source: trunk/hal/tsar_mips32/drivers/soclib_mtty.c @ 538

Last change on this file since 538 was 538, checked in by nicolas.van.phan@…, 3 years ago

TTY MUX 3 : Comment multi_tty TX IRQ enabling

Enabling and disabling IRQs for TX by writing to the CONFIG register
has no effect on the behaviour of the vci_multi_tty regarding interrupts.
N.B. This is not the case for the vci_tty_tsar component.

Moreover, the hal_remote_atomic_cas() triggers a kernel panic for
unknown reasons so far.

File size: 20.7 KB
Line 
1/*
2 * soclib_mtty.c - soclib tty driver implementation.
3 *
4 * Author  Alain Greiner (2016,2017,2018)
5 *
6 * Copyright (c)  UPMC Sorbonne Universites
7 *
8 * This file is part of ALMOS-MKH..
9 *
10 * ALMOS-MKH. is free software; you can redistribute it and/or modify it
11 * under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; version 2.0 of the License.
13 *
14 * ALMOS-MKH. is distributed in the hope that it will be useful, but
15 * WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
17 * General Public License for more details.
18 *
19 * You should have received a copy of the GNU General Public License
20 * along with ALMOS-MKH.; if not, write to the Free Software Foundation,
21 * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
22 */
23
24
25#include <hal_kernel_types.h>
26#include <dev_txt.h>
27#include <chdev.h>
28#include <soclib_mtty.h>
29#include <remote_spinlock.h>
30#include <thread.h>
31#include <printk.h>
32#include <hal_special.h>
33
34#if (DEBUG_SYS_READ & 1)
35extern uint32_t  enter_tty_cmd_read;
36extern uint32_t  exit_tty_cmd_read;
37
38extern uint32_t  enter_tty_isr_read;
39extern uint32_t  exit_tty_isr_read;
40#endif
41
42#if (DEBUG_SYS_WRITE & 1)
43extern uint32_t  enter_tty_cmd_write;
44extern uint32_t  exit_tty_cmd_write;
45
46extern uint32_t  enter_tty_isr_write;
47extern uint32_t  exit_tty_isr_write;
48#endif
49
50////////////////////////////////////////////////////////////////////////////////////
51// These global variables implement the MTTY_RX  FIFOs (one per channel)
52////////////////////////////////////////////////////////////////////////////////////
53
54__attribute__((section(".kdata")))
55mtty_fifo_t  mtty_rx_fifo[CONFIG_MAX_TXT_CHANNELS];
56
57__attribute__((section(".kdata")))
58mtty_fifo_t  mtty_tx_fifo[CONFIG_MAX_TXT_CHANNELS];
59
60///////////////////////////////////////
61void soclib_mtty_init( chdev_t * chdev )
62{
63    xptr_t reg_xp;
64
65    // initialise function pointers in chdev
66    chdev->cmd = &soclib_mtty_cmd;
67    chdev->isr = &soclib_mtty_isr;
68    chdev->aux = &soclib_mtty_aux;
69
70    // get TTY channel and extended pointer on TTY peripheral base address
71    xptr_t   tty_xp  = chdev->base;
72    uint32_t channel = chdev->channel;
73    bool_t   is_rx   = chdev->is_rx;
74
75    // get SOCLIB_TTY device cluster and local pointer
76    cxy_t      tty_cxy = GET_CXY( tty_xp );
77    uint32_t * tty_ptr = GET_PTR( tty_xp );
78
79    // enable interruptions for RX but not for TX
80    reg_xp = XPTR( tty_cxy , tty_ptr + MTTY_CONFIG );
81    hal_remote_sw( reg_xp , MTTY_CONFIG_RX_ENABLE );
82
83    // reset relevant FIFO
84    if( is_rx )
85    {
86        mtty_rx_fifo[channel].sts = 0;
87        mtty_rx_fifo[channel].ptr = 0;
88        mtty_rx_fifo[channel].ptw = 0;
89    }
90    else
91    {
92        mtty_tx_fifo[channel].sts = 0;
93        mtty_tx_fifo[channel].ptr = 0;
94        mtty_tx_fifo[channel].ptw = 0;
95    }
96}  // end soclib_mtty_init()
97
98//////////////////////////////////////////////////////////////
99void __attribute__ ((noinline)) soclib_mtty_cmd( xptr_t th_xp )
100{
101    mtty_fifo_t * fifo;     // MTTY_RX or MTTY_TX FIFO
102    char         byte;     // byte value
103    uint32_t     done;     // number of bytes moved
104
105    // get client thread cluster and local pointer
106    cxy_t      th_cxy = GET_CXY( th_xp );
107    thread_t * th_ptr = GET_PTR( th_xp );
108
109    // get command arguments
110    uint32_t type     = hal_remote_lw ( XPTR( th_cxy , &th_ptr->txt_cmd.type   ) );
111    xptr_t   buf_xp   = hal_remote_lwd( XPTR( th_cxy , &th_ptr->txt_cmd.buf_xp ) );
112    uint32_t count    = hal_remote_lw ( XPTR( th_cxy , &th_ptr->txt_cmd.count  ) );
113    xptr_t   error_xp = XPTR( th_cxy , &th_ptr->txt_cmd.error );
114
115#if (DEBUG_SYS_READ & 1)
116if( type == TXT_READ) enter_tty_cmd_read = (uint32_t)hal_get_cycles();
117#endif
118
119#if (DEBUG_SYS_WRITE & 1)
120if( type == TXT_WRITE) enter_tty_cmd_write = (uint32_t)hal_get_cycles();
121#endif
122
123    // get TXT device cluster and pointers
124    xptr_t     dev_xp = (xptr_t)hal_remote_lwd( XPTR( th_cxy , &th_ptr->txt_cmd.dev_xp ) );
125    cxy_t      dev_cxy = GET_CXY( dev_xp );
126    chdev_t  * dev_ptr = GET_PTR( dev_xp );
127
128    // get cluster and pointers for SOCLIB_TTY peripheral base segment
129    xptr_t     tty_xp = (xptr_t)hal_remote_lwd( XPTR( dev_cxy , &dev_ptr->base ) );
130    cxy_t      tty_cxy = GET_CXY( tty_xp );
131    uint32_t * tty_ptr = GET_PTR( tty_xp );
132
133    // get TTY channel index and channel base address
134    uint32_t   channel = hal_remote_lw( XPTR( dev_cxy , &dev_ptr->channel ) );
135    uint32_t * base    = tty_ptr;
136
137    ///////////////////////
138    if( type == TXT_WRITE )         // write bytes to MTTY_TX FIFO
139    {
140        fifo = &mtty_tx_fifo[channel];
141
142        done = 0;
143
144        while( done < count )
145        {
146            if( fifo->sts < MTTY_FIFO_DEPTH )   // put one byte to FIFO if TX_FIFO not full
147            {
148                // get one byte from command buffer
149                byte = hal_remote_lb( buf_xp + done );
150
151#if DEBUG_HAL_TXT_TX
152uint32_t tx_cycle = (uint32_t)hal_get_cycles();
153if( DEBUG_HAL_TXT_TX < tx_cycle )
154printk("\n[DBG] %s : thread %x put character <%c> to TXT%d_TX fifo / cycle %d\n",
155__FUNCTION__, CURRENT_THREAD, byte, channel, tx_cycle );
156#endif
157                // write byte to FIFO
158                fifo->data[fifo->ptw] = byte;
159
160                // prevent race
161                hal_fence();
162
163                // update FIFO state
164                fifo->ptw = (fifo->ptw + 1) % MTTY_FIFO_DEPTH;
165                hal_atomic_add( &fifo->sts , 1 );
166
167                // udate number of bytes moved
168                done++;
169
170                // enable TX_IRQ
171                //      vci_multi_tty devices never raise TX IRQs
172                //      so the following instructions are useless
173                //      and moreover they kernel panic
174                // xptr_t config_xp = XPTR( tty_cxy , base + MTTY_CONFIG );
175                // uint32_t old = hal_remote_lw( config_xp );
176                // uint32_t new = old | MTTY_CONFIG_TX_ENABLE;
177                // hal_remote_atomic_cas( config_xp , old , new );
178                // hal_remote_sw( XPTR( tty_cxy , base + MTTY_CONFIG ) , MTTY_CONFIG_TX_ENABLE );
179            }
180            else                                // block & deschedule if TX_FIFO full
181            {
182                // block on ISR
183                thread_block( XPTR( local_cxy , CURRENT_THREAD ) , THREAD_BLOCKED_ISR );
184
185                // deschedule
186                sched_yield( "MTTY_TX_FIFO full" ); 
187            }
188        }
189
190        // set error status in command and return
191        hal_remote_sw( error_xp , 0 );
192    }
193    ///////////////////////////
194    else if( type == TXT_READ )       // read bytes from MTTY_RX FIFO   
195    {
196        fifo = &mtty_rx_fifo[channel];
197
198        done = 0;
199
200        while( done < count )
201        {
202            if( fifo->sts > 0 )               // get byte from FIFO if not empty
203            {
204                // get one byte from FIFO
205                char byte = fifo->data[fifo->ptr];
206
207#if DEBUG_HAL_TXT_RX
208uint32_t rx_cycle = (uint32_t)hal_get_cycles();
209if( DEBUG_HAL_TXT_RX < rx_cycle )
210printk("\n[DBG] %s : thread %x get character <%c> from TXT%d_RX fifo / cycle %d\n",
211__FUNCTION__, CURRENT_THREAD, byte, channel, rx_cycle );
212#endif
213                // update FIFO state
214                fifo->ptr = (fifo->ptr + 1) % MTTY_FIFO_DEPTH;
215                hal_atomic_add( &fifo->sts , -1 );
216
217                // set byte to command buffer
218                hal_remote_sb( buf_xp + done , byte );
219
220                // udate number of bytes
221                done++;
222            }
223            else                             //  deschedule if FIFO empty
224            {
225                // block on ISR
226                thread_block( XPTR( local_cxy , CURRENT_THREAD ) , THREAD_BLOCKED_ISR );
227   
228                // deschedule
229                sched_yield( "MTTY_RX_FIFO empty" );
230            }
231        }  // end while
232
233        // set error status in command
234        hal_remote_sw( error_xp , 0 );
235    }
236    else
237    {
238        assert( false , __FUNCTION__ , "illegal TXT command\n" );
239    }
240
241#if (DEBUG_SYS_READ & 1)
242if( type == TXT_READ ) exit_tty_cmd_read = (uint32_t)hal_get_cycles();
243#endif
244
245#if (DEBUG_SYS_WRITE & 1)
246if( type == TXT_WRITE ) exit_tty_cmd_write = (uint32_t)hal_get_cycles();
247#endif
248
249}  // end soclib_mtty_cmd()
250
251/////////////////////////////////////////////////////////////////
252void __attribute__ ((noinline)) soclib_mtty_isr( chdev_t * chdev )
253{
254    thread_t   * server;            // pointer on TXT chdev server thread
255    lid_t        server_lid;        // local index of core running the server thread
256    uint32_t     channel;           // TXT chdev channel
257    bool_t       is_rx;             // TXT chdev direction
258    char         byte;              // byte value
259    xptr_t       owner_xp;          // extended pointer on TXT owner process
260    cxy_t        owner_cxy;         // TXT owner process cluster
261    process_t  * owner_ptr;         // local pointer on TXT owner process
262    pid_t        owner_pid;         // TXT owner process identifier
263    mtty_fifo_t * fifo;              // pointer on MTTY_TX or MTTY_RX FIFO
264    cxy_t        tty_cxy;           // soclib_mtty cluster
265    uint32_t   * tty_ptr;           // soclib_mtty segment base address
266    uint32_t   * base;              // soclib_mtty channel base address
267    xptr_t       status_xp;         // extended pointer on MTTY_STATUS register
268    xptr_t       write_xp;          // extended pointer on MTTY_WRITE register
269    xptr_t       read_xp;           // extended pointer on MTTY_READ register
270    xptr_t       parent_xp;         // extended pointer on parent process
271    cxy_t        parent_cxy;        // parent process cluster
272    process_t  * parent_ptr;        // local pointer on parent process
273    xptr_t       children_lock_xp;  // extended pointer on children processes lock
274    thread_t   * parent_main_ptr;   // extended pointer on parent process main thread
275    xptr_t       parent_main_xp;    // local pointer on parent process main thread
276
277    // get TXT chdev channel, direction and server thread
278    channel    = chdev->channel;
279    is_rx      = chdev->is_rx;
280    server     = chdev->server;
281    server_lid = server->core->lid;
282
283#if (DEBUG_SYS_READ & 1)
284if( is_rx ) enter_tty_isr_read = (uint32_t)hal_get_cycles();
285#endif
286
287#if (DEBUG_SYS_WRITE & 1)
288if( is_rx == 0 ) enter_tty_isr_write = (uint32_t)hal_get_cycles();
289#endif
290
291#if DEBUG_HAL_TXT_RX
292uint32_t rx_cycle = (uint32_t)hal_get_cycles();
293#endif
294
295#if DEBUG_HAL_TXT_TX
296uint32_t tx_cycle = (uint32_t)hal_get_cycles();
297#endif
298
299    // get SOCLIB_TTY peripheral cluster and local pointer
300    tty_cxy = GET_CXY( chdev->base );
301    tty_ptr = GET_PTR( chdev->base );
302
303    // get channel base address
304    base    = tty_ptr;
305
306    // get extended pointer on TTY registers
307    status_xp = XPTR( tty_cxy , base + MTTY_STATUS );
308    write_xp  = XPTR( tty_cxy , base + MTTY_WRITE );
309    read_xp   = XPTR( tty_cxy , base + MTTY_READ );
310
311    /////////////////////////// handle RX //////////////////////
312    if( is_rx )
313    {
314        fifo = &mtty_rx_fifo[channel];
315
316        // try to move bytes until MTTY_READ register empty
317        while( hal_remote_lw( status_xp ) & MTTY_STATUS_RX_FULL )   
318        {
319            // get one byte from MTTY_READ register & acknowledge RX_IRQ
320            byte = (char)hal_remote_lb( read_xp );
321
322            // filter special character ^Z  => block TXT owner process
323            if( byte == 0x1A ) 
324            {
325
326#if DEBUG_HAL_TXT_RX
327if( DEBUG_HAL_TXT_RX < rx_cycle )
328printk("\n[DBG] %s : read ^Z character from TXT%d\n", __FUNCTION__, channel );
329#endif
330                // get pointers on TXT owner process in owner cluster
331                owner_xp  = process_txt_get_owner( channel );
332               
333                // check process exist
334                assert( (owner_xp != XPTR_NULL) , __FUNCTION__, 
335                "TXT owner process not found\n" );
336
337                // get relevant infos on TXT owner process
338                owner_cxy = GET_CXY( owner_xp );
339                owner_ptr = GET_PTR( owner_xp );
340                owner_pid = hal_remote_lw( XPTR( owner_cxy , &owner_ptr->pid ) );
341
342                // block TXT owner process only if it is not the INIT process
343                if( owner_pid != 1 )
344                {
345                    // get parent process descriptor pointers
346                    parent_xp  = hal_remote_lwd( XPTR( owner_cxy , &owner_ptr->parent_xp ) );
347                    parent_cxy = GET_CXY( parent_xp );
348                    parent_ptr = GET_PTR( parent_xp );
349
350                    // get extended pointer on lock protecting children list in parent process
351                    children_lock_xp = XPTR( parent_cxy , &parent_ptr->children_lock ); 
352
353                    // get pointers on the parent process main thread
354                    parent_main_ptr = hal_remote_lpt(XPTR(parent_cxy,&parent_ptr->th_tbl[0])); 
355                    parent_main_xp  = XPTR( parent_cxy , parent_main_ptr );
356
357                    // transfer TXT ownership
358                    process_txt_transfer_ownership( owner_xp );
359
360                    // block all threads in all clusters, but the main thread
361                    process_sigaction( owner_pid , BLOCK_ALL_THREADS );
362
363                    // block the main thread
364                    xptr_t main_xp = XPTR( owner_cxy , &owner_ptr->th_tbl[0] );
365                    thread_block( main_xp , THREAD_BLOCKED_GLOBAL );
366
367                    // atomically update owner process termination state
368                    hal_remote_atomic_or( XPTR( owner_cxy , &owner_ptr->term_state ) ,
369                                          PROCESS_TERM_STOP );
370
371                    // take the children lock and unblock the parent process main thread
372                    remote_spinlock_lock( children_lock_xp );
373                    thread_unblock( parent_main_xp , THREAD_BLOCKED_WAIT );
374                    remote_spinlock_unlock( children_lock_xp );
375
376                    return;
377                }
378            }
379
380            // filter special character ^C  => kill TXT owner process
381            if( byte == 0x03 )
382            {
383
384#if DEBUG_HAL_TXT_RX
385if( DEBUG_HAL_TXT_RX < rx_cycle )
386printk("\n[DBG] %s : read ^C character from TXT%d\n", __FUNCTION__, channel );
387#endif
388                // get pointer on TXT owner process in owner cluster
389                owner_xp  = process_txt_get_owner( channel );
390
391                // check process exist
392                assert( (owner_xp != XPTR_NULL) , __FUNCTION__,
393                "TXT owner process not found\n" );
394
395                // get relevant infos on TXT owner process
396                owner_cxy = GET_CXY( owner_xp );
397                owner_ptr = GET_PTR( owner_xp );
398                owner_pid = hal_remote_lw( XPTR( owner_cxy , &owner_ptr->pid ) );
399
400                // kill TXT owner process only if it is not the INIT process
401                if( owner_pid != 1 )
402                {
403                    // get parent process descriptor pointers
404                    parent_xp  = hal_remote_lwd( XPTR( owner_cxy , &owner_ptr->parent_xp ) );
405                    parent_cxy = GET_CXY( parent_xp );
406                    parent_ptr = GET_PTR( parent_xp );
407
408                    // get extended pointer on lock protecting children list in parent process
409                    children_lock_xp = XPTR( parent_cxy , &parent_ptr->children_lock ); 
410
411                    // get pointers on the parent process main thread
412                    parent_main_ptr = hal_remote_lpt(XPTR(parent_cxy,&parent_ptr->th_tbl[0])); 
413                    parent_main_xp  = XPTR( parent_cxy , parent_main_ptr );
414
415                    // remove process from TXT list
416                    process_txt_detach( owner_xp );
417
418                    // mark for delete all thread in all clusters, but the main
419                    process_sigaction( owner_pid , DELETE_ALL_THREADS );
420               
421                    // block main thread
422                    xptr_t main_xp = XPTR( owner_cxy , &owner_ptr->th_tbl[0] );
423                    thread_block( main_xp , THREAD_BLOCKED_GLOBAL );
424
425                    // atomically update owner process termination state
426                    hal_remote_atomic_or( XPTR( owner_cxy , &owner_ptr->term_state ) ,
427                                          PROCESS_TERM_KILL );
428
429                    // take the children lock and unblock the parent process main thread
430                    remote_spinlock_lock( children_lock_xp );
431                    thread_unblock( parent_main_xp , THREAD_BLOCKED_WAIT );
432                    remote_spinlock_unlock( children_lock_xp );
433
434                    return;
435                }
436            }
437
438            // write byte in MTTY_RX FIFO if not full / discard byte if full
439            if ( fifo->sts < MTTY_FIFO_DEPTH )
440            {
441
442#if DEBUG_HAL_TXT_RX
443if( DEBUG_HAL_TXT_RX < rx_cycle )
444printk("\n[DBG] %s : put character <%c> to TXT%d_RX fifo\n",
445__FUNCTION__, byte, channel );
446#endif
447                // store byte into FIFO
448                fifo->data[fifo->ptw] = (char)byte; 
449
450                // avoid race
451                hal_fence();
452
453                // update RX_FIFO state
454                fifo->ptw = (fifo->ptw + 1) % MTTY_FIFO_DEPTH;
455                hal_atomic_add( &fifo->sts , 1 );
456
457                // unblock TXT_RX server thread
458                thread_unblock( XPTR( local_cxy , server ) , THREAD_BLOCKED_ISR );
459
460                // send IPI to core running server thread
461                dev_pic_send_ipi( local_cxy , server_lid );
462            }
463            else
464            {
465                printk("\n[WARNING] %s : MTTY_RX_FIFO[%d] full => discard character <%x>\n",
466                __FUNCTION__, channel, (uint32_t)byte );
467            }
468        }  // end while MTTY_READ register full
469
470    }  // end RX
471
472    ///////////////////////  handle TX  /////////////////////////////
473    else
474    {
475        fifo = &mtty_tx_fifo[channel];
476
477        // try to move bytes until TX_FIFO empty
478        while( fifo->sts > 0 )
479        {
480            // write one byte to MTTY_WRITE register if empty / exit loop if full
481            if( (hal_remote_lw( status_xp ) & MTTY_STATUS_TX_FULL) == 0 ) 
482            {
483                // get one byte from TX_FIFO
484                byte = fifo->data[fifo->ptr];
485
486#if DEBUG_HAL_TXT_TX
487if( DEBUG_HAL_TXT_TX < tx_cycle )
488printk("\n[DBG] %s : get character <%c> from TXT%d_TX fifo\n",
489__FUNCTION__, byte, channel );
490#endif
491                // update TX_FIFO state
492                fifo->ptr = (fifo->ptr + 1) % MTTY_FIFO_DEPTH;
493                hal_atomic_add( &fifo->sts , -1 );
494
495                // write byte to MTTY_WRITE register & acknowledge TX_IRQ
496                hal_remote_sb( write_xp , byte );
497            }
498        }
499
500        // disable TX_IRQ
501        //      vci_multi_tty devices never raise TX IRQs
502        //      so the following instructions are useless
503        //      and moreover they kernel panic
504        // xptr_t config_xp = XPTR( tty_cxy , base + MTTY_CONFIG );
505        // uint32_t old = hal_remote_lw( config_xp );
506        // uint32_t new = old & ~(MTTY_CONFIG_TX_ENABLE);
507        // hal_remote_atomic_cas( config_xp , old , new );
508        // hal_remote_sw( XPTR( tty_cxy , base + MTTY_CONFIG ) , 0 );
509
510        // unblock TXT_TX server thread
511        thread_unblock( XPTR( local_cxy , server ) , THREAD_BLOCKED_ISR );
512
513        // send IPI to core running server thread
514        dev_pic_send_ipi( local_cxy , server_lid );
515
516    }  // end TX
517
518    hal_fence();
519
520#if (DEBUG_SYS_READ & 1)
521if( is_rx ) exit_tty_isr_read = (uint32_t)hal_get_cycles();
522#endif
523
524#if (DEBUG_SYS_WRITE & 1)
525if( is_rx == 0 ) exit_tty_isr_write = (uint32_t)hal_get_cycles();
526#endif
527
528}  // end soclib_mtty_isr()
529
530/////////////////////////////////////////////////////////////
531void __attribute__ ((noinline)) soclib_mtty_aux( void * args )
532{
533    uint32_t   status;
534    bool_t     empty;
535    uint32_t   i;
536
537    xptr_t     dev_xp = ((txt_sync_args_t *)args)->dev_xp;
538    char     * buffer = ((txt_sync_args_t *)args)->buffer;
539    uint32_t   count  = ((txt_sync_args_t *)args)->count;
540   
541    // get TXT0 chdev cluster and local pointer
542    cxy_t     dev_cxy = GET_CXY( dev_xp );
543    chdev_t * dev_ptr = (chdev_t *)GET_PTR( dev_xp );
544
545    // get extended pointer on TTY channel base address
546    xptr_t tty_xp = (xptr_t)hal_remote_lwd( XPTR( dev_cxy , &dev_ptr->base ) );
547
548    // get TTY channel segment cluster and local pointer
549    cxy_t      tty_cxy = GET_CXY( tty_xp );
550    uint32_t * tty_ptr = (uint32_t *)GET_PTR( tty_xp );
551
552    // get extended pointers on MTTY_WRITE & MTTY_STATUS registers
553    xptr_t write_xp  = XPTR( tty_cxy , tty_ptr + MTTY_WRITE );
554    xptr_t status_xp = XPTR( tty_cxy , tty_ptr + MTTY_STATUS );
555
556    // loop on characters (busy waiting policy)
557    for( i = 0 ; i < count ; i++ )
558    {
559        do
560        {
561            // get MTTY_STATUS
562            status = hal_remote_lw( status_xp );
563            empty  = ( (status & MTTY_STATUS_TX_FULL) == 0 );
564
565            // transfer one byte if TX buffer empty
566            if ( empty )  hal_remote_sb( write_xp , buffer[i] );
567        }
568        while ( empty == false );
569    }
570}  // end soclib_mtty_aux()
571
572
573
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