root / trunk / code / projects / slam.bak2 / computer / server_main.c @ 721
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <sys/time.h> |
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#include "data_requests.h" |
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#include "queue.h" |
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#include "math.h" |
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#define DEFAULT_WIDTH 512 |
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#define DEFAULT_HEIGHT 512 |
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#define MAX_MAPS 30 |
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#define MAX_ID 20 |
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typedef struct dataNode{ |
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struct timeval* timeStamp;
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char type;
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union{
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BomNode* u_b; |
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short* u_s;
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unsigned char* u_c; |
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} data; |
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short robot_id;
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} Data; |
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/**
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* Map oriented data.
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*/
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typedef struct Map{ |
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int data[DEFAULT_WIDTH][DEFAULT_HEIGHT];
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int robot_x;
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int robot_y;
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double robot_orientation;
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short robot_id;
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char correlation_group;
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} Map; |
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Map** map_array; |
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int map_count;
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/**Robot oriented data.**/
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Queue* dataQueue; |
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int robot_map[MAX_ID];
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/*These functions simply add the data to the queue.*/
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void bom_handler(short id, BomNode** head); |
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void IR_handler(short id, short** data); |
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void encoder_handler(short id, unsigned char** data); |
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void slam_analyze(void); |
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void bom_analyze(BomNode* head,short robot_id); |
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void IR_analyze(short* data, short robot_id); |
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void encoder_analyze(unsigned char* data, short robot_id); |
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void initialize(void); |
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int main(void){ |
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data_requests_init(bom_handler,IR_handler,encoder_handler); |
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dataQueue = queue_create(); |
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initialize(); |
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slam_analyze(); |
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return -1; |
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} |
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void initialize(void){ |
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map_array = malloc(MAX_MAPS * sizeof(Map*));
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map_count = 0;
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int i;
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for(i=0; i<MAX_ID;i++){ |
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robot_map[i] = -1;
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} |
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} |
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void slam_analyze(void){ |
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Data* current_data; |
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while(1){ |
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if(!queue_is_empty(dataQueue)){
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if(queue_size(dataQueue) < 5){ |
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//request_all(/*The robot that most needs it*/);
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} |
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current_data = (Data*)queue_remove(dataQueue); |
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switch(current_data->type){
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case(BOM_TYPE):
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bom_analyze(current_data->data.u_b,current_data->robot_id); |
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break;
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case(IR_TYPE):
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IR_analyze(current_data->data.u_s,current_data->robot_id); |
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break;
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case(ENCODER_TYPE):
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encoder_analyze(current_data->data.u_c,current_data->robot_id); |
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break;
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} |
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} |
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} |
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} |
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void initialize_map(int robot_id){ |
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int i,j;
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map_array[map_count] = (Map*)malloc(sizeof(Map));
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for(i=0;i<DEFAULT_WIDTH;i++){ |
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for(j=0;j<DEFAULT_HEIGHT;j++){ |
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map_array[map_count]->data[i][j] = 0;
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} |
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} |
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map_array[map_count]->robot_x = DEFAULT_WIDTH / 2;
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map_array[map_count]->robot_y = DEFAULT_HEIGHT/ 2;
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map_array[map_count]->robot_orientation = 0;
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map_array[map_count]->robot_id = robot_id; |
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map_array[map_count]->correlation_group = -1;
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robot_map[robot_id] = map_count++; |
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} |
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void bom_analyze(BomNode* head, short robot_id){ |
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BomNode* current_node = head; |
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if(robot_map[robot_id]==-1) initialize_map(robot_id); |
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while(current_node!=NULL){ |
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current_node = current_node->next; |
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} |
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} |
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void IR_analyze(short* data, short robot_id){ |
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if(robot_map[robot_id]==-1) initialize_map(robot_id); |
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} |
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void encoder_analyze(unsigned char* data, short robot_id){ |
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if(robot_map[robot_id]==-1) initialize_map(robot_id); |
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} |
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/*The packet handling functions for nata requests.*/
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void bom_handler(short id, BomNode** head){ |
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Data* newData = malloc(sizeof(Data));
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newData->type = BOM_TYPE; |
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newData->data.u_b = (*head); |
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newData->robot_id = id; |
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newData->timeStamp = malloc(sizeof(struct timeval)); |
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gettimeofday(&newData->timeStamp,NULL);
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queue_add(dataQueue,(void*)(newData));
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} |
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void IR_handler(short id, short** data){ |
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Data* newData = malloc(sizeof(Data));
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newData->type = IR_TYPE; |
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newData->data.u_s = (*data); |
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newData->robot_id = id; |
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gettimeofday(&newData->timeStamp,NULL);
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queue_add(dataQueue,(void*)(newData));
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} |
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void encoder_handler(short id, unsigned char** data){ |
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Data* newData = malloc(sizeof(Data));
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newData->type = ENCODER_TYPE; |
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newData->data.u_c = (*data); |
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newData->robot_id = id; |
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gettimeofday(&newData->timeStamp,NULL);
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queue_add(dataQueue,(void*)(newData));
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} |
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/**
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* @brief Rotates a map by radians radians.
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* Weak version... Uses doubles and a secondary map is probably extra slow.
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* Can this be done in place?
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* @param map The map to be rotated.
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*/
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void rotate_map(int*** map, double radians){ |
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int i,j;
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double iprime, jprime, xoffset, yoffset, R1, R2, R3, R4, A;
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int i2,j2;
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int** new_map;
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new_map = malloc(DEFAULT_WIDTH*sizeof(int*)); |
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for(i=0;i<DEFAULT_WIDTH;i++){ |
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*(new_map+i) = malloc(DEFAULT_HEIGHT * sizeof(int)); |
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for(j=0;j<DEFAULT_WIDTH;i++){ |
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new_map[i][j] = 0;
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} |
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} |
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for(i=0;i<DEFAULT_WIDTH;i++){ |
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for(j=0;j<DEFAULT_WIDTH;i++){ |
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iprime = i*cos(radians)-j*sin(radians); |
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jprime = i*sin(radians)+j*cos(radians); |
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//Smear the value over a range near i2,j2 The new values may need to be normalized TODO Figure that out.;
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i2 = (int)iprime;
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j2 = (int)jprime;
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xoffset = iprime - i2; |
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yoffset = jprime - j2; |
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R1 = sqrt(xoffset*xoffset + yoffset*yoffset)*(double)((*map)[i][j]);
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R2 = sqrt((1-xoffset)*(1-xoffset) + yoffset*yoffset)*(double)((*map)[i][j]); |
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R3 = sqrt(xoffset*xoffset + (1-yoffset)*(1-yoffset))*(double)((*map)[i][j]); |
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R4 = sqrt((1-xoffset)*(1-xoffset) + (1-yoffset)*(1-yoffset))*(double)((*map)[i][j]); |
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A = 1/(R1+R2+R3+R4);
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//If the new coordinates are legal...
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if(i2 < DEFAULT_WIDTH && i2 >= 0 && j2 < DEFAULT_HEIGHT && j2 >= 0) |
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new_map[i2][j2] += (int)((R1*A)*(double)((*map)[i][j])); |
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if(i2 + 1 < DEFAULT_WIDTH && i2 + 1 >= 0 && j2 < DEFAULT_HEIGHT && j2 >= 0) |
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new_map[i2+1][j2] += (int)((R2*A)*(double)((*map)[i][j])); |
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if(i2 < DEFAULT_WIDTH && i2 >= 0 && j2 + 1 < DEFAULT_HEIGHT && j2 + 1 >= 0) |
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new_map[i2][j2+1] += (int)((R3*A)*(double)((*map)[i][j])); |
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if(i2 + 1 < DEFAULT_WIDTH && i2 + 1 >= 0 && j2 + 1 < DEFAULT_HEIGHT && j2 + 1 >= 0) |
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new_map[i2+1][j2+1] += (int)((R4*A)*(double)((*map)[i][j])); |
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} |
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} |
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(*map) = new_map; |
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return;
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} |
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