def __init__(self, name):
self.name = name
self.machine = Machine(model=self,
states=StateMachine.states,
initial='Wait',
auto_transitions=False)
self.machine.add_transition(trigger='Turn_start',
source='Init',
dest='Turn',
after='turn_table')
self.machine.add_transition(trigger='Turn_fin',
source='Turn',
dest='Recode',
before='recode')
self.machine.add_transition(trigger='Rec_fin',
source='Recode',
dest='Wait',
after='wait')
self.machine.add_transition(trigger='Init_set',
source='Wait',
dest='Init',
before='init')
self.machine.add_transition(trigger='Turn_res',
source='Wait',
dest='Turn',
after='turn_table')
self.machine.add_transition(trigger='Next_dis',
source='Wait',
dest='Init',
after='prepare_next')
self.stage = StageControl()
self.func = MyFunc()
self.photo = TakePhoto()
self.photo_path = self.func.make_dir_path(photo=True)
self.adjust = 50
def __init__(self):
self.mic_path = '../_exp/19' + datetime.today().strftime("%m%d") + '/recode_data/' + \
datetime.today().strftime("%H%M%S") + '/'
self.my_makedirs(self.mic_path)
# self.mic_index, self.mic_channels = self.get_index('ReSpeaker 4 Mic Array (UAC1.0) ')
self.mic_name = 'ReSpeaker 4 Mic Array (UAC1.0) '
self.speak_path = "../_exp/Speaker_Sound/2_up_tsp_1num.wav"
self.recode_second = 1.2
self.freq_min = 800
self.freq_max = 2200
self.smooth_step = 50
self.mic_id = 0
self.model = joblib.load('../../../../OneDrive/Research/_array/200212/svm_200210_PTs09_freq_1000_8000.pkl')
self.scon = StageControl()
self.scon.calibrate()
self.check_ready(200)
def __init__(self, name, host_ip, port_num, send_size, interval,
retry_times):
self.name = name
self.machine = Machine(model=self,
states=StateMachine.states,
initial='Wait',
auto_transitions=False)
self.machine.add_transition(trigger='Turn_start',
source='Init',
dest='Turn',
after='turn_table')
self.machine.add_transition(trigger='Turn_fin',
source='Turn',
dest='Recode',
before='recode')
# self.machine.add_transition(trigger='Turn_fin', source='Init', dest='Recode', before='recode')
self.machine.add_transition(trigger='Rec_fin',
source='Recode',
dest='Wait',
after='wait')
# self.machine.add_transition(trigger='Rec_fin', source='Recode', dest='Init', after='wait')
self.machine.add_transition(trigger='Init_set',
source='Wait',
dest='Init',
before='init')
self.machine.add_transition(trigger='Turn_res',
source='Wait',
dest='Turn',
after='turn_table')
self.scon = StageControl()
self.rfnc = RecodeFunc()
self.socl = SocketClient(host_ip, port_num, send_size, interval,
retry_times)
self.mic_index, self.mic_channels = self.rfnc.get_index(
'ReSpeaker 4 Mic Array (UAC1.0) ')
# self.speak_wf, self.speak_stream, self.speak_p = self.rfnc.sound_read("./origin_sound_data/tsp_1num.wav")
# self.speak_path = "../_exp/Speaker_Sound/1_plus005_4time.wav"
self.speak_path = "../_exp/Speaker_Sound/2_up_tsp_8num.wav"
self.mic_path = '../_exp/20' + datetime.today().strftime("%m%d") + '/recode_data/' + \
datetime.today().strftime("%H%M%S")
self.rfnc.my_makedirs(self.mic_path)
self.adjust = 50
def __init__(self, name, host_ip_1, host_ip_2, port_1, port_2, send_size, interval, retry_times):
self.name = name
self.machine = Machine(model=self, states=StateMachine.states, initial='Wait', auto_transitions=False)
self.machine.add_transition(trigger='Turn_start', source='Init', dest='Turn', after='turn_table')
self.machine.add_transition(trigger='Turn_fin', source='Turn', dest='Recode', before='recode')
# self.machine.add_transition(trigger='Turn_fin', source='Init', dest='Recode', before='recode')
self.machine.add_transition(trigger='Rec_fin', source='Recode', dest='Wait', after='wait')
# self.machine.add_transition(trigger='Rec_fin', source='Recode', dest='Init', after='wait')
self.machine.add_transition(trigger='Init_set', source='Wait', dest='Init', before='init')
self.machine.add_transition(trigger='Turn_res', source='Wait', dest='Turn', after='turn_table')
self.machine.add_transition(trigger='Next_dis', source='Wait', dest='Init', after='prepare_next')
self.stage = StageControl()
# self.rfnc = RecodeFunc()
self.func = MyFunc()
self.photo = TakePhoto()
self.socket = SocketClient(host_ip_1, host_ip_2, port_1, port_2, send_size, interval, retry_times)
# self.mic_index, self.mic_channels = self.rfnc.get_index('ReSpeaker 4 Mic Array (UAC1.0) ')
# self.speak_wf, self.speak_stream, self.speak_p = self.rfnc.sound_read("./origin_sound_data/tsp_1num.wav")
# self.speak_path = "../_exp/Speaker_Sound/1_plus005_4time.wav"
self.speak_path = "../_exp/Speaker_Sound/2_up_tsp_8num.wav"
self.mic_path = self.func.make_dir_path(exp=True)
self.photo_path = self.func.make_dir_path(photo=True)
# self.func.my_makedirs(self.mic_path)
self.adjust = 50
def __init__(self,
name,
path,
host_ip_1,
port_1,
send_size,
interval,
retry_times,
outfile="2_up_tsp_1num.wav"):
super().__init__()
self.mic_path = self.make_dir_path(exp=True)
self.speak_path = self.speaker_sound_path + outfile
self.recode_second = 1.2
freq_min = 1000
freq_max = 7000
self.smooth_step = 50
self.mic_id = 0
self.scon = StageControl()
# self.socket = SocketClient(host_ip_1, host_ip_2, port_1, port_2, send_size, interval, retry_times)
self.socket = SocketClient(host_ip_1, port_1, send_size, interval,
retry_times)
self.model = joblib.load(self.onedrive_path + '_array/' + path + name +
'.pkl')
self.name = name
origin_path = self.speaker_sound_path + '2_up_tsp_1num.wav'
self.origin_frames = self.get_frames(origin_path)
freq_list = np.fft.rfftfreq(self.get_frames(origin_path), 1 / 44100)
self.freq_max_id = self.freq_ids(freq_list, freq_max)
self.freq_min_id = self.freq_ids(freq_list, freq_min)
self.freq_list = freq_list[self.freq_min_id +
int(self.smooth_step / 2) -
1:self.freq_max_id -
int(self.smooth_step / 2)]
self.scon.calibrate()
self.check_ready(200)
self.socket.connect()
class StateMachine(object):
states = ['Turn', 'Recode', 'Wait', 'Init', 'Next']
def __init__(self, name, host_ip, port_num, send_size, interval,
retry_times):
self.name = name
self.machine = Machine(model=self,
states=StateMachine.states,
initial='Wait',
auto_transitions=False)
self.machine.add_transition(trigger='Turn_start',
source='Init',
dest='Turn',
after='turn_table')
self.machine.add_transition(trigger='Turn_fin',
source='Turn',
dest='Recode',
before='recode')
# self.machine.add_transition(trigger='Turn_fin', source='Init', dest='Recode', before='recode')
self.machine.add_transition(trigger='Rec_fin',
source='Recode',
dest='Wait',
after='wait')
# self.machine.add_transition(trigger='Rec_fin', source='Recode', dest='Init', after='wait')
self.machine.add_transition(trigger='Init_set',
source='Wait',
dest='Init',
before='init')
self.machine.add_transition(trigger='Turn_res',
source='Wait',
dest='Turn',
after='turn_table')
self.scon = StageControl()
self.rfnc = RecodeFunc()
self.socl = SocketClient(host_ip, port_num, send_size, interval,
retry_times)
self.mic_index, self.mic_channels = self.rfnc.get_index(
'ReSpeaker 4 Mic Array (UAC1.0) ')
# self.speak_wf, self.speak_stream, self.speak_p = self.rfnc.sound_read("./origin_sound_data/tsp_1num.wav")
# self.speak_path = "../_exp/Speaker_Sound/1_plus005_4time.wav"
self.speak_path = "../_exp/Speaker_Sound/2_up_tsp_8num.wav"
self.mic_path = '../_exp/20' + datetime.today().strftime("%m%d") + '/recode_data/' + \
datetime.today().strftime("%H%M%S")
self.rfnc.my_makedirs(self.mic_path)
self.adjust = 50
def turn_table(self, name):
print(name - self.adjust, "Setting ... ")
# State.scon.gSend("D:1S5000F100000R600")
self.scon.move_table(name)
def wait(self, sleep_time=2):
# print("wait")
time.sleep(sleep_time)
pass
def recode(self, name, num=0):
if self.socl.socket is not None:
self.socl.send_GO(self.mic_path + '/' + str(name) + '.wav')
def init(self):
if self.scon.ser is None:
return -1
self.scon.calibrate()
self.socl.connect()
def check_ready(self, wait_count):
count_num = 0
print("Now Moving ...")
while count_num < wait_count:
count_num += 1
if not self.scon.isReady():
while True:
count_num += 1
if self.scon.isReady():
break
print("Ready")
def main(self, DIRECTIONS, num=0):
self.Init_set()
self.check_ready(200)
# time.sleep(30)
print("Finish Calibration of Turn Table")
print("#################################################")
self.Turn_start(DIRECTIONS[0] + self.adjust)
for i, deg in enumerate(DIRECTIONS):
self.check_ready(200)
time.sleep(2)
self.Turn_fin(deg, num)
self.Rec_fin()
print("******************************************")
if i + 1 < len(DIRECTIONS):
self.Turn_res(DIRECTIONS[i + 1] + self.adjust)
print("OK")
self.scon.move_table(0 + self.adjust)
@staticmethod
def make_dir(order):
DIRECTIONS = [order]
for i in range(10):
order = [k - 1 for k in order]
DIRECTIONS.append(order)
DIRECTIONS = np.array(DIRECTIONS).reshape(1, -1)[0]
# print(np.array(DIRECTIONS).reshape(1, -1)[0])
return DIRECTIONS
class StateMachine(object):
states = ['Turn', 'Recode', 'Wait', 'Init', 'Next']
def __init__(self, name, host_ip_1, host_ip_2, port_1, port_2, send_size, interval, retry_times):
self.name = name
self.machine = Machine(model=self, states=StateMachine.states, initial='Wait', auto_transitions=False)
self.machine.add_transition(trigger='Turn_start', source='Init', dest='Turn', after='turn_table')
self.machine.add_transition(trigger='Turn_fin', source='Turn', dest='Recode', before='recode')
# self.machine.add_transition(trigger='Turn_fin', source='Init', dest='Recode', before='recode')
self.machine.add_transition(trigger='Rec_fin', source='Recode', dest='Wait', after='wait')
# self.machine.add_transition(trigger='Rec_fin', source='Recode', dest='Init', after='wait')
self.machine.add_transition(trigger='Init_set', source='Wait', dest='Init', before='init')
self.machine.add_transition(trigger='Turn_res', source='Wait', dest='Turn', after='turn_table')
self.machine.add_transition(trigger='Next_dis', source='Wait', dest='Init', after='prepare_next')
self.stage = StageControl()
# self.rfnc = RecodeFunc()
self.func = MyFunc()
self.photo = TakePhoto()
self.socket = SocketClient(host_ip_1, host_ip_2, port_1, port_2, send_size, interval, retry_times)
# self.mic_index, self.mic_channels = self.rfnc.get_index('ReSpeaker 4 Mic Array (UAC1.0) ')
# self.speak_wf, self.speak_stream, self.speak_p = self.rfnc.sound_read("./origin_sound_data/tsp_1num.wav")
# self.speak_path = "../_exp/Speaker_Sound/1_plus005_4time.wav"
self.speak_path = "../_exp/Speaker_Sound/2_up_tsp_8num.wav"
self.mic_path = self.func.make_dir_path(exp=True)
self.photo_path = self.func.make_dir_path(photo=True)
# self.func.my_makedirs(self.mic_path)
self.adjust = 50
def turn_table(self, name):
# State.scon.gSend("D:1S5000F100000R600")
self.stage.move_table(name)
print(name-self.adjust, ' [deg]')
@staticmethod
def wait(sleep_time=2):
# print("wait")
time.sleep(sleep_time)
pass
def recode(self, dir_name, dis_name):
if self.socket.socket_1 is not None:
self.photo.capture(self.photo_path + '/' + str(dis_name) + '/' + str(dir_name))
self.socket.send_GO(self.mic_path + '/' + str(dis_name) + '/' + str(dir_name) + '.wav')
def init(self):
if self.stage.ser is None:
return -1
self.stage.calibrate()
self.socket.connect()
self.socket.send_INIT()
def check_ready(self, wait_count):
count_num = 0
# print("Now Moving ...")
while count_num < wait_count:
count_num += 1
if not self.stage.isReady():
while True:
count_num += 1
if self.stage.isReady():
break
# print("Ready")
@staticmethod
def prepare_next(dis):
print("Finish ", str(dis), ' [m]')
def main(self, directions, distances):
self.Init_set()
self.check_ready(200)
# time.sleep(30)
print("Finish Robot, Mic, Turn Table Set UP")
print("#################################################")
for j, dis in enumerate(distances):
if j != 0:
self.socket.send_SET_DIS(self.transform_pos_to_command(y_pos=round(distances[j-1]- dis, 2)))
self.func.my_makedirs(self.mic_path + '/' + str(dis))
self.func.my_makedirs(self.photo_path + '/' + str(dis))
self.Turn_start(directions[0] + self.adjust)
for i, deg in enumerate(directions):
self.check_ready(200)
time.sleep(2)
self.Turn_fin(deg, dis)
self.Rec_fin()
# print("******************************************")
if i + 1 < len(directions):
self.Turn_res(directions[i + 1] + self.adjust)
# print("OK")
else:
self.Next_dis(dis)
print()
print('^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^')
self.socket_close()
self.stage.move_table(0 + self.adjust)
print('Finish Experiment (^^)/ !!')
@staticmethod
def make_dir(order_num):
directions = [order_num]
for i in range(4):
order_num = [k - 1 for k in order_num]
directions.append(order_num)
directions = np.array(directions).reshape(1, -1)[0]
directions = np.append(directions, -50)
# print(np.array(DIRECTIONS).reshape(1, -1)[0])
print(directions)
return directions
def socket_close(self):
self.socket.close()
print('Disconnect Socket Communication')
@staticmethod
def transform_pos_to_command(x_pos=0.0, y_pos=0.0, z_pos=0.0):
if y_pos > 0:
print('ERROR')
sys.exit()
else:
return 'x=' + str(x_pos) + ',y=' + str(y_pos) + ',z=' + str(z_pos)
class StateMachine(object):
states = ['Turn', 'Recode', 'Wait', 'Init', 'Next']
def __init__(self, name):
self.name = name
self.machine = Machine(model=self,
states=StateMachine.states,
initial='Wait',
auto_transitions=False)
self.machine.add_transition(trigger='Turn_start',
source='Init',
dest='Turn',
after='turn_table')
self.machine.add_transition(trigger='Turn_fin',
source='Turn',
dest='Recode',
before='recode')
self.machine.add_transition(trigger='Rec_fin',
source='Recode',
dest='Wait',
after='wait')
self.machine.add_transition(trigger='Init_set',
source='Wait',
dest='Init',
before='init')
self.machine.add_transition(trigger='Turn_res',
source='Wait',
dest='Turn',
after='turn_table')
self.machine.add_transition(trigger='Next_dis',
source='Wait',
dest='Init',
after='prepare_next')
self.stage = StageControl()
self.func = MyFunc()
self.photo = TakePhoto()
self.photo_path = self.func.make_dir_path(photo=True)
self.adjust = 50
def turn_table(self, name):
self.stage.move_table(name)
print(name - self.adjust, ' [deg]')
@staticmethod
def wait(sleep_time=2):
time.sleep(sleep_time)
pass
def recode(self, dir_name):
# vapor switch on and take a photo
self.photo.capture(self.photo_path + str(dir_name))
# pass
# if self.socket.socket_1 is not None:
# self.photo.capture(self.photo_path + '/' + str(dis_name) + '/' + str(dir_name))
# self.socket.send_GO(self.mic_path + '/' + str(dis_name) + '/' + str(dir_name) + '.wav')
def init(self):
if self.stage.ser is None:
return -1
self.stage.calibrate()
def check_ready(self, wait_count):
count_num = 0
# print("Now Moving ...")
while count_num < wait_count:
count_num += 1
if not self.stage.isReady():
while True:
count_num += 1
if self.stage.isReady():
break
# print("Ready")
@staticmethod
def prepare_next(dis):
print("Finish ", str(dis), ' [m]')
def main(self, directions, distances):
self.Init_set()
self.check_ready(200)
# time.sleep(30)
print("Finish Robot, Mic, Turn Table Set UP")
print("#################################################")
# self.func.my_makedirs(self.photo_path + '/' + str(dis))
self.Turn_start(directions[0] + self.adjust)
for i, deg in enumerate(directions):
self.check_ready(200)
time.sleep(2)
self.Turn_fin(deg)
self.Rec_fin()
# print("******************************************")
if i + 1 < len(directions):
self.Turn_res(directions[i + 1] + self.adjust)
# print("OK")
print()
print('^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^')
self.socket_close()
self.stage.move_table(0 + self.adjust)
print('Finish Experiment (^^)/ !!')
@staticmethod
def make_dir(order_num):
directions = [order_num]
for i in range(4):
order_num = [k - 1 for k in order_num]
directions.append(order_num)
directions = np.array(directions).reshape(1, -1)[0]
directions = np.append(directions, -50)
# print(np.array(DIRECTIONS).reshape(1, -1)[0])
print(directions)
return directions
def socket_close(self):
# self.socket.close()
print('Disconnect Socket Communication')
@staticmethod
def transform_pos_to_command(x_pos=0.0, y_pos=0.0, z_pos=0.0):
if y_pos > 0:
print('ERROR')
sys.exit()
else:
return 'x=' + str(x_pos) + ',y=' + str(y_pos) + ',z=' + str(z_pos)
class Estimate(MyFunc):
def __init__(self,
name,
path,
host_ip_1,
port_1,
send_size,
interval,
retry_times,
outfile="2_up_tsp_1num.wav"):
super().__init__()
self.mic_path = self.make_dir_path(exp=True)
self.speak_path = self.speaker_sound_path + outfile
self.recode_second = 1.2
freq_min = 1000
freq_max = 7000
self.smooth_step = 50
self.mic_id = 0
self.scon = StageControl()
# self.socket = SocketClient(host_ip_1, host_ip_2, port_1, port_2, send_size, interval, retry_times)
self.socket = SocketClient(host_ip_1, port_1, send_size, interval,
retry_times)
self.model = joblib.load(self.onedrive_path + '_array/' + path + name +
'.pkl')
self.name = name
origin_path = self.speaker_sound_path + '2_up_tsp_1num.wav'
self.origin_frames = self.get_frames(origin_path)
freq_list = np.fft.rfftfreq(self.get_frames(origin_path), 1 / 44100)
self.freq_max_id = self.freq_ids(freq_list, freq_max)
self.freq_min_id = self.freq_ids(freq_list, freq_min)
self.freq_list = freq_list[self.freq_min_id +
int(self.smooth_step / 2) -
1:self.freq_max_id -
int(self.smooth_step / 2)]
self.scon.calibrate()
self.check_ready(200)
self.socket.connect()
def estimate(self, dir_name):
# recode_data, sampling = self.play_rec(self.speak_path, self.recode_second, device_name=self.mic_name,
# input_file_name=input_file, need_data=True)
recode_data = self.socket.send_GO(self.mic_path + str(dir_name) +
'.wav',
return_data=True)
print(recode_data.shape)
start_time = self.zero_cross(recode_data,
128,
44100,
512,
self.origin_frames,
up=True)
if start_time < 0:
start_time = 0
sound_data = recode_data[:, start_time:int(start_time +
self.origin_frames)]
# sound_data = np.reshape(sound_data, (8, 8, -1))
print(sound_data.shape)
# plt.figure()
# plt.specgram(sound_data[0], Fs=44100)
# plt.show()
fft_data = np.fft.rfft(sound_data)
print(fft_data.shape)
data_set = np.zeros((recode_data.shape[0], len(self.freq_list)),
dtype=np.float)
for mic in range(fft_data.shape[0]):
smooth_data = np.convolve(
np.abs(fft_data[mic, self.freq_min_id:self.freq_max_id]),
np.ones(self.smooth_step) / float(self.smooth_step),
mode='valid')
smooth_data = np.real(np.reshape(smooth_data, (1, -1)))[0]
normalize_data = stats.zscore(smooth_data, axis=0)
# normalize_data = (smooth_data - smooth_data.mean()) / smooth_data.std()
# normalize_data = (smooth_data - min(smooth_data))/(max(smooth_data) - min(smooth_data))
data_set[mic, :] = normalize_data
training_data = np.load(
self.onedrive_path +
'_array/200216/200210_PTs09_kuka_distance_200.npy')
print(training_data.shape)
plt.figure()
plt.plot(training_data[dir_name + 50, 0, 0, :], label='model')
plt.plot(data_set[0], label='measure')
plt.legend()
plt.show()
print(self.model.predict(data_set))
@staticmethod
def freq_ids(freq_list, freq):
freq_id = np.abs(freq_list - freq).argmin()
return freq_id
def turn_table(self, direction):
self.scon.move_table(direction + 50)
self.check_ready(200)
time.sleep(2)
print("move to ", direction)
def check_ready(self, wait_count):
count_num = 0
print("Now Moving ...")
while count_num < wait_count:
count_num += 1
if not self.scon.isReady():
while True:
count_num += 1
if self.scon.isReady():
break
print("Ready")
class Estimate(RecodeFunc):
def __init__(self):
self.mic_path = '../_exp/19' + datetime.today().strftime("%m%d") + '/recode_data/' + \
datetime.today().strftime("%H%M%S") + '/'
self.my_makedirs(self.mic_path)
# self.mic_index, self.mic_channels = self.get_index('ReSpeaker 4 Mic Array (UAC1.0) ')
self.mic_name = 'ReSpeaker 4 Mic Array (UAC1.0) '
self.speak_path = "../_exp/Speaker_Sound/2_up_tsp_1num.wav"
self.recode_second = 1.2
self.freq_min = 800
self.freq_max = 2200
self.smooth_step = 50
self.mic_id = 0
self.model = joblib.load('../../../../OneDrive/Research/_array/200212/svm_200210_PTs09_freq_1000_8000.pkl')
self.scon = StageControl()
self.scon.calibrate()
self.check_ready(200)
def estimate(self):
input_file = self.mic_path + 'test.wav'
recode_data, sampling = self.play_rec(self.speak_path, self.recode_second, device_name=self.mic_name,
input_file_name=input_file, need_data=True)
recode_data = np.delete(recode_data, [0, 5], 0)
fft_data = np.fft.rfft(recode_data)
freq_list = np.fft.rfftfreq(recode_data.shape[1], 1/sampling)
freq_min_id = self.freq_ids(freq_list, self.freq_min)
freq_max_id = self.freq_ids(freq_list, self.freq_max)
data_set_freq_len = freq_max_id - freq_min_id - (self.smooth_step - 1)
data_set = np.zeros((recode_data.shape[0], data_set_freq_len), dtype=np.float)
for mic in range(fft_data.shape[0]):
smooth_data = np.convolve(np.abs(fft_data[mic, freq_min_id:freq_max_id]),
np.ones(self.smooth_step) / float(self.smooth_step), mode='valid')
smooth_data = np.real(np.reshape(smooth_data, (1, -1)))[0]
normalize_data = stats.zscore(smooth_data, axis=0)
# normalize_data = (smooth_data - smooth_data.mean()) / smooth_data.std()
# normalize_data = (smooth_data - min(smooth_data))/(max(smooth_data) - min(smooth_data))
data_set[mic, :] = normalize_data
# plt.figure()
# plt.plot(data_set[self.mic_id, :])
# plt.show()
# print(data_set[self.mic_id].shape)
print(self.model.predict(data_set[:, 256:]))
@staticmethod
def freq_ids(freq_list, freq):
freq_id = np.abs(freq_list - freq).argmin()
return freq_id
def turn_table(self, direction):
self.scon.move_table(direction + 50)
self.check_ready(200)
time.sleep(2)
print("move to ", direction)
def check_ready(self, wait_count):
count_num = 0
print("Now Moving ...")
while count_num < wait_count:
count_num += 1
if not self.scon.isReady():
while True:
count_num += 1
if self.scon.isReady():
break
print("Ready")