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On Fri, Jan 28, 2011 at 09:13, John Hind <[hidden email]> wrote:
You can do that too. We have a brainstorm on SimpleMachines/Mizar32/eLuaBook ongoing there already.
It can also be on the Main Wiki (eLua User Labs). It is really up to the community.
I have registered for this, but I cannot work out how to edit the WiKi
- do I need to join the project to get this functionality? If so, how do I do that? Do I need one of the admins to authorise me?
Sure, I'll check it now, tkssss
Best
Dado
Thanks, Dado! I would like to post a paper for comment with my ideas for coroutine based preemptive multitasking. This is not really a suitable forum for collaborative work in detail because different peoples comments do not get merged in the same place and things tend to disappear over the time horizon. WiKi would be a better place - are you OK with using the "user Labs" for this purpose, and if so, maybe we need a separate corner of it for development discussions rather than usage examples?
And you are right about the current system using the debug hooks in standard Lua. Also Robert has pointed out that you can even execute a coroutine yield from debug hook so I do not even actually need a patch to achieve what I'm trying to do. However the debug hooks are peppered with performance warnings in the Lua literature and this is extending them well beyond the original intention of the mechanism. I did not give a very good example of my concern number 1, making it look like the same concern as number 3. The syntax of Lua constrains where you could place a Yield instruction more than a debug hook would - i.e. you could not put a yield in the middle of a mathematical expression in the way that could happen with a debug hook. But in any case if the system requires the programmer to pepper their code with extra synchronisation instructions beyond what is explicitly necessary at the application level, it becomes an unattractive (and error prone!) programming model.
Hello list, On Wed, Jan 26, 2011 at 08:14, John Hind <[hidden email]> wrote:
I must say that having taken a close look at this mechanism and even developed it further to allow C interrupt handlers to force a coroutine yield between any two virtual machine opcodes, I became concerned about the safety of this approach. Incidently, if we can force coroutine yields safely in this way we already have all the mechanisms for an RTOS built-in to Lua in the threads provided for coroutines.
Thank you for diving into this John.
There are really three concerns I have (note that in the following, by "interrupt" I mean the eLua mechanism for "splicing" extra Lua VM opcodes at runtime, not asynchronous interrupts at the processor level):
1. Are we sure that Lua VM operations are always atomic at the opcode level?
I "think" they are, as Lua itself has a debug lib that (I think) uses the same hook mechanism.
For example if we interrupt in the middle of processing some complex mathematical expression and the code in the interrupt operates on some of the same variables?
On the minimalist Lua approach, I think this would be considered as a programmer's fault :) But in this case I must admit it would be a serious flaw.
Our initial INT mechanism allows one to disable (or stop queueing) interrupts during critical program sections but this may be not fair to transfer the responsability to users in all the cases.
2. Do we allow the interrupt code itself to be further interrupted?
If so things could become very complex, if not, we have potentially unbounded latencies.
3. I believe we will need a Lua-level "critical section" operator which allows the Lua programmer to disable interrupts. For example, you might write a Ring Buffer structure using a Lua table and some pointers. You might want to read this buffer in interrupt code and write it in the main code. You cannot allow the interrupt code to run while the main code is in the middle of writing to the buffer (which will involve a table write, some bounds checks and a pointer write).
The initial INT support has instructions to enable/disable Lua handlers.
I feel we need someone who really understands the design of the Lua interpreter and can code-review what we are doing, because it will be virtually impossible to devise an adequate test set to prove this is safe in all cases.
Yep. It would be great to have more help for this and for the dev in general.
Incidentally, I remember being very impressed that the BASIC-STAMP microcontroller had preemptive multitasking integrated with the (interpreted) Basic language, this on an 8-bit chip with only a few hundred *bytes* of RAM. I was able to write a really good serial comms handler for GPS using this, which would have been virtually impossible without. A good RTOS can actually save RAM by avoiding the need for large RAM buffers for incoming data.
Cool. I hope we can learn and add such vodoo to eLua too.
Best
Dado
Hello guys, On Tue, Jan 25, 2011 at 19:10, Lwazi <[hidden email]> wrote:
On Tue, Jan 25, 2011 at 2:27 PM, James Snyder <[hidden email]> wrote:
> On Tue, Jan 25, 2011 at 1:25 PM, James Snyder <[hidden email]> wrote:
>> >> For the microcontroller platforms we run on, an RTOS would generally
>> just add overhead. In our upcoming release we will support basic
>> concurrency in more of an event-driven manner using interrupts which
>> are
>
> Ooops.. hit the send button when I was going to save this and finish
> editing later.
>
> To finish:
> The interrupts support both Lua and C handlers, C handlers execute
> immediately and Lua handlers can interrupt currently running Lua code,
> but they have to wait a few instructions before execution (so latency
> isn't going to be constant or really low).
>
I like this. Is this documented anywhere?
Yes, this is new eLua feature and the initial doc will be release with v0.8
LPC24xx implementatin can be seen on trunk (or branch pre0.8) at src/platform/lpc24xx
What happens to the rest of
the system during this 'wait'?
You mean, the aparent-latency wait until we actually handle the INT in Lua ? The Lua VM is executing during this. I think the hook checks for any queued INT to handle every 2 or 3 VM bytecodes.
I presume the ISR and other interrupts
do not get blocked while the Lua handler waits to run.
And I have to
ask if there is a guarantee that the Lua handler will run
As a preview of the doc to come, I'll paste here some infos about the Interrupt mechanism v0.8 will bring officially to eLua.
Comments and reviews are welcomed.
(and yes, the doc edition/refinement by the community will be easier in the future :)
Best
Dado
eLua interrupt handlersStarting with version 0.8, eLua supports interrupt handlers written in Lua. Once an interrupt handler is set in the Lua code, it will be called each time a supported interrupt is generated. A supported interrupt is any interrupt that is handled by the platform C code (see here for more details).
IMPORTANT: before learning how to use interrupt handlers in Lua, please keep in mind that Lua interrupt handlers don’t work the same way as regular (C) interrupt handlers. As Lua doesn’t have direct suport for interrupts, they have to be emulated. eLua emulates them using a queue that is populated with interrupt data by the C support code. As long as the queue is not empty, a Lua hook is set to run every 2 Lua bytecode instructions. This hook function is the Lua interrupt handler. After all the interrupts are handled and the queue is emptied, the hook is automatically disabled. Consequently:
· When the interrupt queue is full (a situation that might appear when interrupts are added to the queue faster than the Lua code can handle them) subsequent interrupts are ignored (not added to the queue) and an error message is printed on the eLua console device. The interrupt queue size can be configured at build time, as explained here. Even if the interrupt queue is large, one most remember that Lua code is significantly slower than C code, thus not all C interrupts make suitable candidates for Lua interrupt handlers. For example, a serial interrupt that is generated each time a char is received at 115200 baud might be too fast for Lua (this is largely dependent on the platform). On the other hand, a GPIO interrupt-on-change on a GPIO line connected with a matrix keyboard is a very good candidate for a Lua handler. Experimenting with different interrupt types is the best way to find the interrupts that work well with Lua.
· A more subtle point is that the Lua virtual machine must run for the interrupt handlers to work. A simple analogy is that a CPU must have a running clock in order to function properly (and in order to take care of the hardware interrupts). If the clock is stopped, the CPU doesn’t run and the interrupt handlers aren’t called anymore, although the occurence of the interrupt might be recorded inside the CPU. This is the exact same situation with Lua: if the virtual machine doesn’t run, the interrupts are still recorded in the interrupt queue, but the Lua handler won’t be called until the virtual machine runs again. In this case though, the "clock" of the Lua VM is a C function that is executed for every VM instruction. If this function blocks for some reason, the VM instructions are not executed anymore. It’s not hard to make this function block; for example, it blocks everytime the Lua code waits for some user input at the console, or when a TODO tmr.delay is executed, or when TODO uart.read is called with an infinite or very large timeout; in general, any function from a Lua library that doesn’t return immediately (or after a short ammount of time) will block the VM. Care must be taken to avoid such operations as much as possible, otherwise the interrupt support code won’t run properly.
· There is a single interrupt handler per interrupt type in Lua (the same holds true for C interrupt support), as opposed to the many hardware interrupts handlers usually found on the eLua targets. It is however easy to differentiate between different interrupt sources, as will be explained in the next paragraph.
· Lua interrupt handlers are never reentrant. While this might seem restrictive, Lua interrupt handlers work quite well in practical situations. As an added bonus, since they are implemented by C support code, there’s nothing preventing eLua from implementing "custom interrupts" (software generated interrupts that don’t correspond to a hardware interrupt on the CPU), such as serial interrupt on char match (generate an interrupt when a certain char is received on the serial port, for example a newline), timer interrupts for virtual timers, TCP/UDP data packet received interrupt and many others.
Using interrupt handlers in LuaTo enable Lua interrupt handler, define BUILD_LUA_INT_HANDLERS and PLTATFORM_INT_QUEUE_LOG_SIZE in platform_conf.h (see here for details). Setting up interrupt handlers is a straightforward process, most of the required functionality is provided by the CPU module:
· use cpu.set_int_handler( int_id, handler ) to set the interrupt handler function for the specified interrupt (call with nil to disable the interrupt handler for that interrupt). cpu.set_int_handler returns the previous interrupt handler for int_id (or nil is an interrupt handler was not previously set for the interrupt). In most cases, your interrupt handler should call the previous handler to ensure proper interrupt management.
· use cpu.sei( int_id, resnum1, [resnum2], …, [resnumn]) and cpu.cli( int_id, resnum1, [resnum2], …, [resnumn]) to enable/disable specific CPU interrupts that will trigger the interrupt handler. You can also use cpu.sei() and cpu.cli (without parameters) to enable/disable global interrupts on the CPU, although this is not recommended.
The interrupt handler receives the resource ID that specifies the resource that fired the interrupt. It can be a timer ID for a timer overflow interrupt, a GPIO port/pin combination for a GPIO interrupt on pin change, a SPI interface ID for a SPI data available interrupt, and so on.
An example that uses the above concepts and knows how to handle two different interrupt types is presented below: local vtmrid = tmr.VIRT0
local to = 1500000
local prev_tmr, new_prev_tmr, prev_gpio
-- This is the timer interrupt handler
local function tmr_handler( resnum )
print( string.format( "Timer interrupt for id %d", resnum ) ) if prev_tmr then prev_tmr( resnum ) end
end
-- This is the timer interrupt handler that gets set after tmr_handler
local function new_tmr_handler( resnum )
print( string.format( "NEW HANDLER: timer interrupt for id %d", resnum ) )
-- This will chain to the previous interrupt handler (tmr_handler above)
if new_prev_tmr then new_prev_tmr( resnum ) end end
-- This is the GPIO interrupt on change (falling edge) interrupt
local function gpio_negedge_handler( id, resnum )
local port, pin = pio.decode( resnum ) print( string.format( "GPIO NEGEDGE interrupt on port %d, pin %d", port, pin ) )
if prev_gpio then prev_gpio( resnum ) end end
-- Set timer interrupt handler
prev_tmr = cpu.set_int_handler( cpu.INT_TMR_MATCH, tmr_handler )
-- Set GPIO interrupt on change (negative edge) interrupt handler prev_gpio = cpu.set_int_handler( cpu.INT_GPIO_NEGEDGE, gpio_negedge_handler )
-- Setup periodic timer interrupt for virtual timer 0 tmr.set_match_int( vtmrid, to, tmr.INT_CYCLIC )
-- Enable GPIO interrupt on change (negative edge) for pin 0 of port 0
cpu.sei( cpu.INT_GPIO_NEGEDGE, pio.P0_0 ) -- Enable timer match interrupt on virtual timer 0
cpu.sei( cpu.INT_TMR_MATCH, vtmrid )
local tmrid, count = 0, 0
while true do
print "Outside interrupt"
for i = 1, 1000 do tmr.delay( tmrid, 1000 ) end
if uart.getchar( uartid, 0 ) ~= "" then break end
count = count + 1
if count == 5 then
print "Changing timer interrupt handler" new_prev_tmr = cpu.set_int_handler( cpu.INT_TMR_MATCH, new_tmr_handler )
end
end
-- Cleanup
-- Stop the timer from generating periodic interrupts tmr.set_match_int( vtmrid, 0, tmr.INT_CYCLIC );
-- Disable the GPIO interrupt on change (negative edge) interrupt
cpu.cli( cpu.INT_GPIO_NEGEDGE, pio.P0_0 )
-- Disable the timer interrupt on match interrupt
cpu.cli( cpu.INT_TMR_MATCH, vtmrid ) -- Clear the timer interrupt handler
cpu.set_int_handler( cpu.INT_TMR_MATCH, nil );
-- Clear the GPIO interrupt handler
cpu.set_int_handler( cpu.INT_GPIO_NEGEDGE, nil ); This is the most common use case for Lua interrupts, but it’s not the only one. Another way to use interrupts from eLua uses polling instead of interrupt handlers: directly check the interrupt flags and execute a certain action when one of them becomes set. For this, use the cpu.get_int_flag( id, resnum, [clear] ) function from the CPU module, which returns the specified interrupt’s status for resource resnum. clear is an optional boolean parameter, specifying if the interrupt flag should be cleared if it is set. It defaults to true, and in most cases it shouldn’t be changed. Using this feature, it becomes easy to wait for one or more interrupt flag(s) to be set. To use interrupt polling:
· Enable/disable interrupts to be polled with cpu.hw_sei/cpu.hw_cli instead of cpu.sei/cpu.cli. These functions enable/disable interrupts only in hardware, as opposed to cpu.sei/cpu.cli that also set/clear an internal flag which makes the interrupt able to trigger a Lua handler.
· Use cpu.get_int_flag to get the interrupt flag. The int_select function below is a possible implementation of a function that gets an array of interrupts and returns the first one that gets active:
function int_select( int_table ) while true do
for i = 1, #int_table do
local t = int_table[ i ]
if cpu.get_int_flag[ t[ 1 ], t[ 2 ] ) then return t[ 1 ], t[ 2 ]
end
end
end
end
cpu.hw_sei( cpu.INT_GPIO_NEGEDGE, pio.P0_0 )
cpu.hw_sei( cpu.INT_TMR_MATCH, tmr.VIRT0 ) local ints = { { cpu.INT_GPIO_NEGEDGE, pio.P0_0 }, { cpu.INT_TMR_MATCH, tmr.VIRT0 } }
-- int_select will wait for either INT_GPIO_NEGEDGE or INT_TMR_MATCH to become active print( int_select( ints ) ) Note that the two mechanisms (interrupt handlers and polling) can be used in parallel as long as an interrupt is not set with both cpu.hw_sei and cpu.sei, in which case the bevahiour is unpredictable. This is why it makes sense to write the int_select function above in Lua instead of C: it keeps the Lua VM running, so Lua interrupt handlers can be executed.
Interrupt handlers in CThe interrupt subsystem has also a basic C API that can be used to implement portable eLua components and modules. It is enabled by defining BUILD_C_INT_HANDLERS in platform_conf.h. It is defined in inc/elua_int.h and has 2 functions:
elua_int_c_handler elua_int_set_c_handler( elua_int_id inttype, elua_int_c_handler phandler ) Sets the interrupt handler for interrupt inttype to phandler and returns the previous interrupt handler for interrupt inttype.
elua_int_c_handler elua_int_get_c_handler( elua_int_id inttype ) Returns the interrupt handler for interrupt inttype elua_int_c_handler is a function that doesn’t return anything and receives a single parameter of type elua_int_resnum to differentiate between the sources (GPIO pin, UART id, timer id and so on) that can trigger the interrupt inttype. This is similar in functionality with the Lua handlers.
To work with interrupts from C code use these functions defined by the CPU platform interface: int platform_cpu_set_interrupt( elua_int_id id, elua_int_resnum resnum, int status )
Enable (status = PLATFORM_CPU_ENABLE) or disable (status = PLATFORM_CPU_DISABLE) interrupt id for resource resnum. int platform_cpu_get_interrupt( elua_int_id id, elua_int_resnum resnum )
Returns 1 if interrupt id is enabled for resource resnum, 0 otherwise. int platform_cpu_get_interrupt_flag( elua_int_id id, elua_int_resnum resnum, int clear )
Get interrupt flag for interrupt id and resource resnum, clear interrupt flag if it is set and clear is 1, leave it untouched otherwise. Since elua_int_set_c_handler returns the previous handler, it is easy to chain the interrupt handlers from different system components. To ensure correct operation, every C module that needs access to interrupt handlers should use this sequence:
#include "elua_int.h"
static elua_int_c_handler prev_handler;
static void int_handler( elua_int_resnum resnum );
void module_init()
{ int id = SOME_INT_ID;
platform_cpu_set_interrupt( id, some_resnum, PLATFORM_CPU_ENABLE );
prev_handler = elua_int_set_c_handler( id, int_handler ); }
static void int_handler( elua_int_resnum resnum )
{
// Note: prev_handler can also be called at the end of int_handler
if( prev_handler ) prev_handler( resnum );
// (Optional) Check resnum and return if the interrupt was fired by a different resource
if( resnum != some_resnum )
return;
// Actual interrupt handler code comes here
}
-------------------------- Interrupt handlers in CThe interrupt subsystem has also a basic C API that can be used to implement portable eLua components and modules. It is enabled by defining BUILD_C_INT_HANDLERS in platform_conf.h. It is defined in inc/elua_int.h and has 2 functions:
elua_int_c_handler elua_int_set_c_handler( elua_int_id inttype, elua_int_c_handler phandler ) Sets the interrupt handler for interrupt inttype to phandler and returns the previous interrupt handler for interrupt inttype.
elua_int_c_handler elua_int_get_c_handler( elua_int_id inttype ) Returns the interrupt handler for interrupt inttype elua_int_c_handler is a function that doesn’t return anything and receives a single parameter of type elua_int_resnum to differentiate between the sources (GPIO pin, UART id, timer id and so on) that can trigger the interrupt inttype. This is similar in functionality with the Lua handlers.
To work with interrupts from C code use these functions defined by the CPU platform interface: int platform_cpu_set_interrupt( elua_int_id id, elua_int_resnum resnum, int status )
Enable (status = PLATFORM_CPU_ENABLE) or disable (status = PLATFORM_CPU_DISABLE) interrupt id for resource resnum. int platform_cpu_get_interrupt( elua_int_id id, elua_int_resnum resnum )
Returns 1 if interrupt id is enabled for resource resnum, 0 otherwise. int platform_cpu_get_interrupt_flag( elua_int_id id, elua_int_resnum resnum, int clear )
Get interrupt flag for interrupt id and resource resnum, clear interrupt flag if it is set and clear is 1, leave it untouched otherwise. Since elua_int_set_c_handler returns the previous handler, it is easy to chain the interrupt handlers from different system components. To ensure correct operation, every C module that needs access to interrupt handlers should use this sequence:
#include "elua_int.h"
static elua_int_c_handler prev_handler;
static void int_handler( elua_int_resnum resnum );
void module_init()
{
int id = SOME_INT_ID;
platform_cpu_set_interrupt( id, some_resnum, PLATFORM_CPU_ENABLE );
prev_handler = elua_int_set_c_handler( id, int_handler ); }
static void int_handler( elua_int_resnum resnum )
{
// Note: prev_handler can also be called at the end of int_handler
if( prev_handler ) prev_handler( resnum );
// (Optional) Check resnum and return if the interrupt was fired by a different resource
if( resnum != some_resnum )
return;
// Actual interrupt handler code comes here
-------------------------------
eLua interrupt support implementation
To add interrupt support for an eLua platform follow the steps below: 1. Define your interrupts
Your interrupt sources should be defined in platform_conf.h with macros (don’t use C enumerations). The first one should have the value ELUA_INT_FIRST_ID (defined in inc/elua_int.h), the next one ELUA_INT_FIRST_ID + 1 and so on. Also, there should be a definition for a macro called INT_ELUA_LAST that must be equal to the largest interrupt source value. An example is given below:
#define INT_GPIO_POSEDGE ELUA_INT_FIRST_ID
#define INT_GPIO_NEGEDGE ( ELUA_INT_FIRST_ID + 1 )
#define INT_TMR_MATCH ( ELUA_INT_FIRST_ID + 2 )
#define INT_ELUA_LAST INT_TMR_MATCH Note that the interrupt names aren’t random, they should follow a well defined pattern. Check here for details.
2. Add them to the list of constants from the CPU module Check the documentation of the CPU module for details.
3. Implement your support functions The actual implementation of the interrupt handlers is of course platform specific, so it can stay in the platform.c file. However, since interrupt handlers might require quite a bit of code, it is recommended to implement them in a separate file. The eLua convention is to use the platform_int.c file for this purpose. For each interrupt defined in step 1 above, 3 functions need to be implemented:
o A function that enables or disables the interrupt and returns its previous state (enabled or disabled).
o A function that checks if the interrupt is enabled or disabled.
o A function that checks the interrupt pending flag and optionally clears it.
These functions are defined in inc/elua_int.h, which also defines an "int descriptor" type:
// Interrupt functions and descriptor
typedef int ( *elua_int_p_set_status )( elua_int_resnum resnum, int state );
typedef int ( *elua_int_p_get_status )( elua_int_resnum resnum );
typedef int ( *elua_int_p_get_flag )( elua_int_resnum resnum, int clear );
typedef struct
{
elua_int_p_set_status int_set_status;
elua_int_p_get_status int_get_status; elua_int_p_get_flag int_get_flag;
} elua_int_descriptor; platform_int.c must have an array of elua_int_descriptor types named elua_int_table (remember to make it const to save RAM). The elements of this array must be in the same order as the interrupt sources. The interrupt table for the example from step 1 above might look like this:
const elua_int_descriptor elua_int_table[ INT_ELUA_LAST ] =
{
{ int_gpio_posedge_set_status, int_gpio_posedge_get_status, int_gpio_posedge_get_flag },
{ int_gpio_negedge_set_status, int_gpio_negedge_get_status, int_gpio_negedge_get_flag },
{ int_tmr_match_set_status, int_tmr_match_get_status, int_tmr_match_get_flag }
}; 4. Implement the init function platform_int.c should implement a function named platform_int_init (defined in inc/platform.h) that must initialize all the required hardware and the internal data structures of the interrupt subsystem. This function should be called from platform_init.
5. Implement the interrupt handlers There are two simple requirements for the interrupt handlers: clear the hardware interrupt flag (if needed) and call cmn_int_handler (src/common.c) to connect the handler with the eLua interrupt code. An example is given below:
// EINT3 (INT_GPIO) interrupt handler
static void int_handler_eint3()
{
elua_int_id id = ELUA_INT_INVALID_INTERRUPT;
pio_code resnum = 0; int pidx, pin;
EXTINT |= 1 << EINT3_BIT; // clear interrupt
// Look for interrupt source
// In can only be GPIO0/GPIO2, as the EXT interrupts are not (yet) used
pidx = ( IO_INT_STAT & 1 ) ? 0 : 1;
if( *posedge_status[ pidx ] )
{
id = INT_GPIO_POSEDGE;
pin = intlog2( *posedge_status[ pidx ] );
}
else
{
id = INT_GPIO_NEGEDGE; pin = intlog2( *negedge_status[ pidx ] );
}
resnum = PLATFORM_IO_ENCODE( pidx * 2, pin, PLATFORM_IO_ENC_PIN ); *intclr_regs[ pidx ] = 1 << pin;
// Run the interrupt through eLua
cmn_int_handler( id, resnum );
VICVectAddr = 0; // ACK interrupt } That’s it. If you followed all these steps correctly, your platform should be fully able to support interrupt handlers (as described here). Check the lpc24xx platform implementation (src/platform/lpc24xx) for a full example.
Interrupt list and naming conventionsTo ensure maximum portability and correct system behaviour, interrupt names (as defined in platform_conf.h) must follow a well-defined naming pattern. Please note that this isn’t merely a convention, many times the names must be properly chosen for the system to work properly. For example, the timer interrupt match will never happen on virtual timers if the timer interrupt match name isn’t INT_TMR_MATCH (see here for more details on how to use the timer match interrupt).
The naming rule is that the interrupt name must have the format INT_<peripheral>_<type>_, where: · peripheral is a symbolic name of the peripheral to which the interrupt applies.
· type is a symbolic name of the interrupt type. This restriction applies only to interrupt names. The value associated with the interrupt name (as defined in platform_conf.h) can vary from platform to platform, as long as it follows the rules outlined in step 1 above.
The table below lists all the valid interrupt names currently known to eLua. If you add a new interrupt don’t forget to update the table below.
Name |
Meaning | INT_GPIO_POSEDGE | Interrupt on a positive edge on a GPIO pin |
INT_GPIO_NEGEDGE | Interrupt on a negative edge on a GPIO pin | INT_TMR_MATCH
| Interrupt on timer match | INT_UART_RX | Interrupt on UART character received
|
}
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