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552 fredericg 1
#! /usr/bin/env python
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#
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# Mikrokopter Vibration Test
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#
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# Author: FredericG
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# 
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import mkProto
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import time
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import traceback
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import getopt
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import sys
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CHECK_VERSION = False
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CHANNEL_NAMES = ["GyroYaw", "GyroRoll", "GyroNick", "Pressure", "Batt", "AccTop", "AccRoll", "AccNick"]
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def usage():
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    print
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    print "VibrationTest.py COMPORT MOTORS SPEEDS CHANNELS [-m MINSPEED] [-s NBSAMPLES] [-n NAME] [-d FILENAME] [-v]"
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    print " COMPORT         Serial port to use. e.g. COM4"
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    print " MOTORS          Motors to activate during test. Multiple motors can be used at the same time. e.g. 1,2,3,4"
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    print " SPEEDS          Indicates at what speeds the motors need to be tested. "
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    print "                   Format 1:  e.g. 50,110,140            Tests at speeds 50, 110 and 140"
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    print "                   Format 2:  e.g. 100-200:50            Tests at speeds 100, 150 and 200"
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    print " CHANNELS        Channels to monitor. e.g. 5,6,7"
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    for i,channelName in enumerate(CHANNEL_NAMES):
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      print "                   Channel %d = %s" % (i, channelName)
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    print " -m MINSPEED     Minimum speed of the motor(s)"
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    print " -s NBSAMPLES    Number of samples"
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    print " -n NAME         Name of the test"
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    print " -d FILENAME     File to which the measured values will be logged in"
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    print " -v              Verbose"          
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    print
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def exit_usage():
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    usage()
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    sys.exit(2)
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if __name__ == '__main__':
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    #print sys.argv
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    if len(sys.argv)<5:
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        exit_usage()
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    parComPort = sys.argv[1]
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    parMotors = sys.argv[2].split(',')
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    parChannels = sys.argv[4].split(',')
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    par = sys.argv[3]
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    if par.count("-") == 1:
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        # assume from-to:step format
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        par = par.split("-")
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        if len(par) != 2:
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            exit_usage()
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        par[1] = par[1].split(":")
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        if len(par[1]) != 2:
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            exit_usage()
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        parSpeeds = range(int(par[0]),int(par[1][0])+int(par[1][1]),int(par[1][1]))
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    else:
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        parSpeeds = par.split(',')
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    try:
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        opts, args = getopt.getopt(sys.argv[5:], "s:n:d:m:v")
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    except Exception, err:
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        print str(err) # will print something like "option -a not recognized"
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        usage()
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        sys.exit(2)
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    parVerbose = False
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    parFileName = None
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    parNbSamples = 400
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    parMinSpeed = 25
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    parTestName = ""
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    for o, a in opts:
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        if o == "-v":
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            parVerbose = True
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        elif o == "-d":
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            parFileName = a
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        elif o == "-s":
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            parNbSamples = int(a)
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        elif o == "-m":
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            parMinSpeed = int(a)
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        elif o == "-n":
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            parTestName = a
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        else:
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            assert False, "unhandled option %s" % (o)
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    if parVerbose:
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        print "comPort  =", parComPort
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        print "motors   =", parMotors
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        print "minSpeed =", parMinSpeed
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        print "speeds   =", parSpeeds
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        print "channels =", parChannels
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        print "nbSamples=", parNbSamples
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        print "fileName =", parFileName
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        print "testName =", parTestName
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    try:
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        parMotors = map(int, parMotors)
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        parSpeeds = map(int, parSpeeds)
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        parChannels = map(int, parChannels)
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        if parVerbose:
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          print "Opening comPort... "
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        mk = mkProto.MkComm()
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        mk.open(comPort=parComPort)
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        time.sleep(.1)
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        msg = mk.getVersionMsg()
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        version = msg.getVersion()
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        if parVerbose:
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          print "Version: %d.%d" % version
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        if CHECK_VERSION and version != (0,74):
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          print "INVALID VERSION", version
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          sys.exit(2)
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        msg = mk.getDebugMsg()
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        voltage = msg.getVoltage()
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        if (voltage == 0):
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          minVoltage = 0
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        else:
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          if (voltage > 4.2*3):
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            minVoltage = 4*3.5
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          else:
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            minVoltage = 3*3.5
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        if parVerbose:
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          print "Voltage: %2.1fV" % msg.getVoltage()
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          print "Minimum Voltage: %2.1fV" % minVoltage
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        motorStartSpeeds = [0,0,0,0]
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        if parVerbose:
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          print "Starting motor(s) (speed=%d)... " % (parMinSpeed),
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        for motor in parMotors:
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            motorStartSpeeds[motor-1] = parMinSpeed
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        for i in range(10):
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          mk.setMotorTest(motorStartSpeeds)
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          time.sleep(.1)
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        if parVerbose:
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          print "OK"
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        for speed in parSpeeds:
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          if len(parChannels)>1:
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            print
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          if parVerbose:
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            print "Setting speed to %3d ..." % speed
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          motorSpeeds = [0,0,0,0]  
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          for motor in parMotors:
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            motorSpeeds[motor-1] = speed
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          for i in range(0,10):
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            time.sleep(.1)
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            mk.setMotorTest(motorSpeeds)
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          for channel in parChannels:
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            mk.setMotorTest(motorSpeeds)
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            channelName = CHANNEL_NAMES[channel]
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            if parVerbose:
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              print "Getting data... " ,
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            data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)
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            #data = (0,1,2)
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            minval = min(data[1:])
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            maxval = max(data[1:])
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            #if (maxval-minval)>100: print data
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            time.sleep(.1)
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            msg = mk.getDebugMsg()
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            voltage = msg.getVoltage()
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            if voltage<minVoltage:
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              print "VOLTAGE TOO LOW, TEST ABORTED"
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              sys.exit(2)
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            pp = maxval-minval;  
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            print "%10s Speed=%3d U=%2.1fV Channel=%-10s Min=%3d Max=%3d pp=%3d" % (parTestName,  speed, voltage, channelName, minval, maxval, pp),
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            print "*"*(min(pp,200)/5)
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            if parFileName != None:
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              try:
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                logfile = open(parFileName, "r")
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                newFile = False
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              except:
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                newFile = True
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              if newFile:
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                logfile = open(parFileName, "w")
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                if parVerbose:
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                  print "Writing result to %s ..." % parFileName,
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                logfile.write("%s %d %s\n" % (parTestName, speed, channelName))
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                for value in data[1:]:
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                  logfile.write("%d\n" % value)
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                logfile.close()
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                if parVerbose:  
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                  print "OK"
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              else:
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                if parVerbose:
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                  print "Appending result to %s ..." % parFileName,
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                prevData = []
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                for line in logfile:
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                  prevData.append(line[:-1])
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                logfile.close()
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                logfile = open(parFileName, "w")
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                logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))
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                i = 1
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                for value in data[1:]:
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                  logfile.write("%s,%d\n" % (prevData[i], value))
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                  i += 1
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                logfile.close()
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                if parVerbose:
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                  print "OK"
564 FredericG 225
 
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        mk.close()
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552 fredericg 228
    except Exception,e:
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      print
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      print "== ERROR ==: \"%s\"" % e
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      if parVerbose:
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        print
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        print "Traceback:"
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        traceback.print_exc()
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        print
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      raw_input("Press ENTER, the application will close")
564 FredericG 237
      print
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