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https://github.com/RobotechLille/cdf2018-principal
synced 2024-11-13 03:46:12 +01:00
FPGA : Envoi de valeurs des capteurs
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@ -163,11 +163,13 @@ isimgui: build/isim_$(TB)$(EXE)
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# Testing (using ghdl and gtkwave)
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###########################################################################
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GHDL_FLAGS=--mb-comments
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%_syntax: %.vhd
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ghdl -s --mb-comments "$<"
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build/%.o: %.vhd
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ghdl -a --mb-comments --workdir="$(shell dirname "$@")" "$<"
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ghdl -a $(GHDL_FLAGS) --workdir="$(shell dirname "$@")" "$<"
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build/%_tb: build/%_tb.o $(addprefix build/,$(subst .vhd,.o,$(VHDSOURCE)))
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ghdl -e --workdir="$(shell dirname "$@")" -o "$(shell echo "$@" | tr A-Z a-z)" "$(basename $(notdir $<))"
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@ -33,9 +33,9 @@ architecture Behavioral of communication is
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signal readState : readStates := readIdle;
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signal readOffset : integer := 0;
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type sendMessages is (none, A2FD_PINGs, F2AD_ERR_UNKNOWN_CODEs);
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type sendMessages is (none, A2FD_PINGs, F2AI_CODERs, F2AI_CAPTs, F2AD_ERR_UNKNOWN_CODEs);
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constant SENDQUEUE_SIZE : integer := 4;
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constant SENDQUEUE_SIZE : integer := 16;
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type sendQueueMemorya is array (0 to SENDQUEUE_SIZE - 1) of sendMessages;
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signal frontTrigger : integer := 0;
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@ -47,11 +47,12 @@ begin
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txStb <= txStbs;
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readsendFA : process(clock, reset)
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variable sendMessage : sendMessages := none;
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variable sendOffset : integer := 0;
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variable sendSize : integer := 0;
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variable sendData : std_logic_vector(63 downto 0); -- Max message size (will be trimmed down by the synthetizer)
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-- Send queue
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variable sendQueueMemory : sendQueueMemorya;
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@ -98,37 +99,50 @@ begin
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case rxData is
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when A2FD_PING =>
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pushSend(A2FD_PINGs);
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when F2AI_CODER =>
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pushSend(F2AI_CODERs);
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when F2AI_CAPT =>
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pushSend(F2AI_CAPTs);
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when others =>
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pushSend(F2AD_ERR_UNKNOWN_CODEs);
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end case;
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end if;
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end if;
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-- If what was sent is acknowledged and there is still something to send
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-- If what was sent is acknowledged or nothing is being sent atm
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if txStbs = '0' or txAck = '1' then
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if sendMessage = none then -- Reads a message if none is currently being sent
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sendOffset := 0;
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popSend(sendMessage);
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else
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sendOffset := sendOffset + 1;
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if sendSize = 0 then -- If no data to be sent
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popSend(sendMessage); -- See if there a message in the message queue
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case sendMessage is
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when none => -- No message available, do nothing
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when A2FD_PINGs =>
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sendData(7 downto 0) := A2FD_PING;
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sendSize := 1;
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when F2AI_CAPTs =>
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sendData(7 downto 0) := F2AI_CAPT;
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sendData(23 downto 8) := std_logic_vector(to_unsigned(front, 16));
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sendData(39 downto 24) := std_logic_vector(to_unsigned(back, 16));
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sendSize := 5;
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when others => -- Including F2AD_ERR_UNKNOWN_CODEs
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sendData(7 downto 0) := F2AD_ERR;
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sendData(15 downto 8) := ERR_UNKNOWN_CODE;
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sendSize := 2;
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end case;
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end if;
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txStbs <= '1';
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case sendMessage is
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when none => -- If no message available: don't send anything
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txStbs <= '0';
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when A2FD_PINGs =>
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txData <= A2FD_PING;
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sendMessage := none;
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when F2AD_ERR_UNKNOWN_CODEs =>
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case sendOffset is
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when 0 =>
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txData <= F2AD_ERR;
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when others =>
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txData <= ERR_UNKNOWN_CODE;
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sendMessage := none;
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end case;
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end case;
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if sendSize > 0 then -- If data to be sent
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txData <= sendData((sendOffset + 1) * 8 - 1 downto sendOffset * 8);
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txStbs <= '1';
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if sendOffset = sendSize - 1 then -- If it was the last character sent
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sendSize := 0; -- Make next iteration check for send queue
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sendOffset := 0;
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else -- Still data to be sent after that
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sendOffset := sendOffset + 1;
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end if;
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else -- If really no data to be sent
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txStbs <= '0';
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end if;
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end if;
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end if;
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end if;
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@ -1,15 +1,15 @@
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[*]
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[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
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[*] Mon Feb 26 17:06:42 2018
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[*] Mon Feb 26 19:15:08 2018
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[*]
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[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/communication_tb.ghw"
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[dumpfile_mtime] "Mon Feb 26 17:03:51 2018"
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[dumpfile_size] 3315
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[dumpfile_mtime] "Mon Feb 26 19:15:01 2018"
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[dumpfile_size] 4519
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[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/communication_tb.gtkw"
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[timestart] 0
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[size] 1680 1012
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[size] 1600 862
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[pos] -1 -1
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*-28.533670 586000000 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1
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*-29.277596 1395000000 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1
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[treeopen] top.
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[treeopen] top.communication_tb.
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[treeopen] top.communication_tb.dut.
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@ -34,9 +34,6 @@ top.communication_tb.dut.rxstb
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top.communication_tb.dut.readstate
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[color] 6
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top.communication_tb.dut.readoffset
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@421
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[color] 2
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top.communication_tb.dut.a
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@22
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[color] 1
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#{top.communication_tb.txdata[7:0]} top.communication_tb.txdata[7] top.communication_tb.txdata[6] top.communication_tb.txdata[5] top.communication_tb.txdata[4] top.communication_tb.txdata[3] top.communication_tb.txdata[2] top.communication_tb.txdata[1] top.communication_tb.txdata[0]
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@ -4,6 +4,7 @@
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library ieee;
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use ieee.std_logic_1164.all;
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use IEEE.NUMERIC_STD.ALL;
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entity communication_tb is
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end communication_tb;
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@ -40,6 +41,8 @@ architecture tb of communication_tb is
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signal TbClock : std_logic := '0';
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signal TbSimEnded : std_logic := '0';
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type multipleChar is array (0 to 15) of std_logic_vector(7 downto 0);
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begin
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dut : communication
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@ -61,6 +64,7 @@ begin
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clock <= TbClock;
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stimuli : process
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variable shouldReceive : multipleChar;
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begin
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left <= 0;
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right <= 0;
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@ -156,8 +160,31 @@ begin
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wait for 100 ns;
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assert txStb = '0' report "Not stopping send" severity error;
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wait for 100 ns; -- Margin
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-- Test captor
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front <= 1152;
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back <= 11614;
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report "TEST Receiving 'C'" severity note;
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rxData <= x"43";
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rxStb <= '1';
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wait for TbPeriod;
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rxStb <= '0';
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shouldReceive(0 to 4) := (x"43", x"80", x"04", x"5E", x"2D");
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for I in 0 to 4 loop
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wait for 100 ns;
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assert txData = shouldReceive(I) report "Not sent correct data, got " & integer'image(to_integer(unsigned(txData))) & ", expected " & integer'image(to_integer(unsigned(shouldReceive(I))))severity error;
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assert txStb = '1' report "Not sending" severity error;
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report "Acknowledging send" severity note;
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wait for 100 ns;
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txAck <= '1';
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wait for TbPeriod;
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txAck <= '0';
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end loop;
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wait for 100 ns; -- Margin
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TbSimEnded <= '1';
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wait;
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