source: trunk/FACT++/src/mcp.cc@ 19285

Last change on this file since 19285 was 18847, checked in by tbretz, 8 years ago
Fixed the help text.
File size: 22.7 KB
Line 
1#include "Dim.h"
2#include "Event.h"
3#include "Shell.h"
4#include "StateMachineDim.h"
5#include "Connection.h"
6#include "Configuration.h"
7#include "Console.h"
8
9#include "tools.h"
10
11#include "LocalControl.h"
12
13#include "HeadersFTM.h"
14#include "HeadersFAD.h"
15#include "HeadersMCP.h"
16#include "HeadersRateControl.h"
17
18namespace ba = boost::asio;
19namespace bs = boost::system;
20namespace dummy = ba::placeholders;
21
22using namespace std;
23
24// ------------------------------------------------------------------------
25
26#include "DimDescriptionService.h"
27#include "DimState.h"
28
29// ------------------------------------------------------------------------
30
31class StateMachineMCP : public StateMachineDim
32{
33private:
34 vector<bool> fFadConnected;
35 vector<bool> fFadNeedsReset;
36
37 vector<bool> fFadCratesForReset;
38 vector<bool> fFadBoardsForConnection;
39
40 uint16_t fNumConnectedFtu;
41 uint16_t fNumConnectedFad;
42
43 uint16_t fNumReset;
44
45 DimVersion fDim;
46 DimDescribedState fDimFTM;
47 DimDescribedState fDimFAD;
48 DimDescribedState fDimLog;
49 DimDescribedState fDimRC;
50
51 DimDescribedService fService;
52
53 Time fFadTimeout;
54
55 int HandleFadConnections(const EventImp &d)
56 {
57 if (d.GetSize()!=41)
58 return GetCurrentState();
59
60 const uint8_t *ptr = d.Ptr<uint8_t>();
61
62 fNumConnectedFad = 0;
63 fFadConnected.assign(40, false);
64
65 vector<bool> reset(4);
66
67 for (int i=0; i<40; i++)
68 {
69 const uint8_t stat1 = ptr[i]&3;
70 const uint8_t stat2 = ptr[i]>>3;
71
72 // disconnected: ignore
73 if (stat1==0 && stat2==0)
74 continue;
75
76 fFadConnected[i] = true;
77
78 if (stat1>=2 && stat2==8)
79 fNumConnectedFad++;
80
81 // Does not need reset
82 if (stat1>2 && stat2==8)
83 continue;
84
85 // Not configured (stat1==2?kLedGreen:kLedGreenCheck)
86 // Connection problem (stat1==1&&stat2==1?kLedRed:kLedOrange)
87 reset[i/10] = true;
88 }
89 return GetCurrentState();
90 }
91
92 int HandleFtmStaticData(const EventImp &d)
93 {
94 if (d.GetSize()!=sizeof(FTM::DimStaticData))
95 return GetCurrentState();
96
97 const FTM::DimStaticData &sdata = d.Ref<FTM::DimStaticData>();
98
99 fNumConnectedFtu = 0;
100 for (int i=0; i<40; i++)
101 {
102 if (sdata.IsActive(i))
103 fNumConnectedFtu++;
104 }
105 return GetCurrentState();
106 }
107
108 int Print() const
109 {
110 Out() << fDim << endl;
111 Out() << fDimFTM << endl;
112 Out() << fDimFAD << endl;
113 Out() << fDimLog << endl;
114 Out() << fDimRC << endl;
115
116 return GetCurrentState();
117 }
118
119 int GetReady()
120 {
121 return GetCurrentState();
122 }
123
124 int StopRun()
125 {
126 if (fDimFTM.state()==FTM::State::kTriggerOn)
127 {
128 Message("Stopping FTM");
129 Dim::SendCommandNB("FTM_CONTROL/STOP_TRIGGER");
130 }
131
132 // FIXME: Do step 2 only when FTM is stopped
133 if (fDimFAD.state()==FAD::State::kConnected || fDimFAD.state()==FAD::State::kRunInProgress)
134 {
135 //Dim::SendCommand("FAD_CONTROL/ENABLE_TRIGGER_LINE", bool(false));
136 Message("Stopping FAD");
137 Dim::SendCommandNB("FAD_CONTROL/ENABLE_CONTINOUS_TRIGGER", bool(false));
138 if (fDimFAD.state()==FAD::State::kRunInProgress)
139 Dim::SendCommandNB("FAD_CONTROL/CLOSE_OPEN_FILES");
140 }
141
142 return GetCurrentState();
143 }
144
145 int Reset()
146 {
147 if (GetCurrentState()<MCP::State::kConfiguring1 ||
148 GetCurrentState()>MCP::State::kConfigured)
149 return GetCurrentState();
150
151 fRunType = "";
152 Message("Reseting configuration states of FAD and FTM");
153
154 Dim::SendCommandNB("FTM_CONTROL/RESET_CONFIGURE");
155 Dim::SendCommandNB("FAD_CONTROL/RESET_CONFIGURE");
156 Dim::SendCommandNB("RATE_CONTROL/STOP");
157
158 Update(MCP::State::kIdle);
159 return MCP::State::kIdle;
160 /*
161 // FIMXE: Handle error states!
162 if (fDimLog.state()>=20)//kSM_NightlyOpen
163 Dim::SendCommand("DATA_LOGGER/STOP");
164
165 if (fDimLog.state()==0)
166 Dim::SendCommand("DATA_LOGGER/WAIT_FOR_RUN_NUMBER");
167
168 if (fDimFAD.state()==FAD::State::kConnected)
169 {
170 Dim::SendCommand("FAD_CONTROL/ENABLE_TRIGGER_LINE", bool(false));
171 Dim::SendCommand("FAD_CONTROL/ENABLE_CONTINOUS_TRIGGER", bool(false));
172 }
173
174 if (fDimFTM.state()==FTM::State::kTakingData)
175 Dim::SendCommand("FTM_CONTROL/STOP");
176
177 return GetCurrentState(); */
178 }
179
180 int64_t fMaxTime;
181 int64_t fNumEvents;
182 string fRunType;
183
184 int StartRun(const EventImp &evt)
185 {
186 if (!fDimFTM.online())
187 {
188 Error("No connection to ftmcontrol (see PRINT).");
189 return GetCurrentState();
190 }
191 if (!fDimFAD.online())
192 {
193 Warn("No connection to fadcontrol (see PRINT).");
194 return GetCurrentState();
195 }
196 if (!fDimLog.online())
197 {
198 Warn("No connection to datalogger (see PRINT).");
199 return GetCurrentState();
200 }
201 if (!fDimRC.online())
202 {
203 Warn("No connection to ratecontrol (see PRINT).");
204 return GetCurrentState();
205 }
206
207 fMaxTime = evt.Get<int64_t>();
208 fNumEvents = evt.Get<int64_t>(8);
209 fRunType = evt.Ptr<char>(16);
210
211 fNumReset = 0;
212
213 ostringstream str;
214 str << "Starting configuration '" << fRunType << "' for new run";
215 if (fNumEvents>0 || fMaxTime>0)
216 str << " [";
217 if (fNumEvents>0)
218 str << fNumEvents << " events";
219 if (fNumEvents>0 && fMaxTime>0)
220 str << " / ";
221 if (fMaxTime>0)
222 str << fMaxTime << "s";
223 if (fNumEvents>0 || fMaxTime>0)
224 str << "]";
225 Message(str);
226
227 // Strictly speaking, it is not necessary, but
228 // stopping the ratecontrol before we configure
229 // the FTM ensures that no threshold setting commands
230 // interfere with the configuration of the FTM.
231 if (fDimRC.state()!=RateControl::State::kConnected)
232 {
233 Dim::SendCommandNB("RATE_CONTROL/STOP");
234 Message("Stopping ratecontrol");
235 }
236
237 if (fDimLog.state()<30/*kSM_WaitForRun*/)
238 {
239 Dim::SendCommandNB("DATA_LOGGER/START_RUN_LOGGING");
240 Message("Starting datalogger");
241 }
242
243 Update(MCP::State::kConfiguring1);
244 return MCP::State::kConfiguring1;
245 }
246
247 struct Value
248 {
249 uint64_t time;
250 uint64_t nevts;
251 char type[];
252 };
253
254 Value *GetBuffer()
255 {
256 const size_t len = sizeof(Value)+fRunType.length()+1;
257
258 char *buf = new char[len];
259
260 Value *val = reinterpret_cast<Value*>(buf);
261
262 val->time = fMaxTime;
263 val->nevts = fNumEvents;
264
265 strcpy(val->type, fRunType.c_str());
266
267 return val;
268 }
269
270 void Update(int newstate)
271 {
272 Value *buf = GetBuffer();
273 fService.setQuality(newstate);
274 fService.setData(buf, sizeof(Value)+fRunType.length()+1);
275 fService.Update();
276 delete buf;
277 }
278
279 void ConfigureFAD()
280 {
281 Value *buf = GetBuffer();
282
283 Dim::SendCommandNB("FAD_CONTROL/CONFIGURE", buf, sizeof(Value)+fRunType.length()+1);
284 Message("Configuring FAD");
285
286 delete buf;
287 }
288
289 int HandleStateChange()
290 {
291 if (!fDim.online())
292 return MCP::State::kDimNetworkNA;
293
294 if (fDimFTM.state() >= FTM::State::kConnected &&
295 fDimFAD.state() >= FAD::State::kConnected &&
296 fDimLog.state() >= kSM_Ready)
297 return GetCurrentState()<=MCP::State::kIdle ? MCP::State::kIdle : GetCurrentState();
298
299 if (fDimFTM.state() >-2 &&
300 fDimFAD.state() >-2 &&
301 fDimLog.state() >-2 &&
302 fDimRC.state() >-2)
303 return MCP::State::kConnected;
304
305 if (fDimFTM.state() >-2 ||
306 fDimFAD.state() >-2 ||
307 fDimLog.state() >-2 ||
308 fDimRC.state() >-2)
309 return MCP::State::kConnecting;
310
311 return MCP::State::kDisconnected;
312 }
313
314 int Execute()
315 {
316 // ========================================================
317
318 if (GetCurrentState()==MCP::State::kConfiguring1)
319 {
320 if (fDimRC.state()!=RateControl::State::kConnected)
321 return MCP::State::kConfiguring1;
322
323 Dim::SendCommandNB("FTM_CONTROL/CONFIGURE", fRunType);
324 Message("Configuring Trigger (FTM)");
325
326 Update(MCP::State::kConfiguring2);
327 return MCP::State::kConfiguring2;
328 }
329
330 // --------------------------------------------------------
331
332 if (GetCurrentState()==MCP::State::kConfiguring2)
333 {
334 if (fDimFTM.state() != FTM::State::kConfigured1 ||
335 fDimLog.state()<30 || fDimLog.state()>0xff ||
336 fDimRC.state()!=RateControl::State::kConnected)
337 return MCP::State::kConfiguring2;
338
339 // For calibration, ratecontrol will globally set all threshold
340 // to make sure that does not interfer with the configuration,
341 // it is only done when the ftm reports Configured
342 Dim::SendCommandNB("RATE_CONTROL/CALIBRATE_RUN", fRunType);
343 Message("Starting Rate Control");
344
345 ConfigureFAD();
346
347 fFadTimeout = Time();
348
349 Update(MCP::State::kConfiguring3);
350 return MCP::State::kConfiguring3;
351 }
352
353 // --------------------------------------------------------
354
355 if (GetCurrentState()==MCP::State::kConfiguring3)
356 {
357 /*
358 // If everything is configured but the FADs
359 // we run into a timeout and some FAD need to be reset
360 // then we start an automatic crate reset
361 if (fDimFTM.state() == FTM::State::kConfigured &&
362 fDimFAD.state() != FAD::State::kConfigured &&
363 //fDimRC.state() > RateControl::State::kSettingGlobalThreshold &&
364 fFadTimeout+boost::posix_time::seconds(15)<Time() &&
365 count(fFadNeedsReset.begin(), fFadNeedsReset.end(), true)>0)
366 {
367 Update(MCP::State::kCrateReset0);
368 return MCP::State::kCrateReset0;
369 }
370 */
371 // If something is not yet properly configured: keep state
372 if (fDimFTM.state() != FTM::State::kConfigured1 ||
373 fDimFAD.state() != FAD::State::kConfigured ||
374 fDimRC.state() <= RateControl::State::kSettingGlobalThreshold)
375 return MCP::State::kConfiguring3;
376
377 // Note that before the trigger is started, the ratecontrol
378 // must not be InProgress. In rare cases there is interference.
379 Dim::SendCommandNB("FTM_CONTROL/START_TRIGGER");
380 Message("Starting Trigger (FTM)");
381
382 Update(MCP::State::kConfigured);
383 return MCP::State::kConfigured;
384 }
385
386 // --------------------------------------------------------
387
388 if (GetCurrentState()==MCP::State::kConfigured)
389 {
390 if (fDimFTM.state() != FTM::State::kTriggerOn)
391 return MCP::State::kConfigured;
392
393 Update(MCP::State::kTriggerOn);
394 return MCP::State::kTriggerOn;
395 }
396
397 // --------------------------------------------------------
398
399 if (GetCurrentState()==MCP::State::kTriggerOn)
400 {
401 if (fDimFTM.state() != FTM::State::kTriggerOn)
402 {
403 Update(MCP::State::kIdle);
404 return MCP::State::kIdle;
405 }
406
407 if (fDimFAD.state() != FAD::State::kRunInProgress)
408 return MCP::State::kTriggerOn;
409
410 Update(MCP::State::kTakingData);
411 return MCP::State::kTakingData;
412 }
413
414 // --------------------------------------------------------
415
416 if (GetCurrentState()==MCP::State::kTakingData)
417 {
418 if (/*fDimFTM.state()==FTM::State::kTriggerOn &&*/
419 fDimFAD.state()==FAD::State::kRunInProgress)
420 return MCP::State::kTakingData;
421
422 Update(MCP::State::kIdle);
423 return MCP::State::kIdle;
424 }
425
426 // ========================================================
427 /*
428 if (GetCurrentState()==MCP::State::kCrateReset0)
429 {
430 static const struct Data { int32_t id; char on; } __attribute__((__packed__)) d = { -1, 0 };
431
432 Dim::SendCommandNB("FTM_CONTROL/ENABLE_FTU", &d, sizeof(Data));
433
434 fFadCratesForReset = fFadNeedsReset;
435 fFadBoardsForConnection = fFadConnected;
436
437 for (int c=0; c<4; c++)
438 if (fFadNeedsReset[c])
439 for (int b=0; b<10; b++)
440 Dim::SendCommandNB("FAD_CONTROL/DISCONNECT", uint16_t(c*10+b));
441
442 fNumReset++;
443
444 Update(MCP::State::kCrateReset1);
445 return MCP::State::kCrateReset1;
446 }
447
448 // --------------------------------------------------------
449
450 if (GetCurrentState()==MCP::State::kCrateReset1)
451 {
452 if (fNumConnectedFtu>0 || count(fFadNeedsReset.begin(), fFadNeedsReset.end(), true)>0)
453 return MCP::State::kCrateReset1;
454
455 for (int i=0; i<4; i++)
456 if (fFadCratesForReset[i])
457 Dim::SendCommandNB("FAD_CONTROL/RESET_CRATE", uint16_t(i));
458
459 fFadTimeout = Time();
460
461 Update(MCP::State::kCrateReset2);
462 return MCP::State::kCrateReset2;
463 }
464
465 // --------------------------------------------------------
466
467 if (GetCurrentState()==MCP::State::kCrateReset2)
468 {
469 if (fFadTimeout+boost::posix_time::seconds(45)>Time())
470 return MCP::State::kCrateReset2;
471
472 static const struct Data { int32_t id; char on; } __attribute__((__packed__)) d = { -1, 1 };
473
474 Dim::SendCommandNB("FTM_CONTROL/ENABLE_FTU", &d, sizeof(Data));
475
476 for (int c=0; c<4; c++)
477 if (fFadCratesForReset[c])
478 for (int b=0; b<10; b++)
479 if (fFadBoardsForConnection[c*10+b])
480 Dim::SendCommandNB("FAD_CONTROL/CONNECT", uint16_t(c*10+b));
481
482 Update(MCP::State::kCrateReset3);
483 return MCP::State::kCrateReset3;
484 }
485
486 // --------------------------------------------------------
487
488 if (GetCurrentState()==MCP::State::kCrateReset3)
489 {
490 if (fNumConnectedFtu<40 || fFadBoardsForConnection!=fFadConnected)
491 return MCP::State::kCrateReset3;
492
493 if (count(fFadNeedsReset.begin(), fFadNeedsReset.end(), true)>0 && fNumReset<6)
494 {
495 Update(MCP::State::kCrateReset0);
496 return MCP::State::kCrateReset0;
497 }
498
499 // restart configuration
500 Update(MCP::State::kConfiguring1);
501 return MCP::State::kConfiguring1;
502 }
503 */
504 // ========================================================
505
506 return GetCurrentState();
507 }
508
509public:
510 StateMachineMCP(ostream &out=cout) : StateMachineDim(out, "MCP"),
511 fFadNeedsReset(4), fNumConnectedFtu(40),
512 fDimFTM("FTM_CONTROL"),
513 fDimFAD("FAD_CONTROL"),
514 fDimLog("DATA_LOGGER"),
515 fDimRC("RATE_CONTROL"),
516 fService("MCP/CONFIGURATION", "X:1;X:1;C", "Run configuration information"
517 "|MaxTime[s]:Maximum time before the run gets stopped"
518 "|MaxEvents[num]:Maximum number of events before the run gets stopped"
519 "|Name[text]:Name of the chosen configuration")
520 {
521 // ba::io_service::work is a kind of keep_alive for the loop.
522 // It prevents the io_service to go to stopped state, which
523 // would prevent any consecutive calls to run()
524 // or poll() to do nothing. reset() could also revoke to the
525 // previous state but this might introduce some overhead of
526 // deletion and creation of threads and more.
527
528 fDim.Subscribe(*this);
529 fDimFTM.Subscribe(*this);
530 fDimFAD.Subscribe(*this);
531 fDimLog.Subscribe(*this);
532 fDimRC.Subscribe(*this);
533
534 fDim.SetCallback(bind(&StateMachineMCP::HandleStateChange, this));
535 fDimFTM.SetCallback(bind(&StateMachineMCP::HandleStateChange, this));
536 fDimFAD.SetCallback(bind(&StateMachineMCP::HandleStateChange, this));
537 fDimLog.SetCallback(bind(&StateMachineMCP::HandleStateChange, this));
538 fDimRC.SetCallback(bind(&StateMachineMCP::HandleStateChange, this));
539
540 Subscribe("FAD_CONTROL/CONNECTIONS")
541 (bind(&StateMachineMCP::HandleFadConnections, this, placeholders::_1));
542 Subscribe("FTM_CONTROL/STATIC_DATA")
543 (bind(&StateMachineMCP::HandleFtmStaticData, this, placeholders::_1));
544
545 // State names
546 AddStateName(MCP::State::kDimNetworkNA, "DimNetworkNotAvailable",
547 "DIM dns server not available.");
548 AddStateName(MCP::State::kDisconnected, "Disconnected",
549 "Neither ftmctrl, fadctrl, datalogger nor rate control online.");
550 AddStateName(MCP::State::kConnecting, "Connecting",
551 "Either ftmctrl, fadctrl, datalogger or rate control not online.");
552 AddStateName(MCP::State::kConnected, "Connected",
553 "All needed subsystems online.");
554 AddStateName(MCP::State::kIdle, "Idle",
555 "Waiting for next configuration command");
556 AddStateName(MCP::State::kConfiguring1, "Configuring1",
557 "Starting configuration procedure, checking datalogger/ratecontrol state");
558 AddStateName(MCP::State::kConfiguring2, "Configuring2",
559 "Starting ratecontrol, waiting for FTM to get configured and Datalogger to get ready");
560 AddStateName(MCP::State::kConfiguring3, "Configuring3",
561 "Waiting for FADs and ratecontrol to get ready");
562 /*
563 AddStateName(MCP::State::kCrateReset0, "CrateReset0",
564 "Disabling FTUs, disconnecting FADs");
565 AddStateName(MCP::State::kCrateReset1, "CrateReset1",
566 "Waiting for FTUs to be disabled and for FADs to be disconnected");
567 AddStateName(MCP::State::kCrateReset2, "CrateReset2",
568 "Waiting 45s");
569 AddStateName(MCP::State::kCrateReset3, "CrateReset3",
570 "Waiting for FTUs to be enabled and for FADs to be re-connected");
571 */
572 AddStateName(MCP::State::kConfigured, "Configured",
573 "Everything is configured, trigger will be switched on now");
574 AddStateName(MCP::State::kTriggerOn, "TriggerOn",
575 "The trigger is switched on, waiting for FAD to receive data");
576 AddStateName(MCP::State::kTakingData, "TakingData",
577 "The trigger is switched on, FADs are sending data");
578
579
580 AddEvent("START", "X:2;C")//, MCP::State::kIdle)
581 (bind(&StateMachineMCP::StartRun, this, placeholders::_1))
582 ("Start the configuration and data taking for a run-type of a pre-defined setup"
583 "|TimeMax[s]:Maximum number of seconds before the run will be closed automatically"
584 "|NumMax[count]:Maximum number events before the run will be closed automatically"
585 "|Name[text]:Name of the configuration to be used for taking data");
586
587 AddEvent("STOP")
588 (bind(&StateMachineMCP::StopRun, this))
589 ("Stops the trigger (either disables the FTM trigger or the internal DRS trigger)");
590
591 AddEvent("RESET")
592 (bind(&StateMachineMCP::Reset, this))
593 ("If a configuration blockes because a system cannot configure itself properly, "
594 "this command can be called to leave the configuration procedure. The command "
595 "is also propagated to FTM and FAD");
596
597 AddEvent("PRINT")
598 (bind(&StateMachineMCP::Print, this))
599 ("Print the states and connection status of all systems connected to the MCP.");
600 }
601
602 int EvalOptions(Configuration &)
603 {
604 return -1;
605 }
606};
607
608// ------------------------------------------------------------------------
609
610#include "Main.h"
611
612template<class T>
613int RunShell(Configuration &conf)
614{
615 return Main::execute<T, StateMachineMCP>(conf);
616}
617
618/*
619 Extract usage clause(s) [if any] for SYNOPSIS.
620 Translators: "Usage" and "or" here are patterns (regular expressions) which
621 are used to match the usage synopsis in program output. An example from cp
622 (GNU coreutils) which contains both strings:
623 Usage: cp [OPTION]... [-T] SOURCE DEST
624 or: cp [OPTION]... SOURCE... DIRECTORY
625 or: cp [OPTION]... -t DIRECTORY SOURCE...
626 */
627void PrintUsage()
628{
629 cout <<
630 "The Master Control Program (MCP) coordinates the system to take runs.\n"
631 "\n"
632 "The default is that the program is started without user intercation. "
633 "All actions are supposed to arrive as DimCommands. Using the -c "
634 "option, a local shell can be initialized. With h or help a short "
635 "help message about the usuage can be brought to the screen.\n"
636 "\n"
637 "Usage: mcp [-c type] [OPTIONS]\n"
638 " or: mcp [OPTIONS]\n";
639 cout << endl;
640}
641
642void PrintHelp()
643{
644 Main::PrintHelp<StateMachineMCP>();
645
646 /* Additional help text which is printed after the configuration
647 options goes here */
648
649 /*
650 cout << "bla bla bla" << endl << endl;
651 cout << endl;
652 cout << "Environment:" << endl;
653 cout << "environment" << endl;
654 cout << endl;
655 cout << "Examples:" << endl;
656 cout << "test exam" << endl;
657 cout << endl;
658 cout << "Files:" << endl;
659 cout << "files" << endl;
660 cout << endl;
661 */
662}
663
664int main(int argc, const char* argv[])
665{
666 Configuration conf(argv[0]);
667 conf.SetPrintUsage(PrintUsage);
668 Main::SetupConfiguration(conf);
669
670 if (!conf.DoParse(argc, argv, PrintHelp))
671 return 127;
672
673 //try
674 {
675 // No console access at all
676 if (!conf.Has("console"))
677 {
678// if (conf.Get<bool>("no-dim"))
679// return RunShell<LocalStream, StateMachine, ConnectionFSC>(conf);
680// else
681 return RunShell<LocalStream>(conf);
682 }
683 // Cosole access w/ and w/o Dim
684/* if (conf.Get<bool>("no-dim"))
685 {
686 if (conf.Get<int>("console")==0)
687 return RunShell<LocalShell, StateMachine, ConnectionFSC>(conf);
688 else
689 return RunShell<LocalConsole, StateMachine, ConnectionFSC>(conf);
690 }
691 else
692*/ {
693 if (conf.Get<int>("console")==0)
694 return RunShell<LocalShell>(conf);
695 else
696 return RunShell<LocalConsole>(conf);
697 }
698 }
699 /*catch (std::exception& e)
700 {
701 cerr << "Exception: " << e.what() << endl;
702 return -1;
703 }*/
704
705 return 0;
706}
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