system/COutputLogger.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#pragma once
 
#include <mrpt/typemeta/TEnumType.h>
#include <mrpt/system/os.h>  // for console color constants
#include <mrpt/system/CTicTac.h>
#include <mrpt/core/Clock.h>
 
#include <string>
#include <deque>
#include <array>
#include <sstream>
#include <iosfwd>
#include <functional>
 
namespace mrpt::system
{
/** \brief Enumeration of available verbosity levels. \sa COutputLogger */
enum VerbosityLevel
{
    LVL_DEBUG = 0,
    LVL_INFO,
    LVL_WARN,
    LVL_ERROR,
    // ------------
    NUMBER_OF_VERBOSITY_LEVELS
};
 
/** Callback types for use with mrpt::system::COuputLogger */
using output_logger_callback_t = std::function<void(
    const std::string& msg, const mrpt::system::VerbosityLevel level,
    const std::string& loggerName, const mrpt::Clock::time_point &timestamp)>;
 
/** \brief Versatile class for consistent logging and
 *        management of output messages
 *
 * COutputLogger is a versatile class for logging messages either to the
 * terminal window or to an external file. Class instances can take messages in
 * std::string using the logStr class methods. The following macros are also
 * provided
 * for usage within a class that inherits from COutputLogger:
 *
 * \code
 * // Plain strings:
 * MRPT_LOG_DEBUG("This will be shown only if verbosity level is LVL_DEBUG.");
 * MRPT_LOG_ERROR("This message will be always shown.");
 * // printf-like versions:
 * MRPT_LOG_ERROR_FMT("Out of range value: %i.", int_param);
 * // stream-like versions:
 * MRPT_LOG_ERROR_STREAM("Out of range value: " << int_param << " more vars: "
 * << other_var);
 * // Minimum period (in seconds) between messages:
 * MRPT_LOG_THROTTLE_DEBUG_STREAM(5.0, "Var=" << value << " foo=" << foo_var);
 * // Only once:
 * MRPT_LOG_ONCE_WARN("Notice: blah blah");
 * \endcode
 *
 * From outside of a class inheriting from COutputLogger the following
 * `MRPT_UNSCOPED_{START|END}` macros are provided:
 *
 *  \code
 *  MRPT_UNSCOPED_LOGGER_START;
 *  MRPT_LOG_WARN("blah");
 *  MRPT_LOG_ERROR_STREAM("error: " << strval);
 *  MRPT_UNSCOPED_LOGGER_END;
 *  \endcode
 *
 * - Logger instance keeps the messages in an internal container so that upon
 *   request it can dump them either to the console or to an external file
 *   altogether.
 * - The message, when printed in the terminal window, is **colored** according
 * to
 *   the logger's current verbosity/logging level (Logging level with which
 *   the underlying TMsg instance was instantiatedd).  The available verbosity
 *   levels as well as their corresponding colors are listed below:
 *
 *   + LVL_DEBUG => CONCOL_BLUE
 *   + LVL_INFO  => CONCOL_NORMAL
 *   + LVL_WARN  => CONCOL_GREEN
 *   + LVL_ERROR => CONCOL_RED
 *
 * - Logged messages are displayed in the screen if the current logger level is
 *   higher than m_min_verbosity_level (logger ignores those messages
 *   altogether). This can be used for filtering the output messages according
 *   to their importance (e.g. show only error messages by issuing
 *   setMinLoggingLevel(LVL_ERROR)).
 *   \sa setLoggingLevel, setMinLoggingLevel
 *
 *   Default logging level is LVL_INFO.
 *
 * User may receive callbacks whenever a message is displayed to console by
 * using
 * logRegisterCallback(). If for some reason the callbacks are not needed any
 * more,
 * use logDeregisterCallback() to stop receiving calls. This mechanism is useful
 * in case of showing the messages to a GUI, transmiting them to a remote
 * machine, etc.
 *
 * \note By default every logged message is going to be dumped to the standard
 * output as well (if VerbosityLevel > m_min_verbosity_level). Unset \b
 * logging_enable_console_output class variable if that's not the desired
 * behavior
 *
 * \note [New in MRPT 1.5.0]
 * \sa TMsg
 * \ingroup mrpt_system_grp
 */
class COutputLogger
{
   public:
    /** Map from VerbosityLevels to their corresponding
     * mrpt::system::TConsoleColor. Handy for coloring the input based on the
     * verbosity of the message */
    static std::array<mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS>&
        logging_levels_to_colors();
 
    /** Map from VerbosityLevels to their corresponding names. Handy for
     * printing the current message VerbosityLevel along with the actual content
     */
    static std::array<std::string, NUMBER_OF_VERBOSITY_LEVELS>&
        logging_levels_to_names();
 
    /** @name Logging methods
     * @{ */
 
    /**
     * \brief Construct a COutputLogger instance with the given name as the
     * instance name.
     *
     * Call to this constructor can be used instead of first initializing the
     * object and then explicitly setting the name like in the following case:
     * \code
     * COutputLogger a_logger;
     * a_logger.setLoggerName("logger_name");
     * \endcode
     */
    COutputLogger(const std::string& name);
    /** Default class constructor. Name of the logger is initialized to "logStr"
     */
    COutputLogger();
    /** virtual dtor (so we can derive classes from this one) */
    virtual ~COutputLogger();
 
    /** \brief Main method to add the specified message string to the logger.
     * \sa logCond, logFmt */
    void logStr(const VerbosityLevel level, const std::string& msg_str)
        const;  // renamed from log() to avoid conflict with math ::log()
 
    /** \brief Alternative logging method, which mimics the printf behavior.
     *
     * Handy for not having to first use mrpt::format to pass a std::string
     * message to logStr
     *
     * \code
     * // instead of:
     * logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
     *
     * // one can use:
     * logFmt("Today is the %d of %s, %d", 15, "July", 2016);
     * \endcode
     *
     * \sa logStr, logCond
     */
    void logFmt(const VerbosityLevel level, const char* fmt, ...) const
        MRPT_printf_format_check(3, 4);  // arg 1=this
 
    /** \brief Log the given message only if the condition is satisfied.
     *
     * \sa log, logFmt
     */
    void logCond(
        const VerbosityLevel level, bool cond,
        const std::string& msg_str) const;
 
    /** Set the name of the COutputLogger instance.  \sa getLoggerName */
    void setLoggerName(const std::string& name);
    /** Return the name of the COutputLogger instance.  \sa setLoggerName */
    std::string getLoggerName() const;
 
    /** \brief Set the *minimum* logging level for which the incoming logs are
     * going to be taken into account.
     *
     * String messages with specified VerbosityLevel smaller than the min, will
     * not be outputted to the screen and neither will a record of them be
     * stored in by the COutputLogger instance
     */
    void setMinLoggingLevel(const VerbosityLevel level);
    /** alias of setMinLoggingLevel() */
    void setVerbosityLevel(const VerbosityLevel level);
 
    /** \sa setMinLoggingLevel */
    VerbosityLevel getMinLoggingLevel() const { return m_min_verbosity_level; }
    bool isLoggingLevelVisible(VerbosityLevel level) const
    {
        return m_min_verbosity_level <= level;
    }
 
    /** Fill the provided string with the contents of the logger's history in
     * std::string representation */
    void getLogAsString(std::string& log_contents) const;
    /** Get the history of COutputLogger instance in a string representation. */
    std::string getLogAsString() const;
 
    /** \brief Write the contents of the COutputLogger instance to an external
     * file.
     *
     * Upon call to this method, COutputLogger dumps the contents of all the
     * logged commands so far to the specified external file.  By default the
     * filename is set to ${LOGGERNAME}.log except if the fname parameter is
     * provided
     *
     * \sa dumpToConsole, getAsString
     */
    void writeLogToFile(const std::string* fname_in = NULL) const;
    /** \brief Dump the current contents of the COutputLogger instance in the
     * terminal window.
     *
     * \sa writeToFile
     */
    void dumpLogToConsole() const;
    /** Return the last Tmsg instance registered in the logger history */
    std::string getLoggerLastMsg() const;
    /** Fill inputtted string with the contents of the last message in history
     */
    void getLoggerLastMsg(std::string& msg_str) const;
    /** Reset the contents of the logger instance. Called upon construction. */
    void loggerReset();
 
    /** [Default=true] Set it to false in case you don't want the logged
     * messages to be dumped to the output automatically. */
    bool logging_enable_console_output;
    /** [Default=false] Enables storing all messages into an internal list. \sa
     * writeLogToFile, getLogAsString */
    bool logging_enable_keep_record;
 
    void logRegisterCallback(output_logger_callback_t userFunc);
    /** \return true if an entry was found and deleted. */
    bool logDeregisterCallback(output_logger_callback_t userFunc);
    /** @} */
 
   protected:
    /** \brief Provided messages with VerbosityLevel smaller than this value
     * shall be ignored */
    VerbosityLevel m_min_verbosity_level;
 
   private:
    /**
     * \brief Struct responsible of holding information relevant to the message
     *        (in std::string form) issued by the user.
     *
     * Upon TMsg initialization, instance fetches the name of the caller
     * COutputLogger, as well as the VerbosityLevel and the
     * mrpt::Clock::time_point of the message provided.
     * The format of the message when this is printed / or written to an
     * external file complies is given below:
     *
     * <center><em> [name | level | timestamp:] body </em></center>
     */
    struct TMsg
    {
        /** \brief Class constructor that passes a message in std::string
         * form as well as a reference to the COutputLogger that provided the
         * current message
         */
        TMsg(
            const mrpt::system::VerbosityLevel level, const std::string& msg,
            const COutputLogger& logger);
        /** \brief  Default Destructor */
        ~TMsg();
 
        /** \brief Return a string representation of the underlying message */
        std::string getAsString() const;
        /** \brief Fill the string with the contents of the underlying message
         * in
         * string representation */
        void getAsString(std::string* contents) const;
        /** \brief Write the message contents to the specified stream
         *
         * \sa getAsString
         */
        void writeToStream(std::ostream& out) const;
        /** \brief Dump the message contents to the standard output
         *
         * \sa writeToStream
         */
        void dumpToConsole() const;
 
        // parameters of the message under construction
        mrpt::Clock::time_point timestamp; /**< Timestamp of the message. */
        VerbosityLevel level; /**< Verbosity level of the message. */
        std::string name; /**< Name of the COutputLogger instance that called
                             registered the message. */
        std::string body; /**< Actual content of the message. */
    };
 
    /** Helper method for generating a std::string instance from printf-like
     * arguments */
    std::string generateStringFromFormat(const char* fmt, va_list argp) const;
 
    std::string m_logger_name;
    mutable std::deque<TMsg>
        m_history;  // deque is better than vector to avoid memory reallocs
 
    std::deque<output_logger_callback_t> m_listCallbacks;
};
 
/** For use in MRPT_LOG_DEBUG_STREAM(), etc. */
struct COutputLoggerStreamWrapper
{
    COutputLoggerStreamWrapper(
        VerbosityLevel level, const COutputLogger& logger)
        : m_level(level), m_logger(logger)
    {
    }
    ~COutputLoggerStreamWrapper()
    {
        if (m_logger.isLoggingLevelVisible(m_level))
            m_logger.logStr(m_level, m_str.str());
    }
 
    template <typename T>
    std::stringstream& operator<<(const T& val)
    {
        m_str << val;
        return m_str;
    }
    // Overload for std::stringstream objects
    std::stringstream& operator<<(const std::stringstream& val)
    {
        m_str << val.str();
        return m_str;
    }
 
   private:
    std::stringstream m_str;
    VerbosityLevel m_level;
    const COutputLogger& m_logger;
};
 
#define INTERNAL_MRPT_LOG(_LVL, _STRING) this->logStr(_LVL, _STRING)
 
#define INTERNAL_MRPT_LOG_ONCE(_LVL, _STRING) \
    do                                        \
    {                                         \
        static once_flag = false;             \
        if (!once_flag)                       \
        {                                     \
            once_flag = true;                 \
            this->logStr(_LVL, _STRING);      \
        }                                     \
    } while (0)
 
#define INTERNAL_MRPT_LOG_FMT(_LVL, _FMT_STRING, ...)     \
    do                                                    \
    {                                                     \
        if (this->isLoggingLevelVisible(_LVL))            \
        {                                                 \
            this->logFmt(_LVL, _FMT_STRING, __VA_ARGS__); \
        }                                                 \
    } while (0)
 
#define INTERNAL_MRPT_LOG_STREAM(_LVL, __CONTENTS)                  \
    do                                                              \
    {                                                               \
        if (this->isLoggingLevelVisible(_LVL))                      \
        {                                                           \
            ::mrpt::system::COutputLoggerStreamWrapper(_LVL, *this) \
                << __CONTENTS;                                      \
        }                                                           \
    } while (0)
 
#define INTERNAL_MRPT_LOG_THROTTLE(_LVL, _PERIOD_SECONDS, _STRING) \
    do                                                             \
    {                                                              \
        if (this->isLoggingLevelVisible(_LVL))                     \
        {                                                          \
            static mrpt::system::CTicTac tim;                      \
            if (tim.Tac() > _PERIOD_SECONDS)                       \
            {                                                      \
                tim.Tic();                                         \
                this->logStr(_LVL, _STRING);                       \
            }                                                      \
        }                                                          \
    } while (0)
 
#define INTERNAL_MRPT_LOG_THROTTLE_STREAM(_LVL, _PERIOD_SECONDS, __CONTENTS) \
    do                                                                       \
    {                                                                        \
        if (this->isLoggingLevelVisible(_LVL))                               \
        {                                                                    \
            static mrpt::system::CTicTac tim;                                \
            if (tim.Tac() > _PERIOD_SECONDS)                                 \
            {                                                                \
                tim.Tic();                                                   \
                ::mrpt::system::COutputLoggerStreamWrapper(_LVL, *this)      \
                    << __CONTENTS;                                           \
            }                                                                \
        }                                                                    \
    } while (0)
 
#define INTERNAL_MRPT_LOG_THROTTLE_FMT(                       \
    _LVL, _PERIOD_SECONDS, _FMT_STRING, ...)                  \
    do                                                        \
    {                                                         \
        if (this->isLoggingLevelVisible(_LVL))                \
        {                                                     \
            static mrpt::system::CTicTac tim;                 \
            if (tim.Tac() > _PERIOD_SECONDS)                  \
            {                                                 \
                tim.Tic();                                    \
                this->logFmt(_LVL, _FMT_STRING, __VA_ARGS__); \
            }                                                 \
        }                                                     \
    } while (0)
 
/** Use: `MRPT_LOG_DEBUG("message");`  */
#define MRPT_LOG_DEBUG(_STRING) \
    INTERNAL_MRPT_LOG(::mrpt::system::LVL_DEBUG, _STRING)
#define MRPT_LOG_INFO(_STRING) \
    INTERNAL_MRPT_LOG(::mrpt::system::LVL_INFO, _STRING)
#define MRPT_LOG_WARN(_STRING) \
    INTERNAL_MRPT_LOG(::mrpt::system::LVL_WARN, _STRING)
#define MRPT_LOG_ERROR(_STRING) \
    INTERNAL_MRPT_LOG(::mrpt::system::LVL_ERROR, _STRING)
 
/** Use: `MRPT_LOG_ONCE_DEBUG("once-only message");`  */
#define MRPT_LOG_ONCE_DEBUG(_STRING) \
    INTERNAL_MRPT_LOG_ONCE(::mrpt::system::LVL_DEBUG, _STRING)
#define MRPT_LOG_ONCE_INFO(_STRING) \
    INTERNAL_MRPT_LOG_ONCE(::mrpt::system::LVL_INFO, _STRING)
#define MRPT_LOG_ONCE_WARN(_STRING) \
    INTERNAL_MRPT_LOG_ONCE(::mrpt::system::LVL_WARN, _STRING)
#define MRPT_LOG_ONCE_ERROR(_STRING) \
    INTERNAL_MRPT_LOG_ONCE(::mrpt::system::LVL_ERROR, _STRING)
 
/** Use: `MRPT_LOG_THROTTLE_DEBUG(5.0, "message");`  */
#define MRPT_LOG_THROTTLE_DEBUG(_PERIOD_SECONDS, _STRING) \
    INTERNAL_MRPT_LOG_THROTTLE(                           \
        ::mrpt::system::LVL_DEBUG, _PERIOD_SECONDS, _STRING)
#define MRPT_LOG_THROTTLE_INFO(_PERIOD_SECONDS, _STRING) \
    INTERNAL_MRPT_LOG_THROTTLE(                          \
        ::mrpt::system::LVL_INFO, _PERIOD_SECONDS, _STRING)
#define MRPT_LOG_THROTTLE_WARN(_PERIOD_SECONDS, _STRING) \
    INTERNAL_MRPT_LOG_THROTTLE(                          \
        ::mrpt::system::LVL_WARN, _PERIOD_SECONDS, _STRING)
#define MRPT_LOG_THROTTLE_ERROR(_PERIOD_SECONDS, _STRING) \
    INTERNAL_MRPT_LOG_THROTTLE(                           \
        ::mrpt::system::LVL_ERROR, _PERIOD_SECONDS, _STRING)
 
/** Use: `MRPT_LOG_DEBUG_FMT("i=%u", i);`  */
#define MRPT_LOG_DEBUG_FMT(_FMT_STRING, ...) \
    INTERNAL_MRPT_LOG_FMT(::mrpt::system::LVL_DEBUG, _FMT_STRING, __VA_ARGS__)
#define MRPT_LOG_INFO_FMT(_FMT_STRING, ...) \
    INTERNAL_MRPT_LOG_FMT(::mrpt::system::LVL_INFO, _FMT_STRING, __VA_ARGS__)
#define MRPT_LOG_WARN_FMT(_FMT_STRING, ...) \
    INTERNAL_MRPT_LOG_FMT(::mrpt::system::LVL_WARN, _FMT_STRING, __VA_ARGS__)
#define MRPT_LOG_ERROR_FMT(_FMT_STRING, ...) \
    INTERNAL_MRPT_LOG_FMT(::mrpt::system::LVL_ERROR, _FMT_STRING, __VA_ARGS__)
 
/** Use: `MRPT_LOG_DEBUG_STREAM("Var=" << value << " foo=" << foo_var);` */
#define MRPT_LOG_DEBUG_STREAM(__CONTENTS) \
    INTERNAL_MRPT_LOG_STREAM(::mrpt::system::LVL_DEBUG, __CONTENTS)
#define MRPT_LOG_INFO_STREAM(__CONTENTS) \
    INTERNAL_MRPT_LOG_STREAM(::mrpt::system::LVL_INFO, __CONTENTS)
#define MRPT_LOG_WARN_STREAM(__CONTENTS) \
    INTERNAL_MRPT_LOG_STREAM(::mrpt::system::LVL_WARN, __CONTENTS)
#define MRPT_LOG_ERROR_STREAM(__CONTENTS) \
    INTERNAL_MRPT_LOG_STREAM(::mrpt::system::LVL_ERROR, __CONTENTS)
 
/** Usage: `MRPT_LOG_THROTTLE_DEBUG_STREAM(5.0, "Var=" << value << " foo=" <<
 * foo_var);` */
#define MRPT_LOG_THROTTLE_DEBUG_STREAM(_PERIOD_SECONDS, __CONTENTS) \
    INTERNAL_MRPT_LOG_THROTTLE_STREAM(                              \
        ::mrpt::system::LVL_DEBUG, _PERIOD_SECONDS, __CONTENTS)
#define MRPT_LOG_THROTTLE_INFO_STREAM(_PERIOD_SECONDS, __CONTENTS) \
    INTERNAL_MRPT_LOG_THROTTLE_STREAM(                             \
        ::mrpt::system::LVL_INFO, _PERIOD_SECONDS, __CONTENTS)
#define MRPT_LOG_THROTTLE_WARN_STREAM(_PERIOD_SECONDS, __CONTENTS) \
    INTERNAL_MRPT_LOG_THROTTLE_STREAM(                             \
        ::mrpt::system::LVL_WARN, _PERIOD_SECONDS, __CONTENTS)
#define MRPT_LOG_THROTTLE_ERROR_STREAM(_PERIOD_SECONDS, __CONTENTS) \
    INTERNAL_MRPT_LOG_THROTTLE_STREAM(                              \
        ::mrpt::system::LVL_ERROR, _PERIOD_SECONDS, __CONTENTS)
 
/** Usage: `MRPT_LOG_THROTTLE_DEBUG_FMT(5.0, "i=%u", i);` */
#define MRPT_LOG_THROTTLE_DEBUG_FMT(_PERIOD_SECONDS, _FMT_STRING, ...) \
    INTERNAL_MRPT_LOG_THROTTLE_FMT(                                    \
        ::mrpt::system::LVL_DEBUG, _PERIOD_SECONDS, _FMT_STRING, __VA_ARGS__)
#define MRPT_LOG_THROTTLE_INFO_FMT(_PERIOD_SECONDS, _FMT_STRING, ...) \
    INTERNAL_MRPT_LOG_THROTTLE_FMT(                                   \
        ::mrpt::system::LVL_INFO, _PERIOD_SECONDS, _FMT_STRING, __VA_ARGS__)
#define MRPT_LOG_THROTTLE_WARN_FMT(_PERIOD_SECONDS, _FMT_STRING, ...) \
    INTERNAL_MRPT_LOG_THROTTLE_FMT(                                   \
        ::mrpt::system::LVL_WARN, _PERIOD_SECONDS, _FMT_STRING, __VA_ARGS__)
#define MRPT_LOG_THROTTLE_ERROR_FMT(_PERIOD_SECONDS, _FMT_STRING, ...) \
    INTERNAL_MRPT_LOG_THROTTLE_FMT(                                    \
        ::mrpt::system::LVL_ERROR, _PERIOD_SECONDS, _FMT_STRING, __VA_ARGS__)
 
#ifdef _DEBUG
#define DEFAULT_LOGLVL_MRPT_UNSCOPED ::mrpt::system::LVL_DEBUG
#else
#define DEFAULT_LOGLVL_MRPT_UNSCOPED ::mrpt::system::LVL_DEBUG
#endif
 
/** For calling any `MRPT_LOG_*()` macro from outside of an object inherited
 * from COutputLogger.
 * Debug level is `DEBUG` if build with `_DEBUG` preprocessor flag, `INFO`
 * otherwise.
 * Use:
 * \code
 *  MRPT_UNSCOPED_LOGGER_START;
 *  MRPT_LOG_WARN("blah");
 *  MRPT_LOG_ERROR_STREAM("error: " << strval);
 *  MRPT_UNSCOPED_LOGGER_END;
 * \endcode
 */
#define MRPT_UNSCOPED_LOGGER_START                                      \
    do                                                                  \
    {                                                                   \
        struct dummy_logger_ : public mrpt::system::COutputLogger       \
        {                                                               \
            dummy_logger_() : mrpt::system::COutputLogger("MRPT_log")   \
            {                                                           \
                this->setMinLoggingLevel(DEFAULT_LOGLVL_MRPT_UNSCOPED); \
            }                                                           \
            void usercode()                                             \
            {                                                           \
                do                                                      \
                {                                                       \
                } while (0)
// Here comes the user code, which is run in the ctor, and will call the object
// log methods.
 
#define MRPT_UNSCOPED_LOGGER_END  \
    }                             \
    }                             \
    ;                             \
    static dummy_logger_ tmp_obj; \
    tmp_obj.usercode();           \
    }                             \
    while (0)
}  // namespace mrpt::system
// TTypeEnum for verbosity levels:
MRPT_ENUM_TYPE_BEGIN_NAMESPACE(mrpt::system, mrpt::system::VerbosityLevel)
MRPT_FILL_ENUM(LVL_DEBUG);
MRPT_FILL_ENUM(LVL_INFO);
MRPT_FILL_ENUM(LVL_WARN);
MRPT_FILL_ENUM(LVL_ERROR);
MRPT_FILL_ENUM_CUSTOM_NAME(LVL_DEBUG, "DEBUG");
MRPT_FILL_ENUM_CUSTOM_NAME(LVL_INFO, "INFO");
MRPT_FILL_ENUM_CUSTOM_NAME(LVL_WARN, "WARN");
MRPT_FILL_ENUM_CUSTOM_NAME(LVL_ERROR, "ERROR");
MRPT_ENUM_TYPE_END()