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px4-firmware/apps/examples/composite/composite_main.c

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/****************************************************************************
* examples/usbstorage/composite_main.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/composite.h>
#include <nuttx/usb/cdcacm.h>
#include <nuttx/usb/usbmsc.h>
#include <nuttx/usb/usbdev_trace.h>
#include "composite.h"
/****************************************************************************
* Definitions
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/* All global variables used by this example are packed into a structure in
* order to avoid name collisions.
*/
struct composite_state_s g_composite;
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: show_memory_usage
****************************************************************************/
#ifdef CONFIG_EXAMPLES_COMPOSITE_DEBUGMM
static void show_memory_usage(struct mallinfo *mmbefore,
struct mallinfo *mmafter)
{
int diff;
message(" total used free largest\n");
message("Before:%11d%11d%11d%11d\n",
mmbefore->arena, mmbefore->uordblks, mmbefore->fordblks, mmbefore->mxordblk);
message("After: %11d%11d%11d%11d\n",
mmafter->arena, mmafter->uordblks, mmafter->fordblks, mmafter->mxordblk);
diff = mmbefore->uordblks - mmafter->uordblks;
if (diff < 0)
{
message("Change:%11d allocated\n", -diff);
}
else if (diff > 0)
{
message("Change:%11d freed\n", diff);
}
}
#else
# define show_memory_usage(mm1, mm2)
#endif
/****************************************************************************
* Name: check_test_memory_usage
****************************************************************************/
#ifdef CONFIG_EXAMPLES_COMPOSITE_DEBUGMM
static void check_test_memory_usage(FAR const char *msg)
{
/* Get the current memory usage */
#ifdef CONFIG_CAN_PASS_STRUCTS
g_composite.mmcurrent = mallinfo();
#else
(void)mallinfo(&g_composite.mmcurrent);
#endif
/* Show the change from the previous time */
message("\%s:\n", msg);
show_memory_usage(&g_composite.mmprevious, &g_composite.mmcurrent);
/* Set up for the next test */
#ifdef CONFIG_CAN_PASS_STRUCTS
g_composite.mmprevious = g_composite.mmcurrent;
#else
memcpy(&g_composite.mmprevious, &g_composite.mmcurrent, sizeof(struct mallinfo));
#endif
}
#else
# define check_test_memory_usage(msg)
#endif
/****************************************************************************
* Name: check_test_memory_usage
****************************************************************************/
#ifdef CONFIG_EXAMPLES_COMPOSITE_DEBUGMM
static void final_memory_usage(FAR const char *msg)
{
/* Get the current memory usage */
#ifdef CONFIG_CAN_PASS_STRUCTS
g_composite.mmcurrent = mallinfo();
#else
(void)mallinfo(&g_composite.mmcurrent);
#endif
/* Show the change from the previous time */
message("\n%s:\n", msg);
show_memory_usage(&g_composite.mmstart, &g_composite.mmcurrent);
}
#else
# define final_memory_usage(msg)
#endif
/****************************************************************************
* Name: composite_enumerate
****************************************************************************/
#ifdef CONFIG_USBDEV_TRACE
static int composite_enumerate(struct usbtrace_s *trace, void *arg)
{
switch (trace->event)
{
case TRACE_DEVINIT:
message("USB controller initialization: %04x\n", trace->value);
break;
case TRACE_DEVUNINIT:
message("USB controller un-initialization: %04x\n", trace->value);
break;
case TRACE_DEVREGISTER:
message("usbdev_register(): %04x\n", trace->value);
break;
case TRACE_DEVUNREGISTER:
message("usbdev_unregister(): %04x\n", trace->value);
break;
case TRACE_EPCONFIGURE:
message("Endpoint configure(): %04x\n", trace->value);
break;
case TRACE_EPDISABLE:
message("Endpoint disable(): %04x\n", trace->value);
break;
case TRACE_EPALLOCREQ:
message("Endpoint allocreq(): %04x\n", trace->value);
break;
case TRACE_EPFREEREQ:
message("Endpoint freereq(): %04x\n", trace->value);
break;
case TRACE_EPALLOCBUFFER:
message("Endpoint allocbuffer(): %04x\n", trace->value);
break;
case TRACE_EPFREEBUFFER:
message("Endpoint freebuffer(): %04x\n", trace->value);
break;
case TRACE_EPSUBMIT:
message("Endpoint submit(): %04x\n", trace->value);
break;
case TRACE_EPCANCEL:
message("Endpoint cancel(): %04x\n", trace->value);
break;
case TRACE_EPSTALL:
message("Endpoint stall(true): %04x\n", trace->value);
break;
case TRACE_EPRESUME:
message("Endpoint stall(false): %04x\n", trace->value);
break;
case TRACE_DEVALLOCEP:
message("Device allocep(): %04x\n", trace->value);
break;
case TRACE_DEVFREEEP:
message("Device freeep(): %04x\n", trace->value);
break;
case TRACE_DEVGETFRAME:
message("Device getframe(): %04x\n", trace->value);
break;
case TRACE_DEVWAKEUP:
message("Device wakeup(): %04x\n", trace->value);
break;
case TRACE_DEVSELFPOWERED:
message("Device selfpowered(): %04x\n", trace->value);
break;
case TRACE_DEVPULLUP:
message("Device pullup(): %04x\n", trace->value);
break;
case TRACE_CLASSBIND:
message("Class bind(): %04x\n", trace->value);
break;
case TRACE_CLASSUNBIND:
message("Class unbind(): %04x\n", trace->value);
break;
case TRACE_CLASSDISCONNECT:
message("Class disconnect(): %04x\n", trace->value);
break;
case TRACE_CLASSSETUP:
message("Class setup(): %04x\n", trace->value);
break;
case TRACE_CLASSSUSPEND:
message("Class suspend(): %04x\n", trace->value);
break;
case TRACE_CLASSRESUME:
message("Class resume(): %04x\n", trace->value);
break;
case TRACE_CLASSRDCOMPLETE:
message("Class RD request complete: %04x\n", trace->value);
break;
case TRACE_CLASSWRCOMPLETE:
message("Class WR request complete: %04x\n", trace->value);
break;
default:
switch (TRACE_ID(trace->event))
{
case TRACE_CLASSAPI_ID: /* Other class driver system API calls */
message("Class API call %d: %04x\n", TRACE_DATA(trace->event), trace->value);
break;
case TRACE_CLASSSTATE_ID: /* Track class driver state changes */
message("Class state %d: %04x\n", TRACE_DATA(trace->event), trace->value);
break;
case TRACE_INTENTRY_ID: /* Interrupt handler entry */
message("Interrrupt %d entry: %04x\n", TRACE_DATA(trace->event), trace->value);
break;
case TRACE_INTDECODE_ID: /* Decoded interrupt trace->event */
message("Interrrupt decode %d: %04x\n", TRACE_DATA(trace->event), trace->value);
break;
case TRACE_INTEXIT_ID: /* Interrupt handler exit */
message("Interrrupt %d exit: %04x\n", TRACE_DATA(trace->event), trace->value);
break;
case TRACE_OUTREQQUEUED_ID: /* Request queued for OUT endpoint */
message("EP%d OUT request queued: %04x\n", TRACE_DATA(trace->event), trace->value);
break;
case TRACE_INREQQUEUED_ID: /* Request queued for IN endpoint */
message("EP%d IN request queued: %04x\n", TRACE_DATA(trace->event), trace->value);
break;
case TRACE_READ_ID: /* Read (OUT) action */
message("EP%d OUT read: %04x\n", TRACE_DATA(trace->event), trace->value);
break;
case TRACE_WRITE_ID: /* Write (IN) action */
message("EP%d IN write: %04x\n", TRACE_DATA(trace->event), trace->value);
break;
case TRACE_COMPLETE_ID: /* Request completed */
message("EP%d request complete: %04x\n", TRACE_DATA(trace->event), trace->value);
break;
case TRACE_DEVERROR_ID: /* USB controller driver error event */
message("Controller error: %02x:%04x\n", TRACE_DATA(trace->event), trace->value);
break;
case TRACE_CLSERROR_ID: /* USB class driver error event */
message("Class error: %02x:%04x\n", TRACE_DATA(trace->event), trace->value);
break;
default:
message("Unrecognized event: %02x:%02x:%04x\n",
TRACE_ID(trace->event) >> 8, TRACE_DATA(trace->event), trace->value);
break;
}
}
return OK;
}
#endif
/****************************************************************************
* Name: dumptrace
*
* Description:
* Dump collected trace data.
*
****************************************************************************/
#ifdef CONFIG_USBDEV_TRACE
static int dumptrace(void)
{
int ret;
ret = usbtrace_enumerate(composite_enumerate, NULL);
if (ret < 0)
{
message("dumptrace: usbtrace_enumerate failed: %d\n", -ret);
}
return ret;
}
#else
# define dumptrace() (OK)
#endif
/****************************************************************************
* Name: open_serial
****************************************************************************/
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_DISABLE_SIGNALS)
static int open_serial(void)
{
int errcode;
#ifdef CONFIG_USBDEV_TRACE
int ret;
#endif
/* Open the USB serial device for writing (blocking) */
do
{
message("open_serial: Opening USB serial driver\n");
g_composite.outfd = open(CONFIG_EXAMPLES_COMPOSITE_SERDEV, O_WRONLY);
if (g_composite.outfd < 0)
{
errcode = errno;
message("open_serial: ERROR: Failed to open %s for writing: %d\n",
CONFIG_EXAMPLES_COMPOSITE_SERDEV, errcode);
/* ENOTCONN means that the USB device is not yet connected */
if (errcode == ENOTCONN)
{
message("open_serial: Not connected. Wait and try again.\n");
sleep(5);
}
else
{
/* Give up on other errors */
message("open_serial: Aborting\n");
return -errcode;
}
}
/* If USB tracing is enabled, then dump all collected trace data to
* stdout.
*/
#ifdef CONFIG_USBDEV_TRACE
ret = dumptrace();
if (ret < 0)
{
return ret;
}
#endif
}
while (g_composite.outfd < 0);
/* Open the USB serial device for reading (non-blocking) */
g_composite.infd = open(CONFIG_EXAMPLES_COMPOSITE_SERDEV, O_RDONLY|O_NONBLOCK);
if (g_composite.infd < 0)
{
errcode = errno;
message("open_serial: ERROR: Failed to open%s for reading: %d\n",
CONFIG_EXAMPLES_COMPOSITE_SERDEV, errcode);
close(g_composite.outfd);
return -errcode;
}
message("open_serial: Successfully opened the serial driver\n");
return OK;
}
#endif
/****************************************************************************
* Name: echo_serial
****************************************************************************/
static int echo_serial(void)
{
ssize_t bytesread;
ssize_t byteswritten;
int errcode;
/* Read data */
bytesread = read(g_composite.infd, g_composite.serbuf, CONFIG_EXAMPLES_COMPOSITE_BUFSIZE);
if (bytesread < 0)
{
errcode = errno;
if (errcode != EAGAIN)
{
message("echo_serial: ERROR: read failed: %d\n", errcode);
return -errcode;
}
return OK;
}
/* Echo data */
byteswritten = write(g_composite.outfd, g_composite.serbuf, bytesread);
if (byteswritten < 0)
{
errcode = errno;
message("echo_serial: ERROR: write failed: %d\n", errcode);
return -errcode;
}
else if (byteswritten != bytesread)
{
message("echo_serial: ERROR: read size: %d write size: %d\n",
bytesread, byteswritten);
}
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_mscclassobject
*
* Description:
* If the mass storage class driver is part of composite device, then
* its instantiation and configuration is a multi-step, board-specific,
* process (See comments for usbmsc_configure below). In this case,
* board-specific logic must provide board_mscclassobject().
*
* board_mscclassobject() is called from the composite driver. It must
* encapsulate the instantiation and configuration of the mass storage
* class and the return the mass storage device's class driver instance
* to the composite dirver.
*
* Input Parameters:
* classdev - The location to return the mass storage class' device
* instance.
*
* Returned Value:
* 0 on success; a negated errno on failure
*
****************************************************************************/
int board_mscclassobject(FAR struct usbdevclass_driver_s **classdev)
{
int ret;
DEBUGASSERT(g_composite.mschandle == NULL);
/* Initialize USB trace output IDs */
usbtrace_enable(TRACE_BITSET);
check_test_memory_usage("After usbtrace_enable()");
/* Configure the mass storage device */
message("board_mscclassobject: Configuring with NLUNS=%d\n", CONFIG_EXAMPLES_COMPOSITE_NLUNS);
ret = usbmsc_configure(CONFIG_EXAMPLES_COMPOSITE_NLUNS, &g_composite.mschandle);
if (ret < 0)
{
message("board_mscclassobject: usbmsc_configure failed: %d\n", -ret);
return ret;
}
message("board_mscclassobject: MSC handle=%p\n", g_composite.mschandle);
check_test_memory_usage("After usbmsc_configure()");
/* Bind the LUN(s) */
message("board_mscclassobject: Bind LUN=0 to %s\n", CONFIG_EXAMPLES_COMPOSITE_DEVPATH1);
ret = usbmsc_bindlun(g_composite.mschandle, CONFIG_EXAMPLES_COMPOSITE_DEVPATH1, 0, 0, 0, false);
if (ret < 0)
{
message("board_mscclassobject: usbmsc_bindlun failed for LUN 1 using %s: %d\n",
CONFIG_EXAMPLES_COMPOSITE_DEVPATH1, -ret);
usbmsc_uninitialize(g_composite.mschandle);
return ret;
}
check_test_memory_usage("After usbmsc_bindlun()");
#if CONFIG_EXAMPLES_COMPOSITE_NLUNS > 1
message("board_mscclassobject: Bind LUN=1 to %s\n", CONFIG_EXAMPLES_COMPOSITE_DEVPATH2);
ret = usbmsc_bindlun(g_composite.mschandle, CONFIG_EXAMPLES_COMPOSITE_DEVPATH2, 1, 0, 0, false);
if (ret < 0)
{
message("board_mscclassobject: usbmsc_bindlun failed for LUN 2 using %s: %d\n",
CONFIG_EXAMPLES_COMPOSITE_DEVPATH2, -ret);
usbmsc_uninitialize(g_composite.mschandle);
return ret;
}
check_test_memory_usage("After usbmsc_bindlun() #2");
#if CONFIG_EXAMPLES_COMPOSITE_NLUNS > 2
message("board_mscclassobject: Bind LUN=2 to %s\n", CONFIG_EXAMPLES_COMPOSITE_DEVPATH3);
ret = usbmsc_bindlun(g_composite.mschandle, CONFIG_EXAMPLES_COMPOSITE_DEVPATH3, 2, 0, 0, false);
if (ret < 0)
{
message("board_mscclassobject: usbmsc_bindlun failed for LUN 3 using %s: %d\n",
CONFIG_EXAMPLES_COMPOSITE_DEVPATH3, -ret);
usbmsc_uninitialize(g_composite.mschandle);
return ret;
}
check_test_memory_usage("After usbmsc_bindlun() #3");
#endif
#endif
/* Get the mass storage device's class object */
ret = usbmsc_classobject(g_composite.mschandle, classdev);
if (ret < 0)
{
message("board_mscclassobject: usbmsc_classobject failed: %d\n", -ret);
usbmsc_uninitialize(g_composite.mschandle);
}
check_test_memory_usage("After usbmsc_classobject()");
return ret;
}
/****************************************************************************
* Name: board_mscuninitialize
*
* Description:
* Un-initialize the USB storage class driver. This is just an application-
* specific wrapper aboutn usbmsc_unitialize() that is called form the composite
* device logic.
*
* Input Parameters:
* classdev - The class driver instrance previously give to the composite
* driver by board_mscclassobject().
*
* Returned Value:
* None
*
****************************************************************************/
void board_mscuninitialize(FAR struct usbdevclass_driver_s *classdev)
{
DEBUGASSERT(g_composite.mschandle != NULL &&
g_composite.mschandle == (FAR void *)classdev);
usbmsc_uninitialize(g_composite.mschandle);
}
/****************************************************************************
* Name: board_cdcclassobject
*
* Description:
* If the CDC serial class driver is part of composite device, then
* board-specific logic must provide board_cdcclassobject(). In the simplest
* case, board_cdcclassobject() is simply a wrapper around cdcacm_classobject()
* that provides the correct device minor number.
*
* Input Parameters:
* classdev - The location to return the CDC serial class' device
* instance.
*
* Returned Value:
* 0 on success; a negated errno on failure
*
****************************************************************************/
int board_cdcclassobject(FAR struct usbdevclass_driver_s **classdev)
{
int ret;
/* Initialize the USB serial driver */
message("board_cdcclassobject: Initializing USB serial driver\n");
ret = cdcacm_classobject(CONFIG_EXAMPLES_COMPOSITE_TTYUSB, classdev);
if (ret < 0)
{
message("board_cdcclassobject: ERROR: Failed to create the USB serial device: %d\n", -ret);
}
return ret;
}
/****************************************************************************
* Name: board_cdcuninitialize
*
* Description:
* Un-initialize the USB serial class driver. This is just an application-
* specific wrapper aboutn cdcadm_unitialize() that is called form the composite
* device logic.
*
* Input Parameters:
* classdev - The class driver instrance previously give to the composite
* driver by board_cdcclassobject().
*
* Returned Value:
* None
*
****************************************************************************/
void board_cdcuninitialize(FAR struct usbdevclass_driver_s *classdev)
{
DEBUGASSERT(classdev != NULL);
cdcacm_uninitialize(classdev);
}
/****************************************************************************
* conn_main
*
* Description:
* This is the main program that configures the USB mass storage device
* and exports the LUN(s). If CONFIG_NSH_BUILTIN_APPS is defined
* in the NuttX configuration, then this program can be executed by
* entering the "msconn" command at the NSH console.
*
****************************************************************************/
int conn_main(int argc, char *argv[])
{
int ret;
/* If this program is implemented as the NSH 'msconn' command, then we need to
* do a little error checking to assure that we are not being called re-entrantly.
*/
#ifdef CONFIG_NSH_BUILTIN_APPS
/* Check if there is a non-NULL USB mass storage device handle (meaning that the
* USB mass storage device is already configured).
*/
if (g_composite.cmphandle)
{
message("conn_main: ERROR: Already connected\n");
return 1;
}
#endif
#ifdef CONFIG_EXAMPLES_COMPOSITE_DEBUGMM
# ifdef CONFIG_CAN_PASS_STRUCTS
g_composite.mmstart = mallinfo();
g_composite.mmprevious = g_composite.mmstart;
# else
(void)mallinfo(&g_composite.mmstart);
memcpy(&g_composite.mmprevious, &g_composite.mmstart, sizeof(struct mallinfo));
# endif
#endif
/* Perform architecture-specific initialization */
message("conn_main: Performing architecture-specific intialization\n");
ret = composite_archinitialize();
if (ret < 0)
{
message("conn_main: composite_archinitialize failed: %d\n", -ret);
return 1;
}
check_test_memory_usage("After composite_archinitialize()");
/* Initialize the USB composite device device */
g_composite.cmphandle = composite_initialize();
if (!g_composite.cmphandle)
{
message("conn_main: composite_initialize failed\n");
return 1;
}
check_test_memory_usage("After composite_initialize()");
#if CONFIG_USBDEV_TRACE && CONFIG_USBDEV_TRACE_INITIALIDSET != 0
/* If USB tracing is enabled and tracing of initial USB events is specified,
* then dump all collected trace data to stdout
*/
sleep(5);
ret = dumptrace();
if (ret < 0)
{
goto errout;
}
#endif
/* It this program was configued as an NSH command, then just exit now.
* Also, if signals are not enabled (and, hence, sleep() is not supported.
* then we have not real option but to exit now.
*/
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_DISABLE_SIGNALS)
/* Otherwise, this thread will hang around and monitor the USB activity */
/* Open the serial driver */
ret = open_serial();
if (ret < 0)
{
goto errout;
}
/* Now looping */
for (;;)
{
/* Sleep for a bit */
msgflush();
sleep(5);
/* Echo any serial data */
ret = echo_serial();
if (ret < 0)
{
goto errout;
}
/* Dump trace data */
# ifdef CONFIG_USBDEV_TRACE
message("\n" "conn_main: USB TRACE DATA:\n");
ret = dumptrace();
if (ret < 0)
{
goto errout;
}
check_test_memory_usage("After usbtrace_enumerate()");
# else
message("conn_main: Still alive\n");
# endif
}
#else
message("conn_main: Connected\n");
check_test_memory_usage("After composite device connection");
#endif
/* Dump debug memory usage */
message("conn_main: Exiting\n");
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_DISABLE_SIGNALS)
close(g_composite.infd);
close(g_composite.outfd);
#endif
#ifdef CONFIG_NSH_BUILTIN_APPS
#endif
final_memory_usage("Final memory usage");
return 0;
errout:
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_DISABLE_SIGNALS)
close(g_composite.infd);
close(g_composite.outfd);
#endif
composite_uninitialize(g_composite.cmphandle);
final_memory_usage("Final memory usage");
return 1;
}
/****************************************************************************
* disconn_main
*
* Description:
* This is a program entry point that will disconnet the USB mass storage
* device. This program is only available if CONFIG_NSH_BUILTIN_APPS
* is defined in the NuttX configuration. In that case, this program can
* be executed by entering the "msdis" command at the NSH console.
*
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
int disconn_main(int argc, char *argv[])
{
/* First check if the USB mass storage device is already connected */
if (!g_composite.cmphandle)
{
message("disconn_main: ERROR: Not connected\n");
return 1;
}
check_test_memory_usage("Since MS connection");
/* Then disconnect the device and uninitialize the USB mass storage driver */
composite_uninitialize(g_composite.cmphandle);
g_composite.mshandle = NULL;
message("disconn_main: Disconnected\n");
check_test_memory_usage("After composite_uninitialize()");
/* Dump debug memory usage */
final_memory_usage("Final memory usage");
return 0;
}
#endif
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