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+# innfos机械臂控制
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+> 默认ip192.168.1.30 协议为udp 监听的是2000端口
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+## 1.首先进行握手通信
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+> 使用网络控制需要进行协议层面的握手通信
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++ 发送如下指令
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+ ```
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+ EE 00 44 00 00 ED
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+ ```
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+- 正常的话将会收到如下指令的回复
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+ ```
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+ EE 00 44 00 01 01 ED
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+ ```
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+- 如果设备有问题的话可能会有以下的回复
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+ > 目前测试出来的一些错误回复,没有更多的错误信息
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+ ```
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+ # 这个错误在没有插入执行终端的情况下出现了此回复,无法正常控制
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+ EE 00 44 00 01 01 00 00 ED
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+ ```
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+## 2.关键的crc校验码如何生成
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+> 此处贴出官方代码和自己用js拷贝的同效果代码
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+ + 先是官方的代码
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+ <details>
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+ <summary>官方给的c++代码</summary>
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+
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+ ```
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+ const uint8_t chCRCHTable[] = // CRC 高位字节值表
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+ {
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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+ 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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+ 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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+ 0x00, 0xC1, 0x81, 0x40
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+ };
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+
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+ const uint8_t chCRCLTable[] = // CRC 低位字节值表
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+ {
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+ 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
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+ 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
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+ 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
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+ 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
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+ 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
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+ 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
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+ 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
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+ 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
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+ 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
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+ 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
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+ 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
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+ 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
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+ 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB,
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+ 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
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+ 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
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+ 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
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+ 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
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+ 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
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+ 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
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+ 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
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+ 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
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+ 0x41, 0x81, 0x80, 0x40
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+ };
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+
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+ static uint16_t CRC16_1(uint8_t* pchMsg, int16_t wDataLen)
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+ {
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+ uint8_t chCRCHi = 0xFF; // 高CRC字节初始化
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+ uint8_t chCRCLo = 0xFF; // 低CRC字节初始化
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+ int16_t wIndex; // CRC循环中的索引
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+ while (wDataLen--)
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+ {
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+ // 计算CRC
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+ wIndex = chCRCHi ^ *pchMsg++;//从指针中取值进行按位异或,然后自增指针.得到下一个地址的值.
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+ chCRCHi = chCRCLo ^ chCRCHTable[wIndex]; //从
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+ chCRCLo = chCRCLTable[wIndex];
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+ }
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+ return ((chCRCHi << 8) | chCRCLo);
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+ }
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+ ```
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+ </details>
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+
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+ + 自己实现的js代码
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+ > 由于前面的数组都是一样的值,就只贴自己修改后的函数
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+ ```
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+ /**
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+ * 查表法计算crc校验码 innfos专用
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+ * @param {*} arr
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+ */
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+ function crc16_2(arr) {
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+ let chH = 0xFF; //高
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+ let chL = 0xFF; //低
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+ let wIndex;
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+ let i = 0;
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+ let len = arr.length;
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+ while (len--) {
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+ wIndex = chH ^ arr[i];
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+ i++;
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+ chH = chL ^ chCRCHTable[wIndex];
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+ chL = chCRCLTable[wIndex];
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+ }
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+ // 返回对象,使用buffer转化为16进制的值,防止隐士转换
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+ return {
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+ h: Buffer.from([chH]),
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+ l: Buffer.from([chL])
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+ };
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+ }
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+ ```
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++ 使用python实现的代码
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+ > 最后发现我用js实现了效果貌似没啥用,最终是需要使用python去控制.只是说js熟悉一点,写出来的东西能看懂
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+ ```
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+ #校验函数
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+ def crc16_1(arr):
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+ chH = chL = 0xff
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+ wIndex = i = 0
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+ length = len(arr)
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+ while (length):
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+ wIndex = chH ^ arr[i]
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+ i+=1
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+ length -= 1
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+ chH = chL ^ chCRCHTable[wIndex]
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+ chL = chCRCLTable[wIndex]
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+ return hex(chH),hex(chL)
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+
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+ test1 = [0x01]
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+ print(crc16_1(test1))
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+ ```
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++ 关于一些相关的坑
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+ > 在实际处理中发现的一些进制转换的坑,发现少一节代码之后就可以正常使用,询问大佬得知了具体情况
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+ + c++的源码中定义了int长度为8的值,但是在js中int类型长度是4字节的,即只支持32位整数,所以会有一些坑
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+ + 大佬给的解释,茅厕顿开
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+ <details>
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+ <summary>解释图片</summary>
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+
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+ 
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+ 
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+ </details>
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+
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