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Consolidating APO. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1691 f9c3cf11-9bcb-44bc-f272-b75c42450872
master
james.goppert 14 years ago
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33a720bbaa
commit
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7 changed files with 0 additions and 785 deletions
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  1. 21
      libraries/AP_Controller/AP_Controller.cpp
  2. 249
      libraries/AP_Controller/AP_Controller.h
  3. 110
      libraries/AP_Controller/examples/Car/Car.pde
  4. 130
      libraries/AP_RcChannel/AP_RcChannel.cpp
  5. 68
      libraries/AP_RcChannel/AP_RcChannel.h
  6. 94
      libraries/AP_RcChannel/examples/Manual/Manual.pde
  7. 113
      libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde

21
libraries/AP_Controller/AP_Controller.cpp
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/*
* AP_Controller.cpp
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_Controller.h"
// vim:ts=4:sw=4:expandtab

249
libraries/AP_Controller/AP_Controller.h
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/*
* AP_Controller.h
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef AP_Controller_H
#define AP_Controller_H
#include <AP_Common.h>
#include <AP_Vector.h>
#include <AP_Var.h>
#include <AP_RcChannel.h>
#include <APM_RC.h>
/// Block
class Block
{
public:
Block() :
_input(), _output()
{
}
virtual void update(const float & dt) = 0;
virtual void connect( Block * block)
{
if (!block) return;
for (int i=0;block->getOutput().getSize();i++)
_input.push_back(block->getOutput()[i]);
}
const Vector < AP_Float * > & getOutput() const { return _output; }
protected:
Vector< const AP_Float * > _input;
Vector< AP_Float * > _output;
};
/// Servo Block
class ToServo: public Block
{
public:
ToServo(AP_RcChannel * ch) : _ch(ch)
{
}
// doesn't connect
virtual void connect(Block * block) {};
virtual void update(const float & dt = 0)
{
if (_input.getSize() > 0)
{
_ch->setNormalized(_input[0]->get());
}
}
private:
float _position;
AP_RcChannel * _ch;
};
/// SumGain
class SumGain : public Block
{
public:
/// Constructor that allows 1-8 sum gain pairs, more
/// can be added if necessary
SumGain(
AP_Float & var1 = AP_Float_zero, AP_Float & gain1 = AP_Float_zero,
AP_Float & var2 = AP_Float_zero, AP_Float & gain2 = AP_Float_zero,
AP_Float & var3 = AP_Float_zero, AP_Float & gain3 = AP_Float_zero,
AP_Float & var4 = AP_Float_zero, AP_Float & gain4 = AP_Float_zero,
AP_Float & var5 = AP_Float_zero, AP_Float & gain5 = AP_Float_zero,
AP_Float & var6 = AP_Float_zero, AP_Float & gain6 = AP_Float_zero,
AP_Float & var7 = AP_Float_zero, AP_Float & gain7 = AP_Float_zero,
AP_Float & var8 = AP_Float_zero, AP_Float & gain8 = AP_Float_zero)
{
if ( (&var1 != &AP_Float_zero) && (&gain1 != &AP_Float_zero) ) add(var1,gain1);
if ( (&var2 != &AP_Float_zero) && (&gain2 != &AP_Float_zero) ) add(var2,gain2);
if ( (&var3 != &AP_Float_zero) && (&gain3 != &AP_Float_zero) ) add(var3,gain3);
if ( (&var4 != &AP_Float_zero) && (&gain4 != &AP_Float_zero) ) add(var4,gain4);
if ( (&var5 != &AP_Float_zero) && (&gain5 != &AP_Float_zero) ) add(var5,gain5);
if ( (&var6 != &AP_Float_zero) && (&gain6 != &AP_Float_zero) ) add(var6,gain6);
if ( (&var7 != &AP_Float_zero) && (&gain7 != &AP_Float_zero) ) add(var7,gain7);
if ( (&var8 != &AP_Float_zero) && (&gain8 != &AP_Float_zero) ) add(var8,gain8);
// create output
_output.push_back(new AP_Float(0));
}
void add(AP_Float & var, AP_Float & gain)
{
_input.push_back(&var);
_gain.push_back(&gain);
}
virtual void update(const float & dt = 0)
{
if (_output.getSize() < 1) return;
float sum =0;
for (int i=0;i<_input.getSize();i++) sum += _input[i]->get() * _gain[i]->get() ;
_output[0]->set(sum);
}
private:
Vector< AP_Float * > _gain;
};
/// PID block
class Pid : public Block, public AP_Var_group
{
public:
Pid(AP_Var::Key key, const prog_char * name,
float kP = 0.0,
float kI = 0.0,
float kD = 0.0,
float iMax = 0.0,
uint8_t dFcut = 20.0
) :
AP_Var_group(key,name),
_kP(this,1,kP,PSTR("P")),
_kI(this,2,kI,PSTR("I")),
_kD(this,3,kD,PSTR("D")),
_iMax(this,4,iMax,PSTR("IMAX")),
_fCut(this,5,dFcut,PSTR("FCUT"))
{
_output.push_back(new AP_Float(0));
}
virtual void update(const float & dt)
{
if (_output.getSize() < 1 || (!_input[0]) || (!_output[0]) ) return;
// derivative with low pass
float RC = 1/(2*M_PI*_fCut); // low pass filter
_eD = _eD + ( ( _eP - _input[0]->get() )/dt - _eD ) * (dt / (dt + RC));
// proportional, note must come after derivative
// because derivatve uses _eP as previous value
_eP = _input[0]->get();
// integral
_eI += _eP*dt;
// wind up guard
if (_eI > _iMax) _eI = _iMax;
else if (_eI < -_iMax) _eI = -_iMax;
// pid sum
_output[0]->set(_kP*_eP + _kI*_eI + _kD*_eD);
// debug output
/*Serial.println("kP, kI, kD: ");
Serial.print(_kP,5); Serial.print(" ");
Serial.print(_kI,5); Serial.print(" ");
Serial.println(_kD,5);
Serial.print("eP, eI, eD: ");
Serial.print(_eP,5); Serial.print(" ");
Serial.print(_eI,5); Serial.print(" ");
Serial.println(_eD,5);
Serial.print("input: ");
Serial.println(_input[0]->get(),5);
Serial.print("output: ");
Serial.println(_output[0]->get(),5);*/
}
private:
float _eP; /// input
float _eI; /// integral of input
float _eD; /// derivative of input
AP_Float _kP; /// proportional gain
AP_Float _kI; /// integral gain
AP_Float _kD; /// derivative gain
AP_Float _iMax; /// integrator saturation
AP_Uint8 _fCut; /// derivative low-pass cut freq (Hz)
};
/// Sink block
/// saves input port to variable
class Sink : public Block
{
public:
Sink(AP_Float & var, uint8_t port=0) :
_var(var), _port(port)
{
}
virtual void update(const float & dt)
{
_var = _input[_port]->get();
}
// doesn't connect
virtual void connect(Block * block) {}
private:
AP_Float & _var;
uint8_t _port;
};
/// Saturate block
/// Constrains output to a range
class Saturate : public Block
{
public:
Saturate(AP_Float & min, AP_Float & max, uint8_t port=0) :
_min(min), _max(max), _port(port)
{
}
virtual void update(const float & dt)
{
float u = _input[_port]->get();
if (u>_max) u = _max;
if (u<_min) u = _min;
_output[_port]->set(u);
}
private:
uint8_t _port;
AP_Float & _min;
AP_Float & _max;
};
/// Controller class
class AP_Controller
{
public:
void addBlock(Block * block)
{
if (_blocks.getSize() > 0)
block->connect(_blocks[_blocks.getSize()-1]);
_blocks.push_back(block);
}
void update(const double dt)
{
for (int i=0;i<_blocks.getSize();i++)
{
if (!_blocks[i]) continue;
_blocks[i]->update(dt);
}
}
private:
Vector<Block * > _blocks;
};
#endif // AP_Controller_H
// vim:ts=4:sw=4:expandtab

110
libraries/AP_Controller/examples/Car/Car.pde
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#include <FastSerial.h>
#include <AP_Controller.h>
#include <AP_Var.h>
#include <AP_RcChannel.h>
#include <APM_RC.h>
FastSerialPort0(Serial);
class CarController : public AP_Controller
{
private:
// state
AP_Float & velocity;
AP_Float & heading;
// control variables
AP_Float & headingCommand;
AP_Float & velocityCommand;
// channels
AP_RcChannel * steeringCh;
AP_RcChannel * throttleCh;
public:
CarController(AP_Var::Key pidStrKey, AP_Var::Key pidThrKey,
AP_Float & heading, AP_Float & velocity,
AP_Float & headingCommand, AP_Float & velocityCommand,
AP_RcChannel * steeringCh, AP_RcChannel * throttleCh) :
heading(heading), velocity(velocity),
headingCommand(headingCommand), velocityCommand(velocityCommand),
steeringCh(steeringCh), throttleCh(throttleCh)
{
// steering control loop
addBlock(new SumGain(headingCommand,AP_Float_unity,heading,AP_Float_negative_unity));
addBlock(new Pid(pidStrKey,PSTR("STR"),1,1,1,1,20));
addBlock(new ToServo(steeringCh));
// throttle control loop
addBlock(new SumGain(velocityCommand,AP_Float_unity,velocity,AP_Float_negative_unity));
addBlock(new Pid(pidThrKey,PSTR("THR"),1,1,1,1,20));
addBlock(new ToServo(throttleCh));
}
};
AP_Controller * controller;
Vector<AP_RcChannel * > ch;
AP_Float heading, velocity; // measurements
AP_Float headingCommand, velocityCommand; // guidance data
int8_t sign = 1;
float value = 0;
enum keys
{
config,
chStrKey,
chThrKey,
pidStrKey,
pidThrKey
};
void setup()
{
Serial.begin(115200);
// variables
heading = 0;
velocity = 0;
headingCommand = 0;
velocityCommand = 0;
// rc channels
APM_RC.Init();
ch.push_back(new AP_RcChannel(chStrKey,PSTR("STR"),APM_RC,1,45));
ch.push_back(new AP_RcChannel(chThrKey,PSTR("THR"),APM_RC,2,45));
// controller
controller = new CarController(pidStrKey,pidThrKey,heading,velocity,headingCommand,velocityCommand,ch[0],ch[1]);
}
void loop()
{
// loop rate 20 Hz
delay(1000.0/20);
// feedback signal, 1/3 Hz sawtooth
if (value > 1)
{
value = 1;
sign = -1;
}
else if (value < -1)
{
value = -1;
sign = 1;
}
value += sign/20.0/3.0;
velocity = value;
heading = value;
// update controller
controller->update(1./20);
// output
Serial.printf("hdng:%f\tcmd:(%f)\tservo:%f\t", heading.get(),headingCommand.get(), ch[0]->getNormalized());
Serial.printf("| thr:%f\tcmd:(%f)\tservo:%f\n", velocity.get(), velocityCommand.get(), ch[1]->getNormalized());
}
// vim:ts=4:sw=4:expandtab

130
libraries/AP_RcChannel/AP_RcChannel.cpp
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/*
AP_RcChannel.cpp - Radio library for Arduino
Code by Jason Short, James Goppert. DIYDrones.com
This library is free software; you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include <math.h>
#include <avr/eeprom.h>
#include "AP_RcChannel.h"
#include <AP_Common.h>
AP_RcChannel::AP_RcChannel(AP_Var::Key key, const prog_char * name, APM_RC_Class & rc, const uint8_t & ch,
const float & scale, const float & center,
const uint16_t & pwmMin,
const uint16_t & pwmNeutral, const uint16_t & pwmMax,
const uint16_t & pwmDeadZone,
const bool & filter, const bool & reverse) :
AP_Var_group(key,name),
_rc(rc),
ch(this,0,ch,PSTR("CH")),
scale(this,1,scale,PSTR("SCALE")),
center(this,2,center,PSTR("CENTER")),
pwmMin(this,3,pwmMin,PSTR("PMIN")),
pwmMax(this,4,pwmMax,PSTR("PMAX")),
pwmNeutral(this,5,pwmNeutral,PSTR("PNTRL")),
pwmDeadZone(this,6,pwmDeadZone,PSTR("PDEAD")),
filter(this,7,filter,PSTR("FLTR")),
reverse(this,8,reverse,PSTR("REV")),
_pwm(0)
{
setNormalized(0.0);
}
void AP_RcChannel::readRadio() {
// apply reverse
uint16_t pwmRadio = _rc.InputCh(ch);
setPwm(pwmRadio);
}
void
AP_RcChannel::setPwm(uint16_t pwm)
{
//Serial.printf("pwm in setPwm: %d\n", pwm);
//Serial.printf("reverse: %s\n", (reverse)?"true":"false");
// apply reverse
if(reverse) pwm = int16_t(pwmNeutral-pwm) + pwmNeutral;
//Serial.printf("pwm after reverse: %d\n", pwm);
// apply filter
if(filter){
if(_pwm == 0)
_pwm = pwm;
else
_pwm = ((pwm + _pwm) >> 1); // Small filtering
}else{
_pwm = pwm;
}
//Serial.printf("pwm after filter: %d\n", _pwm);
// apply deadzone
_pwm = (abs(_pwm - pwmNeutral) < pwmDeadZone) ? uint16_t(pwmNeutral) : _pwm;
//Serial.printf("pwm after deadzone: %d\n", _pwm);
_rc.OutputCh(ch,_pwm);
}
void
AP_RcChannel::setPosition(float position)
{
if (position > scale) position = scale;
else if (position < -scale) position = -scale;
setPwm(_positionToPwm(position));
}
void
AP_RcChannel::setNormalized(float normPosition)
{
setPosition(normPosition*scale);
}
void
AP_RcChannel::mixRadio(uint16_t infStart)
{
uint16_t pwmRadio = _rc.InputCh(ch);
float inf = abs( int16_t(pwmRadio - pwmNeutral) );
inf = min(inf, infStart);
inf = ((infStart - inf) /infStart);
setPwm(_pwm*inf + pwmRadio);
}
uint16_t
AP_RcChannel::_positionToPwm(const float & position)
{
uint16_t pwm;
//Serial.printf("position: %f\n", position);
float p = position - center;
if(p < 0)
pwm = p * int16_t(pwmNeutral - pwmMin) /
scale + pwmNeutral;
else
pwm = p * int16_t(pwmMax - pwmNeutral) /
scale + pwmNeutral;
constrain(pwm,uint16_t(pwmMin),uint16_t(pwmMax));
return pwm;
}
float
AP_RcChannel::_pwmToPosition(const uint16_t & pwm)
{
float position;
if(pwm < pwmNeutral)
position = scale * int16_t(pwm - pwmNeutral)/
int16_t(pwmNeutral - pwmMin) + center;
else
position = scale * int16_t(pwm - pwmNeutral)/
int16_t(pwmMax - pwmNeutral) + center;
constrain(position,center-scale,center+scale);
return position;
}
// ------------------------------------------

68
libraries/AP_RcChannel/AP_RcChannel.h
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file AP_RcChannel.h
/// @brief AP_RcChannel manager
#ifndef AP_RcChannel_h
#define AP_RcChannel_h
#include <stdint.h>
#include <APM_RC.h>
#include <AP_Common.h>
#include <AP_Var.h>
/// @class AP_RcChannel
/// @brief Object managing one RC channel
class AP_RcChannel : public AP_Var_group {
public:
/// Constructor
AP_RcChannel(AP_Var::Key key, const prog_char * name, APM_RC_Class & rc, const uint8_t & ch,
const float & scale=45.0, const float & center=0.0,
const uint16_t & pwmMin=1200,
const uint16_t & pwmNeutral=1500, const uint16_t & pwmMax=1800,
const uint16_t & pwmDeadZone=10,
const bool & filter=false, const bool & reverse=false);
// configuration
AP_Uint8 ch;
AP_Float scale;
AP_Float center;
AP_Uint16 pwmMin;
AP_Uint16 pwmNeutral;
AP_Uint16 pwmMax;
AP_Uint16 pwmDeadZone;
AP_Bool filter;
AP_Bool reverse;
// set
void readRadio();
void setPwm(uint16_t pwm);
void setPosition(float position);
void setNormalized(float normPosition);
void mixRadio(uint16_t infStart);
// get
uint16_t getPwm() { return _pwm; }
float getPosition() { return _pwmToPosition(_pwm); }
float getNormalized() { return getPosition()/scale; }
// did our read come in 50µs below the min?
bool failSafe() { _pwm < (pwmMin - 50); }
private:
// configuration
const char * _name;
APM_RC_Class & _rc;
// internal states
uint16_t _pwm; // this is the internal state, position is just created when needed
// private methods
uint16_t _positionToPwm(const float & position);
float _pwmToPosition(const uint16_t & pwm);
};
#endif

94
libraries/AP_RcChannel/examples/Manual/Manual.pde
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/*
Example of RC_Channel library.
Code by James Goppert/ Jason Short. 2010
DIYDrones.com
*/
#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_RcChannel.h> // ArduPilot Mega RC Library
#include <APM_RC.h>
#include <AP_Vector.h>
FastSerialPort0(Serial); // make sure this proceeds variable declarations
// test settings
class RadioTest
{
private:
float testPosition;
int8_t testSign;
enum
{
version,
rollKey,
pitchKey,
thrKey,
yawKey,
ch5Key,
ch6Key,
ch7Key,
ch8Key
};
Vector<AP_RcChannel *> ch;
public:
RadioTest() : testPosition(2), testSign(1)
{
ch.push_back(new AP_RcChannel(rollKey,PSTR("ROLL"),APM_RC,1,45));
ch.push_back(new AP_RcChannel(pitchKey,PSTR("PITCH"),APM_RC,2,45));
ch.push_back(new AP_RcChannel(thrKey,PSTR("THR"),APM_RC,3,100));
ch.push_back(new AP_RcChannel(yawKey,PSTR("YAW"),APM_RC,4,45));
ch.push_back(new AP_RcChannel(ch5Key,PSTR("CH5"),APM_RC,5,1));
ch.push_back(new AP_RcChannel(ch6Key,PSTR("CH6"),APM_RC,6,1));
ch.push_back(new AP_RcChannel(ch7Key,PSTR("CH7"),APM_RC,7,1));
ch.push_back(new AP_RcChannel(ch8Key,PSTR("CH8"),APM_RC,8,1));
Serial.begin(115200);
delay(2000);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(2000);
}
void update()
{
// read the radio
for (int i=0;i<ch.getSize();i++) ch[i]->readRadio();
// print channel names
Serial.print("\t\t");
static char name[7];
for (int i=0;i<ch.getSize();i++)
{
ch[i]->copy_name(name,7);
Serial.printf("%7s\t",name);
}
Serial.println();
// print pwm
Serial.printf("pwm :\t");
for (int i=0;i<ch.getSize();i++) Serial.printf("%7d\t",ch[i]->getPwm());
Serial.println();
// print position
Serial.printf("position :\t");
for (int i=0;i<ch.getSize();i++) Serial.printf("%7.2f\t",ch[i]->getPosition());
Serial.println();
delay(500);
}
};
RadioTest * test;
void setup()
{
test = new RadioTest;
}
void loop()
{
test->update();
}

113
libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde
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/*
Example of RC_Channel library.
Code by James Goppert/ Jason Short. 2010
DIYDrones.com
*/
#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_RcChannel.h> // ArduPilot Mega RC Library
#include <APM_RC.h>
#include <AP_Vector.h>
FastSerialPort0(Serial); // make sure this proceeds variable declarations
// test settings
class RadioTest
{
private:
float testPosition;
int8_t testSign;
enum
{
version,
rollKey,
pitchKey,
thrKey,
yawKey,
ch5Key,
ch6Key,
ch7Key,
ch8Key
};
Vector<AP_RcChannel *> ch;
public:
RadioTest() : testPosition(2), testSign(1)
{
ch.push_back(new AP_RcChannel(rollKey,PSTR("ROLL"),APM_RC,1,45));
ch.push_back(new AP_RcChannel(pitchKey,PSTR("PITCH"),APM_RC,2,45));
ch.push_back(new AP_RcChannel(thrKey,PSTR("THR"),APM_RC,3,100));
ch.push_back(new AP_RcChannel(yawKey,PSTR("YAW"),APM_RC,4,45));
ch.push_back(new AP_RcChannel(ch5Key,PSTR("CH5"),APM_RC,5,1));
ch.push_back(new AP_RcChannel(ch6Key,PSTR("CH6"),APM_RC,6,1));
ch.push_back(new AP_RcChannel(ch7Key,PSTR("CH7"),APM_RC,7,1));
ch.push_back(new AP_RcChannel(ch8Key,PSTR("CH8"),APM_RC,8,1));
Serial.begin(115200);
delay(2000);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(2000);
}
void update()
{
// update test value
testPosition += testSign*.1;
if (testPosition > 1)
{
//eepromRegistry.print(Serial); // show eeprom map
testPosition = 1;
testSign = -1;
}
else if (testPosition < -1)
{
testPosition = -1;
testSign = 1;
}
// set channel positions
for (int i=0;i<ch.getSize();i++) ch[i]->setNormalized(testPosition);
// print test position
Serial.printf("\nnormalized position (%f)\n",testPosition);
// print channel names
Serial.print("\t\t");
static char name[7];
for (int i=0;i<ch.getSize();i++)
{
ch[i]->copy_name(name,7);
Serial.printf("%7s\t",name);
}
Serial.println();
// print pwm
Serial.printf("pwm :\t");
for (int i=0;i<ch.getSize();i++) Serial.printf("%7d\t",ch[i]->getPwm());
Serial.println();
// print position
Serial.printf("position :\t");
for (int i=0;i<ch.getSize();i++) Serial.printf("%7.2f\t",ch[i]->getPosition());
Serial.println();
delay(500);
}
};
RadioTest * test;
void setup()
{
test = new RadioTest;
}
void loop()
{
test->update();
}
// vim:ts=4:sw=4:expandtab
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