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/*****************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  ---

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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 ****************************************************************************/

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#include <iostream>

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#include <iomanip>

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#include <fstream>

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using namespace std;

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#include "CommandSiiWrite.h"

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#include "sii_crc.h"

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#include "MasterDevice.h"

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/*****************************************************************************/

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CommandSiiWrite::CommandSiiWrite():

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    Command("sii_write", "Write SII contents to a slave.")

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{

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}

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/*****************************************************************************/

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string CommandSiiWrite::helpString() const

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{

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    stringstream str;

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    str << getName() << " [OPTIONS] <FILENAME>" << endl

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        << endl 

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        << getBriefDescription() << endl

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        << endl

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        << "This command requires a single slave to be selected." << endl

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        << endl

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        << "The file contents are checked for validity and integrity." << endl

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        << "These checks can be overridden with the --force option." << endl

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        << endl

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        << "Arguments:" << endl

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        << "  FILENAME must be a path to a file that contains a" << endl

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        << "           positive number of words. If it is '-'," << endl

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        << "           data are read from stdin." << endl

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        << endl

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        << "Command-specific options:" << endl

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        << "  --alias    -a <alias>" << endl

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        << "  --position -p <pos>    Slave selection. See the help of" << endl

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        << "                         the 'slaves' command." << endl

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        << "  --force    -f          Override validity checks." << endl

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        << endl

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        << numericInfo();

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    return str.str();

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}

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/****************************************************************************/

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void CommandSiiWrite::execute(const StringVector &args)

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{

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    stringstream err;

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    ec_ioctl_slave_sii_t data;

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    ifstream file;

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    SlaveList slaves;

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    if (args.size() != 1) {

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        err << "'" << getName() << "' takes exactly one argument!";

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        throwInvalidUsageException(err);

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    }

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    if (getMasterIndices().size() != 1) {

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        err << getName() << " requires to select a single master!";

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        throwInvalidUsageException(err);

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    }

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    MasterDevice m(getMasterIndices().front());

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    if (args[0] == "-") {

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        loadSiiData(&data, cin);

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    } else {

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        file.open(args[0].c_str(), ifstream::in | ifstream::binary);

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        if (file.fail()) {

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            err << "Failed to open '" << args[0] << "'!";

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            throwCommandException(err);

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        }

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        loadSiiData(&data, file);

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        file.close();

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    }

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    if (!getForce()) {

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        try {

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            checkSiiData(&data);

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        } catch (CommandException &e) {

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            delete [] data.words;

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            throw e;

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        }

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    }

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    try {

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        m.open(MasterDevice::ReadWrite);

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    } catch (MasterDeviceException &e) {

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        delete [] data.words;

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        throw e;

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    }

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    slaves = selectedSlaves(m);

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    if (slaves.size() != 1) {

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        delete [] data.words;

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        throwSingleSlaveRequired(slaves.size());

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    }

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    data.slave_position = slaves.front().position;

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    // send data to master

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    data.offset = 0;

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    try {

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        m.writeSii(&data);

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    } catch (MasterDeviceException &e) {

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        delete [] data.words;

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        throw e;

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    }

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    if (getVerbosity() == Verbose) {

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        cerr << "SII writing finished." << endl;

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    }

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    delete [] data.words;

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}

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/*****************************************************************************/

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void CommandSiiWrite::loadSiiData(

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        ec_ioctl_slave_sii_t *data,

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        const istream &in

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        )

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{

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    stringstream err;

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    ostringstream tmp;

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    tmp << in.rdbuf();

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    string const &contents = tmp.str();

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    if (getVerbosity() == Verbose) {

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        cerr << "Read " << contents.size() << " bytes of SII data." << endl;

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    }

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    if (!contents.size() || contents.size() % 2) {

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        err << "Invalid data size " << contents.size() << "! "

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            << "Must be non-zero and even.";

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        throwCommandException(err);

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    }

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    data->nwords = contents.size() / 2;

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    // allocate buffer and read file into buffer

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    data->words = new uint16_t[data->nwords];

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    contents.copy((char *) data->words, contents.size());

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}

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/*****************************************************************************/

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void CommandSiiWrite::checkSiiData(

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        const ec_ioctl_slave_sii_t *data

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        )

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{

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    stringstream err;

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    const uint16_t *categoryHeader;

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    uint16_t categoryType, categorySize;

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    uint8_t crc;

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    if (data->nwords < 0x0041) {

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        err << "SII data too short (" << data->nwords << " words)! Mimimum is"

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            " 40 fixed words + 1 delimiter. Use --force to write anyway.";

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        throwCommandException(err);

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    }

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    // calculate checksum over words 0 to 6

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    crc = calcSiiCrc((const uint8_t *) data->words, 14);

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    if (crc != ((const uint8_t *) data->words)[14]) {

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        err << "CRC incorrect. Must be 0x"

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            << hex << setfill('0') << setw(2) << (unsigned int) crc

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            << ". Use --force to write anyway.";

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        throwCommandException(err);

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    }

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    // cycle through categories to detect corruption

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    categoryHeader = data->words + 0x0040U;

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    categoryType = le16_to_cpup(categoryHeader);

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    while (categoryType != 0xffff) {

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        if (categoryHeader + 1 > data->words + data->nwords) {

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            err << "SII data seem to be corrupted! "

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                << "Use --force to write anyway.";

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            throwCommandException(err);

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        }

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        categorySize = le16_to_cpup(categoryHeader + 1);

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        if (categoryHeader + 2 + categorySize + 1

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                > data->words + data->nwords) {

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            err << "SII data seem to be corrupted! "

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                "Use --force to write anyway.";

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            throwCommandException(err);

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        }

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        categoryHeader += 2 + categorySize;

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        categoryType = le16_to_cpup(categoryHeader);

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    }

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}

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/*****************************************************************************/