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Braedeng0Braedeng0
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Merge remote-tracking branch 'origin/master'
# Conflicts: # TeamCode/src/main/kotlin/pioneer/Constants.kt # TeamCode/src/main/kotlin/pioneer/opmodes/auto/PathingTest.kt # TeamCode/src/main/kotlin/pioneer/opmodes/calibration/OdometerOffsetCalculation.kt # TeamCode/src/main/kotlin/pioneer/pathing/follower/Follower.kt # TeamCode/src/main/kotlin/pioneer/pathing/paths/CompoundPath.kt
2 parents 09ed554 + 80eea96 commit c506098

65 files changed

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‎.gitattributes‎

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*.kt diff=kotlin
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*.java diff=java

‎.github/workflows/build.yml‎

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@@ -21,17 +21,27 @@ jobs:
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java-version: '17'
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distribution: 'temurin'
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- name: Cache Gradle
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uses: actions/cache@v4
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with:
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path: |
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~/.gradle/caches
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~/.gradle/wrapper
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key: gradle-${{ runner.os }}-${{ hashFiles('**/*.gradle*', '**/gradle-wrapper.properties') }}
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restore-keys: |
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gradle-${{ runner.os }}-
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- name: Setup Gradle
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uses: gradle/actions/setup-gradle@v3
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with:
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cache-read-only: ${{ github.ref != 'refs/heads/master' }}
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- name: Build and Test
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run: ./gradlew build --no-daemon
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run: ./gradlew build --info --stacktrace --no-daemon
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- name: Build Debug APK
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if: github.event_name == 'push' && github.ref == 'refs/heads/master'
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run: ./gradlew assembleDebug --no-daemon
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run: ./gradlew assembleDebug --info --stacktrace --no-daemon
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- name: Upload APK
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if: github.event_name == 'push' && github.ref == 'refs/heads/master'

‎.github/workflows/ktlint.yml‎

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name: Lint
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on:
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pull_request:
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branches: [master]
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push:
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branches: [master]
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jobs:
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ktlint:
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runs-on: ubuntu-latest
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permissions:
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contents: write
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steps:
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- uses: actions/checkout@v4
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with:
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repository: ${{ github.event.pull_request.head.repo.full_name || github.repository }}
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ref: ${{ github.event.pull_request.head.ref || github.ref }}
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token: ${{ secrets.GITHUB_TOKEN }}
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- uses: actions/setup-java@v4
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with:
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java-version: '17'
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distribution: 'temurin'
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- uses: gradle/actions/setup-gradle@v3
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- name: Format (non-fork) or check (fork)
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run: |
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if [[ "${{ github.event.pull_request.head.repo.full_name }}" != "${{ github.repository }}" && "${{ github.event_name }}" == "pull_request" ]]; then
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./gradlew ktlintCheck --no-daemon
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else
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./gradlew ktlintFormat --no-daemon
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fi
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- name: Commit formatting changes
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if: github.event.pull_request.head.repo.full_name == github.repository || github.event_name == 'push'
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run: |
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if [[ -n $(git status --porcelain) ]]; then
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git config user.email "github-actions[bot]@users.noreply.github.com"
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git config user.name "github-actions[bot]"
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git add .
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git commit -m "style: apply ktlint formatting [bot]"
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git push
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fi

‎README.md‎

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@@ -34,5 +34,5 @@ To stay aligned with the upstream FTC repository:
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Use `ktlint` to format your Kotlin files:
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```bash
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ktlint -F <filename>
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./gradlew ktlintFormat
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```

‎TeamCode/build.gradle‎

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// Custom definitions may go here
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// ktlint configuration - plugins block must come before apply statements
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plugins {
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id "org.jlleitschuh.gradle.ktlint" version "12.1.0"
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id 'org.jetbrains.kotlin.android' apply false
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}
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// Include common definitions from above.
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apply from: '../build.common.gradle'
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apply from: '../build.dependencies.gradle'
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apply plugin: 'kotlin-android'
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ktlint {
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android = true
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ignoreFailures = true // Allow build to succeed, but still show warnings
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reporters {
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reporter "plain"
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reporter "checkstyle"
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reporter "sarif"
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}
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}
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android {
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namespace = 'pioneer'
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kotlinOptions {
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//kotlin {
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// jvmToolchain(8)
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//}
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//}

‎TeamCode/src/main/kotlin/pioneer/Bot.kt‎

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package pioneer
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import com.qualcomm.robotcore.hardware.HardwareMap
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import pioneer.hardware.impl.AprilTagImpl
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import pioneer.hardware.impl.BatteryMonitorImpl
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import pioneer.hardware.impl.CameraImpl
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import pioneer.hardware.impl.FlywheelImpl
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import pioneer.hardware.impl.LaunchServosImpl
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import pioneer.hardware.impl.MecanumBaseImpl
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import pioneer.hardware.interfaces.BatteryMonitor
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import pioneer.hardware.interfaces.Camera
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import pioneer.hardware.interfaces.Flywheel
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import pioneer.hardware.interfaces.LaunchServos
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import pioneer.hardware.interfaces.MecanumBase
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import pioneer.hardware.mock.AprilTagMock
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import pioneer.hardware.mock.BatteryMonitorMock
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import pioneer.hardware.mock.CameraMock
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import pioneer.hardware.mock.FlywheelMock
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import pioneer.hardware.mock.LaunchServosMock
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import pioneer.hardware.mock.MecanumBaseMock
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import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor
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import pioneer.hardware.AprilTag
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import pioneer.hardware.BatteryMonitor
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import pioneer.hardware.Camera
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import pioneer.hardware.Flywheel
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import pioneer.hardware.LaunchServos
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import pioneer.hardware.MecanumBase
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import pioneer.hardware.MockHardware
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import pioneer.localization.Localizer
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import pioneer.localization.localizers.LocalizerMock
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import pioneer.localization.localizers.Pinpoint
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import pioneer.pathing.follower.Follower
25-
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor
16+
import pioneer.constants.Camera as CameraConstants
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enum class BotType(val supportsLocalizer: Boolean) {
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BASIC_MECANUM_BOT(false),
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hardwareMap: HardwareMap,
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) {
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// Basic hardware components
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var mecanumBase: MecanumBase = MecanumBaseMock()
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var mecanumBase: MecanumBase = MecanumBase(MockHardware())
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var localizer: Localizer = LocalizerMock()
40-
var batteryMonitor: BatteryMonitor = BatteryMonitorMock()
31+
var batteryMonitor: BatteryMonitor = BatteryMonitor(MockHardware())
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// GoBilda starter bot specific components
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var flywheel: Flywheel = FlywheelMock()
44-
var launchServos: LaunchServos = LaunchServosMock()
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var flywheel: Flywheel = Flywheel(MockHardware())
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var launchServos: LaunchServos = LaunchServos(MockHardware())
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// Other hardware components
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var aprilTagProcessor: AprilTagProcessor = AprilTagMock().processor
48-
var camera: Camera = CameraMock()
38+
var aprilTagProcessor: AprilTagProcessor = AprilTag().processor
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var camera: Camera = Camera(MockHardware())
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// Path follower
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var follower = Follower(this)
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5445
when (botType) {
5546
BotType.BASIC_MECANUM_BOT -> {
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// Initialize hardware components for Basic Mecanum Bot
57-
mecanumBase = MecanumBaseImpl(hardwareMap, Constants.Drive.MOTOR_CONFIG)
58-
batteryMonitor = BatteryMonitorImpl(hardwareMap)
48+
mecanumBase = MecanumBase(hardwareMap)
49+
batteryMonitor = BatteryMonitor(hardwareMap)
5950
}
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BotType.MECANUM_BOT -> {
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BotType.GOBILDA_STARTER_BOT -> {
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// Initialize hardware components for GoBilda Starter Bot
70-
mecanumBase = MecanumBaseImpl(hardwareMap, Constants.Drive.MOTOR_CONFIG)
61+
mecanumBase = MecanumBase(hardwareMap)
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localizer = Pinpoint(hardwareMap)
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batteryMonitor = BatteryMonitorImpl(hardwareMap)
73-
flywheel = FlywheelImpl(hardwareMap)
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launchServos = LaunchServosImpl(hardwareMap)
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aprilTagProcessor = AprilTagImpl(
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Constants.Camera.POSITION_CM,
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Constants.Camera.ORIENTATION_RAD
78-
).processor
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batteryMonitor = BatteryMonitor(hardwareMap)
64+
flywheel = Flywheel(hardwareMap)
65+
launchServos = LaunchServos(hardwareMap)
66+
aprilTagProcessor =
67+
AprilTag(
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CameraConstants.POSITION_CM,
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CameraConstants.ORIENTATION_RAD,
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).processor
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camera =
80-
CameraImpl(
72+
Camera(
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hardwareMap,
82-
Constants.HardwareNames.WEBCAM,
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processors = arrayOf(aprilTagProcessor),
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)
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}

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