amiro-os / os / core / src / aos_main.cpp @ b6b45e4c
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| 1 | e545e620 | Thomas Schöpping | /*
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| 2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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| 4 | |||
| 5 | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | |||
| 19 | #include <hal.h> |
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| 20 | #include <ch.h> |
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| 21 | #include <amiroos.h> |
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| 22 | |||
| 23 | b6b45e4c | Thomas Schöpping | /*
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| 24 | * hook to add further includes
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| 25 | */
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| 26 | #if defined(AMIROOS_CFG_MAIN_EXTRA_INCLUDE)
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| 27 | AMIROOS_CFG_MAIN_EXTRA_INCLUDE |
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| 28 | #endif
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| 29 | |||
| 30 | e545e620 | Thomas Schöpping | /**
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| 31 | * @brief Event mask to identify I/O events.
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| 32 | */
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| 33 | #define IOEVENT_MASK EVENT_MASK(0) |
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| 34 | |||
| 35 | /**
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| 36 | * @brief Event mask to identify OS events.
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| 37 | */
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| 38 | #define OSEVENT_MASK EVENT_MASK(1) |
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| 39 | |||
| 40 | /**
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| 41 | * @brief Listener object for I/O events.
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| 42 | */
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| 43 | static event_listener_t _eventListenerIO;
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| 44 | |||
| 45 | /**
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| 46 | * @brief Listener object for OS events.
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| 47 | */
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| 48 | static event_listener_t _eventListenerOS;
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| 49 | |||
| 50 | #if defined(MODULE_HAL_PROGIF) || defined(__DOXYGEN__)
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| 51 | /**
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| 52 | ba516b61 | Thomas Schöpping | * @brief I/O channel for the programmer interface.
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| 53 | e545e620 | Thomas Schöpping | */
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| 54 | ba516b61 | Thomas Schöpping | static AosIOChannel _stdiochannel;
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| 55 | |||
| 56 | b8268050 | Thomas Schöpping | #if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 57 | ba516b61 | Thomas Schöpping | /**
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| 58 | * @brief I/O shell channel for the programmer interface.
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| 59 | */
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| 60 | static AosShellChannel _stdshellchannel;
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| 61 | e545e620 | Thomas Schöpping | #endif
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| 62 | b8268050 | Thomas Schöpping | #endif
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| 63 | e545e620 | Thomas Schöpping | |
| 64 | b6b45e4c | Thomas Schöpping | /*
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| 65 | * hook to add further static variables
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| 66 | */
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| 67 | #if defined(AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES)
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| 68 | AMIROOS_CFG_MAIN_EXTRA_STATIC_VARIABLES |
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| 69 | #endif
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| 70 | |||
| 71 | e545e620 | Thomas Schöpping | /**
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| 72 | * @brief Prints an error message about an unexpected event.
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| 73 | *
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| 74 | * @param[in] mask The event mask.
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| 75 | * @param[in] flags The event flags.
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| 76 | */
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| 77 | static inline void _unexpectedEventError(eventmask_t mask, eventflags_t flags) |
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| 78 | {
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| 79 | aosprintf("unexpected/unknown event recieved. mask: 0x%08X; flags: 0x%08X\n", mask, flags);
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| 80 | return;
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| 81 | } |
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| 82 | |||
| 83 | /**
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| 84 | * @brief Application entry point.
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| 85 | */
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| 86 | int main(void) |
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| 87 | {
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| 88 | // local variables
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| 89 | eventmask_t eventmask = 0;
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| 90 | eventflags_t eventflags = 0;
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| 91 | aos_shutdown_t shutdown = AOS_SHUTDOWN_NONE; |
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| 92 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES)
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| 93 | AMIROOS_CFG_MAIN_EXTRA_THREAD_VARIABLES |
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| 94 | e545e620 | Thomas Schöpping | #endif
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| 95 | |||
| 96 | /*
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| 97 | * ##########################################################################
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| 98 | * # system initialization #
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| 99 | * ##########################################################################
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| 100 | */
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| 101 | |||
| 102 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0)
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| 103 | b6b45e4c | Thomas Schöpping | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS)
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| 104 | AMIROOS_CFG_MAIN_INIT_HOOK_0(AMIROOS_CFG_MAIN_INIT_HOOK_0_ARGS); |
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| 105 | #else
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| 106 | e545e620 | Thomas Schöpping | AMIROOS_CFG_MAIN_INIT_HOOK_0(); |
| 107 | #endif
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| 108 | b6b45e4c | Thomas Schöpping | #endif
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| 109 | e545e620 | Thomas Schöpping | |
| 110 | /* hardware, kernel, and operating system initialization */
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| 111 | // ChibiOS/HAL and custom hal additions (if any)
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| 112 | halInit(); |
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| 113 | #ifdef MODULE_INIT_HAL_EXTRA
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| 114 | MODULE_INIT_HAL_EXTRA(); |
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| 115 | #endif
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| 116 | |||
| 117 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1)
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| 118 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS)
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| 119 | AMIROOS_CFG_MAIN_INIT_HOOK_1(AMIROOS_CFG_MAIN_INIT_HOOK_1_ARGS); |
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| 120 | #else
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| 121 | AMIROOS_CFG_MAIN_INIT_HOOK_1(); |
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| 122 | #endif
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| 123 | #endif
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| 124 | |||
| 125 | // ChibiOS/RT kernel and custom kernel additions (if any)
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| 126 | chSysInit(); |
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| 127 | #ifdef MODULE_INIT_KERNEL_EXTRA
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| 128 | MODULE_INIT_KERNEL_EXTRA(); |
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| 129 | #endif
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| 130 | |||
| 131 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2)
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| 132 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS)
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| 133 | AMIROOS_CFG_MAIN_INIT_HOOK_2(AMIROOS_CFG_MAIN_INIT_HOOK_2_ARGS); |
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| 134 | #else
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| 135 | AMIROOS_CFG_MAIN_INIT_HOOK_2(); |
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| 136 | #endif
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| 137 | #endif
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| 138 | |||
| 139 | // AMiRo-OS and custom OS additions (if any)
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| 140 | aosSysInit(&MODULE_HAL_EXT, |
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| 141 | &moduleHalExtConfig, |
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| 142 | &moduleSsspPd, |
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| 143 | &moduleSsspSync, |
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| 144 | MODULE_OS_IOEVENTFLAGS_SYSPD, |
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| 145 | MODULE_OS_IOEVENTFLAGS_SYSSYNC, |
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| 146 | moduleShellPrompt); |
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| 147 | #ifdef MODULE_INIT_OS_EXTRA
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| 148 | MODULE_INIT_OS_EXTRA(); |
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| 149 | #endif
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| 150 | |||
| 151 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3)
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| 152 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS)
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| 153 | AMIROOS_CFG_MAIN_INIT_HOOK_3(AMIROOS_CFG_MAIN_INIT_HOOK_3_ARGS); |
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| 154 | #else
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| 155 | AMIROOS_CFG_MAIN_INIT_HOOK_3(); |
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| 156 | #endif
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| 157 | #endif
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| 158 | |||
| 159 | #if (AMIROOS_CFG_TESTS_ENABLE == true) |
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| 160 | #if defined(MODULE_INIT_TESTS)
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| 161 | MODULE_INIT_TESTS(); |
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| 162 | #else
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| 163 | ba516b61 | Thomas Schöpping | #warning "MODULE_INIT_TESTS not defined" |
| 164 | e545e620 | Thomas Schöpping | #endif
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| 165 | #endif
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| 166 | |||
| 167 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4)
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| 168 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS)
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| 169 | AMIROOS_CFG_MAIN_INIT_HOOK_4(AMIROOS_CFG_MAIN_INIT_HOOK_4_ARGS); |
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| 170 | #else
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| 171 | AMIROOS_CFG_MAIN_INIT_HOOK_4(); |
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| 172 | #endif
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| 173 | #endif
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| 174 | |||
| 175 | /* event associations */
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| 176 | chEvtRegisterMask(&aos.events.io.source, &_eventListenerIO, IOEVENT_MASK); |
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| 177 | chEvtRegisterMask(&aos.events.os.source, &_eventListenerOS, OSEVENT_MASK); |
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| 178 | |||
| 179 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5)
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| 180 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS)
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| 181 | AMIROOS_CFG_MAIN_INIT_HOOK_5(AMIROOS_CFG_MAIN_INIT_HOOK_5_ARGS); |
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| 182 | #else
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| 183 | AMIROOS_CFG_MAIN_INIT_HOOK_5(); |
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| 184 | #endif
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| 185 | #endif
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| 186 | |||
| 187 | /* periphery communication initialization */
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| 188 | // CAN (mandatory)
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| 189 | canStart(&MODULE_HAL_CAN, &moduleHalCanConfig); |
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| 190 | // module specific initialization (if any)
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| 191 | #ifdef MODULE_INIT_PERIPHERY_COMM
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| 192 | MODULE_INIT_PERIPHERY_COMM(); |
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| 193 | #endif
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| 194 | // user interface (if any)
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| 195 | #ifdef MODULE_HAL_PROGIF
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| 196 | ba516b61 | Thomas Schöpping | aosIOChannelInit(&_stdiochannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 197 | aosIOChannelOutputEnable(&_stdiochannel); |
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| 198 | aosIOStreamAddChannel(&aos.iostream, &_stdiochannel); |
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| 199 | #if (AMIROOS_CFG_SHELL_ENABLE == true) |
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| 200 | dd8738ea | Thomas Schöpping | aosShellChannelInit(&_stdshellchannel, (BaseAsynchronousChannel*)&MODULE_HAL_PROGIF); |
| 201 | ba516b61 | Thomas Schöpping | aosShellChannelInputEnable(&_stdshellchannel); |
| 202 | aosShellChannelOutputEnable(&_stdshellchannel); |
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| 203 | aosShellStreamAddChannel(&aos.shell->stream, &_stdshellchannel); |
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| 204 | #endif
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| 205 | e545e620 | Thomas Schöpping | #endif
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| 206 | |||
| 207 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6)
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| 208 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS)
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| 209 | AMIROOS_CFG_MAIN_INIT_HOOK_6(AMIROOS_CFG_MAIN_INIT_HOOK_6_ARGS); |
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| 210 | #else
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| 211 | AMIROOS_CFG_MAIN_INIT_HOOK_6(); |
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| 212 | #endif
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| 213 | #endif
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| 214 | |||
| 215 | /* module is ready -> print welcome prompt */
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| 216 | aosprintf("\n");
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| 217 | aosprintf("######################################################################\n");
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| 218 | aosprintf("# AMiRo-OS is an operating system designed for the Autonomous Mini #\n");
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| 219 | aosprintf("# Robot (AMiRo) platform. #\n");
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| 220 | aosprintf("# Copyright (C) 2016..2018 Thomas Schöpping et al. #\n");
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| 221 | aosprintf("# #\n");
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| 222 | aosprintf("# This is free software; see the source for copying conditions. #\n");
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| 223 | aosprintf("# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n");
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| 224 | aosprintf("# A PARTICULAR PURPOSE. #\n");
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| 225 | aosprintf("# The development of this software was supported by the Excellence #\n");
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| 226 | aosprintf("# Cluster EXC 227 Cognitive Interaction Technology. The Excellence #\n");
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| 227 | aosprintf("# Cluster EXC 227 is a grant of the Deutsche Forschungsgemeinschaft #\n");
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| 228 | aosprintf("# (DFG) in the context of the German Excellence Initiative. #\n");
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| 229 | aosprintf("######################################################################\n");
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| 230 | aosprintf("\n");
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| 231 | |||
| 232 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7)
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| 233 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS)
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| 234 | AMIROOS_CFG_MAIN_INIT_HOOK_7(AMIROOS_CFG_MAIN_INIT_HOOK_7_ARGS); |
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| 235 | #else
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| 236 | AMIROOS_CFG_MAIN_INIT_HOOK_7(); |
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| 237 | #endif
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| 238 | #endif
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| 239 | |||
| 240 | /* SSSP startup outro (end of startup stage 2) synchronization */
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| 241 | while ((eventmask = aosSysSsspStartupOsInitSyncCheck(&_eventListenerIO)) != 0) { |
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| 242 | /*
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| 243 | * This code is executed if the received event was not about the SYS_SYNC control signal.
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| 244 | * The returned event could be caused by any listener (not only the argument).
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| 245 | */
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| 246 | // unexpected IO events
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| 247 | if (eventmask & _eventListenerIO.events) {
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| 248 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
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| 249 | #ifdef MODULE_SSP_STARTUP_OUTRO_IO_EVENT
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| 250 | MODULE_SSP_STARTUP_OUTRO_IO_EVENT(eventmask, eventflags); |
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| 251 | #else
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| 252 | _unexpectedEventError(eventmask, eventflags); |
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| 253 | #endif
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| 254 | } |
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| 255 | // unexpected OS event
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| 256 | else if (eventmask & _eventListenerOS.events) { |
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| 257 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
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| 258 | _unexpectedEventError(eventmask, eventflags); |
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| 259 | } |
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| 260 | #if (AMIROOS_CFG_DBG == true) |
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| 261 | // unknown event (must never occur, thus disabled for release builds)
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| 262 | else {
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| 263 | eventflags = 0;
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| 264 | _unexpectedEventError(eventmask, eventflags); |
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| 265 | } |
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| 266 | #endif
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| 267 | } |
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| 268 | |||
| 269 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8)
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| 270 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS)
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| 271 | AMIROOS_CFG_MAIN_INIT_HOOK_8(AMIROOS_CFG_MAIN_INIT_HOOK_8_ARGS); |
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| 272 | #else
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| 273 | AMIROOS_CFG_MAIN_INIT_HOOK_8(); |
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| 274 | #endif
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| 275 | #endif
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| 276 | |||
| 277 | /* completely start AMiRo-OS */
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| 278 | aosSysStart(); |
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| 279 | |||
| 280 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9)
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| 281 | #if defined(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS)
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| 282 | AMIROOS_CFG_MAIN_INIT_HOOK_9(AMIROOS_CFG_MAIN_INIT_HOOK_9_ARGS); |
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| 283 | #else
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| 284 | AMIROOS_CFG_MAIN_INIT_HOOK_9(); |
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| 285 | #endif
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| 286 | #endif
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| 287 | |||
| 288 | /*
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| 289 | * ##########################################################################
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| 290 | * # infinite loop #
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| 291 | * ##########################################################################
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| 292 | */
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| 293 | |||
| 294 | // sleep until a shutdown event is received
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| 295 | while (shutdown == AOS_SHUTDOWN_NONE) {
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| 296 | // wait for an event
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| 297 | #if (AMIROOS_CFG_MAIN_LOOP_TIMEOUT != 0) |
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| 298 | eventmask = chEvtWaitOneTimeout(ALL_EVENTS, US2ST_LLD(AMIROOS_CFG_MAIN_LOOP_TIMEOUT)); |
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| 299 | #else
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| 300 | eventmask = chEvtWaitOne(ALL_EVENTS); |
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| 301 | #endif
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| 302 | |||
| 303 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0)
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| 304 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS)
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| 305 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(AMIROOS_CFG_MAIN_LOOP_HOOK_0_ARGS); |
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| 306 | #else
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| 307 | AMIROOS_CFG_MAIN_LOOP_HOOK_0(); |
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| 308 | #endif
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| 309 | #endif
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| 310 | |||
| 311 | switch (eventmask) {
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| 312 | // if this was an I/O event
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| 313 | case IOEVENT_MASK:
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| 314 | // evaluate flags
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| 315 | eventflags = chEvtGetAndClearFlags(&_eventListenerIO); |
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| 316 | // PD event
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| 317 | if (eventflags & MODULE_OS_IOEVENTFLAGS_SYSPD) {
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| 318 | shutdown = AOS_SHUTDOWN_PASSIVE; |
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| 319 | } |
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| 320 | // all other events
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| 321 | #ifdef MODULE_MAIN_LOOP_IO_EVENT
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| 322 | else {
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| 323 | MODULE_MAIN_LOOP_IO_EVENT(eventmask, eventflags); |
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| 324 | } |
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| 325 | #endif
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| 326 | break;
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| 327 | |||
| 328 | // if this was an OS event
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| 329 | case OSEVENT_MASK:
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| 330 | // evaluate flags
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| 331 | eventflags = chEvtGetAndClearFlags(&_eventListenerOS); |
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| 332 | switch (eventflags) {
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| 333 | case AOS_SYSTEM_EVENTFLAGS_HIBERNATE:
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| 334 | shutdown = AOS_SHUTDOWN_HIBERNATE; |
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| 335 | break;
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| 336 | case AOS_SYSTEM_EVENTFLAGS_DEEPSLEEP:
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| 337 | shutdown = AOS_SHUTDOWN_DEEPSLEEP; |
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| 338 | break;
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| 339 | case AOS_SYSTEM_EVENTFLAGS_TRANSPORTATION:
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| 340 | shutdown = AOS_SHUTDOWN_TRANSPORTATION; |
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| 341 | break;
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| 342 | case AOS_SYSTEM_EVENTFLAGS_RESTART:
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| 343 | shutdown = AOS_SHUTDOWN_RESTART; |
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| 344 | break;
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| 345 | default:
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| 346 | _unexpectedEventError(eventmask, eventflags); |
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| 347 | break;
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| 348 | } |
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| 349 | break;
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| 350 | |||
| 351 | // if this was any other event (should be impossible to occur)
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| 352 | default:
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| 353 | eventflags = 0;
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| 354 | _unexpectedEventError(eventmask, eventflags); |
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| 355 | break;
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| 356 | } |
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| 357 | |||
| 358 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1)
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| 359 | #if defined(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS)
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| 360 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(AMIROOS_CFG_MAIN_LOOP_HOOK_1_ARGS); |
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| 361 | #else
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| 362 | AMIROOS_CFG_MAIN_LOOP_HOOK_1(); |
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| 363 | #endif
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| 364 | #endif
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| 365 | } |
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| 366 | |||
| 367 | /*
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| 368 | * ##########################################################################
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| 369 | * # system shutdown #
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| 370 | * ##########################################################################
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| 371 | */
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| 372 | |||
| 373 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0)
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| 374 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS)
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| 375 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0_ARGS); |
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| 376 | #else
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| 377 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_0(); |
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| 378 | #endif
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| 379 | #endif
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| 380 | |||
| 381 | // initialize/acknowledge shutdown
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| 382 | aosSysShutdownInit(shutdown); |
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| 383 | |||
| 384 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1)
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| 385 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS)
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| 386 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1_ARGS); |
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| 387 | #else
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| 388 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_1(); |
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| 389 | #endif
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| 390 | #endif
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| 391 | |||
| 392 | // stop system threads
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| 393 | aosSysStop(); |
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| 394 | |||
| 395 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2)
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| 396 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS)
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| 397 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2_ARGS); |
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| 398 | #else
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| 399 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_2(); |
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| 400 | #endif
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| 401 | #endif
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| 402 | |||
| 403 | // deinitialize system
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| 404 | aosSysDeinit(); |
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| 405 | |||
| 406 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3)
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| 407 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS)
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| 408 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3_ARGS); |
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| 409 | #else
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| 410 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_3(); |
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| 411 | #endif
|
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| 412 | #endif
|
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| 413 | |||
| 414 | /* stop all periphery communication */
|
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| 415 | // CAN (mandatory)
|
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| 416 | canStop(&MODULE_HAL_CAN); |
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| 417 | #ifdef MODULE_SHUTDOWN_PERIPHERY_COMM
|
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| 418 | MODULE_SHUTDOWN_PERIPHERY_COMM(); |
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| 419 | #endif
|
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| 420 | |||
| 421 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4)
|
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| 422 | #if defined(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS)
|
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| 423 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4_ARGS); |
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| 424 | #else
|
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| 425 | AMIROOS_CFG_MAIN_SHUTDOWN_HOOK_4(); |
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| 426 | #endif
|
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| 427 | #endif
|
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| 428 | |||
| 429 | // finally hand over to bootloader
|
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| 430 | aosSysShutdownFinal(&MODULE_HAL_EXT, shutdown); |
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| 431 | |||
| 432 | /*
|
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| 433 | * ##########################################################################
|
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| 434 | * # after shutdown/restart #
|
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| 435 | * ##########################################################################
|
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| 436 | *
|
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| 437 | * NOTE: This code will not be executed, since the bootloader callbacks will stop/restart the MCU.
|
||
| 438 | * It is included nevertheless for the sake of completeness and to explicitely indicate,
|
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| 439 | * which subsystems should NOT be shut down.
|
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| 440 | */
|
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| 441 | |||
| 442 | // return an error, since this code should not be executed
|
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| 443 | return -1; |
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| 444 | } |