225 lines
8.0 KiB
C++
225 lines
8.0 KiB
C++
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/*
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* Copyright (C) 2012 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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#ifndef _GAZEBO_UTIL_DIAGNOSTICMANAGER_HH_
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#define _GAZEBO_UTIL_DIAGNOSTICMANAGER_HH_
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#include <string>
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#include <boost/filesystem.hpp>
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#include "gazebo/gazebo_config.h"
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#include "gazebo/common/UpdateInfo.hh"
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#include "gazebo/common/SingletonT.hh"
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#include "gazebo/common/Timer.hh"
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#include "gazebo/util/UtilTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace util
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{
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// Forward declare private data class
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class DiagnosticManagerPrivate;
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// Forward declare private data class
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class DiagnosticTimerPrivate;
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/// \addtogroup gazebo_util Utility
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/// \brief Useful utility functions that typically rely on the transport
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/// library.
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/// \{
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#ifdef ENABLE_DIAGNOSTICS
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/// \brief Start a diagnostic timer. Make sure to run DIAG_TIMER_STOP to
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/// stop the timer.
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/// \param[in] _name Name of the timer to start.
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#define DIAG_TIMER_START(_name) \
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gazebo::util::DiagnosticManager::Instance()->StartTimer(_name);
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/// \brief Output a lap time annotated with a prefix string. A lap is
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/// the time from last call to DIAG_TIMER_LAP or DIAG_TIMER_START, which
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/// every occured last.
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/// \param[in] _name Name of the timer.
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/// \param[in] _prefix String for annotation.
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#define DIAG_TIMER_LAP(_name, _prefix) \
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gazebo::util::DiagnosticManager::Instance()->Lap(_name, _prefix);
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/// \brief Stop a diagnostic timer.
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/// \param[in] name Name of the timer to stop
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#define DIAG_TIMER_STOP(_name) \
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gazebo::util::DiagnosticManager::Instance()->StopTimer(_name);
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#else
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#define DIAG_TIMER_START(_name) ((void) 0)
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#define DIAG_TIMER_LAP(_name, _prefix) ((void)0)
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#define DIAG_TIMER_STOP(_name) ((void) 0)
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#endif
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/// \class DiagnosticManager Diagnostics.hh util/util.hh
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/// \brief A diagnostic manager class
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class GZ_UTIL_VISIBLE DiagnosticManager :
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public SingletonT<DiagnosticManager>
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{
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/// \brief Constructor
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private: DiagnosticManager();
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/// \brief Destructor
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private: virtual ~DiagnosticManager();
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/// \brief Initialize to report diagnostics about a world.
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/// \param[in] _worldName Name of the world.
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public: void Init(const std::string &_worldName);
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/// \brief Finish reporting diagnostics for a world.
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/// Write all remaining log data to disk.
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public: void Fini();
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/// \brief Start a new timer instance
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/// \param[in] _name Name of the timer.
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/// \return A pointer to the new diagnostic timer
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public: void StartTimer(const std::string &_name);
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/// \brief Stop a currently running timer.
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/// \param[in] _name Name of the timer to stop.
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public: void StopTimer(const std::string &_name);
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//// \brief Output the current elapsed time of an active timer with
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/// a prefix string. This also resets the timer and keeps it running.
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/// \param[in] _name Name of the timer to access.
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/// \param[in] _prefix Informational string that is output with the
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/// elapsed time.
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public: void Lap(const std::string &_name, const std::string &_prefix);
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/// \brief Get the number of timers
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/// \return The number of timers
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/// \deprecated See TimerCount() const
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public: int GetTimerCount() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the number of timers
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/// \return The number of timers
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public: int TimerCount() const;
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/// \brief Get the time of a timer instance
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/// \param[in] _index The index of a timer instance
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/// \return Time of the specified timer
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/// \deprecated See Time(const int) const;
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public: common::Time GetTime(int _index) const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the time of a timer instance
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/// \param[in] _index The index of a timer instance
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/// \return Time of the specified timer
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public: common::Time Time(const int _index) const;
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/// \brief Get a time based on a label
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/// \param[in] _label Name of the timer instance
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/// \return Time of the specified timer
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/// \deprecated See Time(const std::string &_label) const
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public: common::Time GetTime(const std::string &_label) const
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GAZEBO_DEPRECATED(7.0);
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/// \brief Get a time based on a label
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/// \param[in] _label Name of the timer instance
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/// \return Time of the specified timer
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public: common::Time Time(const std::string &_label) const;
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/// \brief Get a label for a timer
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/// \param[in] _index Index of a timer instance
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/// \return Label of the specified timer
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/// \deprecated See Label(const int) const
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public: std::string GetLabel(int _index) const GAZEBO_DEPRECATED(7.0);
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/// \brief Get a label for a timer
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/// \param[in] _index Index of a timer instance
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/// \return Label of the specified timer
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public: std::string Label(const int _index) const;
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/// \brief Get the path in which logs are stored.
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/// \return The path in which logs are stored.
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/// \deprecated See LogPath() const
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public: boost::filesystem::path GetLogPath() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the path in which logs are stored.
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/// \return The path in which logs are stored.
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public: boost::filesystem::path LogPath() const;
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/// \brief Publishes diagnostic information.
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/// \param[in] _info World update information.
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private: void Update(const common::UpdateInfo &_info);
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/// \brief Add a time for publication.
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/// \param[in] _name Name of the diagnostic time.
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/// \param[in] _wallTime Wall clock time stamp.
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/// \param[in] _elapsedTime Elapsed time, this is the time
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/// measurement.
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private: void AddTime(const std::string &_name,
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const common::Time &_wallTime,
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const common::Time &_elapsedtime);
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// Singleton implementation
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private: friend class SingletonT<DiagnosticManager>;
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/// \brief Give DiagnosticTimer special rights.
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private: friend class DiagnosticTimer;
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/// \internal
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/// \brief Private data pointer
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private: std::unique_ptr<DiagnosticManagerPrivate> dataPtr;
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};
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/// \class DiagnosticTimer Diagnostics.hh util/util.hh
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/// \brief A timer designed for diagnostics
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class GZ_UTIL_VISIBLE DiagnosticTimer : public common::Timer
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{
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/// \brief Constructor
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/// \param[in] _name Name of the timer
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public: DiagnosticTimer(const std::string &_name);
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/// \brief Destructor
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public: virtual ~DiagnosticTimer();
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/// \brief Output a lap time.
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/// \param[in] _prefix Annotation to output with the elapsed time.
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public: void Lap(const std::string &_prefix);
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// Documentation inherited
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public: virtual void Start();
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// Documentation inherited
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public: virtual void Stop();
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/// \brief Get the name of the timer
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/// \return The name of timer
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/// \deprecated See Name() const
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public: const std::string GetName() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the name of the timer
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/// \return The name of timer
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public: const std::string Name() const;
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/// \brief Insert data for statistics computation.
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public: void InsertData(const std::string &_name,
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const common::Time &_time);
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/// \internal
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/// \brief Private data pointer
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private: std::unique_ptr<DiagnosticTimerPrivate> dataPtr;
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};
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/// \}
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}
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}
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#endif
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