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617 | rain-er | 1 | #!/usr/bin/perl |
2 | #!/usr/bin/perl -d:ptkdb |
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3 | |||
4 | ############################################################################### |
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5 | # |
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6 | # logging.pl - CSV, KLM, GPS Logging |
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7 | # |
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8 | # Copyright (C) 2009 Rainer Walther (rainerwalther-mail@web.de) |
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9 | # |
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10 | # Creative Commons Lizenz mit den Zusaetzen (by, nc, sa) |
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11 | # |
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12 | # Es ist Ihnen gestattet: |
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13 | # * das Werk vervielfältigen, verbreiten und öffentlich zugänglich machen |
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14 | # * Abwandlungen bzw. Bearbeitungen des Inhaltes anfertigen |
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15 | # |
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16 | # Zu den folgenden Bedingungen: |
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17 | # * Namensnennung. |
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18 | # Sie müssen den Namen des Autors/Rechteinhabers in der von ihm festgelegten Weise nennen. |
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19 | # * Keine kommerzielle Nutzung. |
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20 | # Dieses Werk darf nicht für kommerzielle Zwecke verwendet werden. |
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21 | # * Weitergabe unter gleichen Bedingungen. |
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22 | # Wenn Sie den lizenzierten Inhalt bearbeiten oder in anderer Weise umgestalten, |
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23 | # verändern oder als Grundlage für einen anderen Inhalt verwenden, |
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24 | # dürfen Sie den neu entstandenen Inhalt nur unter Verwendung von Lizenzbedingungen |
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25 | # weitergeben, die mit denen dieses Lizenzvertrages identisch oder vergleichbar sind. |
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26 | # |
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27 | # Im Falle einer Verbreitung müssen Sie anderen die Lizenzbedingungen, unter welche dieses |
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28 | # Werk fällt, mitteilen. Am Einfachsten ist es, einen Link auf diese Seite einzubinden. |
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29 | # |
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30 | # Jede der vorgenannten Bedingungen kann aufgehoben werden, sofern Sie die Einwilligung |
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31 | # des Rechteinhabers dazu erhalten. |
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32 | # |
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33 | # Diese Lizenz lässt die Urheberpersönlichkeitsrechte unberührt. |
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34 | # |
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35 | # Weitere Details zur Lizenzbestimmung gibt es hier: |
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36 | # Kurzform: http://creativecommons.org/licenses/by-nc-sa/3.0/de/ |
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37 | # Komplett: http://creativecommons.org/licenses/by-nc-sa/3.0/de/legalcode |
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38 | # |
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39 | ############################################################################### |
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40 | # |
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41 | # 2009-02-23 0.0.1 rw created |
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42 | # 2009-04-01 0.1.0 rw RC1 |
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43 | # 2009-05-01 0.1.1 rw configurable logging interval |
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44 | # 2009-05-17 0.1.7 rw _Timestamp timeout von 2s auf 10s erhoeht |
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45 | # 2009-09-30 0.1.8 rw SignalHandler removed |
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46 | # |
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47 | ############################################################################### |
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48 | |||
49 | $Version{'logging.pl'} = "0.1.8 - 2009-09-30"; |
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50 | |||
51 | # |
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52 | # Parameter |
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53 | # |
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54 | |||
55 | my $LoopTime = $Cfg->{'logging'}->{'Intervall'} || 1; # in s |
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56 | $LoopTime *= 1000000; # in us |
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57 | |||
58 | # Packages |
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59 | use threads; |
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60 | use threads::shared; |
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61 | use Time::HiRes qw(usleep); |
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62 | |||
63 | require "mkcomm.pl"; # MK communication |
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64 | require "geserver.pl"; # Google Earth Server |
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65 | require "translate.pl"; # Übersetzungstable |
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66 | |||
67 | |||
68 | my $LogCsvIsOpen = 0; |
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69 | my $LogKmlIsOpen = 0; |
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70 | my $LogGpxIsOpen = 0; |
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71 | my $GeServerIsRunning = 0; |
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72 | |||
73 | # |
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74 | # CSV |
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75 | # |
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76 | |||
77 | # Open CSV logfile |
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78 | sub LogCsvOpen() |
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79 | { |
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80 | if ( ! $LogCsvIsOpen ) |
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81 | { |
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82 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time); |
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83 | my $Filename = sprintf ("mk-%04d%02d%02d-%02d%02d%02d.csv", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
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84 | open LOGCSV, ">$Cfg->{'logging'}->{'CsvLogDir'}/$Filename"; |
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85 | |||
86 | $LogCsvIsOpen = 1; |
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87 | |||
88 | # print labes at first line |
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89 | |||
90 | # NC OSD |
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91 | my $Sep = ""; |
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92 | foreach $Label (sort keys %MkOsd) |
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93 | { |
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94 | if ( $Translate{$Label} ne "" ) |
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95 | { |
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96 | $Label = $Translate{$Label}; |
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97 | } |
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98 | print LOGCSV "$Sep" . "$Label"; |
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99 | $Sep = ","; |
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100 | } |
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101 | |||
102 | # NC Debug |
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103 | foreach $Label (sort keys %MkNcDebug) |
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104 | { |
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105 | if ( $Translate{$Label} ne "" ) |
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106 | { |
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107 | $Label = $Translate{$Label}; |
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108 | } |
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109 | print LOGCSV "$Sep" . "$Label"; |
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110 | } |
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111 | print LOGCSV "\n"; |
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112 | } |
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113 | |||
114 | return 0; |
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115 | } |
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116 | |||
117 | |||
118 | # Close CSV |
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119 | sub LogCsvClose() |
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120 | { |
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121 | if ( $LogCsvIsOpen ) |
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122 | { |
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123 | close LOGCSV; |
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124 | $LogCsvIsOpen = 0; |
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125 | } |
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126 | |||
127 | return 0; |
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128 | } |
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129 | |||
130 | # Log CSV |
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131 | sub LogCsv() |
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132 | { |
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133 | lock %MkOsd; # until end of Block |
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134 | lock %MkNcDebug; # until end of Block |
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135 | |||
136 | if ( $MkOsd{'_Timestamp'} >= time-10 ) |
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137 | { |
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138 | # active connection to MK |
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139 | &LogCsvOpen(); |
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140 | |||
141 | # NC OSD |
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142 | my $Sep = ""; |
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143 | foreach $Label (sort keys %MkOsd) |
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144 | { |
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145 | print LOGCSV "$Sep" . "$MkOsd{$Label}"; |
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146 | $Sep = ","; |
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147 | } |
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148 | |||
149 | # NC Debug |
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150 | foreach $Label (sort keys %MkNcDebug) |
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151 | { |
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152 | print LOGCSV "$Sep" . "$MkNcDebug{$Label}"; |
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153 | } |
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154 | print LOGCSV "\n"; |
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155 | } |
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156 | else |
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157 | { |
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158 | # connection to MK lost, close Logfile |
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159 | &LogCsvClose(); |
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160 | } |
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161 | |||
162 | return 0; |
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163 | } |
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164 | |||
165 | |||
166 | # |
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167 | # GPX |
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168 | # http://www.topografix.com/gpx_manual.asp |
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169 | # |
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170 | |||
171 | # Open GPX logfile |
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172 | sub LogGpxOpen() |
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173 | { |
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174 | if ( ! $LogGpxIsOpen ) |
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175 | { |
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176 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time); |
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177 | my $TimeStamp = sprintf ("%04d%02d%02d-%02d%02d%02d", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
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178 | my $Filename = "mk-" . $TimeStamp . ".gpx"; |
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179 | open LOGGPX, ">$Cfg->{'logging'}->{'GpxLogDir'}/$Filename"; |
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180 | $LogGpxIsOpen = 1; |
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181 | |||
182 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = gmtime(time); |
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183 | my $UtcTimeStamp = sprintf ("%04d-%02d-%02dT%02d:%02d:%02dZ", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
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184 | |||
185 | # print GPX-Header |
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186 | print LOGGPX <<EOF; |
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187 | <?xml version="1.0" encoding="UTF-8"?> |
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188 | <gpx |
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189 | version="1.0" |
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190 | creator="MK Mission Cockpit" |
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191 | xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" |
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192 | xmlns="http://www.topografix.com/GPX/1/0" |
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193 | xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd"> |
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194 | <time>${UtcTimeStamp}</time> |
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195 | <trk> |
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196 | <name>Mikrokopter GPS logging</name> |
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197 | <desc>Flight ${TimeStamp}</desc> |
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198 | <trkseg> |
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199 | EOF |
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200 | } |
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201 | |||
202 | return 0; |
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203 | } |
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204 | |||
205 | |||
206 | # Close GPX |
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207 | sub LogGpxClose() |
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208 | { |
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209 | if ( $LogGpxIsOpen ) |
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210 | { |
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211 | # print GPX-Trailer |
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212 | print LOGGPX <<EOF; |
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213 | </trkseg> |
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214 | </trk> |
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215 | </gpx> |
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216 | EOF |
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217 | close LOGGPX; |
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218 | $LogGpxIsOpen = 0; |
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219 | } |
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220 | |||
221 | return 0; |
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222 | } |
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223 | |||
224 | |||
225 | # Log GPX |
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226 | sub LogGpx() |
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227 | { |
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228 | lock %MkOsd; # until end of Block |
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229 | |||
230 | if ( $MkOsd{'_Timestamp'} >= time-10 and |
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231 | $MkOsd{'MKFlags'} & 0x02 and $MkOsd{'CurPos_Stat'} == 1 ) |
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232 | { |
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233 | # active connection to MK, MK is flying, valid GPS |
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234 | &LogGpxOpen(); |
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235 | |||
236 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = gmtime(time); |
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237 | my $UtcTimeStamp = sprintf ("%04d-%02d-%02dT%02d:%02d:%02dZ", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
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238 | |||
239 | my $Speed = $MkOsd{'GroundSpeed'} / 100; # m/s |
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240 | printf LOGGPX <<EOF; |
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241 | <trkpt lat="$MkOsd{'CurPos_Lat'}" lon="$MkOsd{'CurPos_Lon'}"> |
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242 | <ele>$MkOsd{'CurPos_Alt'}</ele> |
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243 | <time>${UtcTimeStamp}</time> |
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244 | <sat>$MkOsd{'SatsInUse'}</sat> |
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245 | <course>$MkOsd{'CompassHeading'}</course> |
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246 | <speed>$Speed</speed> |
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247 | <extensions> |
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248 | <Target-Lat>$MkOsd{'TargetPos_Lat'}</Target-Lat> |
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249 | <Target-Lon>$MkOsd{'TargetPos_Lon'}</Target-Lon> |
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250 | <Target-Alt>$MkOsd{'TargetPos_Alt'}</Target-Alt> |
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251 | <Target-Bearing>$MkOsd{'TargetPosDev_Bearing'}</Target-Bearing> |
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252 | <Target-Dist>$MkOsd{'TargetPosDev_Dist'}</Target-Dist> |
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253 | <Waypoint>$MkOsd{'WaypointIndex'} / $MkOsd{'WaypointNumber'}</Waypoint> |
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254 | <Altimeter>$MkOsd{'Altimeter'}</Altimeter> |
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255 | <Variometer>$MkOsd{'Variometer'}</Variometer> |
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256 | <UBat>$MkOsd{'UBat'}</UBat> |
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257 | <AngleNick>$MkOsd{'AngleNick'}</AngleNick> |
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258 | <AngleRoll>$MkOsd{'AngleRoll'}</AngleRoll> |
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259 | <MKFlags>$MkOsd{'MKFlags'}</MKFlags> |
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260 | <NCFlags>$MkOsd{'NCFlags'}</NCFlags> |
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261 | </extensions> |
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262 | </trkpt> |
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263 | EOF |
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264 | } |
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265 | else |
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266 | { |
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267 | &LogGpxClose(); |
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268 | } |
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269 | } |
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270 | |||
271 | # |
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272 | # KML |
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273 | # http://code.google.com/intl/de-DE/apis/kml/documentation/kml_tut.html |
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274 | # |
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275 | |||
276 | # Open KML logfile |
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277 | sub LogKmlOpen() |
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278 | { |
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279 | if ( ! $LogKmlIsOpen ) |
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280 | { |
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281 | my ($sec,$min,$hour,$mday,$mon,$year,$wday,$yday,$isdst) = localtime(time); |
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282 | my $TimeStamp = sprintf ("%04d%02d%02d-%02d%02d%02d", $year+1900, $mon+1, $mday, $hour, $min, $sec); |
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283 | my $Filename = "mk-" . $TimeStamp . ".kml"; |
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284 | open LOGKML, ">$Cfg->{'logging'}->{'KmlLogDir'}/$Filename"; |
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285 | $LogKmlIsOpen = 1; |
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286 | |||
287 | # print KML-Header |
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288 | print LOGKML <<EOF; |
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289 | <?xml version="1.0" encoding="UTF-8"?> |
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290 | <kml xmlns="http://earth.google.com/kml/2.2"> |
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291 | <Document> |
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292 | <name>Mikrokopter GPS logging</name> |
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293 | <Style id="MK_gps-style"> |
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294 | <LineStyle> |
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295 | <color>ff0000ff</color> |
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296 | <width>2</width> |
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297 | </LineStyle> |
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298 | </Style> |
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299 | <Placemark> |
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300 | <name>Flight ${TimeStamp}</name> |
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301 | <styleUrl>MK_gps-style</styleUrl> |
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302 | <LineString> |
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303 | <tessellate>1</tessellate> |
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304 | <altitudeMode>relativeToGround</altitudeMode> |
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305 | <coordinates> |
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306 | EOF |
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307 | } |
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308 | |||
309 | return 0; |
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310 | } |
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311 | |||
312 | |||
313 | # Close KML |
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314 | sub LogKmlClose() |
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315 | { |
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316 | if ( $LogKmlIsOpen ) |
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317 | { |
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318 | # print KML-Trailer |
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319 | print LOGKML <<EOF; |
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320 | </coordinates> |
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321 | </LineString> |
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322 | </Placemark> |
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323 | </Document> |
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324 | </kml> |
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325 | EOF |
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326 | close LOGKML; |
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327 | $LogKmlIsOpen = 0; |
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328 | } |
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329 | |||
330 | return 0; |
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331 | } |
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332 | |||
333 | |||
334 | # Log KML |
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335 | sub LogKml() |
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336 | { |
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337 | lock %MkOsd; # until end of Block |
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338 | |||
339 | if ( $MkOsd{'_Timestamp'} >= time-10 and |
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340 | $MkOsd{'MKFlags'} & 0x02 and $MkOsd{'CurPos_Stat'} == 1 ) |
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341 | { |
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342 | # active connection to MK, MK is flying, valid GPS |
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343 | &LogKmlOpen(); |
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344 | |||
345 | my $AltRel = $MkOsd{'CurPos_Alt'} - $MkOsd{'HomePos_Alt'}; |
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346 | if ( $AltRel < 0 ) { $AltRel = 0; } |
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347 | printf LOGKML " %f, %f, %f\n", $MkOsd{'CurPos_Lon'}, $MkOsd{'CurPos_Lat'}, $AltRel; |
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348 | } |
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349 | else |
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350 | { |
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351 | &LogKmlClose(); |
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352 | } |
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353 | } |
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354 | |||
355 | |||
356 | # Send Coords to GoogleEarth server |
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357 | sub Send2GeServer() |
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358 | { |
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359 | lock %MkOsd; # until end of Block |
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360 | |||
361 | if ( $MkOsd{'_Timestamp'} >= time-10 and |
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362 | $MkOsd{'MKFlags'} & 0x02 and $MkOsd{'CurPos_Stat'} == 1 ) |
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363 | { |
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364 | # active connection to MK, MK is flying, valid GPS |
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365 | |||
366 | my $AltRel = $MkOsd{'CurPos_Alt'} - $MkOsd{'HomePos_Alt'}; |
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367 | if ( $AltRel < 0 ) { $AltRel = 0; } |
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368 | |||
369 | push @GeCoords, sprintf "%f, %f, %f", $MkOsd{'CurPos_Lon'}, $MkOsd{'CurPos_Lat'}, $AltRel; |
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370 | } |
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371 | } |
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372 | |||
373 | |||
374 | sub MkLogLoop() |
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375 | { |
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376 | while (1) |
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377 | { |
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378 | &LogCsv(); |
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379 | &LogKml(); |
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380 | &LogGpx(); |
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381 | |||
382 | &Send2GeServer(); # Google Earth |
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383 | |||
384 | # kurz schlafen legen |
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385 | usleep $LoopTime; |
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386 | } |
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387 | } |
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388 | |||
389 | # |
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390 | # Hauptprgramm |
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391 | # |
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392 | |||
393 | if ( $0 =~ /logging.pl$/i ) |
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394 | { |
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395 | # Program wurde direkt aufgerufen |
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396 | |||
397 | # Kommunikation zum MK herstellen |
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398 | $mk_thr = threads->create (\&MkCommLoop) -> detach(); |
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399 | |||
400 | &MkLogLoop(); |
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401 | |||
402 | # should never exit |
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403 | } |
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404 | |||
405 | 1; |
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406 | |||
407 | __END__ |