Fix bug: Too many packets requested corrupting serial buffer
This commit is contained in:
jacobperron
parent
9cb3250268
commit
fc1fb48930
3 changed files with 60 additions and 46 deletions
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@ -88,6 +88,8 @@ namespace create {
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// Start and stop reading data from Create
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bool startReading();
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void stopReading();
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// Notifies main thread that data is fresh and makes the user callback
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void notifyDataReady();
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public:
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Serial(boost::shared_ptr<Data> data, const uint8_t& header = create::util::CREATE_2_HEADER);
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66
src/data.cpp
66
src/data.cpp
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@ -6,57 +6,61 @@ namespace create {
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Data::Data() {
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// Populate data map
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/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
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* WARNING: Adding too many packets will flood the serial *
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* buffer and corrupt the stream. *
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* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
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ADD_PACKET(ID_BUMP_WHEELDROP, 1, "bumps_wheeldrops");
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ADD_PACKET(ID_WALL, 1, "wall");
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ADD_PACKET(ID_CLIFF_LEFT, 1, "cliff_left");
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ADD_PACKET(ID_CLIFF_FRONT_LEFT, 1, "cliff_front_left");
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ADD_PACKET(ID_CLIFF_FRONT_RIGHT, 1, "cliff_front_right");
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ADD_PACKET(ID_CLIFF_RIGHT, 1, "cliff_right");
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ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
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ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents");
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//ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
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//ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents");
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ADD_PACKET(ID_DIRT_DETECT, 1, "dirt_detect");
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ADD_PACKET(ID_UNUSED_1, 1, "unused 1");
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//ADD_PACKET(ID_UNUSED_1, 1, "unused 1");
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ADD_PACKET(ID_IR_OMNI, 1, "ir_opcode");
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ADD_PACKET(ID_BUTTONS, 1, "buttons");
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ADD_PACKET(ID_DISTANCE, 2, "distance");
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ADD_PACKET(ID_ANGLE, 2, "angle");
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//ADD_PACKET(ID_DISTANCE, 2, "distance");
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//ADD_PACKET(ID_ANGLE, 2, "angle");
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ADD_PACKET(ID_CHARGE_STATE, 1, "charging_state");
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ADD_PACKET(ID_VOLTAGE, 2, "voltage");
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ADD_PACKET(ID_CURRENT, 2, "current");
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ADD_PACKET(ID_TEMP, 1, "temperature");
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ADD_PACKET(ID_CHARGE , 2, "battery_charge");
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ADD_PACKET(ID_CAPACITY, 2, "battery_capacity");
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ADD_PACKET(ID_WALL_SIGNAL, 2, "wall_signal");
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ADD_PACKET(ID_CLIFF_LEFT_SIGNAL, 2, "cliff_left_signal");
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ADD_PACKET(ID_CLIFF_FRONT_LEFT_SIGNAL, 2, "cliff_front_left_signal");
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ADD_PACKET(ID_CLIFF_FRONT_RIGHT_SIGNAL, 2, "cliff_front_right_signal");
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ADD_PACKET(ID_CLIFF_RIGHT_SIGNAL, 2, "cliff_right_signal");
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ADD_PACKET(ID_UNUSED_2, 1, "unused 2");
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ADD_PACKET(ID_UNUSED_3, 2, "unused 3");
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ADD_PACKET(ID_CHARGE_SOURCE, 1, "charger_available");
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ADD_PACKET(ID_IO_MODE, 1, "oi_mode");
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ADD_PACKET(ID_SONG_NUM, 1, "song_number");
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ADD_PACKET(ID_PLAYING, 1, "song_playing");
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ADD_PACKET(ID_NUM_STREAM_PACKETS, 1, "oi_stream_num_packets");
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ADD_PACKET(ID_VEL, 2, "velocity");
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ADD_PACKET(ID_RADIUS, 2, "radius");
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ADD_PACKET(ID_RIGHT_VEL, 2, "velocity_right");
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ADD_PACKET(ID_LEFT_VEL, 2, "velocity_left");
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//ADD_PACKET(ID_WALL_SIGNAL, 2, "wall_signal");
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//ADD_PACKET(ID_CLIFF_LEFT_SIGNAL, 2, "cliff_left_signal");
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//ADD_PACKET(ID_CLIFF_FRONT_LEFT_SIGNAL, 2, "cliff_front_left_signal");
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//ADD_PACKET(ID_CLIFF_FRONT_RIGHT_SIGNAL, 2, "cliff_front_right_signal");
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//ADD_PACKET(ID_CLIFF_RIGHT_SIGNAL, 2, "cliff_right_signal");
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//ADD_PACKET(ID_UNUSED_2, 1, "unused 2");
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//ADD_PACKET(ID_UNUSED_3, 2, "unused 3");
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//ADD_PACKET(ID_CHARGE_SOURCE, 1, "charger_available");
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//ADD_PACKET(ID_IO_MODE, 1, "oi_mode");
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//ADD_PACKET(ID_SONG_NUM, 1, "song_number");
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//ADD_PACKET(ID_PLAYING, 1, "song_playing");
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//ADD_PACKET(ID_NUM_STREAM_PACKETS, 1, "oi_stream_num_packets");
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//ADD_PACKET(ID_VEL, 2, "velocity");
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//ADD_PACKET(ID_RADIUS, 2, "radius");
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//ADD_PACKET(ID_RIGHT_VEL, 2, "velocity_right");
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//ADD_PACKET(ID_LEFT_VEL, 2, "velocity_left");
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ADD_PACKET(ID_LEFT_ENC, 2, "enc_counts_left");
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ADD_PACKET(ID_RIGHT_ENC, 2, "enc_counts_right");
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ADD_PACKET(ID_LIGHT, 1, "light_bumper");
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ADD_PACKET(ID_LIGHT_LEFT, 2, "light_bumper_left");
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ADD_PACKET(ID_LIGHT_FRONT_LEFT, 2, "light_bumper_front_left");
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ADD_PACKET(ID_LIGHT_CENTER_LEFT, 2, "light_bumper_center_left");
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ADD_PACKET(ID_LIGHT_CENTER_RIGHT, 2, "light_bumper_center_right");
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ADD_PACKET(ID_LIGHT_FRONT_RIGHT, 2, "light_bumper_front_right");
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ADD_PACKET(ID_LIGHT_RIGHT, 2, "light_bumper_right");
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//ADD_PACKET(ID_LIGHT_LEFT, 2, "light_bumper_left");
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//ADD_PACKET(ID_LIGHT_FRONT_LEFT, 2, "light_bumper_front_left");
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//ADD_PACKET(ID_LIGHT_CENTER_LEFT, 2, "light_bumper_center_left");
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//ADD_PACKET(ID_LIGHT_CENTER_RIGHT, 2, "light_bumper_center_right");
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//ADD_PACKET(ID_LIGHT_FRONT_RIGHT, 2, "light_bumper_front_right");
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//ADD_PACKET(ID_LIGHT_RIGHT, 2, "light_bumper_right");
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ADD_PACKET(ID_IR_LEFT, 1, "ir_opcode_left");
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ADD_PACKET(ID_IR_RIGHT, 1, "ir_opcode_right");
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ADD_PACKET(ID_LEFT_MOTOR_CURRENT, 2, "left_motor_current");
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ADD_PACKET(ID_RIGHT_MOTOR_CURRENT, 2, "right_motor_current");
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ADD_PACKET(ID_MAIN_BRUSH_CURRENT, 2, "main_brush_current");
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ADD_PACKET(ID_SIDE_BRUSH_CURRENT, 2, "side_brush_current");
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//ADD_PACKET(ID_LEFT_MOTOR_CURRENT, 2, "left_motor_current");
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//ADD_PACKET(ID_RIGHT_MOTOR_CURRENT, 2, "right_motor_current");
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//ADD_PACKET(ID_MAIN_BRUSH_CURRENT, 2, "main_brush_current");
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//ADD_PACKET(ID_SIDE_BRUSH_CURRENT, 2, "side_brush_current");
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ADD_PACKET(ID_STASIS, 1, "stasis");
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totalDataBytes = 0;
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@ -130,6 +130,24 @@ namespace create {
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}
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}
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void Serial::notifyDataReady() {
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// Validate all packets
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data->validateAll();
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// Notify first data packets ready
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{
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boost::lock_guard<boost::mutex> lock(dataReadyMut);
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if (!dataReady) {
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dataReady = true;
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dataReadyCond.notify_one();
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}
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}
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// Callback to notify data is ready
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if (callback)
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callback();
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}
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void Serial::onData(const boost::system::error_code& e, const std::size_t& size) {
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if (e) {
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CERR("[create::Serial] ", "serial error - " << e.message());
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@ -153,8 +171,10 @@ namespace create {
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readState = READ_PACKET_ID;
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numBytesRead = 0;
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}
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else
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else {
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//notifyDataReady();
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readState = READ_HEADER;
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}
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break;
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case READ_PACKET_ID:
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@ -167,6 +187,7 @@ namespace create {
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readState = READ_PACKET_BYTES;
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}
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else {
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//notifyDataReady();
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readState = READ_HEADER;
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}
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break;
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@ -192,20 +213,7 @@ namespace create {
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case READ_CHECKSUM:
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if ((byteSum & 0xFF) == 0) {
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// Validate all packets
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data->validateAll();
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// Notify first data packets ready
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{
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boost::lock_guard<boost::mutex> lock(dataReadyMut);
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if (!dataReady) {
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dataReady = true;
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dataReadyCond.notify_one();
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}
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}
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// Callback to notify data is ready
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if (callback)
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callback();
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notifyDataReady();
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}
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else {
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// Corrupt data
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