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Merge pull request #3924 from thinkyhead/rc_statics_temperature

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Apply static to Temperature class
master
Scott Lahteine 10 years ago
parent 5b5270ab50 85512e9372
commit 3fd9b331f0
2 changed files with 255 additions and 130 deletions
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181
Marlin/temperature.cpp
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@ -48,6 +48,145 @@
Temperature thermalManager;
// public:
int Temperature::current_temperature_raw[EXTRUDERS] = { 0 };
float Temperature::current_temperature[EXTRUDERS] = { 0.0 };
int Temperature::target_temperature[EXTRUDERS] = { 0 };
int Temperature::current_temperature_bed_raw = 0;
float Temperature::current_temperature_bed = 0.0;
int Temperature::target_temperature_bed = 0;
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
float Temperature::redundant_temperature = 0.0;
#endif
unsigned char Temperature::soft_pwm_bed;
#if ENABLED(FAN_SOFT_PWM)
unsigned char Temperature::fanSpeedSoftPwm[FAN_COUNT];
#endif
#if ENABLED(PIDTEMP)
#if ENABLED(PID_PARAMS_PER_EXTRUDER)
float Temperature::Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_Kp),
Temperature::Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS1((DEFAULT_Ki) * (PID_dT)),
Temperature::Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS1((DEFAULT_Kd) / (PID_dT));
#if ENABLED(PID_ADD_EXTRUSION_RATE)
float Temperature::Kc[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_Kc);
#endif
#else
float Temperature::Kp = DEFAULT_Kp,
Temperature::Ki = (DEFAULT_Ki) * (PID_dT),
Temperature::Kd = (DEFAULT_Kd) / (PID_dT);
#if ENABLED(PID_ADD_EXTRUSION_RATE)
float Temperature::Kc = DEFAULT_Kc;
#endif
#endif
#endif
#if ENABLED(PIDTEMPBED)
float Temperature::bedKp = DEFAULT_bedKp,
Temperature::bedKi = ((DEFAULT_bedKi) * PID_dT),
Temperature::bedKd = ((DEFAULT_bedKd) / PID_dT);
#endif
#if ENABLED(BABYSTEPPING)
volatile int Temperature::babystepsTodo[3] = { 0 };
#endif
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
int Temperature::watch_target_temp[EXTRUDERS] = { 0 };
millis_t Temperature::watch_heater_next_ms[EXTRUDERS] = { 0 };
#endif
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_BED_TEMP_PERIOD > 0
int Temperature::watch_target_bed_temp = 0;
millis_t Temperature::watch_bed_next_ms = 0;
#endif
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
float Temperature::extrude_min_temp = EXTRUDE_MINTEMP;
#endif
// private:
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
int Temperature::redundant_temperature_raw = 0;
float Temperature::redundant_temperature = 0.0;
#endif
volatile bool Temperature::temp_meas_ready = false;
#if ENABLED(PIDTEMP)
float Temperature::temp_iState[EXTRUDERS] = { 0 };
float Temperature::temp_dState[EXTRUDERS] = { 0 };
float Temperature::pTerm[EXTRUDERS];
float Temperature::iTerm[EXTRUDERS];
float Temperature::dTerm[EXTRUDERS];
#if ENABLED(PID_ADD_EXTRUSION_RATE)
float Temperature::cTerm[EXTRUDERS];
long Temperature::last_position[EXTRUDERS];
long Temperature::lpq[LPQ_MAX_LEN];
int Temperature::lpq_ptr = 0;
#endif
float Temperature::pid_error[EXTRUDERS];
float Temperature::temp_iState_min[EXTRUDERS];
float Temperature::temp_iState_max[EXTRUDERS];
bool Temperature::pid_reset[EXTRUDERS];
#endif
#if ENABLED(PIDTEMPBED)
float Temperature::temp_iState_bed = { 0 };
float Temperature::temp_dState_bed = { 0 };
float Temperature::pTerm_bed;
float Temperature::iTerm_bed;
float Temperature::dTerm_bed;
float Temperature::pid_error_bed;
float Temperature::temp_iState_min_bed;
float Temperature::temp_iState_max_bed;
#else
millis_t Temperature::next_bed_check_ms;
#endif
unsigned long Temperature::raw_temp_value[4] = { 0 };
unsigned long Temperature::raw_temp_bed_value = 0;
// Init min and max temp with extreme values to prevent false errors during startup
int Temperature::minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS(HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP);
int Temperature::maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS(HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP);
int Temperature::minttemp[EXTRUDERS] = { 0 };
int Temperature::maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(16383);
#ifdef BED_MINTEMP
int Temperature::bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP;
#endif
#ifdef BED_MAXTEMP
int Temperature::bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
int Temperature::meas_shift_index; // Index of a delayed sample in buffer
#endif
#if HAS_AUTO_FAN
millis_t Temperature::next_auto_fan_check_ms;
#endif
unsigned char Temperature::soft_pwm[EXTRUDERS];
#if ENABLED(FAN_SOFT_PWM)
unsigned char Temperature::soft_pwm_fan[FAN_COUNT];
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
int Temperature::current_raw_filwidth = 0; //Holds measured filament diameter - one extruder only
#endif
#if HAS_PID_HEATING
void Temperature::PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false*/) {
@ -283,31 +422,9 @@ Temperature thermalManager;
#endif // HAS_PID_HEATING
#if ENABLED(PIDTEMP)
#if ENABLED(PID_PARAMS_PER_EXTRUDER)
float Temperature::Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_Kp),
Temperature::Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS1((DEFAULT_Ki) * (PID_dT)),
Temperature::Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS1((DEFAULT_Kd) / (PID_dT));
#if ENABLED(PID_ADD_EXTRUSION_RATE)
float Temperature::Kc[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_Kc);
#endif
#else
float Temperature::Kp = DEFAULT_Kp,
Temperature::Ki = (DEFAULT_Ki) * (PID_dT),
Temperature::Kd = (DEFAULT_Kd) / (PID_dT);
#if ENABLED(PID_ADD_EXTRUSION_RATE)
float Temperature::Kc = DEFAULT_Kc;
#endif
#endif
#endif
/**
* Class and Instance Methods
*/
Temperature::Temperature() { }
@ -1045,7 +1162,17 @@ void Temperature::init() {
#if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
void Temperature::thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc) {
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
Temperature::TRState Temperature::thermal_runaway_state_machine[EXTRUDERS] = { TRInactive };
millis_t Temperature::thermal_runaway_timer[EXTRUDERS] = { 0 };
#endif
#if HAS_THERMALLY_PROTECTED_BED
Temperature::TRState Temperature::thermal_runaway_bed_state_machine = TRInactive;
millis_t Temperature::thermal_runaway_bed_timer;
#endif
void Temperature::thermal_runaway_protection(Temperature::TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc) {
static float tr_target_temperature[EXTRUDERS + 1] = { 0.0 };
@ -1242,7 +1369,7 @@ void Temperature::set_current_temp_raw() {
* - Check new temperature values for MIN/MAX errors
* - Step the babysteps value for each axis towards 0
*/
ISR(TIMER0_COMPB_vect) { thermalManager.isr(); }
ISR(TIMER0_COMPB_vect) { Temperature::isr(); }
void Temperature::isr() {

204
Marlin/temperature.h
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@ -42,22 +42,22 @@ class Temperature {
public:
int current_temperature_raw[EXTRUDERS] = { 0 };
float current_temperature[EXTRUDERS] = { 0.0 };
int target_temperature[EXTRUDERS] = { 0 };
static int current_temperature_raw[EXTRUDERS];
static float current_temperature[EXTRUDERS];
static int target_temperature[EXTRUDERS];
int current_temperature_bed_raw = 0;
float current_temperature_bed = 0.0;
int target_temperature_bed = 0;
static int current_temperature_bed_raw;
static float current_temperature_bed;
static int target_temperature_bed;
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
float redundant_temperature = 0.0;
static float redundant_temperature;
#endif
unsigned char soft_pwm_bed;
static unsigned char soft_pwm_bed;
#if ENABLED(FAN_SOFT_PWM)
unsigned char fanSpeedSoftPwm[FAN_COUNT];
static unsigned char fanSpeedSoftPwm[FAN_COUNT];
#endif
#if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
@ -70,7 +70,7 @@ class Temperature {
static float Kp[EXTRUDERS], Ki[EXTRUDERS], Kd[EXTRUDERS];
#if ENABLED(PID_ADD_EXTRUSION_RATE)
float Kc[EXTRUDERS];
static float Kc[EXTRUDERS];
#endif
#define PID_PARAM(param, e) Temperature::param[e]
@ -93,117 +93,109 @@ class Temperature {
#endif
#if ENABLED(PIDTEMPBED)
float bedKp = DEFAULT_bedKp,
bedKi = ((DEFAULT_bedKi) * PID_dT),
bedKd = ((DEFAULT_bedKd) / PID_dT);
static float bedKp, bedKi, bedKd;
#endif
#if ENABLED(BABYSTEPPING)
volatile int babystepsTodo[3] = { 0 };
static volatile int babystepsTodo[3];
#endif
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
int watch_target_temp[EXTRUDERS] = { 0 };
millis_t watch_heater_next_ms[EXTRUDERS] = { 0 };
static int watch_target_temp[EXTRUDERS];
static millis_t watch_heater_next_ms[EXTRUDERS];
#endif
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_BED_TEMP_PERIOD > 0
int watch_target_bed_temp = 0;
millis_t watch_bed_next_ms = 0;
static int watch_target_bed_temp;
static millis_t watch_bed_next_ms;
#endif
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
float extrude_min_temp = EXTRUDE_MINTEMP;
FORCE_INLINE bool tooColdToExtrude(uint8_t e) { return degHotend(e) < extrude_min_temp; }
static float extrude_min_temp;
static bool tooColdToExtrude(uint8_t e) { return degHotend(e) < extrude_min_temp; }
#else
FORCE_INLINE bool tooColdToExtrude(uint8_t e) { UNUSED(e); return false; }
static bool tooColdToExtrude(uint8_t e) { UNUSED(e); return false; }
#endif
private:
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
int redundant_temperature_raw = 0;
float redundant_temperature = 0.0;
static int redundant_temperature_raw;
static float redundant_temperature;
#endif
volatile bool temp_meas_ready = false;
static volatile bool temp_meas_ready;
#if ENABLED(PIDTEMP)
float temp_iState[EXTRUDERS] = { 0 };
float temp_dState[EXTRUDERS] = { 0 };
float pTerm[EXTRUDERS];
float iTerm[EXTRUDERS];
float dTerm[EXTRUDERS];
static float temp_iState[EXTRUDERS];
static float temp_dState[EXTRUDERS];
static float pTerm[EXTRUDERS];
static float iTerm[EXTRUDERS];
static float dTerm[EXTRUDERS];
#if ENABLED(PID_ADD_EXTRUSION_RATE)
float cTerm[EXTRUDERS];
long last_position[EXTRUDERS];
long lpq[LPQ_MAX_LEN];
int lpq_ptr = 0;
static float cTerm[EXTRUDERS];
static long last_position[EXTRUDERS];
static long lpq[LPQ_MAX_LEN];
static int lpq_ptr;
#endif
float pid_error[EXTRUDERS];
float temp_iState_min[EXTRUDERS];
float temp_iState_max[EXTRUDERS];
bool pid_reset[EXTRUDERS];
static float pid_error[EXTRUDERS];
static float temp_iState_min[EXTRUDERS];
static float temp_iState_max[EXTRUDERS];
static bool pid_reset[EXTRUDERS];
#endif
#if ENABLED(PIDTEMPBED)
float temp_iState_bed = { 0 };
float temp_dState_bed = { 0 };
float pTerm_bed;
float iTerm_bed;
float dTerm_bed;
float pid_error_bed;
float temp_iState_min_bed;
float temp_iState_max_bed;
static float temp_iState_bed;
static float temp_dState_bed;
static float pTerm_bed;
static float iTerm_bed;
static float dTerm_bed;
static float pid_error_bed;
static float temp_iState_min_bed;
static float temp_iState_max_bed;
#else
millis_t next_bed_check_ms;
static millis_t next_bed_check_ms;
#endif
unsigned long raw_temp_value[4] = { 0 };
unsigned long raw_temp_bed_value = 0;
static unsigned long raw_temp_value[4];
static unsigned long raw_temp_bed_value;
// Init min and max temp with extreme values to prevent false errors during startup
int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS(HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP);
int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS(HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP);
int minttemp[EXTRUDERS] = { 0 };
int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(16383);
static int minttemp_raw[EXTRUDERS];
static int maxttemp_raw[EXTRUDERS];
static int minttemp[EXTRUDERS];
static int maxttemp[EXTRUDERS];
#ifdef BED_MINTEMP
int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP;
static int bed_minttemp_raw;
#endif
#ifdef BED_MAXTEMP
int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
static int bed_maxttemp_raw;
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
int meas_shift_index; // Index of a delayed sample in buffer
static int meas_shift_index; // Index of a delayed sample in buffer
#endif
#if HAS_AUTO_FAN
millis_t next_auto_fan_check_ms;
static millis_t next_auto_fan_check_ms;
#endif
unsigned char soft_pwm[EXTRUDERS];
static unsigned char soft_pwm[EXTRUDERS];
#if ENABLED(FAN_SOFT_PWM)
unsigned char soft_pwm_fan[FAN_COUNT];
static unsigned char soft_pwm_fan[FAN_COUNT];
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
int current_raw_filwidth = 0; //Holds measured filament diameter - one extruder only
static int current_raw_filwidth; //Holds measured filament diameter - one extruder only
#endif
public:
/**
* Static (class) methods
*/
static float analog2temp(int raw, uint8_t e);
static float analog2tempBed(int raw);
/**
* Instance Methods
*/
@ -212,19 +204,25 @@ class Temperature {
void init();
/**
* Static (class) methods
*/
static float analog2temp(int raw, uint8_t e);
static float analog2tempBed(int raw);
/**
* Called from the Temperature ISR
*/
void isr();
static void isr();
/**
* Call periodically to manage heaters
*/
void manage_heater();
static void manage_heater();
#if ENABLED(FILAMENT_WIDTH_SENSOR)
float analog2widthFil(); // Convert raw Filament Width to millimeters
int widthFil_to_size_ratio(); // Convert raw Filament Width to an extrusion ratio
static float analog2widthFil(); // Convert raw Filament Width to millimeters
static int widthFil_to_size_ratio(); // Convert raw Filament Width to an extrusion ratio
#endif
@ -232,68 +230,68 @@ class Temperature {
//inline so that there is no performance decrease.
//deg=degreeCelsius
FORCE_INLINE float degHotend(uint8_t extruder) { return current_temperature[extruder]; }
FORCE_INLINE float degBed() { return current_temperature_bed; }
static float degHotend(uint8_t extruder) { return current_temperature[extruder]; }
static float degBed() { return current_temperature_bed; }
#if ENABLED(SHOW_TEMP_ADC_VALUES)
FORCE_INLINE float rawHotendTemp(uint8_t extruder) { return current_temperature_raw[extruder]; }
FORCE_INLINE float rawBedTemp() { return current_temperature_bed_raw; }
static float rawHotendTemp(uint8_t extruder) { return current_temperature_raw[extruder]; }
static float rawBedTemp() { return current_temperature_bed_raw; }
#endif
FORCE_INLINE float degTargetHotend(uint8_t extruder) { return target_temperature[extruder]; }
FORCE_INLINE float degTargetBed() { return target_temperature_bed; }
static float degTargetHotend(uint8_t extruder) { return target_temperature[extruder]; }
static float degTargetBed() { return target_temperature_bed; }
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
void start_watching_heater(int e = 0);
static void start_watching_heater(int e = 0);
#endif
#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
void start_watching_bed();
static void start_watching_bed();
#endif
FORCE_INLINE void setTargetHotend(const float& celsius, uint8_t extruder) {
static void setTargetHotend(const float& celsius, uint8_t extruder) {
target_temperature[extruder] = celsius;
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
start_watching_heater(extruder);
#endif
}
FORCE_INLINE void setTargetBed(const float& celsius) {
static void setTargetBed(const float& celsius) {
target_temperature_bed = celsius;
#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
start_watching_bed();
#endif
}
FORCE_INLINE bool isHeatingHotend(uint8_t extruder) { return target_temperature[extruder] > current_temperature[extruder]; }
FORCE_INLINE bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
static bool isHeatingHotend(uint8_t extruder) { return target_temperature[extruder] > current_temperature[extruder]; }
static bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
FORCE_INLINE bool isCoolingHotend(uint8_t extruder) { return target_temperature[extruder] < current_temperature[extruder]; }
FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
static bool isCoolingHotend(uint8_t extruder) { return target_temperature[extruder] < current_temperature[extruder]; }
static bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
/**
* The software PWM power for a heater
*/
int getHeaterPower(int heater);
static int getHeaterPower(int heater);
/**
* Switch off all heaters, set all target temperatures to 0
*/
void disable_all_heaters();
static void disable_all_heaters();
/**
* Perform auto-tuning for hotend or bed in response to M303
*/
#if HAS_PID_HEATING
void PID_autotune(float temp, int extruder, int ncycles, bool set_result=false);
static void PID_autotune(float temp, int extruder, int ncycles, bool set_result=false);
#endif
/**
* Update the temp manager when PID values change
*/
void updatePID();
static void updatePID();
FORCE_INLINE void autotempShutdown() {
static void autotempShutdown() {
#if ENABLED(AUTOTEMP)
if (planner.autotemp_enabled) {
planner.autotemp_enabled = false;
@ -305,7 +303,7 @@ class Temperature {
#if ENABLED(BABYSTEPPING)
FORCE_INLINE void babystep_axis(AxisEnum axis, int distance) {
static void babystep_axis(AxisEnum axis, int distance) {
#if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
#if ENABLED(BABYSTEP_XY)
switch (axis) {
@ -337,40 +335,40 @@ class Temperature {
private:
void set_current_temp_raw();
static void set_current_temp_raw();
void updateTemperaturesFromRawValues();
static void updateTemperaturesFromRawValues();
#if ENABLED(HEATER_0_USES_MAX6675)
int read_max6675();
static int read_max6675();
#endif
void checkExtruderAutoFans();
static void checkExtruderAutoFans();
float get_pid_output(int e);
static float get_pid_output(int e);
#if ENABLED(PIDTEMPBED)
float get_pid_output_bed();
static float get_pid_output_bed();
#endif
void _temp_error(int e, const char* serial_msg, const char* lcd_msg);
void min_temp_error(uint8_t e);
void max_temp_error(uint8_t e);
static void _temp_error(int e, const char* serial_msg, const char* lcd_msg);
static void min_temp_error(uint8_t e);
static void max_temp_error(uint8_t e);
#if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
typedef enum TRState { TRInactive, TRFirstHeating, TRStable, TRRunaway } TRstate;
void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
static void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
TRState thermal_runaway_state_machine[EXTRUDERS] = { TRInactive };
millis_t thermal_runaway_timer[EXTRUDERS] = { 0 };
static TRState thermal_runaway_state_machine[EXTRUDERS];
static millis_t thermal_runaway_timer[EXTRUDERS];
#endif
#if HAS_THERMALLY_PROTECTED_BED
TRState thermal_runaway_bed_state_machine = TRInactive;
millis_t thermal_runaway_bed_timer;
static TRState thermal_runaway_bed_state_machine;
static millis_t thermal_runaway_bed_timer;
#endif
#endif // THERMAL_PROTECTION

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