Extend simulation runtime coverage and kinematics support
This commit is contained in:
@@ -6,7 +6,7 @@ set(CMAKE_C_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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add_library(sim_core STATIC src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_hal.c src/sim_posemath.c src/sim_interpreter.c src/sim_motion_queue.c src/sim_kinematics.c)
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add_library(sim_core STATIC src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_hal.c src/sim_posemath.c src/sim_interpreter.c src/sim_motion_queue.c src/sim_kinematics.c src/sim_switchkins.c src/sim_userkins.c src/sim_kinematics_registry.c src/sim_kinematics_motion.c src/sim_kinematics_feedback.c src/sim_kinematics_home_limit.c src/sim_io.c)
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target_include_directories(sim_core PUBLIC include)
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target_compile_definitions(sim_core PRIVATE SIM_API_BUILD=1)
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@@ -70,6 +70,48 @@ if(NOT EMSCRIPTEN)
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target_include_directories(sim_kinematics_test PRIVATE include)
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target_compile_options(sim_kinematics_test PRIVATE -UNDEBUG)
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add_test(NAME sim_kinematics_test COMMAND sim_kinematics_test)
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add_executable(sim_switchkins_test tests/sim_switchkins_test.c)
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target_link_libraries(sim_switchkins_test PRIVATE sim_core)
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target_include_directories(sim_switchkins_test PRIVATE include)
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target_compile_options(sim_switchkins_test PRIVATE -UNDEBUG)
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add_test(NAME sim_switchkins_test COMMAND sim_switchkins_test)
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add_executable(sim_userkins_test tests/sim_userkins_test.c)
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target_link_libraries(sim_userkins_test PRIVATE sim_core)
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target_include_directories(sim_userkins_test PRIVATE include)
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target_compile_options(sim_userkins_test PRIVATE -UNDEBUG)
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add_test(NAME sim_userkins_test COMMAND sim_userkins_test)
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add_executable(sim_kinematics_registry_test tests/sim_kinematics_registry_test.c)
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target_link_libraries(sim_kinematics_registry_test PRIVATE sim_core)
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target_include_directories(sim_kinematics_registry_test PRIVATE include)
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target_compile_options(sim_kinematics_registry_test PRIVATE -UNDEBUG)
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add_test(NAME sim_kinematics_registry_test COMMAND sim_kinematics_registry_test)
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add_executable(sim_kinematics_motion_test tests/sim_kinematics_motion_test.c)
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target_link_libraries(sim_kinematics_motion_test PRIVATE sim_core)
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target_include_directories(sim_kinematics_motion_test PRIVATE include)
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target_compile_options(sim_kinematics_motion_test PRIVATE -UNDEBUG)
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add_test(NAME sim_kinematics_motion_test COMMAND sim_kinematics_motion_test)
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add_executable(sim_kinematics_feedback_test tests/sim_kinematics_feedback_test.c)
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target_link_libraries(sim_kinematics_feedback_test PRIVATE sim_core)
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target_include_directories(sim_kinematics_feedback_test PRIVATE include)
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target_compile_options(sim_kinematics_feedback_test PRIVATE -UNDEBUG)
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add_test(NAME sim_kinematics_feedback_test COMMAND sim_kinematics_feedback_test)
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add_executable(sim_kinematics_home_limit_test tests/sim_kinematics_home_limit_test.c)
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target_link_libraries(sim_kinematics_home_limit_test PRIVATE sim_core)
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target_include_directories(sim_kinematics_home_limit_test PRIVATE include)
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target_compile_options(sim_kinematics_home_limit_test PRIVATE -UNDEBUG)
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add_test(NAME sim_kinematics_home_limit_test COMMAND sim_kinematics_home_limit_test)
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add_executable(sim_io_test tests/sim_io_test.c)
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target_link_libraries(sim_io_test PRIVATE sim_core)
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target_include_directories(sim_io_test PRIVATE include)
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target_compile_options(sim_io_test PRIVATE -UNDEBUG)
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add_test(NAME sim_io_test COMMAND sim_io_test)
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endif()
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if(EMSCRIPTEN)
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@@ -85,7 +127,49 @@ if(EMSCRIPTEN)
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target_compile_options(sim_kinematics_wasm_test PRIVATE -UNDEBUG)
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target_link_options(sim_kinematics_wasm_test PRIVATE -sSINGLE_FILE=1)
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add_executable(sim_core_module src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_hal.c src/sim_posemath.c src/sim_interpreter.c src/sim_motion_queue.c src/sim_kinematics.c)
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add_executable(sim_switchkins_wasm_test tests/sim_switchkins_test.c)
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target_link_libraries(sim_switchkins_wasm_test PRIVATE sim_core)
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target_include_directories(sim_switchkins_wasm_test PRIVATE include)
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target_compile_options(sim_switchkins_wasm_test PRIVATE -UNDEBUG)
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target_link_options(sim_switchkins_wasm_test PRIVATE -sSINGLE_FILE=1)
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add_executable(sim_userkins_wasm_test tests/sim_userkins_test.c)
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target_link_libraries(sim_userkins_wasm_test PRIVATE sim_core)
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target_include_directories(sim_userkins_wasm_test PRIVATE include)
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target_compile_options(sim_userkins_wasm_test PRIVATE -UNDEBUG)
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target_link_options(sim_userkins_wasm_test PRIVATE -sSINGLE_FILE=1)
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add_executable(sim_kinematics_registry_wasm_test tests/sim_kinematics_registry_test.c)
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target_link_libraries(sim_kinematics_registry_wasm_test PRIVATE sim_core)
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target_include_directories(sim_kinematics_registry_wasm_test PRIVATE include)
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target_compile_options(sim_kinematics_registry_wasm_test PRIVATE -UNDEBUG)
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target_link_options(sim_kinematics_registry_wasm_test PRIVATE -sSINGLE_FILE=1)
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add_executable(sim_kinematics_motion_wasm_test tests/sim_kinematics_motion_test.c)
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target_link_libraries(sim_kinematics_motion_wasm_test PRIVATE sim_core)
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target_include_directories(sim_kinematics_motion_wasm_test PRIVATE include)
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target_compile_options(sim_kinematics_motion_wasm_test PRIVATE -UNDEBUG)
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target_link_options(sim_kinematics_motion_wasm_test PRIVATE -sSINGLE_FILE=1)
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add_executable(sim_kinematics_feedback_wasm_test tests/sim_kinematics_feedback_test.c)
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target_link_libraries(sim_kinematics_feedback_wasm_test PRIVATE sim_core)
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target_include_directories(sim_kinematics_feedback_wasm_test PRIVATE include)
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target_compile_options(sim_kinematics_feedback_wasm_test PRIVATE -UNDEBUG)
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target_link_options(sim_kinematics_feedback_wasm_test PRIVATE -sSINGLE_FILE=1)
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add_executable(sim_kinematics_home_limit_wasm_test tests/sim_kinematics_home_limit_test.c)
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target_link_libraries(sim_kinematics_home_limit_wasm_test PRIVATE sim_core)
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target_include_directories(sim_kinematics_home_limit_wasm_test PRIVATE include)
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target_compile_options(sim_kinematics_home_limit_wasm_test PRIVATE -UNDEBUG)
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target_link_options(sim_kinematics_home_limit_wasm_test PRIVATE -sSINGLE_FILE=1)
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add_executable(sim_io_wasm_test tests/sim_io_test.c)
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target_link_libraries(sim_io_wasm_test PRIVATE sim_core)
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target_include_directories(sim_io_wasm_test PRIVATE include)
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target_compile_options(sim_io_wasm_test PRIVATE -UNDEBUG)
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target_link_options(sim_io_wasm_test PRIVATE -sSINGLE_FILE=1)
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add_executable(sim_core_module src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_hal.c src/sim_posemath.c src/sim_interpreter.c src/sim_motion_queue.c src/sim_kinematics.c src/sim_switchkins.c src/sim_userkins.c src/sim_kinematics_registry.c src/sim_kinematics_motion.c src/sim_kinematics_feedback.c src/sim_kinematics_home_limit.c src/sim_io.c)
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target_include_directories(sim_core_module PRIVATE
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include
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${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src
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@@ -97,6 +181,6 @@ if(EMSCRIPTEN)
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set_target_properties(sim_core_module PROPERTIES
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OUTPUT_NAME "linuxcnc-sim-core"
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SUFFIX ".js"
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LINK_FLAGS "-sMODULARIZE=1 -sEXPORT_ES6=1 -sENVIRONMENT=web,worker -sEXPORTED_FUNCTIONS=['_malloc','_free','_sim_create','_sim_load_workspace','_sim_command','_sim_step','_sim_read_snapshot','_sim_read_event','_sim_export_state','_sim_import_state','_sim_destroy','_sim_protocol_reset','_sim_protocol_accept','_sim_protocol_pause','_sim_protocol_resume','_sim_protocol_state_value','_sim_protocol_last_seq','_sim_protocol_tick','_sim_protocol_set_tick','_sim_event_reset','_sim_event_append','_sim_event_count','_sim_event_cursor','_sim_event_read','_sim_event_export','_sim_event_import','_sim_hal_reset','_sim_hal_register_pin','_sim_hal_set_pin','_sim_hal_get_pin','_sim_hal_connect','_sim_hal_register_thread','_sim_hal_register_function','_sim_hal_set_function_failure','_sim_hal_step','_sim_hal_tick','_sim_hal_function_calls','_sim_hal_pin_count','_sim_hal_thread_count','_sim_hal_function_count','_sim_posemath_normalize','_sim_posemath_dot','_sim_posemath_line_point','_sim_posemath_is_finite','_sim_posemath_pose_is_finite','_sim_posemath_pose_line_point','_sim_posemath_segment_validate','_sim_posemath_segment_point','_sim_posemath_hash_state','_sim_tp_init','_sim_tp_reset','_sim_tp_enqueue','_sim_tp_step','_sim_tp_read_state','_sim_tp_state_hash','_sim_interpreter_init','_sim_interpreter_reset','_sim_interpreter_execute','_sim_interpreter_read_state','_sim_interpreter_canonical','_sim_interpreter_state_hash','_sim_interpreter_block_hash','_sim_motion_init','_sim_motion_reset','_sim_motion_enqueue','_sim_motion_step','_sim_motion_read_state','_sim_motion_queue_depth','_sim_motion_state_hash','_sim_motion_canonical','_sim_kinematics_init','_sim_kinematics_forward','_sim_kinematics_forward_ex','_sim_kinematics_inverse','_sim_kinematics_inverse_ex','_sim_kinematics_home','_sim_kinematics_validate_pose','_sim_kinematics_state_hash'] -sEXPORTED_RUNTIME_METHODS=['ccall','cwrap']"
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LINK_FLAGS "-sMODULARIZE=1 -sEXPORT_ES6=1 -sENVIRONMENT=web,worker -sEXPORTED_FUNCTIONS=['_malloc','_free','_sim_create','_sim_load_workspace','_sim_command','_sim_step','_sim_read_snapshot','_sim_read_event','_sim_export_state','_sim_import_state','_sim_destroy','_sim_protocol_reset','_sim_protocol_accept','_sim_protocol_pause','_sim_protocol_resume','_sim_protocol_state_value','_sim_protocol_last_seq','_sim_protocol_tick','_sim_protocol_set_tick','_sim_event_reset','_sim_event_append','_sim_event_count','_sim_event_cursor','_sim_event_read','_sim_event_export','_sim_event_import','_sim_hal_reset','_sim_hal_register_pin','_sim_hal_set_pin','_sim_hal_get_pin','_sim_hal_connect','_sim_hal_register_thread','_sim_hal_register_function','_sim_hal_set_function_failure','_sim_hal_step','_sim_hal_tick','_sim_hal_function_calls','_sim_hal_pin_count','_sim_hal_thread_count','_sim_hal_function_count','_sim_posemath_normalize','_sim_posemath_dot','_sim_posemath_line_point','_sim_posemath_is_finite','_sim_posemath_pose_is_finite','_sim_posemath_pose_line_point','_sim_posemath_segment_validate','_sim_posemath_segment_point','_sim_posemath_hash_state','_sim_tp_init','_sim_tp_reset','_sim_tp_enqueue','_sim_tp_step','_sim_tp_read_state','_sim_tp_state_hash','_sim_interpreter_init','_sim_interpreter_reset','_sim_interpreter_execute','_sim_interpreter_read_state','_sim_interpreter_canonical','_sim_interpreter_state_hash','_sim_interpreter_block_hash','_sim_motion_init','_sim_motion_reset','_sim_motion_enqueue','_sim_motion_step','_sim_motion_read_state','_sim_motion_queue_depth','_sim_motion_state_hash','_sim_motion_canonical','_sim_kinematics_init','_sim_kinematics_forward','_sim_kinematics_forward_ex','_sim_kinematics_inverse','_sim_kinematics_inverse_ex','_sim_kinematics_home','_sim_kinematics_validate_pose','_sim_kinematics_state_hash','_sim_kinematics_switch_init','_sim_kinematics_switch_register','_sim_kinematics_switch_begin','_sim_kinematics_switch_abort','_sim_kinematics_switch_commit','_sim_kinematics_switch_select','_sim_kinematics_switch_forward','_sim_kinematics_switch_inverse','_sim_kinematics_switch_active','_sim_kinematics_switch_state_hash','_sim_kinematics_user_init','_sim_kinematics_user_bind_switch','_sim_kinematics_user_forward','_sim_kinematics_user_inverse','_sim_kinematics_user_reject_dynamic','_sim_kinematics_user_state_hash','_sim_kinematics_registry_count','_sim_kinematics_registry_get','_sim_kinematics_registry_find','_sim_kinematics_registry_require','_sim_kinematics_registry_validate_config','_sim_kinematics_registry_state_hash','_sim_kinematics_motion_init','_sim_kinematics_motion_reset','_sim_kinematics_motion_enqueue','_sim_kinematics_motion_pause','_sim_kinematics_motion_step','_sim_kinematics_motion_peek','_sim_kinematics_motion_pop','_sim_kinematics_motion_depth','_sim_kinematics_motion_state_hash','_sim_kinematics_feedback_init','_sim_kinematics_feedback_reset','_sim_kinematics_feedback_update','_sim_kinematics_feedback_read','_sim_kinematics_feedback_state_hash','_sim_kinematics_home_limit_init','_sim_kinematics_home_limit_reset','_sim_kinematics_home_limit_home','_sim_kinematics_home_limit_check','_sim_kinematics_home_limit_read','_sim_kinematics_home_limit_state_hash','_sim_io_init','_sim_io_reset','_sim_io_register_pins','_sim_io_spindle_command','_sim_io_spindle_set_inhibit','_sim_io_spindle_set_fault','_sim_io_spindle_set_index_enable','_sim_io_spindle_set_feedback','_sim_io_spindle_orient','_sim_io_spindle_set_oriented','_sim_io_tool_prepare','_sim_io_tool_set_prepared','_sim_io_tool_change','_sim_io_tool_set_changed','_sim_io_tool_abort','_sim_io_tool_set_fault','_sim_io_tool_clear_fault','_sim_io_probe_arm','_sim_io_probe_update','_sim_io_probe_disarm','_sim_io_set_estop','_sim_io_recover','_sim_io_step','_sim_io_read_state','_sim_io_state_hash','_sim_io_canonical'] -sEXPORTED_RUNTIME_METHODS=['ccall','cwrap']"
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)
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endif()
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