CORBA_TAO_HAS_MESSAGING )
// Set the timeout value as a TimeBase::TimeT (100 nanosecond units)
// and insert it into a CORBA::Any.
TimeBase::TimeT relative_rt_timeout = timeout * 1.0e7;
CORBA::Any relative_rt_timeout_as_any;
relative_rt_timeout_as_any <<= relative_rt_timeout;
// Create the policy and put it in a policy list.
CORBA::PolicyList policies;
policies.length(1);
policies[0] =
orb->create_policy (Messaging::RELATIVE_RT_TIMEOUT_POLICY_TYPE,
relative_rt_timeout_as_any);
// Apply the policy at the ORB level using the ORBPolicyManager.
CORBA::Object_var obj = orb->resolve_initial_references ("ORBPolicyManager");
CORBA::PolicyManager_var policy_manager = CORBA::PolicyManager::_narrow (obj.in());
policy_manager->set_policy_overrides (policies, CORBA::SET_OVERRIDE);
#else
log(Error) << "Ignoring ORB timeout setting in non-TAO/Messaging build." <<endlog();
#endif // CORBA_IS_TAO
}
// Also activate the POA Manager, since we may get call-backs !
CORBA::Object_var poa_object =
orb->resolve_initial_references ("RootPOA");
rootPOA =
PortableServer::POA::_narrow (poa_object.in ());
PortableServer::POAManager_var poa_manager =
rootPOA->the_POAManager ();
poa_manager->activate ();
return true;
}
catch (CORBA::Exception &e) {
log(Error) << "Orb Init : CORBA exception raised!" << Logger::nl;
Logger::log() << CORBA_EXCEPTION_INFO(e) << endlog();
std::cout << "ApplicationServer::InitOrb return false: ORBA exception raised\n";
}
return false;
}
virtual void serialize(const PropertyBag &v)
{
int retval;
/**
* Check if the netcdf file is already in define mode.
* Increase counter every time serialize function is called and no errors occurs.
*/
if ( ncopen ) {
ncopen++;
}
else {
retval = nc_redef(ncid);
if ( retval )
log(Error) << "Could not enter define mode in NetcdfHeaderMarshaller, error "<< retval <<endlog();
else
ncopen++;
}
for (
PropertyBag::const_iterator i = v.getProperties().begin();
i != v.getProperties().end();
i++ )
{
this->serialize(*i);
}
/**
* Decrease counter, if zero enter data mode else stay in define mode
*/
if (--ncopen)
log(Info) << "Serializer still in progress" <<endlog();
else {
retval = nc_enddef(ncid);
if (retval)
log(Error) << "Could not leave define mode, error" << retval <<endlog();
}
}
/**
* Named OperationCaller objects may be looked up in a Service.
*
* @param service The Service where the operation will be looked up.
*
* @return *this
*/
OperationCaller& operator=(ServicePtr service)
{
if ( !service ) {
log(Warning) << "Assigning OperationCaller from null service."<<endlog();
this->impl.reset();
}
if (this->mname.empty()) {
log(Error) << "Can't initialise unnamed OperationCaller from service '"<<service->getName() <<"'."<<endlog();
return *this;
}
OperationCaller<Signature> tmp(mname,service);
*this = tmp;
return *this;
}
Calibrator::Calibrator(std::string name)
: TaskContext(name,PreOperational)
{
log(Debug) << "(Calibrator) constructor entered" << endlog();
// Add properties
addProperty("boardWidth",boardWidth).doc("number of internal corners in width");
addProperty("boardHeight",boardHeight).doc("number of internal corners in heigth");
addProperty("squareSize",squareSize).doc("size of square of the chessboard pattern");
addProperty("detectorSearchRadius",detectorSearchRadius).doc("radius for checkboard detector");
addProperty("imageDirectory",imageDirectory).doc("directory containing images for calibration");
// Add ports
addPort( "extrinsicCameraParameters",_extrinsicPort );
// Add operations
addOperation("batchCalibrate", &Calibrator::batchCalibrate, this).doc("Calibrate with batch images");
log(Debug) << "(Calibrator) constructor finished" << endlog();
}
// --------------------------
// Constructor for 3 modules
// --------------------------
EncoderSSI_apci1710_board::EncoderSSI_apci1710_board( unsigned int mNr1, unsigned int mNr2, unsigned int mNr3 )
: PeriodicActivity( RTT::OS::HighestPriority, 1./ORONUM_DEVICE_DRIVERS_APCI1710_SSI_UPDATE )
, nr_of_modules(3), moduleNr1( mNr1 ), moduleNr2( mNr2 ), moduleNr3( mNr3 )
{
buffer1 = new unsigned int[9];
buffer2 = new unsigned int[9];
readbuffer = buffer1;
writebuffer = buffer2;
log() << "(EncoderSSI_apci1710) Creating EncoderSSI..." << endlog(Info);
dev = apci1710_get_device();
int res = 0;
if ( 0 != (res = apci1710_ssi_init( dev, moduleNr1,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_PROFILE,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_POSITION_BITS,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_TURN_BITS,
COUNTINGMODE_BINARY,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_FREQ ) ) ) //in Hz (25kHz is ok)
log() << "\n(EncoderSSI_apci1710) Error "<< res << " : Module " << moduleNr1 << " is not ready for SSI\n" << endlog(Error);
if ( 0 != (res = apci1710_ssi_init( dev, moduleNr2,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_PROFILE,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_POSITION_BITS,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_TURN_BITS,
COUNTINGMODE_BINARY,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_FREQ ) ) ) //in Hz (25kHz is ok)
log() << "\n(EncoderSSI_apci1710) Error "<< res << " : Module " << moduleNr2 << " is not ready for SSI\n" << endlog(Error);
if ( 0 != (res = apci1710_ssi_init( dev, moduleNr3,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_PROFILE2,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_POSITION_BITS,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_TURN_BITS2,
COUNTINGMODE_BINARY,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_FREQ ) ) ) //in Hz (25kHz is ok)
log() << "\n(EncoderSSI_apci1710) Error "<< res << " : Module " << moduleNr3 << " is not ready for SSI\n" << endlog(Error);
#ifdef OROPKG_CORELIB_TIMING
// init one buffer, display some statistics
TimeService::ticks t=TimeService::Instance()->getTicks();
readCard( readbuffer );
t = TimeService::Instance()->ticksSince(t);
TimeService::nsecs n = TimeService::ticks2nsecs(t);
log() << "(EncoderSSI_apci1710) Reading SSI modules takes about " << long(n) << " nanoseconds" << endlog(Info);
#endif
this->start();
}
bool operator==(const std::vector<double>& a, const std::vector<double>& b)
{
if ( a.size() != b.size() ) {
log(Error) << "Wrong vector sizes : " << a.size() <<" "<< b.size()<<endlog();
return false;
}
for(unsigned int i =0; i != a.size(); ++i)
{
if (a[i] != b[i]) {
log(Error) << "Wrong vector element: "<<a[i]<<" != "<<b[i]<<" i:" << i<<endlog();
return false;
}
}
return true;
}
/**
* Create a Property \b mirroring another PropertyBase.
* It copies the name and description, and \b shallow copies
* the value.
* @see ready() to inspect if the creation succeeded.
*/
Property( base::PropertyBase* source)
: base::PropertyBase(source ? source->getName() : "", source ? source->getDescription() : "")
{
if ( source ) {
base::DataSourceBase::shared_ptr dsb = source->getDataSource();
if ( !setDataSource(dsb) ) {
log(Error) << "Cannot initialize Property from " << source->getName() << ": ";
if ( dsb ) {
log() << "incompatible type ( destination type: " << getType() << ", source type: " << dsb->getTypeName() << ")." << endlog();
} else {
log() << "source Property was not ready." << endlog();
}
}
}
}
bool ArmBridgeRosOrocos::startHook()
{
m_cartesian_pose_with_impedance_ctrl_as->start();
m_joint_config_as->start();
//m_trajectory_as_srv->start();
//m_arm_has_active_joint_trajectory_goal = false;
ROS_INFO("arm actions started");
if (!brics_joint_positions.connected())
{
log(Error) << "BRICS joint positions not connected." << endlog();
return false;
}
if (!orocos_joint_positions.connected())
{
log(Error) << "Orocos joint positions not connected." << endlog();
return false;
}
if (!orocos_homog_matrix.connected())
{
log(Error) << "Orocos homog_matrix not connected." << endlog();
return false;
}
if (!orocos_arm_stiffness.connected())
{
log(Error) << "arm stiffness port not connected." << endlog();
return false;
}
return TaskContext::startHook();
}
bool DataPool::addComponent(TaskContext* comp) {
Logger::In in(getName());
log(Debug) << "Adding component " << comp->getName() << "." << endlog();
Ports ports = comp->ports()->getPorts();
for (Ports::iterator it = ports.begin(); it != ports.end() ; ++it) {
RTT::base::PortInterface *port = *it;
if (port->connected()) {
log(Debug) << "Ignoring port " << comp->getName() << "/" << port->getName() << ": already connected" << endlog();
continue;
}
this->addPort(port);
}
return true;
}
/**
* Create a variable of data type float
*/
void store(Property<float> *v)
{
int retval;
int varid;
std::string sname = composeName(v->getName());
/**
* Create a new variable with only one dimension i.e. the unlimited time dimension
*/
retval = nc_def_var(ncid, sname.c_str(), NC_FLOAT, DIMENSION_VAR,
&dimsid, &varid);
if ( retval )
log(Error) << "Could not create variable " << sname << ", error " << retval <<endlog();
else
log(Info) << "Variable "<< sname << " successfully created" <<endlog();
}
bool OstreamAppender::configureHook()
{
// verify valid limits
int m = maxEventsPerCycle_prop.rvalue();
if ((0 > m))
{
log(Error) << "Invalid maxEventsPerCycle value of "
<< m << ". Value must be >= 0."
<< endlog();
return false;
}
maxEventsPerCycle = m;
if (!appender)
appender = new log4cpp::OstreamAppender(getName(), &std::cout);
return configureLayout();
}
bool FileAppender::configureHook()
{
// verify valid limits
int m = maxEventsPerCycle_prop.rvalue();
if ((0 > m))
{
log(Error) << "Invalid maxEventsPerCycle value of "
<< m << ". Value must be >= 0."
<< endlog();
return false;
}
maxEventsPerCycle = m;
// \todo error checking
appender = new log4cpp::FileAppender(getName(), filename_prop.rvalue());
return configureLayout();
}
static bool createConnection(OutputPort<T>& output_port, base::InputPortInterface& input_port, ConnPolicy const& policy)
{
if ( !output_port.isLocal() ) {
log(Error) << "Need a local OutputPort to create connections." <<endlog();
return false;
}
InputPort<T>* input_p = dynamic_cast<InputPort<T>*>(&input_port);
// This is the input channel element of the output half
base::ChannelElementBase::shared_ptr output_half = 0;
if (input_port.isLocal() && policy.transport == 0)
{
// Local connection
if (!input_p)
{
log(Error) << "Port " << input_port.getName() << " is not compatible with " << output_port.getName() << endlog();
return false;
}
// local ports, create buffer here.
output_half = buildBufferedChannelOutput<T>(*input_p, output_port.getPortID(), policy, output_port.getLastWrittenValue());
}
else
{
// if the input is not local, this is a pure remote connection,
// if the input *is* local, the user requested to use a different transport
// than plain memory, rare case, but we accept it. The unit tests use this for example
// to test the OOB transports.
if ( !input_port.isLocal() ) {
output_half = createRemoteConnection( output_port, input_port, policy);
} else
output_half = createOutOfBandConnection<T>( output_port, *input_p, policy);
}
if (!output_half)
return false;
// Since output is local, buildChannelInput is local as well.
// This this the input channel element of the whole connection
base::ChannelElementBase::shared_ptr channel_input =
buildChannelInput<T>(output_port, input_port.getPortID(), output_half);
return createAndCheckConnection(output_port, input_port, channel_input, policy );
}
void YouBotBaseService::setControlModesAll(int mode)
{
for(int i=0;i<YouBot::NR_OF_BASE_SLAVES;++i)
{
m_joint_ctrl_modes[i] = static_cast<Hilas::ctrl_modes>(mode);
switch (m_joint_ctrl_modes[i])
{
case(Hilas::PLANE_ANGLE):
{
simxSetObjectIntParameter(clientID,vrep_joint_handle[i],VREP_JOINT_CONTROL_POSITION_IP,1,simx_opmode_oneshot);
break;
}
case(Hilas::ANGULAR_VELOCITY):
{
simxSetObjectIntParameter(clientID,vrep_joint_handle[i],VREP_JOINT_CONTROL_POSITION_IP,0,simx_opmode_oneshot);
break;
}
case(Hilas::TORQUE):
{
simxSetObjectIntParameter(clientID,vrep_joint_handle[i],VREP_JOINT_CONTROL_POSITION_IP,0,simx_opmode_oneshot);
break;
}
case(Hilas::MOTOR_STOP):
{
simxSetObjectIntParameter(clientID,vrep_joint_handle[i],VREP_JOINT_CONTROL_POSITION_IP,1,simx_opmode_oneshot);
break;
}
case(Hilas::TWIST):
{
simxSetObjectIntParameter(clientID,vrep_joint_handle[i],VREP_JOINT_CONTROL_POSITION_IP,0,simx_opmode_oneshot);
break;
}
default:
{
log(Error) << "Case not recognized." << endlog();
this->getOwner()->error();
break;
}
}
}
}
void writelog(char* format, ...) {
startlog();
if(logfile == 0)
return;
char buffer[0xFFF];
va_list args;
va_start (args, format);
vsprintf (buffer,format, args);
va_end (args);
strcat(buffer, "\n");
int len = strlen(buffer);
fwrite(buffer, sizeof(char), len, logfile);
endlog();
}
bool Calibrator::configureHook()
{
log(Debug) << "(Calibrator) configureHook entered" << endlog();
bool result = true;
// create checkboard detector
log(Debug) << "Create checkerboard detector " << endlog();
_detector = new CheckerboardDetector(boardWidth,boardHeight,squareSize);
_detector->setFlags(CV_CALIB_CB_ADAPTIVE_THRESH);
_detector->setSearchRadius(detectorSearchRadius);
//_corners = vector<CvPoint2D32f>(_detector->corners() );
_corners.resize(_detector->corners());
// Create calibrator
log(Debug) << "Create calibrator " << endlog();
_cal = new Calibrater();
_cal->setFlags(CV_CALIB_FIX_PRINCIPAL_POINT);
cvNamedWindow("Calibration", 0);
// Get files from directory of images
_imageFiles = getDir(imageDirectory);
// TODO: check this construction
if (!result)
{
log(Error) << "failed to getDir " << imageDirectory << endlog();
}
log(Debug) << "_imageFiles.size()" << _imageFiles.size( )<< endlog();
for (unsigned int i = 0;i < _imageFiles.size();i++) {
log(Debug) << _imageFiles[i] << endlog();
}
// Allocate memory for the extrinsic matrix
_rot = cvCreateMat(_imageFiles.size(), 3, CV_32FC1);
_trans = cvCreateMat(_imageFiles.size(), 3, CV_32FC1);
// TODO: Write first time to _extrinsicPort here to allocate the port
log(Debug) << "(Calibrator) configureHook finished" << endlog();
return result;
}
bool Appender::configureLayout()
{
bool rc;
const std::string& layoutName = layoutName_prop.rvalue();
const std::string& layoutPattern = layoutPattern_prop.rvalue();
rc = true; // prove otherwise
if (appender &&
(!layoutName.empty()))
{
// \todo layout factory??
if (0 == layoutName.compare("basic"))
{
appender->setLayout(new log4cpp::BasicLayout());
}
else if (0 == layoutName.compare("simple"))
{
appender->setLayout(new log4cpp::SimpleLayout());
}
else if (0 == layoutName.compare("pattern"))
{
log4cpp::PatternLayout *layout = new log4cpp::PatternLayout();
/// \todo ensure "" != layoutPattern?
layout->setConversionPattern(layoutPattern);
appender->setLayout(layout);
// the layout is now owned by the appender, and will be deleted
// by it when the appender is destroyed
}
else
{
log(Error) << "Invalid layout '" << layoutName
<< "' in configuration for category: "
<< getName() << endlog();
rc = false;
}
}
return rc;
}
INTERNAL_QUAL int rtos_task_create(RTOS_TASK* task,
int priority,
const char * name,
int sched_type,
size_t stack_size,
void * (*start_routine)(void *),
ThreadInterface* obj)
{
int rv; // return value
rtos_task_check_priority( &sched_type, &priority );
// Save priority internally, since the pthread_attr* calls are broken !
// we will pick it up later in rtos_task_set_scheduler().
task->priority = priority;
// Set name
if ( strlen(name) == 0 )
name = "Thread";
task->name = strcpy( (char*)malloc( (strlen(name) + 1) * sizeof(char)), name);
if ( (rv = pthread_attr_init(&(task->attr))) != 0 ){
return rv;
}
// Set scheduler type (_before_ assigning priorities!)
if ( (rv = pthread_attr_setschedpolicy(&(task->attr), sched_type)) != 0){
return rv;
}
pthread_attr_getschedpolicy(&(task->attr), &rv );
assert( rv == sched_type );
struct sched_param sp;
sp.sched_priority=priority;
// Set priority
if ( (rv = pthread_attr_setschedparam(&(task->attr), &sp)) != 0 ){
return rv;
}
rv = pthread_create(&(task->thread), &(task->attr), start_routine, obj);
log(Debug) <<"Created Posix thread "<< task->thread <<endlog();
return rv;
}
void soem_SGDV::stopHook()
{
//Sending a last PDO to stop the motor
target.Word=(unsigned short)CW_QUICK_STOP;
target.Position=0;
target.Speed=0;
target.Torque=0;
target.OpMode=9;
//Sending to the master data it has to sent by EtherCAT about this slave
memcpy(output,&target , RxPDOsize);
activate(false,internalNumber);
//To write the .cpf property file
// std::string propertyfile = "configuringXMLSlave" + intToStr(internalNumber)+".cpf";
// this->getProvider<Marshalling>("marshalling")->writeProperties(propertyfile);
Logger::log(Logger::Info) << soem_SGDV::getName()<<" executes stopHook !" <<endlog();
}
void Log::logv(Level l, ...)
{
if (l > lvl)
return;
bool first = true;
const wchar_t *p;
Tlsdata &tlsd(*tls);
va_list vl;
va_start(vl, l);
while ((p = va_arg(vl, const wchar_t *)) != NULL)
{
if (first)
first = false;
else
tlsd.strm << ' ';
tlsd.strm << p;
}
va_end(vl);
endlog(tlsd, l);
}
void soem_SGDV::PDOmapping()
{
//Starting procedure for PDOmapping
SDOwrite(0x1C12,00,false,1,0);
SDOwrite(0x1C13,00,false,1,0);
//PDOmapping of the TxPDO
SDOwrite(0x1600,00,false,1,0);
SDOwrite(0x1600,01,false,4,0x60400010);
SDOwrite(0x1600,02,false,4,0x607A0020);
SDOwrite(0x1600,03,false,4,0x60FF0020);
SDOwrite(0x1600,04,false,4,0x60710010);
SDOwrite(0x1600,05,false,4,0x60600008);
//PDOmapping of the RxPDO
SDOwrite(0x1A00,00,false,1,0);
SDOwrite(0x1A00,01,false,4,0x60410010);
SDOwrite(0x1A00,02,false,4,0x60640020);
SDOwrite(0x1A00,03,false,4,0x606C0020);
SDOwrite(0x1A00,04,false,4,0x60770010);
SDOwrite(0x1A00,05,false,4,0x60610008);
//Ending procedure for PDOmapping
SDOwrite(0x1600,00,false,1,5);
SDOwrite(0x1A00,00,false,1,5);
SDOwrite(0x1C12,01,false,2,0x1600);
SDOwrite(0x1C13,01,false,2,0x1A00);
SDOwrite(0x1C12,00,false,1,1);
SDOwrite(0x1C13,00,false,1,1);
Logger::log(Logger::Info) << soem_SGDV::getName()<<" Executed PDO mapping !" <<endlog();
}
unsigned int EncoderSSI_apci1710_board::read( unsigned int encNr )
{
#ifdef DEBUG
if ( encNr < 1 || encNr > nr_of_modules * 3 ) log() << "(EncoderSSI_apci1710) ERROR: encNr < 1 or encNr > " << nr_of_modules * 3 << "!" << endlog(Error);
#endif
OS::MutexLock Locker( readLock );
return readbuffer[ encNr - 1 ];
}