void algo(char before[SIZE_X][SIZE_Y], char after[SIZE_X][SIZE_Y], int turn)
{
int i;
int j;
i = -1;
j = -1;
if (turn == 0)
turn = -1;
while (turn != 0)
{
while (++i < SIZE_X)
{
while (++j < SIZE_Y)
{
if (check_around(before, i, j) == 3)
after[i][j] = 1;
else if (check_around(before, i, j) == 2 && before[i][j] == 1)
after[i][j] = 1;
else
after[i][j] = 0;
}
j = -1;
}
i = -1;
copy_map(after, before);
clear_map(after);
ft_putstr("\033[H\033[2J");
show_map(before);
usleep(TURN_TIME);
if (turn != -1)
--turn;
}
}
bool player_is_surrounded(t_lemipc *lemipc)
{
unsigned char around[8];
memset(around, 0, 8);
if (lemipc->pos >= WIN_SIZE_X)
{
if (lemipc->pos % WIN_SIZE_X > 0)
around[0] = lemipc->map[lemipc->pos - WIN_SIZE_X - 1];
around[1] = lemipc->map[lemipc->pos - WIN_SIZE_X];
if (lemipc->pos % WIN_SIZE_X < WIN_SIZE_X - 1)
around[2] = lemipc->map[lemipc->pos - WIN_SIZE_X + 1];
}
if (lemipc->pos % WIN_SIZE_X > 0)
around[3] = lemipc->map[lemipc->pos - 1];
if (lemipc->pos % WIN_SIZE_X < WIN_SIZE_X - 1)
around[4] = lemipc->map[lemipc->pos + 1];
if (lemipc->pos < MAP_SIZE - WIN_SIZE_X)
{
if (lemipc->pos % WIN_SIZE_X > 0)
around[5] = lemipc->map[lemipc->pos + WIN_SIZE_X - 1];
around[6] = lemipc->map[lemipc->pos + WIN_SIZE_X];
if (lemipc->pos % WIN_SIZE_X < WIN_SIZE_X - 1)
around[7] = lemipc->map[lemipc->pos + WIN_SIZE_X + 1];
}
return (check_around(around, lemipc));
}
//checks to see if there is an eye at the specified array element
Bool
check_blank(int row, int column, char go_board[GO_BOARD_SIZE][GO_BOARD_SIZE])
{
int adj;
adj=check_around(row, column);//gathers how many valid adjacent points are around the specified point
if(check_eyes(row, column, adj, go_board))//checks if there is an eye
{
return TRUE;
}
return FALSE;
}
int
main(int argc, char **argv)
{
int fd;
int oflags;
/* O_SYNC is to ensure detection of problems when writing */
oflags = O_RDWR | O_CREAT | O_TRUNC | O_SYNC;
if (argc != 2) {
fprintf(stderr, "%s\n", usage);
exit(1);
}
filename = argv[1];
#ifdef _LFS64_LARGEFILE
oflags |= O_LARGEFILE;
#endif
fd = open(filename, oflags, 0666);
if (fd < 0) {
fprintf(stderr, "can't open %s: %s\n",
filename, strerror(errno));
exit(1);
}
check_around(fd, ((offset64)0x7fffffff) + 1);
if (ftruncate(fd, 0) < 0) {
perror("can't truncate");
exit(1);
}
check_around(fd, ((offset64)(0xffffffffU)) + 1);
unlink(filename);
return (0);
}
static char *sort_chain(char *str, int *cur)
{
int tmp;
char *str2;
tmp = *cur;
*cur = move_curs(str, *cur);
if (str[*cur] == '|' || str[*cur] == ';')
return (check_around(tmp, *cur, str, str[*cur]));
else if (str[*cur] == '>' && (str2 = check_redir(str, cur, tmp)))
return (str2);
else if (str[*cur] == '<' && (str2 = check_left_redir(str, tmp, cur)))
return (str2);
else if (str[*cur] == '&' && (str2 = check_and(tmp, cur, str)))
return (str2);
else if (!str[*cur])
return (cut_chain(tmp, *cur, str));
else
return (NULL);
}
int robot_command (uint16_t *cmd, uint16_t *resp, uint8_t *resplen)
{
unsigned long start = 0;
uint8_t infolen = 0;
int checkdir;
int motor_state_save;
int error = -1;
int ret = SUCCESS;
lcd.clear(); // clear LCD
reset_leds(); // turn off all leds
digitalWrite(Led_Blue, HIGH); // turn on led blue
switch (cmd[0]) {
case CMD_STOP:
Serial.println("CMD_STOP");
lcd.print("STOP");
stop();
motor_state = STATE_STOP;
*resplen = 0;
break;
case CMD_START:
if (cmd[1] == 0)
{
Serial.println("CMD_START");
lcd.print("START");
start_forward();
}
else
{
Serial.print("CMD_START_TEST motor: "); Serial.println((int)cmd[1]);
lcd.print("START motor: "); lcd.print((int)cmd[1]);
start_forward_test(cmd[1]);
}
motor_state = STATE_GO;
*resplen = 0;
break;
case CMD_CHECK_AROUND:
Serial.println("CMD_CHECK_AROUND");
lcd.print("CHECK AROUND");
checkdir = check_around();
lcd.setCursor(0,1);
if (checkdir == DIRECTION_LEFT) lcd.print("LEFT");
else if (checkdir == DIRECTION_RIGHT) lcd.print("RIGHT");
else if (checkdir == OBSTACLE_LEFT) lcd.print("OBSTACLE LEFT");
else if (checkdir == OBSTACLE_RIGHT) lcd.print("OBSTACLE RIGHT");
else if (checkdir == OBSTACLE) lcd.print("OBSTACLE");
else lcd.print("?");
resp[0] = checkdir;
*resplen = 0+1;
break;
case CMD_MOVE_TILT_PAN:
Serial.print("CMD_MOVE_TILT_PAN: "); Serial.print((int)cmd[1]);Serial.print((int)cmd[2]);Serial.print((int)cmd[3]);Serial.println((int)cmd[4]);
if (cmd[2] == 0) HPos = (int)cmd[1] + 90; else HPos = 90 - (int)cmd[1];
if (cmd[4] == 0) VPos = (int)cmd[3] + 90; else VPos = 90 - (int)cmd[3];
Serial.print("CMD_MOVE_TILT_PAN, HPos VPos: "); Serial.print(HPos);Serial.println(VPos);
lcd.print("MOVE TILT&PAN");
lcd.setCursor(0,1);
lcd.print("X: ");
lcd.print(HPos);
lcd.print(" Y: ");
lcd.print(VPos);
TiltPan_move(HPos, VPos);
*resplen = 0;
break;
case CMD_TURN:
if (cmd[1] == 180)
{
Serial.print("CMD_TURN_BACK");
lcd.print("TURN BACK ");
ret = turnback (10); // 10s max
if (ret != SUCCESS){
Serial.print("turnback error"); Serial.println(ret);
lcd.setCursor(0,1);
lcd.print("turnback error: "); lcd.print(ret);
error = 1;
}
}
else if (motor_state == STATE_GO)
{
Serial.print("CMD_TURN, alpha: "); Serial.print((cmd[2] != 1) ? ('+'):('-')); Serial.println((int)cmd[1]);
lcd.print("TURN"); lcd.print((cmd[2] != 1) ? ('+'):('-')); lcd.print((int)cmd[1]);lcd.print((char)223); //degree
ret = turn ((double)((cmd[2] != 1) ? (cmd[1]):(-cmd[1])), 5); // 5s max
if (ret != SUCCESS){
Serial.print("turn error"); Serial.println(ret);
lcd.setCursor(0,1);
lcd.print(" turn error: "); lcd.print(ret);
error = 1;
}
}
*resplen = 0;
break;
case CMD_INFOS:
Serial.println("CMD_INFOS");
ret = infos (resp, &infolen);
if (resp[MOTOR_STATE] == STATE_GO) {
lcd.print("RUNING");
}
else
{
lcd.print("STOPPED");
}
lcd.setCursor(0,1);
lcd.print((int)resp[TEMPERATURE]); lcd.print((byte)lcd_celcius);lcd.write(lcd_pipe);
lcd.print((int)resp[DISTANCE]); lcd.print("cm");lcd.write(lcd_pipe);
lcd.print((int)resp[DIRECTION]); lcd.print((char)223); //degree
*resplen = infolen;
break;
case CMD_PICTURE:
Serial.print("CMD_PICTURE, no_picture: ");
no_picture++;
Serial.println(no_picture);
lcd.print("PICTURE ");
motor_state_save = motor_state;
if (motor_state == STATE_GO) {
Serial.println("Stop");
stop();
motor_state = STATE_STOP;
}
ret = JPEGCamera.makePicture (no_picture);
if (ret == SUCCESS)
{
lcd.setCursor(0,1);
lcd.print("picture: "); lcd.print(no_picture);
}
else
{
Serial.print("makePicture error: "); Serial.println(ret);
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
error = 1;
}
if (motor_state_save == STATE_GO) {
Serial.println("Start");
start_forward();
motor_state = STATE_GO;
}
// byte 0: picture number
resp[0] = no_picture;
*resplen = 0+1;
break;
case CMD_ALERT:
Serial.println("CMD_ALERT");
lcd.print("Alert");
blink(Led_Blue);
buzz(5);
// If motor_state == STATE_GO => Stop
if (motor_state == STATE_GO) {
Serial.println("Stop");
stop();
motor_state = STATE_STOP;
}
// Make 3 pictures left, front and right
if ((HPos != 90) || (VPos !=90))
{
HPos = 90;
VPos = 90;
TiltPan_move(HPos, VPos);
}
Serial.print("makePicture, no_picture: ");
no_picture++;
Serial.println(no_picture);
lcd.print("PICTURE ");
ret = JPEGCamera.makePicture (no_picture);
if (ret == SUCCESS)
{
lcd.setCursor(0,1);
lcd.print("picture: "); lcd.print(no_picture);
}
else
{
Serial.print("makePicture error: "); Serial.println(ret);
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
error = 1;
}
if (ret == SUCCESS)
{
HPos = 0;
VPos = 90;
TiltPan_move(HPos, VPos);
Serial.print("makePicture, no_picture: ");
no_picture++;
Serial.println(no_picture);
lcd.print("PICTURE ");
ret = JPEGCamera.makePicture (no_picture);
lcd.setCursor(0,1);
lcd.print("picture: "); lcd.print(no_picture);
}
else
{
Serial.print("makePicture error: "); Serial.println(ret);
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
error = 1;
}
if (ret == SUCCESS)
{
HPos = 180;
VPos = 90;
TiltPan_move(HPos, VPos);
Serial.print("makePicture, no_picture: ");
no_picture++;
Serial.println(no_picture);
lcd.print("PICTURE ");
ret = JPEGCamera.makePicture (no_picture);
lcd.setCursor(0,1);
lcd.print("picture: "); lcd.print(no_picture);
}
else
{
Serial.print("makePicture error: "); Serial.println(ret);
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
error = 1;
}
// byte 0: last picture number
resp[0] = no_picture;
*resplen = 0+1;
HPos = 90;
VPos = 90;
TiltPan_move(HPos, VPos);
break;
case CMD_CHECK:
Serial.println("CMD_CHECK");
lcd.print("Check");
alert_status = check();
if (alert_status != SUCCESS) {
Serial.print("Alert detected: ");Serial.println(alert_status);
lcd.setCursor(0,1);
lcd.print("Alert: "); lcd.print(alert_status);
}
else
{
Serial.print("No alert detected: ");
lcd.setCursor(0,1);
lcd.print(" No Alert");
}
// byte 0: alert
resp[0] = alert_status;
*resplen = 0+1;
break;
case CMD_GO:
Serial.print("CMD_GO, nb seconds: "); Serial.print((int)cmd[1]);
lcd.print("GO ");lcd.print((int)cmd[1]);lcd.print("secs");
if (motor_state != STATE_GO)
{
Serial.println("start_forward");
start_forward();
motor_state = STATE_GO;
}
error = -1;
GOtimeout = (unsigned long)cmd[1];
start = millis();
while((millis() - start < GOtimeout*1000) && (error == -1)) {
ret = go(GOtimeout);
if ((ret != SUCCESS) && (ret != OBSTACLE) && (ret != OBSTACLE_LEFT) && (ret != OBSTACLE_RIGHT))
{
stop();
motor_state = STATE_STOP;
error = 1;
Serial.print("CMD_GO error: "); Serial.println(ret);
Serial.println("Stop");
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
}
else if ((ret == OBSTACLE) || (ret == OBSTACLE_LEFT) || (ret == OBSTACLE_RIGHT))
{
stop();
motor_state = STATE_STOP;
buzz(3);
blink(Led_Red);
Serial.print("CMD_GO Obstacle: ");Serial.println(ret);
Serial.println("Stop");
lcd.setCursor(0,1);
if (ret == OBSTACLE_LEFT) lcd.print("OBSTACLE LEFT");
else if (ret == OBSTACLE_RIGHT) lcd.print("OBSTACLE RIGHT");
else if (ret == OBSTACLE) lcd.print("OBSTACLE");
else
ret = SUCCESS;
checkdir = check_around();
Serial.print("check_around, direction: "); Serial.println(checkdir);
lcd.clear();
lcd.print("check around");
lcd.setCursor(0,1);
if (checkdir == DIRECTION_LEFT) lcd.print("LEFT");
else if (checkdir == DIRECTION_RIGHT) lcd.print("RIGHT");
else if (checkdir == OBSTACLE_LEFT) lcd.print("OBSTACLE LEFT");
else if (checkdir == OBSTACLE_RIGHT) lcd.print("OBSTACLE RIGHT");
else if (checkdir == OBSTACLE) lcd.print("OBSTACLE");
else lcd.print("?");;
if (checkdir == DIRECTION_LEFT) {
start_forward();
motor_state = STATE_GO;
ret = turn (-45, 5); // turn -45 degrees during 5s max
if (ret != SUCCESS)
{
stop();
motor_state = STATE_STOP;
error = 1;
Serial.print("turn error: "); Serial.println(ret);
Serial.println("Stop");
lcd.clear();
lcd.print("turn left");
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
}
else
{
lcd.clear();
lcd.print("turn left OK");
}
}
else if (checkdir == DIRECTION_RIGHT) {
start_forward();
motor_state = STATE_GO;
ret = turn (+45, 5); // turn +45 degrees during 5s max
if (ret != SUCCESS)
{
stop();
motor_state = STATE_STOP;
error = 1;
Serial.print("turn error: "); Serial.println(ret);
Serial.println("Stop");
lcd.clear();
lcd.print("turn right");
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
}
else
{
lcd.clear();
lcd.print("turn right OK");
}
}
else
{
buzz(3);
blink(Led_Red);
motor_state = STATE_GO;
ret = turnback (10); // turn back during 10s max
if (ret != SUCCESS)
{
stop();
motor_state = STATE_STOP;
error = 1;
Serial.print("turnback error"); Serial.println(ret);
Serial.println("Stop");
lcd.clear();
lcd.print("turnback");
lcd.setCursor(0,1);
lcd.print("error: "); lcd.print(ret);
}
else
{
lcd.clear();
lcd.print("turnback OK");
}
}
}
else
{
Serial.println("GO OK");
lcd.clear();
lcd.print("GO OK");
error = 0;
}
} // end while
ret = infos (resp, &infolen);
if (error == 0) {
if (resp[MOTOR_STATE] == STATE_GO) {
lcd.print("RUNNING");
}
else
{
lcd.print("STOPPED");
}
lcd.setCursor(0,1);
lcd.print((int)resp[TEMPERATURE]); lcd.print((byte)lcd_celcius);lcd.write(lcd_pipe);
lcd.print((int)resp[DISTANCE]); lcd.print("cm");lcd.write(lcd_pipe);
lcd.print((int)resp[DIRECTION]); lcd.print((char)223); //degree
}
*resplen = infolen;
break;
case CMD_PI:
Serial.print("CMD_PI activated, type: "); Serial.print((int)cmd[1]); Serial.print(" - freq: ");Serial.println((int)cmd[2]);
lcd.print("PI activated ");lcd.print((int)cmd[1]);
PI_activated = (int)cmd[1];
if (PI_activated <> PI_NO_COMM) PI_freqInfos = (int)cmd[2]* 1000;
Serial.print("PI_activated: "); Serial.println(PI_activated);
Serial.print("PI_freqInfos: ");Serial.println(PI_freqInfos);
*resplen = 0;
break;
default:
Serial.println("invalid command");
lcd.print("invalid command");
*resplen = 0;
break;
} //end switch
if (error == 1) {
blink(Led_Red);
blink(Led_Red);
buzz(7);
*resplen = 0;
}
reset_leds(); // turn off all leds
return ret;
}
bool network_generator::optimization_move_channel(pair <int, int> target, vector < RTree<int, int, 2, float>* > *edge_rtree, vector < vector <edge_info> > *edges, vector < vector <node> > *tempnode){
int valid_length = 5;
int minp[2], maxp[2];
vector <int> edge_list;
for( int layer=0;layer<channel_layer;layer++ ){
for( int l=5;l<10;l++ ){
edge_list.clear();
if(target.second+l <= 100){
minp[0] = target.first - valid_length;
minp[1] = target.second+l;
maxp[0] = target.first + valid_length;
maxp[1] = target.second+l;
(*edge_rtree)[layer]->Search(minp, maxp, &edge_list);
for( int k=0;k<edge_list.size();k++ ){
if((*edges)[layer][edge_list[k]].HV == 'H'){
pair<int, int> node_1, node_2;
node_1.first = max(minp[0], (*tempnode)[layer][(*edges)[layer][edge_list[k]].nodes.first].coordinate.first);
node_1.second = minp[1];
node_2.first = min(maxp[0], (*tempnode)[layer][(*edges)[layer][edge_list[k]].nodes.second].coordinate.first);
node_2.second = minp[1];
if(node_1.first % 2 != 1){
node_1.first += 1;
}
if(node_2.first % 2 != 1){
node_2.first -= 1;
}
if(node_2.first - node_1.first >= 2){
pair<int, int> tmp_node_1=node_1, tmp_node_2=node_2;
tmp_node_1.second -= 2;
tmp_node_2.second -= 2;
if(check_around(tmp_node_1, tmp_node_2, layer)){
for( int j=0;j<node_2.first - node_1.first - 1;j++ ){
liquid_network[layer][node_1.second][node_1.first+1+j] = 0;
liquid_network[layer][node_1.second-2][node_1.first+1+j] = 1;
}
liquid_network[layer][node_1.second-1][node_2.first] = 1;
liquid_network[layer][node_1.second-1][node_1.first] = 1;
liquid_network[layer][node_1.second-2][node_2.first] = 1;
liquid_network[layer][node_1.second-2][node_1.first] = 1;
pout(node_1);
cout << endl;
pout(node_2);
cout << endl;
cout << "1" << endl;
getchar();
return true;
}
}
}
}
}
edge_list.clear();
if(target.second-l >= 0){
minp[0] = target.first - valid_length;
minp[1] = target.second-l;
maxp[0] = target.first + valid_length;
maxp[1] = target.second-l;
(*edge_rtree)[layer]->Search(minp, maxp, &edge_list);
for( int k=0;k<edge_list.size();k++ ){
if((*edges)[layer][edge_list[k]].HV == 'H'){
pair<int, int> node_1, node_2;
node_1.first = max(minp[0], (*tempnode)[layer][(*edges)[layer][edge_list[k]].nodes.first].coordinate.first);
node_1.second = minp[1];
node_2.first = min(maxp[0], (*tempnode)[layer][(*edges)[layer][edge_list[k]].nodes.second].coordinate.first);
node_2.second = minp[1];
if(node_1.first % 2 != 1){
node_1.first += 1;
}
if(node_2.first % 2 != 1){
node_2.first -= 1;
}
if(node_2.first - node_1.first >= 2){
pair<int, int> tmp_node_1=node_1, tmp_node_2=node_2;
tmp_node_1.second += 2;
tmp_node_2.second += 2;
if(check_around(tmp_node_1, tmp_node_2, layer)){
for( int j=0;j<node_2.first - node_1.first - 1;j++ ){
liquid_network[layer][node_1.second][node_1.first+1+j] = 0;
liquid_network[layer][node_1.second+2][node_1.first+1+j] = 1;
cout << node_1.second << " " << node_1.first+1+j << "123123" << endl;
}
liquid_network[layer][node_1.second+1][node_2.first] = 1;
liquid_network[layer][node_1.second+1][node_1.first] = 1;
liquid_network[layer][node_1.second+2][node_2.first] = 1;
liquid_network[layer][node_1.second+2][node_1.first] = 1;
pout(node_1);
cout << endl;
pout(node_2);
cout << endl;
pout(tmp_node_1);
cout << endl;
pout(tmp_node_2);
cout << endl;
cout << "2" << endl;
cout << l << endl;
getchar();
return true;
}
}
}
}
}
edge_list.clear();
if(target.first+l <= 100){
minp[0] = target.first+l;
minp[1] = target.second - valid_length;
maxp[0] = target.first+l;
maxp[1] = target.second + valid_length;
(*edge_rtree)[layer]->Search(minp, maxp, &edge_list);
for( int k=0;k<edge_list.size();k++ ){
if((*edges)[layer][edge_list[k]].HV == 'V'){
pair<int, int> node_1, node_2;
node_1.first = minp[0];
node_1.second = max(minp[1], (*tempnode)[layer][(*edges)[layer][edge_list[k]].nodes.first].coordinate.second);
node_2.first = minp[0];
node_2.second = min(maxp[1], (*tempnode)[layer][(*edges)[layer][edge_list[k]].nodes.second].coordinate.second);
if(node_1.second % 2 != 1){
node_1.second += 1;
}
if(node_2.second % 2 != 1){
node_2.second -= 1;
}
if(node_2.second - node_1.second >= 2){
pair<int, int> tmp_node_1=node_1, tmp_node_2=node_2;
tmp_node_1.first -= 2;
tmp_node_2.first -= 2;
if(check_around(tmp_node_1, tmp_node_2, layer)){
for( int j=0;j<node_2.second - node_1.second - 1;j++ ){
liquid_network[layer][node_1.second+1+j][node_1.first] = 0;
liquid_network[layer][node_1.second+1+j][node_1.first-2] = 1;
}
liquid_network[layer][node_2.second][node_1.first-1] = 1;
liquid_network[layer][node_1.second][node_1.first-1] = 1;
liquid_network[layer][node_2.second][node_1.first-2] = 1;
liquid_network[layer][node_1.second][node_1.first-2] = 1;
pout(node_1);
cout << endl;
pout(node_2);
cout << endl;
cout << "3" << endl;
getchar();
return true;
}
}
}
}
}
edge_list.clear();
if(target.first-l >= 0){
minp[0] = target.first-l;
minp[1] = target.second - valid_length;
maxp[0] = target.first-l;
maxp[1] = target.second + valid_length;
(*edge_rtree)[layer]->Search(minp, maxp, &edge_list);
for( int k=0;k<edge_list.size();k++ ){
if((*edges)[layer][edge_list[k]].HV == 'V'){
pair<int, int> node_1, node_2;
node_1.first = minp[0];
node_1.second = max(minp[1], (*tempnode)[layer][(*edges)[layer][edge_list[k]].nodes.first].coordinate.second);
node_2.first = minp[0];
node_2.second = min(maxp[1], (*tempnode)[layer][(*edges)[layer][edge_list[k]].nodes.second].coordinate.second);
if(node_1.second % 2 != 1){
node_1.second += 1;
}
if(node_2.second % 2 != 1){
node_2.second -= 1;
}
if(node_2.second - node_1.second >= 2){
pair<int, int> tmp_node_1=node_1, tmp_node_2=node_2;
tmp_node_1.first += 2;
tmp_node_2.first += 2;
if(check_around(tmp_node_1, tmp_node_2, layer)){
for( int j=0;j<node_2.second - node_1.second - 1;j++ ){
liquid_network[layer][node_1.second+1+j][node_1.first] = 0;
liquid_network[layer][node_1.second+1+j][node_1.first+1] = 1;
}
liquid_network[layer][node_2.second][node_1.first+1] = 1;
liquid_network[layer][node_1.second][node_1.first+1] = 1;
liquid_network[layer][node_2.second][node_1.first+2] = 1;
liquid_network[layer][node_1.second][node_1.first+2] = 1;
pout(node_1);
cout << endl;
pout(node_2);
cout << endl;
cout << "4" << endl;
getchar();
return true;
}
}
}
}
}
}
}
return false;
}
