broken img calc; change dir struct

1 files changed, 0 insertions, 795 deletions

diff --git a/main.cpp b/main.cpp
deleted file mode 100644
index 2166b3a..0000000
--- a/main.cpp
+++ /dev/null
@@ -1,795 +0,0 @@
-#include <chrono>
-#include <errno.h>
-#include <fstream>
-#include <iostream>
-#include <iterator>
-#include <string.h>
-#include <sys/mman.h>
-#include <thread>
-
-#include "LibCamera.h"
-#include "calibration.h"
-#include "camera/innomakerov9281.h"
-#include "camera/ov9281.h"
-#include "dumps.h"
-#include "fuck_intel.h"
-#include "genetic_algos.h"
-#include "httpservice.h"
-#include "imagealgos.h"
-#include "laser.h"
-#include "macro.h"
-#include "pigpio.h"
-#include "printerclient.h"
-#include "profile.h"
-#include "rotaryencoder.h"
-
-#include <QCoreApplication>
-#include <QDebug>
-#include <QDir>
-#include <QFile>
-#include <QHttpServer>
-#include <QImage>
-#include <QJsonArray>
-#include <QJsonDocument>
-#include <QJsonObject>
-#include <QSerialPort>
-#include <QTextStream>
-#include <QTimer>
-#include <QtConcurrent/QtConcurrent>
-
-#define try_apply_config() \
-    if (!applyConfig(config)) \
-    { \
-        camera->release(); \
-        cm->stop(); \
-\
-        return EXIT_FAILURE; \
-    }
-
-ScanningModeFlags scanningModeFlags{ScanningModeFlags::None};
-
-QElapsedTimer calibrationTimer;
-
-extern volatile int32_t positionSteps;
-
-requested_params_t requested_params;
-
-namespace {
-std::shared_ptr<Image> img;
-Pixels pixels;
-std::vector<Pixels> calibrationPixels;
-QMutex calibrationPixelsMutex;
-} // namespace
-
-using namespace std::chrono_literals;
-
-// static std::shared_ptr<libcamera::Camera> camera;
-// std::unique_ptr<libcamera::CameraConfiguration> config;
-// static std::map<int, std::pair<void*, unsigned int>> mappedBuffers_;
-// std::vector<std::unique_ptr<libcamera::Request>> requests;
-libcamera::ControlList lastControls;
-
-namespace {
-CalibrationTablePtr calibrationTableZ;
-CalibrationTablePtr calibrationTableX;
-} // namespace
-
-// static bool applyConfig(
-//     const std::unique_ptr<libcamera::CameraConfiguration>& config
-// );
-// static void onRequestCompleted(libcamera::Request* completed_request);
-// static void printControls();
-// static QList<Pixels> filter(const QList<Pixels>& rawProfiles);
-
-auto printPixels = [](const auto& pixels) {
-    for (size_t i = (img_width - 10) / 2;
-         i < img_width - ((img_width - 10) / 2);
-         ++i)
-    {
-        std::cout << pixels[i] << " ";
-    }
-    std::cout << std::endl;
-};
-
-void onNewImage(std::shared_ptr<Image> image)
-{
-    // std::cout << __func__ << std::endl << std::flush;
-
-    if (!image)
-    {
-        qDebug() << __func__ << "no image";
-        return;
-    }
-
-    ::img = image;
-}
-
-void onNewPixels(std::shared_ptr<Pixels> pixels)
-{
-    // std::cout << __func__ << std::endl << std::flush;
-
-    if (!pixels)
-    {
-        qDebug() << __func__ << "got null pixels";
-    }
-
-    if (!*pixels)
-    {
-        // qDebug() << __func__ << "got empty pixels";
-    }
-
-    for (size_t i = 640 - 5; i < 640 + 5; i++)
-    {
-        // std::cout << pixels->pixels[i] << " ";
-    }
-
-    // std::cout << std::endl
-
-    ::pixels = *pixels;
-}
-
-bool initLaser();
-
-int main(int argc, char* argv[])
-{
-    QCoreApplication app(argc, argv);
-
-    QList<QFuture<void>> initializers;
-
-#ifdef INNO_MAKER
-    if (false)
-    {
-        std::cout << std::boolalpha;
-        InnoMakerOV9281 innoMakerCam;
-        qDebug() << "init:" << innoMakerCam.init();
-        qDebug() << "set exposure:" << innoMakerCam.setExposureTimeUs(3000000);
-        qDebug() << "set gain:" << innoMakerCam.setGain(2);
-
-        innoMakerCam.startStream();
-        QThread::sleep(3);
-        qDebug() << "should be stopped";
-        // Image buf;
-
-        // for (size_t i = 0; i < 1000; ++i) {
-        //     if (!innoMakerCam.getImage(buf)) {
-        //         break;
-        //     }
-
-        //     buf.rotate();
-        //     auto pixels = buf.pixels();
-        // }
-    }
-    // qDebug() << "ok";
-    // exit(EXIT_SUCCESS);
-#endif
-
-    // if (false)
-    qDebug() << "size of raw profile" << sizeof(Pixels);
-    if (true)
-    {
-        // open binary calibration table
-        if (true)
-        {
-            initializers << QtConcurrent::run([&]() {
-                if (!openCalibrationTable(
-                        "/home/user/dumps/binz.calibration_table",
-                        ::calibrationTableZ))
-                {
-                    exit(EXIT_FAILURE);
-                }
-            });
-
-            initializers << QtConcurrent::run([&]() {
-                if (!openCalibrationTable(
-                        "/home/user/dumps/binx.calibration_table",
-                        ::calibrationTableX))
-                {
-                    exit(EXIT_FAILURE);
-                }
-            });
-        }
-
-        if (false)
-        {
-            // z
-            // if (!openCalibrationTable(
-            //         "/home/user/dumps/binz.calibration_table",
-            //         ::calibrationTableZ
-            //     ))
-            // {
-            //     exit(EXIT_FAILURE);
-            // }
-
-            // if (!calibrationTableToImage(::calibrationTableZ)
-            //          .save("/home/user/dumps/imageZ.png"))
-            // {
-            //     qDebug() << "cannot save imageZ.png";
-            //     exit(EXIT_FAILURE);
-            // }
-
-            // interpolate(::calibrationTableZ);
-            // exit(EXIT_SUCCESS);
-
-            // calibrationTableToImage(::calibrationTableZ)
-            //     .save("/home/user/dumps/imageZ_interpolated.png");
-
-            auto rawProfiles = openDump("/home/user/dumps/binx");
-            qDebug() << "raw x-profiles count is" << rawProfiles.size();
-            // qDebug() << "height" << calibrationColumnHeight;
-
-            auto filteredRawProfiles = filter(std::move(rawProfiles));
-            qDebug() << "filtered x-profiles count is"
-                     << filteredRawProfiles.count();
-
-            ::calibrationTableX = calibrateX(std::move(filteredRawProfiles));
-
-            // for (size_t i = 9471; i < 9472; i++) {
-            //     std::cout << "row #" << i << ": ";
-
-            //     for (size_t j = 0; j < 1280; ++j) {
-            //         const auto& p = ::calibrationTableX->at(j).at(i);
-            //         std::cout << p << ' ';
-            //     }
-
-            //     std::cout << std::endl;
-            // }
-
-            // x
-            // qDebug() << "open x table";
-            // if (!openCalibrationTable("/home/user/dumps/binx.calibration_table",
-            //                           ::calibrationTableX)) {
-            //     exit(EXIT_FAILURE);
-            // }
-
-            // if (!calibrationTableToImage(::calibrationTableX)
-            //          .save("/home/user/dumps/imageX.png")) {
-            //     qDebug() << "cannot save imageX.png";
-            //     exit(EXIT_FAILURE);
-            // }
-
-            // for (size_t i = 9471; i < 9472; i++) {
-            //     std::cout << "row #" << i << ": ";
-
-            //     for (size_t j = 0; j < 1280; ++j) {
-            //         const auto& p = ::calibrationTableX->at(j).at(i);
-            //         std::cout << p << ' ';
-            //     }
-
-            //     std::cout << std::endl;
-            // }
-
-            // exit(EXIT_SUCCESS);
-            interpolate(::calibrationTableX);
-
-            // calibrationTableToImage(::calibrationTableX)
-            //     .save("/home/user/dumps/imageX_interpolated.png");
-        }
-
-        // load binary calibration dumps and calibrate
-        if (false)
-        {
-            if (true)
-            {
-                auto rawProfiles = openDump("/home/user/dumps/binz");
-                // auto rawProfiles = openDump("/home/user/dumps/z");
-                qDebug() << "raw z-profiles count is" << rawProfiles.size();
-                // qDebug() << "height" << calibrationColumnHeight;
-
-                auto filteredRawProfiles = filter(std::move(rawProfiles));
-                qDebug() << "filtered z-profiles count is"
-                         << filteredRawProfiles.count();
-
-                ::calibrationTableZ = calibrateZ(std::move(filteredRawProfiles),
-                                                 requested_params.stepsPerMm);
-
-                // bool ok = calibrationTableToImage(::calibrationTableZ)
-                //               .save("/home/user/dumps/z/imageZ.png");
-
-                // if (!ok)
-                // {
-                //     qDebug() << "cannot save imageZ.png";
-                //     exit(EXIT_FAILURE);
-                // }
-
-                interpolate(::calibrationTableZ);
-
-                if (!dump(::calibrationTableZ,
-                          "/home/user/dumps/binz.calibration_table"))
-                {
-                    qApp->exit(EXIT_FAILURE);
-                }
-                // calibrationTableToImage(::calibrationTableZ)
-                //     .save("/home/user/dumps/z/imageZ_interpolated.png");
-                // exit(EXIT_SUCCESS);
-            }
-
-            qDebug()
-                << "--------------------------------------------------------";
-
-            if (true)
-            {
-                auto rawProfiles = openDump("/home/user/dumps/binx");
-                qDebug() << "raw x-profiles count is" << rawProfiles.size();
-                // qDebug() << "height" << calibrationColumnHeight;
-
-                auto filteredRawProfiles = filter(std::move(rawProfiles));
-                qDebug() << "filtered x-profiles count is"
-                         << filteredRawProfiles.count();
-
-                ::calibrationTableX = calibrateX(std::move(filteredRawProfiles));
-
-                // bool ok = calibrationTableToImage(::calibrationTableX)
-                //               .save("/home/user/dumps/z/imageX.png");
-
-                // if (!ok)
-                // {
-                //     qDebug() << "cannot save imageX.png";
-                //     exit(EXIT_FAILURE);
-                // }
-
-                interpolate(::calibrationTableX);
-
-                if (!dump(::calibrationTableX,
-                          "/home/user/dumps/binx.calibration_table"))
-                {
-                    qApp->exit(EXIT_FAILURE);
-                }
-
-                // calibrationTableToImage(::calibrationTableX)
-                //     .save("/home/user/dumps/z/imageX_interpolated.png");
-            }
-        }
-    }
-
-    // exit(EXIT_SUCCESS);
-
-    // if (!initLaser()) {
-    //     return EXIT_FAILURE;
-    // }
-
-    // PrinterClient printerClient;
-
-    QElapsedTimer t;
-    t.start();
-
-    qDebug() << "msecs before encoder:" << t.elapsed();
-
-    RotaryEncoder encoder;
-
-    qDebug() << "msecs before camera:" << t.elapsed();
-    // FIXME: don't use one var for everything
-    int ret;
-#ifndef INNO_MAKER
-    std::unique_ptr<libcamera::CameraManager> cm =
-        std::make_unique<libcamera::CameraManager>();
-    cm->start();
-#endif
-    // const auto cameras = cm->cameras();
-    // const auto cameras = OV9281::search(cm);
-    const auto cameras = InnoMakerOV9281::search();
-    // const auto cameras =
-
-    if (cameras.empty())
-    {
-        std::cerr << "No cameras were identified on the system." << std::endl;
-#ifndef INNO_MAKER
-        cm->stop();
-#endif
-
-        return EXIT_FAILURE;
-    }
-
-    auto camera = cameras.at(0);
-
-#ifndef INNO_MAKER
-    camera->printControls();
-#endif
-
-    std::cout << "connect everything" << std::endl;
-    // camera->newPixels.connect(&onNewPixels);
-    // camera->newImage.connect(&onNewImage);
-    camera->newImageCallback = &onNewImage;
-    camera->newPixelsCallback = &onNewPixels;
-
-    for (auto& i : initializers)
-        i.waitForFinished();
-
-    if (!camera->startStream())
-    {
-#ifndef INNO_MAKER
-        cm->stop();
-#endif
-
-        return EXIT_FAILURE;
-    }
-
-    QHttpServer qHttpServer;
-    qHttpServer.route("/v1/sensor/image", [&]() {
-        // std::cout << "http: image" << std::endl << std::flush;
-        // FILE *f = fopen("/tmp/img.pgm", "w");
-        // static bool save = false;
-        pgm_save(::img);
-        // save = false;
-        std::lock_guard<std::mutex> lg(pgm_image_mtx);
-        // qDebug() << "mutex locked";
-        // qDebug() << "image saved to array";
-        return QByteArray((const char*) pgm_image, pgm_image_size);
-    });
-    qHttpServer.route("/v1/sensor/image2", [&]() {
-        // std::cout << "http: image2" << std::endl;
-        pgm_save(::img);
-
-        std::lock_guard<std::mutex> lg(pgm_image_mtx);
-        // qDebug() << "image2";
-        return QByteArray((const char*) pgm_image, pgm_image_size);
-    });
-    // qHttpServer.route("/v1/sensor/exposureTimeUs", [&]() {
-    //     // std::lock_guard<std::mutex> lg(pgm_image_mtx);
-    //     return "123";
-    // });
-    qHttpServer.route("/v1/pixels", [&]() {
-        // std::cout << "http: pixels" << std::endl;
-        std::lock_guard<std::mutex> lg(pgm_image_mtx);
-
-        QJsonArray pixels;
-
-        for (size_t i = 0; i < img_width; ++i)
-        {
-            // pixels << img_height - img.pixels[i];
-            pixels << ::pixels.pixels[i];
-        }
-
-        QJsonObject json;
-        json["pixels"] = pixels;
-        json["encoderPosition"] = qint64{encoder.position()};
-        // FIXME: get prom pixels struct
-        json["measurementCounter"] = qint64{img->counters.measurementCounter};
-        json["timestampUs"] = qint64(img->counters.timestampUs);
-
-        const auto lines = pixelsToLines(::pixels);
-
-        // qDebug() << "lines count is " << lines.count();
-
-        QJsonArray jsonLines;
-
-        for (const auto& l : lines)
-        {
-            jsonLines << QJsonArray{QJsonArray{l.p1().x(), l.p1().y()},
-                                    QJsonArray{l.p2().x(), l.p2().y()}};
-        }
-
-        json["lines"] = jsonLines;
-
-        return QHttpServerResponse(QJsonDocument(json).toJson());
-    });
-
-    qHttpServer.route("/v1/profile", [&]() -> QHttpServerResponse {
-        // std::cout << "http: profile" << std::endl;
-        std::lock_guard<std::mutex> lg(pgm_image_mtx);
-
-        if (!::calibrationTableZ || !::calibrationTableX)
-            return QHttpServerResponse::StatusCode::ServiceUnavailable;
-
-        const Profile profile(::pixels,
-                              ::calibrationTableZ,
-                              ::calibrationTableX);
-
-        const QJsonObject json{{"profile", QJsonObject(profile)}};
-
-        return QHttpServerResponse(QJsonDocument(json).toJson());
-    });
-
-    qHttpServer
-        .route("/v1/commands/resetEncoder",
-               [&](const QHttpServerRequest& request) -> QHttpServerResponse {
-                   std::cout << "http: resetEncoder" << std::endl;
-                   if (request.method() != QHttpServerRequest::Method::Post)
-                   {
-                       return QHttpServerResponse::StatusCode::NotFound;
-                   }
-
-                   qDebug() << "reset encoder";
-
-                   positionSteps = 0;
-
-                   return QHttpServerResponse::StatusCode::Ok;
-               });
-
-    qHttpServer
-        .route("/v1/commands/startCalibration",
-               [&](const QHttpServerRequest& request) -> QHttpServerResponse {
-                   std::cout << "http: startCalibration" << std::endl;
-                   if (request.method() != QHttpServerRequest::Method::Post)
-                   {
-                       return QHttpServerResponse::StatusCode::NotFound;
-                   }
-
-                   qDebug() << "start calibration";
-
-                   // TODO: use flags
-                   scanningModeFlags = ScanningModeFlags::Calibration;
-                   calibrationTimer.start();
-
-                   return QHttpServerResponse::StatusCode::Ok;
-               });
-
-    qHttpServer
-        .route("/v1/commands/gCode",
-               [&](const QHttpServerRequest& request) -> QHttpServerResponse {
-                   std::cout << "http: gCode" << std::endl;
-                   if (request.method() != QHttpServerRequest::Method::Post)
-                   {
-                       return QHttpServerResponse::StatusCode::NotFound;
-                   }
-
-                   const auto command = request.body();
-
-                   qDebug() << "send gCode:" << command;
-
-                   // printerClient.sendCommand(command);
-
-                   return QHttpServerResponse::StatusCode::Ok;
-               });
-
-    // qHttpServer
-    //     .route("/v1/commands/startCalibration",
-    //            [&](const QHttpServerRequest& request) -> QHttpServerResponse {
-    //                std::cout << "http: startCalibration" << std::endl;
-    //                if (request.method() != QHttpServerRequest::Method::Post)
-    //                {
-    //                    return QHttpServerResponse::StatusCode::NotFound;
-    //                }
-
-    //                const auto command = request.body();
-
-    //                qDebug() << "send gCode:" << command;
-
-    //                // printerClient.sendCommand(command);
-
-    //                return QHttpServerResponse::StatusCode::Ok;
-    //            });
-
-    qHttpServer.route(
-        "/v1/sensor/params",
-        [&](const QHttpServerRequest& request) -> QHttpServerResponse {
-            // std::cout << "http: params" << std::endl;
-            switch (request.method())
-            {
-            case QHttpServerRequest::Method::Get: {
-                std::lock_guard<std::mutex> lg(pgm_image_mtx);
-                QJsonObject json;
-
-                // const libcamera::ControlIdMap& ctrlIdMap =
-                //     camera->controls().idmap();
-
-                // qDebug() << "readParams:" << lastControls.size();
-                // qDebug() << request.method();
-
-                // for (const auto& [id, value] : lastControls)
-                // {
-                //     const libcamera::ControlId* controlId = ctrlIdMap.at(id);
-                //     auto name = QString::fromStdString(controlId->name());
-                //     const auto valueStr =
-                //         QString::fromStdString(value.toString());
-                //     qDebug()
-                //         << "\t param:" << controlId->id() << name << valueStr;
-
-                //     name[0] = name[0].toLower();
-                //     json[name] = valueStr;
-                // }
-
-                // json[laserLevelKey] = requested_params.laserLevel;
-
-                // qDebug() << "response body:" << json;
-
-                // QHttpServerResponse
-                return QHttpServerResponse(QJsonDocument(json).toJson());
-            }
-
-            case QHttpServerRequest::Method::Post: {
-                // qDebug() << "request body:" << request.body();
-
-                auto json = QJsonDocument::fromJson(request.body()).object();
-
-                if (json.contains(exposureTimeKey))
-                {
-                    const int32_t value{json[exposureTimeKey].toInt()};
-
-                    if (value == 0)
-                        return QHttpServerResponse::StatusCode::
-                            RequestRangeNotSatisfiable;
-
-                    // qDebug() << "set new exposure time:" << value;
-
-                    // requested_params.exposureTime = value;
-                    if (!camera->setExposureTimeUs(value))
-                        return QHttpServerResponse::StatusCode::
-                            RequestRangeNotSatisfiable;
-                }
-
-                if (json.contains(gainKey))
-                {
-                    const int32_t value{json[gainKey].toInt()};
-
-                    if (value == 0)
-                        return QHttpServerResponse::StatusCode::
-                            RequestRangeNotSatisfiable;
-
-                    // qDebug() << "set gain:" << value;
-
-                    // requested_params.exposureTime = value;
-                    if (!camera->setGain(value))
-                        return QHttpServerResponse::StatusCode::
-                            RequestRangeNotSatisfiable;
-                }
-
-                if (json.contains(laserLevelKey))
-                {
-                    const int32_t value{json[laserLevelKey].toInt()};
-
-                    // if (value == 0)
-                    // {
-                    //     return QHttpServerResponse::StatusCode::NotFound;
-                    // }
-
-                    // qDebug() << "set new laserLevel:" << value;
-                    if (!camera->setLaserLevel(value))
-                        return QHttpServerResponse::StatusCode::
-                            RequestRangeNotSatisfiable;
-
-                    requested_params.laserLevel = value;
-
-                    // const QString laserLevelFile{
-                    //     "/sys/class/pwm/pwmchip2/pwm1/duty_cycle"};
-                    // QFile f{laserLevelFile};
-
-                    // if (!f.open(QFile::ReadWrite))
-                    // {
-                    //     qDebug() << "cannot open laser level file:"
-                    //              << f.errorString();
-                    //     qDebug() << "file path is" << f.fileName();
-                    //     return QHttpServerResponse::StatusCode::InternalServerError;
-                    // }
-
-                    // QTextStream s{&f};
-
-                    // s << value;
-
-                    // s >> requested_params.laserLevel;
-
-                    // qDebug() << "done with laser level";
-                }
-
-                return QHttpServerResponse(request.body());
-            }
-            default: {
-                return QHttpServerResponse(
-                    QByteArray("unsupported http method"));
-            }
-            }
-        });
-
-    qDebug() << "listen: " << qHttpServer.listen(QHostAddress::Any, 8081);
-
-    QFuture<void> future = QtConcurrent::run([]() {
-        Port port(8080);
-        Address addr(Ipv4::any(), port);
-
-        HttpService httpService(addr);
-
-        size_t threads_count = 1;
-        httpService.init(threads_count);
-        httpService.start();
-    });
-
-    ////////////////////////////////////////////////////////////////////////////
-    std::clog << std::flush;
-    std::cerr << std::flush;
-    std::cout << "ok for now" << std::endl << std::flush;
-
-    // camera->stop();
-    // camera->release();
-    // cm->stop();
-
-    auto result = app.exec();
-
-    future.cancel();
-    future.waitForFinished();
-
-    // for (auto& [fd, mem] : mappedBuffers_)
-    // {
-    //     munmap(mem.first, mem.second);
-    // }
-
-    // FIXME: crash somewhere here. proper libcamera finishing needed
-    // requests.clear();
-    // mappedBuffers_.clear();
-
-    // camera->stop();
-    // config.reset();
-    // allocator->free(stream);
-    // allocator.reset();
-    // camera->release();
-    // camera.reset();
-#ifndef INNO_MAKER
-    cm->stop();
-#endif
-
-    return result;
-}
-
-bool initLaser()
-{
-    const QLatin1String pwmChip{"pwmchip2"};
-    const uint16_t pwmChannel{1};
-    const QLatin1String pwmSystemRoot{"/sys/class/pwm"};
-    const QString pwmChipRoot{pwmSystemRoot + "/" + pwmChip};
-
-    const QString pwmExportFile{pwmChipRoot + "/export"};
-
-    QFile f{pwmExportFile};
-
-    if (!f.open(QFile::WriteOnly))
-    {
-        qWarning() << "cannot open" << f.fileName() << "for writing";
-        qWarning() << "error:" << f.errorString();
-
-        return false;
-    }
-
-    QTextStream s{&f};
-    s << pwmChannel;
-
-    const QString pwm{QLatin1String("pwm%1").arg(QString::number(pwmChannel))};
-    const QString pwmRoot{pwmChipRoot + "/" + pwm};
-
-    const QString periodFilename{pwmRoot + "/period"};
-    f.close();
-    f.setFileName(periodFilename);
-
-    if (!f.open(QFile::WriteOnly))
-    {
-        qWarning() << "cannot open" << f.fileName() << "for writing";
-        qWarning() << "error:" << f.errorString();
-
-        return false;
-    }
-
-    const unsigned periodHz{50'000};
-
-    s << periodHz;
-
-    const QString dutyCycleFilename{pwmRoot + "/duty_cycle"};
-    f.close();
-    f.setFileName(dutyCycleFilename);
-
-    if (!f.open(QFile::WriteOnly))
-    {
-        qWarning() << "cannot open" << f.fileName() << "for writing";
-        qWarning() << "error:" << f.errorString();
-
-        return false;
-    }
-
-    const unsigned dutyCycle{3'000};
-
-    s << dutyCycle;
-
-    const QString enableFilename{pwmRoot + "/enable"};
-    f.close();
-    f.setFileName(enableFilename);
-
-    if (!f.open(QFile::WriteOnly))
-    {
-        qWarning() << "cannot open" << f.fileName() << "for writing";
-        qWarning() << "error:" << f.errorString();
-
-        return false;
-    }
-
-    const int enable{1};
-
-    s << enable;
-
-    return true;
-}