Implemented a bunch of CANopen data types for the command-line tool.
This commit is contained in:
Florian Pose
parent
aa0b667b4f
commit
20f1b13740
1
TODO
1
TODO
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@ -39,7 +39,6 @@ Version 1.5.0:
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- Implement sync delimiter for cstruct command.
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- Implement indent in 'ethercat ma'
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- Implement 0xXXXX:YY format for specifying SDOs.
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- Lookup codes for 64bit data types.
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- Implement reading from stream for soe_write.
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Future issues:
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@ -71,8 +71,11 @@ string DataTypeHandler::typeInfo()
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s
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<< "These are valid data types to use with" << endl
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<< "the --type option:" << endl
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<< " int8, int16, int32, uint8, uint16, uint32, string," << endl
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<< " octet_string." << endl;
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<< " bool," << endl
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<< " int8, int16, int32, int64," << endl
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<< " uint8, uint16, uint32, uint64," << endl
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<< " float, double" << endl
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<< " string, octet_string, unicode_string." << endl;
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return s.str();
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}
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@ -114,6 +117,15 @@ size_t DataTypeHandler::interpretAsType(
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#endif
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switch (type->code) {
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case 0x0001: // bool
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{
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int16_t val; // uint8_t is interpreted as char
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str >> val;
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if (val > 1 || val < 0)
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throw ios::failure("Value out of range");
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*(uint8_t *) target = val;
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break;
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}
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case 0x0002: // int8
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{
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int16_t val; // uint8_t is interpreted as char
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@ -160,8 +172,17 @@ size_t DataTypeHandler::interpretAsType(
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*(uint32_t *) target = cpu_to_le32(val);
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break;
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}
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case 0x0008: // float
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{
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float val;
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str >> val;
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*(uint32_t *) target =
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cpu_to_le32(*(uint32_t *) (void *) &val);
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break;
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}
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case 0x0009: // string
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case 0x000a: // octet_string
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case 0x000b: // unicode_string
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dataSize = str.str().size();
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if (dataSize >= targetSize) {
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stringstream err;
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@ -170,6 +191,46 @@ size_t DataTypeHandler::interpretAsType(
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}
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str >> (char *) target;
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break;
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case 0x0011: // double
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{
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double val;
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str >> val;
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*(uint64_t *) target =
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cpu_to_le64(*(uint64_t *) (void *) &val);
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break;
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}
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break;
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case 0x0015: // int64
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{
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int64_t val;
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str >> val;
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*(int64_t *) target = cpu_to_le64(val);
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break;
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}
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break;
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case 0x001b: // uint64
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{
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uint64_t val;
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str >> val;
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*(uint64_t *) target = cpu_to_le64(val);
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break;
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}
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break;
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case 0x0010: // int24
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case 0x0012: // int40
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case 0x0013: // int48
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case 0x0014: // int56
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case 0x0016: // uint24
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case 0x0018: // uint40
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case 0x0019: // uint48
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case 0x001a: // uint56
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{
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stringstream err;
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err << "Non-native integer type " << type->name
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<< " is not yet implemented.";
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throw runtime_error(err.str());
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}
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default:
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{
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@ -206,6 +267,13 @@ void DataTypeHandler::outputData(
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o << setfill('0');
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switch (type->code) {
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case 0x0001: // bool
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{
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int val = (int) *(int8_t *) data;
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o << "0x" << hex << setw(2) << val
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<< " " << dec << val << endl;
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}
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break;
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case 0x0002: // int8
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{
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int val = (int) *(int8_t *) data;
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@ -248,12 +316,45 @@ void DataTypeHandler::outputData(
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<< " " << dec << val << endl;
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}
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break;
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case 0x0008: // float
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{
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uint32_t val = le32_to_cpup(data);
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float fval = *(float *) (void *) &val;
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o << fval << endl;
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}
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break;
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case 0x0009: // string
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o << string((const char *) data, dataSize) << endl;
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break;
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case 0x000a: // octet_string
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o << string((const char *) data, dataSize) << endl;
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break;
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case 0x000b: // unicode_string
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// FIXME encoding
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o << string((const char *) data, dataSize) << endl;
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break;
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case 0x0011: // double
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{
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uint64_t val = le64_to_cpup(data);
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double fval = *(double *) (void *) &val;
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o << fval << endl;
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}
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break;
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case 0x0015: // int64
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{
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int64_t val = le64_to_cpup(data);
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o << "0x" << hex << setw(16) << val
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<< " " << dec << val << endl;
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}
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break;
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case 0x001b: // uint64
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{
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uint64_t val = le64_to_cpup(data);
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o << "0x" << hex << setw(16) << val
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<< " " << dec << val << endl;
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}
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break;
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default:
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printRawData(o, (const uint8_t *) data, dataSize); // FIXME
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break;
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@ -280,17 +381,32 @@ void DataTypeHandler::printRawData(
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/****************************************************************************/
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const DataTypeHandler::DataType DataTypeHandler::dataTypes[] = {
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{"int8", 0x0002, 1},
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{"int16", 0x0003, 2},
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{"int32", 0x0004, 4},
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{"uint8", 0x0005, 1},
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{"uint16", 0x0006, 2},
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{"uint32", 0x0007, 4},
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{"string", 0x0009, 0},
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{"octet_string", 0x000a, 0},
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{"raw", 0xffff, 0},
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//{"int64", 8},
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//{"uint64", 8},
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{"bool", 0x0001, 1},
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{"int8", 0x0002, 1},
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{"int16", 0x0003, 2},
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{"int32", 0x0004, 4},
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{"uint8", 0x0005, 1},
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{"uint16", 0x0006, 2},
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{"uint32", 0x0007, 4},
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{"float", 0x0008, 4},
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{"string", 0x0009, 0}, // a. k. a. visible_string
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{"octet_string", 0x000a, 0},
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{"unicode_string", 0x000b, 0},
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// ... not implemented yet
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{"int24", 0x0010, 3},
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{"double", 0x0011, 8},
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{"int40", 0x0012, 5},
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{"int48", 0x0013, 6},
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{"int56", 0x0014, 7},
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{"int64", 0x0015, 8},
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{"uint24", 0x0016, 3},
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// reserved 0x0017
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{"uint40", 0x0018, 5},
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{"uint48", 0x0019, 6},
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{"uint56", 0x001a, 7},
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{"uint64", 0x001b, 8},
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// reserved 0x001c-0x001f
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{"raw", 0xffff, 0},
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{}
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};
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