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  1. Data Management
  2. DM-34347

Fix the EtherCat Warning in Rotator

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    Details

    • Story Points:
      2
    • Sprint:
      TSSW Sprint - Apr 11 - Apr 25
    • Team:
      Telescope and Site
    • Urgent?:
      No

      Description

      Fix the EtherCat warning in rotator:

      Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper:  Exiting sys_start
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Domain0: Logical address 0x00000000, 144 byte, expected working counter 6.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 144 byte, type LRW.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Master thread exited.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Starting EtherCAT-OP thread.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED!
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0: No app_time received up to now, but master already active.
      Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 00: State 0x02.
      Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 00: online.
      Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 11: State 0x02.
      Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 11: online.
      Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: exec_max=           26365
      Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: ethercat setup complete
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1702:00 (1 bytes) aborted.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6071:00/16. Entries to map: 0x6040:00/16 0x6071:00/16
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1702.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1742:00 (1 bytes) aborted.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6840:00/16 0x6871:00/16. Entries to map: 0x6840:00/16 0x6871:00/16
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1742.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B00:00 (1 bytes) aborted.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B00.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B40:00 (1 bytes) aborted.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B40.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Domain 0: Working counter changed to 3/6.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B00:00 (1 bytes) aborted.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B00.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B40:00 (1 bytes) aborted.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B40.
      Apr  5 17:08:33 rot-pxi-controller kernel: EtherCAT 0: Slave states on main device: OP.
      Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 00: State 0x01.
      Apr  5 17:08:33 rot-pxi-controller journal: LSST Ethercat Wrapper: Drive 00: State 0x02.
      

        Attachments

        1. 0x40.png
          0x40.png
          271 kB
        2. 1B00.png
          1B00.png
          274 kB
        3. compare.png
          compare.png
          315 kB
        4. comparePDOs.png
          comparePDOs.png
          87 kB

          Issue Links

            Activity

            Hide
            ttsai Te-Wei Tsai added a comment - - edited

            I just realized the difference between the fixed and non-fixed PDOs:

            Because the Rotator Simulink Model is running the server frequency 4kHz, the fix of map PDO is required.

            I create the DM-34529 for this overhaul of PDO mapping.

            Show
            ttsai Te-Wei Tsai added a comment - - edited I just realized the difference between the fixed and non-fixed PDOs: Because the Rotator Simulink Model is running the server frequency 4kHz, the fix of map PDO is required. I create the DM-34529 for this overhaul of PDO mapping.
            Hide
            ttsai Te-Wei Tsai added a comment -

            Apr 22 19:34:49 rot-pxi-controller kernel: EtherCAT 0: Starting EtherCAT-OP thread.
            Apr 22 19:34:49 rot-pxi-controller kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED!
            Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper:  Exiting sys_start
            Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x02.
            Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 00: online.
            Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 11: State 0x02.
            Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 11: online.
            Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: exec_max=           27201
            Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: ethercat setup complete
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1702:00 (1 bytes) aborted.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6071:00/16. Entries to map: 0x6040:00/16 0x6071:00/16
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1702.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1742:00 (1 bytes) aborted.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6840:00/16 0x6871:00/16. Entries to map: 0x6840:00/16 0x6871:00/16
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1742.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B00:00 (1 bytes) aborted.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B00.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B40:00 (1 bytes) aborted.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object".
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B40.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT 0: Domain 0: Working counter changed to 3/6.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B00:00 (1 bytes) aborted.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B00.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B40:00 (1 bytes) aborted.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object".
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping.
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16
            Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B40.
            Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x01.
            Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x02.
            Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x04.
            Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x08.
            Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: operational.
            

            Show
            ttsai Te-Wei Tsai added a comment - Apr 22 19:34:49 rot-pxi-controller kernel: EtherCAT 0: Starting EtherCAT-OP thread. Apr 22 19:34:49 rot-pxi-controller kernel: EtherCAT WARNING 0: 1 datagram UNMATCHED! Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Exiting sys_start Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x02. Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 00: online. Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 11: State 0x02. Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: Drive 11: online. Apr 22 19:34:49 rot-pxi-controller journal: LSST Wrapper: exec_max= 27201 Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: ethercat setup complete Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1702:00 (1 bytes) aborted. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6040:00/16 0x6071:00/16. Entries to map: 0x6040:00/16 0x6071:00/16 Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1702. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1742:00 (1 bytes) aborted. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6840:00/16 0x6871:00/16. Entries to map: 0x6840:00/16 0x6871:00/16 Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1742. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B00:00 (1 bytes) aborted. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16 Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B00. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO download 0x1B40:00 (1 bytes) aborted. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-0: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to clear PDO mapping. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16 Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1B40. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT 0: Domain 0: Working counter changed to 3/6. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B00:00 (1 bytes) aborted. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16. Entries to map: 0x6041:00/16 0x2240:00/32 0x60F4:00/32 0x606C:00/32 0x6077:00/16 Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B00. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO download 0x1B40:00 (1 bytes) aborted. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT ERROR 0-1: SDO abort message 0x06010002: "Attempt to write a read-only object". Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to clear PDO mapping. Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16. Entries to map: 0x6841:00/16 0x2A40:00/32 0x68F4:00/32 0x686C:00/32 0x6877:00/16 Apr 22 19:34:50 rot-pxi-controller kernel: EtherCAT WARNING 0-1: Failed to configure mapping of PDO 0x1B40. Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x01. Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x02. Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x04. Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: State 0x08. Apr 22 19:34:50 rot-pxi-controller journal: LSST Wrapper: Drive 00: operational.
            Hide
            ttsai Te-Wei Tsai added a comment -

            My test to fix the 0x1702 failed. Move to DM-34529 to fix it.

            Show
            ttsai Te-Wei Tsai added a comment - My test to fix the 0x1702 failed. Move to DM-34529 to fix it.
            Hide
            ttsai Te-Wei Tsai added a comment -

            Please help to review the PR:
            https://github.com/lsst-ts/ts_rotator_controller/pull/39

            Thanks!

            Show
            ttsai Te-Wei Tsai added a comment - Please help to review the PR: https://github.com/lsst-ts/ts_rotator_controller/pull/39 Thanks!
            Hide
            rowen Russell Owen added a comment -

            Reviewed on github

            Show
            rowen Russell Owen added a comment - Reviewed on github

              People

              Assignee:
              ttsai Te-Wei Tsai
              Reporter:
              ttsai Te-Wei Tsai
              Reviewers:
              Russell Owen
              Watchers:
              Russell Owen, Te-Wei Tsai
              Votes:
              0 Vote for this issue
              Watchers:
              2 Start watching this issue

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                Created:
                Updated:
                Resolved:

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