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sample1.c@ 61

Last change on this file since 61 was 61, checked in by ertl-honda, 11 years ago
ASP for EWARM のコミット．
File size: 15.1 KB

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1	/*
2	* TOPPERS/ASP Kernel
3	* Toyohashi Open Platform for Embedded Real-Time Systems/
4	* Advanced Standard Profile Kernel
5	*
6	* Copyright (C) 2000-2003 by Embedded and Real-Time Systems Laboratory
7	* Toyohashi Univ. of Technology, JAPAN
8	* Copyright (C) 2004-2010 by Embedded and Real-Time Systems Laboratory
9	* Graduate School of Information Science, Nagoya Univ., JAPAN
10	*
11	* ãLì ÒÍCÈºÌ(1)`(4)Ìðð½·êÉÀèC{\tgEF
12	* Ai{\tgEFAðüÏµ½àÌðÜÞDÈº¯¶jðgpE¡»Eü
13	* ÏEÄzziÈºCpÆÄÔj·é±Æð³Åø·éD
14	* (1) {\tgEFAð\[XR[hÌ`Åp·éêÉÍCãLÌì
15	* \¦C±Ìpð¨æÑºLÌ³ÛØKèªC»ÌÜÜÌ`Å\[
16	* XR[hÉÜÜêÄ¢é±ÆD
17	* (2) {\tgEFAðCCu`®ÈÇC¼Ì\tgEFAJÉg
18	* pÅ«é`ÅÄzz·éêÉÍCÄzzÉº¤hL
19	gip
20	* Ò}j
21	AÈÇjÉCãLÌì \¦C±Ìpð¨æÑºL
22	* Ì³ÛØKèðfÚ·é±ÆD
23	* (3) {\tgEFAðC@íÉgÝÞÈÇC¼Ì\tgEFAJÉg
24	* pÅ«È¢`ÅÄzz·éêÉÍCÌ¢¸ê©Ìðð½·±
25	* ÆD
26	* (a) ÄzzÉº¤hL
27	gipÒ}j
28	AÈÇjÉCãLÌ
29	* ì \¦C±Ìpð¨æÑºLÌ³ÛØKèðfÚ·é±ÆD
30	* (b) ÄzzÌ`ÔðCÊÉèßéû@ÉæÁÄCTOPPERSvWFNgÉ
31	* ñ·é±ÆD
32	* (4) {\tgEFAÌpÉæè¼ÚIÜ½ÍÔÚIÉ¶¶é¢©Èé¹
33	* Q©çàCãLì Ò¨æÑTOPPERSvWFNgðÆÓ·é±ÆD
34	* Ü½C{\tgEFAÌ[UÜ½ÍGh[U©çÌ¢©Èé
35	* RÉîÃ¿©çàCãLì Ò¨æÑTOPPERSvWFNgð
36	* ÆÓ·é±ÆD
37	*
38	* {\tgEFAÍC³ÛØÅñ³êÄ¢éàÌÅ éDãLì Ò¨
39	* æÑTOPPERSvWFNgÍC{\tgEFAÉÖµÄCÁèÌgpÚI
40	* ÉÎ·éK«àÜßÄC¢©ÈéÛØàsíÈ¢DÜ½C{\tgEF
41	* AÌpÉæè¼ÚIÜ½ÍÔÚIÉ¶¶½¢©Èé¹QÉÖµÄàC»
42	* ÌÓCðíÈ¢D
43	*
44	* @(#) $Id: sample1.c 1968 2010-11-20 11:00:07Z ertl-hiro $
45	*/
46
47	/*
48	* TvvO(1)Ì{Ì
49	*
50	* ASPJ[lÌî{IÈ®ìðmF·é½ßÌTvvOD
51	*
52	* vOÌTv:
53	*
54	* [UC^tF[Xðó¯ÂC^XNi^XNID: MAIN_TASKCD
55	* æx: MAIN_PRIORITYjÆC3ÂÌÀñÀs³êé^XNi^XNID:
56	* TASK1`TASK3CúDæx: MID_PRIORITYjÅ\¬³êéDÜ½CN®ü
57	* úª2bÌüúnhiüúnhID: CYCHDR1jðp¢éD
58	*
59	* ÀñÀs³êé^XNÍCtask_loopñó[vðÀs·éxÉC^XNª
60	* ÀsÅ é±Æð çí·bZ[Wð\¦·éD
61	*
62	* üúnhÍCOÂÌDæxiHIGH_PRIORITYCMID_PRIORITYC
63	* LOW_PRIORITYjÌfBL
64	[ðñ]³¹éDvOÌN®¼ãÍC
65	* üúnhÍâ~óÔÉÈÁÄ¢éD
66	*
67	* C^XNÍCVAI/O\|[g©çÌ¶üÍðs¢i¶üÍð
68	* ÒÁÄ¢éÔÍCÀñÀs³êé^XNªÀs³êÄ¢éjCüÍ³ê½
69	* ¶ÉÎµ½ðÀs·éDüÍ³ê½¶ÆÌÖWÍÌÊèD
70	* Control-CÜ½Í'Q'ªüÍ³êéÆCvOðI¹·éD
71	*
72	* '1' : ÎÛ^XNðTASK1ÉØè·¦éiúÝèjD
73	* '2' : ÎÛ^XNðTASK2ÉØè·¦éD
74	* '3' : ÎÛ^XNðTASK3ÉØè·¦éD
75	* 'a' : ÎÛ^XNðact_tskÉæèN®·éD
76	* 'A' : ÎÛ^XNÉÎ·éN®vðcan_actÉæèLZ·éD
77	* 'e' : ÎÛ^XNÉext_tskðÄÑo³¹CI¹³¹éD
78	* 't' : ÎÛ^XNðter_tskÉæè§I¹·éD
79	* '>' : ÎÛ^XNÌDæxðHIGH_PRIORITYÉ·éD
80	* '=' : ÎÛ^XNÌDæxðMID_PRIORITYÉ·éD
81	* '<' : ÎÛ^XNÌDæxðLOW_PRIORITYÉ·éD
82	* 'G' : ÎÛ^XNÌDæxðget_priÅÇÝo·D
83	* 's' : ÎÛ^XNÉslp_tskðÄÑo³¹CN°Ò¿É³¹éD
84	* 'S' : ÎÛ^XNÉtslp_tsk(10b)ðÄÑo³¹CN°Ò¿É³¹éD
85	* 'w' : ÎÛ^XNðwup_tskÉæèN°·éD
86	* 'W' : ÎÛ^XNÉÎ·éN°vðcan_wupÉæèLZ·éD
87	* 'l' : ÎÛ^XNðrel_waiÉæè§IÉÒ¿ðÉ·éD
88	* 'u' : ÎÛ^XNðsus_tskÉæè§Ò¿óÔÉ·éD
89	* 'm' : ÎÛ^XNÌ§Ò¿óÔðrsm_tskÉæèð·éD
90	* 'd' : ÎÛ^XNÉdly_tsk(10b)ðÄÑo³¹CÔoßÒ¿É³¹éD
91	* 'x' : ÎÛ^XNÉáOp^[0x0001ÌáOðv·éD
92	* 'X' : ÎÛ^XNÉáOp^[0x0002ÌáOðv·éD
93	* 'y' : ÎÛ^XNÉdis_texðÄÑo³¹C^XNáOðÖ~·éD
94	* 'Y' : ÎÛ^XNÉena_texðÄÑo³¹C^XNáOðÂ·éD
95	* 'r' : 3ÂÌDæxiHIGH_PRIORITYCMID_PRIORITYCLOW_PRIORITYjÌ
96	* fBL
97	[ðñ]³¹éD
98	* 'c' : üúnhð®ìJn³¹éD
99	* 'C' : üúnhð®ìâ~³¹éD
100	* 'b' : A[nhð5bãÉN®·éæ¤®ìJn³¹éD
101	* 'B' : A[nhð®ìâ~³¹éD
102	* 'z' : ÎÛ^XNÉCPUáOð¶³¹éi^XNðI¹³¹éjD
103	* 'Z' : ÎÛ^XNÉCPUbNóÔÅCPUáOð¶³¹éivOð
104	* I¹·éjD
105	* '@' : ^XN3ðacre_tskÉæè¶¬µCdef_texÉæè^XNáO
106	* [`ðÝè·éD
107	* '!' : ÎÛ^XNðdel_tskÉæèí·éD
108	* 'V' : get_utmÅ«\]¿pVXeð2ñÇÞD
109	* 'v' : sµ½VXeR[ð\¦·éiftHgjD
110	* 'q' : sµ½VXeR[ð\¦µÈ¢D
111	*/
112
113	#include <kernel.h>
114	#include <t_syslog.h>
115	#include <t_stdlib.h>
116	#include "syssvc/serial.h"
117	#include "syssvc/syslog.h"
118	#include "kernel_cfg.h"
119	#include "sample1.h"
120
121	/*
122	* T[rXR[ÌG[ÌOoÍ
123	*/
124	Inline void
125	svc_perror(const char file, int_t line, const char expr, ER ercd)
126	{
127	if (ercd < 0) {
128	t_perror(LOG_ERROR, file, line, expr, ercd);
129	}
130	}
131
132	#define SVC_PERROR(expr) svc_perror(__FILE__, __LINE__, #expr, (expr))
133
134	/*
135	* ÀsÀs³êé^XNÖÌbZ[WÌæ
136	*/
137	char_t message[3];
138
139	/*
140	* [vñ
141	*/
142	ulong_t task_loop; /* ^XNàÅÌ[vñ */
143	ulong_t tex_loop; /* áO[`àÅÌ[vñ */
144
145	/*
146	* ÀsÀs³êé^XN
147	*/
148	void task(intptr_t exinf)
149	{
150	volatile ulong_t i;
151	int_t n = 0;
152	int_t tskno = (int_t) exinf;
153	const char graph[] = { "\|", " +", " " };
154	char_t c;
155
156	SVC_PERROR(ena_tex());
157	while (1) {
158	syslog(LOG_NOTICE, "task%d is running (%03d). %s",
159	tskno, ++n, graph[tskno-1]);
160	for (i = 0; i < task_loop; i++);
161	c = message[tskno-1];
162	message[tskno-1] = 0;
163	switch (c) {
164	case 'e':
165	syslog(LOG_INFO, "#%d#ext_tsk()", tskno);
166	SVC_PERROR(ext_tsk());
167	assert(0);
168	case 's':
169	syslog(LOG_INFO, "#%d#slp_tsk()", tskno);
170	SVC_PERROR(slp_tsk());
171	break;
172	case 'S':
173	syslog(LOG_INFO, "#%d#tslp_tsk(10000)", tskno);
174	SVC_PERROR(tslp_tsk(10000));
175	break;
176	case 'd':
177	syslog(LOG_INFO, "#%d#dly_tsk(10000)", tskno);
178	SVC_PERROR(dly_tsk(10000));
179	break;
180	case 'y':
181	syslog(LOG_INFO, "#%d#dis_tex()", tskno);
182	SVC_PERROR(dis_tex());
183	break;
184	case 'Y':
185	syslog(LOG_INFO, "#%d#ena_tex()", tskno);
186	SVC_PERROR(ena_tex());
187	break;
188	#ifdef CPUEXC1
189	case 'z':
190	syslog(LOG_NOTICE, "#%d#raise CPU exception", tskno);
191	RAISE_CPU_EXCEPTION;
192	break;
193	case 'Z':
194	SVC_PERROR(loc_cpu());
195	syslog(LOG_NOTICE, "#%d#raise CPU exception", tskno);
196	RAISE_CPU_EXCEPTION;
197	SVC_PERROR(unl_cpu());
198	break;
199	#endif /* CPUEXC1 */
200	default:
201	break;
202	}
203	}
204	}
205
206	/*
207	* ÀsµÄÀs³êé^XNpÌ^XNáO[`
208	*/
209	void tex_routine(TEXPTN texptn, intptr_t exinf)
210	{
211	volatile ulong_t i;
212	int_t tskno = (int_t) exinf;
213
214	syslog(LOG_NOTICE, "task%d receives exception 0x%04x.", tskno, texptn);
215	for (i = 0; i < tex_loop; i++);
216
217	if ((texptn & 0x8000U) != 0U) {
218	syslog(LOG_INFO, "#%d#ext_tsk()", tskno);
219	SVC_PERROR(ext_tsk());
220	assert(0);
221	}
222	}
223
224	/*
225	* CPUáOnh
226	*/
227	#ifdef CPUEXC1
228
229	void
230	cpuexc_handler(void *p_excinf)
231	{
232	ID tskid;
233
234	syslog(LOG_NOTICE, "CPU exception handler (p_excinf = %08p).", p_excinf);
235	if (sns_ctx() != true) {
236	syslog(LOG_WARNING,
237	"sns_ctx() is not true in CPU exception handler.");
238	}
239	if (sns_dpn() != true) {
240	syslog(LOG_WARNING,
241	"sns_dpn() is not true in CPU exception handler.");
242	}
243	syslog(LOG_INFO, "sns_loc = %d sns_dsp = %d sns_tex = %d",
244	sns_loc(), sns_dsp(), sns_tex());
245	syslog(LOG_INFO, "xsns_dpn = %d xsns_xpn = %d",
246	xsns_dpn(p_excinf), xsns_xpn(p_excinf));
247
248	if (xsns_xpn(p_excinf)) {
249	syslog(LOG_NOTICE, "Sample program ends with exception.");
250	SVC_PERROR(ext_ker());
251	assert(0);
252	}
253
254	SVC_PERROR(iget_tid(&tskid));
255	SVC_PERROR(iras_tex(tskid, 0x8000U));
256	}
257
258	#endif /* CPUEXC1 */
259
260	/*
261	* üúnh
262	*
263	* HIGH_PRIORITYCMID_PRIORITYCLOW_PRIORITY ÌeDæxÌfBL
264	[
265	* ðñ]³¹éD
266	*/
267	void cyclic_handler(intptr_t exinf)
268	{
269	SVC_PERROR(irot_rdq(HIGH_PRIORITY));
270	SVC_PERROR(irot_rdq(MID_PRIORITY));
271	SVC_PERROR(irot_rdq(LOW_PRIORITY));
272	}
273
274	/*
275	* A[nh
276	*
277	* HIGH_PRIORITYCMID_PRIORITYCLOW_PRIORITY ÌeDæxÌfBL
278	[
279	* ðñ]³¹éD
280	*/
281	void alarm_handler(intptr_t exinf)
282	{
283	SVC_PERROR(irot_rdq(HIGH_PRIORITY));
284	SVC_PERROR(irot_rdq(MID_PRIORITY));
285	SVC_PERROR(irot_rdq(LOW_PRIORITY));
286	}
287
288	/*
289	* C^XN
290	*/
291	void main_task(intptr_t exinf)
292	{
293	char_t c;
294	ID tskid = TASK1;
295	int_t tskno = 1;
296	ER_UINT ercd;
297	PRI tskpri;
298	#ifndef TASK_LOOP
299	volatile ulong_t i;
300	SYSTIM stime1, stime2;
301	#endif /* TASK_LOOP */
302	#ifdef TOPPERS_SUPPORT_GET_UTM
303	SYSUTM utime1, utime2;
304	#endif /* TOPPERS_SUPPORT_GET_UTM */
305	T_CTSK ctsk;
306	T_DTEX dtex;
307	ID TASK3 = -1;
308
309	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
310	syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);
311
312	/*
313	* VA\|[gÌú»
314	*
315	* VXeO^XNÆ¯¶VA\|[gðg¤êÈÇCVA
316	* \|[gªI[vÏÝÌêÉÍ±±ÅE_OBJG[ÉÈéªCxáÍ
317	* È¢D
318	*/
319	ercd = serial_opn_por(TASK_PORTID);
320	if (ercd < 0 && MERCD(ercd) != E_OBJ) {
321	syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
322	itron_strerror(ercd), SERCD(ercd));
323	}
324	SVC_PERROR(serial_ctl_por(TASK_PORTID,
325	(IOCTL_CRLF \| IOCTL_FCSND \| IOCTL_FCRCV)));
326
327	/*
328	* [vñÌÝè
329	*
330	* TASK_LOOPª}Nè`³êÄ¢éêCªè¹¸ÉCTASK_LOOPÉè
331	* `³ê½lðC^XNàÅÌ[vñÆ·éD
332	*
333	* MEASURE_TWICEª}Nè`³êÄ¢éêC1ñÚÌªèÊðÌÄ
334	* ÄC2ñÚÌªèÊðg¤D1ñÚÌªèÍ·ßÌÔªoé½ßD
335	*/
336	#ifdef TASK_LOOP
337	task_loop = TASK_LOOP;
338	#else /* TASK_LOOP */
339
340	#ifdef MEASURE_TWICE
341	task_loop = LOOP_REF;
342	SVC_PERROR(get_tim(&stime1));
343	for (i = 0; i < task_loop; i++);
344	SVC_PERROR(get_tim(&stime2));
345	#endif /* MEASURE_TWICE */
346
347	task_loop = LOOP_REF;
348	SVC_PERROR(get_tim(&stime1));
349	for (i = 0; i < task_loop; i++);
350	SVC_PERROR(get_tim(&stime2));
351	task_loop = LOOP_REF * 400UL / (stime2 - stime1);
352
353	#endif /* TASK_LOOP */
354	tex_loop = task_loop / 5;
355
356	/*
357	* ^XNÌN®
358	*/
359	SVC_PERROR(act_tsk(TASK1));
360	SVC_PERROR(act_tsk(TASK2));
361
362	/*
363	* C[v
364	*/
365	do {
366	SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1));
367	switch (c) {
368	case 'e':
369	case 's':
370	case 'S':
371	case 'd':
372	case 'y':
373	case 'Y':
374	case 'z':
375	case 'Z':
376	message[tskno-1] = c;
377	break;
378	case '1':
379	tskno = 1;
380	tskid = TASK1;
381	break;
382	case '2':
383	tskno = 2;
384	tskid = TASK2;
385	break;
386	case '3':
387	tskno = 3;
388	tskid = TASK3;
389	break;
390	case 'a':
391	syslog(LOG_INFO, "#act_tsk(%d)", tskno);
392	SVC_PERROR(act_tsk(tskid));
393	break;
394	case 'A':
395	syslog(LOG_INFO, "#can_act(%d)", tskno);
396	SVC_PERROR(ercd = can_act(tskid));
397	if (ercd >= 0) {
398	syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd);
399	}
400	break;
401	case 't':
402	syslog(LOG_INFO, "#ter_tsk(%d)", tskno);
403	SVC_PERROR(ter_tsk(tskid));
404	break;
405	case '>':
406	syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
407	SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY));
408	break;
409	case '=':
410	syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
411	SVC_PERROR(chg_pri(tskid, MID_PRIORITY));
412	break;
413	case '<':
414	syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
415	SVC_PERROR(chg_pri(tskid, LOW_PRIORITY));
416	break;
417	case 'G':
418	syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
419	SVC_PERROR(ercd = get_pri(tskid, &tskpri));
420	if (ercd >= 0) {
421	syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri);
422	}
423	break;
424	case 'w':
425	syslog(LOG_INFO, "#wup_tsk(%d)", tskno);
426	SVC_PERROR(wup_tsk(tskid));
427	break;
428	case 'W':
429	syslog(LOG_INFO, "#can_wup(%d)", tskno);
430	SVC_PERROR(ercd = can_wup(tskid));
431	if (ercd >= 0) {
432	syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd);
433	}
434	break;
435	case 'l':
436	syslog(LOG_INFO, "#rel_wai(%d)", tskno);
437	SVC_PERROR(rel_wai(tskid));
438	break;
439	case 'u':
440	syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
441	SVC_PERROR(sus_tsk(tskid));
442	break;
443	case 'm':
444	syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
445	SVC_PERROR(rsm_tsk(tskid));
446	break;
447	case 'x':
448	syslog(LOG_INFO, "#ras_tex(%d, 0x0001U)", tskno);
449	SVC_PERROR(ras_tex(tskid, 0x0001U));
450	break;
451	case 'X':
452	syslog(LOG_INFO, "#ras_tex(%d, 0x0002U)", tskno);
453	SVC_PERROR(ras_tex(tskid, 0x0002U));
454	break;
455	case 'r':
456	syslog(LOG_INFO, "#rot_rdq(three priorities)");
457	SVC_PERROR(rot_rdq(HIGH_PRIORITY));
458	SVC_PERROR(rot_rdq(MID_PRIORITY));
459	SVC_PERROR(rot_rdq(LOW_PRIORITY));
460	break;
461	case 'c':
462	syslog(LOG_INFO, "#sta_cyc(1)");
463	SVC_PERROR(sta_cyc(CYCHDR1));
464	break;
465	case 'C':
466	syslog(LOG_INFO, "#stp_cyc(1)");
467	SVC_PERROR(stp_cyc(CYCHDR1));
468	break;
469	case 'b':
470	syslog(LOG_INFO, "#sta_alm(1, 5000)");
471	SVC_PERROR(sta_alm(ALMHDR1, 5000));
472	break;
473	case 'B':
474	syslog(LOG_INFO, "#stp_alm(1)");
475	SVC_PERROR(stp_alm(ALMHDR1));
476	break;
477	case '@':
478	ctsk.tskatr = TA_NULL;
479	ctsk.exinf = 3;
480	ctsk.task = task;
481	ctsk.itskpri = MID_PRIORITY;
482	ctsk.stksz = STACK_SIZE;
483	ctsk.stk = NULL;
484	SVC_PERROR(TASK3 = acre_tsk(&ctsk));
485
486	dtex.texatr = TA_NULL;
487	dtex.texrtn = tex_routine;
488	SVC_PERROR(def_tex(TASK3, &dtex));
489
490	syslog(LOG_NOTICE, "task3 is created with tskid = %d.",
491	(int_t) TASK3);
492	break;
493	case '!':
494	syslog(LOG_INFO, "#del_tsk(%d)", tskno);
495	SVC_PERROR(del_tsk(tskid));
496	break;
497
498	case 'V':
499	#ifdef TOPPERS_SUPPORT_GET_UTM
500	SVC_PERROR(get_utm(&utime1));
501	SVC_PERROR(get_utm(&utime2));
502	syslog(LOG_NOTICE, "utime1 = %ld, utime2 = %ld",
503	(ulong_t) utime1, (ulong_t) utime2);
504	#else /* TOPPERS_SUPPORT_GET_UTM */
505	syslog(LOG_NOTICE, "get_utm is not supported.");
506	#endif /* TOPPERS_SUPPORT_GET_UTM */
507	break;
508
509	case 'v':
510	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO),
511	LOG_UPTO(LOG_EMERG)));
512	break;
513	case 'q':
514	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE),
515	LOG_UPTO(LOG_EMERG)));
516	break;
517
518	#ifdef BIT_KERNEL
519	case ' ':
520	SVC_PERROR(loc_cpu());
521	{
522	extern ER bit_kernel(void);
523
524	SVC_PERROR(ercd = bit_kernel());
525	if (ercd >= 0) {
526	syslog(LOG_NOTICE, "bit_kernel passed.");
527	}
528	}
529	SVC_PERROR(unl_cpu());
530	break;
531	#endif /* BIT_KERNEL */
532
533	default:
534	break;
535	}
536	} while (c != '\003' && c != 'Q');
537
538	syslog(LOG_NOTICE, "Sample program ends.");
539	SVC_PERROR(ext_ker());
540	assert(0);
541	}

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source: asp_ewarm/asp-1.7.0/extension/dcre/sample/sample1.c@ 61

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