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<a class="el" href="dir_d58fb241e647de6212c31ecccf9cbace.html">drivers</a> » <a class="el" href="dir_6da7fb7606ab88af9c782bbceb5cfb77.html">unix</a></div>
<h1>unix.c</h1><a href="unix_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00021"></a>00021 <span class="comment">*/</span>
<a name="l00022"></a>00022 <span class="preprocessor">#include <unistd.h></span>
<a name="l00023"></a>00023 <span class="preprocessor">#include <stdio.h></span>
<a name="l00024"></a>00024 <span class="preprocessor">#include <stdlib.h></span>
<a name="l00025"></a>00025
<a name="l00026"></a>00026 <span class="preprocessor">#ifndef NOT_USE_DYNAMIC_LOADING</span>
<a name="l00027"></a><a class="code" href="unix_8c.html#74c6a27b44fd54de5cb021299ffce612">00027</a> <span class="preprocessor"></span><span class="preprocessor">#define DLL_CALL(funcname) (* funcname##_driver)</span>
<a name="l00028"></a><a class="code" href="unix_8c.html#7f7ce94bf48fde67f4af7b64c7ca4c85">00028</a> <span class="preprocessor"></span><span class="preprocessor">#define FCT_PTR_INIT =NULL</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span>
<a name="l00030"></a><a class="code" href="unix_8c.html#2af8b26c5600696a026aa95fe49b9dc9">00030</a> <span class="preprocessor">#define DLSYM(name)\</span>
<a name="l00031"></a>00031 <span class="preprocessor"> *(void **) (&name##_driver) = dlsym(handle, #name"_driver");\</span>
<a name="l00032"></a>00032 <span class="preprocessor"> if ((error = dlerror()) != NULL) {\</span>
<a name="l00033"></a>00033 <span class="preprocessor"> fprintf (stderr, "%s\n", error);\</span>
<a name="l00034"></a>00034 <span class="preprocessor"> UnLoadCanDriver(handle);\</span>
<a name="l00035"></a>00035 <span class="preprocessor"> return NULL;\</span>
<a name="l00036"></a>00036 <span class="preprocessor"> }</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span>
<a name="l00038"></a>00038 <span class="preprocessor">#else </span><span class="comment">/*NOT_USE_DYNAMIC_LOADING*/</span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="comment">/*Function call is direct*/</span>
<a name="l00041"></a>00041 <span class="preprocessor">#define DLL_CALL(funcname) funcname##_driver</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span>
<a name="l00043"></a>00043 <span class="preprocessor">#endif </span><span class="comment">/*NOT_USE_DYNAMIC_LOADING*/</span>
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="preprocessor">#include "<a class="code" href="data_8h.html">data.h</a>"</span>
<a name="l00046"></a>00046 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
<a name="l00047"></a>00047 <span class="preprocessor">#include "<a class="code" href="timers__driver_8h.html">timers_driver.h</a>"</span>
<a name="l00048"></a>00048
<a name="l00049"></a><a class="code" href="unix_8c.html#c2f10bc5b98269f33af8a74299236e03">00049</a> <span class="preprocessor">#define MAX_NB_CAN_PORTS 16</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span>
<a name="l00051"></a><a class="code" href="structCANPort.html">00051</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{
<a name="l00052"></a><a class="code" href="structCANPort.html#9282729cb1b89dd5594435fbaf162e11">00052</a> <span class="keywordtype">char</span> used;
<a name="l00053"></a><a class="code" href="structCANPort.html#79262404ede9b4eb131a84b49454b7e7">00053</a> <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd;
<a name="l00054"></a><a class="code" href="structCANPort.html#c9022d9f15fbff963b1bdb1e914dc871">00054</a> <a class="code" href="timers__unix_2timerscfg_8h.html#07c1b78efc83716fac9e31b9862f7e60">TASK_HANDLE</a> receiveTask;
<a name="l00055"></a><a class="code" href="structCANPort.html#45112279ca87924f3ecfc9fdb019cd69">00055</a> <a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d;
<a name="l00056"></a>00056 } <a class="code" href="structCANPort.html">CANPort</a>;
<a name="l00057"></a>00057
<a name="l00058"></a>00058 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span>
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="comment">/*Declares the funtion pointers for dll binding or simple protos*/</span>
<a name="l00061"></a>00061 <span class="comment">/*UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *);</span>
<a name="l00062"></a>00062 <span class="comment">UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *);</span>
<a name="l00063"></a>00063 <span class="comment">CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *);</span>
<a name="l00064"></a>00064 <span class="comment">int DLL_CALL(canClose)(CAN_HANDLE);</span>
<a name="l00065"></a>00065 <span class="comment">*/</span>
<a name="l00066"></a><a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">00066</a> <a class="code" href="structCANPort.html">CANPort</a> <a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[<a class="code" href="unix_8c.html#c2f10bc5b98269f33af8a74299236e03">MAX_NB_CAN_PORTS</a>] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}};
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="preprocessor">#ifndef NOT_USE_DYNAMIC_LOADING</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span>
<a name="l00070"></a>00070 <span class="comment">/*UnLoads the dll*/</span>
<a name="l00071"></a><a class="code" href="win32_2canfestival_8h.html#cb4f394ec0e040c5962d3dc1957505fb">00071</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="unix_8c.html#cb4f394ec0e040c5962d3dc1957505fb">UnLoadCanDriver</a>(<a class="code" href="unix_2canfestival_8h.html#99960198cd610250fc7ab4c8351ad9de">LIB_HANDLE</a> handle)
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 <span class="keywordflow">if</span>(handle!=NULL)
<a name="l00074"></a>00074 {
<a name="l00075"></a>00075 dlclose(handle);
<a name="l00076"></a>00076
<a name="l00077"></a>00077 handle=NULL;
<a name="l00078"></a>00078 <span class="keywordflow">return</span> 0;
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080 <span class="keywordflow">return</span> -1;
<a name="l00081"></a>00081 }
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="comment">/*Loads the dll and get funcs ptr*/</span>
<a name="l00084"></a><a class="code" href="win32_2canfestival_8h.html#a6eed61fc15f41f772d4645d7a5edeb5">00084</a> <a class="code" href="unix_2canfestival_8h.html#99960198cd610250fc7ab4c8351ad9de">LIB_HANDLE</a> <a class="code" href="unix_8c.html#a6eed61fc15f41f772d4645d7a5edeb5">LoadCanDriver</a>(<span class="keywordtype">char</span>* driver_name)
<a name="l00085"></a>00085 {
<a name="l00086"></a>00086 <a class="code" href="unix_2canfestival_8h.html#99960198cd610250fc7ab4c8351ad9de">LIB_HANDLE</a> handle = NULL;
<a name="l00087"></a>00087 <span class="keywordtype">char</span> *error;
<a name="l00088"></a>00088
<a name="l00089"></a>00089
<a name="l00090"></a>00090 <span class="keywordflow">if</span>(handle==NULL)
<a name="l00091"></a>00091 {
<a name="l00092"></a>00092 handle = dlopen(driver_name, RTLD_LAZY);
<a name="l00093"></a>00093 }
<a name="l00094"></a>00094
<a name="l00095"></a>00095 <span class="keywordflow">if</span> (!handle) {
<a name="l00096"></a>00096 fprintf (stderr, <span class="stringliteral">"%s\n"</span>, dlerror());
<a name="l00097"></a>00097 <span class="keywordflow">return</span> NULL;
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099
<a name="l00100"></a>00100 <span class="comment">/*Get function ptr*/</span>
<a name="l00101"></a>00101 <a class="code" href="unix_8c.html#2af8b26c5600696a026aa95fe49b9dc9">DLSYM</a>(<a class="code" href="drivers__win32_8cpp.html#c608a4ba478a809fd963a342a24226fd">canReceive</a>)
<a name="l00102"></a>00102 <a class="code" href="unix_8c.html#2af8b26c5600696a026aa95fe49b9dc9">DLSYM</a>(<a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>)
<a name="l00103"></a>00103 <a class="code" href="unix_8c.html#2af8b26c5600696a026aa95fe49b9dc9">DLSYM</a>(<a class="code" href="unix_8c.html#7476146ad15948a22e7f80a00c89c40a">canOpen</a>)
<a name="l00104"></a>00104 <a class="code" href="unix_8c.html#2af8b26c5600696a026aa95fe49b9dc9">DLSYM</a>(<a class="code" href="unix_8c.html#02957f72a9b951603adb98a142bd447b">canClose</a>)
<a name="l00105"></a>00105
<a name="l00106"></a>00106 <span class="keywordflow">return</span> handle;
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="preprocessor">#endif</span>
<a name="l00110"></a>00110 <span class="preprocessor"></span>
<a name="l00111"></a>00111
<a name="l00112"></a>00112
<a name="l00113"></a>00113 <span class="comment">/*Not needed -- canReceiveLoop calls _canReceive directly */</span><span class="comment">/*</span>
<a name="l00114"></a>00114 <span class="comment">UNS8 canReceive(CAN_PORT port, Message *m)</span>
<a name="l00115"></a>00115 <span class="comment">{</span>
<a name="l00116"></a>00116 <span class="comment"> return DLL_CALL(canReceive)(port->fd, Message *m);</span>
<a name="l00117"></a>00117 <span class="comment">}</span>
<a name="l00118"></a>00118 <span class="comment">*/</span>
<a name="l00119"></a>00119
<a name="l00120"></a><a class="code" href="win32_2canfestival_8h.html#8d1909a09c50c750e4d8626595acd9f6">00120</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>(<a class="code" href="unix_2applicfg_8h.html#7ef59f941603c6680e74fc335523f17e">CAN_PORT</a> port, <a class="code" href="structMessage.html">Message</a> *m)
<a name="l00121"></a>00121 {
<a name="l00122"></a>00122 <span class="keywordflow">if</span>(port){
<a name="l00123"></a>00123 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> res;
<a name="l00124"></a>00124 <span class="comment">//LeaveMutex();</span>
<a name="l00125"></a>00125 res = <a class="code" href="unix_8c.html#74c6a27b44fd54de5cb021299ffce612">DLL_CALL</a>(<a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>)(((<a class="code" href="structCANPort.html">CANPort</a>*)port)->fd, m);
<a name="l00126"></a>00126 <span class="comment">//EnterMutex();</span>
<a name="l00127"></a>00127 <span class="keywordflow">return</span> res;
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129 <span class="keywordflow">return</span> -1;
<a name="l00130"></a>00130 }
<a name="l00131"></a>00131
<a name="l00132"></a><a class="code" href="unix_8c.html#45ceca3727c2fb7ac93958a215efb827">00132</a> <span class="keywordtype">void</span> <a class="code" href="unix_8c.html#45ceca3727c2fb7ac93958a215efb827">canReceiveLoop</a>(<a class="code" href="unix_2applicfg_8h.html#7ef59f941603c6680e74fc335523f17e">CAN_PORT</a> port)
<a name="l00133"></a>00133 {
<a name="l00134"></a>00134 <a class="code" href="structMessage.html">Message</a> m;
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="keywordflow">while</span> (1) {
<a name="l00137"></a>00137 <span class="keywordflow">if</span> (<a class="code" href="unix_8c.html#74c6a27b44fd54de5cb021299ffce612">DLL_CALL</a>(<a class="code" href="drivers__win32_8cpp.html#c608a4ba478a809fd963a342a24226fd">canReceive</a>)(((<a class="code" href="structCANPort.html">CANPort</a>*)port)->fd, &m) != 0)
<a name="l00138"></a>00138 <span class="keywordflow">break</span>;
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <a class="code" href="timers__unix_8c.html#d7fee43b8a44cf8b7036853593044037">EnterMutex</a>();
<a name="l00141"></a>00141 <a class="code" href="states_8c.html#3f8975650604cc23582f19a43fd4e518">canDispatch</a>(((CANPort*)port)->d, &m);
<a name="l00142"></a>00142 <a class="code" href="timers__unix_8c.html#73d9a4eb941fb20cf6b597840510394b">LeaveMutex</a>();
<a name="l00143"></a>00143 }
<a name="l00144"></a>00144 }
<a name="l00145"></a><a class="code" href="win32_2canfestival_8h.html#7476146ad15948a22e7f80a00c89c40a">00145</a> <a class="code" href="unix_2applicfg_8h.html#7ef59f941603c6680e74fc335523f17e">CAN_PORT</a> <a class="code" href="unix_8c.html#7476146ad15948a22e7f80a00c89c40a">canOpen</a>(<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *board, <a class="code" href="structstruct__CO__Data.html">CO_Data</a> * d)
<a name="l00146"></a>00146 {
<a name="l00147"></a>00147 <span class="keywordtype">int</span> i;
<a name="l00148"></a>00148 <span class="keywordflow">for</span>(i=0; i < <a class="code" href="unix_8c.html#c2f10bc5b98269f33af8a74299236e03">MAX_NB_CAN_PORTS</a>; i++)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 <span class="keywordflow">if</span>(!<a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i].used)
<a name="l00151"></a>00151 <span class="keywordflow">break</span>;
<a name="l00152"></a>00152 }
<a name="l00153"></a>00153
<a name="l00154"></a>00154 <span class="preprocessor">#ifndef NOT_USE_DYNAMIC_LOADING</span>
<a name="l00155"></a>00155 <span class="preprocessor"></span> <span class="keywordflow">if</span> (&<a class="code" href="unix_8c.html#74c6a27b44fd54de5cb021299ffce612">DLL_CALL</a>(<a class="code" href="unix_8c.html#7476146ad15948a22e7f80a00c89c40a">canOpen</a>)==NULL) {
<a name="l00156"></a>00156 fprintf(stderr,<span class="stringliteral">"CanOpen : Can Driver dll not loaded\n"</span>);
<a name="l00157"></a>00157 <span class="keywordflow">return</span> NULL;
<a name="l00158"></a>00158 }
<a name="l00159"></a>00159 <span class="preprocessor">#endif </span>
<a name="l00160"></a>00160 <span class="preprocessor"></span> <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0 = <a class="code" href="unix_8c.html#74c6a27b44fd54de5cb021299ffce612">DLL_CALL</a>(canOpen)(board);
<a name="l00161"></a>00161 <span class="keywordflow">if</span>(fd0){
<a name="l00162"></a>00162 <a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i].<a class="code" href="structCANPort.html#9282729cb1b89dd5594435fbaf162e11">used</a> = 1;
<a name="l00163"></a>00163 <a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i].<a class="code" href="structCANPort.html#79262404ede9b4eb131a84b49454b7e7">fd</a> = fd0;
<a name="l00164"></a>00164 <a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i].<a class="code" href="structCANPort.html#45112279ca87924f3ecfc9fdb019cd69">d</a> = d;
<a name="l00165"></a>00165
<a name="l00166"></a>00166 <a class="code" href="timers__unix_8c.html#a3a7df911baa20b01c4374a9677a154a">CreateReceiveTask</a>(&(<a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i]), &<a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i].receiveTask, &<a class="code" href="unix_8c.html#45ceca3727c2fb7ac93958a215efb827">canReceiveLoop</a>);
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <a class="code" href="timers__unix_8c.html#d7fee43b8a44cf8b7036853593044037">EnterMutex</a>();
<a name="l00169"></a>00169 d-><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a> = (<a class="code" href="unix_2applicfg_8h.html#7ef59f941603c6680e74fc335523f17e">CAN_PORT</a>)&<a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i];
<a name="l00170"></a>00170 <a class="code" href="timers__unix_8c.html#73d9a4eb941fb20cf6b597840510394b">LeaveMutex</a>();
<a name="l00171"></a>00171 <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#7ef59f941603c6680e74fc335523f17e">CAN_PORT</a>)&<a class="code" href="unix_8c.html#0b740cf913752262ceb23d51648da86a">canports</a>[i];
<a name="l00172"></a>00172 }<span class="keywordflow">else</span>{
<a name="l00173"></a>00173 fprintf(stderr,<span class="stringliteral">"CanOpen : Cannot open board {busname='%s',baudrate='%s'}\n"</span>,board-><a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>, board-><a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>);
<a name="l00174"></a>00174 <span class="keywordflow">return</span> NULL;
<a name="l00175"></a>00175 }
<a name="l00176"></a>00176 }
<a name="l00177"></a>00177
<a name="l00178"></a><a class="code" href="win32_2canfestival_8h.html#02957f72a9b951603adb98a142bd447b">00178</a> <span class="keywordtype">int</span> <a class="code" href="unix_8c.html#02957f72a9b951603adb98a142bd447b">canClose</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a> * d)
<a name="l00179"></a>00179 {
<a name="l00180"></a>00180 <a class="code" href="timers__unix_8c.html#d7fee43b8a44cf8b7036853593044037">EnterMutex</a>();
<a name="l00181"></a>00181 ((<a class="code" href="structCANPort.html">CANPort</a>*)d-><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>)->used = 0;
<a name="l00182"></a>00182 <a class="code" href="structCANPort.html">CANPort</a>* tmp = (<a class="code" href="structCANPort.html">CANPort</a>*)d-><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>;
<a name="l00183"></a>00183 d-><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a> = NULL;
<a name="l00184"></a>00184 <a class="code" href="timers__unix_8c.html#73d9a4eb941fb20cf6b597840510394b">LeaveMutex</a>();
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="keywordtype">int</span> res = <a class="code" href="unix_8c.html#74c6a27b44fd54de5cb021299ffce612">DLL_CALL</a>(<a class="code" href="unix_8c.html#02957f72a9b951603adb98a142bd447b">canClose</a>)(tmp-><a class="code" href="structCANPort.html#79262404ede9b4eb131a84b49454b7e7">fd</a>);
<a name="l00187"></a>00187
<a name="l00188"></a>00188 <a class="code" href="timers__unix_8c.html#4b2486891ee01e06e2deead4cf963727">WaitReceiveTaskEnd</a>(tmp-><a class="code" href="structCANPort.html#c9022d9f15fbff963b1bdb1e914dc871">receiveTask</a>);
<a name="l00189"></a>00189 <span class="keywordflow">return</span> res;
<a name="l00190"></a>00190 }
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