From ea793b23c98403cefb38670d02a778b843bdf997 Mon Sep 17 00:00:00 2001
From: John Ogness <john.ogness@linutronix.de>
Date: Thu, 19 Apr 2018 11:03:45 +0200
Subject: replace *all* tabs with spaces

There are times when tabs are allowed and times when they are not.
Let's just simply never use tabs for anything. This makes it easy
to find presentations where tabs were accidentally inserted.

Signed-off-by: John Ogness <john.ogness@linutronix.de>
---
 frameworks/middleware/handout_middleware.tex | 528 +++++++++++++--------------
 1 file changed, 264 insertions(+), 264 deletions(-)

(limited to 'frameworks/middleware/handout_middleware.tex')

diff --git a/frameworks/middleware/handout_middleware.tex b/frameworks/middleware/handout_middleware.tex
index 44c75f7..7e227fa 100644
--- a/frameworks/middleware/handout_middleware.tex
+++ b/frameworks/middleware/handout_middleware.tex
@@ -10,7 +10,7 @@ There are different kinds of middleware:
 
 \begin{description}
 \item[RPC] Remote Procedure Calls are used to trigger a function in e.g. Task\_A
-	calls a function of Task\_B
+        calls a function of Task\_B
 \item[MOM] Message Orientated Middleware is used the send messages between Taks.
 (1:n and 1:1)
 \item[ORB] An Object Request Broker is used to host complete objects of an
@@ -91,27 +91,27 @@ possible one of these libraries should be used:
 \subparagraph{Terminology}
 \begin{description}
 \item[bus address] is the name of ther underlying unix socket, e.g.
-	\cmd{/tmp/dbus\_lx.socket}
+        \cmd{/tmp/dbus\_lx.socket}
 \item[unique bus name] is generated by the daemon for every connection
 \item[well-known bus name] must be set by the user for a connection, multiple
-	names for one connection are allowed. A well known bus name has a namespace
-	and is seperated by dots, e.g. \cmd{de.linutronix.Foo}.
+        names for one connection are allowed. A well known bus name has a namespace
+        and is seperated by dots, e.g. \cmd{de.linutronix.Foo}.
 \item[Object] Each Endpoint is called Object. An Object offers services on the
-	bus. A client can create multiple Objects.
+        bus. A client can create multiple Objects.
 \item[Proxies] are used to access Objects. The use of Proxies and Objects are
-	defined by the language binding, to fit best in the schemantics of the
-	programming language.
+        defined by the language binding, to fit best in the schemantics of the
+        programming language.
 \item[Methods] may require input parameters. Each call returns its output
-	parameters or an exception if the action couldn't be performed.
+        parameters or an exception if the action couldn't be performed.
 \item[Signals] are used for 1:n message passing. An application needs to be
 subscribed for a signal. A filter can be provided during subscription, to get
 only signals with certain values in its parameters.
 \item[AMI] Asynchronus Method Invocation can be used to make non blocking calls
 to Methods.
 \item[Activation] A config file can provide the information which objects are
-	hosted by an application. The dbus daemon is able, to activate those
-	applications on request or by invoking a method of an object in the context
-	of the clients well-known bus name.
+        hosted by an application. The dbus daemon is able, to activate those
+        applications on request or by invoking a method of an object in the context
+        of the clients well-known bus name.
 \end{description}
 
 \begin{figure}
@@ -186,7 +186,7 @@ calculated values.
 \label{img:rtorb}
 \end{figure}
 
-As shown in figure \ref{img:rtorb}, a real-time capable ORB extends a standard 
+As shown in figure \ref{img:rtorb}, a real-time capable ORB extends a standard
 ORB with the following features: locating objects in constant time,
 preallocation of resources, operating system independent priority
 handling, priority based scheduling.
@@ -230,13 +230,13 @@ First an IDL for the Ping interface will be created (\cmd{ping.idl}:
 
 \begin{lstlisting}
 module Linutronix{
-	interface Ping{
-		oneway void send(in string payload);
-	};
+    interface Ping{
+        oneway void send(in string payload);
+    };
 };
 \end{lstlisting}
 
-Then a IDL compiler is used to generater headers and wrappers for client and 
+Then a IDL compiler is used to generater headers and wrappers for client and
 server and a dummy implementation file:
 
 \cmd{tao\_idl -GI ping.idl}
@@ -280,10 +280,10 @@ Linutronix_Ping_i::~Linutronix_Ping_i (void)
 void Linutronix_Ping_i::send (
     const char * payload)
 {
-  // Add your implementation here
-	struct timespec time_rx;
-	clock_gettime(CLOCK_MONOTONIC, &time_rx);
-	std::cout<<time_rx.tv_sec<<":"<<time_rx.tv_nsec/1000<<": "<<payload<<"\n";
+    // Add your implementation here
+    struct timespec time_rx;
+    clock_gettime(CLOCK_MONOTONIC, &time_rx);
+    std::cout<<time_rx.tv_sec<<":"<<time_rx.tv_nsec/1000<<": "<<payload<<"\n";
 }
 
 \end{lstlisting}
@@ -300,70 +300,70 @@ implementation:
 #include <tao/RTCORBA/RTCORBA.h>
 
 int main(int argc, char* argv[]){
-	try{
-		// initialize ORB
-		CORBA::ORB_var orb = CORBA::ORB_init(argc, argv, "ServerORB");
-		std::cout<<"ORB initialized"<<std::endl;
-	
-		// access RT Extensions
-		CORBA::Object_var rtorb = orb->resolve_initial_references("RTORB");
-		RTCORBA::RTORB_var rt_orb = RTCORBA::RTORB::_narrow(rtorb);
-		std::cout<<"RT Extensions OK"<<std::endl;
-	
-		// obtain root_poa
-		CORBA::Object_var poa = orb->resolve_initial_references("RootPOA");
-		PortableServer::POA_var root_poa = PortableServer::POA::_narrow(poa.in());
-	
-		// activate POA Manager
-		PortableServer::POAManager_var poa_manager = root_poa->the_POAManager();
-		poa_manager->activate();
-		std::cout<<"root_poa OK"<<std::endl;
-	
-		// create Policy
-		CORBA::PolicyList ping_policy(1);
-		ping_policy.length(1);
-		ping_policy[0] = rt_orb->create_priority_model_policy(
-			RTCORBA::CLIENT_PROPAGATED, RTCORBA::maxPriority);
-
-		// create ObjectAdapter, assign Policy
-		PortableServer::POA_var ping_poa =
-			root_poa->create_POA("ping_poa", poa_manager.in(), ping_policy);
-
-		std::cout<<"Policy assigned"<<std::endl;
-
-		// create the servant
-		Linutronix_Ping_i ping_i;
-
-		// activate servant
-		PortableServer::ObjectId_var object_id = ping_poa->activate_object(&ping_i);
-		CORBA::Object_var ping_obj = ping_poa->id_to_reference(object_id.in());
-		CORBA::String_var ior = orb->object_to_string(ping_obj.in());
-		std::cout<<"Servant activated"<<std::endl;
-
-		// NameService
-		CORBA::Object_var naming_obj =
-			orb->resolve_initial_references("NameService");
-
-		CosNaming::NamingContext_var naming_context =
-			CosNaming::NamingContext::_narrow(naming_obj.in());
-
-		CosNaming::Name name(1);
-		name.length(1);
-		name[0].id = CORBA::string_dup("Receiver");
-		naming_context->rebind(name, ping_obj.in());
-		std::cout<<"Bound Receiver to NameService"<<std::endl;
-
-		// start ORB
-		orb->run();
-		std::cout<<"ORB ready"<<std::endl;
-
-		//destroy
-		root_poa->destroy(1,1);
-		orb->destroy();
-
-		} catch(CORBA::Exception &any) {
-			std::cout<<"Exception: "<<any<<std::endl;
-		}
+    try{
+        // initialize ORB
+        CORBA::ORB_var orb = CORBA::ORB_init(argc, argv, "ServerORB");
+        std::cout<<"ORB initialized"<<std::endl;
+
+        // access RT Extensions
+        CORBA::Object_var rtorb = orb->resolve_initial_references("RTORB");
+        RTCORBA::RTORB_var rt_orb = RTCORBA::RTORB::_narrow(rtorb);
+        std::cout<<"RT Extensions OK"<<std::endl;
+
+        // obtain root_poa
+        CORBA::Object_var poa = orb->resolve_initial_references("RootPOA");
+        PortableServer::POA_var root_poa = PortableServer::POA::_narrow(poa.in());
+
+        // activate POA Manager
+        PortableServer::POAManager_var poa_manager = root_poa->the_POAManager();
+        poa_manager->activate();
+        std::cout<<"root_poa OK"<<std::endl;
+
+        // create Policy
+        CORBA::PolicyList ping_policy(1);
+        ping_policy.length(1);
+        ping_policy[0] = rt_orb->create_priority_model_policy(
+            RTCORBA::CLIENT_PROPAGATED, RTCORBA::maxPriority);
+
+        // create ObjectAdapter, assign Policy
+        PortableServer::POA_var ping_poa =
+            root_poa->create_POA("ping_poa", poa_manager.in(), ping_policy);
+
+        std::cout<<"Policy assigned"<<std::endl;
+
+        // create the servant
+        Linutronix_Ping_i ping_i;
+
+        // activate servant
+        PortableServer::ObjectId_var object_id = ping_poa->activate_object(&ping_i);
+        CORBA::Object_var ping_obj = ping_poa->id_to_reference(object_id.in());
+        CORBA::String_var ior = orb->object_to_string(ping_obj.in());
+        std::cout<<"Servant activated"<<std::endl;
+
+        // NameService
+        CORBA::Object_var naming_obj =
+            orb->resolve_initial_references("NameService");
+
+        CosNaming::NamingContext_var naming_context =
+            CosNaming::NamingContext::_narrow(naming_obj.in());
+
+        CosNaming::Name name(1);
+        name.length(1);
+        name[0].id = CORBA::string_dup("Receiver");
+        naming_context->rebind(name, ping_obj.in());
+        std::cout<<"Bound Receiver to NameService"<<std::endl;
+
+        // start ORB
+        orb->run();
+        std::cout<<"ORB ready"<<std::endl;
+
+        //destroy
+        root_poa->destroy(1,1);
+        orb->destroy();
+
+    } catch(CORBA::Exception &any) {
+        std::cout<<"Exception: "<<any<<std::endl;
+    }
     return 0;
 }
 \end{lstlisting}
@@ -385,69 +385,69 @@ static std::string str;
 
 int main(int argc, char* argv[])
 {
-	if (argc > 1)
-		str = argv[1];
-	else
-		str = "no argument given";
-
-	try{
-		// initialize ORB
-		CORBA::ORB_var orb = CORBA::ORB_init(argc, argv, "ClientORB");
-		std::cout<<"ORB ok"<<std::endl;
-
-		// get RTORB
-		CORBA::Object_var rtorb = orb->resolve_initial_references("RTORB");
-		RTCORBA::RTORB_var rt_orb = RTCORBA::RTORB::_narrow(rtorb.in());
-		std::cout<<"RTORB ok"<<std::endl;
-
-		// NamingService
-		CORBA::Object_var naming_obj =
-			orb->resolve_initial_references("NameService");
-
-		CosNaming::NamingContext_var naming_context =
-			CosNaming::NamingContext::_narrow(naming_obj.in());
-
-		std::cout<<"NamingService ok"<<std::endl;
-
-		CosNaming::Name name(1);
-		name.length(1);
-		name[0].id = CORBA::string_dup("Receiver");
-
-		// receive Object
-		CORBA::Object_var ping_obj = naming_context->resolve(name);
-		ping = Linutronix::Ping::_narrow(ping_obj.in());
-		std::cout<<"TransferOjekt ok"<<std::endl;
-
-		// Private Connection Policy
-		CORBA::PolicyList pc_policy(1);
-		pc_policy.length(1);
-		pc_policy[0] = rt_orb->create_private_connection_policy();
-
-		CORBA::Object_var new_tran =
-			ping->_set_policy_overrides(pc_policy, CORBA::SET_OVERRIDE);
-
-		ping = Linutronix::Ping::_narrow(new_tran.in());
-		std::cout<<"PrivateConnection ok"<<std::endl;
-
-		struct timespec time_tx;
-		struct timespec time_done;
-
-		for(unsigned int i = 0; i < 100; i++)
-		{
-			clock_gettime(CLOCK_MONOTONIC, &time_tx);
-			ping->send((const char*)str.c_str());
-			clock_gettime(CLOCK_MONOTONIC, &time_done);
-			std::cout<<time_tx.tv_sec<<":"<<time_tx.tv_nsec/1000<<"\n";
-			std::cout<<time_done.tv_sec<<":"<<time_done.tv_nsec/1000<<"\n\n";
-		}
-
-		// destroy ORB
-		orb->destroy();
-
-	} catch(CORBA::Exception &any) {
-		std::cout<<"Exception occured: "<<any<<std::endl;
-	}
-	return 0;
+    if (argc > 1)
+        str = argv[1];
+    else
+        str = "no argument given";
+
+    try{
+        // initialize ORB
+        CORBA::ORB_var orb = CORBA::ORB_init(argc, argv, "ClientORB");
+        std::cout<<"ORB ok"<<std::endl;
+
+        // get RTORB
+        CORBA::Object_var rtorb = orb->resolve_initial_references("RTORB");
+        RTCORBA::RTORB_var rt_orb = RTCORBA::RTORB::_narrow(rtorb.in());
+        std::cout<<"RTORB ok"<<std::endl;
+
+        // NamingService
+        CORBA::Object_var naming_obj =
+            orb->resolve_initial_references("NameService");
+
+        CosNaming::NamingContext_var naming_context =
+            CosNaming::NamingContext::_narrow(naming_obj.in());
+
+        std::cout<<"NamingService ok"<<std::endl;
+
+        CosNaming::Name name(1);
+        name.length(1);
+        name[0].id = CORBA::string_dup("Receiver");
+
+        // receive Object
+        CORBA::Object_var ping_obj = naming_context->resolve(name);
+        ping = Linutronix::Ping::_narrow(ping_obj.in());
+        std::cout<<"TransferOjekt ok"<<std::endl;
+
+        // Private Connection Policy
+        CORBA::PolicyList pc_policy(1);
+        pc_policy.length(1);
+        pc_policy[0] = rt_orb->create_private_connection_policy();
+
+        CORBA::Object_var new_tran =
+            ping->_set_policy_overrides(pc_policy, CORBA::SET_OVERRIDE);
+
+        ping = Linutronix::Ping::_narrow(new_tran.in());
+        std::cout<<"PrivateConnection ok"<<std::endl;
+
+        struct timespec time_tx;
+        struct timespec time_done;
+
+        for(unsigned int i = 0; i < 100; i++)
+        {
+            clock_gettime(CLOCK_MONOTONIC, &time_tx);
+            ping->send((const char*)str.c_str());
+            clock_gettime(CLOCK_MONOTONIC, &time_done);
+            std::cout<<time_tx.tv_sec<<":"<<time_tx.tv_nsec/1000<<"\n";
+            std::cout<<time_done.tv_sec<<":"<<time_done.tv_nsec/1000<<"\n\n";
+        }
+
+        // destroy ORB
+        orb->destroy();
+
+    } catch(CORBA::Exception &any) {
+        std::cout<<"Exception occured: "<<any<<std::endl;
+    }
+    return 0;
 }
 \end{lstlisting}
 
@@ -456,19 +456,19 @@ appropirate config file (\cmd{ping.idl}) looks like this:
 
 \begin{lstlisting}
 project(*Receiver): rt_server, naming {
-	requires += exceptions
-	Source_Files {
-		ping_I.cpp
-		Receiver.cpp
-	}
+    requires += exceptions
+    Source_Files {
+        ping_I.cpp
+        Receiver.cpp
+    }
 }
 
 project(*Supplier): rt_client, naming {
-	requires += exceptions
-	Source_Files {
-		pingC.cpp
-		Supplier.cpp
-	}
+    requires += exceptions
+    Source_Files {
+        pingC.cpp
+        Supplier.cpp
+    }
 }
 \end{lstlisting}
 
@@ -501,71 +501,71 @@ First \cmd{ping-server.c} will be created to host the ping object:
 #include <time.h>
 
 static DBusHandlerResult signal_filter
-		(DBusConnection *connection, DBusMessage *message, void *user_data);
+    (DBusConnection *connection, DBusMessage *message, void *user_data);
 
 int main(int argc, char **argv)
 {
-	GMainLoop *loop;
-	DBusConnection *bus;
-	DBusError error;
-
-	loop = g_main_loop_new (NULL, FALSE);
-	dbus_error_init (&error);
-	bus = dbus_bus_get (DBUS_BUS_SESSION, &error);
-
-	if (!bus) {
-		g_warning ("Failed to connect to the D-BUS daemon: %s", error.message);
-		dbus_error_free (&error);
-		return 1;
-	}
-
-	dbus_connection_setup_with_g_main (bus, NULL);
-	/* listening to messages from all objects as no path is specified */
-	dbus_bus_add_match (bus, "type='signal',interface='de.linutronix.Ping'",
-		&error);
-	dbus_connection_add_filter (bus, signal_filter, loop, NULL);
-	g_main_loop_run (loop);
-
-	return 0;
+    GMainLoop *loop;
+    DBusConnection *bus;
+    DBusError error;
+
+    loop = g_main_loop_new (NULL, FALSE);
+    dbus_error_init (&error);
+    bus = dbus_bus_get (DBUS_BUS_SESSION, &error);
+
+    if (!bus) {
+        g_warning ("Failed to connect to the D-BUS daemon: %s", error.message);
+        dbus_error_free (&error);
+        return 1;
+    }
+
+    dbus_connection_setup_with_g_main (bus, NULL);
+    /* listening to messages from all objects as no path is specified */
+    dbus_bus_add_match (bus, "type='signal',interface='de.linutronix.Ping'",
+        &error);
+    dbus_connection_add_filter (bus, signal_filter, loop, NULL);
+    g_main_loop_run (loop);
+
+    return 0;
 }
 
 static DBusHandlerResult signal_filter
-		(DBusConnection *connection, DBusMessage *message, void *user_data)
+    (DBusConnection *connection, DBusMessage *message, void *user_data)
 {
-	/* User data is the event loop we are running in */
-	GMainLoop *loop = user_data;
-
-	/* A signal from the bus saying we are about to be disconnected */
-	if (dbus_message_is_signal(message, "org.freedesktop.Local",
-		"Disconnected"))
-	{
-		/* Tell the main loop to quit */
-		g_main_loop_quit (loop);
-		/* We have handled this message, don't pass it on */
-		return DBUS_HANDLER_RESULT_HANDLED;
-	}
-	else if (dbus_message_is_signal (message, "de.linutronix.Ping", "Ping"))
-	{
-		DBusError error;
-		char *s;
-
-		dbus_error_init (&error);
-
-		if (dbus_message_get_args(message, &error, DBUS_TYPE_STRING, &s,
-			DBUS_TYPE_INVALID))
-		{
-			struct timespec rx_time;
-			clock_gettime(CLOCK_MONOTONIC, &rx_time);
-			g_print("ping received: %s - %d:%d\n", s, rx_time.tv_sec,
-				rx_time.tv_nsec/1000);
-			// dbus_free (s);
-		} else {
-			g_print("ping received, but error getting message: %s\n", error.message);
-			dbus_error_free (&error);
-		}
-		return DBUS_HANDLER_RESULT_HANDLED;
-	}
-	return DBUS_HANDLER_RESULT_NOT_YET_HANDLED;
+    /* User data is the event loop we are running in */
+    GMainLoop *loop = user_data;
+
+    /* A signal from the bus saying we are about to be disconnected */
+    if (dbus_message_is_signal(message, "org.freedesktop.Local",
+        "Disconnected"))
+    {
+        /* Tell the main loop to quit */
+        g_main_loop_quit (loop);
+        /* We have handled this message, don't pass it on */
+        return DBUS_HANDLER_RESULT_HANDLED;
+    }
+    else if (dbus_message_is_signal (message, "de.linutronix.Ping", "Ping"))
+    {
+        DBusError error;
+        char *s;
+
+        dbus_error_init (&error);
+
+        if (dbus_message_get_args(message, &error, DBUS_TYPE_STRING, &s,
+            DBUS_TYPE_INVALID))
+        {
+            struct timespec rx_time;
+            clock_gettime(CLOCK_MONOTONIC, &rx_time);
+            g_print("ping received: %s - %d:%d\n", s, rx_time.tv_sec,
+                rx_time.tv_nsec/1000);
+            // dbus_free (s);
+        } else {
+            g_print("ping received, but error getting message: %s\n", error.message);
+            dbus_error_free (&error);
+        }
+        return DBUS_HANDLER_RESULT_HANDLED;
+    }
+    return DBUS_HANDLER_RESULT_NOT_YET_HANDLED;
 }
 \end{lstlisting}
 
@@ -586,59 +586,59 @@ static const char *v_STRING;
 
 int main (int argc, char **argv)
 {
-	GMainLoop *loop;
-	DBusConnection *bus;
-	DBusError error;
-
-	if (argc > 1)
-		v_STRING = argv[1];
-	else
-		v_STRING = "no arg given";
-
-	/* Create a new event loop to run in */
-	loop = g_main_loop_new (NULL, FALSE);
-
-	/* Get a connection to the session bus */
-	dbus_error_init (&error);
-	bus = dbus_bus_get (DBUS_BUS_SESSION, &error);
-	if (!bus) {
-		g_warning ("Failed to connect to the D-BUS daemon: %s", error.message);
-		dbus_error_free (&error);
-		return 1;
-	}
-
-	/* Set up this connection to work in a GLib event loop */
-	dbus_connection_setup_with_g_main (bus, NULL);
-	/* Every second call send_ping() with the bus as an argument*/
-	g_timeout_add (1000, (GSourceFunc)send_ping, bus);
-
-	/* Start the event loop */
-	g_main_loop_run (loop);
-	return 0;
+    GMainLoop *loop;
+    DBusConnection *bus;
+    DBusError error;
+
+    if (argc > 1)
+        v_STRING = argv[1];
+    else
+        v_STRING = "no arg given";
+
+    /* Create a new event loop to run in */
+    loop = g_main_loop_new (NULL, FALSE);
+
+    /* Get a connection to the session bus */
+    dbus_error_init (&error);
+    bus = dbus_bus_get (DBUS_BUS_SESSION, &error);
+    if (!bus) {
+        g_warning ("Failed to connect to the D-BUS daemon: %s", error.message);
+        dbus_error_free (&error);
+        return 1;
+    }
+
+    /* Set up this connection to work in a GLib event loop */
+    dbus_connection_setup_with_g_main (bus, NULL);
+    /* Every second call send_ping() with the bus as an argument*/
+    g_timeout_add (1000, (GSourceFunc)send_ping, bus);
+
+    /* Start the event loop */
+    g_main_loop_run (loop);
+    return 0;
 }
 
 static gboolean send_ping (DBusConnection *bus)
 {
-	DBusMessage *message;
-	struct timespec tx_time;
-	struct timespec done_time;
-
-	message = dbus_message_new_signal ("/de/linutronix/Ping",
-                                   "de.linutronix.Ping", "Ping");
-	/* Append the string to the signal */
-	dbus_message_append_args (message,
-														DBUS_TYPE_STRING, &v_STRING,
-														DBUS_TYPE_INVALID);
-	clock_gettime(CLOCK_MONOTONIC, &tx_time);
-	/* Send the signal */
-	dbus_connection_send (bus, message, NULL);
-	clock_gettime(CLOCK_MONOTONIC, &done_time);
-	g_print("%d:%d\n%d:%d\n\n", tx_time.tv_sec, tx_time.tv_nsec/1000,
-		done_time.tv_sec, done_time.tv_nsec/1000);
-	/* Free the signal now we have finished with it */
-	dbus_message_unref (message);
-	/* Return TRUE to tell the event loop we want to be called again */
-	return TRUE;
+    DBusMessage *message;
+    struct timespec tx_time;
+    struct timespec done_time;
+
+    message = dbus_message_new_signal ("/de/linutronix/Ping",
+           "de.linutronix.Ping", "Ping");
+    /* Append the string to the signal */
+    dbus_message_append_args (message,
+            DBUS_TYPE_STRING, &v_STRING,
+            DBUS_TYPE_INVALID);
+    clock_gettime(CLOCK_MONOTONIC, &tx_time);
+    /* Send the signal */
+    dbus_connection_send (bus, message, NULL);
+    clock_gettime(CLOCK_MONOTONIC, &done_time);
+    g_print("%d:%d\n%d:%d\n\n", tx_time.tv_sec, tx_time.tv_nsec/1000,
+        done_time.tv_sec, done_time.tv_nsec/1000);
+    /* Free the signal now we have finished with it */
+    dbus_message_unref (message);
+    /* Return TRUE to tell the event loop we want to be called again */
+    return TRUE;
 }
 \end{lstlisting}
 
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