1 /*
2 * monitor_nmea0183.c - gpsmon support for NMEA devices.
3 *
4 * To do: Support for GPGLL, GPGBS, GPZDA, PASHR NMEA sentences.
5 *
6 * This file is Copyright (c) 2010-2018 by the GPSD project
7 * SPDX-License-Identifier: BSD-2-clause
8 */
9
10 #include "gpsd_config.h" /* must be before all includes */
11
12 #include <assert.h>
13 #include <math.h>
14 #include <stdarg.h>
15 #include <stdio.h>
16 #include <stdlib.h> /* for labs() */
17 #include <string.h>
18 #include <unistd.h>
19
20 #include "gpsd.h"
21 #include "gpsmon.h"
22 #include "gpsdclient.h"
23 #include "strfuncs.h"
24
25 #ifdef NMEA0183_ENABLE
26 extern const struct gps_type_t driver_nmea0183;
27
28 static WINDOW *cookedwin, *nmeawin, *satwin, *gprmcwin;
29 static WINDOW *gpggawin, *gpgsawin, *gpgstwin;
30 static timespec_t last_tick, tick_interval;
31 static char sentences[NMEA_MAX * 2];
32
33 /*****************************************************************************
34 *
35 * NMEA0183 support
36 *
37 *****************************************************************************/
38
39 #define SENTENCELINE 1 /* index of sentences line in the NMEA window */
40 #define MAXSATS 12 /* max satellites we can display */
41
nmea_initialize(void)42 static bool nmea_initialize(void)
43 {
44
45 cookedwin = derwin(devicewin, 3, 80, 0, 0);
46 assert(cookedwin !=NULL);
47 (void)wborder(cookedwin, 0, 0, 0, 0, 0, 0, 0, 0);
48 (void)syncok(cookedwin, true);
49 (void)wattrset(cookedwin, A_BOLD);
50 (void)mvwaddstr(cookedwin, 1, 1, "Time: ");
51 (void)mvwaddstr(cookedwin, 1, 32, "Lat: ");
52 (void)mvwaddstr(cookedwin, 1, 55, "Lon: ");
53 (void)mvwaddstr(cookedwin, 2, 34, " Cooked TPV ");
54 (void)wattrset(cookedwin, A_NORMAL);
55
56 nmeawin = derwin(devicewin, 3, 80, 3, 0);
57 assert(nmeawin !=NULL);
58 (void)wborder(nmeawin, 0, 0, 0, 0, 0, 0, 0, 0);
59 (void)syncok(nmeawin, true);
60 (void)wattrset(nmeawin, A_BOLD);
61 (void)mvwaddstr(nmeawin, 2, 34, " Sentences ");
62 (void)wattrset(nmeawin, A_NORMAL);
63
64 satwin = derwin(devicewin, MAXSATS + 3, 20, 6, 0);
65 assert(satwin !=NULL);
66 (void)wborder(satwin, 0, 0, 0, 0, 0, 0, 0, 0), (void)syncok(satwin, true);
67 (void)wattrset(satwin, A_BOLD);
68 (void)mvwprintw(satwin, 1, 1, "PRN Az El S/N");
69 (void)mvwprintw(satwin, 14, 7, " GSV ");
70 (void)wattrset(satwin, A_NORMAL);
71
72 gprmcwin = derwin(devicewin, 9, 30, 6, 20);
73 assert(gprmcwin !=NULL);
74 (void)wborder(gprmcwin, 0, 0, 0, 0, 0, 0, 0, 0),
75 (void)syncok(gprmcwin, true);
76 (void)wattrset(gprmcwin, A_BOLD);
77 (void)mvwprintw(gprmcwin, 1, 1, "Time: ");
78 (void)mvwprintw(gprmcwin, 2, 1, "Latitude: ");
79 (void)mvwprintw(gprmcwin, 3, 1, "Longitude: ");
80 (void)mvwprintw(gprmcwin, 4, 1, "Speed: ");
81 (void)mvwprintw(gprmcwin, 5, 1, "Course: ");
82 (void)mvwprintw(gprmcwin, 6, 1, "Status: FAA: ");
83 (void)mvwprintw(gprmcwin, 7, 1, "MagVar: ");
84 (void)mvwprintw(gprmcwin, 8, 12, " RMC ");
85 (void)wattrset(gprmcwin, A_NORMAL);
86
87 gpgsawin = derwin(devicewin, 6, 30, 15, 20);
88 assert(gpgsawin !=NULL);
89 (void)wborder(gpgsawin, 0, 0, 0, 0, 0, 0, 0, 0);
90 (void)syncok(gpgsawin, true);
91 (void)wattrset(gpgsawin, A_BOLD);
92 #define MODE_LINE 1
93 (void)mvwprintw(gpgsawin, MODE_LINE, 1, "Mode: ");
94 #define SATS_LINE 1
95 #define SATS_COL 10
96 (void)mvwprintw(gpgsawin, SATS_LINE, SATS_COL, "Sats: ");
97 #define DOP_LINE 2
98 (void)mvwprintw(gpgsawin, DOP_LINE, 1, "DOP: H= V= P=");
99 #define TOFF_LINE 3
100 (void)mvwprintw(gpgsawin, TOFF_LINE, 1, "TOFF: ");
101 (void)mvwaddstr(gpgsawin, TOFF_LINE, 7, "N/A");
102 #define PPS_LINE 4
103 (void)mvwprintw(gpgsawin, PPS_LINE, 1, "PPS: ");
104 (void)mvwaddstr(gpgsawin, PPS_LINE, 6, "N/A");
105 (void)mvwprintw(gpgsawin, 5, 9, " GSA + PPS ");
106 (void)wattrset(gpgsawin, A_NORMAL);
107 (void)syncok(gpgsawin, true);
108
109 gpggawin = derwin(devicewin, 9, 30, 6, 50);
110 assert(gpggawin !=NULL);
111 (void)wborder(gpggawin, 0, 0, 0, 0, 0, 0, 0, 0);
112 (void)syncok(gpggawin, true);
113 (void)wattrset(gpggawin, A_BOLD);
114 (void)mvwprintw(gpggawin, 1, 1, "Time: ");
115 (void)mvwprintw(gpggawin, 2, 1, "Latitude: ");
116 (void)mvwprintw(gpggawin, 3, 1, "Longitude: ");
117 (void)mvwprintw(gpggawin, 4, 1, "Altitude: ");
118 (void)mvwprintw(gpggawin, 5, 1, "Quality: Sats: ");
119 (void)mvwprintw(gpggawin, 6, 1, "HDOP: ");
120 (void)mvwprintw(gpggawin, 7, 1, "Geoid: ");
121 (void)mvwprintw(gpggawin, 8, 12, " GGA ");
122 (void)wattrset(gpggawin, A_NORMAL);
123
124 gpgstwin = derwin(devicewin, 6, 30, 15, 50);
125 assert(gpgstwin !=NULL);
126 (void)wborder(gpgstwin, 0, 0, 0, 0, 0, 0, 0, 0);
127 (void)syncok(gpgstwin, true);
128 (void)wattrset(gpgstwin, A_BOLD);
129 (void)mvwprintw(gpgstwin, 1, 1, "UTC: ");
130 (void)mvwprintw(gpgstwin, 1, 16, "RMS: ");
131 (void)mvwprintw(gpgstwin, 2, 1, "MAJ: ");
132 (void)mvwprintw(gpgstwin, 2, 16, "MIN: ");
133 (void)mvwprintw(gpgstwin, 3, 1, "ORI: ");
134 (void)mvwprintw(gpgstwin, 3, 16, "LAT: ");
135 (void)mvwprintw(gpgstwin, 4, 1, "LON: ");
136 (void)mvwprintw(gpgstwin, 4, 16, "ALT: ");
137 (void)mvwprintw(gpgstwin, 5, 12, " GST ");
138 (void)wattrset(gpgstwin, A_NORMAL);
139
140
141 (void)clock_gettime(CLOCK_REALTIME, &last_tick);
142
143 sentences[0] = '\0';
144
145 return (nmeawin != NULL);
146 }
147
cooked_pvt(void)148 static void cooked_pvt(void)
149 {
150 char scr[128];
151
152 if (0 < session.gpsdata.fix.time.tv_sec) {
153 (void)timespec_to_iso8601(session.gpsdata.fix.time, scr, sizeof(scr));
154 } else
155 (void)snprintf(scr, sizeof(scr), "n/a");
156 (void)mvwprintw(cookedwin, 1, 7, "%-24s", scr);
157
158
159 if (session.gpsdata.fix.mode >= MODE_2D) {
160 deg_to_str2(deg_ddmm, session.gpsdata.fix.latitude,
161 scr, sizeof(scr), " N", " S");
162 } else
163 (void)strncpy(scr, "n/a", sizeof(scr));
164 (void)mvwprintw(cookedwin, 1, 37, "%-17s", scr);
165
166 if (session.gpsdata.fix.mode >= MODE_2D) {
167 deg_to_str2(deg_ddmm, session.gpsdata.fix.longitude,
168 scr, sizeof(scr), " E", " W");
169 } else
170 (void)strncpy(scr, "n/a", sizeof(scr));
171 (void)mvwprintw(cookedwin, 1, 60, "%-17s", scr);
172 }
173
monitor_satlist(WINDOW * win,int y,int x)174 static void monitor_satlist(WINDOW *win, int y, int x)
175 /* display as much as we can of a satlist in a specified window */
176 {
177 int ymax, xmax;
178 char scr[128];
179 int i;
180
181 assert(win != NULL);
182 (void)wmove(win, y, x);
183 (void)wclrtoeol(win);
184 scr[0] = '\0';
185 for (i = 0; i < MAXCHANNELS; i++) {
186 if (session.gpsdata.skyview[i].used)
187 str_appendf(scr, sizeof(scr),
188 "%d ", session.gpsdata.skyview[i].PRN);
189 }
190 getmaxyx(win, ymax, xmax);
191 assert(ymax != 0); /* suppress compiler warning */
192 (void)mvwaddnstr(win, y, x, scr, xmax - 2 - x);
193 if (strlen(scr) >= (size_t) (xmax - 2)) {
194 (void)mvwaddch(win, y, xmax - 2 - x, (chtype) '.');
195 (void)mvwaddch(win, y, xmax - 3 - x, (chtype) '.');
196 (void)mvwaddch(win, y, xmax - 4 - x, (chtype) '.');
197 }
198 monitor_fixframe(win);
199 }
200
nmea_update(void)201 static void nmea_update(void)
202 {
203 char **fields;
204
205 assert(cookedwin != NULL);
206 assert(nmeawin != NULL);
207 assert(gpgsawin != NULL);
208 assert(gpggawin != NULL);
209 assert(gprmcwin != NULL);
210 assert(gpgstwin != NULL);
211
212 /* can be NULL if packet was overlong */
213 fields = session.nmea.field;
214
215 if (session.lexer.outbuffer[0] == (unsigned char)'$'
216 && fields != NULL && fields[0] != NULL) {
217 int ymax, xmax;
218 timespec_t now;
219 timespec_t ts_diff;
220
221 getmaxyx(nmeawin, ymax, xmax);
222 assert(ymax > 0);
223 if (strstr(sentences, fields[0]) == NULL) {
224 char *s_end = sentences + strlen(sentences);
225 if ((int)(strlen(sentences) + strlen(fields[0])) < xmax - 2) {
226 *s_end++ = ' ';
227 (void)strlcpy(s_end, fields[0], NMEA_MAX);
228 } else {
229 *--s_end = '.';
230 *--s_end = '.';
231 *--s_end = '.';
232 }
233 (void)mvwaddstr(nmeawin, SENTENCELINE, 1, sentences);
234 }
235
236 /*
237 * If the interval between this and last update is
238 * the longest we've seen yet, boldify the corresponding
239 * tag.
240 */
241 (void)clock_gettime(CLOCK_REALTIME, &now);
242 TS_SUB(&ts_diff, &now, &last_tick);
243 if (TS_GZ(&ts_diff) && TS_GT(&ts_diff, &tick_interval)) {
244 char *findme = strstr(sentences, fields[0]);
245
246 tick_interval = ts_diff;
247 if (findme != NULL) {
248 (void)mvwchgat(nmeawin, SENTENCELINE, 1, xmax - 13, A_NORMAL, 0,
249 NULL);
250 (void)mvwchgat(nmeawin, SENTENCELINE, 1 + (findme - sentences),
251 (int)strlen(fields[0]), A_BOLD, 0, NULL);
252 }
253 }
254 last_tick = now;
255
256 if (strcmp(fields[0], "GPGSV") == 0
257 || strcmp(fields[0], "GNGSV") == 0
258 || strcmp(fields[0], "GLGSV") == 0) {
259 int i;
260 int nsats =
261 (session.gpsdata.satellites_visible <
262 MAXSATS) ? session.gpsdata.satellites_visible : MAXSATS;
263
264 for (i = 0; i < nsats; i++) {
265 (void)wmove(satwin, i + 2, 1);
266 (void)wprintw(satwin, "%3d %3d%3d %3.0f",
267 session.gpsdata.skyview[i].PRN,
268 (int)session.gpsdata.skyview[i].azimuth,
269 (int)session.gpsdata.skyview[i].elevation,
270 session.gpsdata.skyview[i].ss);
271 }
272 /* add overflow mark to the display */
273 if (nsats <= MAXSATS)
274 (void)mvwaddch(satwin, MAXSATS + 2, 18, ACS_HLINE);
275 else
276 (void)mvwaddch(satwin, MAXSATS + 2, 18, ACS_DARROW);
277 }
278
279 if (strcmp(fields[0], "GPRMC") == 0
280 || strcmp(fields[0], "GNRMC") == 0
281 || strcmp(fields[0], "GLRMC") == 0) {
282 /* time, lat, lon, course, speed */
283 (void)mvwaddstr(gprmcwin, 1, 12, fields[1]);
284 (void)mvwprintw(gprmcwin, 2, 12, "%12s %s", fields[3], fields[4]);
285 (void)mvwprintw(gprmcwin, 3, 12, "%12s %s", fields[5], fields[6]);
286 (void)mvwaddstr(gprmcwin, 4, 12, fields[7]);
287 (void)mvwaddstr(gprmcwin, 5, 12, fields[8]);
288 /* the status field, FAA code, and magnetic variation */
289 (void)mvwaddstr(gprmcwin, 6, 12, fields[2]);
290 (void)mvwaddstr(gprmcwin, 6, 25, fields[12]);
291 (void)mvwprintw(gprmcwin, 7, 12, "%-5s%s", fields[10],
292 fields[11]);
293
294 cooked_pvt(); /* cooked version of TPV */
295 }
296
297 if (strcmp(fields[0], "GPGSA") == 0
298 || strcmp(fields[0], "GNGSA") == 0
299 || strcmp(fields[0], "GLGSA") == 0) {
300 (void)mvwprintw(gpgsawin, MODE_LINE, 7, "%1s%s", fields[1], fields[2]);
301 monitor_satlist(gpgsawin, SATS_LINE, SATS_COL+6);
302 (void)mvwprintw(gpgsawin, DOP_LINE, 8, "%-5s", fields[16]);
303 (void)mvwprintw(gpgsawin, DOP_LINE, 16, "%-5s", fields[17]);
304 (void)mvwprintw(gpgsawin, DOP_LINE, 24, "%-5s", fields[15]);
305 monitor_fixframe(gpgsawin);
306 }
307
308 toff_update(gpgsawin, TOFF_LINE, 7);
309
310 if (strcmp(fields[0], "GPGGA") == 0
311 || strcmp(fields[0], "GNGGA") == 0
312 || strcmp(fields[0], "GLGGA") == 0) {
313 (void)mvwprintw(gpggawin, 1, 12, "%-17s", fields[1]);
314 (void)mvwprintw(gpggawin, 2, 12, "%-17s", fields[2]);
315 (void)mvwprintw(gpggawin, 3, 12, "%-17s", fields[4]);
316 (void)mvwprintw(gpggawin, 4, 12, "%-17s", fields[9]);
317 (void)mvwprintw(gpggawin, 5, 12, "%1.1s", fields[6]);
318 (void)mvwprintw(gpggawin, 5, 22, "%2.2s", fields[7]);
319 (void)mvwprintw(gpggawin, 6, 12, "%-5.5s", fields[8]);
320 (void)mvwprintw(gpggawin, 7, 12, "%-5.5s", fields[11]);
321 }
322 if (strcmp(fields[0], "GPGST") == 0) {
323 (void)mvwprintw(gpgstwin, 1, 6, "%-10s", fields[1]);
324 (void)mvwprintw(gpgstwin, 1, 21, "%-8s", fields[2]);
325 (void)mvwprintw(gpgstwin, 2, 6, "%-10s", fields[3]);
326 (void)mvwprintw(gpgstwin, 2, 21, "%-8s", fields[4]);
327 (void)mvwprintw(gpgstwin, 3, 6, "%-10s", fields[5]);
328 (void)mvwprintw(gpgstwin, 3, 21, "%-8s", fields[6]);
329 (void)mvwprintw(gpgstwin, 4, 6, "%-10s", fields[7]);
330 (void)mvwprintw(gpgstwin, 4, 21, "%-8s", fields[8]);
331 }
332 }
333
334 pps_update(gpgsawin, PPS_LINE, 6);
335 }
336
337 #undef SENTENCELINE
338
nmea_wrap(void)339 static void nmea_wrap(void)
340 {
341 (void)delwin(nmeawin);
342 (void)delwin(gpgsawin);
343 (void)delwin(gpggawin);
344 (void)delwin(gprmcwin);
345 }
346
347 const struct monitor_object_t nmea_mmt = {
348 .initialize = nmea_initialize,
349 .update = nmea_update,
350 .command = NULL,
351 .wrap = nmea_wrap,
352 .min_y = 21,.min_x = 80,
353 .driver = &driver_nmea0183,
354 };
355
356 /*****************************************************************************
357 *
358 * Extended NMEA support
359 *
360 *****************************************************************************/
361
362 #if defined(CONTROLSEND_ENABLE) && defined(ASHTECH_ENABLE)
monitor_nmea_send(const char * fmt,...)363 static void monitor_nmea_send(const char *fmt, ...)
364 {
365 char buf[BUFSIZ];
366 va_list ap;
367
368 va_start(ap, fmt);
369 (void)vsnprintf(buf, sizeof(buf) - 5, fmt, ap);
370 va_end(ap);
371 (void)monitor_control_send((unsigned char *)buf, strlen(buf));
372 }
373 #endif /* defined(CONTROLSEND_ENABLE) && defined(ASHTECH_ENABLE) */
374
375 /*
376 * Yes, it's OK for most of these to be clones of the generic NMEA monitor
377 * object except for the pointer to the GPSD driver. That pointer makes
378 * a difference, as it will automatically enable stuff like speed-switcher
379 * and mode-switcher commands. It's really only necessary to write a
380 * separate monitor object if you want to change the device-window
381 * display or implement device-specific commands.
382 */
383
384 #if defined(GARMIN_ENABLE) && defined(NMEA0183_ENABLE)
385 extern const struct gps_type_t driver_garmin;
386
387 const struct monitor_object_t garmin_mmt = {
388 .initialize = nmea_initialize,
389 .update = nmea_update,
390 .command = NULL,
391 .wrap = nmea_wrap,
392 .min_y = 21,.min_x = 80,
393 .driver = &driver_garmin,
394 };
395 #endif /* GARMIN_ENABLE && NMEA0183_ENABLE */
396
397 #ifdef ASHTECH_ENABLE
398 extern const struct gps_type_t driver_ashtech;
399
400 #define ASHTECH_SPEED_9600 5
401 #define ASHTECH_SPEED_57600 8
402
403 #ifdef CONTROLSEND_ENABLE
ashtech_command(char line[])404 static int ashtech_command(char line[])
405 {
406 switch (line[0]) {
407 case 'N': /* normal = 9600, GGA+GSA+GSV+RMC+ZDA */
408 monitor_nmea_send("$PASHS,NME,ALL,A,OFF"); /* silence outbound chatter */
409 monitor_nmea_send("$PASHS,NME,ALL,B,OFF");
410 monitor_nmea_send("$PASHS,NME,GGA,A,ON");
411 monitor_nmea_send("$PASHS,NME,GSA,A,ON");
412 monitor_nmea_send("$PASHS,NME,GSV,A,ON");
413 monitor_nmea_send("$PASHS,NME,RMC,A,ON");
414 monitor_nmea_send("$PASHS,NME,ZDA,A,ON");
415
416 monitor_nmea_send("$PASHS,INI,%d,%d,,,0,",
417 ASHTECH_SPEED_9600, ASHTECH_SPEED_9600);
418 (void)sleep(6); /* it takes 4-6 sec for the receiver to reboot */
419 monitor_nmea_send("$PASHS,WAS,ON"); /* enable WAAS */
420 break;
421
422 case 'R': /* raw = 57600, normal+XPG+POS+SAT+MCA+PBN+SNV */
423 monitor_nmea_send("$PASHS,NME,ALL,A,OFF"); /* silence outbound chatter */
424 monitor_nmea_send("$PASHS,NME,ALL,B,OFF");
425 monitor_nmea_send("$PASHS,NME,GGA,A,ON");
426 monitor_nmea_send("$PASHS,NME,GSA,A,ON");
427 monitor_nmea_send("$PASHS,NME,GSV,A,ON");
428 monitor_nmea_send("$PASHS,NME,RMC,A,ON");
429 monitor_nmea_send("$PASHS,NME,ZDA,A,ON");
430
431 monitor_nmea_send("$PASHS,INI,%d,%d,,,0,",
432 ASHTECH_SPEED_57600, ASHTECH_SPEED_9600);
433 (void)sleep(6); /* it takes 4-6 sec for the receiver to reboot */
434 monitor_nmea_send("$PASHS,WAS,ON"); /* enable WAAS */
435
436 monitor_nmea_send("$PASHS,NME,POS,A,ON"); /* Ashtech TPV solution */
437 monitor_nmea_send("$PASHS,NME,SAT,A,ON"); /* Ashtech Satellite status */
438 monitor_nmea_send("$PASHS,NME,MCA,A,ON"); /* MCA measurements */
439 monitor_nmea_send("$PASHS,NME,PBN,A,ON"); /* ECEF TPV solution */
440 monitor_nmea_send("$PASHS,NME,SNV,A,ON,10"); /* Almanac data */
441
442 monitor_nmea_send("$PASHS,NME,XMG,A,ON"); /* exception messages */
443 break;
444
445 default:
446 return COMMAND_UNKNOWN;
447 }
448
449 return COMMAND_UNKNOWN;
450 }
451 #endif /* CONTROLSEND_ENABLE */
452
453 const struct monitor_object_t ashtech_mmt = {
454 .initialize = nmea_initialize,
455 .update = nmea_update,
456 #ifdef CONTROLSEND_ENABLE
457 .command = ashtech_command,
458 #else
459 .command = NULL,
460 #endif /* CONTROLSEND_ENABLE */
461 .wrap = nmea_wrap,
462 .min_y = 21,.min_x = 80,
463 .driver = &driver_ashtech,
464 };
465 #endif /* ASHTECH_ENABLE */
466
467 #ifdef FV18_ENABLE
468 extern const struct gps_type_t driver_fv18;
469
470 const struct monitor_object_t fv18_mmt = {
471 .initialize = nmea_initialize,
472 .update = nmea_update,
473 .command = NULL,
474 .wrap = nmea_wrap,
475 .min_y = 21,.min_x = 80,
476 .driver = &driver_fv18,
477 };
478 #endif /* FV18_ENABLE */
479
480 #ifdef GPSCLOCK_ENABLE
481 extern const struct gps_type_t driver_gpsclock;
482
483 const struct monitor_object_t gpsclock_mmt = {
484 .initialize = nmea_initialize,
485 .update = nmea_update,
486 .command = NULL,
487 .wrap = nmea_wrap,
488 .min_y = 21,.min_x = 80,
489 .driver = &driver_gpsclock,
490 };
491 #endif /* GPSCLOCK_ENABLE */
492
493 #ifdef MTK3301_ENABLE
494 extern const struct gps_type_t driver_mtk3301;
495
496 const struct monitor_object_t mtk3301_mmt = {
497 .initialize = nmea_initialize,
498 .update = nmea_update,
499 .command = NULL,
500 .wrap = nmea_wrap,
501 .min_y = 21,.min_x = 80,
502 .driver = &driver_mtk3301,
503 };
504 #endif /* MTK3301_ENABLE */
505
506 #ifdef AIVDM_ENABLE
507 extern const struct gps_type_t driver_aivdm;
508
509 const struct monitor_object_t aivdm_mmt = {
510 .initialize = nmea_initialize,
511 .update = nmea_update,
512 .command = NULL,
513 .wrap = nmea_wrap,
514 .min_y = 21,.min_x = 80,
515 .driver = &driver_aivdm,
516 };
517 #endif /* AIVDM_ENABLE */
518 #endif /* NMEA0183_ENABLE */
519
520 /* vim: set expandtab shiftwidth=4: */
521