Using QuRT API’s in Standalone Hexagon Programs

Using QuRT API’s in Standalone Hexagon Programs

Modify Local Toolchain:

Locate the QuRT headers and libraries in your installed SDK.

RubikPI is a V68 Hexagon so they are here:

$HEXAGON_SDK_ROOT/rtos/qurt/computev68

  • Copy all the headers from this directory to the location on the target where the hexagon toolchian’s headers are stored. By default this is $HOME/Qualcomm/HEXAGON_Tools/19.0.06/Tools/target/hexagon/include

scp $HEXAGON_SDK_ROOT/rtos/qurt/computev68/include/qurt/* ubuntu@rubikpi:Qualcomm/HEXAGON_Tools/19.0.06/Tools/target/hexagon/include

  • Copy the QuRT libraries

scp $HEXAGON_SDK_ROOT/rtos/qurt/computev68/lib/pic/* ubuntu@rubikpi:Qualcomm/HEXAGON_Tools/19.0.06/Tools/target/hexagon/lib/v68/G0/pic


The QuRT API’s should be available.

  • Add #include <qurt.h> to access the API’s

  • Add -lqurt to bind with the qurt libraries.

Trivial example:

#include <stdio.h>
#include <stdlib.h>
#include <qurt.h>

int main() {
    FILE *fd = fopen("output.txt", "w");
    if (fd == NULL) {
        return EXIT_FAILURE;
    }
    qurt_arch_version_t vers;
    int rc =  qurt_sysenv_get_arch_version (&vers);
    if (!rc) {
	    fprintf(fd, "Architecture Version = 0x%x\n", vers.arch_version);
    }
/*
 * sleep for 1 second, or 1000000 microseconds
 */   
    unsigned long long int A = qurt_sysclock_get_hw_ticks();
    qurt_timer_sleep(
    unsigned long long int B = qurt_sysclock_get_hw_ticks();
    fprintf(fd, "Approximate hw ticks/sec = %lld\n", B - A);

    fprintf(fd, "Done\n");
    fclose(fd);

    return EXIT_SUCCESS;
}

Makefile:

CC=$(HOME)/Qualcomm/HEXAGON_Tools/19.0.06/Tools/bin/hexagon-clang

qurt.so: qurt.c
	$(CC) -shared -fpic -mv68 qurt.c -o $@ -lqurt

run: qurt.so
	./run_main_on_hexagon 3 qurt.so stack_size=0x50000
	cat output.txt

clean:
	rm qurt.so

Sample Output:


make run

./run_main_on_hexagon 3 qurt.so stack_size=0x50000

Attempting to run on unsigned PD on domain 3

RPC to Hexagon DSP with args: "qurt.so stack_size=0x50000 "

Successfully called main() on Hexagon DSP and received return value of 0.

cat output.txt

Architecture Version = 0x8a68

Approximate hw ticks/sec = 19200575

Done


The above example assums that you have run_main_on_hexagon and librun_main_on_hexagon_skel.so in the same directory. These are copied from the SDK and discussed here: Hexagon compilation and debug

The rest of the QuRT API’s are documented in the SDK’s docs/pdf/80-VB419-178_D_Qualcomm_Hexagon_QuRT_RTOS_User_Guide_SDK.pdf

An improvement here would be use of the CPATH environment variable used by clang:

       CPATH  If  this environment variable is present, it is treated as a de‐
              limited list of paths to be added to the default system  include
              path list. The delimiter is the platform dependent delimiter, as
              used in the PATH environment variable.

Maybe changing a Makefile like this:

export CPATH=/home/ubuntu/Qualcomm/rtos/qurt/computev68/include/qurt
$(PROJECT).so: $(FILES)
        $(CC) -shared -g -O0 -fpic -mv68 $(FILES) -o $@ -lqurt

This would avoid polluting the base toolchain with qurt headers as suggested above.

I was not aware of this feature at the time I posted the original message.

I also tried to do the same compile the program using llvm for target transfer the run_main_on_hexagon, librun_main_on_hexagon_skel.so and qurt.so on board, but I am running into an issue where the program exits silently without any logs or errors.

./run_main_on_hexagon 3 qurt.so stack_size=0x50000

Do you have any idea how to check the logs or debug? Can you tell me the exact steps you follow.

In another window run, “journalctl -f” then run the program. You will see a ton of output when you run and that will have some clues. Post what you see and I will take a look.

Check the logs

Hint: You are currently not seeing messages from other users and the system.
      Users in groups 'adm', 'systemd-journal' can see all messages.
      Pass -q to turn off this notice.
Apr 11 04:02:36 qcs6490 run_main_on_hexagon[1523]: log_config.c:514: file_watcher_thread exiting for domain 0
Apr 11 04:02:36 qcs6490 run_main_on_hexagon[1523]: fastrpc_apps_user.c:3140: close_device_node: closed dev 5 on domain 0
Apr 11 04:02:36 qcs6490 run_main_on_hexagon[1523]: fastrpc_apps_user.c:3015: domain_deinit done for domain 0.
Apr 11 04:02:36 qcs6490 run_main_on_hexagon[1523]: fastrpc_apps_user.c:3874: fastrpc_apps_user_deinit done
Apr 11 04:02:50 qcs6490 sudo[1553]:     rock : TTY=pts/0 ; PWD=/home/rock/qcs6490/data/qcs6490/hexagon-ships ; USER=root ; COMMAND=/usr/bin/chmod 666 /dev/fastrpc-adsp /dev/fastrpc-cdsp /dev/fastrpc-cdsp-secure
Apr 11 04:02:50 qcs6490 sudo[1553]: pam_unix(sudo:session): session opened for user root(uid=0) by rock(uid=1001)
Apr 11 04:02:50 qcs6490 sudo[1553]: pam_unix(sudo:session): session closed for user root
Apr 11 04:02:50 qcs6490 sudo[1556]:     rock : TTY=pts/0 ; PWD=/home/rock/qcs6490/data/qcs6490/hexagon-ships ; USER=root ; COMMAND=/usr/bin/chmod 666 /dev/dma_heap/system
Apr 11 04:02:50 qcs6490 sudo[1556]: pam_unix(sudo:session): session opened for user root(uid=0) by rock(uid=1001)
Apr 11 04:02:50 qcs6490 sudo[1556]: pam_unix(sudo:session): session closed for user root
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:3979: fastrpc_apps_user_init done. default domain:0 and &fastrpc_trace:0xffffb9d525a0
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:4100: multidsplib_env_init: libadsprpc.so loaded
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: apps_std_imp.c:1044: Successfully opened file /usr/lib/dsp/adsp/fastrpc_shell_0
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:3374: Info: Created user PD on domain 0, dbg_trace 0x0, enabled attr=> RPC timeout:0, Dbg Mode:N, CRC:N, Unsigned:N, Signed:Y, Adapt QOS:N, PD dump: (Config:N, Dbg:N), Perf: (Kernel:N, DSP:N), Iregion:N, QTF:N, UAF:N userPD initmem len:0x300000, Log pkt: N
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_perf.c:323: fastrpc_perf_init: enabled systrace 0x0 and RPC traces (kernel 0, dsp 0) with frequency 1000
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: log_config.c:397: file_watcher_thread starting for domain 0
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: log_config.c:421:file_watcher_thread: Couldn't find file run_main_on_hexagon.farf, errno (No such file or directory) at ;/usr/lib/rfsa/adsp;/usr/lib/dsp;
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:1491: Error 0x80000600: remote_handle64_invoke failed for module (null), handle 0x3ce66750, method 2 on domain 0 (sc 0x2020200) (errno Success)
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:1599: Warning 0x80000600: remote_handle_open_domain: remotectl1 domains not supported for domain 0
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:1491: Error 0x80000600: remote_handle64_invoke failed for module (null), handle 0xffffac000b70, method 5 on domain 0 (sc 0x5000000) (errno Success)
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: listener_android.c:352: Error 0x80000600: listener_start_thread domains support not available in listener
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: listener_android.c:131: listener thread starting
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: mod_table.c:480: is_reverse_handle_opened: reverse module apps_std already found with handle 0xb9d561e0 (idx 0) refs 2
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: mod_table.c:909: Error 0x2: open_mod_table_handle_invoke failed for handle:0xb9d561e0, sc:0x13050100
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: apps_std_imp.c:1070: Successfully opened file librun_main_on_hexagon_skel.so
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: mod_table.c:909: Error 0x2: open_mod_table_handle_invoke failed for handle:0xb9d561e0, sc:0x13050100
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: mod_table.c:909: Error 0x2: open_mod_table_handle_invoke failed for handle:0xb9d561e0, sc:0x13050100
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:1620: Error 0x80000406: remote_handle_open_domain: dynamic loading failed for file:///librun_main_on_hexagon_skel.so?run_main_on_hexagon_skel_handle_invoke&_modver=1.0&_dom=adsp on domain 0 (dlerror _rtld_map_object_ex: cannot open oemconfig.so, errno 0 (no err
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:1720: Error 0x80000406: remote_handle64_open failed for file:///librun_main_on_hexagon_skel.so?run_main_on_hexagon_skel_handle_invoke&_modver=1.0&_dom=adsp (errno Success)
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: run_main_on_hexagon_ap.c:91: Domain 0 failed to open (0x80000406), uri: file:///librun_main_on_hexagon_skel.so?run_main_on_hexagon_skel_handle_invoke&_modver=1.0&_dom=adsp
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:1447: Error 0x8000040d: remote_handle_invoke failed for handle 0x3, method 4 on domain 0 (sc 0x4020200) (errno Success)
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: listener_android.c:306: Error 0x8000040d: listener response with result 0x0 for ctx 0x498, handle 0xb9d561e0, sc 0xffffffff failed : listener thread exited (errno Success)
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: listener_android.c:324: listener thread exiting
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:1491: Error 0x8000040d: remote_handle64_invoke failed for module (null), handle 0x3ce66870, method 3 on domain 0 (sc 0x3000000) (errno Success)
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: log_config.c:441:Warning: file_watcher_thread received exit for domain 0, file run_main_on_hexagon.farf
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: log_config.c:514: file_watcher_thread exiting for domain 0
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:3140: close_device_node: closed dev 5 on domain 0
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:3015: domain_deinit done for domain 0.
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: fastrpc_apps_user.c:3874: fastrpc_apps_user_deinit done                                                                                                                            ```

QNN validator test is passing though,

$QNN_SDK_ROOT/bin/aarch64-oe-linux-gcc11.2/qnn-platform-validator --backend dsp --testBackend
PF_VALIDATOR: DEBUG: Calling PlatformValidator->setBackend
PF_VALIDATOR: DEBUG: Calling PlatformValidator->isBackendHardwarePresent
PF_VALIDATOR: DEBUG: Calling PlatformValidator->isBackendAvailable
PF_VALIDATOR: DEBUG: Should be able to access atleast one of libraries from : libc.so.6
PF_VALIDATOR: DEBUG: dlOpen successfull for library : libc.so.6
PF_VALIDATOR: DEBUG: Should be able to access atleast one of libraries from : libcdsprpc.so
PF_VALIDATOR: DEBUG: dlOpen successfull for library : libcdsprpc.so
Backend DSP Prerequisites: Present.
PF_VALIDATOR: DEBUG: Calling PlatformValidator->backendCheck
PF_VALIDATOR: DEBUG: Should be able to access atleast one of libraries from : libc.so.6
PF_VALIDATOR: DEBUG: dlOpen successfull for library : libc.so.6
PF_VALIDATOR: DEBUG: Should be able to access atleast one of libraries from : libcdsprpc.so
PF_VALIDATOR: DEBUG: dlOpen successfull for library : libcdsprpc.so
PF_VALIDATOR: DEBUG: Starting calculator test
PF_VALIDATOR: DEBUG: Loading sample stub: libQnnHtpV68CalculatorStub.so
PF_VALIDATOR: DEBUG: Successfully loaded DSP library - 'libQnnHtpV68CalculatorStub.so'.  Setting up pointers.
PF_VALIDATOR: DEBUG: Success in executing the sum function
Unit Test on the backend DSP: Passed.
QNN is supported for backend DSP on the device.
*********** Results Summary ***********
Backend = DSP
{
  Backend Hardware  : Supported
  Backend Libraries : Found
  Library Version   : Not Queried
  Core Version      : Not Queried
  Unit Test         : Passed
}

Your log contains:
Apr 11 04:03:06 qcs6490 run_main_on_hexagon[1587]: apps_std_imp.c:1044: Successfully opened file /usr/lib/dsp/adsp/fastrpc_shell_0

This is implies you are running a signed image but the command line used isn’t showing “unsigned_pd=0” not sure why that is but later you see the message about the missing oemconfig.so.

I posted how to run signed image here: Using signed images on the Hexagon DSP Give that a look.

FWIW this is the output from journalctl when I run:

Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_apps_user.c:4204: fastrpc_apps_user_init done. default domain:3 and &fastrpc_trace:0xffff88242620
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_apps_user.c:4325: multidsplib_env_init: libcdsprpc.so loaded
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_apps_user.c:2699: remote_session_control Unsigned PD enable 1 request for domain 3
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: apps_std_imp.c:1062: Successfully opened file /usr/lib/dsp/cdsp/fastrpc_shell_unsigned_3
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_apps_user.c:3594: Info: Created user PD on domain 3, dbg_trace 0x0, enabled attr=> RPC timeout:0, Dbg Mode:N, CRC:N, Unsigned:Y, Signed:N, Adapt QOS:N, PD dump: (Config:N, Dbg:N), Perf: (Kernel:N, DSP:N), Iregion:N, QTF:N, UAF:N userPD initmem len:0x500000, Log pkt: N
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_perf.c:323: fastrpc_perf_init: enabled systrace 0x0 and RPC traces (kernel 0, dsp 0) with frequency 1000
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: log_config.c:397: file_watcher_thread starting for domain 3
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: log_config.c:421:file_watcher_thread: Couldn't find file run_main_on_hexagon.farf, errno (No such file or directory) at ;/usr/lib/rfsa/adsp;/usr/lib/dsp;
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_apps_user.c:1535: Error 0x80000600: remote_handle64_invoke failed for module (null), handle 0xaaaaba56c880, method 2 on domain 3 (sc 0x2020200) (errno Success)
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_apps_user.c:1709: Warning 0x80000600: remote_handle_open_domain: remotectl1 domains not supported for domain 3
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_apps_user.c:1535: Error 0x80000600: remote_handle64_invoke failed for module (null), handle 0xffff80000b70, method 5 on domain 3 (sc 0x5000000) (errno Success)
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: listener_android.c:352: Error 0x80000600: listener_start_thread domains support not available in listener
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: listener_android.c:131: listener thread starting
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: apps_std_imp.c:1062: Successfully opened file librun_main_on_hexagon_skel.so
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_apps_user.c:1834: remote_handle64_open: Successfully opened handle 0xaaaaba56c9a0 (remote 0xe933e0) for file:///librun_main_on_hexagon_skel.so?run_main_on_hexagon_skel_handle_invoke&_modver=1.0&_dom=cdsp on domain 3 (spawn time 23937 us, load time 9402 us), num handles 1
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: apps_std_imp.c:1062: Successfully opened file qurt.so
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: apps_std_imp.c:1062: Successfully opened file output.txt
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_apps_user.c:1955: remote_handle64_close: closed module librun_main_on_hexagon_skel.so with handle 0xaaaaba56c9a0 remote handle 0xe933e0, num of open handles: 0
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: listener_android.c:306: Error 0x8000040d: listener response with result 0x0 for ctx 0x980, handle 0x88248b90, sc 0xffffffff failed : listener thread exited (errno Success)
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: listener_android.c:324: listener thread exiting
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: log_config.c:441:Warning: file_watcher_thread received exit for domain 3, file run_main_on_hexagon.farf
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: log_config.c:514: file_watcher_thread exiting for domain 3
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_apps_user.c:3360: close_device_node: closed dev 5 on domain 3
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_apps_user.c:3235: domain_deinit done for domain 3.
Apr 11 17:57:11 pi3 run_main_on_hexagon[167178]: fastrpc_apps_user.c:4097: fastrpc_apps_user_deinit done

For your reference this is what I have on my system:

  • The directory I copied the sample code to:
-rw-rw-r-- 1 sidm0 sidm0   233 Apr 11 17:39 Makefile
-rwxrwxr-x 1 sidm0 sidm0 30696 Apr 11 17:42 librun_main_on_hexagon_skel.so
-rw-rw-r-- 1 sidm0 sidm0    66 Apr 11 17:49 output.txt
-rw-rw-r-- 1 sidm0 sidm0   679 Apr 11 17:41 qurt.c
-rwxrwxr-x 1 sidm0 sidm0 22632 Apr 11 17:41 qurt.so
-rwxrwxr-x 1 sidm0 sidm0 58896 Apr 11 17:42 run_main_on_hexagon
  • The system install directory:
lrwxrwxrwx 1 root root 68 Mar 11 01:53 fastrpc_shell_3 -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/fastrpc_shell_3
lrwxrwxrwx 1 root root 77 Mar 11 01:53 fastrpc_shell_unsigned_3 -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/fastrpc_shell_unsigned_3
lrwxrwxrwx 1 root root 73 Mar 11 01:53 libbenchmark_skel.so -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libbenchmark_skel.so
lrwxrwxrwx 1 root root 64 Mar 11 01:53 libc++.so.1 -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libc++.so.1
lrwxrwxrwx 1 root root 67 Mar 11 01:53 libc++abi.so.1 -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libc++abi.so.1
lrwxrwxrwx 1 root root 69 Mar 11 01:53 libcvpdsp_2_1.so -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libcvpdsp_2_1.so
lrwxrwxrwx 1 root root 82 Mar 11 01:53 libcvpdsp_2_1_intermediate.so -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libcvpdsp_2_1_intermediate.so
lrwxrwxrwx 1 root root 71 Mar 11 01:53 libhcp_rpc_skel.so -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libhcp_rpc_skel.so
lrwxrwxrwx 1 root root 72 Mar 11 01:53 libloadalgo_skel.so -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libloadalgo_skel.so
lrwxrwxrwx 1 root root 79 Mar 11 01:53 libstabilitydomain_skel.so -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libstabilitydomain_skel.so
lrwxrwxrwx 1 root root 70 Mar 11 01:53 libsysmon_skel.so -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libsysmon_skel.so
lrwxrwxrwx 1 root root 76 Mar 11 01:53 libsysmondomain_skel.so -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libsysmondomain_skel.so
lrwxrwxrwx 1 root root 81 Mar 11 01:53 libsysmonhvxthrottle_skel.so -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libsysmonhvxthrottle_skel.so
lrwxrwxrwx 1 root root 75 Mar 11 01:53 libsysmonquery_skel.so -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libsysmonquery_skel.so
lrwxrwxrwx 1 root root 71 Mar 11 01:53 libvpp_svc_skel.so -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/libvpp_svc_skel.so
lrwxrwxrwx 1 root root 70 Mar 11 01:53 ubwcdma_dynlib.so -> /usr/share/qcom/qcm6490/Thundercomm/RB3gen2/dsp/cdsp/ubwcdma_dynlib.so

Nice the example works with the generated testsig*.so.

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