system/uorb: fix memory leak report by coverity
nsh> uorb_unit_test uORB note: try single-topic support uORB note: PASS single-topic test uORB note: PASS orb 10-instances uORB note: try multi-topic support uORB note: ---------------- LATENCY TEST ------------------ mean: 0 us std dev: 0 us min: 0 us max: 0 us missed topic updates: 0 uORB note: PASS multi-topic test uORB note: try multi-topic support subscribing before publishing uORB note: PASS multi-topic reversed uORB note: Testing unadvertise uORB note: Testing multi-topic 2 test (queue simulation) uORB note: PASS multi-topic 2 test (queue simulation) uORB note: Testing orb queuing uORB note: Testing to write some elements... uORB note: Testing overflow... uORB note: Testing underflow... uORB note: PASS orb queuing uORB note: Testing orb queuing (poll & notify) PASS Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
This commit is contained in:
dongjiuzhu1
Lup Yuen Lee
parent
d076b9815e
commit
83fc4e2aba
@ -194,6 +194,7 @@ static int latency_test(bool print)
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struct orb_test_medium_s sample;
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pthread_t pubsub_task;
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int instance = 0;
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int ret = ERROR;
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int fd;
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test_note("---------------- LATENCY TEST ------------------");
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@ -213,7 +214,8 @@ static int latency_test(bool print)
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if (pthread_create(&pubsub_task, NULL, pubsubtest_thread_entry, NULL) < 0)
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{
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return test_fail("failed launching task");
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test_fail("failed launching task");
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goto out;
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}
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/* give the test task some data */
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@ -224,7 +226,8 @@ static int latency_test(bool print)
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sample.timestamp = orb_absolute_time();
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if (OK != orb_publish(ORB_ID(orb_test_medium), fd, &sample))
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{
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return test_fail("mult. pub0 timing fail");
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test_fail("mult. pub0 timing fail");
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goto out;
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}
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usleep(1000); /* simulate >800 Hz system operation */
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@ -232,11 +235,15 @@ static int latency_test(bool print)
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if (pubsub_task < 0)
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{
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return test_fail("failed launching task");
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test_fail("failed launching task");
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goto out;
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}
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ret = OK;
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out:
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orb_unadvertise(fd);
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return g_pubsubtest_res;
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return ret < 0 ? ret : g_pubsubtest_res;
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}
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static int test_single(void)
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@ -247,7 +254,7 @@ static int test_single(void)
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bool updated;
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int afd;
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int sfd;
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int ret;
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int ret = ERROR;
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test_note("try single-topic support");
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@ -265,6 +272,7 @@ static int test_single(void)
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sfd = orb_subscribe(ORB_ID(orb_test));
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if (sfd < 0)
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{
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orb_unadvertise(afd);
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return test_fail("subscribe failed: %d", errno);
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}
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@ -274,23 +282,27 @@ static int test_single(void)
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if (OK != orb_copy(ORB_ID(orb_test), sfd, &sub_sample))
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{
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return test_fail("copy(1) failed: %d", errno);
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test_fail("copy(1) failed: %d", errno);
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goto out;
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}
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if (sample.val != sub_sample.val)
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{
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return test_fail("copy(1) mismatch: %d expected %d",
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sub_sample.val, sample.val);
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test_fail("copy(1) mismatch: %d expected %d",
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sub_sample.val, sample.val);
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goto out;
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}
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if (OK != orb_check(sfd, &updated))
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{
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return test_fail("check(1) failed");
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test_fail("check(1) failed");
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goto out;
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}
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if (updated)
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{
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return test_fail("spurious updated flag");
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test_fail("spurious updated flag");
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goto out;
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}
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/* check second publish */
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@ -299,45 +311,56 @@ static int test_single(void)
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if (OK != orb_publish(ORB_ID(orb_test), afd, &sample))
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{
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return test_fail("publish failed");
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test_fail("publish failed");
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goto out;
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}
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if (OK != orb_check(sfd, &updated))
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{
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return test_fail("check(2) failed");
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test_fail("check(2) failed");
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goto out;
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}
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if (!updated)
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{
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return test_fail("missing updated flag");
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test_fail("missing updated flag");
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goto out;
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}
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if (OK != orb_copy(ORB_ID(orb_test), sfd, &sub_sample))
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{
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return test_fail("copy(2) failed: %d", errno);
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test_fail("copy(2) failed: %d", errno);
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goto out;
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}
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if (sample.val != sub_sample.val)
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{
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return test_fail("copy(2) mismatch: %d expected %d",
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sub_sample.val, sample.val);
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test_fail("copy(2) mismatch: %d expected %d",
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sub_sample.val, sample.val);
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goto out;
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}
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/* unadvertise and out */
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out:
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ret = orb_unadvertise(afd);
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if (ret != OK)
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{
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return test_fail("orb_unadvertise failed: %i", ret);
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test_fail("orb_unadvertise failed: %i", ret);
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}
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ret = orb_unsubscribe(sfd);
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if (ret != OK)
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{
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return test_fail("orb_unsubscribe failed: %i", ret);
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test_fail("orb_unsubscribe failed: %i", ret);
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}
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return test_note("PASS single-topic test");
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if (ret == OK)
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{
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test_note("PASS single-topic test");
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}
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return ret;
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}
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static int test_multi_inst10(void)
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@ -345,6 +368,7 @@ static int test_multi_inst10(void)
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const int max_inst = 10;
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int sfd[max_inst];
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int afd[max_inst];
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int ret = ERROR;
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int i;
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int j;
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@ -359,7 +383,8 @@ static int test_multi_inst10(void)
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{
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if (OK == orb_exists(ORB_ID(orb_test), i))
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{
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return test_fail("sub %d is advertised", i);
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test_fail("sub %d is advertised", i);
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goto out_with_sfd;
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}
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}
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@ -369,9 +394,16 @@ static int test_multi_inst10(void)
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{
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afd[i] = orb_advertise_multi_queue_persist(ORB_ID(orb_test),
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NULL, &i, 1);
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}
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/* verify advertised yet */
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for (i = 0; i < max_inst; i++)
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{
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if (OK != orb_exists(ORB_ID(orb_test), i))
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{
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return test_fail("sub %d advertise failed", i);
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test_fail("sub %d advertise failed", i);
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goto out_with_sfd;
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}
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}
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@ -401,7 +433,8 @@ static int test_multi_inst10(void)
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orb_check(sfd[sub_instance], &updated);
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if (!updated)
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{
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return test_fail("sub %d not updated", sub_instance);
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test_fail("sub %d not updated", sub_instance);
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goto out;
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}
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else
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{
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@ -409,14 +442,16 @@ static int test_multi_inst10(void)
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if (orb_copy(ORB_ID(orb_test), sfd[sub_instance], &sample))
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{
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return test_fail("sub %d copy failed", sub_instance);
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test_fail("sub %d copy failed", sub_instance);
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goto out;
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}
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else
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{
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if (sample.val != (j * sub_instance + i))
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{
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return test_fail("sub %d invalid value %d",
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sub_instance, sample.val);
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test_fail("sub %d invalid value %d",
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sub_instance, sample.val);
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goto out;
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}
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}
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}
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@ -424,14 +459,26 @@ static int test_multi_inst10(void)
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}
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}
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/* force unsubscribe all, then repeat */
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ret = OK;
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out:
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for (i = 0; i < max_inst; i++)
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{
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orb_unadvertise(afd[i]);
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}
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out_with_sfd:
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for (i = 0; i < max_inst; i++)
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{
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orb_unsubscribe(sfd[i]);
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}
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return test_note("PASS orb 10-instances");
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if (ret == OK)
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{
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test_note("PASS orb 10-instances");
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}
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return ret;
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}
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static int test_multi(int *afds, int *sfds)
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@ -671,6 +718,7 @@ static int test_multi2(void)
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struct sched_param param;
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pthread_attr_t attr;
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pthread_t pubsub_task;
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int ret = ERROR;
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int i;
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test_note("Testing multi-topic 2 test (queue simulation)");
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@ -693,7 +741,8 @@ static int test_multi2(void)
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if (pthread_create(&pubsub_task, &attr, pub_test_multi2_entry, NULL) < 0)
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{
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pthread_attr_destroy(&attr);
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return test_fail("failed launching task");
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test_fail("failed launching task");
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goto out;
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}
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pthread_attr_destroy(&attr);
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@ -718,13 +767,15 @@ static int test_multi2(void)
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if (OK != orb_copy(ORB_ID(orb_test_medium_multi),
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orb_data_cur_fd, &msg))
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{
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return test_fail("copy failed: %d", errno);
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test_fail("copy failed: %d", errno);
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goto out;
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}
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if (last_time >= msg.timestamp && last_time != 0)
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{
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return test_fail("Timestamp not increasing! (%" PRIu64
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" >= %" PRIu64 ")", last_time, msg.timestamp);
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test_fail("Timestamp not increasing! (%" PRIu64
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" >= %" PRIu64 ")", last_time, msg.timestamp);
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goto out;
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}
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last_time = msg.timestamp;
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@ -732,12 +783,20 @@ static int test_multi2(void)
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}
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}
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ret = OK;
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out:
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for (i = 0; i < num_instances; ++i)
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{
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orb_unsubscribe(orb_data_fd[i]);
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}
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return test_note("PASS multi-topic 2 test (queue simulation)");
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if (ret == OK)
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{
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test_note("PASS multi-topic 2 test (queue simulation)");
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}
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return ret;
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}
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int test_queue(void)
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@ -750,6 +809,7 @@ int test_queue(void)
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int instance = 0;
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int ptopic;
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int sfd;
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int ret = ERROR;
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int i;
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test_note("Testing orb queuing");
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@ -779,52 +839,60 @@ int test_queue(void)
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ORB_ID(orb_test_medium_queue), &sample, &instance, queue_size);
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if (ptopic < 0)
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{
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orb_unsubscribe(sfd);
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return test_fail("advertise failed: %d", errno);
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}
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orb_check(sfd, &updated);
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if (!updated)
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{
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return test_fail("update flag not set");
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test_fail("update flag not set");
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goto out;
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}
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if (OK != orb_copy(ORB_ID(orb_test_medium_queue), sfd, &sub_sample))
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{
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return test_fail("copy(1) failed: %d", errno);
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test_fail("copy(1) failed: %d", errno);
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goto out;
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}
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if (sub_sample.val != sample.val)
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{
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return test_fail("copy(1) mismatch: %d expected %d",
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sub_sample.val, sample.val);
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test_fail("copy(1) mismatch: %d expected %d",
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sub_sample.val, sample.val);
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goto out;
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}
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orb_check(sfd, &updated);
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if (updated)
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{
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return test_fail("spurious updated flag");
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test_fail("spurious updated flag");
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goto out;
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}
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#define CHECK_UPDATED(element) \
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orb_check(sfd, &updated); \
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if (!updated) \
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{ \
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return test_fail("update flag not set, element %i", element); \
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test_fail("update flag not set, element %i", element); \
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goto out; \
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}
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#define CHECK_NOT_UPDATED(element) \
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orb_check(sfd, &updated); \
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if (updated) \
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{ \
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return test_fail("update flag set, element %i", element); \
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test_fail("update flag set, element %i", element); \
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goto out; \
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}
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#define CHECK_COPY(i_got, i_correct) \
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orb_copy(ORB_ID(orb_test_medium_queue), sfd, &sub_sample); \
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if (i_got != i_correct) \
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{ \
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return test_fail("got wrong element from the queue (got %i," \
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"should be %i)", i_got, i_correct); \
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test_fail("got wrong element from the queue (got %i," \
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"should be %i)", i_got, i_correct); \
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goto out; \
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}
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/* no messages in the queue anymore */
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@ -880,10 +948,18 @@ int test_queue(void)
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#undef CHECK_UPDATED
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#undef CHECK_NOT_UPDATED
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ret = OK;
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out:
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orb_unadvertise(ptopic);
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orb_unsubscribe(sfd);
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return test_note("PASS orb queuing");
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if (ret == OK)
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{
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test_note("PASS orb queuing");
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}
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return ret;
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}
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static FAR void *pub_test_queue_entry(FAR void *arg)
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@ -973,6 +1049,7 @@ static int test_queue_poll_notify(void)
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if (pthread_create(&pubsub_task, &attr, pub_test_queue_entry, NULL) < 0)
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{
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orb_unsubscribe(sfd);
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pthread_attr_destroy(&attr);
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return test_fail("failed test queue task");
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}
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@ -994,10 +1071,12 @@ static int test_queue_poll_notify(void)
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break;
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}
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orb_unsubscribe(sfd);
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return test_fail("poll timeout");
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}
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else if (poll_ret < 0 && errno != EINTR)
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{
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orb_unsubscribe(sfd);
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return test_fail("poll error (%d, %d)", poll_ret, errno);
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}
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@ -1006,6 +1085,7 @@ static int test_queue_poll_notify(void)
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orb_copy(ORB_ID(orb_test_medium_queue_poll), sfd, &t);
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if (next_expected_val != t.val)
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{
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orb_unsubscribe(sfd);
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return test_fail("copy mismatch: %d expected %d",
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t.val, next_expected_val);
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}
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@ -1016,6 +1096,7 @@ static int test_queue_poll_notify(void)
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if (g_num_messages_sent != next_expected_val)
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{
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orb_unsubscribe(sfd);
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return test_fail("number of sent and received messages mismatch"
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" (sent: %i, received: %i)",
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g_num_messages_sent, next_expected_val);
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