code style only: wrap after open parenthesis if not in one line (ros2…

…#565)

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

rcl/src/rcl/arguments.c

@@ -397,8 +397,8 @@ rcl_parse_arguments(
  if (i + 1 < argc) {
  // Attempt to parse next argument as parameter override rule
  if (RCL_RET_OK == _rcl_parse_param_rule(argv[i + 1], args_impl->parameter_overrides)) {
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Got param override rule : %s\n", argv[i + 1]);
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Got param override rule : %s\n", argv[i + 1]);
  ++i; // Skip flag here, for loop will skip rule.
  continue;
  }
@@ -414,8 +414,8 @@ rcl_parse_arguments(
  ret = RCL_RET_INVALID_ROS_ARGS;
  goto fail;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Arg %d (%s) is not a %s nor a %s flag.",
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Arg %d (%s) is not a %s nor a %s flag.",
  i, argv[i], RCL_PARAM_FLAG, RCL_SHORT_PARAM_FLAG);
 
  // Attempt to parse argument as remap rule flag
@@ -442,9 +442,9 @@ rcl_parse_arguments(
  ret = RCL_RET_INVALID_ROS_ARGS;
  goto fail;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Arg %d (%s) is not a %s nor a %s flag.", i,
- argv[i], RCL_REMAP_FLAG, RCL_SHORT_REMAP_FLAG);
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Arg %d (%s) is not a %s nor a %s flag.",
+ i, argv[i], RCL_REMAP_FLAG, RCL_SHORT_REMAP_FLAG);
 
  // Attempt to parse argument as parameter file rule
  if (strcmp(RCL_PARAM_FILE_FLAG, argv[i]) == 0) {
@@ -457,7 +457,8 @@ rcl_parse_arguments(
  &args_impl->parameter_files[args_impl->num_param_files_args]))
  {
  ++(args_impl->num_param_files_args);
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME,
  "Got params file : %s\ntotal num param files %d",
  args_impl->parameter_files[args_impl->num_param_files_args - 1],
  args_impl->num_param_files_args);
@@ -476,8 +477,9 @@ rcl_parse_arguments(
  ret = RCL_RET_INVALID_ROS_ARGS;
  goto fail;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Arg %d (%s) is not a %s flag.", i, argv[i], RCL_PARAM_FILE_FLAG);
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Arg %d (%s) is not a %s flag.",
+ i, argv[i], RCL_PARAM_FILE_FLAG);
 
  // Attempt to parse argument as log level configuration
  if (strcmp(RCL_LOG_LEVEL_FLAG, argv[i]) == 0) {
@@ -501,25 +503,25 @@ rcl_parse_arguments(
  ret = RCL_RET_INVALID_ROS_ARGS;
  goto fail;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Arg %d (%s) is not a %s flag.",
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Arg %d (%s) is not a %s flag.",
  i, argv[i], RCL_LOG_LEVEL_FLAG);
 
  // Attempt to parse argument as log configuration file
  if (strcmp(RCL_EXTERNAL_LOG_CONFIG_FLAG, argv[i]) == 0) {
  if (i + 1 < argc) {
  if (NULL != args_impl->external_log_config_file) {
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Overriding log configuration file : %s\n",
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Overriding log configuration file : %s\n",
  args_impl->external_log_config_file);
  allocator.deallocate(args_impl->external_log_config_file, allocator.state);
  args_impl->external_log_config_file = NULL;
  }
  if (RCL_RET_OK == _rcl_parse_external_log_config_file(
  argv[i + 1], allocator, &args_impl->external_log_config_file))
  {
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Got log configuration file : %s\n",
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Got log configuration file : %s\n",
  args_impl->external_log_config_file);
  ++i; // Skip flag here, for loop will skip value.
  continue;
@@ -536,19 +538,21 @@ rcl_parse_arguments(
  ret = RCL_RET_INVALID_ROS_ARGS;
  goto fail;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Arg %d (%s) is not a %s flag.",
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Arg %d (%s) is not a %s flag.",
  i, argv[i], RCL_EXTERNAL_LOG_CONFIG_FLAG);
 
  // Attempt to parse --enable/disable-stdout-logs flag
  ret = _rcl_parse_disabling_flag(
  argv[i], RCL_LOG_STDOUT_FLAG_SUFFIX, &args_impl->log_stdout_disabled);
  if (RCL_RET_OK == ret) {
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Disable log stdout ? %s\n", args_impl->log_stdout_disabled ? "true" : "false");
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Disable log stdout ? %s\n",
+ args_impl->log_stdout_disabled ? "true" : "false");
  continue;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as %s%s or %s%s flag. Error: %s",
  i, argv[i], RCL_ENABLE_FLAG_PREFIX, RCL_LOG_STDOUT_FLAG_SUFFIX,
  RCL_DISABLE_FLAG_PREFIX, RCL_LOG_STDOUT_FLAG_SUFFIX, rcl_get_error_string().str);
@@ -558,11 +562,13 @@ rcl_parse_arguments(
  ret = _rcl_parse_disabling_flag(
  argv[i], RCL_LOG_ROSOUT_FLAG_SUFFIX, &args_impl->log_rosout_disabled);
  if (RCL_RET_OK == ret) {
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Disable log rosout ? %s\n", args_impl->log_rosout_disabled ? "true" : "false");
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Disable log rosout ? %s\n",
+ args_impl->log_rosout_disabled ? "true" : "false");
  continue;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as %s%s or %s%s flag. Error: %s",
  i, argv[i], RCL_ENABLE_FLAG_PREFIX, RCL_LOG_ROSOUT_FLAG_SUFFIX,
  RCL_DISABLE_FLAG_PREFIX, RCL_LOG_ROSOUT_FLAG_SUFFIX, rcl_get_error_string().str);
@@ -572,11 +578,13 @@ rcl_parse_arguments(
  ret = _rcl_parse_disabling_flag(
  argv[i], RCL_LOG_EXT_LIB_FLAG_SUFFIX, &args_impl->log_ext_lib_disabled);
  if (RCL_RET_OK == ret) {
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Disable log external lib ? %s\n", args_impl->log_ext_lib_disabled ? "true" : "false");
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Disable log external lib ? %s\n",
+ args_impl->log_ext_lib_disabled ? "true" : "false");
  continue;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as %s%s or %s%s flag. Error: %s",
  i, argv[i], RCL_ENABLE_FLAG_PREFIX, RCL_LOG_EXT_LIB_FLAG_SUFFIX,
  RCL_DISABLE_FLAG_PREFIX, RCL_LOG_EXT_LIB_FLAG_SUFFIX, rcl_get_error_string().str);
@@ -596,14 +604,16 @@ rcl_parse_arguments(
  rcl_remap_t * rule = &(args_impl->remap_rules[args_impl->num_remap_rules]);
  *rule = rcl_get_zero_initialized_remap();
  if (RCL_RET_OK == _rcl_parse_remap_rule(argv[i], allocator, rule)) {
- RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_WARN_NAMED(
+ ROS_PACKAGE_NAME,
  "Found remap rule '%s'. This syntax is deprecated. Use '%s %s %s' instead.",
  argv[i], RCL_ROS_ARGS_FLAG, RCL_REMAP_FLAG, argv[i]);
  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Got remap rule : %s\n", argv[i + 1]);
  ++(args_impl->num_remap_rules);
  continue;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as a remap rule in its deprecated form. Error: %s",
  i, argv[i], rcl_get_error_string().str);
  rcl_reset_error();
@@ -616,31 +626,36 @@ rcl_parse_arguments(
  &args_impl->parameter_files[args_impl->num_param_files_args]))
  {
  ++(args_impl->num_param_files_args);
- RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_WARN_NAMED(
+ ROS_PACKAGE_NAME,
  "Found parameter file rule '%s'. This syntax is deprecated. Use '%s %s %s' instead.",
  argv[i], RCL_ROS_ARGS_FLAG, RCL_PARAM_FILE_FLAG,
  args_impl->parameter_files[args_impl->num_param_files_args - 1]);
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME,
  "params rule : %s\n total num param rules %d",
  args_impl->parameter_files[args_impl->num_param_files_args - 1],
  args_impl->num_param_files_args);
  continue;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as a deprecated parameter file rule. Error: %s",
  i, argv[i], rcl_get_error_string().str);
  rcl_reset_error();
 
  // Attempt to parse argument as log level configuration
  int log_level;
  if (RCL_RET_OK == _rcl_parse_log_level_rule(argv[i], allocator, &log_level)) {
- RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_WARN_NAMED(
+ ROS_PACKAGE_NAME,
  "Found log level rule '%s'. This syntax is deprecated. Use '%s %s %s' instead.",
  argv[i], RCL_ROS_ARGS_FLAG, RCL_LOG_LEVEL_FLAG, g_rcutils_log_severity_names[log_level]);
  args_impl->log_level = log_level;
  continue;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as a deprecated log level rule. Error: %s",
  i, argv[i], rcl_get_error_string().str);
  rcl_reset_error();
@@ -649,16 +664,18 @@ rcl_parse_arguments(
  rcl_ret_t ret = _rcl_parse_external_log_config_file_rule(
  argv[i], allocator, &args_impl->external_log_config_file);
  if (RCL_RET_OK == ret) {
- RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_WARN_NAMED(
+ ROS_PACKAGE_NAME,
  "Found log config rule '%s'. This syntax is deprecated. Use '%s %s %s' instead.",
  argv[i], RCL_ROS_ARGS_FLAG, RCL_EXTERNAL_LOG_CONFIG_FLAG,
  args_impl->external_log_config_file);
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Got log configuration file : %s\n",
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Got log configuration file : %s\n",
  args_impl->external_log_config_file);
  continue;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as a deprecated log config rule. Error: %s",
  i, argv[i], rcl_get_error_string().str);
  rcl_reset_error();
@@ -669,14 +686,17 @@ rcl_parse_arguments(
  if (RCL_RET_OK == ret) {
  const char * flag_prefix =
  args_impl->log_stdout_disabled ? RCL_DISABLE_FLAG_PREFIX : RCL_ENABLE_FLAG_PREFIX;
- RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_WARN_NAMED(
+ ROS_PACKAGE_NAME,
  "Found '%s'. This syntax is deprecated. Use '%s %s%s' instead.",
  argv[i], RCL_ROS_ARGS_FLAG, flag_prefix, RCL_LOG_STDOUT_FLAG_SUFFIX);
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Disable log stdout ? %s\n", args_impl->log_stdout_disabled ? "true" : "false");
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Disable log stdout ? %s\n",
+ args_impl->log_stdout_disabled ? "true" : "false");
  continue;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as a deprecated log_stdout_disabled rule. Error: %s",
  i, argv[i], rcl_get_error_string().str);
  rcl_reset_error();
@@ -687,14 +707,17 @@ rcl_parse_arguments(
  if (RCL_RET_OK == ret) {
  const char * flag_prefix =
  args_impl->log_rosout_disabled ? RCL_DISABLE_FLAG_PREFIX : RCL_ENABLE_FLAG_PREFIX;
- RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_WARN_NAMED(
+ ROS_PACKAGE_NAME,
  "Found '%s'. This syntax is deprecated. Use '%s %s%s' instead.",
  argv[i], RCL_ROS_ARGS_FLAG, flag_prefix, RCL_LOG_ROSOUT_FLAG_SUFFIX);
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Disable log rosout ? %s\n", args_impl->log_rosout_disabled ? "true" : "false");
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Disable log rosout ? %s\n",
+ args_impl->log_rosout_disabled ? "true" : "false");
  continue;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as a deprecated log_rosout_disabled rule. Error: %s",
  i, argv[i], rcl_get_error_string().str);
  rcl_reset_error();
@@ -705,14 +728,17 @@ rcl_parse_arguments(
  if (RCL_RET_OK == ret) {
  const char * flag_prefix =
  args_impl->log_ext_lib_disabled ? RCL_DISABLE_FLAG_PREFIX : RCL_ENABLE_FLAG_PREFIX;
- RCUTILS_LOG_WARN_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_WARN_NAMED(
+ ROS_PACKAGE_NAME,
  "Found '%s'. This syntax is deprecated. Use '%s %s%s' instead.",
  argv[i], RCL_ROS_ARGS_FLAG, flag_prefix, RCL_LOG_EXT_LIB_FLAG_SUFFIX);
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
- "Disable log external lib ? %s\n", args_impl->log_ext_lib_disabled ? "true" : "false");
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME, "Disable log external lib ? %s\n",
+ args_impl->log_ext_lib_disabled ? "true" : "false");
  continue;
  }
- RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME,
+ RCUTILS_LOG_DEBUG_NAMED(
+ ROS_PACKAGE_NAME,
  "Couldn't parse arg %d (%s) as a deprecated log_ext_lib_disabled rule. Error: %s",
  i, argv[i], rcl_get_error_string().str);
  rcl_reset_error();

rcl/src/rcl/init.c

@@ -186,7 +186,8 @@ rcl_shutdown(rcl_context_t * context)
  }
 
  rcl_ret_t rcl_ret = rcl_logging_fini();
- RCUTILS_LOG_ERROR_EXPRESSION_NAMED(RCL_RET_OK != rcl_ret, ROS_PACKAGE_NAME,
+ RCUTILS_LOG_ERROR_EXPRESSION_NAMED(
+ RCL_RET_OK != rcl_ret, ROS_PACKAGE_NAME,
  "Failed to fini logging, rcl_ret_t: %i, rcl_error_str: %s", rcl_ret,
  rcl_get_error_string().str);
  rcl_reset_error();

rcl/src/rcl/logging_rosout.c

@@ -93,9 +93,11 @@ rcl_ret_t rcl_logging_rosout_init(
  return RCL_RET_OK;
  }
  __logger_map = rcutils_get_zero_initialized_hash_map();
- RCL_RET_FROM_RCUTIL_RET(status,
- rcutils_hash_map_init(&__logger_map, 2, sizeof(const char *), sizeof(rosout_map_entry_t),
- rcutils_hash_map_string_hash_func, rcutils_hash_map_string_cmp_func, allocator));
+ RCL_RET_FROM_RCUTIL_RET(
+ status,
+ rcutils_hash_map_init(
+ &__logger_map, 2, sizeof(const char *), sizeof(rosout_map_entry_t),
+ rcutils_hash_map_string_hash_func, rcutils_hash_map_string_cmp_func, allocator));
  if (RCL_RET_OK == status) {
  __rosout_allocator = *allocator;
  __is_initialized = true;
@@ -111,8 +113,8 @@ rcl_ret_t rcl_logging_rosout_fini()
  rosout_map_entry_t entry;
 
  // fini all the outstanding publishers
- rcutils_ret_t hashmap_ret = rcutils_hash_map_get_next_key_and_data(&__logger_map, NULL, &key,
-   &entry);
+ rcutils_ret_t hashmap_ret = rcutils_hash_map_get_next_key_and_data(
+ &__logger_map, NULL, &key, &entry);
  while (RCL_RET_OK == status && RCUTILS_RET_OK == hashmap_ret) {
  // Teardown publisher
  status = rcl_publisher_fini(&entry.publisher, entry.node);
@@ -157,7 +159,8 @@ rcl_ret_t rcl_logging_rosout_init_publisher_for_node(
  if (rcutils_hash_map_key_exists(&__logger_map, &logger_name)) {
  // @TODO(nburek) Update behavior to either enforce unique names or work with non-unique
  // names based on the outcome here: https://github.com/ros2/design/issues/187
- RCUTILS_LOG_WARN_NAMED("rcl.logging_rosout",
+ RCUTILS_LOG_WARN_NAMED(
+ "rcl.logging_rosout",
  "Publisher already registered for provided node name. If this is due to multiple nodes "
  "with the same name then all logs for that logger name will go out over the existing "
  "publisher. As soon as any node with that name is destructed it will unregister the "

rcl/src/rcl/node.c

@@ -381,7 +381,8 @@ rcl_node_init(
  node->impl->logger_name)
  {
  ret = rcl_logging_rosout_fini_publisher_for_node(node);
- RCUTILS_LOG_ERROR_EXPRESSION_NAMED((ret != RCL_RET_OK && ret != RCL_RET_NOT_INIT),
+ RCUTILS_LOG_ERROR_EXPRESSION_NAMED(
+ (ret != RCL_RET_OK && ret != RCL_RET_NOT_INIT),
  ROS_PACKAGE_NAME, "Failed to fini publisher for node: %i", ret);
  allocator->deallocate((char *)node->impl->logger_name, allocator->state);
  }

rcl/src/rcl/publisher.c

@@ -169,8 +169,8 @@ rcl_publisher_init(
  remapped_topic_name,
  &(options->qos),
  &(options->rmw_publisher_options));
- RCL_CHECK_FOR_NULL_WITH_MSG(publisher->impl->rmw_handle,
- rmw_get_error_string().str, goto fail);
+ RCL_CHECK_FOR_NULL_WITH_MSG(
+ publisher->impl->rmw_handle, rmw_get_error_string().str, goto fail);
  // get actual qos, and store it
  rmw_ret = rmw_publisher_get_actual_qos(
  publisher->impl->rmw_handle,
@@ -303,8 +303,8 @@ rcl_publish_serialized_message(
  return RCL_RET_PUBLISHER_INVALID; // error already set
  }
  RCL_CHECK_ARGUMENT_FOR_NULL(serialized_message, RCL_RET_INVALID_ARGUMENT);
- rmw_ret_t ret = rmw_publish_serialized_message(publisher->impl->rmw_handle, serialized_message,
-   allocation);
+ rmw_ret_t ret = rmw_publish_serialized_message(
+ publisher->impl->rmw_handle, serialized_message, allocation);
  if (ret != RMW_RET_OK) {
  RCL_SET_ERROR_MSG(rmw_get_error_string().str);
  if (ret == RMW_RET_BAD_ALLOC) {
@@ -420,8 +420,8 @@ rcl_publisher_get_subscription_count(
  }
  RCL_CHECK_ARGUMENT_FOR_NULL(subscription_count, RCL_RET_INVALID_ARGUMENT);
 
- rmw_ret_t ret = rmw_publisher_count_matched_subscriptions(publisher->impl->rmw_handle,
-   subscription_count);
+ rmw_ret_t ret = rmw_publisher_count_matched_subscriptions(
+ publisher->impl->rmw_handle, subscription_count);
 
  if (ret != RMW_RET_OK) {
  RCL_SET_ERROR_MSG(rmw_get_error_string().str);