Avoid trying to unload filament when not loaded

however, it looks like the EEPROM is not updated correctly, needs more testing

src/config/config.h

@@ -19,6 +19,7 @@
 namespace config {
 
 static constexpr const uint8_t toolCount = 5U; ///< Max number of extruders/tools/slots
+static_assert(toolCount < 15, "Up to 14 valid slots (+1 parking) is supported in EEPROM storage");
 
 // Printer's filament sensor setup
 static constexpr const uint16_t fsensorDebounceMs = 10;

src/logic/cut_filament.cpp

@@ -69,7 +69,7 @@ bool CutFilament::StepInner() {
         if (mm::motion.QueueEmpty()) { // idler and selector finished their moves
             // move selector aside - prepare the blade into active position
             state = ProgressCode::PreparingBlade;
-            mg::globals.SetFilamentLoaded(mg::FilamentLoadState::AtPulley);
+            mg::globals.SetFilamentLoaded(cutSlot, mg::FilamentLoadState::AtPulley);
             ms::selector.MoveToSlot(cutSlot + 1);
         }
     case ProgressCode::PreparingBlade:

src/logic/eject_filament.cpp

@@ -66,7 +66,7 @@ bool EjectFilament::StepInner() {
     case ProgressCode::DisengagingIdler:
         if (!mi::idler.Engaged()) { // idler disengaged
             mm::motion.Disable(mm::Pulley);
-            mg::globals.SetFilamentLoaded(mg::FilamentLoadState::NotLoaded);
+            mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::NotLoaded);
             state = ProgressCode::OK;
             error = ErrorCode::OK;
         }

src/logic/feed_to_bondtech.cpp

@@ -35,7 +35,7 @@ bool FeedToBondtech::Step() {
         //dbg_logic_P(PSTR("Feed to Bondtech --> Pushing"));
         if (mfs::fsensor.Pressed()) {
             mm::motion.AbortPlannedMoves(); // stop pushing filament
-            mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InFSensor);
+            mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InFSensor);
             // plan a slow move to help push filament into the nozzle
             //@@TODO the speed in mm/s must correspond to printer's feeding speed!
             mm::motion.PlanMove<mm::Pulley>(config::fsensorToNozzle, config::pulleySlowFeedrate);
@@ -49,7 +49,7 @@ bool FeedToBondtech::Step() {
         return false;
     case PushingFilamentIntoNozzle:
         if (mm::motion.QueueEmpty()) {
-            mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InNozzle);
+            mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InNozzle);
             mi::idler.Disengage();
             // while disengaging the idler, keep on moving with the pulley to avoid grinding while the printer is trying to grab the filament itself
             mm::motion.PlanMove<mm::Pulley>(config::fsensorToNozzleAvoidGrind, config::pulleySlowFeedrate);

src/logic/feed_to_finda.cpp

@@ -29,11 +29,12 @@ bool FeedToFinda::Step() {
             dbg_logic_fP(PSTR("Pulley start steps %u"), mm::motion.CurPosition(mm::Pulley));
             state = PushingFilament;
             mm::motion.InitAxis(mm::Pulley);
-            if (mg::globals.FilamentLoaded() == mg::FilamentLoadState::NotLoaded) { // feed slowly filament to PTFE
+            // @@TODO this may never happen as load filament always assumes the filament is at least at the pulley
-                mm::motion.PlanMove<mm::Pulley>(config::filamentMinLoadedToMMU, config::pulleySlowFeedrate);
+            //            if (mg::globals.FilamentLoaded() == mg::FilamentLoadState::NotLoaded) { // feed slowly filament to PTFE
-            }
+            //                mm::motion.PlanMove<mm::Pulley>(config::filamentMinLoadedToMMU, config::pulleySlowFeedrate);
+            //            }
             mm::motion.PlanMove<mm::Pulley>(config::feedToFinda, config::pulleyFeedrate);
-            mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InSelector);
+            mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
             mui::userInput.Clear(); // remove all buffered events if any just before we wait for some input
         }
         return false;
@@ -41,7 +42,7 @@ bool FeedToFinda::Step() {
         if (mf::finda.Pressed() || (feedPhaseLimited && mui::userInput.AnyEvent())) { // @@TODO probably also a command from the printer
             mm::motion.AbortPlannedMoves(); // stop pushing filament
             // FINDA triggered - that means it works and detected the filament tip
-            mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InSelector);
+            mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
             dbg_logic_P(PSTR("Feed to Finda --> Idler disengaged"));
             dbg_logic_fP(PSTR("Pulley end steps %u"), mm::motion.CurPosition(mm::Pulley));
             state = OK;

src/logic/load_filament.cpp

@@ -21,7 +21,7 @@ void LoadFilament::Reset(uint8_t param) {
     dbg_logic_P(PSTR("Load Filament"));
     state = ProgressCode::FeedingToFinda;
     error = ErrorCode::RUNNING;
-    mg::globals.SetActiveSlot(param);
+    mg::globals.SetFilamentLoaded(param, mg::FilamentLoadState::AtPulley); // still at pulley, haven't moved yet
     feed.Reset(true);
     ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
     ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);

src/logic/retract_from_finda.cpp

@@ -30,7 +30,7 @@ bool RetractFromFinda::Step() {
         if (mm::motion.QueueEmpty()) { // all moves have been finished
             if (!mf::finda.Pressed()) { // FINDA switched off correctly while the move was performed
                 state = OK;
-                mg::globals.SetFilamentLoaded(mg::FilamentLoadState::AtPulley);
+                mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::AtPulley);
                 dbg_logic_fP(PSTR("Pulley end steps %u"), mm::motion.CurPosition(mm::Pulley));
                 ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
             } else { // FINDA didn't switch off

src/logic/tool_change.cpp

@@ -38,7 +38,7 @@ void ToolChange::Reset(uint8_t param) {
         state = ProgressCode::FeedingToFinda;
         error = ErrorCode::RUNNING;
         dbg_logic_P(PSTR("Filament is not loaded --> load"));
-        mg::globals.SetActiveSlot(plannedSlot);
+        mg::globals.SetFilamentLoaded(plannedSlot, mg::FilamentLoadState::InSelector);
         feed.Reset(true);
     }
 }
@@ -52,7 +52,7 @@ bool ToolChange::StepInner() {
             // There is no way the UnloadFilament to finish in an error state
             state = ProgressCode::FeedingToFinda;
             error = ErrorCode::RUNNING;
-            mg::globals.SetActiveSlot(plannedSlot);
+            mg::globals.SetFilamentLoaded(plannedSlot, mg::FilamentLoadState::AtPulley);
             feed.Reset(true);
         }
         break;

src/logic/unload_filament.cpp

@@ -14,6 +14,13 @@ namespace logic {
 UnloadFilament unloadFilament;
 
 void UnloadFilament::Reset(uint8_t /*param*/) {
+
+    if (!mf::finda.Pressed() && mg::globals.FilamentLoaded() < mg::FilamentLoadState::InSelector) {
+        // it looks like we have nothing in the PTFE tube, at least FINDA doesn't sense anything
+        // so the filament has been probably already unloaded - terminate with OK or report an error?
+        return;
+    }
+
     // unloads filament from extruder - filament is above Bondtech gears
     mm::motion.InitAxis(mm::Pulley);
     state = ProgressCode::UnloadingToFinda;
@@ -59,7 +66,7 @@ bool UnloadFilament::StepInner() {
             state = ProgressCode::OK;
             error = ErrorCode::OK;
             mm::motion.Disable(mm::Pulley);
-            mg::globals.SetFilamentLoaded(mg::FilamentLoadState::AtPulley); // filament unloaded
+            mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::AtPulley); // filament unloaded
             ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
             ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::off);
         }

src/logic/unload_to_finda.cpp

@@ -35,7 +35,7 @@ bool UnloadToFinda::Step() {
     case UnloadingToFinda:
         if (mi::idler.Engaged()) {
             state = WaitingForFINDA;
-            mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InSelector);
+            mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
             mm::motion.PlanMove<mm::Pulley>(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU, config::pulleyFeedrate); // @@TODO constants
         }
         return false;

src/modules/globals.cpp

@@ -1,5 +1,6 @@
 /// @file globals.cpp
 #include "globals.h"
+#include "../config/config.h"
 #include "permanent_storage.h"
 
 namespace modules {
@@ -9,7 +10,14 @@ Globals globals;
 
 void Globals::Init() {
     mps::FilamentLoaded::get(activeSlot); //@@TODO check for errors
-    // @@TODO where to obtain information whether a slot is loaded with a filament?
+
+    if (activeSlot < config::toolCount) {
+        // some valid slot has been recorded in EEPROM - we have some filament loaded in the selector or even in the nozzle
+        filamentLoaded = FilamentLoadState::InNozzle; // let's assume the filament is down to the nozzle as a worst case scenario
+    } else {
+        // the filament is not present in the selector - we can move the selector freely
+        filamentLoaded = FilamentLoadState::AtPulley;
+    }
 }
 
 uint8_t Globals::ActiveSlot() const {
@@ -18,15 +26,28 @@ uint8_t Globals::ActiveSlot() const {
 
 void Globals::SetActiveSlot(uint8_t newActiveSlot) {
     activeSlot = newActiveSlot;
-    mps::FilamentLoaded::set(activeSlot);
 }
 
 FilamentLoadState Globals::FilamentLoaded() const {
     return filamentLoaded;
 }
 
-void Globals::SetFilamentLoaded(FilamentLoadState newFilamentLoaded) {
+void Globals::SetFilamentLoaded(uint8_t slot, FilamentLoadState newFilamentLoaded) {
     filamentLoaded = newFilamentLoaded;
+    SetActiveSlot(slot);
+    switch (newFilamentLoaded) {
+    case FilamentLoadState::NotLoaded:
+    case FilamentLoadState::AtPulley:
+        // Clear the active slot (basically sets the active slot to config::toolCount)
+        mps::FilamentLoaded::set(config::toolCount);
+        break;
+    case FilamentLoadState::InSelector:
+    case FilamentLoadState::InFSensor:
+    case FilamentLoadState::InNozzle:
+        // Record a valid active slot
+        mps::FilamentLoaded::set(slot);
+        break;
+    }
 }
 
 uint16_t Globals::DriveErrors() const {

src/modules/globals.h

@@ -28,28 +28,22 @@ static_assert(
     "incorrect order of Slot Filament Load States");
 
 /// Globals keep track of global state variables in the firmware.
-/// So far only Active slot and Filament loaded variables are used.
 class Globals {
 public:
     /// Initializes the global storage hive - basically looks into EEPROM to gather information.
     void Init();
 
-    /// @returns active filament slot on the MMU unit
+    /// @returns active filament slot on the MMU unit. This value basically means there is some piece of filament blocking the selector from moving freely.
     /// Slots are numbered 0-4
     uint8_t ActiveSlot() const;
 
-    /// Sets the active slot, usually after some command/operation.
-    /// Also updates the EEPROM records accordingly
-    /// @param newActiveSlot the new slot index to set
-    void SetActiveSlot(uint8_t newActiveSlot);
-
     /// @returns true if filament is considered as loaded
     FilamentLoadState FilamentLoaded() const;
 
     /// Sets the filament loaded flag value, usually after some command/operation.
     /// Also updates the EEPROM records accordingly
     /// @param newFilamentLoaded new state
-    void SetFilamentLoaded(FilamentLoadState newFilamentLoaded);
+    void SetFilamentLoaded(uint8_t slot, FilamentLoadState newFilamentLoaded);
 
     /// @returns the total number of MMU errors so far
     /// Errors are stored in the EEPROM
@@ -68,6 +62,11 @@ public:
     bool MotorsStealth() const { return stealthMode; }
 
 private:
+    /// Sets the active slot, usually after some command/operation.
+    /// Also updates the EEPROM records accordingly
+    /// @param newActiveSlot the new slot index to set
+    void SetActiveSlot(uint8_t newActiveSlot);
+
     uint8_t activeSlot;
     FilamentLoadState filamentLoaded;
     bool stealthMode;

src/modules/permanent_storage.cpp

@@ -228,7 +228,7 @@ bool FilamentLoaded::get(uint8_t &filament) {
         return false;
     const uint8_t rawFilament = ee::EEPROM::ReadByte(EEOFFSET(eepromBase->eepromFilament[index]));
     filament = 0x0f & rawFilament;
-    if (filament > 4)
+    if (filament >= config::toolCount)
         return false;
     const uint8_t status = getStatus();
     if (!(status == KeyFront1

tests/unit/logic/cut_filament/test_cut_filament.cpp

@@ -24,7 +24,7 @@ using Catch::Matchers::Equals;
 void CutSlot(logic::CutFilament &cf, uint8_t cutSlot) {
 
     ForceReinitAllAutomata();
-    EnsureActiveSlotIndex(0);
+    EnsureActiveSlotIndex(0, mg::FilamentLoadState::AtPulley);
 
     REQUIRE(VerifyEnvironmentState(mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), 0, false, false, ml::off, ml::off));
 

tests/unit/logic/failing_tmc/test_failing_tmc.cpp

@@ -39,9 +39,7 @@ void FailingIdler(hal::tmc2130::ErrorFlags ef, ErrorCode ec) {
     ForceReinitAllAutomata();
 
     // change the startup to what we need here
-    EnsureActiveSlotIndex(0);
+    EnsureActiveSlotIndex(0, mg::FilamentLoadState::InNozzle);
-
-    mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InNozzle);
 
     // set FINDA ON + debounce
     SetFINDAStateAndDebounce(true);

tests/unit/logic/helpers/helpers.ipp

@@ -122,7 +122,7 @@ void InvalidSlot(SM &logicSM,  uint8_t activeSlot, uint8_t invSlot){
 
     REQUIRE(VerifyEnvironmentState(mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), ms::Selector::IdleSlotIndex(), false, false, ml::off, ml::off));
 
-    EnsureActiveSlotIndex(activeSlot);
+    EnsureActiveSlotIndex(activeSlot, mg::FilamentLoadState::AtPulley);
 
     logicSM.Reset(invSlot);
     REQUIRE(VerifyState(logicSM, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), activeSlot, false, false, ml::off, ml::off, ErrorCode::INVALID_TOOL, ProgressCode::OK));

tests/unit/logic/load_filament/test_load_filament.cpp

@@ -25,7 +25,7 @@ void LoadFilamentCommonSetup(uint8_t slot, logic::LoadFilament &lf) {
     ForceReinitAllAutomata();
 
     // change the startup to what we need here
-    EnsureActiveSlotIndex(slot);
+    EnsureActiveSlotIndex(slot, mg::FilamentLoadState::AtPulley);
 
     // verify startup conditions
     REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));

tests/unit/logic/stubs/main_loop_stub.cpp

@@ -65,8 +65,7 @@ void ForceReinitAllAutomata() {
     mm::ReinitMotion();
 
     // let's assume we have the filament NOT loaded and active slot 0
-    mg::globals.SetFilamentLoaded(mg::FilamentLoadState::AtPulley);
+    mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::AtPulley);
-    mg::globals.SetActiveSlot(0);
 }
 
 void HomeIdlerAndSelector() {
@@ -86,7 +85,7 @@ void HomeIdlerAndSelector() {
         main_loop();
 }
 
-void EnsureActiveSlotIndex(uint8_t slot) {
+void EnsureActiveSlotIndex(uint8_t slot, mg::FilamentLoadState loadState) {
     HomeIdlerAndSelector();
 
     // move selector to the right spot
@@ -94,7 +93,8 @@ void EnsureActiveSlotIndex(uint8_t slot) {
     while (ms::selector.Slot() != slot)
         main_loop();
 
-    mg::globals.SetActiveSlot(slot);
+    // mg::globals.SetActiveSlot(slot);
+    mg::globals.SetFilamentLoaded(slot, loadState);
 }
 
 void SetFINDAStateAndDebounce(bool press) {

tests/unit/logic/stubs/main_loop_stub.h

@@ -1,5 +1,6 @@
 #pragma once
 #include "../../../../src/logic/command_base.h"
+#include "../../../../src/modules/globals.h"
 
 extern void main_loop();
 extern void ForceReinitAllAutomata();
@@ -21,7 +22,7 @@ bool WhileTopState(SM &sm, ProgressCode state, uint32_t maxLoops = 5000) {
         sm, [&](int) { return sm.TopLevelState() == state; }, maxLoops);
 }
 
-extern void EnsureActiveSlotIndex(uint8_t slot);
+extern void EnsureActiveSlotIndex(uint8_t slot, modules::globals::FilamentLoadState loadState);
 
 extern void SetFINDAStateAndDebounce(bool press);
 

tests/unit/logic/tool_change/test_tool_change.cpp

@@ -50,7 +50,7 @@ void FeedingToBondtech(logic::ToolChange &tc, uint8_t toSlot) {
 void ToolChange(logic::ToolChange tc, uint8_t fromSlot, uint8_t toSlot) {
     ForceReinitAllAutomata();
 
-    EnsureActiveSlotIndex(fromSlot);
+    EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle);
 
     // restart the automaton
     tc.Reset(toSlot);
@@ -63,7 +63,9 @@ void ToolChange(logic::ToolChange tc, uint8_t fromSlot, uint8_t toSlot) {
         }
         return tc.TopLevelState() == ProgressCode::UnloadingFilament; },
         200000UL));
-    REQUIRE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::AtPulley);
+    CHECKED_ELSE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::AtPulley) {
+        ++toSlot;
+    }
 
     FeedingToFinda(tc, toSlot);
 
@@ -78,9 +80,7 @@ void NoToolChange(logic::ToolChange tc, uint8_t fromSlot, uint8_t toSlot) {
     ForceReinitAllAutomata();
 
     // the filament is LOADED
-    mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InNozzle);
+    EnsureActiveSlotIndex(fromSlot, mg::FilamentLoadState::InNozzle);
-
-    EnsureActiveSlotIndex(fromSlot);
 
     REQUIRE(VerifyEnvironmentState(mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), toSlot, false, false, ml::off, ml::off));
 
@@ -95,7 +95,7 @@ void NoToolChange(logic::ToolChange tc, uint8_t fromSlot, uint8_t toSlot) {
 void JustLoadFilament(logic::ToolChange tc, uint8_t slot) {
     ForceReinitAllAutomata();
 
-    EnsureActiveSlotIndex(slot);
+    EnsureActiveSlotIndex(slot, mg::FilamentLoadState::AtPulley);
 
     // verify filament NOT loaded
     REQUIRE(VerifyEnvironmentState(mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off));

tests/unit/logic/unload_filament/test_unload_filament.cpp

@@ -26,9 +26,7 @@ void RegularUnloadFromSlot04Init(uint8_t slot, logic::UnloadFilament &uf) {
     ForceReinitAllAutomata();
 
     // change the startup to what we need here
-    EnsureActiveSlotIndex(slot);
+    EnsureActiveSlotIndex(slot, mg::FilamentLoadState::InNozzle);
-
-    mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InNozzle);
 
     // set FINDA ON + debounce
     SetFINDAStateAndDebounce(true);
@@ -102,12 +100,12 @@ void FindaDidntTriggerCommonSetup(uint8_t slot, logic::UnloadFilament &uf) {
 
     // change the startup to what we need here
     // move selector to the right spot
-    EnsureActiveSlotIndex(slot);
+    EnsureActiveSlotIndex(slot, mg::FilamentLoadState::InNozzle);
 
     // set FINDA ON + debounce
     SetFINDAStateAndDebounce(true);
 
-    mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InNozzle);
+    //    mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InNozzle);
 
     // verify startup conditions
     REQUIRE(VerifyState(uf, mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), slot, true, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
@@ -265,3 +263,23 @@ TEST_CASE("unload_filament::finda_didnt_trigger_resolve_try_again", "[unload_fil
         RegularUnloadFromSlot04(slot, uf);
     }
 }
+
+TEST_CASE("unload_filament::not_loaded", "[unload_filament]") {
+    logic::UnloadFilament uf;
+
+    // prepare startup conditions
+    ForceReinitAllAutomata();
+
+    // change the startup to what we need here
+    // move selector to the right spot
+    EnsureActiveSlotIndex(0, mg::FilamentLoadState::AtPulley);
+
+    // verify startup conditions
+    REQUIRE(VerifyState(uf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), 0, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
+
+    // restart the automaton
+    uf.Reset(0);
+
+    // Stage 0 - unload filament should finish immediately as there is no filament loaded
+    REQUIRE(VerifyState(uf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), 0, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
+}

tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp

@@ -28,7 +28,7 @@ TEST_CASE("unload_to_finda::regular_unload", "[unload_to_finda]") {
     // we need finda ON
     SetFINDAStateAndDebounce(true);
     // and MMU "thinks" it has the filament loaded
-    mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InNozzle);
+    mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InNozzle);
 
     logic::UnloadToFinda ff;
 
@@ -82,7 +82,7 @@ TEST_CASE("unload_to_finda::unload_without_FINDA_trigger", "[unload_to_finda]")
     // we need finda ON
     SetFINDAStateAndDebounce(true);
     // and MMU "thinks" it has the filament loaded
-    mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InNozzle);
+    mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InNozzle);
 
     logic::UnloadToFinda ff;