author | Florian Pose <fp@igh-essen.com> |
Wed, 02 Jun 2010 14:27:04 +0200 | |
changeset 1932 | a756113e4dc6 |
parent 1870 | 0cee1fb7f0fd |
child 1968 | 4f682084c643 |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
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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. |
1142 | 27 |
* |
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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 |
59 |
<< "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 |
1142 | 65 |
<< 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 |
1142 | 71 |
<< endl |
72 |
<< 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) |
1142 | 80 |
{ |
81 |
stringstream err; |
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ec_ioctl_slave_sii_t data; |
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ifstream file; |
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SlaveList slaves; |
1142 | 85 |
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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 (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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MasterDevice m(getSingleMasterIndex()); |
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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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|
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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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|
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if (getVerbosity() == Verbose) { |
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cerr << "SII writing finished." << endl; |
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} |
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|
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delete [] data.words; |
1142 | 141 |
} |
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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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152 |
|
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tmp << in.rdbuf(); |
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154 |
string const &contents = tmp.str(); |
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155 |
|
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156 |
if (getVerbosity() == Verbose) { |
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157 |
cerr << "Read " << contents.size() << " bytes of SII data." << endl; |
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158 |
} |
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159 |
|
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160 |
if (!contents.size() || contents.size() % 2) { |
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161 |
err << "Invalid data size " << contents.size() << "! " |
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162 |
<< "Must be non-zero and even."; |
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163 |
throwCommandException(err); |
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164 |
} |
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165 |
data->nwords = contents.size() / 2; |
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166 |
|
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167 |
// allocate buffer and read file into buffer |
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168 |
data->words = new uint16_t[data->nwords]; |
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169 |
contents.copy((char *) data->words, contents.size()); |
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170 |
} |
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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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/*****************************************************************************/ |