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Merged mainline

QGC4.4
pixhawk 14 years ago
parent
7d9a7d848d 2171748b1c
commit
5aab6ca25f
9 changed files with 315 additions and 233 deletions
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  1. 2
      autobuild.sh
  2. 8
      src/comm/MAVLinkProtocol.cc
  3. 2
      src/comm/MAVLinkSimulationLink.cc
  4. 15
      src/comm/MAVLinkSimulationMAV.cc
  5. 62
      src/comm/MAVLinkXMLParser.cc
  6. 16
      src/uas/UAS.cc
  7. 5
      src/ui/QGCParamWidget.cc
  8. 22
      src/ui/WaypointView.cc
  9. 34
      thirdParty/qserialport/include/QtSerialPort/qportsettings.h

2
autobuild.sh
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@ -28,7 +28,7 @@ do
elif [ $OPT = "grab_debian_dependencies" ] &> /dev/null elif [ $OPT = "grab_debian_dependencies" ] &> /dev/null
then then
echo you chose to install debian dependencies echo you chose to install debian dependencies
sudo apt-get install cmake libqt4-dev flite1-dev libphonon-dev libopenscenegraph-dev sudo apt-get install cmake libqt4-dev flite1-dev libphonon-dev libopenscenegraph-dev libsdl1.2-dev
exit 0 exit 0
elif [ $OPT = "remake" ] &> /dev/null elif [ $OPT = "remake" ] &> /dev/null

8
src/comm/MAVLinkProtocol.cc
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@ -182,6 +182,14 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b.at(position)), &message, &status); unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b.at(position)), &message, &status);
if (decodeState == 1) { if (decodeState == 1) {
#ifdef MAVLINK_MESSAGE_LENGTHS
const uint8_t message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
if (message.msgid >= sizeof(message_lengths) ||
message.len != message_lengths[message.msgid]) {
qDebug() << "MAVLink message " << message.msgid << " length incorrect (was " << message.len << " expected " << message_lengths[message.msgid] << ")";
continue;
}
#endif
// Log data // Log data
if (m_loggingEnabled && m_logfile) { if (m_loggingEnabled && m_logfile) {
const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64); const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);

2
src/comm/MAVLinkSimulationLink.cc
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@ -934,7 +934,7 @@ bool MAVLinkSimulationLink::connect()
emit connected(true); emit connected(true);
start(LowPriority); start(LowPriority);
MAVLinkSimulationMAV* mav1 = new MAVLinkSimulationMAV(this, 1, 47.376, 8.548); MAVLinkSimulationMAV* mav1 = new MAVLinkSimulationMAV(this, 1, 37.480391, -122.282883);
Q_UNUSED(mav1); Q_UNUSED(mav1);
// MAVLinkSimulationMAV* mav2 = new MAVLinkSimulationMAV(this, 2, 47.375, 8.548, 1); // MAVLinkSimulationMAV* mav2 = new MAVLinkSimulationMAV(this, 2, 47.375, 8.548, 1);
// Q_UNUSED(mav2); // Q_UNUSED(mav2);

15
src/comm/MAVLinkSimulationMAV.cc
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@ -23,12 +23,19 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy
yaw(0.0), yaw(0.0),
globalNavigation(true), globalNavigation(true),
firstWP(false), firstWP(false),
previousSPX(8.548056), // previousSPX(8.548056),
previousSPY(47.376389), // previousSPY(47.376389),
// previousSPZ(550),
// previousSPYaw(0.0),
// nextSPX(8.548056),
// nextSPY(47.376389),
// nextSPZ(550),
previousSPX(37.480391),
previousSPY(122.282883),
previousSPZ(550), previousSPZ(550),
previousSPYaw(0.0), previousSPYaw(0.0),
nextSPX(8.548056), nextSPX(37.480391),
nextSPY(47.376389), nextSPY(122.282883),
nextSPZ(550), nextSPZ(550),
nextSPYaw(0.0), nextSPYaw(0.0),
sys_mode(MAV_MODE_READY), sys_mode(MAV_MODE_READY),

62
src/comm/MAVLinkXMLParser.cc
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@ -90,6 +90,16 @@ bool MAVLinkXMLParser::generate()
int mavlinkVersion = 0; int mavlinkVersion = 0;
// we need to gather the message lengths across multiple includes,
// which we can do via detecting recursion
static unsigned message_lengths[256];
static int highest_message_id;
static int recursion_level;
if (recursion_level == 0) {
highest_message_id = 0;
memset(message_lengths, 0, sizeof(message_lengths));
}
// Start main header // Start main header
@ -138,7 +148,9 @@ bool MAVLinkXMLParser::generate()
MAVLinkXMLParser includeParser(incFilePath, topLevelOutputDirName, this); MAVLinkXMLParser includeParser(incFilePath, topLevelOutputDirName, this);
connect(&includeParser, SIGNAL(parseState(QString)), this, SIGNAL(parseState(QString))); connect(&includeParser, SIGNAL(parseState(QString)), this, SIGNAL(parseState(QString)));
// Generate and write // Generate and write
recursion_level++;
includeParser.generate(); includeParser.generate();
recursion_level--;
mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n"; mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n";
@ -340,7 +352,7 @@ bool MAVLinkXMLParser::generate()
QString decodeLines; QString decodeLines;
QString sendArguments; QString sendArguments;
QString commentLines; QString commentLines;
unsigned message_length = 0;
// Get the message fields // Get the message fields
@ -437,6 +449,40 @@ bool MAVLinkXMLParser::generate()
} }
// message length calculation
unsigned element_multiplier = 1;
unsigned element_length = 0;
const struct {
const char *prefix;
unsigned length;
} length_map[] = {
{ "array", 1 },
{ "char", 1 },
{ "uint8", 1 },
{ "int8", 1 },
{ "uint16", 2 },
{ "int16", 2 },
{ "uint32", 4 },
{ "int32", 4 },
{ "uint64", 8 },
{ "int64", 8 },
{ "float", 4 },
{ "double", 8 },
};
if (fieldType.contains("[")) {
element_multiplier = fieldType.split("[").at(1).split("]").first().toInt();
}
for (unsigned i=0; i<sizeof(length_map)/sizeof(length_map[0]); i++) {
if (fieldType.startsWith(length_map[i].prefix)) {
element_length = length_map[i].length * element_multiplier;
break;
}
}
if (element_length == 0) {
emit parseState(tr("<font color=\"red\">ERROR: Unable to calculate length for %2 near line %1\nAbort.</font>").arg(QString::number(e.lineNumber()), fieldType));
}
message_length += element_length;
// //
// QString unpackingCode; // QString unpackingCode;
@ -489,6 +535,11 @@ bool MAVLinkXMLParser::generate()
f = f.nextSibling(); f = f.nextSibling();
} }
if (messageId > highest_message_id) {
highest_message_id = messageId;
}
message_lengths[messageId] = message_length;
cStruct = cStruct.arg(cStructName, cStructLines); cStruct = cStruct.arg(cStructName, cStructLines);
lcmStructDefs.append("\n").append(cStruct).append("\n"); lcmStructDefs.append("\n").append(cStruct).append("\n");
pack = pack.arg(messageName, packParameters, messageName.toUpper(), packLines); pack = pack.arg(messageName, packParameters, messageName.toUpper(), packLines);
@ -540,6 +591,15 @@ bool MAVLinkXMLParser::generate()
mainHeader += includeLine.arg(messagesDirName + "/" + cFiles.at(i).first); mainHeader += includeLine.arg(messagesDirName + "/" + cFiles.at(i).first);
} }
mainHeader += "\n\n// MESSAGE LENGTHS\n\n";
mainHeader += "#undef MAVLINK_MESSAGE_LENGTHS\n";
mainHeader += "#define MAVLINK_MESSAGE_LENGTHS { ";
for (int i=0; i<highest_message_id; i++) {
mainHeader += QString::number(message_lengths[i]);
if (i < highest_message_id-1) mainHeader += ", ";
}
mainHeader += " }\n\n";
mainHeader += "#ifdef __cplusplus\n}\n#endif\n"; mainHeader += "#ifdef __cplusplus\n}\n#endif\n";
mainHeader += "#endif"; mainHeader += "#endif";
// Newline to make compiler happy // Newline to make compiler happy

16
src/uas/UAS.cc
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@ -535,7 +535,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{ {
mavlink_global_position_int_t pos; mavlink_global_position_int_t pos;
mavlink_msg_global_position_int_decode(&message, &pos); mavlink_msg_global_position_int_decode(&message, &pos);
quint64 time = QGC::groundTimeUsecs()/1000; quint64 time = getUnixTime();
latitude = pos.lat/(double)1E7; latitude = pos.lat/(double)1E7;
longitude = pos.lon/(double)1E7; longitude = pos.lon/(double)1E7;
altitude = pos.alt/1000.0; altitude = pos.alt/1000.0;
@ -562,7 +562,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_GLOBAL_POSITION: { case MAVLINK_MSG_ID_GLOBAL_POSITION: {
mavlink_global_position_t pos; mavlink_global_position_t pos;
mavlink_msg_global_position_decode(&message, &pos); mavlink_msg_global_position_decode(&message, &pos);
quint64 time = QGC::groundTimeUsecs()/1000; quint64 time = getUnixTime();
latitude = pos.lat; latitude = pos.lat;
longitude = pos.lon; longitude = pos.lon;
altitude = pos.alt; altitude = pos.alt;
@ -845,7 +845,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: { case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: {
mavlink_servo_output_raw_t servos; mavlink_servo_output_raw_t servos;
mavlink_msg_servo_output_raw_decode(&message, &servos); mavlink_msg_servo_output_raw_decode(&message, &servos);
quint64 time = getUnixTime(0); quint64 time = getUnixTime();
emit valueChanged(uasId, "servo #1", "us", servos.servo1_raw, time); emit valueChanged(uasId, "servo #1", "us", servos.servo1_raw, time);
emit valueChanged(uasId, "servo #2", "us", servos.servo2_raw, time); emit valueChanged(uasId, "servo #2", "us", servos.servo2_raw, time);
emit valueChanged(uasId, "servo #3", "us", servos.servo3_raw, time); emit valueChanged(uasId, "servo #3", "us", servos.servo3_raw, time);
@ -939,7 +939,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_NAV_FILTER_BIAS: { case MAVLINK_MSG_ID_NAV_FILTER_BIAS: {
mavlink_nav_filter_bias_t bias; mavlink_nav_filter_bias_t bias;
mavlink_msg_nav_filter_bias_decode(&message, &bias); mavlink_msg_nav_filter_bias_decode(&message, &bias);
quint64 time = MG::TIME::getGroundTimeNow(); quint64 time = getUnixTime();
emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time); emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time);
emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time); emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time);
emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time); emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time);
@ -985,7 +985,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
if (!unknownPackets.contains(message.msgid)) { if (!unknownPackets.contains(message.msgid)) {
unknownPackets.append(message.msgid); unknownPackets.append(message.msgid);
QString errString = tr("UNABLE TO DECODE MESSAGE NUMBER %1").arg(message.msgid); QString errString = tr("UNABLE TO DECODE MESSAGE NUMBER %1").arg(message.msgid);
GAudioOutput::instance()->say(errString+tr(", please check the communication console for details.")); GAudioOutput::instance()->say(errString+tr(", please check console for details."));
emit textMessageReceived(uasId, message.compid, 255, errString); emit textMessageReceived(uasId, message.compid, 255, errString);
std::cout << "Unable to decode message from system " << std::dec << static_cast<int>(message.sysid) << " with message id:" << static_cast<int>(message.msgid) << std::endl; std::cout << "Unable to decode message from system " << std::dec << static_cast<int>(message.sysid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
//qDebug() << std::cerr << "Unable to decode message from system " << std::dec << static_cast<int>(message.acid) << " with message id:" << static_cast<int>(message.msgid) << std::endl; //qDebug() << std::cerr << "Unable to decode message from system " << std::dec << static_cast<int>(message.acid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
@ -1119,7 +1119,8 @@ void UAS::startPressureCalibration()
quint64 UAS::getUnixTime(quint64 time) quint64 UAS::getUnixTime(quint64 time)
{ {
if (time == 0) { if (time == 0) {
return MG::TIME::getGroundTimeNow(); // qDebug() << "XNEW time:" <<QGC::groundTimeMilliseconds();
return QGC::groundTimeMilliseconds();
} }
// Check if time is smaller than 40 years, // Check if time is smaller than 40 years,
// assuming no system without Unix timestamp // assuming no system without Unix timestamp
@ -1143,8 +1144,9 @@ quint64 UAS::getUnixTime(quint64 time)
else if (time < 1261440000000000) else if (time < 1261440000000000)
#endif #endif
{ {
// qDebug() << "GEN time:" << time/1000 + onboardTimeOffset;
if (onboardTimeOffset == 0) { if (onboardTimeOffset == 0) {
onboardTimeOffset = MG::TIME::getGroundTimeNow() - time/1000; onboardTimeOffset = QGC::groundTimeMilliseconds() - time/1000;
} }
return time/1000 + onboardTimeOffset; return time/1000 + onboardTimeOffset;
} else { } else {

5
src/ui/QGCParamWidget.cc
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@ -416,6 +416,7 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
*/ */
void QGCParamWidget::requestParameterList() void QGCParamWidget::requestParameterList()
{ {
if (!mav) return;
// FIXME This call does not belong here // FIXME This call does not belong here
// Once the comm handling is moved to a new // Once the comm handling is moved to a new
// Param manager class the settings can be directly // Param manager class the settings can be directly
@ -487,6 +488,7 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
void QGCParamWidget::saveParameters() void QGCParamWidget::saveParameters()
{ {
if (!mav) return;
QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./parameters.txt", tr("Parameter File (*.txt)")); QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./parameters.txt", tr("Parameter File (*.txt)"));
QFile file(fileName); QFile file(fileName);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) { if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
@ -520,6 +522,7 @@ void QGCParamWidget::saveParameters()
void QGCParamWidget::loadParameters() void QGCParamWidget::loadParameters()
{ {
if (!mav) return;
QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Parameter file (*.txt)")); QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Parameter file (*.txt)"));
QFile file(fileName); QFile file(fileName);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
@ -749,11 +752,13 @@ void QGCParamWidget::setParameters()
*/ */
void QGCParamWidget::writeParameters() void QGCParamWidget::writeParameters()
{ {
if (!mav) return;
mav->writeParametersToStorage(); mav->writeParametersToStorage();
} }
void QGCParamWidget::readParameters() void QGCParamWidget::readParameters()
{ {
if (!mav) return;
mav->readParametersFromStorage(); mav->readParametersFromStorage();
} }

22
src/ui/WaypointView.cc
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@ -203,17 +203,17 @@ void WaypointView::updateActionView(int action)
m_ui->orbitSpinBox->show(); m_ui->orbitSpinBox->show();
m_ui->holdTimeSpinBox->show(); m_ui->holdTimeSpinBox->show();
break; break;
case MAV_CMD_NAV_ORIENTATION_TARGET: // case MAV_CMD_NAV_ORIENTATION_TARGET:
m_ui->orbitSpinBox->hide(); // m_ui->orbitSpinBox->hide();
m_ui->takeOffAngleSpinBox->hide(); // m_ui->takeOffAngleSpinBox->hide();
m_ui->turnsSpinBox->hide(); // m_ui->turnsSpinBox->hide();
m_ui->holdTimeSpinBox->show(); // m_ui->holdTimeSpinBox->show();
m_ui->customActionWidget->hide(); // m_ui->customActionWidget->hide();
m_ui->autoContinue->show(); // m_ui->autoContinue->show();
m_ui->acceptanceSpinBox->hide(); // m_ui->acceptanceSpinBox->hide();
m_ui->yawSpinBox->hide(); // m_ui->yawSpinBox->hide();
break; // break;
default: default:
break; break;
} }

34
thirdParty/qserialport/include/QtSerialPort/qportsettings.h vendored
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@ -43,13 +43,13 @@
namespace TNX { namespace TNX {
enum ChangeApplyTypes { AllAppTy, PortAttrOnlyAppTy, CommTimeoutsOnlyAppTy }; enum ChangeApplyTypes { AllAppTy, PortAttrOnlyAppTy, CommTimeoutsOnlyAppTy };
/** /**
* Communication timeout values for Win32/CE and Posix platforms. * Communication timeout values for Win32/CE and Posix platforms.
* @see www.unixwiz.net/techtips/termios-vmin-vtime.html * @see www.unixwiz.net/techtips/termios-vmin-vtime.html
*/ */
struct CommTimeouts { struct CommTimeouts {
#ifdef TNX_WINDOWS_SERIAL_PORT #ifdef TNX_WINDOWS_SERIAL_PORT
typedef DWORD commt_t; typedef DWORD commt_t;
static const DWORD NoTimeout = MAXDWORD; static const DWORD NoTimeout = MAXDWORD;
@ -75,14 +75,14 @@ struct CommTimeouts {
PosixVTIME(0), PosixVMIN(1) PosixVTIME(0), PosixVMIN(1)
{ {
} }
}; };
/** /**
* Wrapper class for serial port settings. * Wrapper class for serial port settings.
*/ */
class TONIX_EXPORT QPortSettings class TONIX_EXPORT QPortSettings
{ {
public: public:
enum BaudRate { enum BaudRate {
BAUDR_UNKNOWN = 0, BAUDR_UNKNOWN = 0,
#ifdef TNX_POSIX_SERIAL_PORT #ifdef TNX_POSIX_SERIAL_PORT
@ -172,7 +172,7 @@ public:
baudRate_ = baudRate; baudRate_ = baudRate;
switch ( baudRate_ ) { switch ( baudRate_ ) {
#ifdef TNX_POSIX_SERIAL_PORT #ifdef TNX_POSIX_SERIAL_PORT
case BAUDR_50: baudRateInt_=50; break; case BAUDR_50: baudRateInt_=50; break;
case BAUDR_75: baudRateInt_=75; break; case BAUDR_75: baudRateInt_=75; break;
case BAUDR_134: baudRateInt_=134; break; case BAUDR_134: baudRateInt_=134; break;
@ -180,21 +180,21 @@ public:
case BAUDR_200: baudRateInt_=200; break; case BAUDR_200: baudRateInt_=200; break;
case BAUDR_1800: baudRateInt_=1800; break; case BAUDR_1800: baudRateInt_=1800; break;
//case 76800: baudRateInt_=76800; break; //case 76800: baudRateInt_=76800; break;
#endif #endif
#ifdef TNX_WINDOWS_SERIAL_PORT #ifdef TNX_WINDOWS_SERIAL_PORT
case BAUDR_14400: baudRateInt_=14400; break; case BAUDR_14400: baudRateInt_=14400; break;
case BAUDR_56000: baudRateInt_=56000; break; case BAUDR_56000: baudRateInt_=56000; break;
case BAUDR_128000: baudRateInt_=128000; break; case BAUDR_128000: baudRateInt_=128000; break;
case BAUDR_256000: baudRateInt_=256000; break; case BAUDR_256000: baudRateInt_=256000; break;
case BAUDR_230400: baudRateInt_=230400; break; case BAUDR_230400: baudRateInt_=230400; break;
case BAUDR_460800: baudRateInt_=460800; break; case BAUDR_460800: baudRateInt_=460800; break;
#endif #endif
#if defined(Q_OS_LINUX) #if defined(Q_OS_LINUX)
case BAUDR_230400: baudRateInt_=230400; break; case BAUDR_230400: baudRateInt_=230400; break;
case BAUDR_460800: baudRateInt_=460800; break; case BAUDR_460800: baudRateInt_=460800; break;
case BAUDR_500000: baudRateInt_=500000; break; case BAUDR_500000: baudRateInt_=500000; break;
case BAUDR_576000: baudRateInt_=576000; break; case BAUDR_576000: baudRateInt_=576000; break;
#endif #endif
// baud rates supported by all platforms // baud rates supported by all platforms
case BAUDR_110: baudRateInt_=110; break; case BAUDR_110: baudRateInt_=110; break;
case BAUDR_300: baudRateInt_=300; break; case BAUDR_300: baudRateInt_=300; break;
@ -244,21 +244,21 @@ public:
QString toString() const; QString toString() const;
// helper methods to configure port settings // helper methods to configure port settings
private: private:
static BaudRate baudRateFromInt(int baud, bool &ok); static BaudRate baudRateFromInt(int baud, bool &ok);
static DataBits dataBitsFromString(const QString &databits, bool &ok); static DataBits dataBitsFromString(const QString &databits, bool &ok);
static Parity parityFromString(const QString &parity, bool &ok); static Parity parityFromString(const QString &parity, bool &ok);
static StopBits stopBitsFromString(const QString &stopbits, bool &ok); static StopBits stopBitsFromString(const QString &stopbits, bool &ok);
static FlowControl flowControlFromString(const QString &flow, bool &ok); static FlowControl flowControlFromString(const QString &flow, bool &ok);
private: private:
BaudRate baudRate_; BaudRate baudRate_;
DataBits dataBits_; DataBits dataBits_;
Parity parity_; Parity parity_;
StopBits stopBits_; StopBits stopBits_;
FlowControl flowControl_; FlowControl flowControl_;
qint32 baudRateInt_; qint32 baudRateInt_;
}; };
} }

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