//// ControllerScriptingInterface.cpp// interface/src/scripting//// Created by Brad Hefta-Gaub on 12/17/13.// Copyright 2013 High Fidelity, Inc.//// Distributed under the Apache License, Version 2.0.// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html//#include <HandData.h>#include <HFBackEvent.h>#include "Application.h"#include "devices/MotionTracker.h"#include "devices/SixenseManager.h"#include "ControllerScriptingInterface.h"ControllerScriptingInterface::ControllerScriptingInterface() : _mouseCaptured(false), _touchCaptured(false), _wheelCaptured(false){}void ControllerScriptingInterface::handleMetaEvent(HFMetaEvent* event) { if (event->type() == HFActionEvent::startType()) { emit actionStartEvent(static_cast<HFActionEvent&>(*event)); } else if (event->type() == HFActionEvent::endType()) { emit actionEndEvent(static_cast<HFActionEvent&>(*event)); } else if (event->type() == HFBackEvent::startType()) { emit backStartEvent(); } else if (event->type() == HFBackEvent::endType()) { emit backEndEvent(); }}const PalmData* ControllerScriptingInterface::getPrimaryPalm() const { int leftPalmIndex, rightPalmIndex; const HandData* handData = Application::getInstance()->getAvatar()->getHandData(); handData->getLeftRightPalmIndices(leftPalmIndex, rightPalmIndex); if (rightPalmIndex != -1) { return &handData->getPalms()[rightPalmIndex]; } return NULL;}int ControllerScriptingInterface::getNumberOfActivePalms() const { const HandData* handData = Application::getInstance()->getAvatar()->getHandData(); int numberOfPalms = handData->getNumPalms(); int numberOfActivePalms = 0; for (int i = 0; i < numberOfPalms; i++) { if (getPalm(i)->isActive()) { numberOfActivePalms++; } } return numberOfActivePalms;}const PalmData* ControllerScriptingInterface::getPalm(int palmIndex) const { const HandData* handData = Application::getInstance()->getAvatar()->getHandData(); return &handData->getPalms()[palmIndex];}const PalmData* ControllerScriptingInterface::getActivePalm(int palmIndex) const { const HandData* handData = Application::getInstance()->getAvatar()->getHandData(); int numberOfPalms = handData->getNumPalms(); int numberOfActivePalms = 0; for (int i = 0; i < numberOfPalms; i++) { if (getPalm(i)->isActive()) { if (numberOfActivePalms == palmIndex) { return &handData->getPalms()[i]; } numberOfActivePalms++; } } return NULL;}bool ControllerScriptingInterface::isPrimaryButtonPressed() const { const PalmData* primaryPalm = getPrimaryPalm(); if (primaryPalm) { if (primaryPalm->getControllerButtons() & BUTTON_FWD) { return true; } } return false;}glm::vec2 ControllerScriptingInterface::getPrimaryJoystickPosition() const { const PalmData* primaryPalm = getPrimaryPalm(); if (primaryPalm) { return glm::vec2(primaryPalm->getJoystickX(), primaryPalm->getJoystickY()); } return glm::vec2(0);}int ControllerScriptingInterface::getNumberOfButtons() const { return getNumberOfActivePalms() * NUMBER_OF_BUTTONS_PER_PALM;}bool ControllerScriptingInterface::isButtonPressed(int buttonIndex) const { int palmIndex = buttonIndex / NUMBER_OF_BUTTONS_PER_PALM; int buttonOnPalm = buttonIndex % NUMBER_OF_BUTTONS_PER_PALM; const PalmData* palmData = getActivePalm(palmIndex); if (palmData) { switch (buttonOnPalm) { case 0: return palmData->getControllerButtons() & BUTTON_0; case 1: return palmData->getControllerButtons() & BUTTON_1; case 2: return palmData->getControllerButtons() & BUTTON_2; case 3: return palmData->getControllerButtons() & BUTTON_3; case 4: return palmData->getControllerButtons() & BUTTON_4; case 5: return palmData->getControllerButtons() & BUTTON_FWD; } } return false;}int ControllerScriptingInterface::getNumberOfTriggers() const { return getNumberOfActivePalms() * NUMBER_OF_TRIGGERS_PER_PALM;}float ControllerScriptingInterface::getTriggerValue(int triggerIndex) const { // we know there's one trigger per palm, so the triggerIndex is the palm Index int palmIndex = triggerIndex; const PalmData* palmData = getActivePalm(palmIndex); if (palmData) { return palmData->getTrigger(); } return 0.0f;}int ControllerScriptingInterface::getNumberOfJoysticks() const { return getNumberOfActivePalms() * NUMBER_OF_JOYSTICKS_PER_PALM;}glm::vec2 ControllerScriptingInterface::getJoystickPosition(int joystickIndex) const { // we know there's one joystick per palm, so the joystickIndex is the palm Index int palmIndex = joystickIndex; const PalmData* palmData = getActivePalm(palmIndex); if (palmData) { return glm::vec2(palmData->getJoystickX(), palmData->getJoystickY()); } return glm::vec2(0);}int ControllerScriptingInterface::getNumberOfSpatialControls() const { return getNumberOfActivePalms() * NUMBER_OF_SPATIALCONTROLS_PER_PALM;}glm::vec3 ControllerScriptingInterface::getSpatialControlPosition(int controlIndex) const { int palmIndex = controlIndex / NUMBER_OF_SPATIALCONTROLS_PER_PALM; int controlOfPalm = controlIndex % NUMBER_OF_SPATIALCONTROLS_PER_PALM; const PalmData* palmData = getActivePalm(palmIndex); if (palmData) { switch (controlOfPalm) { case PALM_SPATIALCONTROL: return palmData->getPosition(); case TIP_SPATIALCONTROL: return palmData->getTipPosition(); } } return glm::vec3(0); // bad index}glm::vec3 ControllerScriptingInterface::getSpatialControlVelocity(int controlIndex) const { int palmIndex = controlIndex / NUMBER_OF_SPATIALCONTROLS_PER_PALM; int controlOfPalm = controlIndex % NUMBER_OF_SPATIALCONTROLS_PER_PALM; const PalmData* palmData = getActivePalm(palmIndex); if (palmData) { switch (controlOfPalm) { case PALM_SPATIALCONTROL: return palmData->getVelocity(); case TIP_SPATIALCONTROL: return palmData->getTipVelocity(); } } return glm::vec3(0); // bad index}glm::quat ControllerScriptingInterface::getSpatialControlRawRotation(int controlIndex) const { int palmIndex = controlIndex / NUMBER_OF_SPATIALCONTROLS_PER_PALM; int controlOfPalm = controlIndex % NUMBER_OF_SPATIALCONTROLS_PER_PALM; const PalmData* palmData = getActivePalm(palmIndex); if (palmData) { switch (controlOfPalm) { case PALM_SPATIALCONTROL: return palmData->getRawRotation(); case TIP_SPATIALCONTROL: return palmData->getRawRotation(); // currently the tip doesn't have a unique rotation, use the palm rotation } } return glm::quat(); // bad index}glm::vec3 ControllerScriptingInterface::getSpatialControlNormal(int controlIndex) const { int palmIndex = controlIndex / NUMBER_OF_SPATIALCONTROLS_PER_PALM; int controlOfPalm = controlIndex % NUMBER_OF_SPATIALCONTROLS_PER_PALM; const PalmData* palmData = getActivePalm(palmIndex); if (palmData) { switch (controlOfPalm) { case PALM_SPATIALCONTROL: return palmData->getNormal(); case TIP_SPATIALCONTROL: return palmData->getFingerDirection(); } } return glm::vec3(0); // bad index}bool ControllerScriptingInterface::isKeyCaptured(QKeyEvent* event) const { return isKeyCaptured(KeyEvent(*event));}bool ControllerScriptingInterface::isKeyCaptured(const KeyEvent& event) const { // if we've captured some combination of this key it will be in the map return _capturedKeys.contains(event.key, event);}void ControllerScriptingInterface::captureKeyEvents(const KeyEvent& event) { // if it's valid if (event.isValid) { // and not already captured if (!isKeyCaptured(event)) { // then add this KeyEvent record to the captured combos for this key _capturedKeys.insert(event.key, event); } }}void ControllerScriptingInterface::releaseKeyEvents(const KeyEvent& event) { if (event.isValid) { // and not already captured if (isKeyCaptured(event)) { _capturedKeys.remove(event.key, event); } }}bool ControllerScriptingInterface::isJoystickCaptured(int joystickIndex) const { return _capturedJoysticks.contains(joystickIndex);}void ControllerScriptingInterface::captureJoystick(int joystickIndex) { if (!isJoystickCaptured(joystickIndex)) { _capturedJoysticks.insert(joystickIndex); }}void ControllerScriptingInterface::releaseJoystick(int joystickIndex) { if (isJoystickCaptured(joystickIndex)) { _capturedJoysticks.remove(joystickIndex); }}glm::vec2 ControllerScriptingInterface::getViewportDimensions() const { GLCanvas* widget = Application::getInstance()->getGLWidget(); return glm::vec2(widget->width(), widget->height()); }AbstractInputController* ControllerScriptingInterface::createInputController(const QString& deviceName, const QString& tracker) { // This is where we retreive the Device Tracker category and then the sub tracker within it //TODO C++11 auto icIt = _inputControllers.find(0); InputControllerMap::iterator icIt = _inputControllers.find(0); if (icIt != _inputControllers.end()) { return (*icIt).second; } else { // Look for device DeviceTracker::ID deviceID = DeviceTracker::getDeviceID(deviceName.toStdString()); if (deviceID < 0) { deviceID = 0; } // TODO in this current implementation, we just pick the device assuming there is one (normally the Leapmotion) // in the near future we need to change that to a real mapping between the devices and the deviceName // ALso we need to expand the spec so we can fall back on the "default" controller per categories if (deviceID >= 0) { // TODO here again the assumption it's the LeapMotion and so it's a MOtionTracker, this would need to be changed to support different types of devices MotionTracker* motionTracker = dynamic_cast< MotionTracker* > (DeviceTracker::getDevice(deviceID)); if (motionTracker) { MotionTracker::Index trackerID = motionTracker->findJointIndex(tracker.toStdString()); if (trackerID >= 0) { AbstractInputController* inputController = new InputController(deviceID, trackerID, this); _inputControllers.insert(InputControllerMap::value_type(inputController->getKey(), inputController)); return inputController; } } } return 0; }}void ControllerScriptingInterface::releaseInputController(AbstractInputController* input) { _inputControllers.erase(input->getKey());}void ControllerScriptingInterface::updateInputControllers() { //TODO C++11 for (auto it = _inputControllers.begin(); it != _inputControllers.end(); it++) { for (InputControllerMap::iterator it = _inputControllers.begin(); it != _inputControllers.end(); it++) { (*it).second->update(); }}InputController::InputController(int deviceTrackerId, int subTrackerId, QObject* parent) : AbstractInputController(), _deviceTrackerId(deviceTrackerId), _subTrackerId(subTrackerId), _isActive(false){}void InputController::update() { _isActive = false; // TODO for now the InputController is only supporting a JointTracker from a MotionTracker MotionTracker* motionTracker = dynamic_cast< MotionTracker*> (DeviceTracker::getDevice(_deviceTrackerId)); if (motionTracker) { if (_subTrackerId < motionTracker->numJointTrackers()) { const MotionTracker::JointTracker* joint = motionTracker->getJointTracker(_subTrackerId); if (joint->isActive()) { joint->getAbsFrame().getTranslation(_eventCache.absTranslation); joint->getAbsFrame().getRotation(_eventCache.absRotation); joint->getLocFrame().getTranslation(_eventCache.locTranslation); joint->getLocFrame().getRotation(_eventCache.locRotation); _isActive = true; emit spatialEvent(_eventCache); } } }}const unsigned int INPUTCONTROLLER_KEY_DEVICE_OFFSET = 16;const unsigned int INPUTCONTROLLER_KEY_DEVICE_MASK = 16;InputController::Key InputController::getKey() const { return (((_deviceTrackerId & INPUTCONTROLLER_KEY_DEVICE_MASK) << INPUTCONTROLLER_KEY_DEVICE_OFFSET) | _subTrackerId);}
//
// ControllerScriptingInterface.cpp
// interface/src/scripting
//
// Created by Brad Hefta-Gaub on 12/17/13.
// Copyright 2013 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include <HandData.h>
#include <HFBackEvent.h>
#include "Application.h"
#include "devices/MotionTracker.h"
#include "devices/SixenseManager.h"
#include "ControllerScriptingInterface.h"
ControllerScriptingInterface::ControllerScriptingInterface() :
_mouseCaptured(false),
_touchCaptured(false),
_wheelCaptured(false)
{
}
void ControllerScriptingInterface::handleMetaEvent(HFMetaEvent* event) {
if (event->type() == HFActionEvent::startType()) {
emit actionStartEvent(static_cast<HFActionEvent&>(*event));
} else if (event->type() == HFActionEvent::endType()) {
emit actionEndEvent(static_cast<HFActionEvent&>(*event));
} else if (event->type() == HFBackEvent::startType()) {
emit backStartEvent();
} else if (event->type() == HFBackEvent::endType()) {
emit backEndEvent();
}
}
const PalmData* ControllerScriptingInterface::getPrimaryPalm() const {
int leftPalmIndex, rightPalmIndex;
const HandData* handData = Application::getInstance()->getAvatar()->getHandData();
handData->getLeftRightPalmIndices(leftPalmIndex, rightPalmIndex);
if (rightPalmIndex != -1) {
return &handData->getPalms()[rightPalmIndex];
}
return NULL;
}
int ControllerScriptingInterface::getNumberOfActivePalms() const {
const HandData* handData = Application::getInstance()->getAvatar()->getHandData();
int numberOfPalms = handData->getNumPalms();
int numberOfActivePalms = 0;
for (int i = 0; i < numberOfPalms; i++) {
if (getPalm(i)->isActive()) {
numberOfActivePalms++;
}
}
return numberOfActivePalms;
}
const PalmData* ControllerScriptingInterface::getPalm(int palmIndex) const {
const HandData* handData = Application::getInstance()->getAvatar()->getHandData();
return &handData->getPalms()[palmIndex];
}
const PalmData* ControllerScriptingInterface::getActivePalm(int palmIndex) const {
const HandData* handData = Application::getInstance()->getAvatar()->getHandData();
int numberOfPalms = handData->getNumPalms();
int numberOfActivePalms = 0;
for (int i = 0; i < numberOfPalms; i++) {
if (getPalm(i)->isActive()) {
if (numberOfActivePalms == palmIndex) {
return &handData->getPalms()[i];
}
numberOfActivePalms++;
}
}
return NULL;
}
bool ControllerScriptingInterface::isPrimaryButtonPressed() const {
const PalmData* primaryPalm = getPrimaryPalm();
if (primaryPalm) {
if (primaryPalm->getControllerButtons() & BUTTON_FWD) {
return true;
}
}
return false;
}
glm::vec2 ControllerScriptingInterface::getPrimaryJoystickPosition() const {
const PalmData* primaryPalm = getPrimaryPalm();
if (primaryPalm) {
return glm::vec2(primaryPalm->getJoystickX(), primaryPalm->getJoystickY());
}
return glm::vec2(0);
}
int ControllerScriptingInterface::getNumberOfButtons() const {
return getNumberOfActivePalms() * NUMBER_OF_BUTTONS_PER_PALM;
}
bool ControllerScriptingInterface::isButtonPressed(int buttonIndex) const {
int palmIndex = buttonIndex / NUMBER_OF_BUTTONS_PER_PALM;
int buttonOnPalm = buttonIndex % NUMBER_OF_BUTTONS_PER_PALM;
const PalmData* palmData = getActivePalm(palmIndex);
if (palmData) {
switch (buttonOnPalm) {
case 0:
return palmData->getControllerButtons() & BUTTON_0;
case 1:
return palmData->getControllerButtons() & BUTTON_1;
case 2:
return palmData->getControllerButtons() & BUTTON_2;
case 3:
return palmData->getControllerButtons() & BUTTON_3;
case 4:
return palmData->getControllerButtons() & BUTTON_4;
case 5:
return palmData->getControllerButtons() & BUTTON_FWD;
}
}
return false;
}
int ControllerScriptingInterface::getNumberOfTriggers() const {
return getNumberOfActivePalms() * NUMBER_OF_TRIGGERS_PER_PALM;
}
float ControllerScriptingInterface::getTriggerValue(int triggerIndex) const {
// we know there's one trigger per palm, so the triggerIndex is the palm Index
int palmIndex = triggerIndex;
const PalmData* palmData = getActivePalm(palmIndex);
if (palmData) {
return palmData->getTrigger();
}
return 0.0f;
}
int ControllerScriptingInterface::getNumberOfJoysticks() const {
return getNumberOfActivePalms() * NUMBER_OF_JOYSTICKS_PER_PALM;
}
glm::vec2 ControllerScriptingInterface::getJoystickPosition(int joystickIndex) const {
// we know there's one joystick per palm, so the joystickIndex is the palm Index
int palmIndex = joystickIndex;
const PalmData* palmData = getActivePalm(palmIndex);
if (palmData) {
return glm::vec2(palmData->getJoystickX(), palmData->getJoystickY());
}
return glm::vec2(0);
}
int ControllerScriptingInterface::getNumberOfSpatialControls() const {
return getNumberOfActivePalms() * NUMBER_OF_SPATIALCONTROLS_PER_PALM;
}
glm::vec3 ControllerScriptingInterface::getSpatialControlPosition(int controlIndex) const {
int palmIndex = controlIndex / NUMBER_OF_SPATIALCONTROLS_PER_PALM;
int controlOfPalm = controlIndex % NUMBER_OF_SPATIALCONTROLS_PER_PALM;
const PalmData* palmData = getActivePalm(palmIndex);
if (palmData) {
switch (controlOfPalm) {
case PALM_SPATIALCONTROL:
return palmData->getPosition();
case TIP_SPATIALCONTROL:
return palmData->getTipPosition();
}
}
return glm::vec3(0); // bad index
}
glm::vec3 ControllerScriptingInterface::getSpatialControlVelocity(int controlIndex) const {
int palmIndex = controlIndex / NUMBER_OF_SPATIALCONTROLS_PER_PALM;
int controlOfPalm = controlIndex % NUMBER_OF_SPATIALCONTROLS_PER_PALM;
const PalmData* palmData = getActivePalm(palmIndex);
if (palmData) {
switch (controlOfPalm) {
case PALM_SPATIALCONTROL:
return palmData->getVelocity();
case TIP_SPATIALCONTROL:
return palmData->getTipVelocity();
}
}
return glm::vec3(0); // bad index
}
glm::quat ControllerScriptingInterface::getSpatialControlRawRotation(int controlIndex) const {
int palmIndex = controlIndex / NUMBER_OF_SPATIALCONTROLS_PER_PALM;
int controlOfPalm = controlIndex % NUMBER_OF_SPATIALCONTROLS_PER_PALM;
const PalmData* palmData = getActivePalm(palmIndex);
if (palmData) {
switch (controlOfPalm) {
case PALM_SPATIALCONTROL:
return palmData->getRawRotation();
case TIP_SPATIALCONTROL:
return palmData->getRawRotation(); // currently the tip doesn't have a unique rotation, use the palm rotation
}
}
return glm::quat(); // bad index
}
glm::vec3 ControllerScriptingInterface::getSpatialControlNormal(int controlIndex) const {
int palmIndex = controlIndex / NUMBER_OF_SPATIALCONTROLS_PER_PALM;
int controlOfPalm = controlIndex % NUMBER_OF_SPATIALCONTROLS_PER_PALM;
const PalmData* palmData = getActivePalm(palmIndex);
if (palmData) {
switch (controlOfPalm) {
case PALM_SPATIALCONTROL:
return palmData->getNormal();
case TIP_SPATIALCONTROL:
return palmData->getFingerDirection();
}
}
return glm::vec3(0); // bad index
}
bool ControllerScriptingInterface::isKeyCaptured(QKeyEvent* event) const {
return isKeyCaptured(KeyEvent(*event));
}
bool ControllerScriptingInterface::isKeyCaptured(const KeyEvent& event) const {
// if we've captured some combination of this key it will be in the map
return _capturedKeys.contains(event.key, event);
}
void ControllerScriptingInterface::captureKeyEvents(const KeyEvent& event) {
// if it's valid
if (event.isValid) {
// and not already captured
if (!isKeyCaptured(event)) {
// then add this KeyEvent record to the captured combos for this key
_capturedKeys.insert(event.key, event);
}
}
}
void ControllerScriptingInterface::releaseKeyEvents(const KeyEvent& event) {
if (event.isValid) {
// and not already captured
if (isKeyCaptured(event)) {
_capturedKeys.remove(event.key, event);
}
}
}
bool ControllerScriptingInterface::isJoystickCaptured(int joystickIndex) const {
return _capturedJoysticks.contains(joystickIndex);
}
void ControllerScriptingInterface::captureJoystick(int joystickIndex) {
if (!isJoystickCaptured(joystickIndex)) {
_capturedJoysticks.insert(joystickIndex);
}
}
void ControllerScriptingInterface::releaseJoystick(int joystickIndex) {
if (isJoystickCaptured(joystickIndex)) {
_capturedJoysticks.remove(joystickIndex);
}
}
glm::vec2 ControllerScriptingInterface::getViewportDimensions() const {
GLCanvas* widget = Application::getInstance()->getGLWidget();
return glm::vec2(widget->width(), widget->height());
}
AbstractInputController* ControllerScriptingInterface::createInputController(const QString& deviceName, const QString& tracker) {
// This is where we retreive the Device Tracker category and then the sub tracker within it
//TODO C++11 auto icIt = _inputControllers.find(0);
InputControllerMap::iterator icIt = _inputControllers.find(0);
if (icIt != _inputControllers.end()) {
return (*icIt).second;
} else {
// Look for device
DeviceTracker::ID deviceID = DeviceTracker::getDeviceID(deviceName.toStdString());
if (deviceID < 0) {
deviceID = 0;
}
// TODO in this current implementation, we just pick the device assuming there is one (normally the Leapmotion)
// in the near future we need to change that to a real mapping between the devices and the deviceName
// ALso we need to expand the spec so we can fall back on the "default" controller per categories
if (deviceID >= 0) {
// TODO here again the assumption it's the LeapMotion and so it's a MOtionTracker, this would need to be changed to support different types of devices
MotionTracker* motionTracker = dynamic_cast< MotionTracker* > (DeviceTracker::getDevice(deviceID));
if (motionTracker) {
MotionTracker::Index trackerID = motionTracker->findJointIndex(tracker.toStdString());
if (trackerID >= 0) {
AbstractInputController* inputController = new InputController(deviceID, trackerID, this);
_inputControllers.insert(InputControllerMap::value_type(inputController->getKey(), inputController));
return inputController;
}
}
}
return 0;
}
}
void ControllerScriptingInterface::releaseInputController(AbstractInputController* input) {
_inputControllers.erase(input->getKey());
}
void ControllerScriptingInterface::updateInputControllers() {
//TODO C++11 for (auto it = _inputControllers.begin(); it != _inputControllers.end(); it++) {
for (InputControllerMap::iterator it = _inputControllers.begin(); it != _inputControllers.end(); it++) {
(*it).second->update();
}
}
InputController::InputController(int deviceTrackerId, int subTrackerId, QObject* parent) :
AbstractInputController(),
_deviceTrackerId(deviceTrackerId),
_subTrackerId(subTrackerId),
_isActive(false)
{
}
void InputController::update() {
_isActive = false;
// TODO for now the InputController is only supporting a JointTracker from a MotionTracker
MotionTracker* motionTracker = dynamic_cast< MotionTracker*> (DeviceTracker::getDevice(_deviceTrackerId));
if (motionTracker) {
if (_subTrackerId < motionTracker->numJointTrackers()) {
const MotionTracker::JointTracker* joint = motionTracker->getJointTracker(_subTrackerId);
if (joint->isActive()) {
joint->getAbsFrame().getTranslation(_eventCache.absTranslation);
joint->getAbsFrame().getRotation(_eventCache.absRotation);
joint->getLocFrame().getTranslation(_eventCache.locTranslation);
joint->getLocFrame().getRotation(_eventCache.locRotation);
_isActive = true;
emit spatialEvent(_eventCache);
}
}
}
}
const unsigned int INPUTCONTROLLER_KEY_DEVICE_OFFSET = 16;
const unsigned int INPUTCONTROLLER_KEY_DEVICE_MASK = 16;
InputController::Key InputController::getKey() const {
return (((_deviceTrackerId & INPUTCONTROLLER_KEY_DEVICE_MASK) << INPUTCONTROLLER_KEY_DEVICE_OFFSET) | _subTrackerId);
}