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<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
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<title>CanFestival: drivers/timers_unix/timers_unix.c Source File</title>
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<a class="el" href="dir_d58fb241e647de6212c31ecccf9cbace.html">drivers</a> » <a class="el" href="dir_48aec78d2c68f8c6a53202ad028bcb76.html">timers_unix</a></div>
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<h1>timers_unix.c</h1><a href="timers__unix_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include <stdlib.h></span>
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<a name="l00002"></a>00002
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<a name="l00003"></a>00003 <span class="preprocessor">#include <sys/time.h></span>
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<a name="l00004"></a>00004 <span class="preprocessor">#include <pthread.h></span>
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<a name="l00005"></a>00005 <span class="preprocessor">#include <signal.h></span>
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<a name="l00006"></a>00006
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<a name="l00007"></a>00007 <span class="preprocessor">#include "<a class="code" href="win32_2applicfg_8h.html">applicfg.h</a>"</span>
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<a name="l00008"></a>00008 <span class="preprocessor">#include "<a class="code" href="timer_8h.html">timer.h</a>"</span>
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<a name="l00009"></a>00009
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<a name="l00010"></a><a class="code" href="timers__unix_8c.html#93ad8a5a5e353192bfa45ae850df337f">00010</a> pthread_mutex_t <a class="code" href="timers__unix_8c.html#93ad8a5a5e353192bfa45ae850df337f">CanFestival_mutex</a> = PTHREAD_MUTEX_INITIALIZER;
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<a name="l00011"></a>00011
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<a name="l00012"></a><a class="code" href="timers__unix_8c.html#ef197e4f64855d2ac4ccbc40595d6bdd">00012</a> <a class="code" href="timers__unix_2timerscfg_8h.html#07c1b78efc83716fac9e31b9862f7e60">TASK_HANDLE</a> <a class="code" href="timers__unix_8c.html#ef197e4f64855d2ac4ccbc40595d6bdd">TimerLoopThread</a>;
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<a name="l00013"></a>00013
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<a name="l00014"></a><a class="code" href="timers__unix_8c.html#9b886230a6b35bdd1532a27ee7400d10">00014</a> <a class="code" href="hcs12_2applicfg_8h.html#6ae11f09e1ebf40f3562857272fab8bf">TIMEVAL</a> <a class="code" href="timers__unix_8c.html#9b886230a6b35bdd1532a27ee7400d10">last_time_set</a> = <a class="code" href="hcs12_2applicfg_8h.html#35b2fd1a5f6b88bf3842ba3663e6f85e">TIMEVAL_MAX</a>;
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<a name="l00015"></a>00015
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<a name="l00016"></a><a class="code" href="timers__unix_8c.html#bcf9307062fc6f0a7906547a892e38df">00016</a> <span class="keyword">struct </span>timeval <a class="code" href="timers__unix_8c.html#bcf9307062fc6f0a7906547a892e38df">last_sig</a>;
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<a name="l00017"></a>00017
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<a name="l00018"></a><a class="code" href="timers__unix_8c.html#1a1e2de3a80567484c9b4d4f20d5a3d0">00018</a> timer_t <a class="code" href="timers__unix_8c.html#1a1e2de3a80567484c9b4d4f20d5a3d0">timer</a>;
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<a name="l00019"></a>00019
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<a name="l00020"></a><a class="code" href="timers__driver_8h.html#d7fee43b8a44cf8b7036853593044037">00020</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#d7fee43b8a44cf8b7036853593044037">EnterMutex</a>(<span class="keywordtype">void</span>)
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<a name="l00021"></a>00021 {
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<a name="l00022"></a>00022 pthread_mutex_lock(&<a class="code" href="timers__unix_8c.html#93ad8a5a5e353192bfa45ae850df337f">CanFestival_mutex</a>);
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<a name="l00023"></a>00023 }
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<a name="l00024"></a>00024
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<a name="l00025"></a><a class="code" href="timers__driver_8h.html#73d9a4eb941fb20cf6b597840510394b">00025</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#73d9a4eb941fb20cf6b597840510394b">LeaveMutex</a>(<span class="keywordtype">void</span>)
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<a name="l00026"></a>00026 {
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<a name="l00027"></a>00027 pthread_mutex_unlock(&<a class="code" href="timers__unix_8c.html#93ad8a5a5e353192bfa45ae850df337f">CanFestival_mutex</a>);
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<a name="l00028"></a>00028 }
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<a name="l00029"></a>00029
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<a name="l00030"></a><a class="code" href="timers__unix_8c.html#4cd19302f57b08fc0403a05017332735">00030</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#4cd19302f57b08fc0403a05017332735">timer_notify</a>(sigval_t val)
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<a name="l00031"></a>00031 {
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<a name="l00032"></a>00032 gettimeofday(&<a class="code" href="timers__unix_8c.html#bcf9307062fc6f0a7906547a892e38df">last_sig</a>,NULL);
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54 |
<a name="l00033"></a>00033 <a class="code" href="timers__unix_8c.html#d7fee43b8a44cf8b7036853593044037">EnterMutex</a>();
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55 |
<a name="l00034"></a>00034 <a class="code" href="timer_8c.html#fa75192a3238525618f8cb83004930cc">TimeDispatch</a>();
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<a name="l00035"></a>00035 <a class="code" href="timers__unix_8c.html#73d9a4eb941fb20cf6b597840510394b">LeaveMutex</a>();
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<a name="l00036"></a>00036 <span class="comment">// printf("getCurrentTime() return=%u\n", p.tv_usec);</span>
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<a name="l00037"></a>00037 }
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<a name="l00038"></a>00038
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<a name="l00039"></a><a class="code" href="timers__unix_8c.html#02922529b60419a94afe8f369dda070b">00039</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#02922529b60419a94afe8f369dda070b">initTimer</a>(<span class="keywordtype">void</span>)
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<a name="l00040"></a>00040 {
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<a name="l00041"></a>00041 <span class="keyword">struct </span>sigevent sigev;
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<a name="l00042"></a>00042
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<a name="l00043"></a>00043 <span class="comment">// Take first absolute time ref.</span>
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<a name="l00044"></a>00044 gettimeofday(&<a class="code" href="timers__unix_8c.html#bcf9307062fc6f0a7906547a892e38df">last_sig</a>,NULL);
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<a name="l00045"></a>00045
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<a name="l00046"></a>00046 memset (&sigev, 0, <span class="keyword">sizeof</span> (<span class="keyword">struct</span> sigevent));
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<a name="l00047"></a>00047 sigev.sigev_value.sival_int = 0;
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<a name="l00048"></a>00048 sigev.sigev_notify = SIGEV_THREAD;
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<a name="l00049"></a>00049 sigev.sigev_notify_attributes = NULL;
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<a name="l00050"></a>00050 sigev.sigev_notify_function = <a class="code" href="timers__unix_8c.html#4cd19302f57b08fc0403a05017332735">timer_notify</a>;
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<a name="l00051"></a>00051
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<a name="l00052"></a>00052 timer_create (CLOCK_REALTIME, &sigev, &<a class="code" href="timers__unix_8c.html#1a1e2de3a80567484c9b4d4f20d5a3d0">timer</a>);
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<a name="l00053"></a>00053 }
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<a name="l00054"></a>00054
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<a name="l00055"></a><a class="code" href="timers__driver_8h.html#8758484f3cebb0cd44bb247c3f23d5e3">00055</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#8758484f3cebb0cd44bb247c3f23d5e3">StopTimerLoop</a>(<span class="keywordtype">void</span>)
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<a name="l00056"></a>00056 {
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<a name="l00057"></a>00057 <a class="code" href="timers__unix_8c.html#d7fee43b8a44cf8b7036853593044037">EnterMutex</a>();
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<a name="l00058"></a>00058 timer_delete (<a class="code" href="timers__unix_8c.html#1a1e2de3a80567484c9b4d4f20d5a3d0">timer</a>);
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80 |
<a name="l00059"></a>00059 <a class="code" href="timers__unix_8c.html#73d9a4eb941fb20cf6b597840510394b">LeaveMutex</a>();
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<a name="l00060"></a>00060 }
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<a name="l00061"></a>00061
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<a name="l00062"></a><a class="code" href="timers__driver_8h.html#c9e1731843825eb55e7a94894e6a8ec5">00062</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#c9e1731843825eb55e7a94894e6a8ec5">StartTimerLoop</a>(<a class="code" href="timer_8h.html#f7d102e060339d3730ceae5fea03691b">TimerCallback_t</a> init_callback)
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<a name="l00063"></a>00063 {
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<a name="l00064"></a>00064 <a class="code" href="canOpenDriver_8c.html#02922529b60419a94afe8f369dda070b">initTimer</a>();
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86 |
<a name="l00065"></a>00065 <a class="code" href="timers__unix_8c.html#d7fee43b8a44cf8b7036853593044037">EnterMutex</a>();
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<a name="l00066"></a>00066 <span class="comment">// At first, TimeDispatch will call init_callback.</span>
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<a name="l00067"></a>00067 <a class="code" href="timer_8c.html#11c2616d78f06ed9144ef662f757b128">SetAlarm</a>(NULL, 0, init_callback, 0, 0);
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<a name="l00068"></a>00068 <a class="code" href="timers__unix_8c.html#73d9a4eb941fb20cf6b597840510394b">LeaveMutex</a>();
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<a name="l00069"></a>00069 }
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<a name="l00070"></a>00070
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<a name="l00071"></a><a class="code" href="timers__driver_8h.html#3e8cb5b8159f655ee0bac1ea1d2358d4">00071</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#a3a7df911baa20b01c4374a9677a154a">CreateReceiveTask</a>(<a class="code" href="unix_2applicfg_8h.html#7ef59f941603c6680e74fc335523f17e">CAN_PORT</a> port, <a class="code" href="timers__unix_2timerscfg_8h.html#07c1b78efc83716fac9e31b9862f7e60">TASK_HANDLE</a>* Thread, <span class="keywordtype">void</span>* ReceiveLoopPtr)
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<a name="l00072"></a>00072 {
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<a name="l00073"></a>00073 pthread_create(Thread, NULL, ReceiveLoopPtr, (<span class="keywordtype">void</span>*)port);
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<a name="l00074"></a>00074 }
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<a name="l00075"></a>00075
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<a name="l00076"></a><a class="code" href="timers__driver_8h.html#c492d1b5ebd2d99020e72c137beda878">00076</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#4b2486891ee01e06e2deead4cf963727">WaitReceiveTaskEnd</a>(<a class="code" href="timers__unix_2timerscfg_8h.html#07c1b78efc83716fac9e31b9862f7e60">TASK_HANDLE</a> Thread)
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<a name="l00077"></a>00077 {
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<a name="l00078"></a>00078 pthread_kill(Thread, SIGTERM);
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<a name="l00079"></a>00079 pthread_join(Thread, NULL);
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<a name="l00080"></a>00080 }
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<a name="l00081"></a>00081
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<a name="l00082"></a><a class="code" href="timers__unix_8c.html#016587a4d6fc754357c47c9df9f0bde4">00082</a> <span class="preprocessor">#define maxval(a,b) ((a>b)?a:b)</span>
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<a name="l00083"></a><a class="code" href="timer_8h.html#b8d05dee70f04b5c5190ab00e84da106">00083</a> <span class="preprocessor"></span><span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#b8d05dee70f04b5c5190ab00e84da106">setTimer</a>(<a class="code" href="hcs12_2applicfg_8h.html#6ae11f09e1ebf40f3562857272fab8bf">TIMEVAL</a> value)
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<a name="l00084"></a>00084 {
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<a name="l00085"></a>00085 <span class="comment">// printf("setTimer(TIMEVAL value=%d)\n", value);</span>
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<a name="l00086"></a>00086 <span class="comment">// TIMEVAL is us whereas setitimer wants ns...</span>
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<a name="l00087"></a>00087 <span class="keywordtype">long</span> tv_nsec = 1000 * (<a class="code" href="timers__unix_8c.html#016587a4d6fc754357c47c9df9f0bde4">maxval</a>(value,1)%1000000);
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<a name="l00088"></a>00088 time_t tv_sec = value/1000000;
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<a name="l00089"></a>00089 <span class="keyword">struct </span>itimerspec timerValues;
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<a name="l00090"></a>00090 timerValues.it_value.tv_sec = tv_sec;
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<a name="l00091"></a>00091 timerValues.it_value.tv_nsec = tv_nsec;
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<a name="l00092"></a>00092 timerValues.it_interval.tv_sec = 0;
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<a name="l00093"></a>00093 timerValues.it_interval.tv_nsec = 0;
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<a name="l00094"></a>00094
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<a name="l00095"></a>00095 timer_settime (<a class="code" href="timers__unix_8c.html#1a1e2de3a80567484c9b4d4f20d5a3d0">timer</a>, 0, &timerValues, NULL);
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<a name="l00096"></a>00096 }
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118 |
<a name="l00097"></a>00097
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<a name="l00098"></a><a class="code" href="timers__unix_8c.html#4dccc204d52176bd547ab34d6858f5ba">00098</a> <a class="code" href="hcs12_2applicfg_8h.html#6ae11f09e1ebf40f3562857272fab8bf">TIMEVAL</a> <a class="code" href="canOpenDriver_8c.html#24dbe63e88d184388542037d16a8208d">getElapsedTime</a>(<span class="keywordtype">void</span>)
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<a name="l00099"></a>00099 {
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<a name="l00100"></a>00100 <span class="keyword">struct </span>timeval p;
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<a name="l00101"></a>00101 gettimeofday(&p,NULL);
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<a name="l00102"></a>00102 <span class="comment">// printf("getCurrentTime() return=%u\n", p.tv_usec);</span>
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<a name="l00103"></a>00103 <span class="keywordflow">return</span> (p.tv_sec - <a class="code" href="timers__unix_8c.html#bcf9307062fc6f0a7906547a892e38df">last_sig</a>.tv_sec)* 1000000 + p.tv_usec - <a class="code" href="timers__unix_8c.html#bcf9307062fc6f0a7906547a892e38df">last_sig</a>.tv_usec;
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<a name="l00104"></a>00104 }
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</pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:38 2007 for CanFestival by
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<a href="http://www.doxygen.org/index.html">
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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</body>
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</html>
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