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{ "id": 10992, "url": "https://patchwork.libcamera.org/api/patches/10992/?format=api", "web_url": "https://patchwork.libcamera.org/patch/10992/", "project": { "id": 1, "url": "https://patchwork.libcamera.org/api/projects/1/?format=api", "name": "libcamera", "link_name": "libcamera", "list_id": "libcamera_core", "list_email": "libcamera-devel@lists.libcamera.org", "web_url": "", "scm_url": "", "webscm_url": "" }, "msgid": "<20210125184858.16339-4-david.plowman@raspberrypi.com>", "date": "2021-01-25T18:48:56", "name": "[libcamera-devel,v2,3/5] ipa: raspberrypi: awb: Replace Raspberry Pi debug with libcamera debug", "commit_ref": "eb605eab5b3df765082549bda2dc45215cda16f9", "pull_url": null, "state": "accepted", "archived": false, "hash": "6089276ae85745c7eb605fdf999629847f50ee3d", "submitter": { "id": 42, "url": "https://patchwork.libcamera.org/api/people/42/?format=api", "name": "David Plowman", "email": "david.plowman@raspberrypi.com" }, "delegate": null, "mbox": "https://patchwork.libcamera.org/patch/10992/mbox/", "series": [ { "id": 1606, "url": "https://patchwork.libcamera.org/api/series/1606/?format=api", "web_url": "https://patchwork.libcamera.org/project/libcamera/list/?series=1606", "date": "2021-01-25T18:48:53", "name": "Remove Raspberry Pi logging", "version": 2, "mbox": "https://patchwork.libcamera.org/series/1606/mbox/" } ], "comments": "https://patchwork.libcamera.org/api/patches/10992/comments/", "check": "pending", "checks": "https://patchwork.libcamera.org/api/patches/10992/checks/", "tags": {}, "headers": { "Return-Path": "<libcamera-devel-bounces@lists.libcamera.org>", "X-Original-To": "parsemail@patchwork.libcamera.org", "Delivered-To": "parsemail@patchwork.libcamera.org", "Received": [ "from lancelot.ideasonboard.com (lancelot.ideasonboard.com\n\t[92.243.16.209])\n\tby patchwork.libcamera.org (Postfix) with ESMTPS id B2135BD808\n\tfor <parsemail@patchwork.libcamera.org>;\n\tMon, 25 Jan 2021 18:49:09 +0000 (UTC)", "from lancelot.ideasonboard.com (localhost [IPv6:::1])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTP id 6A1D1682ED;\n\tMon, 25 Jan 2021 19:49:08 +0100 (CET)", "from mail-ed1-x535.google.com (mail-ed1-x535.google.com\n\t[IPv6:2a00:1450:4864:20::535])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTPS id 3578B682D8\n\tfor <libcamera-devel@lists.libcamera.org>;\n\tMon, 25 Jan 2021 19:49:07 +0100 (CET)", "by mail-ed1-x535.google.com with SMTP id g1so16768230edu.4\n\tfor <libcamera-devel@lists.libcamera.org>;\n\tMon, 25 Jan 2021 10:49:07 -0800 (PST)", "from pi4-davidp.lan (plowpeople3.plus.com. [80.229.223.72])\n\tby smtp.gmail.com with ESMTPSA id\n\ty59sm11601836ede.59.2021.01.25.10.49.05\n\t(version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256);\n\tMon, 25 Jan 2021 10:49:05 -0800 (PST)" ], "Authentication-Results": "lancelot.ideasonboard.com;\n\tdkim=fail reason=\"signature verification failed\" (2048-bit key;\n\tunprotected) header.d=raspberrypi.com header.i=@raspberrypi.com\n\theader.b=\"s34E9KZC\"; dkim-atps=neutral", "DKIM-Signature": "v=1; a=rsa-sha256; c=relaxed/relaxed;\n\td=raspberrypi.com; s=google;\n\th=from:to:cc:subject:date:message-id:in-reply-to:references\n\t:mime-version:content-transfer-encoding;\n\tbh=8bPpaA9CK0cvjRVU6Wwh4JeqcPbkw6cR7UVolIZBz7w=;\n\tb=s34E9KZCMeUh9/IT3nPYyHwI6YWos5Y5R3kVwncoDyZ6RpfQk76HBXppkUyYm46GfK\n\t2EfqcFR8WO78vSgYWaecJTT9YSzRpAtenRe4QG59IH7hjkt2K1Y+ltcf9Dx0LtApIwgw\n\t9WOnJVa13fgpeHrdsU53sqYnHKpQJVUR5GxLpzyaInJ4HFa0jR4I4laACH+iKvRdbJQz\n\tfBTcjXj5hfFK/NPk7+/SPbH+M9/kF1Ekh+y+X2vg74YeDBdhqHHUNwrQ3EPfvs9S1URJ\n\tMatbcaat1AWj0I55ujqywbnKxG0XCCUt8Tiv0MsjngnM3JbIdclQ0lSIF58Vl7mJl0yx\n\tXciQ==", "X-Google-DKIM-Signature": "v=1; a=rsa-sha256; c=relaxed/relaxed;\n\td=1e100.net; s=20161025;\n\th=x-gm-message-state:from:to:cc:subject:date:message-id:in-reply-to\n\t:references:mime-version:content-transfer-encoding;\n\tbh=8bPpaA9CK0cvjRVU6Wwh4JeqcPbkw6cR7UVolIZBz7w=;\n\tb=qvxKzMGOrptNwXw3jPNykSEb7Yjzat6cwLH6KSBIhErqG3BYddSdjqYExibT98gczC\n\t2UWVPDeHz3Gcha4RokByyHulMztf+mIjTw4SyHnGDSZ4xIF8bjA+/NAFjP0qEU0F5Y8E\n\tZ5uYqf5NjWPpfUZrGJ0KHhSn6kRUm3u9wz6JD/jO6+6raznze4hXh+dlHlIQk4LxCOs/\n\tTdl912XAV/k7k/9/zXlHD6xzhuKdtCXtRjFfhEKNMhqwJWjHbMShSjd4Dzk1ZNoAHmDy\n\tICFvMA/rsezTPLzALaYjqoq/KP6C97ejnfEZMq/LmcfRHuth8ZSJzCCF8b6GqgFguc2q\n\tlYMA==", "X-Gm-Message-State": "AOAM532GMlR0L5pAJZ4fl9HM1mI8WE0fBL6+mq+rI9d7wZiex+2OIQCW\n\tgQMbS1poGJd8pMOSriVSgauuUopVsoaOSDFn", "X-Google-Smtp-Source": "ABdhPJztPvUye1SZ6I2mV3ddGz2Uvhv31s6CpDeO/ipU1A5ulpC9eNpT+oLCig/LikP6g/D/t3SePA==", "X-Received": "by 2002:a05:6402:228a:: with SMTP id\n\tcw10mr1580213edb.195.1611600546441; \n\tMon, 25 Jan 2021 10:49:06 -0800 (PST)", "From": "David Plowman <david.plowman@raspberrypi.com>", "To": "libcamera-devel@lists.libcamera.org", "Date": "Mon, 25 Jan 2021 18:48:56 +0000", "Message-Id": "<20210125184858.16339-4-david.plowman@raspberrypi.com>", "X-Mailer": "git-send-email 2.20.1", "In-Reply-To": "<20210125184858.16339-1-david.plowman@raspberrypi.com>", "References": "<20210125184858.16339-1-david.plowman@raspberrypi.com>", "MIME-Version": "1.0", "Subject": "[libcamera-devel] [PATCH v2 3/5] ipa: raspberrypi: awb: Replace\n\tRaspberry Pi debug with libcamera debug", "X-BeenThere": "libcamera-devel@lists.libcamera.org", "X-Mailman-Version": "2.1.29", "Precedence": "list", "List-Id": "<libcamera-devel.lists.libcamera.org>", "List-Unsubscribe": "<https://lists.libcamera.org/options/libcamera-devel>,\n\t<mailto:libcamera-devel-request@lists.libcamera.org?subject=unsubscribe>", "List-Archive": "<https://lists.libcamera.org/pipermail/libcamera-devel/>", "List-Post": "<mailto:libcamera-devel@lists.libcamera.org>", "List-Help": "<mailto:libcamera-devel-request@lists.libcamera.org?subject=help>", "List-Subscribe": "<https://lists.libcamera.org/listinfo/libcamera-devel>,\n\t<mailto:libcamera-devel-request@lists.libcamera.org?subject=subscribe>", "Content-Type": "text/plain; charset=\"us-ascii\"", "Content-Transfer-Encoding": "7bit", "Errors-To": "libcamera-devel-bounces@lists.libcamera.org", "Sender": "\"libcamera-devel\" <libcamera-devel-bounces@lists.libcamera.org>" }, "content": "Signed-off-by: David Plowman <david.plowman@raspberrypi.com>\nReviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>\n---\n src/ipa/raspberrypi/controller/rpi/awb.cpp | 97 ++++++++++++----------\n 1 file changed, 53 insertions(+), 44 deletions(-)", "diff": "diff --git a/src/ipa/raspberrypi/controller/rpi/awb.cpp b/src/ipa/raspberrypi/controller/rpi/awb.cpp\nindex f66c2b29..62337b13 100644\n--- a/src/ipa/raspberrypi/controller/rpi/awb.cpp\n+++ b/src/ipa/raspberrypi/controller/rpi/awb.cpp\n@@ -5,12 +5,16 @@\n * awb.cpp - AWB control algorithm\n */\n \n-#include \"../logging.hpp\"\n+#include \"libcamera/internal/log.h\"\n+\n #include \"../lux_status.h\"\n \n #include \"awb.hpp\"\n \n using namespace RPiController;\n+using namespace libcamera;\n+\n+LOG_DEFINE_CATEGORY(RPiAwb)\n \n #define NAME \"rpi.awb\"\n \n@@ -58,7 +62,6 @@ static void read_ct_curve(Pwl &ct_r, Pwl &ct_b,\n \n void AwbConfig::Read(boost::property_tree::ptree const ¶ms)\n {\n-\tRPI_LOG(\"AwbConfig\");\n \tbayes = params.get<int>(\"bayes\", 1);\n \tframe_period = params.get<uint16_t>(\"frame_period\", 10);\n \tstartup_frames = params.get<uint16_t>(\"startup_frames\", 10);\n@@ -104,8 +107,8 @@ void AwbConfig::Read(boost::property_tree::ptree const ¶ms)\n \tif (bayes) {\n \t\tif (ct_r.Empty() || ct_b.Empty() || priors.empty() ||\n \t\t default_mode == nullptr) {\n-\t\t\tRPI_WARN(\n-\t\t\t\t\"Bayesian AWB mis-configured - switch to Grey method\");\n+\t\t\tLOG(RPiAwb, Warning)\n+\t\t\t\t<< \"Bayesian AWB mis-configured - switch to Grey method\";\n \t\t\tbayes = false;\n \t\t}\n \t}\n@@ -220,7 +223,7 @@ void Awb::SwitchMode([[maybe_unused]] CameraMode const &camera_mode,\n \n void Awb::fetchAsyncResults()\n {\n-\tRPI_LOG(\"Fetch AWB results\");\n+\tLOG(RPiAwb, Debug) << \"Fetch AWB results\";\n \tasync_finished_ = false;\n \tasync_started_ = false;\n \tsync_results_ = async_results_;\n@@ -229,7 +232,7 @@ void Awb::fetchAsyncResults()\n void Awb::restartAsync(StatisticsPtr &stats, std::string const &mode_name,\n \t\t double lux)\n {\n-\tRPI_LOG(\"Starting AWB thread\");\n+\tLOG(RPiAwb, Debug) << \"Starting AWB calculation\";\n \t// this makes a new reference which belongs to the asynchronous thread\n \tstatistics_ = stats;\n \t// store the mode as it could technically change\n@@ -254,13 +257,12 @@ void Awb::Prepare(Metadata *image_metadata)\n \tdouble speed = frame_count_ < (int)config_.startup_frames\n \t\t\t ? 1.0\n \t\t\t : config_.speed;\n-\tRPI_LOG(\"Awb: frame_count \" << frame_count_ << \" speed \" << speed);\n+\tLOG(RPiAwb, Debug)\n+\t\t<< \"frame_count \" << frame_count_ << \" speed \" << speed;\n \t{\n \t\tstd::unique_lock<std::mutex> lock(mutex_);\n-\t\tif (async_started_ && async_finished_) {\n-\t\t\tRPI_LOG(\"AWB thread finished\");\n+\t\tif (async_started_ && async_finished_)\n \t\t\tfetchAsyncResults();\n-\t\t}\n \t}\n \t// Finally apply IIR filter to results and put into metadata.\n \tmemcpy(prev_sync_results_.mode, sync_results_.mode,\n@@ -275,9 +277,10 @@ void Awb::Prepare(Metadata *image_metadata)\n \tprev_sync_results_.gain_b = speed * sync_results_.gain_b +\n \t\t\t\t (1.0 - speed) * prev_sync_results_.gain_b;\n \timage_metadata->Set(\"awb.status\", prev_sync_results_);\n-\tRPI_LOG(\"Using AWB gains r \" << prev_sync_results_.gain_r << \" g \"\n-\t\t\t\t << prev_sync_results_.gain_g << \" b \"\n-\t\t\t\t << prev_sync_results_.gain_b);\n+\tLOG(RPiAwb, Debug)\n+\t\t<< \"Using AWB gains r \" << prev_sync_results_.gain_r << \" g \"\n+\t\t<< prev_sync_results_.gain_g << \" b \"\n+\t\t<< prev_sync_results_.gain_b;\n }\n \n void Awb::Process(StatisticsPtr &stats, Metadata *image_metadata)\n@@ -287,7 +290,7 @@ void Awb::Process(StatisticsPtr &stats, Metadata *image_metadata)\n \t\tframe_phase_++;\n \tif (frame_count2_ < (int)config_.startup_frames)\n \t\tframe_count2_++;\n-\tRPI_LOG(\"Awb: frame_phase \" << frame_phase_);\n+\tLOG(RPiAwb, Debug) << \"frame_phase \" << frame_phase_;\n \tif (frame_phase_ >= (int)config_.frame_period ||\n \t frame_count2_ < (int)config_.startup_frames) {\n \t\t// Update any settings and any image metadata that we need.\n@@ -299,14 +302,12 @@ void Awb::Process(StatisticsPtr &stats, Metadata *image_metadata)\n \t\tstruct LuxStatus lux_status = {};\n \t\tlux_status.lux = 400; // in case no metadata\n \t\tif (image_metadata->Get(\"lux.status\", lux_status) != 0)\n-\t\t\tRPI_LOG(\"No lux metadata found\");\n-\t\tRPI_LOG(\"Awb lux value is \" << lux_status.lux);\n+\t\t\tLOG(RPiAwb, Debug) << \"No lux metadata found\";\n+\t\tLOG(RPiAwb, Debug) << \"Awb lux value is \" << lux_status.lux;\n \n \t\tstd::unique_lock<std::mutex> lock(mutex_);\n-\t\tif (async_started_ == false) {\n-\t\t\tRPI_LOG(\"AWB thread starting\");\n+\t\tif (async_started_ == false)\n \t\t\trestartAsync(stats, mode_name, lux_status.lux);\n-\t\t}\n \t}\n }\n \n@@ -375,7 +376,7 @@ double Awb::computeDelta2Sum(double gain_r, double gain_b)\n \t\tdouble delta_r = gain_r * z.R - 1 - config_.whitepoint_r;\n \t\tdouble delta_b = gain_b * z.B - 1 - config_.whitepoint_b;\n \t\tdouble delta2 = delta_r * delta_r + delta_b * delta_b;\n-\t\t//RPI_LOG(\"delta_r \" << delta_r << \" delta_b \" << delta_b << \" delta2 \" << delta2);\n+\t\t//LOG(RPiAwb, Debug) << \"delta_r \" << delta_r << \" delta_b \" << delta_b << \" delta2 \" << delta2;\n \t\tdelta2 = std::min(delta2, config_.delta_limit);\n \t\tdelta2_sum += delta2;\n \t}\n@@ -438,10 +439,11 @@ double Awb::coarseSearch(Pwl const &prior)\n \t\tdouble prior_log_likelihood =\n \t\t\tprior.Eval(prior.Domain().Clip(t));\n \t\tdouble final_log_likelihood = delta2_sum - prior_log_likelihood;\n-\t\tRPI_LOG(\"t: \" << t << \" gain_r \" << gain_r << \" gain_b \"\n-\t\t\t << gain_b << \" delta2_sum \" << delta2_sum\n-\t\t\t << \" prior \" << prior_log_likelihood << \" final \"\n-\t\t\t << final_log_likelihood);\n+\t\tLOG(RPiAwb, Debug)\n+\t\t\t<< \"t: \" << t << \" gain_r \" << gain_r << \" gain_b \"\n+\t\t\t<< gain_b << \" delta2_sum \" << delta2_sum\n+\t\t\t<< \" prior \" << prior_log_likelihood << \" final \"\n+\t\t\t<< final_log_likelihood;\n \t\tpoints_.push_back(Pwl::Point(t, final_log_likelihood));\n \t\tif (points_.back().y < points_[best_point].y)\n \t\t\tbest_point = points_.size() - 1;\n@@ -452,7 +454,7 @@ double Awb::coarseSearch(Pwl const &prior)\n \t\t\t mode_->ct_hi);\n \t}\n \tt = points_[best_point].x;\n-\tRPI_LOG(\"Coarse search found CT \" << t);\n+\tLOG(RPiAwb, Debug) << \"Coarse search found CT \" << t;\n \t// We have the best point of the search, but refine it with a quadratic\n \t// interpolation around its neighbours.\n \tif (points_.size() > 2) {\n@@ -461,8 +463,9 @@ double Awb::coarseSearch(Pwl const &prior)\n \t\tt = interpolate_quadatric(points_[best_point - 1],\n \t\t\t\t\t points_[best_point],\n \t\t\t\t\t points_[best_point + 1]);\n-\t\tRPI_LOG(\"After quadratic refinement, coarse search has CT \"\n-\t\t\t<< t);\n+\t\tLOG(RPiAwb, Debug)\n+\t\t\t<< \"After quadratic refinement, coarse search has CT \"\n+\t\t\t<< t;\n \t}\n \treturn t;\n }\n@@ -514,8 +517,9 @@ void Awb::fineSearch(double &t, double &r, double &b, Pwl const &prior)\n \t\t\tdouble gain_r = 1 / r_test, gain_b = 1 / b_test;\n \t\t\tdouble delta2_sum = computeDelta2Sum(gain_r, gain_b);\n \t\t\tpoints[j].y = delta2_sum - prior_log_likelihood;\n-\t\t\tRPI_LOG(\"At t \" << t_test << \" r \" << r_test << \" b \"\n-\t\t\t\t\t<< b_test << \": \" << points[j].y);\n+\t\t\tLOG(RPiAwb, Debug)\n+\t\t\t\t<< \"At t \" << t_test << \" r \" << r_test << \" b \"\n+\t\t\t\t<< b_test << \": \" << points[j].y;\n \t\t\tif (points[j].y < points[best_point].y)\n \t\t\t\tbest_point = j;\n \t\t}\n@@ -532,17 +536,18 @@ void Awb::fineSearch(double &t, double &r, double &b, Pwl const &prior)\n \t\tdouble gain_r = 1 / r_test, gain_b = 1 / b_test;\n \t\tdouble delta2_sum = computeDelta2Sum(gain_r, gain_b);\n \t\tdouble final_log_likelihood = delta2_sum - prior_log_likelihood;\n-\t\tRPI_LOG(\"Finally \"\n+\t\tLOG(RPiAwb, Debug)\n+\t\t\t<< \"Finally \"\n \t\t\t<< t_test << \" r \" << r_test << \" b \" << b_test << \": \"\n \t\t\t<< final_log_likelihood\n-\t\t\t<< (final_log_likelihood < best_log_likelihood ? \" BEST\"\n-\t\t\t\t\t\t\t\t : \"\"));\n+\t\t\t<< (final_log_likelihood < best_log_likelihood ? \" BEST\" : \"\");\n \t\tif (best_t == 0 || final_log_likelihood < best_log_likelihood)\n \t\t\tbest_log_likelihood = final_log_likelihood,\n \t\t\tbest_t = t_test, best_r = r_test, best_b = b_test;\n \t}\n \tt = best_t, r = best_r, b = best_b;\n-\tRPI_LOG(\"Fine search found t \" << t << \" r \" << r << \" b \" << b);\n+\tLOG(RPiAwb, Debug)\n+\t\t<< \"Fine search found t \" << t << \" r \" << r << \" b \" << b;\n }\n \n void Awb::awbBayes()\n@@ -556,13 +561,14 @@ void Awb::awbBayes()\n \tPwl prior = interpolatePrior();\n \tprior *= zones_.size() / (double)(AWB_STATS_SIZE_X * AWB_STATS_SIZE_Y);\n \tprior.Map([](double x, double y) {\n-\t\tRPI_LOG(\"(\" << x << \",\" << y << \")\");\n+\t\tLOG(RPiAwb, Debug) << \"(\" << x << \",\" << y << \")\";\n \t});\n \tdouble t = coarseSearch(prior);\n \tdouble r = config_.ct_r.Eval(t);\n \tdouble b = config_.ct_b.Eval(t);\n-\tRPI_LOG(\"After coarse search: r \" << r << \" b \" << b << \" (gains r \"\n-\t\t\t\t\t << 1 / r << \" b \" << 1 / b << \")\");\n+\tLOG(RPiAwb, Debug)\n+\t\t<< \"After coarse search: r \" << r << \" b \" << b << \" (gains r \"\n+\t\t<< 1 / r << \" b \" << 1 / b << \")\";\n \t// Not entirely sure how to handle the fine search yet. Mostly the\n \t// estimated CT is already good enough, but the fine search allows us to\n \t// wander transverely off the CT curve. Under some illuminants, where\n@@ -570,8 +576,9 @@ void Awb::awbBayes()\n \t// though I probably need more real datasets before deciding exactly how\n \t// this should be controlled and tuned.\n \tfineSearch(t, r, b, prior);\n-\tRPI_LOG(\"After fine search: r \" << r << \" b \" << b << \" (gains r \"\n-\t\t\t\t\t<< 1 / r << \" b \" << 1 / b << \")\");\n+\tLOG(RPiAwb, Debug)\n+\t\t<< \"After fine search: r \" << r << \" b \" << b << \" (gains r \"\n+\t\t<< 1 / r << \" b \" << 1 / b << \")\";\n \t// Write results out for the main thread to pick up. Remember to adjust\n \t// the gains from the ones that the \"canonical sensor\" would require to\n \t// the ones needed by *this* sensor.\n@@ -583,7 +590,7 @@ void Awb::awbBayes()\n \n void Awb::awbGrey()\n {\n-\tRPI_LOG(\"Grey world AWB\");\n+\tLOG(RPiAwb, Debug) << \"Grey world AWB\";\n \t// Make a separate list of the derivatives for each of red and blue, so\n \t// that we can sort them to exclude the extreme gains. We could\n \t// consider some variations, such as normalising all the zones first, or\n@@ -620,21 +627,23 @@ void Awb::doAwb()\n \t\tasync_results_.gain_r = manual_r_;\n \t\tasync_results_.gain_g = 1.0;\n \t\tasync_results_.gain_b = manual_b_;\n-\t\tRPI_LOG(\"Using manual white balance: gain_r \"\n+\t\tLOG(RPiAwb, Debug)\n+\t\t\t<< \"Using manual white balance: gain_r \"\n \t\t\t<< async_results_.gain_r << \" gain_b \"\n-\t\t\t<< async_results_.gain_b);\n+\t\t\t<< async_results_.gain_b;\n \t} else {\n \t\tprepareStats();\n-\t\tRPI_LOG(\"Valid zones: \" << zones_.size());\n+\t\tLOG(RPiAwb, Debug) << \"Valid zones: \" << zones_.size();\n \t\tif (zones_.size() > config_.min_regions) {\n \t\t\tif (config_.bayes)\n \t\t\t\tawbBayes();\n \t\t\telse\n \t\t\t\tawbGrey();\n-\t\t\tRPI_LOG(\"CT found is \"\n+\t\t\tLOG(RPiAwb, Debug)\n+\t\t\t\t<< \"CT found is \"\n \t\t\t\t<< async_results_.temperature_K\n \t\t\t\t<< \" with gains r \" << async_results_.gain_r\n-\t\t\t\t<< \" and b \" << async_results_.gain_b);\n+\t\t\t\t<< \" and b \" << async_results_.gain_b;\n \t\t}\n \t}\n }\n", "prefixes": [ "libcamera-devel", "v2", "3/5" ] }