2 * Copyright © 2017 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation, either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
15 package org.altusmetrum.altoslib_14;
19 public class AltosFlightSeries extends AltosDataListener {
21 public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
23 public double speed_filter_width = 4.0;
24 public double accel_filter_width = 1.0;
26 public int[] indices() {
27 int[] indices = new int[series.size()];
28 for (int i = 0; i < indices.length; i++)
30 step_indices(indices);
34 private double time(int id, int index) {
35 AltosTimeSeries s = series.get(id);
38 return Double.NEGATIVE_INFINITY;
40 if (index < s.values.size())
41 return s.values.get(index).time;
42 return Double.POSITIVE_INFINITY;
45 public boolean step_indices(int[] indices) {
46 double min_next = time(0, indices[0]+1);
48 for (int i = 1; i < indices.length; i++) {
49 double next = time(i, indices[i]+1);
54 if (min_next == Double.POSITIVE_INFINITY)
57 for (int i = 0; i < indices.length; i++) {
58 double t = time(i, indices[i] + 1);
66 public double time(int[] indices) {
67 double max = time(0, indices[0]);
69 for (int i = 1; i < indices.length; i++) {
70 double t = time(i, indices[i]);
77 public double value(String name, int[] indices) {
78 for (int i = 0; i < indices.length; i++) {
79 AltosTimeSeries s = series.get(i);
80 if (s.label.equals(name)) {
81 int index = indices[i];
84 if (index >= s.values.size())
85 index = s.values.size() - 1;
86 return s.values.get(index).value;
89 return AltosLib.MISSING;
92 public double value(String name, double time) {
93 for (AltosTimeSeries s : series) {
94 if (s.label.equals(name))
97 return AltosLib.MISSING;
100 public double value_before(String name, double time) {
101 for (AltosTimeSeries s : series) {
102 if (s.label.equals(name))
103 return s.value_before(time);
105 return AltosLib.MISSING;
108 public double value_after(String name, double time) {
109 for (AltosTimeSeries s : series) {
110 if (s.label.equals(name))
111 return s.value_after(time);
113 return AltosLib.MISSING;
116 public AltosTimeSeries make_series(String label, AltosUnits units) {
117 return new AltosTimeSeries(label, units);
120 public void add_series(AltosTimeSeries s) {
121 for (int e = 0; e < series.size(); e++) {
122 if (s.compareTo(series.get(e)) < 0){
130 public AltosTimeSeries add_series(String label, AltosUnits units) {
131 AltosTimeSeries s = make_series(label, units);
136 public void remove_series(AltosTimeSeries s) {
140 public boolean has_series(String label) {
141 for (AltosTimeSeries s : series)
142 if (s.label.equals(label))
147 public AltosTimeSeries state_series;
149 public static final String state_name = "State";
151 public void set_state(int state) {
153 if (state != AltosLib.ao_flight_pad && state != AltosLib.MISSING && state != AltosLib.ao_flight_stateless) {
154 if (state_series == null)
155 state_series = add_series(state_name, AltosConvert.state_name);
156 if (this.state() != state)
157 state_series.add(time(), state);
159 super.set_state(state);
162 public AltosTimeSeries accel_series;
163 public boolean accel_computed;
165 public static final String accel_name = "Accel";
167 public AltosTimeSeries vert_accel_series;
169 public static final String vert_accel_name = "Vertical Accel";
171 public void set_acceleration(double acceleration) {
172 if (acceleration == AltosLib.MISSING)
174 if (accel_series == null)
175 accel_series = add_series(accel_name, AltosConvert.accel);
177 accel_series.add(time(), acceleration);
178 accel_computed = false;
181 private AltosTimeSeries compute_accel() {
182 AltosTimeSeries new_accel_series = null;
184 if (speed_series != null) {
185 AltosTimeSeries temp_series;
186 if (accel_filter_width > 0) {
187 temp_series = make_series(speed_name, AltosConvert.speed);
188 speed_series.filter(temp_series, accel_filter_width);
190 temp_series = speed_series;
192 new_accel_series = make_series(accel_name, AltosConvert.accel);
193 temp_series.differentiate(new_accel_series);
195 return new_accel_series;
198 public void set_filter(double speed_filter, double accel_filter) {
199 this.speed_filter_width = speed_filter;
200 this.accel_filter_width = accel_filter;
202 AltosTimeSeries new_speed_series = compute_speed();
204 if (new_speed_series != null) {
205 speed_series.erase_values();
206 for (AltosTimeValue tv : new_speed_series)
207 speed_series.add(tv);
209 if (accel_computed) {
210 AltosTimeSeries new_accel_series = compute_accel();
211 if (new_accel_series != null) {
212 accel_series.erase_values();
213 for (AltosTimeValue tv : new_accel_series)
214 accel_series.add(tv);
219 public void set_received_time(long received_time) {
222 public AltosTimeSeries tick_series;
224 public static final String tick_name = "Tick";
226 public void set_tick(int tick) {
227 super.set_tick(tick);
228 if (tick_series == null)
229 tick_series = add_series(tick_name, null);
230 tick_series.add(time(), tick);
233 public AltosTimeSeries rssi_series;
235 public static final String rssi_name = "RSSI";
237 public AltosTimeSeries status_series;
239 public static final String status_name = "Radio Status";
241 public void set_rssi(int rssi, int status) {
242 if (rssi_series == null) {
243 rssi_series = add_series(rssi_name, null);
244 status_series = add_series(status_name, null);
246 rssi_series.add(time(), rssi);
247 status_series.add(time(), status);
250 public AltosTimeSeries pressure_series;
252 public static final String pressure_name = "Pressure";
254 public AltosTimeSeries altitude_series;
256 public static final String altitude_name = "Altitude";
258 public AltosTimeSeries height_series;
260 public double max_height = AltosLib.MISSING;
262 public void set_min_pressure(double pa) {
263 double ground_altitude = cal_data().ground_altitude;
264 if (ground_altitude != AltosLib.MISSING)
265 max_height = AltosConvert.pressure_to_altitude(pa) -
269 public static final String height_name = "Height";
271 public void set_pressure(double pa) {
272 if (pa == AltosLib.MISSING)
275 if (pressure_series == null)
276 pressure_series = add_series(pressure_name, AltosConvert.pressure);
277 pressure_series.add(time(), pa);
278 if (altitude_series == null)
279 altitude_series = add_series(altitude_name, AltosConvert.height);
281 if (cal_data().ground_pressure == AltosLib.MISSING)
282 cal_data().set_ground_pressure(pa);
284 double altitude = AltosConvert.pressure_to_altitude(pa);
285 altitude_series.add(time(), altitude);
288 private void compute_height() {
289 if (height_series == null) {
290 double ground_altitude = cal_data().ground_altitude;
291 if (ground_altitude != AltosLib.MISSING && altitude_series != null) {
292 height_series = add_series(height_name, AltosConvert.height);
293 for (AltosTimeValue alt : altitude_series)
294 height_series.add(alt.time, alt.value - ground_altitude);
295 } else if (speed_series != null) {
296 height_series = add_series(height_name, AltosConvert.height);
297 speed_series.integrate(height_series);
301 if (gps_height == null && cal_data().gps_pad != null && cal_data().gps_pad.alt != AltosLib.MISSING && gps_altitude != null) {
302 double gps_ground_altitude = cal_data().gps_pad.alt;
303 gps_height = add_series(gps_height_name, AltosConvert.height);
304 for (AltosTimeValue gps_alt : gps_altitude)
305 gps_height.add(gps_alt.time, gps_alt.value - gps_ground_altitude);
309 public AltosTimeSeries speed_series;
311 public static final String speed_name = "Speed";
313 private AltosTimeSeries compute_speed() {
314 AltosTimeSeries new_speed_series = null;
315 AltosTimeSeries alt_speed_series = null;
316 AltosTimeSeries accel_speed_series = null;
318 if (altitude_series != null) {
319 AltosTimeSeries temp_series;
321 if (speed_filter_width > 0) {
322 temp_series = make_series(speed_name, AltosConvert.height);
323 altitude_series.filter(temp_series, speed_filter_width);
325 temp_series = altitude_series;
327 alt_speed_series = make_series(speed_name, AltosConvert.speed);
328 temp_series.differentiate(alt_speed_series);
330 if (accel_series != null && !accel_computed) {
332 if (orient_series != null) {
333 vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
335 for (AltosTimeValue a : accel_series) {
336 double orient = orient_series.value(a.time);
337 double a_abs = a.value + AltosConvert.gravity;
338 double v_a = a_abs * Math.cos(AltosConvert.degrees_to_radians(orient)) - AltosConvert.gravity;
340 vert_accel_series.add(a.time, v_a);
344 AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
346 if (vert_accel_series != null)
347 vert_accel_series.integrate(temp_series);
349 accel_series.integrate(temp_series);
351 accel_speed_series = make_series(speed_name, AltosConvert.speed);
352 temp_series.filter(accel_speed_series, 0.1);
355 if (alt_speed_series != null && accel_speed_series != null) {
356 double apogee_time = AltosLib.MISSING;
357 if (state_series != null) {
358 for (AltosTimeValue d : state_series) {
359 if (d.value >= AltosLib.ao_flight_drogue){
360 apogee_time = d.time;
365 if (apogee_time == AltosLib.MISSING) {
366 new_speed_series = alt_speed_series;
368 new_speed_series = make_series(speed_name, AltosConvert.speed);
369 for (AltosTimeValue d : accel_speed_series) {
370 if (d.time <= apogee_time)
371 new_speed_series.add(d);
373 for (AltosTimeValue d : alt_speed_series) {
374 if (d.time > apogee_time)
375 new_speed_series.add(d);
379 } else if (alt_speed_series != null) {
380 new_speed_series = alt_speed_series;
381 } else if (accel_speed_series != null) {
382 new_speed_series = accel_speed_series;
384 return new_speed_series;
387 public AltosTimeSeries orient_series;
388 public AltosTimeSeries azimuth_series;
390 public static final String orient_name = "Tilt Angle";
391 public static final String azimuth_name = "Azimuth Angle";
393 private void compute_orient() {
395 if (orient_series != null)
398 if (accel_ground_across == AltosLib.MISSING)
401 AltosCalData cal_data = cal_data();
403 if (cal_data.pad_orientation == AltosLib.MISSING)
406 if (cal_data.accel_zero_across == AltosLib.MISSING)
409 if (cal_data.gyro_zero_roll == AltosLib.MISSING)
412 AltosRotation rotation = new AltosRotation(accel_ground_across,
413 accel_ground_through,
415 cal_data.pad_orientation);
416 double prev_time = ground_time;
418 orient_series = add_series(orient_name, AltosConvert.orient);
419 orient_series.add(ground_time, rotation.tilt());
421 azimuth_series = add_series(azimuth_name, AltosConvert.orient);
422 azimuth_series.add(ground_time, rotation.azimuth());
424 for (AltosTimeValue roll_v : gyro_roll) {
425 double time = roll_v.time;
426 double dt = time - prev_time;
429 double roll = AltosConvert.degrees_to_radians(roll_v.value) * dt;
430 double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)) * dt;
431 double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)) * dt;
433 rotation.rotate(pitch, yaw, roll);
434 orient_series.add(time, rotation.tilt());
435 azimuth_series.add(time, rotation.azimuth());
441 public AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
443 public static final String kalman_height_name = "Kalman Height";
444 public static final String kalman_speed_name = "Kalman Speed";
445 public static final String kalman_accel_name = "Kalman Accel";
447 public void set_kalman(double height, double speed, double acceleration) {
448 if (kalman_height_series == null) {
449 kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
450 kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
451 kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
453 kalman_height_series.add(time(), height);
454 kalman_speed_series.add(time(), speed);
455 kalman_accel_series.add(time(), acceleration);
458 public AltosTimeSeries thrust_series;
460 public static final String thrust_name = "Thrust";
462 public void set_thrust(double N) {
463 if (thrust_series == null)
464 thrust_series = add_series(thrust_name, AltosConvert.force);
465 thrust_series.add(time(), N);
468 public AltosTimeSeries temperature_series;
470 public static final String temperature_name = "Temperature";
472 public void set_temperature(double deg_c) {
473 if (temperature_series == null)
474 temperature_series = add_series(temperature_name, AltosConvert.temperature);
475 temperature_series.add(time(), deg_c);
478 public AltosTimeSeries battery_voltage_series;
480 public static final String battery_voltage_name = "Battery Voltage";
482 public void set_battery_voltage(double volts) {
483 if (volts == AltosLib.MISSING)
485 if (battery_voltage_series == null)
486 battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
487 battery_voltage_series.add(time(), volts);
490 public AltosTimeSeries apogee_voltage_series;
492 public static final String apogee_voltage_name = "Apogee Voltage";
494 public void set_apogee_voltage(double volts) {
495 if (volts == AltosLib.MISSING)
497 if (apogee_voltage_series == null)
498 apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
499 apogee_voltage_series.add(time(), volts);
502 public AltosTimeSeries main_voltage_series;
504 public static final String main_voltage_name = "Main Voltage";
506 public void set_main_voltage(double volts) {
507 if (volts == AltosLib.MISSING)
509 if (main_voltage_series == null)
510 main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
511 main_voltage_series.add(time(), volts);
514 public ArrayList<AltosGPSTimeValue> gps_series;
516 public AltosGPS gps_before(double time) {
517 AltosGPSTimeValue nearest = null;
518 for (AltosGPSTimeValue gtv : gps_series) {
522 if (gtv.time <= time) {
523 if (nearest.time <= time && gtv.time > nearest.time)
526 if (nearest.time > time && gtv.time < nearest.time)
537 public AltosTimeSeries sats_in_view;
538 public AltosTimeSeries sats_in_soln;
539 public AltosTimeSeries gps_altitude;
540 public AltosTimeSeries gps_height;
541 public AltosTimeSeries gps_ground_speed;
542 public AltosTimeSeries gps_ascent_rate;
543 public AltosTimeSeries gps_course;
544 public AltosTimeSeries gps_speed;
545 public AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
547 public static final String sats_in_view_name = "Satellites in view";
548 public static final String sats_in_soln_name = "Satellites in solution";
549 public static final String gps_altitude_name = "GPS Altitude";
550 public static final String gps_height_name = "GPS Height";
551 public static final String gps_ground_speed_name = "GPS Ground Speed";
552 public static final String gps_ascent_rate_name = "GPS Ascent Rate";
553 public static final String gps_course_name = "GPS Course";
554 public static final String gps_speed_name = "GPS Speed";
555 public static final String gps_pdop_name = "GPS Dilution of Precision";
556 public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
557 public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
559 public void set_gps(AltosGPS gps, boolean new_location, boolean new_sats) {
560 super.set_gps(gps, new_location, new_sats);
561 AltosCalData cal_data = cal_data();
562 if (gps_series == null)
563 gps_series = new ArrayList<AltosGPSTimeValue>();
564 gps_series.add(new AltosGPSTimeValue(time(), gps));
567 if (sats_in_soln == null) {
568 sats_in_soln = add_series(sats_in_soln_name, null);
570 sats_in_soln.add(time(), gps.nsat);
571 if (gps.pdop != AltosLib.MISSING) {
572 if (gps_pdop == null)
573 gps_pdop = add_series(gps_pdop_name, null);
574 gps_pdop.add(time(), gps.pdop);
576 if (gps.hdop != AltosLib.MISSING) {
577 if (gps_hdop == null)
578 gps_hdop = add_series(gps_hdop_name, null);
579 gps_hdop.add(time(), gps.hdop);
581 if (gps.vdop != AltosLib.MISSING) {
582 if (gps_vdop == null)
583 gps_vdop = add_series(gps_vdop_name, null);
584 gps_vdop.add(time(), gps.vdop);
587 if (gps.alt != AltosLib.MISSING) {
588 if (gps_altitude == null)
589 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
590 gps_altitude.add(time(), gps.alt);
592 if (gps.ground_speed != AltosLib.MISSING) {
593 if (gps_ground_speed == null)
594 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
595 gps_ground_speed.add(time(), gps.ground_speed);
597 if (gps.climb_rate != AltosLib.MISSING) {
598 if (gps_ascent_rate == null)
599 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
600 gps_ascent_rate.add(time(), gps.climb_rate);
602 if (gps.course != AltosLib.MISSING) {
603 if (gps_course == null)
604 gps_course = add_series(gps_course_name, null);
605 gps_course.add(time(), gps.course);
607 if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING) {
608 if (gps_speed == null)
609 gps_speed = add_series(gps_speed_name, null);
610 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
611 gps.climb_rate * gps.climb_rate));
616 if (gps.cc_gps_sat != null) {
617 if (sats_in_view == null)
618 sats_in_view = add_series(sats_in_view_name, null);
619 sats_in_view.add(time(), gps.cc_gps_sat.length);
624 public static final String accel_along_name = "Accel Along";
625 public static final String accel_across_name = "Accel Across";
626 public static final String accel_through_name = "Accel Through";
628 public AltosTimeSeries accel_along, accel_across, accel_through;
630 public static final String gyro_roll_name = "Roll Rate";
631 public static final String gyro_pitch_name = "Pitch Rate";
632 public static final String gyro_yaw_name = "Yaw Rate";
634 public AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
636 public static final String mag_along_name = "Magnetic Field Along";
637 public static final String mag_across_name = "Magnetic Field Across";
638 public static final String mag_through_name = "Magnetic Field Through";
639 public static final String mag_total_name = "Magnetic Field Strength";
640 public static final String compass_name = "Compass";
642 public AltosTimeSeries mag_along, mag_across, mag_through, mag_total, compass;
644 public void set_accel(double along, double across, double through) {
645 if (accel_along == null) {
646 accel_along = add_series(accel_along_name, AltosConvert.accel);
647 accel_across = add_series(accel_across_name, AltosConvert.accel);
648 accel_through = add_series(accel_through_name, AltosConvert.accel);
650 accel_along.add(time(), along);
651 accel_across.add(time(), across);
652 accel_through.add(time(), through);
655 private double accel_ground_along = AltosLib.MISSING;
656 private double accel_ground_across = AltosLib.MISSING;
657 private double accel_ground_through = AltosLib.MISSING;
659 private double ground_time;
661 public void set_accel_ground(double along, double across, double through) {
662 accel_ground_along = along;
663 accel_ground_across = across;
664 accel_ground_through = through;
665 ground_time = time();
668 public void set_gyro(double roll, double pitch, double yaw) {
669 if (gyro_roll == null) {
670 gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
671 gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
672 gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
674 gyro_roll.add(time(), roll);
675 gyro_pitch.add(time(), pitch);
676 gyro_yaw.add(time(), yaw);
679 public void set_mag(double along, double across, double through) {
680 if (mag_along == null) {
681 mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
682 mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
683 mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
684 mag_total = add_series(mag_total_name, AltosConvert.magnetic_field);
685 compass = add_series(compass_name, AltosConvert.orient);
687 mag_along.add(time(), along);
688 mag_across.add(time(), across);
689 mag_through.add(time(), through);
690 mag_total.add(time(), Math.sqrt(along * along + across * across + through *through));
691 compass.add(time(), Math.atan2(across, through) * 180 / Math.PI);
694 public void set_orient(double orient) {
695 if (orient_series == null)
696 orient_series = add_series(orient_name, AltosConvert.orient);
697 orient_series.add(time(), orient);
700 public static final String pyro_voltage_name = "Pyro Voltage";
702 public AltosTimeSeries pyro_voltage;
704 public void set_pyro_voltage(double volts) {
705 if (pyro_voltage == null)
706 pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
707 pyro_voltage.add(time(), volts);
710 private static String[] igniter_voltage_names;
712 public String igniter_voltage_name(int channel) {
713 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
714 String[] new_igniter_voltage_names = new String[channel + 1];
717 if (igniter_voltage_names != null) {
718 for (; i < igniter_voltage_names.length; i++)
719 new_igniter_voltage_names[i] = igniter_voltage_names[i];
721 for (; i < channel+1; i++)
722 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
723 igniter_voltage_names = new_igniter_voltage_names;
725 return igniter_voltage_names[channel];
728 public AltosTimeSeries[] igniter_voltage;
730 public void set_igniter_voltage(double[] voltage) {
731 int channels = voltage.length;
732 if (igniter_voltage == null || igniter_voltage.length <= channels) {
733 AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels];
736 if (igniter_voltage != null) {
737 for (; i < igniter_voltage.length; i++)
738 new_igniter_voltage[i] = igniter_voltage[i];
740 for (; i < channels; i++)
741 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
742 igniter_voltage = new_igniter_voltage;
744 for (int channel = 0; channel < voltage.length; channel++)
745 igniter_voltage[channel].add(time(), voltage[channel]);
748 public static final String pyro_fired_name = "Pyro Channel State";
750 public AltosTimeSeries pyro_fired_series;
754 public void set_pyro_fired(int pyro_mask) {
755 if (pyro_fired_series == null)
756 pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
757 for (int channel = 0; channel < 32; channel++) {
758 if ((last_pyro_mask & (1 << channel)) == 0 &&
759 (pyro_mask & (1 << channel)) != 0) {
760 pyro_fired_series.add(time(), channel);
763 last_pyro_mask = pyro_mask;
766 public void set_companion(AltosCompanion companion) {
769 public static final String motor_pressure_name = "Motor Pressure";
771 public AltosTimeSeries motor_pressure_series;
773 public void set_motor_pressure(double motor_pressure) {
774 if (motor_pressure_series == null)
775 motor_pressure_series = add_series(motor_pressure_name, AltosConvert.pressure);
776 motor_pressure_series.add(time(), motor_pressure);
779 public void finish() {
781 if (speed_series == null) {
782 speed_series = compute_speed();
783 if (speed_series != null)
784 add_series(speed_series);
786 if (accel_series == null) {
787 accel_series = compute_accel();
788 if (accel_series != null) {
789 add_series(accel_series);
790 accel_computed = true;
796 public AltosTimeSeries[] series() {
798 return series.toArray(new AltosTimeSeries[0]);
801 public AltosFlightSeries(AltosCalData cal_data) {