diff --git a/source/RobotAPI/components/RobotHealth/RobotHealth.cpp b/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
index 1365ca76a761f5956aaebc5d96ef1adcca8034f5..934b88073535870c139d3677e45d8dcdc19bbf57 100644
--- a/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
+++ b/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
@@ -187,7 +187,7 @@ namespace armarx
return entries.at(i);
}
}
- ScopedLock lock(mutex);
+ std::unique_lock lock(mutex);
ARMARX_INFO << "registering '" << name << "'";
entries.emplace_back(name, defaultMaximumCycleTimeWarn * 1000, defaultMaximumCycleTimeErr * 1000);
validEntries++;
@@ -219,7 +219,7 @@ namespace armarx
e.isRunning = true;
e.enabled = true;
{
- ScopedLock lock(e.messageMutex);
+ std::unique_lock lock(e.messageMutex);
e.message = args.message;
}
}
@@ -285,7 +285,7 @@ namespace armarx
}
ARMARX_TRACE;
- ScopedLock lock(e.messageMutex);
+ std::unique_lock lock(e.messageMutex);
if (e.message.size())
{
ss << " - " << e.message;
diff --git a/source/RobotAPI/components/RobotHealth/RobotHealth.h b/source/RobotAPI/components/RobotHealth/RobotHealth.h
index 97852dab631cc1e6e1df0c4f738585f43395b0f4..49ca51167f87d7c83636c7d7d8f744797dd2d5e2 100644
--- a/source/RobotAPI/components/RobotHealth/RobotHealth.h
+++ b/source/RobotAPI/components/RobotHealth/RobotHealth.h
@@ -31,10 +31,10 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <ArmarXCore/interface/components/EmergencyStopInterface.h>
#include <atomic>
+#include <mutex>
namespace armarx
{
@@ -111,7 +111,7 @@ namespace armarx
bool isRunning = false;
bool required = false;
bool enabled = true;
- Mutex messageMutex;
+ std::mutex messageMutex;
std::vector<long> history;
size_t historyIndex = 0;
};
@@ -145,7 +145,7 @@ namespace armarx
void monitorHealthTaskClb();
Entry& findOrCreateEntry(const std::string& name);
- Mutex mutex;
+ std::mutex mutex;
std::deque<Entry> entries;
std::atomic_size_t validEntries {0};
PeriodicTask<RobotHealth>::pointer_type monitorHealthTask;
diff --git a/source/RobotAPI/components/ViewSelection/ViewSelection.cpp b/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
index 3cb860a4dbc16e48e0c5d60ba0b6985f0d99990c..a44d697794ceaf47d46266b6e6b515dec9acf84d 100644
--- a/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
+++ b/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
@@ -31,6 +31,8 @@
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
#include <RobotAPI/libraries/core/math/ColorUtils.h>
+#include <thread>
+
namespace armarx
{
void ViewSelection::onInitComponent()
@@ -142,7 +144,7 @@ namespace armarx
void ViewSelection::getActiveSaliencyMaps(std::vector<std::string>& activeSaliencyMaps)
{
- boost::mutex::scoped_lock lock(syncMutex);
+ std::unique_lock lock(syncMutex);
IceUtil::Time currentTime = armarx::TimeUtil::GetTime();
for (const auto& p : saliencyMaps)
@@ -180,7 +182,7 @@ namespace armarx
int maxIndex = -1;
float maxSaliency = std::numeric_limits<float>::min();
- boost::mutex::scoped_lock lock(syncMutex);
+ std::unique_lock lock(syncMutex);
hasNewSaliencyMap = false;
@@ -284,7 +286,7 @@ namespace armarx
if (!manualViewTargets.empty())
{
- ScopedLock lock(manualViewTargetsMutex);
+ std::unique_lock lock(manualViewTargetsMutex);
ViewTargetBasePtr manualViewTarget = manualViewTargets.top();
@@ -332,11 +334,11 @@ namespace armarx
viewSelectionObserver->nextViewTarget(timeOfLastViewChange.toMilliSeconds() + duration);
- boost::this_thread::sleep(boost::posix_time::milliseconds(duration));
+ std::this_thread::sleep_for(std::chrono::milliseconds(duration));
}
else
{
- boost::this_thread::sleep(boost::posix_time::milliseconds(5));
+ std::this_thread::sleep_for(std::chrono::milliseconds(5));
}
}
@@ -344,7 +346,7 @@ namespace armarx
void ViewSelection::addManualViewTarget(const FramedPositionBasePtr& target, const Ice::Current& c)
{
- boost::mutex::scoped_lock lock(manualViewTargetsMutex);
+ std::unique_lock lock(manualViewTargetsMutex);
//SharedRobotInterfacePrx sharedRobotInterface = robotStateComponent->getRobotSnapshot();
@@ -356,14 +358,14 @@ namespace armarx
manualViewTargets.push(viewTarget);
- boost::mutex::scoped_lock lock2(syncMutex);
+ std::unique_lock lock2(syncMutex);
condition.notify_all();
}
void ViewSelection::clearManualViewTargets(const Ice::Current& c)
{
- boost::mutex::scoped_lock lock(manualViewTargetsMutex);
+ std::unique_lock lock(manualViewTargetsMutex);
while (!manualViewTargets.empty())
{
@@ -376,7 +378,7 @@ namespace armarx
ViewTargetList ViewSelection::getManualViewTargets(const Ice::Current& c)
{
- boost::mutex::scoped_lock lock(manualViewTargetsMutex);
+ std::unique_lock lock(manualViewTargetsMutex);
ViewTargetList result;
@@ -396,7 +398,7 @@ namespace armarx
void armarx::ViewSelection::updateSaliencyMap(const SaliencyMapBasePtr& map, const Ice::Current&)
{
- boost::mutex::scoped_lock lock(syncMutex);
+ std::unique_lock lock(syncMutex);
hasNewSaliencyMap = true;
@@ -439,7 +441,7 @@ namespace armarx
}
- boost::mutex::scoped_lock lock(syncMutex);
+ std::unique_lock lock(syncMutex);
TNodeList* visibilityMaskGraphNodes = visibilityMaskGraph->getNodes();
DebugDrawer24BitColoredPointCloud cloud;
@@ -492,7 +494,7 @@ namespace armarx
void ViewSelection::removeSaliencyMap(const std::string& name, const Ice::Current& c)
{
- boost::mutex::scoped_lock lock(syncMutex);
+ std::unique_lock lock(syncMutex);
if (saliencyMaps.count(name))
{
@@ -506,7 +508,7 @@ namespace armarx
{
std::vector<std::string> names;
- boost::mutex::scoped_lock lock(syncMutex);
+ std::unique_lock lock(syncMutex);
for (const auto& p : saliencyMaps)
{
diff --git a/source/RobotAPI/components/ViewSelection/ViewSelection.h b/source/RobotAPI/components/ViewSelection/ViewSelection.h
index f8e6cbdc93a26500fef455bc989b2149bd1554b4..98beeedd5e6d9a176d9b76e83b4b9659d99ef8d5 100644
--- a/source/RobotAPI/components/ViewSelection/ViewSelection.h
+++ b/source/RobotAPI/components/ViewSelection/ViewSelection.h
@@ -46,6 +46,8 @@
#include <Eigen/Geometry>
+#include <condition_variable>
+#include <mutex>
#include <queue>
namespace armarx
@@ -151,7 +153,7 @@ namespace armarx
void activateAutomaticViewSelection(const Ice::Current& c = Ice::emptyCurrent) override
{
- boost::mutex::scoped_lock lock(manualViewTargetsMutex);
+ std::unique_lock lock(manualViewTargetsMutex);
ARMARX_INFO << "activating automatic view selection";
@@ -161,7 +163,7 @@ namespace armarx
void deactivateAutomaticViewSelection(const Ice::Current& c = Ice::emptyCurrent) override
{
- boost::mutex::scoped_lock lock(manualViewTargetsMutex);
+ std::unique_lock lock(manualViewTargetsMutex);
ARMARX_INFO << "deactivating automatic view selection";
@@ -171,7 +173,7 @@ namespace armarx
bool isEnabledAutomaticViewSelection(const Ice::Current& c = Ice::emptyCurrent) override
{
- boost::mutex::scoped_lock lock(manualViewTargetsMutex);
+ std::unique_lock lock(manualViewTargetsMutex);
return doAutomaticViewSelection;
}
@@ -214,16 +216,16 @@ namespace armarx
bool drawViewDirection;
- armarx::Mutex manualViewTargetsMutex;
+ std::mutex manualViewTargetsMutex;
std::priority_queue<ViewTargetBasePtr, std::vector<ViewTargetBasePtr>, CompareViewTargets> manualViewTargets;
bool doAutomaticViewSelection;
Eigen::Vector3f offsetToHeadCenter;
- boost::condition_variable condition;
+ std::condition_variable condition;
bool hasNewSaliencyMap;
- boost::mutex syncMutex;
+ std::mutex syncMutex;
std::map<std::string, SaliencyMapBasePtr> saliencyMaps;
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index 60225861162fbfa91b23798437784f8d054ec02d..b4d6e62f6f1e203f4930e2ea56b424b08455c838 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -50,7 +50,7 @@ namespace armarx
void HeadIKUnit::onInitComponent()
{
- ScopedLock lock(accessMutex);
+ std::unique_lock lock(accessMutex);
usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
@@ -65,7 +65,7 @@ namespace armarx
void HeadIKUnit::onConnectComponent()
{
- ScopedLock lock(accessMutex);
+ std::unique_lock lock(accessMutex);
drawer = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
@@ -103,7 +103,7 @@ namespace armarx
{
release();
- //ScopedLock lock(accessMutex);
+ //std::unique_lock lock(accessMutex);
if (drawer)
{
drawer->removeSphereDebugLayerVisu("HeadViewTarget");
@@ -126,7 +126,7 @@ namespace armarx
void HeadIKUnit::setCycleTime(Ice::Int milliseconds, const Ice::Current& c)
{
- ScopedLock lock(accessMutex);
+ std::unique_lock lock(accessMutex);
cycleTime = milliseconds;
@@ -139,7 +139,7 @@ namespace armarx
void HeadIKUnit::setHeadTarget(const std::string& robotNodeSetName, const FramedPositionBasePtr& targetPosition, const Ice::Current& c)
{
- ScopedLock lock(accessMutex);
+ std::unique_lock lock(accessMutex);
this->robotNodeSetNames = armarx::Split(robotNodeSetName, ",");
for (auto& setName : robotNodeSetNames)
@@ -208,7 +208,7 @@ namespace armarx
void HeadIKUnit::request(const Ice::Current& c)
{
- ScopedLock lock(accessMutex);
+ std::unique_lock lock(accessMutex);
requested = true;
ARMARX_IMPORTANT << "Requesting HeadIKUnit";
@@ -228,7 +228,7 @@ namespace armarx
void HeadIKUnit::release(const Ice::Current& c)
{
- ScopedLock lock(accessMutex);
+ std::unique_lock lock(accessMutex);
ARMARX_INFO << "Releasing HeadIKUnit";
requested = false;
@@ -260,9 +260,9 @@ namespace armarx
bool doCalculation = false;
{
- ScopedTryLock lock(accessMutex);
+ std::unique_lock lock(accessMutex, std::defer_lock);
- if (lock.owns_lock())
+ if (lock.try_lock())
{
doCalculation = requested && newTargetSet;
newTargetSet = false;
@@ -276,7 +276,7 @@ namespace armarx
if (doCalculation)
{
- ScopedLock lock(accessMutex);
+ std::unique_lock lock(accessMutex);
VirtualRobot::RobotNodeSetPtr kinematicChain;
bool foundSolution = false;
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index 251c88d4d5a1cfd0822f79a744b3757a23cd451d..b814b519aae4f377a55e0610759e52663007ad50 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -25,13 +25,14 @@
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
#include <RobotAPI/interface/units/HeadIKUnit.h>
+#include <mutex>
+
namespace armarx
{
@@ -98,7 +99,7 @@ namespace armarx
private:
void periodicExec();
- Mutex accessMutex;
+ std::mutex accessMutex;
bool requested;
int cycleTime;
PeriodicTask<HeadIKUnit>::pointer_type execTask;
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 99bbab48c3d6aa7835e515dac18ed5e2fd2c5354..2e3f100c89d4e1b7e26d37e72ef075dda0ff8e4c 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -69,7 +69,7 @@ namespace armarx
void TCPControlUnit::onConnectComponent()
{
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
debugObs = getTopic<DebugObserverInterfacePrx>("DebugObserver");
kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(getProperty<std::string>("KinematicUnitName").getValue());
@@ -173,7 +173,7 @@ namespace armarx
void TCPControlUnit::setCycleTime(Ice::Int milliseconds, const Ice::Current& c)
{
- ScopedLock lock(taskMutex);
+ std::unique_lock lock(taskMutex);
cycleTime = milliseconds;
if (execTask)
@@ -190,7 +190,7 @@ namespace armarx
request();
}
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
ARMARX_CHECK_EXPRESSION_W_HINT(jointExistenceCheckRobot->hasRobotNodeSet(nodeSetName), "The robot does not have the node set: " + nodeSetName);
@@ -269,7 +269,7 @@ namespace armarx
}
ARMARX_IMPORTANT << "Requesting TCPControlUnit";
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
requested = true;
execTask = new PeriodicTask<TCPControlUnit>(this, &TCPControlUnit::periodicExec, cycleTime, false, "TCPVelocityCalculator");
@@ -281,7 +281,7 @@ namespace armarx
void TCPControlUnit::release(const Ice::Current& c)
{
ARMARX_IMPORTANT << "Releasing TCPControlUnit";
- ScopedLock lock(dataMutex);
+ std::unique_lock lock(dataMutex);
// while (calculationRunning)
// {
@@ -305,9 +305,9 @@ namespace armarx
void TCPControlUnit::periodicExec()
{
- ScopedTryLock lock(dataMutex);
+ std::unique_lock lock(dataMutex, std::defer_lock);
- if (lock.owns_lock())
+ if (lock.try_lock())
{
{
@@ -1304,7 +1304,7 @@ void armarx::TCPControlUnit::reportControlModeChanged(const NameControlModeMap&,
void armarx::TCPControlUnit::reportJointAngles(const NameValueMap& jointAngles, Ice::Long timestamp, bool, const Ice::Current&)
{
- ScopedLock lock(reportMutex);
+ std::unique_lock lock(reportMutex);
FramedPoseBaseMap tcpPoses;
std::string rootFrame = localReportRobot->getRootNode()->getName();
auto it = jointAngles.find("timestamp");
@@ -1337,7 +1337,7 @@ void armarx::TCPControlUnit::reportJointVelocities(const NameValueMap& jointVel,
}
lastTopicReportTime = TimeUtil::GetTime();
- ScopedLock lock(reportMutex);
+ std::unique_lock lock(reportMutex);
if (!localVelReportRobot)
{
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index cc984d4358f9e0b1dbec9455f6cb26283aa876bf..e24e2f8dc344b1b44a4bd24ca2240506d0c329c8 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -25,7 +25,6 @@
#include <RobotAPI/interface/units/TCPControlUnit.h>
#include <RobotAPI/libraries/core/FramedPose.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <ArmarXCore/core/Component.h>
#include <VirtualRobot/IK/DifferentialIK.h>
@@ -211,9 +210,9 @@ namespace armarx
FramedPoseBaseMap lastTCPPoses;
IceUtil::Time lastTopicReportTime;
- Mutex dataMutex;
- Mutex taskMutex;
- Mutex reportMutex;
+ std::mutex dataMutex;
+ std::mutex taskMutex;
+ std::mutex reportMutex;
bool calculationRunning;
double syncTimeDelta;
diff --git a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
index 38e01c30f7cb4cfdd13ae802c6e3c7dc31e714b2..31ed73e85ab61b61ed48ede725bc03447114e05f 100644
--- a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
+++ b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.cpp
@@ -44,7 +44,7 @@ void GamepadUnit::onConnectComponent()
sendTask = new SimplePeriodicTask<>([&]
{
ARMARX_TRACE;
- ScopedLock lock(mutex);
+ std::unique_lock lock(mutex);
if (!js.opened())
{
return;
@@ -114,7 +114,7 @@ void GamepadUnit::run()
}
}
ARMARX_TRACE;
- ScopedLock lock(mutex);
+ std::unique_lock lock(mutex);
IceUtil::Time now = IceUtil::Time::now();
dataTimestamp = new TimestampVariant(now);
diff --git a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
index 85ac99dc262ec38a2b1e4e3b1464e97e4866f22e..109ce81a17a98c5154b396e09064d9943be6ff0a 100644
--- a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
+++ b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
@@ -31,7 +31,6 @@
#include <ArmarXCore/core/services/tasks/RunningTask.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <RobotAPI/interface/units/GamepadUnit.h>
@@ -115,7 +114,7 @@ namespace armarx
SimplePeriodicTask<>::pointer_type sendTask;
void run();
- Mutex mutex;
+ std::mutex mutex;
std::string deviceName;
Joystick js;
GamepadData data;
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
index 41701aaf3f7953445affcfd0292a581120637905..dcbd9ca9d926d65487dbe3d2427118f89c6bdb46 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
@@ -1387,7 +1387,7 @@ bool EtherCAT::generalSDOWrite(uint16_t slave, uint16_t index, uint8_t subindex,
ARMARX_WARNING << "Bus is not running no write";
return false;
}
- ScopedLock lock(etherCatMutex);
+ std::unique_lock lock(etherCatMutex);
IceUtil::Time start = IceUtil::Time::now();
int workCount = ec_SDOwrite(slave, index, subindex, (boolean) ca, buflen, buf, SDO_WRITE_TIMEOUT);
IceUtil::Time end = IceUtil::Time::now();
@@ -1431,7 +1431,7 @@ bool EtherCAT::generalSDORead(uint16_t slave, uint16_t index, uint8_t subindex,
{
return false;
}
- ScopedLock lock(etherCatMutex);
+ std::unique_lock lock(etherCatMutex);
IceUtil::Time start = IceUtil::Time::now();
int workCount = ec_SDOread(slave, index, subindex, (boolean) ca, &buflen, buf, SDO_READ_TIMEOUT);
IceUtil::Time end = IceUtil::Time::now();
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.h b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.h
index e9bc549d71890e6345cd2ef8706b0d338baafcc6..f103df995c10cb2210071b2b58c8a368231d06d9 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.h
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.h
@@ -3,8 +3,6 @@
#include "AbstractFunctionalDevice.h"
-#include <ArmarXCore/core/system/Synchronization.h>
-
#include <IceUtil/Time.h>
#include <iostream>
@@ -13,6 +11,7 @@
#include <memory>
#include <sstream>
#include <atomic>
+#include <mutex>
/**
@@ -236,7 +235,7 @@ namespace armarx
RobotUnit* mainUnitPtr;
std::string ifname;
- mutable Mutex etherCatMutex;
+ mutable std::mutex etherCatMutex;
bool emergencyStopWasActivated = false;
IceUtil::Time busUpdateLastUpdateTime;
IceUtil::Time ermergencyStopRecoverStartpoint;
diff --git a/source/RobotAPI/libraries/core/MultiDimPIDController.h b/source/RobotAPI/libraries/core/MultiDimPIDController.h
index 56ff6d28cd17522453014f9b880d8e88294ea3dc..f25048c8fec61c0923c8da06532f1a05570fba87 100644
--- a/source/RobotAPI/libraries/core/MultiDimPIDController.h
+++ b/source/RobotAPI/libraries/core/MultiDimPIDController.h
@@ -28,10 +28,11 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/time/TimeUtil.h>
-#include <ArmarXCore/core/system/Synchronization.h>
#include <Eigen/Core>
+#include <mutex>
+
namespace armarx
{
template <int dimensions = Eigen::Dynamic>
@@ -218,7 +219,7 @@ namespace armarx
double maxControlValue;
double maxDerivation;
bool firstRun;
- mutable RecursiveMutex mutex;
+ mutable std::recursive_mutex mutex;
bool threadSafe = true;
std::vector<bool> limitless;
private:
@@ -231,6 +232,8 @@ namespace armarx
PIDVectorX zeroVec;
} stackAllocations;
+ using ScopedRecursiveLock = std::unique_lock<std::recursive_mutex>;
+ using ScopedRecursiveLockPtr = std::unique_ptr<ScopedRecursiveLock>;
ScopedRecursiveLockPtr getLock() const
{
if (threadSafe)