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85 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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44 | // |
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45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include <stdlib.h> |
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58 | #include <stdio.h> |
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59 | #include "91x_lib.h" |
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60 | #include "gpx.h" |
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61 | #include "gpx_header.h" |
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62 | #include "timer.h" |
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63 | |||
64 | //________________________________________________________________________________________________________________________________________ |
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65 | // Function: GPX_DocumentInit(GPX_Document_t *) |
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66 | // |
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67 | // Description: This function initializes the gpx-document for further use. |
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68 | // |
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69 | // |
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70 | // Returnvalue: '1' if document was initialized |
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71 | //________________________________________________________________________________________________________________________________________ |
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72 | |||
73 | u8 GPX_DocumentInit(GPX_Document_t *doc) |
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74 | { |
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75 | if(doc->state != GPX_DOC_CLOSED) GPX_DocumentClose(doc); // close file if it was opened before |
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76 | doc->state = GPX_DOC_CLOSED; // init state of the gpx-document |
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77 | doc->file = NULL; |
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78 | return(1); |
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79 | } |
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80 | |||
81 | //________________________________________________________________________________________________________________________________________ |
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82 | // Function: GPX_Document_Open(s8 *name, GPX_Document_t *doc); |
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83 | // |
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84 | // Description: This function opens a new gpx-document with the specified name and creates the document header within the file. |
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85 | // |
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86 | // |
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87 | // Returnvalue: '1' if the gpx-file could be created. |
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88 | //________________________________________________________________________________________________________________________________________ |
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89 | |||
90 | u8 GPX_DocumentOpen(s8 *name, GPX_Document_t *doc) |
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91 | { |
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92 | |||
93 | u8 retvalue = 0; |
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94 | |||
95 | if(doc == NULL) return(0); |
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96 | GPX_DocumentInit(doc); // intialize the document with resetvalues |
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97 | doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
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98 | |||
99 | if(doc->file != NULL) // could the file be opened? |
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100 | { |
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101 | retvalue = 1; // the document could be created on the drive. |
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102 | doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
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103 | fwrite_((void*)GPX_DOCUMENT_HEADER, sizeof(GPX_DOCUMENT_HEADER)-1,1,doc->file);// write the gpx-header to the document. |
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104 | } |
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105 | |||
106 | return(retvalue); |
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107 | } |
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108 | |||
109 | //________________________________________________________________________________________________________________________________________ |
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110 | // Function: DocumentClose(GPX_Document_t *doc); |
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111 | // |
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112 | // Description: This function closes the document specified by doc. |
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113 | // |
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114 | // |
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115 | // Returnvalue: '1' if the gpx-file could be closed. |
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116 | //________________________________________________________________________________________________________________________________________ |
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117 | |||
118 | u8 GPX_DocumentClose(GPX_Document_t *doc) |
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119 | { |
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120 | |||
121 | u8 retvalue = 1; |
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122 | |||
123 | if(doc == NULL) return(0); |
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124 | |||
125 | while(doc->state != GPX_DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
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126 | { |
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127 | switch(doc->state) |
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128 | { |
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129 | case GPX_DOC_TRACKSEGMENT_OPENED: |
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130 | GPX_TrackSegmentEnd(doc); // write terminating tag to end tracksegment. |
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131 | break; |
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132 | |||
133 | case GPX_DOC_TRACK_OPENED: // write terminating tag to close track. |
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134 | GPX_TrackEnd(doc); |
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135 | break; |
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136 | |||
137 | case GPX_DOC_OPENED: // close the file on the memorycard |
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138 | if(doc->file != NULL) |
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139 | { |
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140 | fwrite_((void*)GPX_DOCUMENT_FOOTER, sizeof(GPX_DOCUMENT_FOOTER)-1,1,doc->file); // write the gpx-footer to the document. |
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141 | fclose_(doc->file); |
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142 | retvalue = 1; |
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143 | } |
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144 | doc->state = GPX_DOC_CLOSED; |
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145 | break; |
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146 | |||
147 | default: |
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148 | doc->state = GPX_DOC_CLOSED; |
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149 | break; |
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150 | } |
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151 | } |
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152 | return(retvalue); |
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153 | } |
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154 | |||
155 | //________________________________________________________________________________________________________________________________________ |
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156 | // Function: u8 GPX_TrackBegin(GPX_Document_t); |
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157 | // |
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158 | // Description: This function adds a track to the document. |
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159 | // |
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160 | // |
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161 | // Returnvalue: '1' if the track could be opened |
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162 | //________________________________________________________________________________________________________________________________________ |
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163 | |||
164 | u8 GPX_TrackBegin(GPX_Document_t *doc) |
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165 | { |
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166 | |||
167 | u8 retvalue = 0; |
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168 | if(doc->state == GPX_DOC_OPENED) |
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169 | { |
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170 | if(doc->file != NULL) |
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171 | { |
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172 | doc->state = GPX_DOC_TRACK_OPENED; |
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173 | retvalue = 1; |
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174 | fwrite_((void*)GPX_TRACK_HEADER, sizeof(GPX_TRACK_HEADER)-1,1,doc->file); |
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175 | } |
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176 | } |
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177 | return(retvalue); |
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178 | } |
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179 | |||
180 | //________________________________________________________________________________________________________________________________________ |
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181 | // Function: u8 GPX_TrackEnd(KML_Document_t *doc) |
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182 | // |
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183 | // Description: This function ends the track opened before. |
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184 | // |
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185 | // |
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186 | // Returnvalue: 1' if the track could be closed |
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187 | //________________________________________________________________________________________________________________________________________ |
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188 | |||
189 | u8 GPX_TrackEnd(GPX_Document_t *doc) |
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190 | { |
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191 | |||
192 | u8 retvalue = 0; |
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193 | |||
194 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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195 | { |
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196 | if(doc->file != NULL) |
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197 | { |
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198 | doc->state = GPX_DOC_OPENED; |
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199 | fwrite_((void*)GPX_TRACK_FOOTER, sizeof(GPX_TRACK_FOOTER)-1,1,doc->file); |
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200 | retvalue = 1; |
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201 | } |
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202 | } |
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203 | |||
204 | return(retvalue); |
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205 | } |
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206 | |||
207 | //________________________________________________________________________________________________________________________________________ |
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208 | // Function: u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); |
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209 | // |
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210 | // Description: This function starts a track segment. |
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211 | // |
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212 | // |
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213 | // Returnvalue: '1' if the track segement could be started |
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214 | //________________________________________________________________________________________________________________________________________ |
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215 | |||
216 | u8 GPX_TrackSegmentBegin(GPX_Document_t *doc) |
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217 | { |
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218 | |||
219 | u8 retvalue = 0; |
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220 | |||
221 | if(doc->state == GPX_DOC_TRACK_OPENED) |
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222 | { |
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223 | if(doc->file != NULL) |
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224 | { |
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225 | doc->state = GPX_DOC_TRACKSEGMENT_OPENED; |
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226 | fwrite_((void*)GPX_TRACKSEGMENT_HEADER, sizeof(GPX_TRACKSEGMENT_HEADER)-1,1,doc->file); |
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227 | retvalue = 1; |
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228 | } |
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229 | } |
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230 | return(retvalue); |
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231 | } |
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232 | |||
233 | //________________________________________________________________________________________________________________________________________ |
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234 | // Function: u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); |
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235 | // |
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236 | // Description: This function ends the tracksegment opened before. |
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237 | // |
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238 | // |
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239 | // Returnvalue: '1' if the track segment could be terminated |
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240 | //________________________________________________________________________________________________________________________________________ |
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241 | |||
242 | u8 GPX_TrackSegmentEnd(GPX_Document_t *doc) |
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243 | { |
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244 | |||
245 | u8 retvalue = 0; |
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246 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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247 | { |
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248 | if(doc->file != NULL) |
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249 | { |
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250 | doc->state = GPX_DOC_TRACK_OPENED; |
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251 | fwrite_((void*)GPX_TRACKSEGMENT_FOOTER, sizeof(GPX_TRACKSEGMENT_FOOTER)-1,1,doc->file); |
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252 | retvalue = 1; |
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253 | } |
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254 | } |
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255 | return(retvalue); |
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256 | } |
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257 | |||
258 | //________________________________________________________________________________________________________________________________________ |
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259 | // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
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260 | // |
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261 | // Description: This function adds a pointof a track segement to the specified document. |
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262 | // |
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263 | // |
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264 | // Returnvalue: '1' if a point was added |
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265 | //________________________________________________________________________________________________________________________________________ |
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266 | |||
267 | u8 GPX_TrackSegementAddPoint(GPX_Document_t *doc) |
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268 | { |
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269 | |||
270 | u8 retvalue = 0; |
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271 | s8 string[50]; |
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272 | s32 rel_altitude = 0; |
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273 | |||
274 | if(doc == NULL) return(0); |
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275 | |||
276 | if((GPSData.Position.Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
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277 | { |
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278 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) |
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279 | { |
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280 | if(doc->file != NULL) |
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281 | { |
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282 | s32 i1, i2; |
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283 | u8 sign; |
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284 | // write <trkpt> tag |
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285 | if(GPSData.Position.Latitude < 0) sign = '-'; |
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286 | else sign = '+'; |
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287 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
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288 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
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289 | sprintf(string, "<trkpt lat=\"%c%ld.%07ld\" ",sign, i1, i2); |
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290 | fputs_(string, doc->file); |
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291 | if(GPSData.Position.Longitude < 0) sign = '-'; |
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292 | else sign = '+'; |
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293 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
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294 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
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295 | sprintf(string, "lon=\"%c%ld.%07ld\">\r\n",sign, i1, i2); |
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296 | fputs_(string, doc->file); |
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297 | // write <ele> taga |
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298 | rel_altitude = GPSData.Position.Altitude - GPS_HomePosition.Altitude; |
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299 | if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
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300 | i1 = rel_altitude/1000L; |
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301 | i2 = rel_altitude%1000L; |
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302 | sprintf(string,"<ele>%ld.%03ld</ele>\r\n",i1, i2); |
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303 | fputs_(string, doc->file); |
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304 | // write <time> tag only at a resolution of one second |
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305 | sprintf(string, "<time>%04d-%02d-%02dT%02d:%02d:%02dZ</time>\r\n",SystemTime.Year, SystemTime.Month, SystemTime.Day, SystemTime.Hour, SystemTime.Min, SystemTime.Sec); |
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306 | fputs_(string, doc->file); |
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307 | |||
308 | // todo: add <extensions> tag with additional data to be logged |
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309 | |||
310 | sprintf(string, "</trkpt>\r\n"); |
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311 | fputs_(string, doc->file); |
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312 | retvalue = 1; |
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313 | } |
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314 | } |
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315 | } |
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316 | return(retvalue); |
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317 | } |
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318 | |||
319 | //________________________________________________________________________________________________________________________________________ |
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320 | // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
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321 | // |
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322 | // Description: This function opens and adds gpscoordinates to an GPX-Document. The document will be opened, if not already done |
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323 | // |
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324 | // |
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325 | // Returnvalue: '1' if an gps coordinate was logged |
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326 | //________________________________________________________________________________________________________________________________________ |
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327 | |||
328 | u8 GPX_LoggGPSCoordinates(GPX_Document_t *doc) |
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329 | { |
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330 | u8 retval = 0; |
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331 | while(doc->state != GPX_DOC_TRACKSEGMENT_OPENED) // automatic create document with default filename on the card. |
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332 | { |
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333 | switch(doc->state) |
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334 | { |
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335 | case GPX_DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
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336 | retval = GPX_DocumentOpen("default.gpx",doc); // open the gpx-document with a standardname. |
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337 | break; |
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338 | |||
339 | case GPX_DOC_OPENED: // if a document has been opened before but no track exists: |
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340 | retval = GPX_TrackBegin(doc); |
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341 | break; |
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342 | |||
343 | case GPX_DOC_TRACK_OPENED: // add tracksegement to the track |
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344 | retval = GPX_TrackSegmentBegin(doc); |
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345 | break; |
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346 | |||
347 | default: |
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348 | retval = 0; |
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349 | break; |
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350 | |||
351 | } |
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352 | if(retval != 1) return(retval); // stop on error |
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353 | } |
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354 | |||
355 | if(doc->state == GPX_DOC_TRACKSEGMENT_OPENED) // if the document was opened add coordinates to the document. |
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356 | { |
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357 | retval = GPX_TrackSegementAddPoint(doc); // add a track segment point |
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358 | } |
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359 | return(retval); |
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360 | } |
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361 |