view_grid.cpp

// Please format this file with clang before check-in to GitHub
/*
  File:     view_grid.cpp

  Software: Barry Hansen, K7BWH, barry@k7bwh.com, Seattle, WA
  Hardware: John Vanderbeck, KM7O, Seattle, WA

  Purpose:  This is a GPS display for your vehicle's dashboard to
            show your position in the Maidenhead Grid Square, with distances
            to nearby squares. This is intended for ham radio rovers.

            +-------------------------------------------+
            |    -124        CN88  30.1 mi     -122     |...gTopRowY
            |   48 +-----------------------------+......|...gMarginY
            |      |                          *  |      |
            | CN77 |         CN87                | CN97 |...gMiddleRowY
            | 61.2 |          us                 | 37.1 |
            |      |                             |      |
            |   47 +-----------------------------+ 3.3v |
            | 123' :         CN86  39.0 mi       :  75° |...gBottomGridY
            | 47.5644, -122.0378                 :   5# |...gMessageRowY
            +------:---------:-------------------:------+
                   :         :                   :
                 +gMarginX  gIndentX          -gMarginX
*/

#include <Arduino.h>
#include <Adafruit_ILI9341.h>    // TFT color display library
#include "constants.h"           // Griduino constants and colors
#include "logger.h"              // conditional printing to Serial port
#include "grid_helper.h"         // lat/long conversion routines
#include "model_breadcrumbs.h"   // breadcrumb trail
#include "model_gps.h"           // Model of a GPS for model-view-controller
#include "model_baro.h"          // Model of a barometer that measures temperature
#include "model_adc.h"           // Model of analog-digital converter
#include "TextField.h"           // Optimize TFT display text for proportional fonts
#include "view.h"                // Base class for all views

// ========== extern ===========================================
extern Logger logger;               // Griduino.ino
extern Grids grid;                  // grid_helper.h
extern Adafruit_ILI9341 tft;        // Griduino.ino
extern Model *model;                // GPS "model" of model-view-controller (model_gps.h)
extern Breadcrumbs trail;           // model of breadcrumb trail
extern BarometerModel baroModel;    // Barometer "model" is singleton (model_baro.h)
extern BatteryVoltage gpsBattery;   // Coin battery "model" is singleton (model_adc.h)

extern void showDefaultTouchTargets();                                                      // Griduino.ino
extern void setFontSize(int font);                                                          // TextField.cpp
extern void floatToCharArray(char *result, int maxlen, double fValue, int decimalPlaces);   // Griduino.ino

// ============== constants ====================================
const int gMarginX = 70;   // define space for grid outline on screen
const int gMarginY = 26;   // and position text relative to this outline

// ========== helpers ==========================================

void drawGridOutline() {
  tft.drawRect(gMarginX, gMarginY, gBoxWidth, gBoxHeight, ILI9341_CYAN);
}

// ========== text screen layout ===================================
// these are names for the array indexes, must be named in same order as array below
// clang-format off
enum txtIndex {
  GRID4=0, GRID6, LATLONG, 
  COINBATT,   ALTITUDE,   NUMSAT,     TEMPERATURE,
  N_COMPASS,  S_COMPASS,  E_COMPASS,  W_COMPASS,
  N_DISTANCE, S_DISTANCE, E_DISTANCE, W_DISTANCE,
  N_GRIDNAME, S_GRIDNAME, E_GRIDNAME, W_GRIDNAME,
  N_BOX_LAT,  S_BOX_LAT,  E_BOX_LONG, W_BOX_LONG,
};

    // ----- dynamic screen text
TextField txtGrid[] = {
  //         text      x,y     color
  TextField("CN77",  101,101,  cGRIDNAME),      // GRID4: center of screen
  TextField("tt",    138,141,  cGRIDNAME),      // GRID6: center of screen
  TextField("47.1234,-123.4567", 4,223, cSTATUS), // LATLONG: left-adj on bottom row
  TextField("1.23v", 316,171,  cSTATUS, ALIGNRIGHT),  // COINBATT: just above altitude
  TextField("123'",   62,196,  cSTATUS, ALIGNRIGHT),  // ALTITUDE: just above bottom row
  TextField("99#",   313,221,  cSTATUS, ALIGNRIGHT),  // NUMSAT: lower right corner
  TextField("75F",   313,196,  cSTATUS, ALIGNRIGHT),  // TEMPERATURE
  TextField( "N",    156, 47,  cCOMPASS ),      // N_COMPASS: centered left-right
  TextField( "S",    156,181,  cCOMPASS ),      // S_COMPASS
  TextField( "E",    232,114,  cCOMPASS ),      // E_COMPASS: centered top-bottom
  TextField( "W",     73,114,  cCOMPASS ),      // W_COMPASS
  TextField("17.1",  180, 20,  cDISTANCE),      // N_DISTANCE
  TextField("52.0",  180,207,  cDISTANCE),      // S_DISTANCE
  TextField("13.2",  256,130,  cDISTANCE),      // E_DISTANCE
  TextField("79.7",    0,130,  cDISTANCE),      // W_DISTANCE
  TextField("CN88",  102, 20,  cGRIDNAME),      // N_GRIDNAME
  TextField("CN86",  102,207,  cGRIDNAME),      // S_GRIDNAME
  TextField("CN97",  256,102,  cGRIDNAME),      // E_GRIDNAME
  TextField("CN77",    0,102,  cGRIDNAME),      // W_GRIDNAME
  TextField("48",     56, 44,  cBOXDEGREES, ALIGNRIGHT),  // N_BOX_LAT
  TextField("47",     56,190,  cBOXDEGREES, ALIGNRIGHT),  // S_BOX_LAT
  TextField("122",   243, 20,  cBOXDEGREES),              // E_BOX_LONG
  TextField("124",    72, 20,  cBOXDEGREES, ALIGNRIGHT),  // W_BOX_LONG
};
const int numTextGrid = sizeof(txtGrid)/sizeof(TextField);
// clang-format on

void drawGridName(String newGridName) {
  // huge lettering of current grid square
  // two lines: "CN87" and "us" below it

  setFontSize(24);

  String grid1_4 = newGridName.substring(0, 4);
  String grid5_6 = newGridName.substring(4, 6);

  txtGrid[GRID4].print(grid1_4);
  txtGrid[GRID6].print(grid5_6);
}

void drawPositionLL(double fLat, double fLong) {
  setFontSize(0);

  // the message line shows either or a position (lat,long) or a message (waiting for GPS)
  char sTemp[27];   // why 27? Small system font will fit 26 characters on one row (smallest fits >32)
  if (model->gHaveGPSfix) {
    char latitude[10], longitude[10];
    floatToCharArray(latitude, sizeof(latitude), fLat, 4);
    floatToCharArray(longitude, sizeof(longitude), fLong, 4);
    snprintf(sTemp, sizeof(sTemp), "%s, %s", latitude, longitude);
  } else {
    strcpy(sTemp, "Waiting for GPS");
  }
  txtGrid[LATLONG].print(sTemp);   // latitude-longitude
}

void drawTemperature(float celsius) {
  setFontSize(0);
  float temperature;
  char units[2] = "?";
  if (model->gMetric) {
    temperature = celsius;
    units[0]    = 'c';
  } else {
    temperature = celsius * 9 / 5 + 32;
    units[0]    = 'F';
  }
  if (celsius < 43) {                       // 43C = 110F. Try this awhile and see how it goes.
    txtGrid[TEMPERATURE].color = cSTATUS;   // normal temperature
  } else {
    txtGrid[TEMPERATURE].color = cWARN;   // internal case temperature warning
  }
  char sFloat[8];   // strlen("123F") = 4
  floatToCharArray(sFloat, sizeof(sFloat) - sizeof(units), temperature, 0);
  strcat(sFloat, units);
  txtGrid[TEMPERATURE].print(sFloat);   // Griduino's internal temperature
}

void drawNumSatellites() {
  setFontSize(0);

  char sTemp[4];   // strlen("12#") = 3
  if (model->gSatellites < 10) {
    snprintf(sTemp, sizeof(sTemp), " %d#", model->gSatellites);
  } else {
    snprintf(sTemp, sizeof(sTemp), "%d#", model->gSatellites);
  }
  txtGrid[NUMSAT].print(sTemp);   // number of satellites
}

void drawCoinBatteryVoltage() {
  setFontSize(0);
  char sVoltage[12];
  float coinVoltage = gpsBattery.getCoinBatteryVoltage();
  floatToCharArray(sVoltage, sizeof(sVoltage), coinVoltage, 2);
  strcat(sVoltage, "v");
#if defined(ARDUINO_ADAFRUIT_FEATHER_RP2040)
  // Show battery voltage only on Griduino PCB v7+
  txtGrid[COINBATT].print(sVoltage);
#endif
}

void drawAltitude() {
  setFontSize(0);

  char sTemp[8];   // strlen("12345'") = 6
  if (model->gMetric) {
    int altMeters = model->gAltitude;
    snprintf(sTemp, sizeof(sTemp), "%dm", altMeters);
  } else {
    int altFeet = model->gAltitude * feetPerMeters;
    snprintf(sTemp, sizeof(sTemp), "%d'", altFeet);
  }
  txtGrid[ALTITUDE].print(sTemp);   // altitude
}

void drawCompassPoints() {
  setFontSize(12);
  for (int ii = N_COMPASS; ii < N_COMPASS + 4; ii++) {
    txtGrid[ii].print();
  }
}

void drawBoxLatLong() {
  setFontSize(12);
  txtGrid[N_BOX_LAT].print(ceil(model->gLatitude));   // latitude of N,S box edges
  txtGrid[S_BOX_LAT].print(floor(model->gLatitude));
  txtGrid[E_BOX_LONG].print(grid.nextGridLineEast(model->gLongitude));   // longitude of E,W box edges
  txtGrid[W_BOX_LONG].print(grid.nextGridLineWest(model->gLongitude));

  int radius = 3;
  // draw "degree" symbol at:       x                        y        r     color
  tft.drawCircle(txtGrid[N_BOX_LAT].x + 7, txtGrid[N_BOX_LAT].y - 14, radius, cBOXDEGREES);   // draw circle to represent "degrees"
  tft.drawCircle(txtGrid[S_BOX_LAT].x + 7, txtGrid[S_BOX_LAT].y - 14, radius, cBOXDEGREES);
  // t.drawCircle(txtGrid[E_BOX_LONG].x+7, txtGrid[E_BOX_LONG].y-14, radius, cBOXDEGREES); // no room for "degrees" on ALIGNLEFT number?
  tft.drawCircle(txtGrid[W_BOX_LONG].x + 7, txtGrid[W_BOX_LONG].y - 14, radius, cBOXDEGREES);
}

void drawNeighborGridNames() {
  setFontSize(12);
  char nGrid[5], sGrid[5], eGrid[5], wGrid[5];

  grid.calcLocator(nGrid, model->gLatitude + 1.0, model->gLongitude, 4);
  grid.calcLocator(sGrid, model->gLatitude - 1.0, model->gLongitude, 4);
  grid.calcLocator(eGrid, model->gLatitude, model->gLongitude + 2.0, 4);
  grid.calcLocator(wGrid, model->gLatitude, model->gLongitude - 2.0, 4);

  txtGrid[N_GRIDNAME].print(nGrid);
  txtGrid[S_GRIDNAME].print(sGrid);
  txtGrid[E_GRIDNAME].print(eGrid);
  txtGrid[W_GRIDNAME].print(wGrid);
}

void drawNeighborDistances() {
  setFontSize(12);

  // N-S: grid lines occur on nearest INTEGER degree
  float fNorth = grid.calcDistanceLat(model->gLatitude, ceil(model->gLatitude), model->gMetric);
  if (fNorth < 2.0) {
    txtGrid[N_DISTANCE].print(fNorth, 2);
  } else {
    txtGrid[N_DISTANCE].print(fNorth, 1);
  }
  float fSouth = grid.calcDistanceLat(model->gLatitude, floor(model->gLatitude), model->gMetric);
  if (fSouth < 2.0) {
    txtGrid[S_DISTANCE].print(fSouth, 2);
  } else {
    txtGrid[S_DISTANCE].print(fSouth, 1);
  }

  // E-W: grid lines occur on nearest EVEN degrees
  int eastLine = grid.nextGridLineEast(model->gLongitude);
  int westLine = grid.nextGridLineWest(model->gLongitude);
  float fEast  = grid.calcDistanceLong(model->gLatitude, model->gLongitude, eastLine, model->gMetric);
  float fWest  = grid.calcDistanceLong(model->gLatitude, model->gLongitude, westLine, model->gMetric);
  if (fEast < 2.0) {
    txtGrid[E_DISTANCE].print(fEast, 2);
  } else {
    txtGrid[E_DISTANCE].print(fEast, 1);
  }
  if (fWest < 2.0) {
    txtGrid[W_DISTANCE].print(fWest, 2);
  } else {
    txtGrid[W_DISTANCE].print(fWest, 1);
  }
}

// =============================================================
void translateGPStoScreen(Point *result, const PointGPS loc, const PointGPS origin) {
  // result = screen coordinates of given GPS coordinates
  // loc    = GPS coordinates of target
  // origin = GPS coordinates of currently displayed grid square, lower left corner
  //
  // Example calculations
  //         -124                                 -122
  //         48 +----------------------------------+- - y=0
  //            |                                  |
  //            |       +------------------+ - - - |- - gMarginY
  //            |       |                  |       |
  //            |       |      CN87        |       |
  //            |       |       us         |       |
  //            |       +------------------+ - - - |- - gMarginY+gBoxHeight
  //            |       :                  :       |
  //         47 +-------:------------------:-------+- - y=240
  //            :       :                  :       :
  // Screen   x=0   gMarginX   gMarginX+gBoxWidth  gScreenWidth
  //                    :                  :
  // Longitude =    degreesX   degreesX+gWidthDegrees

  result->x = -1;   // assume result is off-screen
  result->y = -1;

  const float xPixelsPerDegree = gBoxWidth / gridWidthDegrees;     // one grid square = 2.0 degrees wide E-W
  const float yPixelsPerDegree = gBoxHeight / gridHeightDegrees;   // one grid square = 1.0 degrees high N-S

  result->x = gMarginX + (int)((loc.lng - origin.lng) * xPixelsPerDegree);
  result->y = gMarginY + gBoxHeight - (int)((loc.lat - origin.lat) * yPixelsPerDegree);

  // Serial.print("~ From ("); Serial.print(loc.lat,3); Serial.print(","); Serial.print(loc.lng,3); Serial.print(")");
  // Serial.print(" to ("); Serial.print(result->x); Serial.print(","); Serial.print(result->y); Serial.print(")");
  // Serial.print(" using grid corner("); Serial.print(origin.lat,1); Serial.print(","); Serial.print(origin.lng,1); Serial.print(")");
  // Serial.println("");
}
// =============================================================
void plotRoute(Breadcrumbs *trail, const PointGPS origin) {
  // show route track using history saved in bread crumb trail
  // logger.fencepost("plotRoute()", __LINE__);   // debug
  // Serial.print("~ Plot relative to origin("); Serial.print(origin.lat); Serial.print(","); Serial.print(origin.lng); Serial.println(")");
  // trail->dumpHistoryGPS();    // debug

  Point prevPixel{0, 0};   // keep track of previous dot plotted

  Location *mark = trail->begin();
  while (mark) {   // loop through Location[] array of history
    if (!mark->isEmpty()) {
      Point screen;
      PointGPS spot{mark->loc.lat, mark->loc.lng};
      translateGPStoScreen(&screen, spot, origin);

      // erase a few dots around this to make it more visible
      // but! which dots to erase depend on what direction we're moving
      // let's try detecting the giant green grid letters, and selectively erasing them
      //       (fail - there is no API to read a pixel)
      // let's try detecting the direction of travel
      if (prevPixel.x == screen.x && prevPixel.y == screen.y) {
        // nothing changed, erase nothing
      } else {
        /*
         * this works great for simple horiz/vert movement
         * but not quite as well for diagonal lines
         */
        if (prevPixel.y == screen.y) {
          // horizontal movement
          tft.drawPixel(screen.x, screen.y - 1, ILI9341_BLACK);
          tft.drawPixel(screen.x, screen.y + 1, ILI9341_BLACK);
        }
        if (prevPixel.x == screen.x) {
          // vertical movement
          tft.drawPixel(screen.x - 1, screen.y, ILI9341_BLACK);
          tft.drawPixel(screen.x + 1, screen.y, ILI9341_BLACK);
        }
      }

      // plot this location
      tft.drawPixel(screen.x, screen.y, cBREADCRUMB);
      prevPixel = screen;
    }
    mark = trail->next();
  }
}
// =============================================================
void plotVehicle(const Point car, uint16_t carColor) {
  // put a symbol on the screen to represent the vehicle
  // choose what shape you like at compile-time
  // if you're an over-achiever, write new code so a triangle indicates direction of travel
  int radius, size, w, h;
  switch (3) {
  case 1:   // ----- circle
    radius = 3;
    tft.fillCircle(car.x, car.y, radius - 1, ILI9341_BLACK);   // erase the circle's background
    tft.drawCircle(car.x, car.y, radius, carColor);            // draw new circle
    break;

  case 2:   // ----- triangle
    size = 4;
    tft.drawTriangle(car.x - size, car.y + size,
                     car.x + size, car.y + size,
                     car.x, car.y - size,
                     carColor);
    break;

  case 3:   // ----- square
    w = h = 8;
    tft.drawRect(car.x - w / 2, car.y - h / 2, w, h, carColor);
    break;
  }
}
// =============================================================
Point carHistory[10];   // screen coords, keep track of previous dots, tail length empirically determined
const int carHistoryLength = sizeof(carHistory) / sizeof(carHistory[0]);
static Point prevVehicle   = {0, 0};

void plotCurrentPosition(const PointGPS loc, const PointGPS origin) {
  // Draw a vehicle icon inside the grid's box proportional to our location
  // Only draw vehicle when visible position changes. Performance is important.
  // Icon must be bigger than one pixel so it's visible on the screen.
  // input:  loc    = double precision float, GPS coordinates of current position
  //         origin = GPS coordinates of currently displayed grid square, lower left corner

  static PointGPS prevGPS = {0, 0};
  // if (loc.lat != prevGPS.lat || loc.lng != prevGPS.lng)
  {
    prevGPS = loc;

    if (loc.lat != 0.0) {   // ignore uninitialized lat/long

      float degreesX = loc.lng - origin.lng;   // longitude: distance from left edge of grid (degrees)
      float degreesY = loc.lat - origin.lat;   // latitude: distance from bottom edge of grid

      float fracGridX = degreesX / gridWidthDegrees;    // E-W position as fraction of grid width, 0-1
      float fracGridY = degreesY / gridHeightDegrees;   // N-S position as fraction of grid height, 0-1

      // our drawing canvas is the entire screen
      Point result;
      translateGPStoScreen(&result, loc, origin);

      /* ...
      // ----- start debug messages
      char sLat[12], sLng[12];    // debug
      floatToCharArray(sLat, sizeof(sLat), loc.lat, 4);
      floatToCharArray(sLng, sizeof(sLng), loc.lng, 4);

      char sOriginLat[16], sOriginLng[16];  // debug
      floatToCharArray(sOriginLat, sizeof(sOriginLat), origin.lat, 4);
      floatToCharArray(sOriginLng, sizeof(sOriginLng), origin.lng, 4);

      char msg[128];              // debug
      snprintf(msg, sizeof(msg), "Plot vehicle gps(%s,%s) with origin(%s,%s) on screen(%d,%d)",
                                  sLat, sLng, sOriginLat, sOriginLng, result.x, result.y);
      Serial.println(msg);        // debug
      // ----- end debug messages
      /* ... */

      if ((result.x != prevVehicle.x) || (result.y != prevVehicle.y)) {
        plotVehicle(prevVehicle, ILI9341_BLACK);   // erase old vehicle
        plotVehicle(result, cVEHICLE);             // plot new vehicle

        // however, this erased an area the size of the vehicle's icon,
        // overwriting a little bit of the breadcrumb trail
        // so restore the last few bits of the trail
        // for performance reasons, we remember the last N screen positions and redraw them
        for (int ii = 0; ii < carHistoryLength; ii++) {   // plot
          tft.drawPixel(carHistory[ii].x, carHistory[ii].y, cBREADCRUMB);
        }
        for (int ii = 0; ii < carHistoryLength - 1; ii++) {   // push stack down
          carHistory[ii] = carHistory[ii + 1];
        }
        carHistory[carHistoryLength - 1] = result;   // push latest on top of stack
        /***** begin debug
        static int nn                    = 0;               // debug - echo status once in awhile
        if (++nn % 100) {                                   // debug
          nn = 0;                                           // debug
          Serial.print("carHistory: ");                     // debug
          for (int ii = 0; ii < carHistoryLength; ii++) {   // debug
            char msg[24];                                   // debug
            snprintf(msg, sizeof(msg), "(%d,%d), ", carHistory[ii].x, carHistory[ii].y);
            Serial.print(msg);                              // debug
          }                                                 // debug
          Serial.println();                                 // debug
        }                                                   // debug
        *****/
      }
      prevVehicle = result;
    }
  }
}

// ========== class ViewGrid
void ViewGrid::updateScreen() {
  // called on every pass through main()

#ifdef SCOPE_OUTPUT                   // start output interval for oscilloscope
  pinMode(SCOPE_OUTPUT, OUTPUT);      // debug - mostly unused pin on rp2040
  digitalWrite(SCOPE_OUTPUT, HIGH);   // debug - output for oscilloscope
#endif

  // coordinates of lower-left corner of currently displayed grid square
  PointGPS gridOrigin{grid.nextGridLineSouth(model->gLatitude), grid.nextGridLineWest(model->gLongitude)};

  PointGPS myLocation{model->gLatitude, model->gLongitude};   // current location

  char grid6[7];
  grid.calcLocator(grid6, model->gLatitude, model->gLongitude, 6);
  drawGridName(grid6);                                   // huge letters centered on screen
  drawAltitude();                                        // height above sea level
  drawCoinBatteryVoltage();                              // coin battery voltage
  drawNumSatellites();                                   // number of satellites
  drawTemperature(baroModel.getTemperature());           // query temperature from the C++ object, which is updated only by "performReading()"
  drawPositionLL(model->gLatitude, model->gLongitude);   // lat-long of current position
  // drawCompassPoints();              // show N-S-E-W compass points (disabled, it makes the screen too busy)
  // drawBoxLatLong();                 // show coordinates of box (disabled, it makes the screen too busy)
  drawNeighborGridNames();                       // show 4-digit names of nearby squares
  drawNeighborDistances();                       // this is the main goal of the whole project
  plotCurrentPosition(myLocation, gridOrigin);   // show current pushpin

#ifdef SCOPE_OUTPUT
  digitalWrite(SCOPE_OUTPUT, LOW);   // end output interval for oscilloscope
  delay(1);                          // debug
#endif
}

void ViewGrid::startScreen() {
  // called once each time this view becomes active
  this->clearScreen(this->background);          // clear screen
  txtGrid[0].setBackground(this->background);   // set background for all TextFields in this view
  TextField::setTextDirty(txtGrid, numTextGrid);

  double lngMiles = grid.calcDistanceLong(model->gLatitude, 0.0, minLong, model->gMetric);
  if (logger.print_info) {
    Serial.print("Minimum visible E-W movement x=long=");
    Serial.print(minLong, 6);
    Serial.print(" degrees = ");
    Serial.print(lngMiles, 2);
    Serial.println(" miles");

    double latMiles = grid.calcDistanceLat(0.0, minLat, model->gMetric);
    Serial.print("Minimum visible N-S movement y=lat=");
    Serial.print(minLat, 6);
    Serial.print(" degrees = ");
    Serial.print(latMiles, 2);
    Serial.println(" miles");
  }

  setFontSize(12);
  drawGridOutline();           // box outline around grid
  drawAllIcons();              // draw gear (settings) and arrow (next screen)
  showDefaultTouchTargets();   // optionally draw boxes around button-touch area
  // showMyTouchTargets(gridButtons, nGridButtons);   // no buttons on this screen
  showScreenBorder();   // optionally outline visible area

  updateScreen();   // fill in values immediately, don't wait for the main loop to eventually get around to it

  // restart vehicle trail stack
  for (int ii = 0; ii < carHistoryLength - 1; ii++) {
    carHistory[ii].x = carHistory[ii].y = -1;
  }
  prevVehicle = {0, 0};

  PointGPS gridOrigin{grid.nextGridLineSouth(model->gLatitude), grid.nextGridLineWest(model->gLongitude)};
  plotRoute(&trail, gridOrigin);                              // restore the visible route track on top of everything else already drawn
  PointGPS myLocation{model->gLatitude, model->gLongitude};   // current location
  plotCurrentPosition(myLocation, gridOrigin);                // show current pushpin
}

bool ViewGrid::onTouch(Point touch) {
  logger.info("->->-> Touched grid detail screen.");
  return false;   // true=handled, false=controller uses default action
}