IFM O3X1 Series Manual

Programmers Guide
Interface description
3D Camera
O3X100
706447 / 00 12 / 2018
UK

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Contents
1. Preliminary note...................................................................4
1.1 Symbols used .................................................................4
1.2 Safety instructions .............................................................4
1.3 Further documents .............................................................4
2. System requirements...............................................................4
2.1 Software .....................................................................4
2.2 Hardware and accessories .......................................................4
3. Required Ports....................................................................5
4. XML-RPC Interface ................................................................5
4.1 Sample XML-RPC command .....................................................5
4.2 XML-RPC Objects .............................................................6
4.2.1 Main Object...............................................................7
4.2.2 Session Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
4.2.3 EditMode Object ...........................................................7
4.2.4 DeviceConfig Object........................................................7
4.2.5 Device/NetworkConfig Object.................................................7
4.2.6 TimeConfig Object .........................................................7
4.2.7 Application Config Object ....................................................7
4.2.8 Application/Imager Config Object ..............................................8
5. Process Interface..................................................................9
5.1 Protocol structure ..............................................................9
5.2 Receiving Images .............................................................10
5.3 Image data ..................................................................10
5.3.1 Chunk type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
5.3.2 Available chunk types......................................................11
5.3.3 Pixel format..............................................................12
5.4 Additional Information for CONFIDENCE_IMAGE ....................................13
6. XML-RPC Command Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
6.1 Parameter API ...............................................................14
6.2 Main Object..................................................................15
6.3 Session Object ...............................................................19
6.4 Edit Mode Object .............................................................21
6.5 Device Config Object ..........................................................21
6.6 Device/Network Config Object ...................................................23
6.7 Time Config Object ............................................................24
6.8 Application Config Object .......................................................25
6.9 Application/Imager Config Object .................................................27
6.10 Exposure modes.............................................................29

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Licences and trademarks
Microsoft®, Windows®, Windows 7®, Windows 8®, Windows 8.1®and Windows 10®are registered
trademarks of Microsoft Corporation.
Adobe® and Acrobat® are registered trademarks of Adobe Systems Inc.
All trademarks and company names used are subject to the copyright of the respective companies.
This device contains (maybe modified) open source software which is subject to special licensing terms.
For copyright information and licensing terms please refer to: www.ifm.com/int/GNU
For software subject to the GNU General Public License or the GNU Lesser General Public License the
source code can be requested against payment of the copying and shipping costs.

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1. Preliminary note
This document describes the software interfaces of the O3X1xx 3D camera.
1.1 Symbols used
►Instructions
> Reaction, result
[…] Designation of keys and buttons
"…" Name of display text
→Cross-reference
Important note
Non-compliance may result in malfunction or interference.
Information
Supplementary note
1.2 Safety instructions
Please read the operating instructions prior to set-up of the device. Ensure that the device is suitable for
your application without any restrictions.
If the operating instructions or the technical data are not adhered to, personal injury and damage to
property can occur.
1.3 Further documents
●Operating instructions
●Interface description
The documents can be downloaded at:
www.ifm.com
2. System requirements
2.1 Software
Windows 7 (32/64 bit), Windows 8.1 (32/64 bit), Windows 10 (32/64 bit)
2.2 Hardware and accessories
Hardware:
– Camera of the O3X1xx product family
– PC with x86 or x64 type processor
– Screen: min. 1024 x 768 pixels, 32 bit colour depth
– Ethernet interface
The Ethernet interface can be retrofitted with an USB-to-Ethernet adapter.
Accessories:
– Power supply 24 V, 1.6 A, min. peak current 2.4 A
You will find further information about available accessories at:
www.ifm.com

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3. Required Ports
The following ports are required for the camera configuration using XML-RPC and for receiving data on
the process interface. They must not be blocked by a firewall or router.
●TCP/HTTP: 80
●TCP: 50010
If the ifm Vision Assistant is used, the following additional ports must also be available:
●UDP: 3321
●TCP/HTTP: 8080
4. XML-RPC Interface
In case the device should not be configured by the ifm Vision Assistant, the XML-RPC interface can be
used instead.
General information about XML-RPC is found on the website http://xmlrpc.scripting.com/spec
To send a command via the XML-RPC interface the command is in a special layout. In this command,
linefeeds and carriage returns are essential.
Every command which is sent via the XML-RPC interface must end with carriage return <CR> and
linefeed <LF>.
Several commands will use different URLs in the XML-RPC header.
Preferably use the ifm3Dlib for access to the device under Linux. The library has been tested and is
the reference implementation for C++. The library is supported by ifm electronic and the company
Lovepark Robotics.
A detailed example is available on the web at:
https://github.com/ifm/ifm3d-examples/blob/master/file_io/ex-file_io.cpp
4.1 Sample XML-RPC command
All following XML-RPC commands will have this type of layout:
POST /RPC3 HTTP/1.0<CR><LF>
User-Agent: Frontier/5.1.2 (WinNT)<CR><LF>
Host: betty.userland.com<CR><LF>
Content-Type: text/xml<CR><LF>
Content-length: 181<CR><LF>
<CR><LF>
<?xml version="1.0"?><CR><LF>
<methodCall><CR><LF>
<methodName>examples.getStateName</methodName><CR><LF>
<params><CR><LF>
<param><CR><LF>
<value><i4>41</i4></value><CR><LF>
</param><CR><LF>
</params><CR><LF>
</methodCall><CR><LF>

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The following example contains one O3X1xx command:
POST /api/rpc/v1/com.ifm.efector/ HTTP/1.1<CR><LF>
Host: 192.168.0.69<CR><LF>
Content-Type: text/xml<CR><LF>
User-Agent: Python-xmlrpc/3.4<CR><LF>
Content-Length: 160<CR><LF>
<CR><LF>
<?xml version='1.0'?> <CR><LF>
<methodCall><CR><LF>
<methodName>getParameter</methodName><CR><LF>
<params><CR><LF>
<param><CR><LF>
<value><string>Name</string></value><CR><LF>
</param><CR><LF>
</params><CR><LF>
</methodCall><CR><LF>
4.2 XML-RPC Objects
To communicate and to configure the device via XML-RPC the XML-RPC commands have to use
different XML-RPC objects. Different commands need different XML-RPC objects (see XML-RPC
command references).
The interface of O3X1xx is structured in an object-oriented way. Some of the objects are available all
the time, others are only available after bringing the device into a special mode by calling a method
on an already available object. This mechanism is used to create system requirements (e.g. password
protection).
It could be necessary to send heartbeats so that there will be no session timeout.
The following diagram should give an overview how objects are related to each other and which methods
must be called to make others available:
Main API
Session
EditMode
ApplicationConfig
requestSession(...)
DeviceConfig
NetworkConfig
ImagerConfig
TimeConfig

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4.2.1 Main Object
Object-URI: /api/rpc/v1/com.ifm.efector/
This is the main object of RPC. It contains methods to open a session. Most of its methods are only
getters, because it should be possible to protect editing with a password.
4.2.2 Session Object
Object URI e.g.: /api/rpc/v1/com.ifm.efector/session_d21c80db5bc1069932fbb9a3bd841d0b/
The URL part “d21c80db5bc1069932fbb9a3bd841d0b” is the session ID. It is returned by the command
"requestSession" of the main object. If the command "requestSession" is called without a user-defined
session ID, which can be passed as a parameter, a random session ID is generated automatically.
4.2.3 EditMode Object
Object URI e.g.: /api/rpc/v1/com.ifm.efector/session_d21c80db5bc1069932fbb9a3bd841d0b/edit/
4.2.4 DeviceCong Object
Object-URI e.g.: /api/rpc/v1/com.ifm.efector/session_d21c80db5bc1069932fbb9a3bd841d0b/edit/device/
4.2.5 Device/NetworkCong Object
Object URI e.g.:
/api/rpc/v1/com.ifm.efector/session_d21c80db5bc1069932fbb9a3bd841d0b/edit/device/network/
4.2.6 TimeCong Object
Object URI e.g.:
/api/rpc/v1/com.ifm.efector/session_d21c80db5bc1069932fbb9a3bd841d0b/edit/device/time/
4.2.7 Application Cong Object
Object URI e.g.:
/api/rpc/v1/com.ifm.efector/session_d21c80db5bc1069932fbb9a3bd841d0b/edit/application/
Main API
Session
EditMode
ApplicationConfig
cancelSession(...) removes itself from RPC. Session will also
be removed, if heartbeat(...) is not called at the right time

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4.2.8 Application/Imager Cong Object
Object URI e.g.:
/api/rpc/v1/com.ifm.efector/session_d21c80db5bc1069932fbb9a3bd841d0b/edit/application/imager_001/
As there is only one imager config on the device, the ID must be fixed to "001". Data of this object is
persistently saved when calling "save" on the application config object. The imager config RPC object
has multiple sub-types. Only parameters relevant for a specific type are available while it is active. They
are based on frequency (extending the distance) and integration intervals (extending the measurement
details).
Type names, based on ifm Vision Assistant draft:
●upTo02m_low
●upTo02m_moderate
●upTo03m_low
●upTo03m_moderate
●upTo07m_low
●upTo07m_moderate
●upTo15m_low
●upTo15m_moderate
●upTo30m_low
●upTo30m_moderate

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5. Process Interface
The process interface is used during the normal operation mode to get operational data (e.g. 3D images,
process values) from the O3X1xx.
5.1 Protocol structure
This protocol conforms to the version 3 of the O2V/O2D products.
Structure of the protocol:
<Ticket><length>CR LF <Ticket><content>CR LF
Abbreviation Description ASCII code (dec) ASCII code (hex)
CR Carriage Return 13 D
LF Linefeed 10 A
< > Marking of a placeholder
(e.g. <code> is a placeholder for code)
[ ] Optional argument
(possible but not required)
Command Description
<content> It is the command (e.g. trigger the unit).
<ticket> It is a character string fixed to 0000. The device will reply with the same ticket number.
<length> It is a character string beginning with the letter 'L' followed by 9 digits. It indicates the
length of the following data (<ticket><content>CR LF) in bytes.
It is not possible to send commands.

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5.2 Receiving Images
For receiving the image data a TCP/IP socket communication is established. The default port number is
50010. After opening the socket communication, the O3X1xx device will automatically (if the device is in
free run mode) send the data through this socket to the TCP/IP client (PC).
PCIC output per frame. The following data is submitted in this sequence:
Component Content
Ticket „0000“
Start sequence String "star" (4 bytes)
Normalised amplitude image
Output format: 32-bit floating point number
1 image
Distance image
Output format: 32-bit floating point number.
Unit: m.
1 image
Combined XYZ image
Output format: 32-bit floating point number.
Unit: m.
1 image
Confidence image
Output format: 8-bit unsigned integer
1 image
Grayscale image
Output format: 32-bit floating point number
1 image
Stop sequence String "stop" (4 bytes)
Ticket signature <CR><LF>
Only configured images will be displayed.
5.3 Image data
For every image there will be a separate chunk. The chunk is part of the response frame data of the
process interface.
The header of each chunk contains different kinds of information. This information is separated into bytes.
The information contains e.g. the kind of image which will be in the “PIXEL_DATA” and the size of the
chunk.
5.3.1 Chunk type
Offset Name Description Size [byte]
0x0000 CHUNK_TYPE Defines the type of the chunk. For each distinct chunk
an own type is defined.
4
0x0004 CHUNK_SIZE Size of the whole image chunk in bytes. After this count
of bytes the next chunk starts.
4
0x0008 HEADER_SIZE Number of bytes starting from 0x0000 until PIXEL_
DATA.
4
0x000C HEADER_VERSION Version number of the header 4
0x0010 IMAGE_WIDTH Image width in pixel 4
0x0014 IMAGE_HEIGTH Image height in pixel 4
0x0018 PIXEL_FORMAT Pixel format 4
0x001C TIME_STAMP Time stamp in microseconds 4
0x0020 FRAME_COUNT Frame count according to algorithm output 4
0x0024 STATUS_CODE Errors on the device 4

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Offset Name Description Size [byte]
0x0028 TIME_STAMP_SEC Timestamp seconds 4
0x002C TIME_STAMP_NSEC Timestamp nanoseconds 4
0x0030 PIXEL_DATA The pixel data in the given type and dimension of the
image. Padded to 4-byte boundary.
4
5.3.2 Available chunk types
Constant Value Description
USERDATA 0 Undefined user data with arbitrary content
RADIAL_DISTANCE_
IMAGE
100 Each pixel of the distance matrix denotes the ToF distance
measured by the corresponding pixel or group of pixels of
the imager. The distance value is corrected by the camera's
calibration, excluding effects caused by multipath and multiple
objects contributions (e.g. "flying pixels"). Reference point is the
optical centre of the camera inside the camera housing.
Invalid PMD pixels (e.g. due to saturation) have a value of zero.
Data type: 32-bit floating point number
Unit: millimetres
NORM_AMPLITUDE_
IMAGE
101 Each pixel of the normalized amplitude image denotes the raw
amplitude (see amplitude image below for further explanation),
normalized to exposure time. Furthermore, vignetting effects
are compensated, ie the darkening of pixels at the image border
is corrected. The visual impression of this grayscale image is
comparable to that of a common 2D camera.
Invalid PMD pixels (e.g. due to saturation) have an amplitude value
of 0.
Data type: 32-bit floating point number
AMPLITUDE_IMAGE 103 Each pixel of the amplitude matrix denotes the amount of
modulated light (i.e. the light from the camera's active illumination)
which is reflected by the appropriate object. Higher values indicate
higher PMD signal strengths and thus a lower amount of noise on
the corresponding distance measurements. The amplitude value
is directly derived from the PMD phase measurements without
normalisation to exposure time. In multiple exposure mode,
the lack of normalisation may lead (depending on the chosen
exposure times) to inhomogeneous amplitude image impression, if
a certain pixel is taken from the short exposure time and some of
its neighbours are not.
Invalid PMD pixels (e.g. due to saturation) have an amplitude value
of 0.
Data type: 32-bit floating point number
CARTESIAN_X_
COMPONENT
200 The X matrix denotes the X component of the Cartesian coordinate
of a PMD 3D measurement. The origin of the camera's coordinate
system is in the middle of the lens' front glass, if the extrinsic
parameters are all set to 0.
Data type: 32-bit floating point number
Unit: millimetres

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Constant Value Description
CARTESIAN_Y_
COMPONENT
201 The Y matrix denotes the Y component of the Cartesian coordinate
of a PMD 3D measurement. The origin of the camera's coordinate
system is in the middle of the lens' front glass, if the extrinsic
parameters are all set to 0.
Data type: 32-bit floating point number
Unit: millimetres
CARTESIAN_Z_
COMPONENT
202 The Z matrix denotes the Z component of the Cartesian coordinate
of a PMD 3D measurement. The origin of the camera's coordinate
system is in the middle of the lens' front glass, if the extrinsic
parameters are all set to 0.
Data type: 32-bit floating point number
Unit: millimetres
CARTESIAN_ALL 203 CARTESIAN_X_COMPONENT,
CARTESIAN_Y_COMPONENT,
CARTESIAN_Z_COMPONENT
UNIT_VECTOR_ALL 223 The unit vector matrix contains 3 values [ex, ey, ez] for each PMD
pixel, i.e. the data layout is [ex_1,ey_1,ez_1, ... ex_N, ey_N, ez_N],
where N is the number of PMD pixels.
Data type: 32-bit floating point number (3x per pixel)
CONFIDENCE_IMAGE 300 See Additional Information for Image Data (→ 5.4)
5.3.3 Pixel format
Constant Value Description
FORMAT_8U 0 8-bit unsigned integer
FORMAT_8S 1 8-bit signed integer
FORMAT_16U 2 16-bit unsigned integer
FORMAT_16S 3 16-bit signed integer
FORMAT_32U 4 32-bit unsigned integer
FORMAT_32S 5 32-bit signed integer
FORMAT_32F 6 32-bit floating point number
FORMAT_64U 7 64-bit unsigned integer
FORMAT_64F 8 64-bit floating point number
Reserved 9 N/A
FORMAT_32F_3 10 Vector with 3x32-bit floating point number

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5.4 Additional Information for CONFIDENCE_IMAGE
Bit Value Description
0 1 = pixel invalid Pixel invalid
The pixel is invalid. To determine whether a pixel is valid or not
only this bit needs to be checked. The reason why the bit is
invalid is recorded in the other confidence bits.
1 1 = pixel saturated Pixel is saturated
Contributes to pixel validity: yes
2 1 = bad A-B symmetry A-B pixel symmetry
The A-B symmetry value of the four phase measurements is
above threshold.
Remark: This symmetry value is used to detect motion
artefacts. Noise (e.g. due to strong ambient light or very short
integration times) or PMD interference may also contribute.
Contributes to pixel validity: yes
3 1 = amplitude below
minimum amplitude
threshold
Amplitude limits
The amplitude value is below minimum amplitude threshold.
Contributes to pixel validity: yes
4 1 = exposure time Exposure time indicator.
The bit is always set in single exposure mode. It is set in double
exposure mode when the long exposure time is used.
Contributes to pixel validity: no
5 1 = assignment error Double Frequency assignment error.
The bit indicates a double frequency mismatch while calculating
the final distance. Possible reasons are fast movement in the
scene or disturbances due to straylight.
Contributes to pixel validity: yes
6 Reserved
7 Reserved

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6. XML-RPC Command Reference
6.1 Parameter API
The parameters setParameter, getParameter, getAllParameters and getAllParameterLimits are
implemented in the following RPC objects:
●Device
●Network
●Application
●ImagerConfig
●Filter
setParameter
Method name setParameter
Description Sets a parameter to a specific value.
Input parameters 1. Name of parameter:string
2. New value: string
Output parameters Empty string (compatibility with classic XmlRPC client)
getParameter
Method name getParameter
Description Returns the current value of the parameter.
Input parameters Name of parameter: string
Output parameters Value of parameter: string
getAllParameters
Method name getAllParameters
Description Returns all parameters of the object in one data structure.
Input parameters None
Output parameters Struct (name contains the parameter name, value contains the
stringified parameter value)
getAllParameterLimits
Method name getAllParameterLimits
Description Returns limits of all numeric parameters, that have limits defined on
the device.
Input parameters None
Output parameters Struct of Structs (name in first struct is the parameter name,
substructs contains: min :string, max :string)
E.g.
{"ExposureTime1": { "min": "123", "max": "432" },
"ExposureTime2": { "min": "123", "max": "432" }}

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Parameter string encoding
Non-string parameters must be encoded in the following format.
Type Stringified
bool "true" / "false"
setParameter method also accepts "1"/"0", getter methods must always return
"true"/"false"
int decimal ( e.g "-1234" / "1234" )
Values should be in the range of int32 (-2^31 .. 2^31)
double English floating point notation (optional with exponent)
E.g. "1.2", ".3", "4.5e6", "-7E-8", "-inf", "nan"
Structured types (array or structs) can't be put into parameter storage in an general way. Encoding
of arrays must specified on specific parameters.
6.2 Main Object
getParameter
Method name getParameter
Description Getter for the device-global parameters.
This is an additional getter outside of edit sessions, so it is possible
to read device information without login.
Input parameters Name of a device parameter: string
Output parameters Value of the requested parameter: string
getAllParameters
Method name getAllParameters
Description Getter for the device-global parameters.
This is an additional getter outside of edit sessions, so it is possible
to read device information without login.
Input parameters none
Output parameters Struct (name contains the parameter name, value contains the
stringified parameter value)

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getSWVersion
Method name getSWVersion
Description Returns version information of all software components.
Input parameters none
Output parameters Struct of strings (e.g. { "IFM_Software": "0.01.07", "Frontend":
"01.05.02", ... } )
*mandatory keys:
"IFM_Software"
"Linux"
"Main_Application"
"Algorithm_Version"
"Calibration_Version"
"Calibration_Device"
getHWInfo
Method name getHWInfo
Description Returns hardware information of all components.
Input parameters none
Output parameters Struct of strings ( e.g. { "MACAddress": "00:02:01:40:06:C9", ... } )
*mandatory keys:
"MACAddress"
"Mainboard"
getApplicationList
Method name getApplicationList
Description Delivers basic information of all applications stored on the device.
Input parameters none
Output parameters Array of structs (Index: int, Id: int, Name: string, Description: string)

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requestSession
Method name requestSession
Description Requests a session object for access to the configuration and for
changing the device operating mode.
This blocks parallel editing and allows protection of editing with a
password.
The ID could optionally be defined by the external system but it must
be the defined format (32char "hex").
If it is called with only one parameter, the device will generate a
session ID.
The session will start with a default timeout ("SessionTimeout"
device parameter), the timeout can be extended by calling
"heartbeat".
The device will stay in RUN mode.
If password is disabled on the device, the value given as password
parameter is ignored.
Input parameters 1. Password: string
2. Session ID: string
Output parameters Session ID: string
reboot
Method name reboot
Description Reboot system, parameter defines which mode/system will be
booted.
Input parameters Type of system that should be booted after shutdown: int
0: Productive mode
1: Recovery mode
Output parameters Empty string (compatibility with classic XmlRPC-client)
systemCommand
Method name systemCommand
Description Performs a generic command on the device.
Input parameters 1. Command: string
2. Parameter: string
Output parameters string
getTraceLogs
Method name getTraceLogs
Description Returns entries from the internal log buffer of the device. It can
contain informal, error or trace messages.
Input parameters nLogs (Integer): max. number of logs to fetch from the IO manager.
If the value is 0, all logs are fetched.
Output parameters logs (Array of Strings): trace logs

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getClientCompatibilityList
Method name getClientCompatibilityList
Description The device must be able to define which type and version of
operating program is compatible.
Input parameters none
Output parameters Array of strings:
●Each string contains: "[VendorID]-[OperatingProgramID],[major].
[minor]" (IDs are 4 digit-hex, version dec).
●Each field could be a wildcard with '*'.
●E.g. "0001-0001,1.0" or "0001-*,1.*".
getUnitVectors
Method name getUnitVectors
Description Returns a chunk containing the current unit vectors.
Input parameters none
Output parameters Unit vector chunk: binary/base64
Trigger
Method name trigger
Description Executes a software trigger. The trigger might be delayed in order
to fulfill the pause time or maximum frame rate requirements. This
delay takes place synchronously, i.e. this RPC returns after the
trigger has been executed.
Input parameters none
Output parameters Empty string (compatibility with classic XmlRPC-client)

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6.3 Session Object
heartbeat
Method name heartbeat
Description Extends the life time of the edit session.
If the given value is outside the range of "SessionTimeout", the
saved default timeout will be used.
Input parameters Requested timeout interval till next heartbeat, in seconds: int
Output parameters The used timeout interval, in seconds: int
cancelSession
Method name cancelSession
Description Explicit stop of this session.
If an import or export is still being processed, the session is kept
alive until the import or export has finished, although the method
returns immediately.
Input parameters none
Output parameters Empty string (compatibility with classic XmlRPC-client)
exportCong
Method name exportConfig
Description Exports the whole configuration of the sensor device.
Input parameters none
Output parameters Configuration as a data BLOB: binary/base64
importCong
Method name importConfig
Description Imports whole configuration with the option to skip specific parts.
Input parameters 1. Configuration as a data BLOB: binary/base64
2. Flags describing which parts should be loaded:
0x0001: Includes configuration (Name, Description, Location, ...)
0x0002: Includes network configuration (IP, DHCP, ...)
0x0010: Includes all application configurations
Output parameters Empty string (compatibility with classic XmlRPC-client)
exportApplication
Method name exportApplication
Description Exports one application config.
Input parameters Application index
Output parameters Application config as a data BLOB: binary/base64

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importApplication
Method name importApplication
Description Imports an application config and creates a new application with it.
The name of the application should be based on the one stored in
the exported config.
If the name should be unique, the sensor must generate a suffix in
case of a naming conflict.
The device will get a new ID. If the config data contains a ID, it must
be ignored.
The device will put the new application on the first free index.
Input parameters Application config as one data BLOB: binary/base64
Output parameters Index of new application
setOperatingMode
Method name setOperatingMode
Description Changes the operating mode of the device.
Setting this to "edit" will enable the "edit mode object” on RPC.
Input parameters Mode: integer
0: Run mode
1: Edit mode
Output parameters Empty string (compatibility with classic XmlRPC-client)
The device will not distinguish between edit and run mode. The application will always behave as in
run mode. As soon as a session is opened the application can immediately be edited.
After successfully calling "requestSession" the application object at URL
"/api/rpc/v1/com.ifm.efector/session_d21c80db5bc1069932fbb9a3bd841d0b/edit/application/"
is immediately available.