source: ntrip/trunk/BNC/bncgetthread.cpp@ 3494

Last change on this file since 3494 was 3494, checked in by mervart, 12 years ago
File size: 20.8 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncGetThread
30 *
31 * Purpose: Thread that retrieves data from NTRIP caster
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Dec-2005
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdlib.h>
42#include <iomanip>
43#include <sstream>
44
45#include <QFile>
46#include <QTextStream>
47#include <QtNetwork>
48#include <QTime>
49
50#include "bncgetthread.h"
51#include "bnctabledlg.h"
52#include "bncapp.h"
53#include "bncutils.h"
54#include "bncrinex.h"
55#include "bnczerodecoder.h"
56#include "bncnetqueryv0.h"
57#include "bncnetqueryv1.h"
58#include "bncnetqueryv2.h"
59#include "bncnetqueryrtp.h"
60#include "bncnetqueryudp.h"
61#include "bncnetqueryudp0.h"
62#include "bncnetquerys.h"
63#include "bncsettings.h"
64#include "latencychecker.h"
65#include "bncpppclient.h"
66#include "upload/bncrtnetdecoder.h"
67#include "RTCM/RTCM2Decoder.h"
68#include "RTCM3/RTCM3Decoder.h"
69#include "GPSS/gpssDecoder.h"
70#include "serial/qextserialport.h"
71
72using namespace std;
73
74// Constructor 1
75////////////////////////////////////////////////////////////////////////////
76bncGetThread::bncGetThread(bncRawFile* rawFile) {
77
78 _rawFile = rawFile;
79 _format = rawFile->format();
80 _staID = rawFile->staID();
81 _rawOutput = false;
82 _ntripVersion = "N";
83
84 initialize();
85}
86
87// Constructor 2
88////////////////////////////////////////////////////////////////////////////
89bncGetThread::bncGetThread(const QUrl& mountPoint,
90 const QByteArray& format,
91 const QByteArray& latitude,
92 const QByteArray& longitude,
93 const QByteArray& nmea,
94 const QByteArray& ntripVersion,
95 const QByteArray& staIDextra) {
96 _rawFile = 0;
97 _mountPoint = mountPoint;
98 _staID = mountPoint.path().mid(1).toAscii();
99 _staID_extra = staIDextra;
100 _format = format;
101 _latitude = latitude;
102 _longitude = longitude;
103 _nmea = nmea;
104 _ntripVersion = ntripVersion;
105
106 bncSettings settings;
107 if (!settings.value("rawOutFile").toString().isEmpty()) {
108 _rawOutput = true;
109 }
110
111 initialize();
112}
113
114// Initialization (common part of the constructor)
115////////////////////////////////////////////////////////////////////////////
116void bncGetThread::initialize() {
117
118 setTerminationEnabled(true);
119
120 bncApp* app = (bncApp*) qApp;
121
122 connect(this, SIGNAL(newMessage(QByteArray,bool)),
123 app, SLOT(slotMessage(const QByteArray,bool)));
124
125 _isToBeDeleted = false;
126 _decoder = 0;
127 _query = 0;
128 _nextSleep = 0;
129 _PPPclient = 0;
130
131 bncSettings settings;
132
133 _miscMount = settings.value("miscMount").toString();
134
135 // RINEX writer
136 // ------------
137 _samplingRate = settings.value("rnxSampl").toInt();
138 if ( settings.value("rnxPath").toString().isEmpty() ) {
139 _rnx = 0;
140 }
141 else {
142 _rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
143 _longitude, _nmea, _ntripVersion);
144 }
145
146 // Serial Port
147 // -----------
148 _serialNMEA = NO_NMEA;
149 _serialOutFile = 0;
150 _serialPort = 0;
151
152 if (settings.value("serialMountPoint").toString() == _staID) {
153 _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
154 _serialPort->setTimeout(0,100);
155
156 // Baud Rate
157 // ---------
158 QString hlp = settings.value("serialBaudRate").toString();
159 if (hlp == "110") {
160 _serialPort->setBaudRate(BAUD110);
161 }
162 else if (hlp == "300") {
163 _serialPort->setBaudRate(BAUD300);
164 }
165 else if (hlp == "600") {
166 _serialPort->setBaudRate(BAUD600);
167 }
168 else if (hlp == "1200") {
169 _serialPort->setBaudRate(BAUD1200);
170 }
171 else if (hlp == "2400") {
172 _serialPort->setBaudRate(BAUD2400);
173 }
174 else if (hlp == "4800") {
175 _serialPort->setBaudRate(BAUD4800);
176 }
177 else if (hlp == "9600") {
178 _serialPort->setBaudRate(BAUD9600);
179 }
180 else if (hlp == "19200") {
181 _serialPort->setBaudRate(BAUD19200);
182 }
183 else if (hlp == "38400") {
184 _serialPort->setBaudRate(BAUD38400);
185 }
186 else if (hlp == "57600") {
187 _serialPort->setBaudRate(BAUD57600);
188 }
189 else if (hlp == "115200") {
190 _serialPort->setBaudRate(BAUD115200);
191 }
192
193 // Parity
194 // ------
195 hlp = settings.value("serialParity").toString();
196 if (hlp == "NONE") {
197 _serialPort->setParity(PAR_NONE);
198 }
199 else if (hlp == "ODD") {
200 _serialPort->setParity(PAR_ODD);
201 }
202 else if (hlp == "EVEN") {
203 _serialPort->setParity(PAR_EVEN);
204 }
205 else if (hlp == "SPACE") {
206 _serialPort->setParity(PAR_SPACE);
207 }
208
209 // Data Bits
210 // ---------
211 hlp = settings.value("serialDataBits").toString();
212 if (hlp == "5") {
213 _serialPort->setDataBits(DATA_5);
214 }
215 else if (hlp == "6") {
216 _serialPort->setDataBits(DATA_6);
217 }
218 else if (hlp == "7") {
219 _serialPort->setDataBits(DATA_7);
220 }
221 else if (hlp == "8") {
222 _serialPort->setDataBits(DATA_8);
223 }
224 hlp = settings.value("serialStopBits").toString();
225 if (hlp == "1") {
226 _serialPort->setStopBits(STOP_1);
227 }
228 else if (hlp == "2") {
229 _serialPort->setStopBits(STOP_2);
230 }
231
232 // Flow Control
233 // ------------
234 hlp = settings.value("serialFlowControl").toString();
235 if (hlp == "XONXOFF") {
236 _serialPort->setFlowControl(FLOW_XONXOFF);
237 }
238 else if (hlp == "HARDWARE") {
239 _serialPort->setFlowControl(FLOW_HARDWARE);
240 }
241 else {
242 _serialPort->setFlowControl(FLOW_OFF);
243 }
244
245 // Open Serial Port
246 // ----------------
247 _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
248 if (!_serialPort->isOpen()) {
249 delete _serialPort;
250 _serialPort = 0;
251 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
252 }
253 connect(_serialPort, SIGNAL(readyRead()),
254 this, SLOT(slotSerialReadyRead()));
255
256 // Automatic NMEA
257 // --------------
258 if (settings.value("serialAutoNMEA").toString() == "Auto") {
259 _serialNMEA = AUTO_NMEA;
260
261 QString fName = settings.value("serialFileNMEA").toString();
262 if (!fName.isEmpty()) {
263 _serialOutFile = new QFile(fName);
264 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
265 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
266 }
267 else {
268 _serialOutFile->open(QIODevice::WriteOnly);
269 }
270 }
271 }
272
273 // Manual NMEA
274 // -----------
275 else {
276 _serialNMEA = MANUAL_NMEA;
277 }
278 }
279
280 // Initialize PPP Client?
281 // ----------------------
282#ifndef MLS_SOFTWARE
283 if (settings.value("pppMount").toString() == _staID) {
284 _PPPclient = new bncPPPclient(_staID);
285 app->_bncPPPclient = _PPPclient;
286 qRegisterMetaType<bncTime>("bncTime");
287 connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
288 this, SIGNAL(newPosition(bncTime, double, double, double)));
289 connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
290 this, SIGNAL(newNMEAstr(QByteArray)));
291 }
292#endif
293
294 // Instantiate the decoder
295 // -----------------------
296 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
297 _format.indexOf("RTCM 2") != -1 ) {
298 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
299 _decoder = new RTCM2Decoder(_staID.data());
300 }
301 else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
302 _format.indexOf("RTCM 3") != -1 ) {
303 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
304 _decoder = new RTCM3Decoder(_staID, _rawFile);
305 connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
306 this, SIGNAL(newMessage(QByteArray,bool)));
307 }
308 else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
309 emit(newMessage(_staID + ": Get Data in GPSS format", true));
310 _decoder = new gpssDecoder();
311 }
312 else if (_format.indexOf("ZERO") != -1) {
313 emit(newMessage(_staID + ": Get data in original format", true));
314 _decoder = new bncZeroDecoder(_staID);
315 }
316 else if (_format.indexOf("RTNET") != -1) {
317 emit(newMessage(_staID + ": Get data in RTNet format", true));
318 _decoder = new bncRtnetDecoder();
319 }
320 else {
321 emit(newMessage(_staID + ": Unknown data format " + _format, true));
322 _isToBeDeleted = true;
323 }
324
325 _latencyChecker = new latencyChecker(_staID);
326
327 msleep(100); //sleep 0.1 sec
328}
329
330// Destructor
331////////////////////////////////////////////////////////////////////////////
332bncGetThread::~bncGetThread() {
333 if (isRunning()) {
334 wait();
335 }
336 if (_query) {
337 _query->stop();
338 _query->deleteLater();
339 }
340 delete _PPPclient;
341 delete _decoder;
342 delete _rnx;
343 delete _rawFile;
344 delete _serialOutFile;
345 delete _serialPort;
346 delete _latencyChecker;
347 emit getThreadFinished(_staID);
348}
349
350//
351////////////////////////////////////////////////////////////////////////////
352void bncGetThread::terminate() {
353 _isToBeDeleted = true;
354 if (!isRunning()) {
355 delete this;
356 }
357}
358
359// Run
360////////////////////////////////////////////////////////////////////////////
361void bncGetThread::run() {
362
363 while (true) {
364 try {
365 if (_isToBeDeleted) {
366 QThread::exit(0);
367 this->deleteLater();
368 return;
369 }
370
371 if (tryReconnect() != success) {
372 _latencyChecker->checkReconnect();
373 continue;
374 }
375
376 // Delete old observations
377 // -----------------------
378 _decoder->_obsList.clear();
379
380 // Read Data
381 // ---------
382 QByteArray data;
383 if (_query) {
384 _query->waitForReadyRead(data);
385 }
386 else if (_rawFile) {
387 data = _rawFile->readChunk();
388
389 if (data.isEmpty()) {
390 cout << "no more data" << endl;
391 QThread::exit(0);
392 this->deleteLater();
393 return;
394 }
395 }
396 qint64 nBytes = data.size();
397
398 // Timeout, reconnect
399 // ------------------
400 if (nBytes == 0) {
401 _latencyChecker->checkReconnect();
402 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
403 msleep(10000); //sleep 10 sec, G. Weber
404 continue;
405 }
406 else {
407 emit newBytes(_staID, nBytes);
408 }
409
410 // Output Data
411 // -----------
412 if (_rawOutput) {
413 bncApp* app = (bncApp*) qApp;
414 app->writeRawData(data, _staID, _format);
415 }
416
417 if (_serialPort) {
418 slotSerialReadyRead();
419 _serialPort->write(data);
420 }
421
422 // Decode Data
423 // -----------
424 vector<string> errmsg;
425 _decoder->_obsList.clear();
426 t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
427
428 // Perform various scans and checks
429 // --------------------------------
430 _latencyChecker->checkOutage(irc == success);
431 _latencyChecker->checkObsLatency(_decoder->_obsList);
432 _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
433
434 emit newLatency(_staID, _latencyChecker->currentLatency());
435
436 scanRTCM();
437
438 // Loop over all observations (observations output)
439 // ------------------------------------------------
440 QListIterator<t_obs> it(_decoder->_obsList);
441 bool firstObs = true;
442 while (it.hasNext()) {
443 const t_obs& obs = it.next();
444
445 QString prn = QString("%1%2").arg(obs.satSys)
446 .arg(obs.satNum, 2, 10, QChar('0'));
447 long iSec = long(floor(obs.GPSWeeks+0.5));
448 long obsTime = obs.GPSWeek * 7*24*3600 + iSec;
449
450 // Check observation epoch
451 // -----------------------
452 if (!_rawFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
453 int week;
454 double sec;
455 currentGPSWeeks(week, sec);
456 long currTime = week * 7*24*3600 + long(sec);
457 const double maxDt = 600.0;
458 if (fabs(currTime - obsTime) > maxDt) {
459 emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
460 continue;
461 }
462 }
463
464 // Check observations coming twice (e.g. KOUR0 Problem)
465 // ----------------------------------------------------
466 QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
467 if (it != _prnLastEpo.end()) {
468 long oldTime = it.value();
469 if (obsTime < oldTime) {
470 emit( newMessage(_staID +
471 ": old observation " + prn.toAscii(), false));
472 continue;
473 }
474 else if (obsTime == oldTime) {
475 emit( newMessage(_staID +
476 ": observation coming more than once " + prn.toAscii(), false));
477 continue;
478 }
479 }
480 _prnLastEpo[prn] = obsTime;
481
482 // RINEX Output
483 // ------------
484 if (_rnx) {
485 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
486 _rnx->deepCopy(obs);
487 }
488 _rnx->dumpEpoch(obsTime);
489 }
490
491 // PPP Client
492 // ----------
493#ifndef MLS_SOFTWARE
494 if (_PPPclient) {
495 _PPPclient->putNewObs(obs);
496 }
497#endif
498
499 // Emit new observation signal
500 // ---------------------------
501 if (!_isToBeDeleted) {
502 emit newObs(_staID, firstObs, obs);
503 }
504 firstObs = false;
505 }
506 _decoder->_obsList.clear();
507 }
508 catch (Exception& exc) {
509 emit(newMessage(_staID + " " + exc.what(), true));
510 _isToBeDeleted = true;
511 }
512 catch (...) {
513 emit(newMessage(_staID + " bncGetThread exception", true));
514 _isToBeDeleted = true;
515 }
516 }
517}
518
519// Try Re-Connect
520////////////////////////////////////////////////////////////////////////////
521t_irc bncGetThread::tryReconnect() {
522
523 // Easy Return
524 // -----------
525 if (_query && _query->status() == bncNetQuery::running) {
526 _nextSleep = 0;
527 if (_rnx) {
528 _rnx->setReconnectFlag(false);
529 }
530 return success;
531 }
532
533 // Start a new query
534 // -----------------
535 if (!_rawFile) {
536
537 sleep(_nextSleep);
538 if (_nextSleep == 0) {
539 _nextSleep = 1;
540 }
541 else {
542 _nextSleep = 2 * _nextSleep;
543 if (_nextSleep > 256) {
544 _nextSleep = 256;
545 }
546#ifdef MLS_SOFTWARE
547 if (_nextSleep > 4) {
548 _nextSleep = 4;
549 }
550#endif
551 }
552
553 delete _query;
554 if (_ntripVersion == "U") {
555 _query = new bncNetQueryUdp();
556 }
557 else if (_ntripVersion == "R") {
558 _query = new bncNetQueryRtp();
559 }
560 else if (_ntripVersion == "S") {
561 _query = new bncNetQueryS();
562 }
563 else if (_ntripVersion == "N") {
564 _query = new bncNetQueryV0();
565 }
566 else if (_ntripVersion == "UN") {
567 _query = new bncNetQueryUdp0();
568 }
569 else if (_ntripVersion == "2") {
570 _query = new bncNetQueryV2(false);
571 }
572 else if (_ntripVersion == "2s") {
573 _query = new bncNetQueryV2(true);
574 }
575 else {
576 _query = new bncNetQueryV1();
577 }
578 if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
579 QByteArray gga = ggaString(_latitude, _longitude, "100.0");
580 _query->startRequest(_mountPoint, gga);
581 }
582 else {
583 _query->startRequest(_mountPoint, "");
584 }
585 if (_query->status() != bncNetQuery::running) {
586 return failure;
587 }
588 }
589
590 if (_rnx) {
591 _rnx->setReconnectFlag(true);
592 }
593
594 return success;
595}
596
597// RTCM scan output
598//////////////////////////////////////////////////////////////////////////////
599void bncGetThread::scanRTCM() {
600
601 bncSettings settings;
602 if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
603
604 if ( _miscMount == _staID || _miscMount == "ALL" ) {
605
606 // RTCM message types
607 // ------------------
608 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
609 QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
610 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
611 }
612
613 // RTCMv3 antenna descriptor
614 // -------------------------
615 for (int ii=0;ii<_decoder->_antType.size();ii++) {
616 QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
617 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
618 }
619
620 // RTCM Antenna Coordinates
621 // ------------------------
622 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
623 QByteArray antT;
624 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
625 antT = "ARP";
626 }
627 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
628 antT = "APC";
629 }
630 QByteArray ant1, ant2, ant3;
631 ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
632 ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
633 ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
634 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
635 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
636 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
637 if (_decoder->_antList[ii].height_f) {
638 QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
639 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
640 }
641 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
642 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
643 antT));
644 }
645 }
646 }
647
648#ifdef MLS_SOFTWARE
649 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
650 QByteArray antT;
651 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
652 antT = "ARP";
653 }
654 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
655 antT = "APC";
656 }
657 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
658 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
659 antT));
660 }
661
662 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
663 emit(newRTCMMessage(_staID, _decoder->_typeList[ii]));
664 }
665#endif
666
667
668
669
670 _decoder->_typeList.clear();
671 _decoder->_antType.clear();
672 _decoder->_antList.clear();
673}
674
675// Handle Data from Serial Port
676////////////////////////////////////////////////////////////////////////////
677void bncGetThread::slotSerialReadyRead() {
678 if (_serialPort) {
679 int nb = _serialPort->bytesAvailable();
680 if (nb > 0) {
681 QByteArray data = _serialPort->read(nb);
682
683 if (_serialNMEA == AUTO_NMEA) {
684 int i1 = data.indexOf("$GPGGA");
685 if (i1 != -1) {
686 int i2 = data.indexOf("*", i1);
687 if (i2 != -1 && data.size() > i2 + 1) {
688 QByteArray gga = data.mid(i1,i2-i1+3);
689 _query->sendNMEA(gga);
690 }
691 }
692 }
693
694 if (_serialOutFile) {
695 _serialOutFile->write(data);
696 _serialOutFile->flush();
697 }
698 }
699 }
700}
701
702//
703//////////////////////////////////////////////////////////////////////////////
704void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
705 RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
706 RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
707
708 if ( decoder2 ) {
709 QMutexLocker locker(&_mutex);
710
711 string storedPRN;
712 vector<int> IODs;
713
714 if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
715#ifdef DEBUG_RTCM2_2021
716 QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
717
718 for (unsigned ii = 0; ii < IODs.size(); ii++) {
719 msg += QString(" %1").arg(IODs[ii],4);
720 }
721
722 emit(newMessage(msg.toAscii()));
723#endif
724 }
725 }
726
727 if ( decoder3 ) {
728 QMutexLocker locker(&_mutex);
729
730 if ( decoder3->storeEph(gpseph) ) {
731#ifdef DEBUG_RTCM3
732 QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
733 emit(newMessage(msg.toAscii(),true));
734#endif
735 }
736 }
737}
738
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