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MotionManager.cc Go to the documentation of this file. #include "MotionManager.h" #include "Shared/debuget.h" #include "Shared/WorldState.h" #include "Events/EventRouter.h" #include "Shared/StackTrace.h" #include "Shared/ProjectInterface.h" #ifndef PLATFORM_APERIOS # include "IPC/MessageQueue.h" # include "IPC/MessageReceiver.h" # include "Shared/ProjectInterface.h" #endif #include "Shared/ERS210Info.h" #include "Shared/ERS220Info.h" #include "Shared/ERS7Info.h" #include "Shared/Config.h" #include <list> MotionManager * motman=NULL; int MotionManager::_MMaccID[ProcessID::NumProcesses]; EventTranslator* MotionManager::etrans=NULL; const float MotionManager::kIgnoredPriority =-1; const float MotionManager::kBackgroundPriority = 0; const float MotionManager::kLowPriority = 5; const float MotionManager::kStdPriority = 10; const float MotionManager::kHighPriority = 50; const float MotionManager::kEmergencyPriority = 100; using namespace std; //! just for convenience typedef unsigned int uint; MotionManager::MotionManager() : pidchanges(),cmdlist(),cur_cmd(invalid_MC_ID),MMlock(),numAcc(0) { for(uint x=0; x<NumOutputs; x++) cmdSums[x]=0; } #ifdef PLATFORM_APERIOS void MotionManager::InitAccess(OSubject* subj) { if(numAcc==MAX_ACCESS) { printf("*** ERROR *** attempted to register more accessors with MotionManager than allowed by MAX_ACCESS\n"); return; } _MMaccID[ProcessID::getID()]=numAcc++; // cout << "ID is now " << getAccID() << " of " << numAcc << endl; MMlock.lock(getAccID()); // accRegs[accID].init(); subjs[getAccID()]=subj; if(cmdlist.size()>0) //Shouldn't happen - busy wait in addMotion cout << "*** WARNING *** MOTIONS ADDED BEFORE ALL INITACCESSED" << endl; MMlock.unlock(); } #else //now PLATFORM_LOCAL void MotionManager::InitAccess(MessageQueueBase& mcbufq, Resource& behaviorLock) { if(numAcc==MAX_ACCESS) { printf("*** ERROR *** attempted to register more accessors with MotionManager than allowed by MAX_ACCESS\n"); return; } _MMaccID[ProcessID::getID()]=numAcc++; // cout << "ID is now " << getAccID() << " of " << numAcc << endl; MMlock.lock(getAccID()); subjs[getAccID()]=&mcbufq; mcrecvs[getAccID()]=new MessageReceiver(*subjs[getAccID()],receivedMsg); procLocks[getAccID()]=&behaviorLock; if(cmdlist.size()>0) //Shouldn't happen - busy wait in doAddMotion cout << "*** WARNING *** MOTIONS ADDED BEFORE ALL INITACCESSED" << endl; MMlock.unlock(); } #endif //PLATFORM-specific initialization void MotionManager::RemoveAccess() { #ifndef PLATFORM_APERIOS //kill the message receiver before we get the motion manager lock // that way if there's a message pending, it can be processed instead of deadlocking mcrecvs[getAccID()]->finish(); delete mcrecvs[getAccID()]; mcrecvs[getAccID()]=NULL; #endif func_begin(); for(MC_ID mc_id=cmdlist.begin(); mc_id!=cmdlist.end(); mc_id=cmdlist.next(mc_id)) { if(cmdlist[mc_id].rcr[getAccID()]!=NULL) { MotionCommand* mc=checkoutMotion(mc_id,true); int found=0; for(unsigned int i=0; i<numAcc; i++) { if(cmdlist[mc_id].rcr[i]!=NULL) { found++; } } cout << "Warning: " << ProcessID::getIDStr() << " dropping motion command " << mc_id << ", was active at shutdown " << (mc->getAutoPrune()?"(was set for autoprune)":"(leaked?)") << endl; #ifdef PLATFORM_APERIOS int refs=1; #else int refs=cmdlist[mc_id].rcr[getAccID()]->NumberOfLocalReference(); #endif if(refs>1) cout << "Warning: " << ProcessID::getIDStr() << " still had " << refs-1 << " references to motion command " << mc_id << " as it was being dropped (these are now invalid)" << endl; for(int i=0; i<refs; ++i) cmdlist[mc_id].rcr[getAccID()]->RemoveReference(); cmdlist[mc_id].rcr[getAccID()]=NULL; if(found==1) { MC_ID p=cmdlist.prev(mc_id); push_free(mc_id); //don't check in -- lock destructor will release the lock as the entry is destructed mc_id=p; } else { checkinMotion(mc_id); } } } func_end(); } MotionManager::~MotionManager() { if(!cmdlist.empty()) { func_begin(); cout << "WARNING: MotionManager destruction with MotionCommands still attached." << endl; while(!cmdlist.empty()) { MC_ID mc_id=cmdlist.begin(); for(unsigned int i=0; i<numAcc; i++) if(cmdlist[mc_id].rcr[i]!=NULL) cout << "MC " << mc_id << " was still referenced by InitAccess caller #" << getAccID() << endl; push_free(mc_id); } func_end(); } } void MotionManager::setOutput(const MotionCommand* caller, unsigned int output, const OutputCmd& cmd) { if(output >= NumOutputs) return; if(cmd.weight<=0) return; if(caller==NULL || caller->getID()!=cur_cmd) func_begin(); if(cur_cmd==invalid_MC_ID) { cmdSums[output]=cmd.value; } else if(getPriority(cur_cmd)>=kBackgroundPriority) { cmdstatelist_t& curstatelist=cmdstates[output]; cmdstatelist_t::index_t ent=curstatelist.begin(); if(ent==curstatelist.end() || curstatelist[ent].mcid!=cur_cmd) curstatelist.push_front(OutputState(output,getPriority(cur_cmd),cur_cmd,cmd)); else for(unsigned int i=0; i<NumFrames; i++) curstatelist[ent].frames[i]=cmd; } if(caller==NULL || caller->getID()!=cur_cmd) func_end(); } void MotionManager::setOutput(const MotionCommand* caller, unsigned int output, const OutputCmd& cmd, unsigned int frame) { if(output >= NumOutputs) return; if(cmd.weight<=0) return; if(caller==NULL || caller->getID()!=cur_cmd) func_begin(); if(cur_cmd==invalid_MC_ID) { cmdSums[output]=cmd.value; } else if(getPriority(cur_cmd)>=kBackgroundPriority) { cmdstatelist_t& curstatelist=cmdstates[output]; cmdstatelist_t::index_t ent=curstatelist.begin(); if(ent==curstatelist.end() || curstatelist[ent].mcid!=cur_cmd) curstatelist.push_front(OutputState(output,getPriority(cur_cmd),cur_cmd,cmd,frame)); else curstatelist[ent].frames[frame]=cmd; } if(caller==NULL || caller->getID()!=cur_cmd) func_end(); } void MotionManager::setOutput(const MotionCommand* caller, unsigned int output, const OutputCmd ocmds[NumFrames]) { if(output >= NumOutputs) return; unsigned int hasWeight=NumFrames; for(unsigned int i=NumFrames-1; i!=-1U; i--) if(ocmds[i].weight>0) { hasWeight=i; break; } if(hasWeight==NumFrames) return; if(caller==NULL || caller->getID()!=cur_cmd) func_begin(); if(cur_cmd==invalid_MC_ID) { cmdSums[output]=ocmds[hasWeight].value; } else if(getPriority(cur_cmd)>=kBackgroundPriority) { cmdstatelist_t& curstatelist=cmdstates[output]; cmdstatelist_t::index_t ent=curstatelist.begin(); if(ent==curstatelist.end() || curstatelist[ent].mcid!=cur_cmd) curstatelist.push_front(OutputState(output,getPriority(cur_cmd),cur_cmd,ocmds)); else for(unsigned int i=0; i<NumFrames; i++) curstatelist[ent].frames[i]=ocmds[i]; } if(caller==NULL || caller->getID()!=cur_cmd) func_end(); } void MotionManager::setOutput(const MotionCommand* caller, unsigned int output, const OutputPID& pid) { if(output >= NumOutputs) return; if(caller==NULL || caller->getID()!=cur_cmd) func_begin(); if(cur_cmd==invalid_MC_ID) { setPID(output,pid.pid); } else if(getPriority(cur_cmd)>=kBackgroundPriority) { cmdstatelist_t& curstatelist=cmdstates[output]; cmdstatelist_t::index_t ent=curstatelist.begin(); if(ent==curstatelist.end() || curstatelist[ent].mcid!=cur_cmd) curstatelist.push_front(OutputState(output,getPriority(cur_cmd),cur_cmd,pid)); else curstatelist[ent].pid=pid; } if(caller==NULL || caller->getID()!=cur_cmd) func_end(); } void MotionManager::setOutput(const MotionCommand* caller, unsigned int output, const OutputCmd& cmd, const OutputPID& pid) { if(output >= NumOutputs) return; if(caller==NULL || caller->getID()!=cur_cmd) func_begin(); if(cur_cmd==invalid_MC_ID) { if(cmd.weight>0) cmdSums[output]=cmd.value; setPID(output,pid.pid); } else if(getPriority(cur_cmd)>=kBackgroundPriority) { cmdstatelist_t& curstatelist=cmdstates[output]; cmdstatelist_t::index_t ent=curstatelist.begin(); if(ent==curstatelist.end() || curstatelist[ent].mcid!=cur_cmd) curstatelist.push_front(OutputState(output,getPriority(cur_cmd),cur_cmd,cmd,pid)); else { for(unsigned int i=0; i<NumFrames; i++) curstatelist[ent].frames[i]=cmd; curstatelist[ent].pid=pid; } } if(caller==NULL || caller->getID()!=cur_cmd) func_end(); } void MotionManager::setOutput(const MotionCommand* caller, unsigned int output, const OutputCmd ocmds[NumFrames], const OutputPID& pid) { if(output >= NumOutputs) return; if(caller==NULL || caller->getID()!=cur_cmd) func_begin(); if(cur_cmd==invalid_MC_ID) { if(ocmds[NumFrames-1].weight>0) cmdSums[output]=ocmds[NumFrames-1].value; setPID(output,pid.pid); } else if(getPriority(cur_cmd)>=kBackgroundPriority) { cmdstatelist_t& curstatelist=cmdstates[output]; cmdstatelist_t::index_t ent=curstatelist.begin(); if(ent==curstatelist.end() || curstatelist[ent].mcid!=cur_cmd) curstatelist.push_front(OutputState(output,getPriority(cur_cmd),cur_cmd,ocmds,pid)); else { for(unsigned int i=0; i<NumFrames; i++) curstatelist[ent].frames[i]=ocmds[i]; curstatelist[ent].pid=pid; } } if(caller==NULL || caller->getID()!=cur_cmd) func_end(); } /*! What's worse? A plethora of functions which are only called, and only useful at one place, * or a big massive function which doesn't pollute the namespace? This is the latter, for * better or worse. */ void MotionManager::getOutputs(float outputs[][NumOutputs]) { // if(begin(id)!=end()) //if(state && state->buttons[LFrPawOffset]) cout << "getAngles..." << flush; if(state==NULL) { // we haven't gotten the WorldState memory region from Main yet, just set LEDs to a wierd pattern and leave for(uint f=0;f<NumFrames;f++) for(uint i=0; i<NumOutputs; i++) outputs[f][i]=0; for(uint f=0;f<NumFrames;f++) for(uint l=0; l<NumLEDs; l++) outputs[f][l]=l/(NumLEDs-1.0); // if(begin(id)!=end()) //if(state && state->buttons[LFrPawOffset]) cout << "getangles-nostate-done..." << flush; return; } func_begin(); // if(begin(id)!=end()) // cout << id << "..." << flush; //cout << "CHECKOUT..." << flush; for(uint output=0; output<NumOutputs; output++) cmdstates[output].clear(); // for each PID joint which is set to 0 power, set the background // position value to current sensed value this prevents jerking back // to the previous position when joint(s) are moved during 0 power, // and then power is turned back on. (power here is in the 0 pid // sense, the joints are still receiving power from the system - // that's a separate system call) // Note that we wouldn't want to do this all the time, because // miscalibration between the sensed position and target position // will cause joints to drift to the extremities of motion, in some // cases, very quickly, and in worse cases, colliding with other // joints for(uint output=0; output<NumPIDJoints; output++) if(state->pids[output][0]==0 && state->pids[output][1]==0 && state->pids[output][2]==0) cmdSums[output]=state->outputs[output]; //std::cout << "UPDATE..." << std::flush; std::list<MC_ID> unlocked; for(MC_ID it=begin(); it!=end(); it=next(it)) // check out all the MotionCommands (only one at a time tho) if(cmdlist[it].lastAccessor!=(accID_t)-1) unlocked.push_back(it); unsigned int lastProcessed=get_time(); while(unlocked.size()>0) { // keep cycling through all the locks we didn't get for(std::list<MC_ID>::iterator it=unlocked.begin(); it!=unlocked.end(); ) { MotionCommand* mc=checkoutMotion(*it,false); if(mc==NULL) it++; //we didn't get a lock, skip it (we'll keep looping until we get it) else { // we got a lock cur_cmd=*it; bool prune=true; try { prune=mc->shouldPrune(); } catch(const std::exception& ex) { ProjectInterface::uncaughtException(__FILE__,__LINE__,"Occurred during MotionCommand prune test, will prune",&ex); } catch(...) { ProjectInterface::uncaughtException(__FILE__,__LINE__,"Occurred during MotionCommand prune test, will prune",NULL); } if(prune) { cout << "Removing expired " << *it << " (autoprune)" << endl; checkinMotion(*it); // release lock, done with motion (don't need to (and shouldn't) keep lock through the removeMotion()) //only the last process to receive the remove notification actually does the remove, and //wouldn't be able to undo the thread portion of the lock made in this process //so we have to take off our own lock here first. removeMotion(*it); } else { try { mc->updateOutputs(); // the MotionCommand should make calls to setOutput from within here } catch(const std::exception& ex) { ProjectInterface::uncaughtException(__FILE__,__LINE__,"Occurred during MotionCommand updateOutputs",&ex); } catch(...) { ProjectInterface::uncaughtException(__FILE__,__LINE__,"Occurred during MotionCommand updateOutputs",NULL); } checkinMotion(*it); // release lock, done with motion } cur_cmd=invalid_MC_ID; // remove id from list of unprocessed motioncommands std::list<MC_ID>::iterator rem=it++; unlocked.erase(rem); lastProcessed=get_time(); } } if(get_time()-lastProcessed>FrameTime*NumFrames/2) break; } if(unlocked.size()>0) { cerr << "Warning: MotionManager was unable to obtain a lock on MCs: "; for(std::list<MC_ID>::iterator it=unlocked.begin(); it!=unlocked.end(); it++) cerr << *it << ' '; cerr << endl; cerr << (unlocked.size()>1?"They":"It") << " may have been left locked by a Behavior while it was busy." << endl; cerr << "Try reducing the scope of your MMAccessor or call checkinMotion sooner." << endl; } // sort the list of requested outputs based on priority // (insertion sort, data structure is linked list) for(uint output=0; output<NumOutputs; output++) { cmdstatelist_t& curstatelist=cmdstates[output]; for(cmdstatelist_t::index_t bit=curstatelist.begin(); bit!=curstatelist.end(); bit=curstatelist.next(bit)) { MC_ID high_ent=bit; float high_p=cmdlist[curstatelist[high_ent].mcid].priority; for(cmdstatelist_t::index_t cit=curstatelist.next(bit); cit!=curstatelist.end(); cit=curstatelist.next(cit)) { float curp=cmdlist[curstatelist[cit].mcid].priority; if(curp>high_p) { high_p=curp; high_ent=cit; } } curstatelist.swap(bit,high_ent); /*if(curstatelist.countf()!=curstatelist.countb() || curstatelist.countf()!=curstatelist.size()) { cout << "LOST ONE! " << bit << ' ' << high_ent << endl; cout << curstatelist.countf() << ' ' << curstatelist.countb() << ' ' << curstatelist.size() << endl; }*/ bit=high_ent; } } // now we've got, for each output, a list of requested values sorted by priority // summarize each output for(uint frame=0; frame<NumFrames; frame++) { for(uint output=0; output<NumOutputs; output++) { cmdstatelist_t& curstatelist=cmdstates[output]; float alpha=1; OutputCmd sumcmd; /*if(curstatelist.size()>1) { cout << get_time() << "." << frame << " " << outputNames[output] << ": "; for(cmdstatelist_t::index_t ent=curstatelist.begin(); ent!=curstatelist.end(); ent=curstatelist.next(ent)) cout << " (" << curstatelist[ent].frames[frame].value <<',' << curstatelist[ent].frames[frame].weight << ',' << curstatelist[ent].priority << ')'; cout << endl; }*/ cmdstatelist_t::index_t ent=curstatelist.begin(); while(ent!=curstatelist.end() && alpha>0) { OutputCmd curcmd; float curp=curstatelist[ent].priority; float curalpha=1; // curalpha is cumulative product of leftovers (weights between 0 and 1) for(;ent!=curstatelist.end() && curstatelist[ent].priority==curp; ent=curstatelist.next(ent)) { //weighted average within priority level float curweight=curstatelist[ent].frames[frame].weight; ASSERT(curweight>=0,"negative output weights are illegal, MC_ID="<<curstatelist[ent].mcid<<" joint="<<outputNames[output]<<" frame="<<frame<<" weight="<<curweight); if(curweight<0) //negative weights are illegal curweight=0; curcmd.value+=curstatelist[ent].frames[frame].value*curweight; curcmd.weight+=curweight; if(curweight<1) curalpha*=(1-curweight); else curalpha=0; } if(curcmd.weight>0) { //weighted average of priority levels sumcmd.value+=curcmd.value/curcmd.weight*alpha*(1-curalpha); sumcmd.weight+=alpha*(1-curalpha); alpha*=curalpha; } } //if(curstatelist.size()>1) // cout << " -> " << sumcmd.value/sumcmd.weight << ',' << sumcmd.weight << " @ " << alpha << endl; if(sumcmd.weight>0) { sumcmd.value/=sumcmd.weight; outputs[frame][output]=sumcmd.value; } else //if zero weight, hold last value sumcmd.value=outputs[frame][output]=cmdSums[output]; if(frame==NumFrames-1) cmds[output]=sumcmd; } } for(uint output=0; output<NumOutputs; output++) cmdSums[output]=outputs[NumFrames-1][output]; for (uint frame_idx = 0; frame_idx < NumFrames; frame_idx++) { for(uint output=PIDJointOffset; output<PIDJointOffset+NumPIDJoints; output++) outputs[frame_idx][output] = (outputs[frame_idx][output] + config->motion.calibration_offset[output-PIDJointOffset]) * config->motion.calibration_scale[output-PIDJointOffset]; } // now summarize each output's PID values (for those which use PID control) for(uint output=PIDJointOffset; output<PIDJointOffset+NumPIDJoints; output++) { cmdstatelist_t& curstatelist=cmdstates[output]; float alpha=1; float sumpid[3]; for(uint i=0; i<3; i++) sumpid[i]=0; float sumweight=0; cmdstatelist_t::index_t ent=curstatelist.begin(); while(ent!=curstatelist.end() && alpha>0) { float tmppid[3]; for(uint i=0; i<3; i++) tmppid[i]=0; float tmpweight=0; float curp=curstatelist[ent].priority; float curalpha=1; // curalpha is multiplicative sum of leftovers (weights between 0 and 1) for(;ent!=curstatelist.end() && curstatelist[ent].priority==curp; ent=curstatelist.next(ent)) { //weighted average within priority level float curweight=curstatelist[ent].pid.weight; ASSERT(curweight>=0,"negative PID weights are illegal") if(curweight<0) //negative weights are illegal curweight=0; for(uint i=0; i<3; i++) tmppid[i]+=curstatelist[ent].pid.pid[i]*curweight; tmpweight+=curweight; if(curweight<1) curalpha*=(1-curweight); else curalpha=0; } if(tmpweight>0) { //weighted average of priority levels for(uint i=0; i<3; i++) sumpid[i]+=tmppid[i]/tmpweight*(1-curalpha); sumweight+=(1-curalpha); alpha*=curalpha; } } if(sumweight>0) { for(uint i=0; i<3; i++) sumpid[i]/=sumweight; setPID(output,sumpid); } } func_end(); // if(begin(id)!=end()) //if(state && state->buttons[LFrPawOffset]) cout << "getAngles-done." << flush; } /*! This function handles the conversion from the Tekkotsu format (one * regular IEEE float per parameter, to the OPEN-R format (which * takes a specialized, reduced precision floating point number) This * is all documented in PIDMC as well. * * In order to send Tekkotsu's PIDs to the system, they are converted * to the gain/shift format. On the ERS-2xx, we could dynamically * choose shift values to allow more precision in setting values. * * With the ERS-7, all shifts are shared, so they must be set to a * common set of values, defined by WorldState::DefaultPIDShifts. * This limits the range of gains which can then be set. * * Due to the mysterious warning which would occur with the 2xx, * (AGRMSDriver::SetGain() : 0x0A IS USED FOR GAIN SHIFT VALUE.) and * since this seems to be the way things are going, all models now, * by default, use global shift values (which can vary from model to * model, just global for each model) * * You can revert to the dynamic shift selection by commenting-in * the noted code section below. * * A final note: the OPENR::SetJointGain function seems to be * a rather costly function call. You should probably try to avoid * setting PIDs at too high a frequency. */ bool #ifdef PLATFORM_APERIOS MotionManager::updatePIDs(OPrimitiveID primIDs[NumOutputs]) { #else MotionManager::updatePIDs() { #endif //cout << "updatePIDs " << endl; bool dirty=!pidchanges.empty(); while(!pidchanges.empty()) { #ifdef PLATFORM_APERIOS float gain[3]; word shift[3]; //if you want to enforce the default shifts: for(uint i=0; i<3; i++) { shift[i]=DefaultPIDShifts[i]; gain[i]=pidchanges.front().pids[i]*(1<<(0x10-shift[i])); } //if you want to allow shifts to move for better precision: // this is OK on 2xx, although it occasionally produces warnings like: // AGRMSDriver::SetGain() : 0x0A IS USED FOR GAIN SHIFT VALUE. // It still seems to work fine though. // HOWEVER, the ERS-7 is a different story. Apparently ( https://openr.aibo.com/cgi-bin/openr/e_regi/im_trbbs.cgi?uid=general&df=bbs.dat&prm=TAN&pg=1&no=0893#0893 ) // all joints share the same shift, and so there must be one // global setting enforced. If this is the way things are heading, // might as well just have everyone use the first method instead. // but here's the more dynamic way just for posterity: /* for(uint i=0; i<3; i++) { gain[i]=pidchanges.front().pids[i]*2; shift[i]=0xF; while(shift[i]!=2 && (gain[i]!=(word)gain[i] || gain[i]<=1) && gain[i]<0x20) { gain[i]*=2; shift[i]--; } } */ //some debugging output (pick your favorite joint - i was having trouble with the ERS-7 nod joint in particular) //if(pidchanges.front().joint==HeadOffset+NodOffset) //cout << (word)gain[0] << ' ' << shift[0] << " " << (word)gain[1] << ' ' << shift[1] << " " << (word)gain[2] << ' ' << shift[2] << endl; //cout << gain[0] << ' ' << shift[0] << " " << gain[1] << ' ' << shift[1] << " " << gain[2] << ' ' << shift[2] << endl; OPENR::SetJointGain(primIDs[pidchanges.front().joint],(word)gain[0],(word)gain[1],(word)gain[2],shift[0],shift[1],shift[2]); #endif //PLATFORM_APERIOS or PLATFORM_LOCAL for(uint i=0; i<3; i++) state->pids[pidchanges.front().joint][i]=pidchanges.front().pids[i]; pidchanges.pop_front(); } return dirty; } #ifdef PLATFORM_APERIOS void MotionManager::receivedMsg(const ONotifyEvent& event) { // cout << "receivedMsg..." << flush; func_begin(); // cout << id << "..." << flush; //cout << "Received at " << get_time() << endl; for(int x=0; x<event.NumOfData(); x++) processMsg(event.RCData(x)); // cout << "receivedMsg-done" << endl; func_end(); } #else //PLATFORM_LOCAL bool MotionManager::receivedMsg(RCRegion* msg) { try { MarkScope l(*motman->procLocks[getAccID()]); /*MotionManagerMsg * mminfo = reinterpret_cast<MotionManagerMsg*>(msg->Base()); if(mminfo->creatorPID==ProcessID::getID()) return true; //don't process echos*/ motman->processMsg(msg); } catch(const std::exception& ex) { if(!ProjectInterface::uncaughtException(__FILE__,__LINE__,"Occurred during MotionManagerMsg processing (MotionManager::receivedMsg)",&ex)) throw;