1 | /* #[<PREAMBLE>]#
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2 | * #[<...>]# ãã #[</...>]# ã§å²ã¾ããã³ã¡ã³ãã¯ç·¨éããªãã§ãã ãã
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3 | * tecsmerge ã«ãããã¼ã¸ã«ä½¿ç¨ããã¾ã
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4 | * å¼ã³å£é¢æ° #_TCPF_#
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5 | * call port : cSerialPort signature: sSerialPort context: task
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6 | * ER cSerialPort_open( );
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7 | * ER cSerialPort_close( );
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8 | * ER_UINT cSerialPort_read( char_t* buffer, uint_t length );
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9 | * ER_UINT cSerialPort_write( const char_t* buffer, uint_t length );
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10 | * ER cSerialPort_control( uint_t ioControl );
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11 | * ER cSerialPort_refer( T_SERIAL_RPOR* pk_rpor );
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12 | *
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13 | * #[</PREAMBLE>]# */
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14 |
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15 | /* ãããã¿ã¤ã宣è¨ãå¤æ°ã®å®ç¾©ãããã«æ¸ãã¾ã #_PAC_# */
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16 | #include "nMruby_tMruby_tecsgen.h"
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17 | #include <string.h>
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18 |
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19 | #include <mruby.h>
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20 | #include <mruby/proc.h>
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21 | #include <mruby/data.h>
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22 | #include <mruby/compile.h>
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23 |
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24 | #ifndef E_OK
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25 | #define E_OK 0 /* success */
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26 | #define E_ID (-18) /* illegal ID */
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27 | #endif
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28 |
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29 | #define MEM_SIZE 1024*1024 // 1MB
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30 | //#define VM_EVAL
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31 | //#define MALLOC_EVAL
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32 |
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33 | #include <t_syslog.h>
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34 |
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35 | void mrb_init_mrb(CELLCB *p_cellcb, mrb_state *mrb);
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36 | /* åãå£é¢æ° #_TEPF_# */
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37 | /* #[<ENTRY_PORT>]# eMrubyBody
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38 | * entry port: eMrubyBody
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39 | * signature: sMrubyBody
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40 | * context: task
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41 | * #[</ENTRY_PORT>]# */
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42 |
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43 | /* #[<ENTRY_FUNC>]# eMrubyBody_main
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44 | * name: eMrubyBody_main
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45 | * global_name: nMruby_tMruby_eMrubyBody_main
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46 | * oneway: false
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47 | * #[</ENTRY_FUNC>]# */
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48 | void
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49 | eMrubyBody_main(CELLIDX idx)
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50 | {
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51 | #ifdef VM_EVAL
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52 | SYSUTM tstart, tend;
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53 | #endif
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54 |
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55 | CELLCB *p_cellcb;
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56 | mrb_state *mrb;
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57 |
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58 | if (VALID_IDX(idx)) {
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59 | p_cellcb = GET_CELLCB(idx);
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60 | }
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61 | #ifdef VM_EVAL
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62 | get_utm(&tstart);
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63 | #endif
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64 |
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65 | /* new interpreter instance */
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66 | mrb = mrb_open();
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67 | if (mrb == NULL) {
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68 | syslog(LOG_EMERG, "Invalid mrb_state, exiting test driver");
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69 | // cSerialPort_write("Invalid mrb_state, exiting test driver\n", 39);
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70 | return;
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71 | }
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72 |
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73 | #ifdef VM_EVAL
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74 | get_utm(&tend);
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75 | syslog(LOG_EMERG, "mrb_open time = %d micro sec", tend - tstart);
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76 | #endif
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77 | if(is_cInit_joined()){
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78 | // TECS Bridge
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79 | cInit_initializeBridge( mrb );
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80 | }
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81 | mrb_init_mrb(p_cellcb, mrb);
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82 | syslog(LOG_EMERG, "end of mruby program");
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83 | #ifdef VM_EVAL
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84 | get_utm(&tstart);
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85 | #endif
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86 | mrb_close(mrb);
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87 | #ifdef VM_EVAL
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88 | get_utm(&tend);
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89 | syslog(LOG_EMERG, "mrb_close time = %d micro sec", tend - tstart);
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90 | #endif
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91 | }
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92 |
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93 |
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94 | /* #[<POSTAMBLE>]#
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95 | * ããããä¸ã«éåãå£é¢æ°ãæ¸ãã¾ã
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96 | * #[</POSTAMBLE>]#*/
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97 |
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98 | void
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99 | mrb_init_mrb(CELLCB *p_cellcb, mrb_state *mrb)
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100 | {
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101 | mrb_irep *irep = mrb_read_irep(mrb, ATTR_irep);
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102 |
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103 | mrb_run(mrb, mrb_proc_new(mrb, irep), mrb_top_self(mrb));
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104 | if (mrb->exc) {
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105 | mrb_p(mrb, mrb_obj_value(mrb->exc));
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106 | exit(0);
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107 | }
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108 | }
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109 |
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110 | /*
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111 | extern void debug_print(char * str);
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112 | extern void debug_print_address(char * str, int address);
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113 | extern void debug_print_int(char * str, int data);
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114 | #include <errno.h>
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115 | void *
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116 | _sbrk(size_t incr)
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117 | {
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118 | // TODO: æ£ãããã¼ããµã¤ãºãæå®ããã㨠(EV3ã¯RAM 64MB)
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119 | extern char __heap_start;
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120 | static uint32_t cs3_heap_end = &__heap_start + MEM_SIZE; // ãã¼ãã®æå¾ã¢ãã¬ã¹
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121 | static char *heap_end = &__heap_start;
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122 | char *prev_heap_end;
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123 | uint16_t incr2;
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124 |
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125 | char str[20];
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126 |
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127 | #ifdef MALLOC_EVAL
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128 | syslog(LOG_EMERG, "heap_start = %x", &__heap_start);
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129 | #endif
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130 |
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131 | prev_heap_end = heap_end;
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132 | incr2 = (uint16_t)incr;
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133 |
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134 | if (heap_end + incr2 > cs3_heap_end) {
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135 | errno = ENOMEM;
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136 | return (void *)-1;
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137 | }
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138 | heap_end += incr2;
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139 |
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140 | #ifdef MALLOC_EVAL
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141 | syslog(LOG_EMERG, "heap_end = %x", heap_end);
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142 | #endif
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143 |
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144 | #ifdef DEBUG_MALLOC
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145 | debug_print_int("incr",incr);
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146 | debug_print_address("prev_heap_end",(int) prev_heap_end);
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147 | dly_tsk(50);
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148 | #endif
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149 | return (void *) prev_heap_end;
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150 | }
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151 | */
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152 | extern intptr_t bt_snd_chr(intptr_t c);
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153 | extern intptr_t uart_snd_chr(intptr_t c) ;
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154 | extern void initialize_lcd_dri();
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155 | #define UART1 (*(volatile struct st_uart *)0x01D0C000)
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156 | size_t fwrite(const void *buf, size_t size, size_t n, FILE *fp){
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157 | intptr_t intp;
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158 | char *cp;
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159 | cp = (char*)buf;
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160 | /* ã·ãªã¢ã«ãã¼ããçµåããã¦ããå ´åã®ã¿å¼ã³åºã
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161 | if(is_cSerialPort_joined()){
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162 | //cSerialPort_write(buf, size);
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163 |
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164 | }*/
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165 |
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166 | for(int i = 0;i < size; i++){
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167 | intp = *cp++;
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168 | if (intp == '\n') {
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169 | bt_snd_chr('\r');
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170 | while(!uart_send(&UART1, '\r'));
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171 | }
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172 | bt_snd_chr(intp);
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173 | while(!uart_send(&UART1, intp));
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174 |
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175 | }
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176 | return size;
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177 | };
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178 |
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179 | #ifndef EV3_SOUND
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180 | void _write(){}
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181 | void _close(){}
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182 | void _lseek(){}
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183 | void _read(){}
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184 | //void _fstat(){}
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185 | //void _isatty(){}
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186 | #endif
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187 |
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188 | //void _exit(){}
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189 | //void _getpid(){}
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190 | //void _kill(){}
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191 | void _gettimeofday(){}
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192 | void _fini(){}
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193 |
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