397 lines
15 KiB
Rust
397 lines
15 KiB
Rust
use std::{fs, path::PathBuf};
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use platform_stm32f7::{
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AccelerometerRange, DigitalLowPassFilter, F722Hardware, F722ImmutableConfig, GyroscopeRange,
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ImuMount, Mavlink, Mpu6000, Mpu6000Config, Pa4, Pb0Pb1Pb4Pb5Low, Pd2ActiveLow, VerticalSensor,
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};
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fn platform_source(relative: &str) -> String {
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let root = PathBuf::from(env!("CARGO_MANIFEST_DIR"));
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fs::read_to_string(root.join(relative)).expect("platform source must exist")
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}
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#[test]
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fn former_motor_pins_are_inhibited_before_all_other_initialization() {
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let module = platform_source("src/f722/mod.rs");
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let interlock = module
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.find("motor_inhibit::inhibit_pb0_pb1_pb4_pb5")
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.expect("F722 initialization must claim the former motor pins first");
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let validation = module
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.find("validate_board_config")
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.expect("F722 initialization must validate its board configuration");
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let board_initialization = module
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.find("board::initialize")
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.expect("F722 initialization must subsequently claim telemetry I/O");
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assert!(interlock < validation);
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assert!(validation < board_initialization);
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let interlock = platform_source("src/f722/motor_inhibit.rs");
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let reset = interlock
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.find("port.bsrr()")
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.expect("interlock must reset the former motor-pin output latches");
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let clock_delay = interlock
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.find("rcc.ahb1enr().read()")
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.expect("GPIO access must follow the documented RCC synchronization delay");
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let output_mode = interlock
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.find("port.moder()")
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.expect("interlock must configure the former motor pins as GPIO outputs");
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assert!(
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clock_delay < reset && reset < output_mode,
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"output latches must be low before GPIO output mode is selected"
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);
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for pin in ["br0", "br1", "br4", "br5"] {
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assert!(interlock.contains(pin), "interlock must reset PB pin {pin}");
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}
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for pin in ["moder0", "moder1", "moder4", "moder5"] {
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assert!(
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interlock.contains(pin),
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"interlock must configure PB pin {pin}"
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);
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}
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for pin in ["ot0", "ot1", "ot4", "ot5"] {
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assert!(
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interlock.contains(pin),
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"interlock must set PB pin {pin} push-pull"
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);
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}
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for pin in ["ospeedr0", "ospeedr1", "ospeedr4", "ospeedr5"] {
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assert!(
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interlock.contains(pin),
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"interlock must set PB pin {pin} low speed"
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);
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}
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}
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#[test]
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fn immutable_board_policy_is_one_complete_literal_manifest() {
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const IMMUTABLE: F722ImmutableConfig = F722ImmutableConfig {
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name: "test",
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service_hz: 100,
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hardware: F722Hardware::new()
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.output_inhibit(Pb0Pb1Pb4Pb5Low)
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.imu(
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Mpu6000::on_spi1()
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.with_drdy(Pa4)
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.mounted(ImuMount::BodyAligned)
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.configured(Mpu6000Config {
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accelerometer: AccelerometerRange::PlusMinus4G,
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gyroscope: GyroscopeRange::PlusMinus500DegreesPerSecond,
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digital_low_pass_filter: DigitalLowPassFilter::Bandwidth42Hz,
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sample_rate_divider: 9,
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}),
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)
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.mavlink(Mavlink::on_usart1().baud(115_200))
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.vertical_sensor(VerticalSensor::mtf01_on_uart4().baud(115_200))
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.status_led(Pd2ActiveLow)
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.telemetry_only(),
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};
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assert_eq!(IMMUTABLE.name, "test");
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assert_eq!(IMMUTABLE.service_hz, 100);
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}
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#[test]
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fn telemetry_platform_has_no_physical_actuator_peripheral_path() {
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let sources = [
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platform_source("src/lib.rs"),
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platform_source("src/f722/mod.rs"),
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platform_source("src/f722/board.rs"),
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platform_source("src/f722/firmware.rs"),
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platform_source("src/f722/interrupts.rs"),
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]
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.join("\n");
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for forbidden in [
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"mod actuator",
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"MotorOutput",
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"MotorRoute",
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"MotorOutputs",
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"TIM3",
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"TIM5",
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"Dshot",
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"Pwm",
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"device.TIM3",
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"device.TIM5",
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] {
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assert!(
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!sources.contains(forbidden),
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"telemetry platform must not expose actuator path {forbidden}"
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);
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}
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let manifest = platform_source("Cargo.toml");
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assert!(
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!manifest.contains("kaptan-actuator"),
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"telemetry platform must not link the physical actuator crate"
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);
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}
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#[test]
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fn ordinary_f722_image_has_direct_configuration_after_output_inhibition() {
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let board = platform_source("src/f722/board.rs");
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let firmware = platform_source("src/f722/firmware.rs");
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let routes = platform_source("src/f722/routes.rs");
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let manifest = platform_source("Cargo.toml");
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assert!(
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!manifest.contains("development-config")
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&& !manifest.contains("development-authority")
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&& !manifest.contains("development-unsigned"),
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"ordinary board images must not hide configuration behind a development feature"
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);
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for required in [
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"configuration: F722ConfigManager",
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"config_protocol: ConfigProtocol",
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"receiver: IntegrityMavlinkReceiver<2>",
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"config_lease_ticks: u16",
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"wire::decode_command",
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"self.config_protocol.dispatch_from_composition",
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"visit_response(response, &mut sender)",
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] {
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assert!(
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board.contains(required),
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"ordinary image must retain configuration composition: {required}"
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);
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}
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assert!(!board.contains("DirectConfigAdmission"));
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assert!(
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routes.contains("pub(crate) struct Mpu6000Spi1Route {\n spi: Spi1,\n}")
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&& routes.contains("stm32f722::GPIOB::ptr()")
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&& routes.contains("write.br2().set_bit()")
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&& routes.contains("write.bs2().set_bit()"),
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"the MPU runtime may drive only PB2 atomically, not retain GPIOB ownership"
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);
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assert!(!board.contains("development-config"));
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assert!(
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!board.contains("ArmRequest"),
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"telemetry must not decode arm commands"
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);
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assert!(
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!board.contains("MAV_CMD_COMPONENT_ARM_DISARM") && !board.contains("decode_arm_request"),
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"telemetry must not accept an arm command"
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);
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assert!(
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!firmware.contains("shared = [mavlink, motors]"),
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"the MAVLink worker must not share a motor resource"
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);
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assert!(
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firmware.contains("const MAVLINK_EVENT_RECEIVED")
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&& firmware.contains("mavlink.receive_config_interrupt(event)")
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&& !firmware.contains("development-config"),
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"ordinary images must always dispatch received configuration frames"
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);
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}
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#[test]
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fn usart_tx_dma_arms_each_stream_before_its_request() {
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let usart = platform_source("src/f722/peripherals/usart.rs");
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assert!(usart.contains("disable_dma_transmit_from_interrupt"));
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for (name, path) in [
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("USART1", "src/f722/peripherals/usart1_tx_dma2_stream7.rs"),
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("USART2", "src/f722/peripherals/usart2_tx_dma1_stream6.rs"),
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] {
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let route = platform_source(path);
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let constructor_start = route.find("pub fn new").expect("DMA constructor");
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let transfer_start = route.find("pub fn start").expect("DMA start operation");
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let acknowledge_start = route
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.find("pub fn acknowledge_interrupt")
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.expect("DMA interrupt acknowledgement");
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assert!(
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!route[constructor_start..transfer_start].contains("enable_dma_transmit"),
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"{name} must not leave its DMA request armed between transfers"
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);
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assert!(
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route.contains("write.dmdis().enabled().feie().disabled()"),
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"{name} must explicitly select direct mode without FE interrupts"
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);
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let start = &route[transfer_start..acknowledge_start];
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let stream_enable = start
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.find("write.en().enabled()")
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.expect("DMA stream must be enabled");
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let request_enable = start
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.find("self.usart.enable_dma_transmit()")
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.expect("USART DMA request must be enabled");
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assert!(
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stream_enable < request_enable,
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"{name} must enable its stream before the peripheral request"
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);
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let acknowledge = &route[acknowledge_start..];
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let stream_disable = acknowledge
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.find("write.en().disabled()")
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.expect("DMA stream must be disabled");
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let request_disable = acknowledge
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.find("disable_dma_transmit_from_interrupt()")
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.expect("USART DMA request must be disabled");
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assert!(
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stream_disable < request_disable,
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"{name} must disable its stream before the peripheral request"
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);
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let classifier = acknowledge
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.find("impl DmaTerminalStatus")
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.map(|index| &acknowledge[index..])
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.expect("DMA terminal classifier");
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assert!(classifier.contains("self.transfer_error || self.direct_mode_error"));
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assert!(classifier.contains("TxCompletion::Complete"));
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assert!(
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!classifier.contains("fifo_error"),
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"{name} direct-mode FEIF must not manufacture a terminal fault"
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);
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}
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}
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#[test]
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fn configuration_schema_is_generated_without_board_forwarding_code() {
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let platform = platform_source("src/lib.rs");
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let platform_config = platform_source("src/f722/config.rs");
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let platform_firmware = platform_source("src/f722/firmware.rs");
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let kakute = platform_source("../../boards/kakute-f7-mini-v3/src/board.rs");
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let geprc = platform_source("../../boards/geprc-f722-v2/src/board.rs");
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assert!(
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platform.contains("pub struct F722ImmutableConfig")
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&& platform.contains("pub hardware: F722Hardware")
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&& platform.contains("type UserConfig: Clone + Config")
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&& platform_config.contains("struct UserConfigModel")
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&& platform_config.contains("fn project_runtime<C, I>")
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&& platform_config.contains("candidate.field_value(field)"),
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"the platform must retain exactly one immutable manifest and one generic user adapter"
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);
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for semantic_id in [
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"MAVLINK_SYSTEM_ID",
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"MAVLINK_COMPONENT_ID",
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"RAW_IMU_HZ",
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"HEARTBEAT_HZ",
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"MAVLINK_LOG_LEVEL_FILTER",
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"RANGE_HZ",
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"OPTICAL_FLOW_HZ",
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] {
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assert!(
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platform_config.contains(&format!("const {semantic_id}: FieldId")),
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"missing stable platform-consumed semantic ID {semantic_id}"
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);
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}
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for (name, board) in [("Kakute", kakute), ("GEPRC", geprc)] {
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assert!(
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board.contains("type UserConfig = UserConfig;")
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&& board.contains("type ImmutableConfig = ImmutableConfig;")
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&& board.contains("const FACTORY_USER_CONFIG: UserConfig = UserConfig {")
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&& board.contains("const IMMUTABLE_CONFIG: ImmutableConfig = ImmutableConfig {")
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&& board.contains("hardware: F722Hardware::new()")
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&& board.contains(".telemetry_only()"),
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"{name} must visibly declare the two literal roots"
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);
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for redundant in [
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"impl F7ImmutableConfig for",
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"impl F7UserConfig for",
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"impl_f722_user_config!",
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] {
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assert!(!board.contains(redundant), "{name} retains {redundant}");
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}
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}
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assert!(
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platform_firmware.contains("<$board as $crate::F7Board>::UserConfig")
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&& platform_firmware.contains("<$board as $crate::F7Board>::ImmutableConfig")
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&& platform_firmware.contains("config_snapshot_length::<"),
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"the common RTIC graph must specialize storage for the two board roots"
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);
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}
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#[test]
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fn f722_link_budget_reserves_only_deterministic_telemetry() {
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let board = platform_source("src/f722/board.rs");
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assert!(board.contains("SCHEDULED_TELEMETRY_BYTES_PER_SECOND"));
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assert!(board.contains("SERVICE_HZ * SCHEDULED_FRAME_MAXIMUM_BYTES"));
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assert!(board.contains("self.drain_one_mavlink_diagnostic();"));
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assert!(board.contains("let mavlink_log_filter = runtime.mavlink_log_level_filter;"));
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assert!(board.contains("LogSinkQueue::new(mavlink_log_filter)"));
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assert!(!board.contains("mavlink_logging_enabled"));
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assert!(!board.contains("LogFilter"));
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for periodic_diagnostic_policy in [
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"ERROR_RECORDS_PER_SECOND",
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"LOG_RECORDS_PER_SECOND",
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"WORST_CASE_OBSERVABILITY_BYTES_PER_SECOND",
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"KAPTAN_ERROR_FRAME_MAXIMUM_BYTES",
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"KAPTAN_LOG_FRAME_MAXIMUM_BYTES",
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"budget_ticks",
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"error_budget",
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"log_budget",
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] {
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assert!(
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!board.contains(periodic_diagnostic_policy),
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"diagnostics must not have a periodic policy: {periodic_diagnostic_policy}"
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);
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}
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}
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#[test]
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fn mavlink_transport_faults_do_not_recurse_or_retain_dead_accounting() {
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let board = platform_source("src/f722/board.rs");
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let transport = platform_source("src/f722/data_channel.rs");
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let portable_channel = platform_source("../../libs/kaptan-data-channel/src/lib.rs");
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assert!(
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!board.contains("mavlink transmit dma fault"),
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"the MAVLink sink must not report its own transmit failure through itself"
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);
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for recursive_path in [
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"drain_transport_faults",
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"take_transport_fault",
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"TransmitMemory",
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"TransmitEngine",
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"TransmitTerminal",
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"pending_faults",
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] {
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assert!(
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!board.contains(recursive_path)
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&& !transport.contains(recursive_path)
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&& !portable_channel.contains(recursive_path),
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"MAVLink transport must not feed {recursive_path} back into itself"
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);
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}
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for dead_counter in [
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"dma_fault_count",
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"memory_fault_count",
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"engine_fault_count",
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"terminal_fault_count",
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] {
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assert!(
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!transport.contains(dead_counter),
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"unused transport accounting must stay absent: {dead_counter}"
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);
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}
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}
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#[test]
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fn f722_producers_keep_logs_and_reportable_errors_separate() {
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let board = platform_source("src/f722/board.rs");
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let logger = platform_source("../../libs/kaptan-log/src/facade.rs");
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let errors = platform_source("../../libs/kaptan-err-reportable/src/ingress.rs");
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for macro_name in [
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"kaptan_log::debug!",
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"kaptan_log::info!",
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"kaptan_log::warn!",
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"kaptan_log::error!",
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] {
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assert!(
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board.contains(macro_name),
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"f722 does not exercise {macro_name}"
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);
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}
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assert!(board.contains("#[kaptan_err_reportable::propagate]"));
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assert!(!board.contains("report_error"));
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assert!(!board.contains("report_static_error"));
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assert!(logger.contains("GLOBAL_INGRESS_CAPACITY"));
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assert!(logger.contains("compare_exchange"));
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assert!(errors.contains("AtomicU8"));
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assert!(errors.contains("UnsafeCell<MaybeUninit<ErrorRecord>>"));
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assert!(errors.contains("compare_exchange"));
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}
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