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195 lines
6.5 KiB
195 lines
6.5 KiB
#include "LogReader.h" |
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#include "MsgHandler.h" |
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#include "Replay.h" |
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#include <stdio.h> |
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#include <unistd.h> |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include <sys/types.h> |
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#include <signal.h> |
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#define DEBUG 1 |
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#if DEBUG |
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# define debug(fmt, args...) printf(fmt "\n", ##args) |
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#else |
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# define debug(fmt, args...) |
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#endif |
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#define streq(x, y) (!strcmp(x, y)) |
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extern struct user_parameter *user_parameters; |
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LogReader::LogReader(struct LogStructure *log_structure, NavEKF2 &_ekf2, NavEKF3 &_ekf3) : |
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AP_LoggerFileReader(), |
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_log_structure(log_structure), |
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ekf2(_ekf2), |
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ekf3(_ekf3) |
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{ |
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} |
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/* |
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see if a type is in a list of types |
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*/ |
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bool LogReader::in_list(const char *type, const char *list[]) |
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{ |
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if (list == NULL) { |
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return false; |
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} |
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for (uint8_t i=0; list[i] != NULL; i++) { |
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if (strcmp(type, list[i]) == 0) { |
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return true; |
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} |
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} |
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return false; |
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} |
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bool LogReader::handle_log_format_msg(const struct log_Format &f) |
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{ |
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// emit the output as we receive it: |
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AP::logger().WriteBlock((void*)&f, sizeof(f)); |
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char name[5]; |
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memset(name, '\0', 5); |
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memcpy(name, f.name, 4); |
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if (msgparser[f.type] != NULL) { |
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return true; |
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} |
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// map from format name to a parser subclass: |
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if (streq(name, "PARM")) { |
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msgparser[f.type] = new LR_MsgHandler_PARM(formats[f.type]); |
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} else if (streq(name, "RFRH")) { |
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msgparser[f.type] = new LR_MsgHandler_RFRH(formats[f.type]); |
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} else if (streq(name, "RFRF")) { |
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msgparser[f.type] = new LR_MsgHandler_RFRF(formats[f.type], ekf2, ekf3); |
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} else if (streq(name, "RFRN")) { |
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msgparser[f.type] = new LR_MsgHandler_RFRN(formats[f.type]); |
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} else if (streq(name, "REV2")) { |
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msgparser[f.type] = new LR_MsgHandler_REV2(formats[f.type], ekf2, ekf3); |
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} else if (streq(name, "RSO2")) { |
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msgparser[f.type] = new LR_MsgHandler_RSO2(formats[f.type], ekf2, ekf3); |
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} else if (streq(name, "RWA2")) { |
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msgparser[f.type] = new LR_MsgHandler_RWA2(formats[f.type], ekf2, ekf3); |
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} else if (streq(name, "REV3")) { |
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msgparser[f.type] = new LR_MsgHandler_REV3(formats[f.type], ekf2, ekf3); |
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} else if (streq(name, "RSO3")) { |
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msgparser[f.type] = new LR_MsgHandler_RSO3(formats[f.type], ekf2, ekf3); |
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} else if (streq(name, "RWA3")) { |
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msgparser[f.type] = new LR_MsgHandler_RWA3(formats[f.type], ekf2, ekf3); |
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} else if (streq(name, "REY3")) { |
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msgparser[f.type] = new LR_MsgHandler_REY3(formats[f.type], ekf2, ekf3); |
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} else if (streq(name, "RISH")) { |
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msgparser[f.type] = new LR_MsgHandler_RISH(formats[f.type]); |
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} else if (streq(name, "RISI")) { |
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msgparser[f.type] = new LR_MsgHandler_RISI(formats[f.type]); |
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} else if (streq(name, "RASH")) { |
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msgparser[f.type] = new LR_MsgHandler_RASH(formats[f.type]); |
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} else if (streq(name, "RASI")) { |
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msgparser[f.type] = new LR_MsgHandler_RASI(formats[f.type]); |
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} else if (streq(name, "RBRH")) { |
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msgparser[f.type] = new LR_MsgHandler_RBRH(formats[f.type]); |
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} else if (streq(name, "RBRI")) { |
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msgparser[f.type] = new LR_MsgHandler_RBRI(formats[f.type]); |
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} else if (streq(name, "RRNH")) { |
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msgparser[f.type] = new LR_MsgHandler_RRNH(formats[f.type]); |
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} else if (streq(name, "RRNI")) { |
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msgparser[f.type] = new LR_MsgHandler_RRNI(formats[f.type]); |
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} else if (streq(name, "RGPH")) { |
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msgparser[f.type] = new LR_MsgHandler_RGPH(formats[f.type]); |
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} else if (streq(name, "RGPI")) { |
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msgparser[f.type] = new LR_MsgHandler_RGPI(formats[f.type]); |
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} else if (streq(name, "RGPJ")) { |
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msgparser[f.type] = new LR_MsgHandler_RGPJ(formats[f.type]); |
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} else if (streq(name, "RMGH")) { |
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msgparser[f.type] = new LR_MsgHandler_RMGH(formats[f.type]); |
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} else if (streq(name, "RMGI")) { |
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msgparser[f.type] = new LR_MsgHandler_RMGI(formats[f.type]); |
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} else if (streq(name, "RBCH")) { |
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msgparser[f.type] = new LR_MsgHandler_RBCH(formats[f.type]); |
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} else if (streq(name, "RBCI")) { |
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msgparser[f.type] = new LR_MsgHandler_RBCI(formats[f.type]); |
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} else if (streq(name, "RVOH")) { |
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msgparser[f.type] = new LR_MsgHandler_RVOH(formats[f.type]); |
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} else if (streq(name, "ROFH")) { |
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msgparser[f.type] = new LR_MsgHandler_ROFH(formats[f.type], ekf2, ekf3); |
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} else if (streq(name, "REPH")) { |
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msgparser[f.type] = new LR_MsgHandler_REPH(formats[f.type], ekf2, ekf3); |
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} else if (streq(name, "REVH")) { |
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msgparser[f.type] = new LR_MsgHandler_REVH(formats[f.type], ekf2, ekf3); |
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} else if (streq(name, "RWOH")) { |
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msgparser[f.type] = new LR_MsgHandler_RWOH(formats[f.type], ekf2, ekf3); |
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} else if (streq(name, "RBOH")) { |
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msgparser[f.type] = new LR_MsgHandler_RBOH(formats[f.type], ekf2, ekf3); |
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} else { |
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// debug(" No parser for (%s)\n", name); |
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} |
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return true; |
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} |
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bool LogReader::handle_msg(const struct log_Format &f, uint8_t *msg) { |
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// emit the output as we receive it: |
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AP::logger().WriteBlock(msg, f.length); |
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LR_MsgHandler *p = msgparser[f.type]; |
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if (p == NULL) { |
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return true; |
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} |
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p->process_message(msg); |
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return true; |
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} |
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/* |
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see if a user parameter is set |
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*/ |
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bool LogReader::check_user_param(const char *name) |
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{ |
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for (struct user_parameter *u=user_parameters; u; u=u->next) { |
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if (strcmp(name, u->name) == 0) { |
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return true; |
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} |
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} |
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return false; |
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} |
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bool LogReader::set_parameter(const char *name, float value, bool force) |
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{ |
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if (!force && check_user_param(name)) { |
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// ignore user set parameters |
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return false; |
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} |
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enum ap_var_type var_type; |
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AP_Param *vp = AP_Param::find(name, &var_type); |
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if (vp == NULL) { |
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// a lot of parameters will not be found - e.g. FORMAT_VERSION |
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// and all of the vehicle-specific parameters, .... |
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return false; |
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} |
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float old_value = 0; |
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if (var_type == AP_PARAM_FLOAT) { |
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old_value = ((AP_Float *)vp)->cast_to_float(); |
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((AP_Float *)vp)->set(value); |
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} else if (var_type == AP_PARAM_INT32) { |
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old_value = ((AP_Int32 *)vp)->cast_to_float(); |
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((AP_Int32 *)vp)->set(value); |
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} else if (var_type == AP_PARAM_INT16) { |
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old_value = ((AP_Int16 *)vp)->cast_to_float(); |
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((AP_Int16 *)vp)->set(value); |
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} else if (var_type == AP_PARAM_INT8) { |
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old_value = ((AP_Int8 *)vp)->cast_to_float(); |
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((AP_Int8 *)vp)->set(value); |
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} else { |
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AP_HAL::panic("What manner of evil is var_type=%u", var_type); |
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} |
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if (fabsf(old_value - value) > 1.0e-12) { |
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::printf("Changed %s to %.8f from %.8f\n", name, value, old_value); |
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} |
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return true; |
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} |
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