1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
5 file The header file for the JSBSim executive.
7 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 You should have received a copy of the GNU Lesser General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
29 7/31/99 TP Added RunIC function that runs the sim so that every frame
30 begins with the IC values from the given FGInitialCondition
33 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
35 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
37 #ifndef FGFDMEXEC_HEADER_H
38 #define FGFDMEXEC_HEADER_H
40 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
42 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
47 #include "initialization/FGTrim.h"
48 #include "FGJSBBase.h"
49 #include "input_output/FGPropertyManager.h"
50 #include "input_output/FGXMLFileRead.h"
51 #include "models/FGPropagate.h"
52 #include "math/FGColumnVector3.h"
53 #include "models/FGOutput.h"
55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
59 #define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.83 2013/06/10 01:46:27 jberndt Exp $"
61 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
63 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
72 class FGAccelerations;
75 class FGBuoyantForces;
76 class FGExternalReactions;
77 class FGGroundReactions;
84 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
86 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
88 /** Encapsulates the JSBSim simulation executive.
89 This class is the executive class through which all other simulation classes
90 are instantiated, initialized, and run. When integrated with FlightGear (or
91 other flight simulator) this class is typically instantiated by an interface
92 class on the simulator side.
94 At the time of simulation initialization, the interface
95 class creates an instance of this executive class. The
96 executive is subsequently directed to load the chosen aircraft specification
100 fdmex = new FGFDMExec( ... );
101 result = fdmex->LoadModel( ... );
104 When an aircraft model is loaded, the config file is parsed and for each of the
105 sections of the config file (propulsion, flight control, etc.) the
106 corresponding Load() method is called (e.g. FGFCS::Load()).
108 Subsequent to the creation of the executive and loading of the model,
109 initialization is performed. Initialization involves copying control inputs
110 into the appropriate JSBSim data storage locations, configuring it for the set
111 of user supplied initial conditions, and then copying state variables from
112 JSBSim. The state variables are used to drive the instrument displays and to
113 place the vehicle model in world space for visual rendering:
116 copy_to_JSBsim(); // copy control inputs to JSBSim
117 fdmex->RunIC(); // loop JSBSim once w/o integrating
118 copy_from_JSBsim(); // update the bus
121 Once initialization is complete, cyclic execution proceeds:
124 copy_to_JSBsim(); // copy control inputs to JSBSim
125 fdmex->Run(); // execute JSBSim
126 copy_from_JSBsim(); // update the bus
129 JSBSim can be used in a standalone mode by creating a compact stub program
130 that effectively performs the same progression of steps as outlined above for
131 the integrated version, but with two exceptions. First, the copy_to_JSBSim()
132 and copy_from_JSBSim() functions are not used because the control inputs are
133 handled directly by the scripting facilities and outputs are handled by the
134 output (data logging) class. Second, the name of a script file can be supplied
135 to the stub program. Scripting (see FGScript) provides a way to supply command
136 inputs to the simulation:
139 FDMExec = new JSBSim::FGFDMExec();
140 FDMExec->LoadScript( ScriptName ); // the script loads the aircraft and ICs
141 result = FDMExec->Run();
142 while (result) { // cyclic execution
143 result = FDMExec->Run(); // execute JSBSim
147 The standalone mode has been useful for verifying changes before committing
148 updates to the source code repository. It is also useful for running sets of
149 tests that reveal some aspects of simulated aircraft performance, such as
150 range, time-to-climb, takeoff distance, etc.
152 <h3>JSBSim Debugging Directives</h3>
154 This describes to any interested entity the debug level
155 requested by setting the JSBSIM_DEBUG environment variable.
156 The bitmasked value choices are as follows:
157 - <b>unset</b>: In this case (the default) JSBSim would only print
158 out the normally expected messages, essentially echoing
159 the config files as they are read. If the environment
160 variable is not set, debug_lvl is set to 1 internally
161 - <b>0</b>: This requests JSBSim not to output any messages
163 - <b>1</b>: This value explicity requests the normal JSBSim
165 - <b>2</b>: This value asks for a message to be printed out when
166 a class is instantiated
167 - <b>4</b>: When this value is set, a message is displayed when a
168 FGModel object executes its Run() method
169 - <b>8</b>: When this value is set, various runtime state variables
170 are printed out periodically
171 - <b>16</b>: When set various parameters are sanity checked and
172 a message is printed out when they go out of bounds
175 @property simulator/do_trim (write only) Can be set to the integer equivalent to one of
176 tLongitudinal (0), tFull (1), tGround (2), tPullup (3),
177 tCustom (4), tTurn (5). Setting this to a legal value
178 (such as by a script) causes a trim to be performed. This
179 property actually maps toa function call of DoTrim().
181 @author Jon S. Berndt
182 @version $Revision: 1.83 $
185 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
187 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
189 class FGFDMExec : public FGJSBBase, public FGXMLFileRead
195 FGColumnVector3 Orient;
201 Loc = FGColumnVector3(0,0,0);
202 Orient = FGColumnVector3(0,0,0);
207 void Run(void) {exec->Run();}
208 void AssignState(FGPropagate* source_prop) {
209 exec->GetPropagate()->SetVState(source_prop->GetVState());
219 /// Default constructor
220 FGFDMExec(FGPropertyManager* root = 0, unsigned int* fdmctr = 0);
222 /// Default destructor
225 // This list of enums is very important! The order in which models are listed here
226 // determines the order of execution of the models.
227 enum eModels { ePropagate=0,
243 eNumStandardModels };
245 /** Unbind all tied JSBSim properties. */
246 void Unbind(void) {instance->Unbind();}
248 /** This routine places a model into the runlist at the specified rate. The
249 "rate" is not really a clock rate. It represents how many calls to the
250 FGFDMExec::Run() method must be made before the model is executed. A
251 value of 1 means that the model will be executed for each call to the
252 exec's Run() method. A value of 5 means that the model will only be
253 executed every 5th call to the exec's Run() method. Use of a rate other than
254 one is at this time not recommended.
255 @param model A pointer to the model being scheduled.
256 @param rate The rate at which to execute the model as described above.
257 Default is every frame (rate=1).
258 @return Currently returns 0 always. */
259 void Schedule(FGModel* model, int rate=1);
261 /** This function executes each scheduled model in succession.
262 @return true if successful, false if sim should be ended */
265 /** Initializes the sim from the initial condition object and executes
266 each scheduled model without integrating i.e. dt=0.
267 @return true if successful */
270 /** Sets the ground callback pointer. For optimal memory management, a shared
271 pointer is used internally that maintains a reference counter. The calling
272 application must therefore use FGGroundCallback_ptr 'smart pointers' to
273 manage their copy of the ground callback.
274 @param gc A pointer to a ground callback object
275 @see FGGroundCallback
277 void SetGroundCallback(FGGroundCallback* gc) { FGLocation::SetGroundCallback(gc); }
279 /** Loads an aircraft model.
280 @param AircraftPath path to the aircraft/ directory. For instance:
281 "aircraft". Under aircraft, then, would be directories for various
282 modeled aircraft such as C172/, x15/, etc.
283 @param EnginePath path to the directory under which engine config
284 files are kept, for instance "engine"
285 @param SystemsPath path to the directory under which systems config
286 files are kept, for instance "systems"
287 @param model the name of the aircraft model itself. This file will
288 be looked for in the directory specified in the AircraftPath variable,
289 and in turn under the directory with the same name as the model. For
290 instance: "aircraft/x15/x15.xml"
291 @param addModelToPath set to true to add the model name to the
292 AircraftPath, defaults to true
293 @return true if successful */
294 bool LoadModel(const std::string& AircraftPath, const std::string& EnginePath,
295 const std::string& SystemsPath, const std::string& model,
296 bool addModelToPath = true);
298 /** Loads an aircraft model. The paths to the aircraft and engine
299 config file directories must be set prior to calling this. See
301 @param model the name of the aircraft model itself. This file will
302 be looked for in the directory specified in the AircraftPath variable,
303 and in turn under the directory with the same name as the model. For
304 instance: "aircraft/x15/x15.xml"
305 @param addModelToPath set to true to add the model name to the
306 AircraftPath, defaults to true
307 @return true if successful*/
308 bool LoadModel(const std::string& model, bool addModelToPath = true);
311 @param Script The full path name and file name for the script to be loaded.
312 @param deltaT The simulation integration step size, if given. If no value is supplied
313 then 0.0 is used and the value is expected to be supplied in
314 the script file itself.
315 @param initfile The initialization file that will override the initialization file
316 specified in the script file. If no file name is given on the command line,
317 the file specified in the script will be used. If an initialization file
318 is not given in either place, an error will result.
319 @return true if successfully loads; false otherwise. */
320 bool LoadScript(const std::string& Script, double deltaT=0.0,
321 const std::string initfile="");
323 /** Sets the path to the engine config file directories.
324 @param path path to the directory under which engine config
325 files are kept, for instance "engine" */
326 bool SetEnginePath(const std::string& path) { EnginePath = RootDir + path; return true; }
328 /** Sets the path to the aircraft config file directories.
329 @param path path to the aircraft directory. For instance:
330 "aircraft". Under aircraft, then, would be directories for various
331 modeled aircraft such as C172/, x15/, etc. */
332 bool SetAircraftPath(const std::string& path) { AircraftPath = RootDir + path; return true; }
334 /** Sets the path to the systems config file directories.
335 @param path path to the directory under which systems config
336 files are kept, for instance "systems" */
337 bool SetSystemsPath(const std::string& path) { SystemsPath = RootDir + path; return true; }
339 /// @name Top-level executive State and Model retrieval mechanism
341 /// Returns the FGAtmosphere pointer.
342 FGAtmosphere* GetAtmosphere(void) {return (FGAtmosphere*)Models[eAtmosphere];}
343 /// Returns the FGAccelerations pointer.
344 FGAccelerations* GetAccelerations(void) {return (FGAccelerations*)Models[eAccelerations];}
345 /// Returns the FGWinds pointer.
346 FGWinds* GetWinds(void) {return (FGWinds*)Models[eWinds];}
347 /// Returns the FGFCS pointer.
348 FGFCS* GetFCS(void) {return (FGFCS*)Models[eSystems];}
349 /// Returns the FGPropulsion pointer.
350 FGPropulsion* GetPropulsion(void) {return (FGPropulsion*)Models[ePropulsion];}
351 /// Returns the FGAircraft pointer.
352 FGMassBalance* GetMassBalance(void) {return (FGMassBalance*)Models[eMassBalance];}
353 /// Returns the FGAerodynamics pointer
354 FGAerodynamics* GetAerodynamics(void){return (FGAerodynamics*)Models[eAerodynamics];}
355 /// Returns the FGInertial pointer.
356 FGInertial* GetInertial(void) {return (FGInertial*)Models[eInertial];}
357 /// Returns the FGGroundReactions pointer.
358 FGGroundReactions* GetGroundReactions(void) {return (FGGroundReactions*)Models[eGroundReactions];}
359 /// Returns the FGExternalReactions pointer.
360 FGExternalReactions* GetExternalReactions(void) {return (FGExternalReactions*)Models[eExternalReactions];}
361 /// Returns the FGBuoyantForces pointer.
362 FGBuoyantForces* GetBuoyantForces(void) {return (FGBuoyantForces*)Models[eBuoyantForces];}
363 /// Returns the FGAircraft pointer.
364 FGAircraft* GetAircraft(void) {return (FGAircraft*)Models[eAircraft];}
365 /// Returns the FGPropagate pointer.
366 FGPropagate* GetPropagate(void) {return (FGPropagate*)Models[ePropagate];}
367 /// Returns the FGAuxiliary pointer.
368 FGAuxiliary* GetAuxiliary(void) {return (FGAuxiliary*)Models[eAuxiliary];}
369 /// Returns the FGInput pointer.
370 FGInput* GetInput(void) {return (FGInput*)Models[eInput];}
371 /** Get a pointer to the ground callback currently used. It is recommanded
372 to store the returned pointer in a 'smart pointer' FGGroundCallback_ptr.
373 @return A pointer to the current ground callback object.
374 @see FGGroundCallback
376 FGGroundCallback* GetGroundCallback(void) {return FGLocation::GetGroundCallback();}
377 /// Retrieves the script object
378 FGScript* GetScript(void) {return Script;}
379 /// Returns a pointer to the FGInitialCondition object
380 FGInitialCondition* GetIC(void) {return IC;}
381 /// Returns a pointer to the FGTrim object
382 FGTrim* GetTrim(void);
385 /// Retrieves the engine path.
386 const std::string& GetEnginePath(void) {return EnginePath;}
387 /// Retrieves the aircraft path.
388 const std::string& GetAircraftPath(void) {return AircraftPath;}
389 /// Retrieves the systems path.
390 const std::string& GetSystemsPath(void) {return SystemsPath;}
391 /// Retrieves the full aircraft path name.
392 const std::string& GetFullAircraftPath(void) {return FullAircraftPath;}
394 /** Retrieves the value of a property.
395 @param property the name of the property
396 @result the value of the specified property */
397 inline double GetPropertyValue(const std::string& property)
398 { return instance->GetNode()->GetDouble(property); }
400 /** Sets a property value.
401 @param property the property to be set
402 @param value the value to set the property to */
403 inline void SetPropertyValue(const std::string& property, double value) {
404 instance->GetNode()->SetDouble(property, value);
407 /// Returns the model name.
408 const std::string& GetModelName(void) const { return modelName; }
410 /// Returns the current time.
411 double GetSimTime(void);
413 /// Returns the current frame time (delta T).
414 double GetDeltaT(void);
416 /// Returns a pointer to the property manager object.
417 FGPropertyManager* GetPropertyManager(void);
418 /// Returns a vector of strings representing the names of all loaded models (future)
419 std::vector <std::string> EnumerateFDMs(void);
420 /// Gets the number of child FDMs.
421 int GetFDMCount(void) const {return (int)ChildFDMList.size();}
422 /// Gets a particular child FDM.
423 childData* GetChildFDM(int i) const {return ChildFDMList[i];}
424 /// Marks this instance of the Exec object as a "child" object.
425 void SetChild(bool ch) {IsChild = ch;}
427 /** Sets the output (logging) mechanism for this run.
428 Calling this function passes the name of an output directives file to
429 the FGOutput object associated with this run. The call to this function
430 should be made prior to loading an aircraft model. This call results in an
431 FGOutput object being built as the first Output object in the FDMExec-managed
432 list of Output objects that may be created for an aircraft model. If this call
433 is made after an aircraft model is loaded, there is no effect. Any Output
434 objects added by the aircraft model itself (in an <output> element) will be
435 added after this one. Care should be taken not to refer to the same file
437 An output directives file contains an <output> </output> element, within
438 which should be specified the parameters or parameter groups that should
440 @param fname the filename of an output directives file.
442 bool SetOutputDirectives(const std::string& fname)
443 {return Output->SetDirectivesFile(RootDir + fname);}
445 /** Forces the specified output object to print its items once */
446 void ForceOutput(int idx=0) { Output->ForceOutput(idx); }
448 /** Sets the logging rate for all output objects (if any). */
449 void SetLoggingRate(double rate) { Output->SetRate(rate); }
451 /** Sets (or overrides) the output filename
452 @param fname the name of the file to output data to
453 @return true if successful, false if there is no output specified for the flight model */
454 bool SetOutputFileName(const int n, const std::string& fname) { return Output->SetOutputName(n, fname); }
456 /** Retrieves the current output filename.
457 @param n index of file
458 @return the name of the output file for the output specified by the flight model.
459 If none is specified, the empty string is returned. */
460 std::string GetOutputFileName(int n) const { return Output->GetOutputName(n); }
462 /** Executes trimming in the selected mode.
463 * @param mode Specifies how to trim:
471 void DoTrim(int mode);
472 void DoSimplexTrim(int mode);
474 /** Executes linearization with state-space output
475 * You must trim first to get an accurate state-space model
477 void DoLinearization(int mode);
479 /// Disables data logging to all outputs.
480 void DisableOutput(void) { Output->Disable(); }
481 /// Enables data logging to all outputs.
482 void EnableOutput(void) { Output->Enable(); }
483 /// Pauses execution by preventing time from incrementing.
484 void Hold(void) {holding = true;}
485 /// Turn on hold after increment
486 void EnableIncrementThenHold(int Timesteps) {TimeStepsUntilHold = Timesteps; IncrementThenHolding = true;}
487 /// Checks if required to hold afer increment
488 void CheckIncrementalHold(void);
489 /// Resumes execution from a "Hold".
490 void Resume(void) {holding = false;}
491 /// Returns true if the simulation is Holding (i.e. simulation time is not moving).
492 bool Holding(void) {return holding;}
493 /// Resets the initial conditions object and prepares the simulation to run again.
494 void ResetToInitialConditions(void);
495 /// Sets the debug level.
496 void SetDebugLevel(int level) {debug_lvl = level;}
498 struct PropertyCatalogStructure {
499 /// Name of the property.
500 std::string base_string;
501 /// The node for the property.
502 FGPropertyNode_ptr node;
505 /** Builds a catalog of properties.
506 * This function descends the property tree and creates a list (an STL vector)
507 * containing the name and node for all properties.
508 * @param pcs The "root" property catalog structure pointer. */
509 void BuildPropertyCatalog(struct PropertyCatalogStructure* pcs);
511 /** Retrieves property or properties matching the supplied string.
512 * A string is returned that contains a carriage return delimited list of all
513 * strings in the property catalog that matches the supplied check string.
514 * @param check The string to search for in the property catalog.
515 * @return the carriage-return-delimited string containing all matching strings
517 std::string QueryPropertyCatalog(const std::string& check);
519 // Print the contents of the property catalog for the loaded aircraft.
520 void PrintPropertyCatalog(void);
522 std::vector<std::string>& GetPropertyCatalog(void) {return PropertyCatalog;}
524 void SetTrimStatus(bool status){ trim_status = status; }
525 bool GetTrimStatus(void) const { return trim_status; }
526 void SetTrimMode(int mode){ ta_mode = mode; }
527 int GetTrimMode(void) const { return ta_mode; }
529 std::string GetPropulsionTankReport();
531 /// Returns the cumulative simulation time in seconds.
532 double GetSimTime(void) const { return sim_time; }
534 /// Returns the simulation delta T.
535 double GetDeltaT(void) const {return dT;}
537 /// Suspends the simulation and sets the delta T to zero.
538 void SuspendIntegration(void) {saved_dT = dT; dT = 0.0;}
540 /// Resumes the simulation by resetting delta T to the correct value.
541 void ResumeIntegration(void) {dT = saved_dT;}
543 /** Returns the simulation suspension state.
544 @return true if suspended, false if executing */
545 bool IntegrationSuspended(void) const {return dT == 0.0;}
547 /** Sets the current sim time.
548 @param cur_time the current time
549 @return the current simulation time. */
550 double Setsim_time(double cur_time) {
555 /** Sets the integration time step for the simulation executive.
556 @param delta_t the time step in seconds. */
557 void Setdt(double delta_t) { dT = delta_t; }
559 /** Sets the root directory where JSBSim starts looking for its system directories.
560 @param rootDir the string containing the root directory. */
561 void SetRootDir(const std::string& rootDir) {RootDir = rootDir;}
563 /** Retrieves the Root Directory.
564 @return the string representing the root (base) JSBSim directory. */
565 const std::string& GetRootDir(void) const {return RootDir;}
567 /** Increments the simulation time if not in Holding mode. The Frame counter
569 @return the new simulation time. */
570 double IncrTime(void) {
571 if (!holding) sim_time += dT;
576 /** Retrieves the current debug level setting. */
577 int GetDebugLevel(void) const {return debug_lvl;};
579 /** Initializes the simulation with initial conditions
580 @param FGIC The initial conditions that will be passed to the simulation. */
581 void Initialize(FGInitialCondition *FGIC);
587 unsigned short Terminate;
592 bool IncrementThenHolding;
593 int TimeStepsUntilHold;
597 std::string modelName;
598 std::string AircraftPath;
599 std::string FullAircraftPath;
600 std::string EnginePath;
601 std::string SystemsPath;
602 std::string CFGVersion;
606 // Standard Model pointers - shortcuts for internal executive use only.
607 FGPropagate* Propagate;
608 FGInertial* Inertial;
609 FGAtmosphere* Atmosphere;
611 FGAuxiliary* Auxiliary;
613 FGPropulsion* Propulsion;
614 FGAerodynamics* Aerodynamics;
615 FGGroundReactions* GroundReactions;
616 FGExternalReactions* ExternalReactions;
617 FGBuoyantForces* BuoyantForces;
618 FGMassBalance* MassBalance;
619 FGAircraft* Aircraft;
620 FGAccelerations* Accelerations;
627 FGInitialCondition* IC;
630 FGPropertyManager* Root;
632 FGPropertyManager* instance;
634 // The FDM counter is used to give each child FDM an unique ID. The root FDM has the ID 0
635 unsigned int* FDMctr;
637 std::vector <std::string> PropertyCatalog;
638 std::vector <childData*> ChildFDMList;
639 std::vector <FGModel*> Models;
641 bool ReadFileHeader(Element*);
642 bool ReadChild(Element*);
643 bool ReadPrologue(Element*);
644 void ResetToInitialConditions(int mode);
646 void LoadInputs(unsigned int idx);
647 void LoadPlanetConstants(void);
648 void LoadModelConstants(void);
650 bool DeAllocate(void);
652 void Debug(int from);
655 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%