Use the flags argument of av_hwframe_ctx_create_derived() to pass the
mapping flags which will be used on allocation. Also, set the format
and hardware context on the allocated frame automatically - the user
should not be required to do this themselves.
If -hwaccel foo is supplied without any other device options, and the
foo hwaccel is meant to have a device, try to make such a device with
default parameters for the hwaccel to use.
* commit 'c2fa6bb0e8703a7a6aa10e11f9ab36094416d83f':
mpeg12dec: move setting first_field to mpeg_field_start()
This commit is a noop, see 2f6f2f4f73
Merged-by: James Almer <jamrial@gmail.com>
This was left over from an earlier version which created the new
packet inside the current frame structure. Now it just leaks an
unused packet, so remove the allocation entirely.
The non-H.26[45] codecs already use this form. Since we don't
currently generate I frames for codecs which support them separately
to IDR, the p_per_i variable is set to infinity by default so that it
doesn't interfere with any other calculation. (All the code for I
frames still exists, and it works for H.264 if set manually.)
This patch aims to reduce the number of input/output surfaces
NVENC allocates per session. Previous default sets allocated surfaces to 32
(unless there is user specified param or lookahead involved). Having large
number of surfaces consumes extra video memory (esp for higher resolution
encoding). The patch changes the surfaces calculation for default, B-frames,
lookahead scenario respectively.
The other change involves surface selection. Previously, if a session
allocates x surfaces, only x-1 surfaces are used (due to combination
of output delay and lock toggle logic). To prevent unused surfaces,
changing surface rotation to using predefined fifo.
Signed-off-by: Timo Rothenpieler <timo@rothenpieler.org>
* commit '86157e6db2c7a9222f77fa7e7f50fb9aebc3aa81':
hevc: decouple calling get_format() from exporting the SPS parameters
See 786032cad8 (which has been reverted
and replaced with Anton's version to reduce diffs between the two
projects).
Merged-by: Clément Bœsch <u@pkh.me>
The same warning is issued when actual unknown spherical metadata is
found further down in the function.
Signed-off-by: James Almer <jamrial@gmail.com>
Signed-off-by: Anton Khirnov <anton@khirnov.net>
The header is not always available in the docker build environment
Suggested-by: Kostya Serebryany
Signed-off-by: Michael Niedermayer <michael@niedermayer.cc>
This seems to be non-optional, and if the muxer is run without it,
strlen() is run on NULL, causing a segfault.
Signed-off-by: Michael Niedermayer <michael@niedermayer.cc>
* commit '404cb74793284aa03e2e1a7e911c980c4cba0e9e':
configure: Pass CFLAGS_HEADERS through the right CFLAGS filter
Merged-by: James Almer <jamrial@gmail.com>
Added parameter descriptions for all functions
and converted in-function comments into regular
(non-Doxygen) comments.
Signed-off-by: Vittorio Giovara <vittorio.giovara@gmail.com>
Experimental VP9 support was added to the muxer recently.
Reviewed-by: Ronald S. Bultje <rsbultje@gmail.com>
Signed-off-by: James Almer <jamrial@gmail.com>
Should fix tsan warnings in fate-fifo-muxer-h264/wav:
WARNING: ThreadSanitizer: data race (pid=26552)
Write of size 4 at 0x000001e0d7c0 by main thread:
#0 transcode_init src/ffmpeg.c:3761 (ffmpeg+0x00000050ca1c)
[..]
Previous read of size 4 at 0x000001e0d7c0 by thread T1:
#0 decode_interrupt_cb src/ffmpeg.c:460 (ffmpeg+0x0000004fde19)
Takes a raw input stream containing frames with correct timestamps but
possibly out of order and inserts additional show-existing-frame
packets to correct the ordering.
* commit 'fe7bc1f16abaefe66d8a20f734ca3eb8a4ce4d43':
configure: Do not unconditionally check for (and enable) xlib
Merged-by: James Almer <jamrial@gmail.com>
* commit '7433feb82f75827884d909de34d341a1c4401d4a':
lavfi: Make default get_video_buffer work with hardware frames
Merged-by: Matthieu Bouron <matthieu.bouron@gmail.com>
num_core_channels is always equal to s->audio_header.prim_channels,
neither one of those variables ever get changed.
Signed-off-by: Luca Barbato <lu_zero@gentoo.org>
Get rid of the "ret" variable, and always use err. Report the packet as
consumed if err is unset. This should be equivalent to the old code,
which obviously required err=0 for p->result>=0 (and otherwise,
p->result must have had the value err was last set to). The code block
added by commit 32a5b63126 is also not needed anymore, because the new
code strictly returns err if it's >=0.
Reviewed-by: "Ronald S. Bultje" <rsbultje@gmail.com>
Not all compilers can do alignment larger than the normal stack alignment
for variables on the stack. In these cases, the LOCAL_ALIGNED_* macros
produce the workaround alignment wrapper consisting of a padded array
and a pointer variable.
This fixes the hevc fate tests on RVCT/ARMCC after adding IDCT assembly
that actually assumes/relies on this alignment.
Signed-off-by: Martin Storsjö <martin@martin.st>
* commit 'b90c8a3d08e3f9ad4de1253376d2d1d93abb8b8c':
fate: Add tests for mov display matrix
Adapted to use ffprobe -show_entries
Merged-by: James Almer <jamrial@gmail.com>
* commit 'c454dfcff90f0ed39c7b0d4e85664986a8b4476c':
Use ISO C printf conversion specifiers where appropriate
This commit is a noop, an equivalent patch is currently under review on
the mailing-list: http://ffmpeg.org/pipermail/ffmpeg-devel/2017-March/209239.html
Merged-by: Clément Bœsch <u@pkh.me>
The old "API" that signaled rotation as a metadata value has been
replaced by DISPLAYMATRIX side data quite a while ago.
There is no reason to make muxers/demuxers/API users support both. In
addition, the metadata API is dangerous, as user tags could "leak" into
it, creating unintended features or bugs.
ffmpeg CLI has to be updated to use the new API. In particular, we must
not allow to leak the "rotate" tag into the muxer. Some muxers will
catch this properly (like mov), but others (like mkv) can add it as
generic tag. Note applications, which use libavformat and assume the
old rotate API, will interpret such "rotate" user tags as rotate
metadata (which it is not), and incorrectly rotate the video.
The ffmpeg/ffplay tools drop the use of the old API for muxing and
demuxing, as all muxers/demuxers support the new API. This will mean
that the tools will not mistakenly interpret per-track "rotate" user
tags as rotate metadata. It will _not_ be treated as regression.
Unfortunately, hacks have been added, that allow the user to override
rotation by setting metadata explicitly, e.g. via
-metadata:s:v:0 rotate=0
See references to trac #4560. fate-filter-meta-4560-rotate0 tests this.
It's easier to adjust the hack for supporting it than arguing for its
removal, so ffmpeg CLI now explicitly catches this case, and essentially
replaces the "rotate" value with a display matrix side data. (It would
be easier for both user and implementation to create an explicit option
for rotation.)
When the code under FF_API_OLD_ROTATE_API is disabled, one FATE
reference file has to be updated (because "rotate" is not exported
anymore).
Tested-by: Michael Niedermayer <michael@niedermayer.cc>
Reviewed-by: Michael Niedermayer <michael@niedermayer.cc>
* commit '5cc0057f4910c8c72421b812c8f337ef6c43696c':
lavu: remove the custom atomic API
This commit is a noop. The removal is postponed until all usages in
FFmpeg are dropped as well. A patchset is on discussion on the
mailing-list:
http://ffmpeg.org/pipermail/ffmpeg-devel/2017-March/209003.html
Merged-by: Clément Bœsch <u@pkh.me>
This disables everything that was deprecated at least 18 months ago.
Readjust the minimum API version as needed, postponing any
API-incompatible changes until the next bump.
Signed-off-by: Vittorio Giovara <vittorio.giovara@gmail.com>
This supports retrieving the device from a provided hw_frames_ctx, and
automatically creating a hw_frames_ctx if hw_device_ctx is set.
The old API is not deprecated yet. The user can still use
av_vdpau_bind_context() (with or without setting hw_frames_ctx), or use
the API before that by allocating and setting hwaccel_context manually.
Cherry-picked from Libav commit 1a7ddba5.
(Adds missing APIchanges entry to the Libav version.)
Reviewed-by: Mark Thompson <sw@jkqxz.net>
This "reuses" the flags introduced for the av_vdpau_bind_context() API
function, and makes them available to all hwaccels. This does not affect
the current vdpau API, as av_vdpau_bind_context() should obviously
override the AVCodecContext.hwaccel_flags flags for the sake of
compatibility.
Cherry-picked from Libav commit 16a163b5.
Reviewed-by: Mark Thompson <sw@jkqxz.net>
Hook up all attributes that don't have a MSVC specific version at the
moment.
See f637046d31 for details.
These don't seem to be critical for building with clang in MSVC mode
though, and thus haven't been hooked up until now.
These seem to build fine with as old clang as 3.3 at least.
(clang 3.3 disguises itself as gcc 4.2 normally, so all of these
have been used for clang before, except for av_cold.)
The clang version numbers themselves are useless for detecting what
attributes are available, since Apple's clang builds use a completely
different versioning (presenting itself as e.g. clang 8.0 instead
of 3.8).
Signed-off-by: Martin Storsjö <martin@martin.st>
* commit '8ea35af7620e4f73f9e8c072e1c0fac9a04ec161':
avio: add a new flag for marking streams seekable by timestamp
Merged-by: James Almer <jamrial@gmail.com>
* commit 'e87a501e7d03ac68b58520108fe24ad9d0b36765':
swscale: Update bitdepth range check
This commit is a noop.
Up to 14 bits is supported since fa36f33422. This commits pushes the
limit to 15 bits but we don't seem to have pixel formats that enters in
that category.
12:03 <ubitux> so what's your opinion? should we move to 15 even if unused currently to make it consistent with libav and the function names, or keep our 14 suggesting there might be an issue with 15?
12:05 <ubitux> (functions are called hScale8To15_c, hScale16To15_c, ff_hscale8to15, ...)
12:06 <michaelni> I prefer to keep 14 until theres a case that allows us to test this and i suspect it will not work with 15 at least not all the code
Merged-by: Clément Bœsch <u@pkh.me>
This patch deprecates anything that has to do with merging/splitting
side data. Automatic side data merging (and splitting), as well as all
API symbols involved in it, are removed completely.
Two FF_API_ defines are dedicated to deprecating API symbols related to
this: FF_API_MERGE_SD_API removes av_packet_split/merge_side_data in
libavcodec, and FF_API_LAVF_KEEPSIDE_FLAG deprecates
AVFMT_FLAG_KEEP_SIDE_DATA in libavformat.
Since it was claimed that changing the default from merging side data to
not doing it is an ABI change, there are two additional FF_API_ defines,
which stop using the side data merging/splitting by default (and remove
any code in avformat/avcodec doing this): FF_API_MERGE_SD in libavcodec,
and FF_API_LAVF_MERGE_SD in libavformat.
It is very much intended that FF_API_MERGE_SD and FF_API_LAVF_MERGE_SD
are quickly defined to 0 in the next ABI bump, while the API symbols are
retained for a longer time for the sake of compatibility.
AVFMT_FLAG_KEEP_SIDE_DATA will (very much intentionally) do nothing for
most of the time it will still be defined. Keep in mind that no code
exists that actually tries to unset this flag for any reason, nor does
such code need to exist. Code setting this flag explicitly will work as
before. Thus it's ok for AVFMT_FLAG_KEEP_SIDE_DATA to do nothing once
side data merging has been removed from libavformat.
In order to avoid that anyone in the future does this incorrectly, here
is a small guide how to update the internal code on bumps:
- next ABI bump (probably soon):
- define FF_API_LAVF_MERGE_SD to 0, and remove all code covered by it
- define FF_API_MERGE_SD to 0, and remove all code covered by it
- next API bump (typically two years in the future or so):
- define FF_API_LAVF_KEEPSIDE_FLAG to 0, and remove all code covered
by it
- define FF_API_MERGE_SD_API to 0, and remove all code covered by it
This forces anyone who actually wants packet side data to temporarily
use deprecated API to get it all. If you ask me, this is batshit fucked
up crazy, but it's how we roll. Making AVFMT_FLAG_KEEP_SIDE_DATA to be
set by default was rejected as an ABI change, so I'm going all the way
to get rid of this once and for all.
Reviewed-by: James Almer <jamrial@gmail.com>
Reviewed-by: Rostislav Pehlivanov <atomnuker@gmail.com>
Reviewed-by: Michael Niedermayer <michael@niedermayer.cc>
This "reuses" the flags introduced for the av_vdpau_bind_context() API
function, and makes them available to all hwaccels. This does not affect
the current vdpau API, as av_vdpau_bind_context() should obviously
override the AVCodecContext.hwaccel_flags flags for the sake of
compatibility.
Adds functions to convert to/from strings and a function to iterate
over all supported device types. Also adds a new invalid type
AV_HWDEVICE_TYPE_NONE, which acts as a sentinel value.
* commit 'd7bc52bf456deba0f32d9fe5c288ec441f1ebef5':
imgutils: add a function for copying image data from GPU mapped memory
Merged-by: Clément Bœsch <u@pkh.me>
Not used by anything at all since we don't auto insert lavr filters.
Reviewed-by: wm4 <nfxjfg@googlemail.com>
Signed-off-by: Rostislav Pehlivanov <atomnuker@gmail.com>
* commit '5ebef79abecc3ffcc4ab0d46e203d13b068107c9':
Fix instances of broken indentation found by gcc 6
Noop, see 21d3f0c02, 6089c44a2
Merged-by: Clément Bœsch <u@pkh.me>
* commit 'ae90119c6701fa09ff747cca35238e36b2d2ab2f':
configure: Simplify license incompatibility check
An extra GPLV3 list is added for libsmbclient as having it in both GPL
and VERSION3 lists would cause a duplicate in the final config list.
Also, for consistency, libnpp is treated the same as the other nonfree
component (libfdk_aac and openssl).
Merged-by: Clément Bœsch <u@pkh.me>
so tsf option in aresample will have effect
previously tsf/internal_sample_format had no effect
fate is updated
s32p previously used fltp internally
dblp previously used fltp/dblp internally
Reviewed-by: Michael Niedermayer <michael@niedermayer.cc>
Signed-off-by: Muhammad Faiz <mfcc64@gmail.com>
The code does some nontrivial jumping around in the buffer, so it is
safer to use a checked API rather than do everything manually.
Fixes a bug in nalff parsing, where the length field is currently not
counted in the buffer size check, resulting in possible overreads with
invalid files.
CC: libav-stable@libav.org
Bug-Id: 1002
Found-By: Kamil Frankowicz
Decodes YUV 4:2:2 10-bit and RGB 12-bit files.
Older files with more subbands, skips, Bayer, alpha not supported.
Further fixes and refactorings by Anton Khirnov <anton@khirnov.net>,
Diego Biurrun <diego@biurrun.de>, Vittorio Giovara <vittorio.giovara@gmail.com>
Signed-off-by: Diego Biurrun <diego@biurrun.de>
Make it clear that there is no timing-dependent behavior. In particular,
there is no state in which both input and output are denied, and where
you have to wait for a while yourself to make progress (apparently some
hardware decoders like to do this).
Avoid wording that makes references to time. It shouldn't be mistaken
for some kind of asynchronous API (like POSIX read() can return EAGAIN
if there is no new input yet). It's a state machine, so try to use
appropriate terms.
Signed-off-by: Diego Biurrun <diego@biurrun.de>
Merges Libav commit 8a60bba0ae.
The way videotoolbox hooks in as a hwaccel is pretty hacky. The VT decode
API is not invoked until end_frame(), so alloc_frame() returns a dummy
frame with a 1-byte buffer. When end_frame() is eventually called, the
dummy buffer is replaced with the actual decoded data from
VTDecompressionSessionDecodeFrame().
When the VT decoder fails, the frame returned to the h264 decoder from
alloc_frame() remains invalid and should not be used. Before
9747219958, it was accidentally being
returned all the way up to the API user. After that commit, the dummy
frame was unref'd so the user received an error.
However, since that commit, VT hwaccel failures started causing random
segfaults in the h264 decoder. This happened more often on iOS where the
VT implementation is more likely to throw errors on bitstream anomolies.
A recent report of this issue can be see in
http://ffmpeg.org/pipermail/libav-user/2016-November/009831.html
The issue here is that the dummy frame is still referenced internally by the
h264 decoder, as part of the reflist and cur_pic_ptr. Deallocating the
frame causes assertions like this one to trip later on during decoding:
Assertion h->cur_pic_ptr->f->buf[0] failed at src/libavcodec/h264_slice.c:1340
With this commit, we leave the dummy 1-byte frame intact, but avoid returning it
to the user.
This reverts commit 9747219958.
Signed-off-by: wm4 <nfxjfg@googlemail.com>
The constants used in the decoder used floating point precision,
and this caused different values to be generated on different
architectures. Additionally on big endian machines, the fate test
would output bytes in native order, which is different from the one
hardcoded in the test.
So, eradicate floating point numbers and use fixed point (32.32)
arithmetics everywhere, replacing constants with precomputed integer
values, and force the pixel format output to be the same in the fate
test.
Signed-off-by: Vittorio Giovara <vittorio.giovara@gmail.com>
qmin and qmax are not necessary for nvenc vbr.
Also fix for using 2 pass vbr mode for slow preset through ctx->flag NVENC_TWO_PASSES.
Signed-off-by: Luca Barbato <lu_zero@gentoo.org>
If AVVideotoolboxContext.cv_pix_fmt_type is set to 0, don't set the
kCVPixelBufferPixelFormatTypeKey value on the VT decoder.
This makes VT output its native format, which can be much faster on
some hardware iterations (if the native format does not match with
the requested format, it will be converted, which is slow).
The default is still forcing nv12.
Allow all struct fields to be accessed directly, as long as they're
public.
Before this change, many fields were "public", but could be accessed via
AVOption only. This meant they were effectively not public, but were
present for documentation purposes, which was incredibly confusing at
best.
The map is a sparse array and does not need a empty element to terminate
it.
The empty element is stored after the last one inserted in the list,
overwriting whichever element was next with zeros.
Bug-Id: 1029
Signed-off-by: Luca Barbato <lu_zero@gentoo.org>
This should fix the fate failure due to a truncated last frame.
Alternatively the frame could be dropped.
Signed-off-by: Michael Niedermayer <michael@niedermayer.cc>
According to the spec[1], a value of 0 means the footer is present and a value
of 1 means it's absent, the exact opposite of header presence flag where 1
means present and 0 absent.
The reason for this is compatibility with APEv1 tags, where there's no header,
footer presence was mandatory for all files, and the flags field was a zeroed
reserved field.
[1] http://wiki.hydrogenaud.io/index.php?title=Ape_Tags_Flags
Signed-off-by: James Almer <jamrial@gmail.com>
CC: libav-stable@libav.org
Signed-off-by: Anton Khirnov <anton@khirnov.net>
The idct32x32 function actually pushed q4-q7 onto the stack even
though it didn't clobber them; there are plenty of registers that
can be used to allow keeping all the idct coefficients in registers
without having to reload different subsets of them at different
stages in the transform.
Since the idct16 core transform avoids clobbering q4-q7 (but clobbers
q2-q3 instead, to avoid needing to back up and restore q4-q7 at all
in the idct16 function), and the lanewise vmul needs a register in
the q0-q3 range, we move the stored coefficients from q2-q3 into q4-q5
while doing idct16.
While keeping these coefficients in registers, we still can skip pushing
q7.
Before: Cortex A7 A8 A9 A53
vp9_inv_dct_dct_32x32_sub32_add_neon: 18553.8 17182.7 14303.3 12089.7
After:
vp9_inv_dct_dct_32x32_sub32_add_neon: 18470.3 16717.7 14173.6 11860.8
Signed-off-by: Martin Storsjö <martin@martin.st>
ts_offset was added to cluster timecode, but then effectively subtracted
back off the block timecode
When setting initial_padding for an audio stream, the timestamps are
written incorrectly to the mkv file. cluster timecode gets written
as pts0 + ts_offset which is correct, but then block timecode gets
written as pts - cluster timecode which expanded is
pts - (pts0 + ts_offset). Adding cluster and block tc back together:
cluster + block = (pts0 + ts_offset) + (pts - (pts0 + ts_offset)) = pts
But the result should be pts + ts_offset since demux will subtract the
CodecDelay element from pts and set initial_padding to CodecDelay.
This patch gives the correct result.
The Intel proprietary VAAPI driver enforces the restriction that a
buffer must be created inside an existing context, so just ensure
this is always true.
When slice_h is rounded up due to chroma subsampling, there's
a risk that jobnr * slice_h exceeds frame->height.
Prior to a638e9184d, this wasn't an issue for the last slice
of a frame, since slice_end was set to frame->height for the last
slice.
a638e9184d tried to fix the case where other slices than the
last one would exceed frame->height (which can happen where the
number of slices/threads is very large compared to the frame
height).
However, the fix in a638e9184d instead broke other cases,
where slice_h * nb_threads < frame->height. Therefore, make
sure the last slice always ends at frame->height.
CC: libav-stable@libav.org
Signed-off-by: Martin Storsjö <martin@martin.st>
If the stream timebase is coarser than the muxing timebase then the
monotonisation process may fail because adding one to the timestamp
need not actually produce a different timestamp after the rescale.
This is an extended version of the AVFrame.opaque field, which can be
used to attach arbitrary user information to an AVFrame.
The usefulness of the opaque field is rather limited, because it can
store only up to 32 bits of information (or 64 bit on 64 bit systems).
It's not possible to set this field to a memory allocation, because
there is no way to deallocate it correctly.
The opaque_ref field circumvents this by letting the user set an
AVBuffer, which makes the user data refcounted.
Signed-off-by: Anton Khirnov <anton@khirnov.net>
Merges Libav commit 04f3bd3496.
The early check for inconsistent in-source vs out-of-source build
cannot generate a config.log otherwise.
Signed-off-by: Luca Barbato <lu_zero@gentoo.org>
This is an extended version of the AVFrame.opaque field, which can be
used to attach arbitrary user information to an AVFrame.
The usefulness of the opaque field is rather limited, because it can
store only up to 32 bits of information (or 64 bit on 64 bit systems).
It's not possible to set this field to a memory allocation, because
there is no way to deallocate it correctly.
The opaque_ref field circumvents this by letting the user set an
AVBuffer, which makes the user data refcounted.
Signed-off-by: Anton Khirnov <anton@khirnov.net>
According to the spec[1], a value of 0 means the footer is present and a value
of 1 means it's absent, the exact opposite of header presence flag where 1
means present and 0 absent.
The reason for this is compatibility with APEv1 tags, where there's no header,
footer presence was mandatory for all files, and the flags field was a zeroed
reserved field.
[1] http://wiki.hydrogenaud.io/index.php?title=Ape_Tags_Flags
Reviewed-by: Paul B Mahol <onemda@gmail.com>
Signed-off-by: James Almer <jamrial@gmail.com>
Core of patch is from paul@paulmehta.com
Reference https://crbug.com/643952 (udta_string portion)
Signed-off-by: Matt Wolenetz <wolenetz@chromium.org>
Signed-off-by: Michael Niedermayer <michael@niedermayer.cc>
If this is wanted iam not against it but it must be designed to work with all cases
like slice threads, and a single growing buffer does not work very well with slices.
Signed-off-by: Michael Niedermayer <michael@niedermayer.cc>
Fixes all sorts of configuration problems introducec by dad7a9c7c0
on non-Linux or non-vanilla configs. Also removes a line made redundant
in that commit.
This swaps which field is set when the Window Acknowledgement Size
and Set Peer BW packets are received, renames the fields in
order to clarify their role further and adds verbose comments
explaining their respective roles and how well the code currently
does what it is supposed to.
The Set Peer BW packet tells the receiver of the packet (which
can be either client or server) that it should not send more data
if it already has sent more data than the specified number of bytes,
without receiving acknowledgement for them. Actually checking this
limit is currently not implemented.
In order to be able to check that properly, one can send the
Window Acknowledgement Size packet, which tells the receiver of the
packet that it needs to send Acknowledgement packets
(RTMP_PT_BYTES_READ) at least after receiving a given number of bytes
since the last Acknowledgement.
Therefore, when we receive a Window Acknowledgement Size packet,
this sets the maximum number of bytes we can receive without sending
an Acknowledgement; therefore when handling this packet we should set
the receive_report_size field (previously client_report_size).
Signed-off-by: Martin Storsjö <martin@martin.st>
Implements support for height/width expressions in vf_scale_vaapi,
by refactoring common code into a new libavfilter/scale.c
Signed-off-by: Mark Thompson <sw@jkqxz.net>
* commit 'd639dcdae022130078c9c84b7b691c5e9694786c':
ratecontrol: Move Xvid-related functions to the place they are actually used
Merged-by: Clément Bœsch <u@pkh.me>
openvela-robot