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annotate deps/Platinum/ThirdParty/Neptune/Source/System/Posix/NptPosixThreads.cpp @ 0:3425707ddbf6

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author fraserofthenight
date Mon, 06 Jul 2009 08:06:28 -0700
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1 /*****************************************************************
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2 |
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3 | Neptune - Threads :: Posix Implementation
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4 |
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5 | (c) 2001-2002 Gilles Boccon-Gibod
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6 | Author: Gilles Boccon-Gibod (bok@bok.net)
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7 |
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8 ****************************************************************/
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9
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10 /*----------------------------------------------------------------------
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11 | includes
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12 +---------------------------------------------------------------------*/
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13 #if defined(__SYMBIAN32__)
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14 #include <stdio.h>
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15 #endif
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16 #include <pthread.h>
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17 #include <unistd.h>
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18 #include <time.h>
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19 #include <sys/time.h>
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20 #if defined(__SYMBIAN32__)
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21 #include <errno.h>
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22 #else
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23 #include <cerrno>
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24 #endif
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25
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26 #include "NptConfig.h"
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27 #include "NptTypes.h"
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28 #include "NptThreads.h"
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29 #include "NptLogging.h"
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30 #include "NptTime.h"
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31 #include "NptSystem.h"
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32
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33 /*----------------------------------------------------------------------
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34 | logging
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35 +---------------------------------------------------------------------*/
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36 NPT_SET_LOCAL_LOGGER("neptune.threads.posix")
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37
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38 /*----------------------------------------------------------------------
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39 | NPT_PosixMutex
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40 +---------------------------------------------------------------------*/
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41 class NPT_PosixMutex : public NPT_MutexInterface
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42 {
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43 public:
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44 // methods
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45 NPT_PosixMutex();
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46 virtual ~NPT_PosixMutex();
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47
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48 // NPT_Mutex methods
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49 virtual NPT_Result Lock();
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50 virtual NPT_Result Unlock();
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51
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52 private:
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53 // members
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54 pthread_mutex_t m_Mutex;
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55 };
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56
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57 /*----------------------------------------------------------------------
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58 | NPT_PosixMutex::NPT_PosixMutex
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59 +---------------------------------------------------------------------*/
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60 NPT_PosixMutex::NPT_PosixMutex()
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61 {
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62 pthread_mutex_init(&m_Mutex, NULL);
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63 }
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64
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65 /*----------------------------------------------------------------------
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66 | NPT_PosixMutex::~NPT_PosixMutex
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67 +---------------------------------------------------------------------*/
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68 NPT_PosixMutex::~NPT_PosixMutex()
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69 {
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70 pthread_mutex_destroy(&m_Mutex);
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71 }
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72
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73 /*----------------------------------------------------------------------
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74 | NPT_PosixMutex::Lock
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75 +---------------------------------------------------------------------*/
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76 NPT_Result
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77 NPT_PosixMutex::Lock()
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78 {
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79 pthread_mutex_lock(&m_Mutex);
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80 return NPT_SUCCESS;
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81 }
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82
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83 /*----------------------------------------------------------------------
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84 | NPT_PosixMutex::Unlock
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85 +---------------------------------------------------------------------*/
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86 NPT_Result
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87 NPT_PosixMutex::Unlock()
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88 {
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89 pthread_mutex_unlock(&m_Mutex);
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90 return NPT_SUCCESS;
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91 }
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92
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93 /*----------------------------------------------------------------------
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94 | NPT_Mutex::NPT_Mutex
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95 +---------------------------------------------------------------------*/
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96 NPT_Mutex::NPT_Mutex()
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97 {
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98 m_Delegate = new NPT_PosixMutex();
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99 }
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100
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101 /*----------------------------------------------------------------------
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102 | NPT_PosixSharedVariable
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103 +---------------------------------------------------------------------*/
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104 class NPT_PosixSharedVariable : public NPT_SharedVariableInterface
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105 {
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106 public:
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107 // methods
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108 NPT_PosixSharedVariable(int value);
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109 ~NPT_PosixSharedVariable();
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110 void SetValue(int value);
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111 int GetValue();
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112 NPT_Result WaitUntilEquals(int value, NPT_Timeout timeout);
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113 NPT_Result WaitWhileEquals(int value, NPT_Timeout timeout);
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114
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115 private:
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116 // members
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117 volatile int m_Value;
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118 pthread_mutex_t m_Mutex;
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119 pthread_cond_t m_Condition;
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120 };
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121
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122 /*----------------------------------------------------------------------
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123 | NPT_PosixSharedVariable::NPT_PosixSharedVariable
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124 +---------------------------------------------------------------------*/
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125 NPT_PosixSharedVariable::NPT_PosixSharedVariable(int value) :
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126 m_Value(value)
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127 {
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128 pthread_mutex_init(&m_Mutex, NULL);
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129 pthread_cond_init(&m_Condition, NULL);
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130 }
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131
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132 /*----------------------------------------------------------------------
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133 | NPT_PosixSharedVariable::~NPT_PosixSharedVariable
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134 +---------------------------------------------------------------------*/
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135 NPT_PosixSharedVariable::~NPT_PosixSharedVariable()
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136 {
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137 pthread_cond_destroy(&m_Condition);
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138 pthread_mutex_destroy(&m_Mutex);
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139 }
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140
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141 /*----------------------------------------------------------------------
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142 | NPT_PosixSharedVariable::SetValue
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143 +---------------------------------------------------------------------*/
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144 void
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145 NPT_PosixSharedVariable::SetValue(int value)
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146 {
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147 pthread_mutex_lock(&m_Mutex);
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148 m_Value = value;
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149 pthread_cond_broadcast(&m_Condition);
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150 pthread_mutex_unlock(&m_Mutex);
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151 }
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152
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153 /*----------------------------------------------------------------------
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154 | NPT_PosixSharedVariable::GetValue
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155 +---------------------------------------------------------------------*/
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156 int
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157 NPT_PosixSharedVariable::GetValue()
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158 {
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159 // we assume that int read/write are atomic on the platform
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160 return m_Value;
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161 }
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162
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163 /*----------------------------------------------------------------------
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164 | NPT_PosixSharedVariable::WaitUntilEquals
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165 +---------------------------------------------------------------------*/
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166 NPT_Result
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167 NPT_PosixSharedVariable::WaitUntilEquals(int value, NPT_Timeout timeout)
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168 {
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169 NPT_Result result = NPT_SUCCESS;
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170 struct timespec timed;
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171
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172 if (timeout != NPT_TIMEOUT_INFINITE) {
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173 // get current time from system
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174 struct timeval now;
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175 if (gettimeofday(&now, NULL)) {
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176 return NPT_FAILURE;
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177 }
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178
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179 now.tv_usec += timeout * 1000;
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180 if (now.tv_usec >= 1000000) {
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181 now.tv_sec += now.tv_usec / 1000000;
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182 now.tv_usec = now.tv_usec % 1000000;
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183 }
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184
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185 // setup timeout
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186 timed.tv_sec = now.tv_sec;
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187 timed.tv_nsec = now.tv_usec * 1000;
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188 }
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189
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190 pthread_mutex_lock(&m_Mutex);
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191 while (value != m_Value) {
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192 if (timeout == NPT_TIMEOUT_INFINITE) {
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193 pthread_cond_wait(&m_Condition, &m_Mutex);
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194 } else {
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195 int wait_res = pthread_cond_timedwait(&m_Condition, &m_Mutex, &timed);
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196 if (wait_res == ETIMEDOUT) {
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197 result = NPT_ERROR_TIMEOUT;
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198 break;
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199 }
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200 }
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201 }
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202 pthread_mutex_unlock(&m_Mutex);
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203
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204 return result;
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205 }
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206
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207 /*----------------------------------------------------------------------
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208 | NPT_PosixSharedVariable::WaitWhileEquals
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209 +---------------------------------------------------------------------*/
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210 NPT_Result
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211 NPT_PosixSharedVariable::WaitWhileEquals(int value, NPT_Timeout timeout)
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212 {
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213 NPT_Result result = NPT_SUCCESS;
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214 struct timespec timed;
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215
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216 if (timeout != NPT_TIMEOUT_INFINITE) {
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217 // get current time from system
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218 struct timeval now;
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219 if (gettimeofday(&now, NULL)) {
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220 return NPT_FAILURE;
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221 }
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222
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223 now.tv_usec += timeout * 1000;
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224 if (now.tv_usec >= 1000000) {
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225 now.tv_sec += now.tv_usec / 1000000;
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226 now.tv_usec = now.tv_usec % 1000000;
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227 }
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228
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229 // setup timeout
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230 timed.tv_sec = now.tv_sec;
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231 timed.tv_nsec = now.tv_usec * 1000;
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232 }
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233
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234 pthread_mutex_lock(&m_Mutex);
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235 while (value == m_Value) {
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236 if (timeout == NPT_TIMEOUT_INFINITE) {
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237 pthread_cond_wait(&m_Condition, &m_Mutex);
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238 } else {
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239 int wait_res = pthread_cond_timedwait(&m_Condition, &m_Mutex, &timed);
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240 if (wait_res == ETIMEDOUT) {
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241 result = NPT_ERROR_TIMEOUT;
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242 break;
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243 }
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244 }
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245 }
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246 pthread_mutex_unlock(&m_Mutex);
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247
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248 return result;
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249 }
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250
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251 /*----------------------------------------------------------------------
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252 | NPT_SharedVariable::NPT_SharedVariable
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253 +---------------------------------------------------------------------*/
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254 NPT_SharedVariable::NPT_SharedVariable(int value)
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255 {
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256 m_Delegate = new NPT_PosixSharedVariable(value);
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257 }
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258
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259 /*----------------------------------------------------------------------
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260 | NPT_PosixAtomicVariable
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261 +---------------------------------------------------------------------*/
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262 class NPT_PosixAtomicVariable : public NPT_AtomicVariableInterface
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263 {
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264 public:
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265 // methods
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266 NPT_PosixAtomicVariable(int value);
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267 ~NPT_PosixAtomicVariable();
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268 int Increment();
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269 int Decrement();
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270 int GetValue();
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271 void SetValue(int value);
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272
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273 private:
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274 // members
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275 volatile int m_Value;
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276 pthread_mutex_t m_Mutex;
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277 };
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278
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279 /*----------------------------------------------------------------------
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280 | NPT_PosixAtomicVariable::NPT_PosixAtomicVariable
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281 +---------------------------------------------------------------------*/
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282 NPT_PosixAtomicVariable::NPT_PosixAtomicVariable(int value) :
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283 m_Value(value)
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284 {
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285 pthread_mutex_init(&m_Mutex, NULL);
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286 }
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287
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288 /*----------------------------------------------------------------------
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289 | NPT_PosixAtomicVariable::~NPT_PosixAtomicVariable
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290 +---------------------------------------------------------------------*/
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291 NPT_PosixAtomicVariable::~NPT_PosixAtomicVariable()
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292 {
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293 pthread_mutex_destroy(&m_Mutex);
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294 }
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295
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296 /*----------------------------------------------------------------------
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297 | NPT_PosixAtomicVariable::Increment
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298 +---------------------------------------------------------------------*/
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299 int
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300 NPT_PosixAtomicVariable::Increment()
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301 {
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302 int value;
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303
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304 pthread_mutex_lock(&m_Mutex);
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305 value = ++m_Value;
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306 pthread_mutex_unlock(&m_Mutex);
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307
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308 return value;
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309 }
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310
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311 /*----------------------------------------------------------------------
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312 | NPT_PosixAtomicVariable::Decrement
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313 +---------------------------------------------------------------------*/
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314 int
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315 NPT_PosixAtomicVariable::Decrement()
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316 {
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317 int value;
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318
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319 pthread_mutex_lock(&m_Mutex);
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320 value = --m_Value;
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321 pthread_mutex_unlock(&m_Mutex);
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322
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323 return value;
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324 }
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325
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326 /*----------------------------------------------------------------------
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327 | NPT_PosixAtomicVariable::GetValue
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328 +---------------------------------------------------------------------*/
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329 int
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330 NPT_PosixAtomicVariable::GetValue()
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331 {
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332 // we assume that int read/write are atomic on the platform
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333 return m_Value;
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334 }
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335
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336 /*----------------------------------------------------------------------
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337 | NPT_PosixAtomicVariable::SetValue
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338 +---------------------------------------------------------------------*/
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339 void
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340 NPT_PosixAtomicVariable::SetValue(int value)
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341 {
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342 pthread_mutex_lock(&m_Mutex);
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343 m_Value = value;
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344 pthread_mutex_unlock(&m_Mutex);
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345 }
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346
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347 /*----------------------------------------------------------------------
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348 | NPT_AtomicVariable::NPT_AtomicVariable
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349 +---------------------------------------------------------------------*/
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350 NPT_AtomicVariable::NPT_AtomicVariable(int value)
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351 {
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352 m_Delegate = new NPT_PosixAtomicVariable(value);
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353 }
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354
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355 /*----------------------------------------------------------------------
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356 | NPT_PosixThread
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357 +---------------------------------------------------------------------*/
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358 class NPT_PosixThread : public NPT_ThreadInterface
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359 {
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360 public:
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361 // methods
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362 NPT_PosixThread(NPT_Thread* delegator,
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363 NPT_Runnable& target,
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364 bool detached);
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365 ~NPT_PosixThread();
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366 NPT_Result Start();
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367 NPT_Result Wait(NPT_Timeout timeout = NPT_TIMEOUT_INFINITE);
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368
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369 private:
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370 // methods
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371 static void* EntryPoint(void* argument);
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372
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373 // NPT_Runnable methods
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374 void Run();
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375
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376 // NPT_Interruptible methods
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377 NPT_Result Interrupt() { return NPT_ERROR_NOT_IMPLEMENTED; }
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378
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379 // members
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380 NPT_Thread* m_Delegator;
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381 NPT_Runnable& m_Target;
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382 bool m_Detached;
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383 pthread_t m_ThreadId;
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384 bool m_Joined;
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385 NPT_PosixMutex m_JoinLock;
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386 NPT_SharedVariable m_Done;
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387 };
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388
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389 /*----------------------------------------------------------------------
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390 | NPT_PosixThread::NPT_PosixThread
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391 +---------------------------------------------------------------------*/
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392 NPT_PosixThread::NPT_PosixThread(NPT_Thread* delegator,
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393 NPT_Runnable& target,
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394 bool detached) :
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395 m_Delegator(delegator),
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396 m_Target(target),
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397 m_Detached(detached),
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398 m_ThreadId(0),
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399 m_Joined(false)
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400 {
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401 NPT_LOG_FINE("NPT_PosixThread::NPT_PosixThread");
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402 m_Done.SetValue(0);
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403 }
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404
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405 /*----------------------------------------------------------------------
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406 | NPT_PosixThread::~NPT_PosixThread
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407 +---------------------------------------------------------------------*/
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408 NPT_PosixThread::~NPT_PosixThread()
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409 {
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410 NPT_LOG_FINE_1("NPT_PosixThread::~NPT_PosixThread %d\n", m_ThreadId);
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411
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412 if (!m_Detached) {
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413 // we're not detached, and not in the Run() method, so we need to
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414 // wait until the thread is done
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415 Wait();
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416 }
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417 }
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418
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419 /*----------------------------------------------------------------------
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420 | NPT_Thread::GetCurrentThreadId
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421 +---------------------------------------------------------------------*/
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422 NPT_Thread::ThreadId
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423 NPT_Thread::GetCurrentThreadId()
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424 {
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425 pthread_t pid = pthread_self();
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426 return (NPT_Thread::ThreadId)((void*)pid);
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427 }
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428
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429 /*----------------------------------------------------------------------
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430 | NPT_PosixThread::EntryPoint
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431 +---------------------------------------------------------------------*/
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432 void*
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433 NPT_PosixThread::EntryPoint(void* argument)
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434 {
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435 NPT_PosixThread* thread = reinterpret_cast<NPT_PosixThread*>(argument);
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436
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437 NPT_LOG_FINE("NPT_PosixThread::EntryPoint - in =======================");
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438
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439 // set random seed per thread
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440 NPT_TimeStamp now;
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441 NPT_System::GetCurrentTimeStamp(now);
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442 NPT_System::SetRandomSeed((unsigned int)(now.m_NanoSeconds + (long)NPT_Thread::GetCurrentThreadId()));
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443
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444 // run the thread
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445 thread->Run();
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446
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447 // Logging here will cause a crash on exit because LogManager may already be destroyed
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448 //NPT_LOG_FINE("NPT_PosixThread::EntryPoint - out ======================");
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449
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450 // we're done with the thread object
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451 // if we're detached, we need to delete ourselves
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452 if (thread->m_Detached) {
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453 delete thread->m_Delegator;
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454 } else {
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455 // notify we're done
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456 thread->m_Done.SetValue(1);
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457 }
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458
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459 // done
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460 return NULL;
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461 }
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462
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463 /*----------------------------------------------------------------------
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464 | NPT_PosixThread::Start
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465 +---------------------------------------------------------------------*/
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466 NPT_Result
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467 NPT_PosixThread::Start()
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468 {
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469 NPT_LOG_FINE("NPT_PosixThread::Start - creating thread");
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470
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471 pthread_attr_t *attributes = NULL;
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472
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473 #if defined(NPT_CONFIG_THREAD_STACK_SIZE)
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474 pthread_attr_t stack_size_attributes;
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475 pthread_attr_init(&stack_size_attributes);
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476 pthread_attr_setstacksize(&stack_size_attributes, NPT_CONFIG_THREAD_STACK_SIZE);
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477 attributes = &stack_size_attributes;
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478 #endif
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479
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480 // create a stack local id, as if detached, this object
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481 // may already be deleted when pthread_create returns and
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482 // before we get to call detach on the given thread
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483 pthread_t id;
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484 bool detached = m_Detached;
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485
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486 // create the native thread
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487 int result = pthread_create(&id, attributes, EntryPoint,
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488 reinterpret_cast<void*>(this));
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489 NPT_LOG_FINE_2("NPT_PosixThread::Start - id = %d, res=%d",
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490 id, result);
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491 if (result) {
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492 // failed
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493 return NPT_FAILURE;
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494 } else {
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495 // detach the thread if we're not joinable
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496 if (detached) {
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497 pthread_detach(id);
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498 } else {
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499 m_ThreadId = id;
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500 }
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501 return NPT_SUCCESS;
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502 }
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503 }
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504
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505 /*----------------------------------------------------------------------
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506 | NPT_PosixThread::Run
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507 +---------------------------------------------------------------------*/
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508 void
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509 NPT_PosixThread::Run()
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510 {
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511 m_Target.Run();
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512 }
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513
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514 /*----------------------------------------------------------------------
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515 | NPT_PosixThread::Wait
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516 +---------------------------------------------------------------------*/
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517 NPT_Result
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518 NPT_PosixThread::Wait(NPT_Timeout timeout /* = NPT_TIMEOUT_INFINITE */)
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519 {
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520 void* return_value;
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521 int result;
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522
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523 NPT_LOG_FINE_1("NPT_PosixThread::Wait - waiting for id %d", m_ThreadId);
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524
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
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525 // check that we're not detached
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
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526 if (m_ThreadId == 0 || m_Detached) {
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
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527 return NPT_FAILURE;
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
528 }
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
529
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
530 // wait for the thread to finish
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
531 m_JoinLock.Lock();
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
532 if (m_Joined) {
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
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533 NPT_LOG_FINE_1("NPT_PosixThread::Wait - %d already joined", m_ThreadId);
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
534 result = 0;
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
535 } else {
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
536 NPT_LOG_FINE_1("NPT_PosixThread::Wait - joining thread id %d", m_ThreadId);
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
537 if (timeout != NPT_TIMEOUT_INFINITE) {
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
538 result = m_Done.WaitUntilEquals(1, timeout);
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
539 if (NPT_FAILED(result)) {
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
540 result = -1;
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
541 goto timedout;
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
542 }
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
543 }
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
544
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
545 result = pthread_join(m_ThreadId, &return_value);
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
546 m_Joined = true;
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
547 }
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
548
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
549 timedout:
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
550 m_JoinLock.Unlock();
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
551 if (result != 0) {
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
552 return NPT_FAILURE;
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
553 } else {
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
554 return NPT_SUCCESS;
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
555 }
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
556 }
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
557
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
558 /*----------------------------------------------------------------------
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
559 | NPT_Thread::NPT_Thread
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fraserofthenight
parents:
diff changeset
560 +---------------------------------------------------------------------*/
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
561 NPT_Thread::NPT_Thread(bool detached)
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
562 {
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
563 m_Delegate = new NPT_PosixThread(this, *this, detached);
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
564 }
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
565
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
566 /*----------------------------------------------------------------------
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
567 | NPT_Thread::NPT_Thread
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
568 +---------------------------------------------------------------------*/
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
569 NPT_Thread::NPT_Thread(NPT_Runnable& target, bool detached)
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
570 {
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
571 m_Delegate = new NPT_PosixThread(this, target, detached);
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
572 }
3425707ddbf6 Initial import (hopefully this mercurial stuff works...)
fraserofthenight
parents:
diff changeset
573