mirror of https://github.com/ArduPilot/ardupilot
215 lines
7.9 KiB
C++
215 lines
7.9 KiB
C++
/*
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Please contribute your ideas! See https://ardupilot.org/dev for details
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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SerialManager allows defining the protocol and baud rates for the available
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serial ports and provides helper functions so objects (like a gimbal) can
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find which serial port they should use
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*/
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#pragma once
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#include "AP_SerialManager_config.h"
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#if AP_SERIALMANAGER_ENABLED
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#include <AP_Param/AP_Param.h>
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class AP_SerialManager {
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public:
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AP_SerialManager();
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/* Do not allow copies */
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CLASS_NO_COPY(AP_SerialManager);
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enum SerialProtocol {
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SerialProtocol_None = -1,
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SerialProtocol_Console = 0, // unused
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SerialProtocol_MAVLink = 1,
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SerialProtocol_MAVLink2 = 2, // do not use - use MAVLink and provide instance of 1
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SerialProtocol_FrSky_D = 3, // FrSky D protocol (D-receivers)
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SerialProtocol_FrSky_SPort = 4, // FrSky SPort protocol (X-receivers)
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SerialProtocol_GPS = 5,
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SerialProtocol_GPS2 = 6, // do not use - use GPS and provide instance of 1
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SerialProtocol_AlexMos = 7,
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SerialProtocol_Gimbal = 8, // SToRM32, Siyi custom serial protocols
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SerialProtocol_Rangefinder = 9,
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SerialProtocol_FrSky_SPort_Passthrough = 10, // FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
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SerialProtocol_Lidar360 = 11, // Lightware SF40C, TeraRanger Tower or RPLidarA2
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SerialProtocol_Aerotenna_USD1 = 12, // USD1 support - deprecated, users should use Rangefinder
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SerialProtocol_Beacon = 13,
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SerialProtocol_Volz = 14, // Volz servo protocol
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SerialProtocol_Sbus1 = 15,
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SerialProtocol_ESCTelemetry = 16,
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SerialProtocol_Devo_Telem = 17,
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SerialProtocol_OpticalFlow = 18,
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SerialProtocol_Robotis = 19,
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SerialProtocol_NMEAOutput = 20,
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SerialProtocol_WindVane = 21,
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SerialProtocol_SLCAN = 22,
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SerialProtocol_RCIN = 23,
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SerialProtocol_EFI = 24, // EFI serial protocol
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SerialProtocol_LTM_Telem = 25,
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SerialProtocol_RunCam = 26,
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SerialProtocol_Hott = 27,
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SerialProtocol_Scripting = 28,
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SerialProtocol_CRSF = 29,
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SerialProtocol_Generator = 30,
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SerialProtocol_Winch = 31,
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SerialProtocol_MSP = 32,
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SerialProtocol_DJI_FPV = 33,
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SerialProtocol_AirSpeed = 34,
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SerialProtocol_ADSB = 35,
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SerialProtocol_AHRS = 36,
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SerialProtocol_SmartAudio = 37,
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SerialProtocol_FETtecOneWire = 38,
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SerialProtocol_Torqeedo = 39,
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SerialProtocol_AIS = 40,
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SerialProtocol_CoDevESC = 41,
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SerialProtocol_MSP_DisplayPort = 42,
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SerialProtocol_MAVLinkHL = 43,
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SerialProtocol_Tramp = 44,
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SerialProtocol_DDS_XRCE = 45,
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SerialProtocol_IMUOUT = 46,
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// Reserving Serial Protocol 47 for SerialProtocol_IQ
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SerialProtocol_PPP = 48,
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SerialProtocol_NumProtocols // must be the last value
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};
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// get singleton instance
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static AP_SerialManager *get_singleton(void) {
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return _singleton;
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}
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// init_console - initialise console at default baud rate
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void init_console();
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// init - initialise serial ports
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void init();
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// find_serial - searches available serial ports that allows the given protocol
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// instance should be zero if searching for the first instance, 1 for the second, etc
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// returns uart on success, nullptr if a serial port cannot be found
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// note that the SERIALn_OPTIONS are applied if the port is found
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AP_HAL::UARTDriver *find_serial(enum SerialProtocol protocol, uint8_t instance) const;
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// have_serial - return true if we have the corresponding serial protocol configured
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bool have_serial(enum SerialProtocol protocol, uint8_t instance) const;
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// find_baudrate - searches available serial ports for the first instance that allows the given protocol
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// instance should be zero if searching for the first instance, 1 for the second, etc
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// returns the baudrate of that protocol on success, 0 if a serial port cannot be found
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uint32_t find_baudrate(enum SerialProtocol protocol, uint8_t instance) const;
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// find_portnum - find port number (SERIALn index) for a protocol and instance, -1 for not found
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int8_t find_portnum(enum SerialProtocol protocol, uint8_t instance) const;
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// get the passthru ports if enabled
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bool get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriver *&port2, uint8_t &timeout_s,
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uint32_t &baud1, uint32_t &baud2);
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// disable passthru by settings SERIAL_PASS2 to -1
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void disable_passthru(void);
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// get Serial Port
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AP_HAL::UARTDriver *get_serial_by_id(uint8_t id);
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// accessors for AP_Periph to set baudrate and type
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void set_protocol_and_baud(uint8_t sernum, enum SerialProtocol protocol, uint32_t baudrate);
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static uint32_t map_baudrate(int32_t rate);
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// parameter var table
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static const struct AP_Param::GroupInfo var_info[];
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class UARTState {
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friend class AP_SerialManager;
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public:
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bool option_enabled(uint16_t option) const {
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return (options & option) == option;
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}
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// returns a baudrate such as 9600. May map from a special
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// parameter value like "57" to "57600":
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uint32_t baudrate() const {
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return AP_SerialManager::map_baudrate(baud);
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}
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AP_SerialManager::SerialProtocol get_protocol() const {
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return AP_SerialManager::SerialProtocol(protocol.get());
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}
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AP_Int32 baud;
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AP_Int16 options;
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AP_Int8 protocol;
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// serial index number
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uint8_t idx;
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};
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// get a state from serial index
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const UARTState *get_state_by_id(uint8_t id) const;
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// search through managed serial connections looking for the
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// instance-nth UART which is running protocol protocol.
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// protocol_match is used to determine equivalence of one protocol
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// to another, e.g. MAVLink2 is considered MAVLink1 for finding
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// mavlink1 protocol instances.
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const UARTState *find_protocol_instance(enum SerialProtocol protocol,
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uint8_t instance) const;
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#if AP_SERIALMANAGER_REGISTER_ENABLED
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/*
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a class for a externally registered port
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used by AP_Networking
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*/
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class RegisteredPort : public AP_HAL::UARTDriver {
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public:
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RegisteredPort *next;
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UARTState state;
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};
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RegisteredPort *registered_ports;
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HAL_Semaphore port_sem;
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// register an externally managed port
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void register_port(RegisteredPort *port);
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#endif // AP_SERIALMANAGER_REGISTER_ENABLED
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private:
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static AP_SerialManager *_singleton;
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// array of uart info. See comment above about
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// SERIALMANAGER_MAX_PORTS
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UARTState state[SERIALMANAGER_MAX_PORTS];
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// pass-through serial support
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AP_Int8 passthru_port1;
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AP_Int8 passthru_port2;
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AP_Int8 passthru_timeout;
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// protocol_match - returns true if the protocols match
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bool protocol_match(enum SerialProtocol protocol1, enum SerialProtocol protocol2) const;
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// setup any special options
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void set_options(uint16_t i);
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bool init_console_done;
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};
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namespace AP {
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AP_SerialManager &serialmanager();
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};
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#endif // AP_SERIALMANAGER_ENABLED
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