226 lines
6.4 KiB
C++
226 lines
6.4 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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using namespace gazebo;
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// certain tests fail (with the simbody engine
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// setting this to true skips those tests
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bool SKIP_FAILING_TESTS = true;
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// this is the test fixture
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class RegionEventTest
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: public ServerFixture, public testing::WithParamInterface<const char*>
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{
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// test if event is triggered when a model enters the region
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public: void ModelEnteringRegion(const std::string &_physicsEngine);
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// test if event is triggered when a model exits the region
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public: void ModelLeavingRegion(const std::string &_physicsEngine);
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};
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// globals to exchange data between threads
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boost::mutex g_mutex;
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unsigned int g_event_count = 0;
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std::string g_event_data;
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std::string g_event_type;
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std::string g_event_name;
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/////////////////////////////////////////////////
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// callback for SimEvent messages
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// increment a counter and keep the data around
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void ReceiveSimEvent(ConstSimEventPtr &_msg)
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{
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boost::mutex::scoped_lock lock(g_mutex);
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{
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g_event_count += 1;
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g_event_type = _msg->type();
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g_event_name = _msg->name();
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g_event_data = _msg->data();
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}
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}
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/////////////////////////////////////////////////
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unsigned int GetEventCount()
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{
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boost::mutex::scoped_lock lock(g_mutex);
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{
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return g_event_count;
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}
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}
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/////////////////////////////////////////////////
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std::string GetEventType()
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{
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boost::mutex::scoped_lock lock(g_mutex);
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{
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return g_event_type;
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}
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}
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/////////////////////////////////////////////////
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std::string GetEventName()
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{
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boost::mutex::scoped_lock lock(g_mutex);
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{
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return g_event_name;
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}
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}
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/////////////////////////////////////////////////
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std::string GetEventData()
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{
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boost::mutex::scoped_lock lock(g_mutex);
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{
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return g_event_data;
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}
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}
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/////////////////////////////////////////////////
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// waits for one or multiple events. if the expected number is
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// specified, then the function can return early
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unsigned int WaitForNewEvent(unsigned int current,
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unsigned int max_tries = 10,
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unsigned int ms = 10)
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{
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for (unsigned int i = 0; i < max_tries; i++)
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{
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unsigned int count = GetEventCount();
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if (count > current)
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{
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return count;
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}
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common::Time::MSleep(ms);
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}
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return GetEventCount();
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}
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////////////////////////////////////////////////////////////////////////
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// ModelEnteringRegion:
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// Load test world, move model into event region and verify event.
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////////////////////////////////////////////////////////////////////////
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void RegionEventTest::ModelEnteringRegion(const std::string &_physicsEngine)
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{
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// simbody stepTo() failure
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if (SKIP_FAILING_TESTS && _physicsEngine != "ode") return;
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Load("test/worlds/region_events.world", false, _physicsEngine);
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physics::WorldPtr world = physics::get_world();
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ASSERT_TRUE(world != NULL);
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transport::NodePtr node = transport::NodePtr(new transport::Node());
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node->Init();
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transport::SubscriberPtr sceneSub = node->Subscribe("/gazebo/sim_events",
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&ReceiveSimEvent);
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physics::ModelPtr regionEventBox = world->GetModel("RegionEventBox");
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ASSERT_TRUE(regionEventBox != NULL);
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physics::ModelPtr boxModel = world->GetModel("box");
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ASSERT_TRUE(boxModel != NULL);
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unsigned int startingCount = GetEventCount();
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boxModel->SetWorldPose(regionEventBox->GetWorldPose());
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unsigned int endingCount = WaitForNewEvent(startingCount, 10, 100);
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ASSERT_GT(endingCount, startingCount);
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ASSERT_STREQ("inclusion", GetEventType().c_str());
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ASSERT_STREQ("model_in_region_event_box", GetEventName().c_str());
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}
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////////////////////////////////////////////////////////////////////////
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// ModelLeavingRegion:
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// Load test world, move model outside of event region and verify event.
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////////////////////////////////////////////////////////////////////////
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void RegionEventTest::ModelLeavingRegion(const std::string &_physicsEngine)
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{
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// simbody stepTo() failure
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if (SKIP_FAILING_TESTS && _physicsEngine != "ode") return;
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Load("test/worlds/region_events.world", false, _physicsEngine);
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physics::WorldPtr world = physics::get_world();
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ASSERT_TRUE(world != NULL);
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transport::NodePtr node = transport::NodePtr(new transport::Node());
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node->Init();
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transport::SubscriberPtr sceneSub = node->Subscribe("/gazebo/sim_events",
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&ReceiveSimEvent);
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physics::ModelPtr regionEventBox = world->GetModel("RegionEventBox");
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ASSERT_TRUE(regionEventBox != NULL);
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physics::ModelPtr boxModel = world->GetModel("box");
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ASSERT_TRUE(boxModel != NULL);
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math::Pose regionEventBoxPos = regionEventBox->GetWorldPose();
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math::Pose boxModelPose = boxModel->GetWorldPose();
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boxModel->SetWorldPose(regionEventBox->GetWorldPose());
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(void) WaitForNewEvent(GetEventCount(), 10, 100);
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unsigned int startingCount = GetEventCount();
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{
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math::Pose newPose = regionEventBox->GetWorldPose();
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newPose.pos.x += 5.0;
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newPose.pos.y += 5.0;
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boxModel->SetWorldPose(newPose);
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}
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unsigned int endingCount = WaitForNewEvent(startingCount, 10, 100);
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EXPECT_GT(endingCount, startingCount);
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EXPECT_STREQ("inclusion", GetEventType().c_str());
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EXPECT_STREQ("model_in_region_event_box", GetEventName().c_str());
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}
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/////////////////////////////////////////////////
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TEST_P(RegionEventTest, ModelEnteringRegion)
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{
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ModelEnteringRegion(GetParam());
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}
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/////////////////////////////////////////////////
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TEST_P(RegionEventTest, ModelLeavingRegion)
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{
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ModelLeavingRegion(GetParam());
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}
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// Run all test cases
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, RegionEventTest, PHYSICS_ENGINE_VALUES);
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/////////////////////////////////////////////////
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int main(int argc, char **argv)
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{
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if (argc > 1)
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{
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std::string skipStr = argv[1];
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if (skipStr == "no_skip")
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{
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SKIP_FAILING_TESTS = false;
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}
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}
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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