delete obsolete examples/publisher

boards/airmind/mindpx-v2/default.cmake

@@ -105,7 +105,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/atmel/same70xplained/default.cmake

@@ -105,7 +105,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/auav/x21/default.cmake

@@ -110,7 +110,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/av/x-v1/default.cmake

@@ -110,7 +110,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/gumstix/aerocore2/default.cmake

@@ -106,7 +106,6 @@ px4_add_board(
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		#rover_steering_control # Rover example app

boards/intel/aerofc-v1/default.cmake

@@ -88,7 +88,6 @@ px4_add_board(
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		#rover_steering_control # Rover example app

boards/intel/aerofc-v1/rtps.cmake

@@ -91,7 +91,6 @@ px4_add_board(
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		#rover_steering_control # Rover example app

boards/nxp/fmuk66-v3/default.cmake

@@ -106,7 +106,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/omnibus/f4sd/default.cmake

@@ -100,7 +100,6 @@ px4_add_board(
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		#rover_steering_control # Rover example app

boards/px4/fmu-v3/default.cmake

@@ -118,7 +118,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/px4/fmu-v3/rtps.cmake

@@ -119,7 +119,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/px4/fmu-v3/stackcheck.cmake

@@ -118,7 +118,6 @@ px4_add_board(
 		#hello
 		#hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		#rover_steering_control # Rover example app

boards/px4/fmu-v4/default.cmake

@@ -103,7 +103,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/px4/fmu-v4/rtps.cmake

@@ -105,7 +105,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/px4/fmu-v4/stackcheck.cmake

@@ -103,7 +103,6 @@ px4_add_board(
 		#hello
 		#hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		#rover_steering_control # Rover example app

boards/px4/fmu-v4pro/default.cmake

@@ -117,7 +117,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/px4/fmu-v4pro/rtps.cmake

@@ -118,7 +118,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/px4/fmu-v5/default.cmake

@@ -117,7 +117,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/px4/fmu-v5/rtps.cmake

@@ -119,7 +119,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/px4/fmu-v5/stackcheck.cmake

@@ -118,7 +118,6 @@ px4_add_board(
 		#hello
 		#hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		#px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		#px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		#rover_steering_control # Rover example app

boards/stm/32f4discovery/default.cmake

@@ -95,7 +95,6 @@ px4_add_board(
 		hello
 		#hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

boards/stm/nucleo-F767ZI/default.cmake

@@ -104,7 +104,6 @@ px4_add_board(
 		hello
 		hwtest # Hardware test
 		#matlab_csv_serial
-		#publisher
 		px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
 		px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
 		rover_steering_control # Rover example app

src/examples/publisher/CMakeLists.txt

@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-px4_add_module(
-	MODULE examples__publisher
-	MAIN publisher
-	STACK_MAIN 1200
-	SRCS
-		publisher_main.cpp
-		publisher_start_nuttx.cpp
-		publisher_example.cpp
-	DEPENDS
-	)

src/examples/publisher/publisher_example.cpp

@@ -1,85 +0,0 @@
-
-/****************************************************************************
- *
- *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file publisher_example.cpp
- * Example subscriber for ros and px4
- *
- * @author Thomas Gubler <thomasgubler@gmail.com>
- */
-
-#include "publisher_example.h"
-
-using namespace px4;
-
-PublisherExample::PublisherExample() :
-	_n(appState),
-	_rc_channels_pub(_n.advertise<px4_rc_channels>()),
-	_v_att_pub(_n.advertise<px4_vehicle_attitude>()),
-	_parameter_update_pub(_n.advertise<px4_parameter_update>())
-{
-}
-
-px4::AppState PublisherExample::appState;
-
-int PublisherExample::main()
-{
-	px4::Rate loop_rate(10);
-
-	while (!appState.exitRequested()) {
-		loop_rate.sleep();
-		_n.spinOnce();
-
-		/* Publish example message */
-		px4_rc_channels rc_channels_msg;
-		rc_channels_msg.data().timestamp_last_valid = px4::get_time_micros();
-		PX4_INFO("rc: %" PRIu64, rc_channels_msg.data().timestamp_last_valid);
-		_rc_channels_pub->publish(rc_channels_msg);
-
-		/* Publish example message */
-		px4_vehicle_attitude v_att_msg;
-		v_att_msg.data().timestamp = px4::get_time_micros();
-		PX4_INFO("att: %" PRIu64, v_att_msg.data().timestamp);
-		_v_att_pub->publish(v_att_msg);
-
-		/* Publish example message */
-		px4_parameter_update parameter_update_msg;
-		parameter_update_msg.data().timestamp = px4::get_time_micros();
-		PX4_INFO("param update: %" PRIu64, parameter_update_msg.data().timestamp);
-		_parameter_update_pub->publish(parameter_update_msg);
-
-	}
-
-	return 0;
-}

src/examples/publisher/publisher_example.h

@@ -1,59 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file publisher.h
- * Example publisher for ros and px4
- *
- * @author Thomas Gubler <thomasgubler@gmail.com>
- */
-#pragma once
-#include <px4.h>
-#include <px4_app.h>
-
-class PublisherExample
-{
-public:
-	PublisherExample();
-
-	~PublisherExample() {}
-
-	int main();
-
-	static px4::AppState appState;
-protected:
-	px4::NodeHandle _n;
-	px4::Publisher<px4::px4_rc_channels> *_rc_channels_pub;
-	px4::Publisher<px4::px4_vehicle_attitude> *_v_att_pub;
-	px4::Publisher<px4::px4_parameter_update> *_parameter_update_pub;
-};

src/examples/publisher/publisher_main.cpp

@@ -1,56 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file publisher_main.cpp
- * Example publisher for ros and px4
- *
- * @author Thomas Gubler <thomasgubler@gmail.com>
- */
-#include "publisher_example.h"
-
-bool thread_running = false;     /**< Deamon status flag */
-
-int main(int argc, char **argv)
-{
-	px4::init(argc, argv, "publisher");
-
-	PX4_INFO("starting");
-	PublisherExample p;
-	thread_running = true;
-	p.main();
-
-	PX4_INFO("exiting.");
-	thread_running = false;
-	return 0;
-}

src/examples/publisher/publisher_start_nuttx.cpp

@@ -1,98 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file publisher_start_nuttx.cpp
- *
- * @author Thomas Gubler <thomasgubler@gmail.com>
- */
-#include <string.h>
-#include <cstdlib>
-#include <systemlib/err.h>
-
-extern bool thread_running;
-int daemon_task;             /**< Handle of deamon task / thread */
-namespace px4
-{
-bool task_should_exit = false;
-}
-using namespace px4;
-
-extern int main(int argc, char **argv);
-
-extern "C" __EXPORT int publisher_main(int argc, char *argv[]);
-int publisher_main(int argc, char *argv[])
-{
-	if (argc < 2) {
-		errx(1, "usage: publisher {start|stop|status}");
-	}
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			warnx("already running");
-			/* this is not an error */
-			exit(0);
-		}
-
-		task_should_exit = false;
-
-		daemon_task = px4_task_spawn_cmd("publisher",
-						 SCHED_DEFAULT,
-						 SCHED_PRIORITY_MAX - 5,
-						 2000,
-						 main,
-						 (argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
-
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		task_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			warnx("is running");
-
-		} else {
-			warnx("not started");
-		}
-
-		exit(0);
-	}
-
-	warnx("unrecognized command");
-	return 1;
-}