wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/SerialPort.html
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<div class="subTitle">edu.wpi.first.wpilibj</div>
<h2 title="Class SerialPort" class="title">Class SerialPort</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
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<pre>public class <span class="typeNameLabel">SerialPort</span>
extends java.lang.Object</pre>
<div class="block">Driver for the RS-232 serial port on the roboRIO.
<p>The current implementation uses the VISA formatted I/O mode. This means that all traffic goes
through the formatted buffers. This allows the intermingled use of print(), readString(), and the
raw buffer accessors read() and write().
<p>More information can be found in the NI-VISA User Manual here: http://www.ni
.com/pdf/manuals/370423a.pdf and the NI-VISA Programmer's Reference Manual here:
http://www.ni.com/pdf/manuals/370132c.pdf</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Class and Description</th>
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<td class="colFirst"><code>static class </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.FlowControl.html" title="enum in edu.wpi.first.wpilibj">SerialPort.FlowControl</a></span></code>
<div class="block">Represents what type of flow control to use for serial communication.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>static class </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.Parity.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Parity</a></span></code>
<div class="block">Represents the parity to use for serial communications.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>static class </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.Port.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Port</a></span></code> </td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>static class </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.StopBits.html" title="enum in edu.wpi.first.wpilibj">SerialPort.StopBits</a></span></code>
<div class="block">Represents the number of stop bits to use for Serial Communication.</div>
</td>
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<td class="colFirst"><code>static class </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.WriteBufferMode.html" title="enum in edu.wpi.first.wpilibj">SerialPort.WriteBufferMode</a></span></code>
<div class="block">Represents which type of buffer mode to use when writing to a serial m_port.</div>
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<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#SerialPort-int-edu.wpi.first.wpilibj.SerialPort.Port-">SerialPort</a></span>(int baudRate,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.Port.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Port</a> port)</code>
<div class="block">Create an instance of a Serial Port class.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#SerialPort-int-edu.wpi.first.wpilibj.SerialPort.Port-int-">SerialPort</a></span>(int baudRate,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.Port.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Port</a> port,
int dataBits)</code>
<div class="block">Create an instance of a Serial Port class.</div>
</td>
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<tr class="altColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#SerialPort-int-edu.wpi.first.wpilibj.SerialPort.Port-int-edu.wpi.first.wpilibj.SerialPort.Parity-">SerialPort</a></span>(int baudRate,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.Port.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Port</a> port,
int dataBits,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.Parity.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Parity</a> parity)</code>
<div class="block">Create an instance of a Serial Port class.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#SerialPort-int-edu.wpi.first.wpilibj.SerialPort.Port-int-edu.wpi.first.wpilibj.SerialPort.Parity-edu.wpi.first.wpilibj.SerialPort.StopBits-">SerialPort</a></span>(int baudRate,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.Port.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Port</a> port,
int dataBits,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.Parity.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Parity</a> parity,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.StopBits.html" title="enum in edu.wpi.first.wpilibj">SerialPort.StopBits</a> stopBits)</code>
<div class="block">Create an instance of a Serial Port class.</div>
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<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#disableTermination--">disableTermination</a></span>()</code>
<div class="block">Disable termination behavior.</div>
</td>
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<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#enableTermination--">enableTermination</a></span>()</code>
<div class="block">Enable termination with the default terminator '\n'</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#enableTermination-char-">enableTermination</a></span>(char terminator)</code>
<div class="block">Enable termination and specify the termination character.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#flush--">flush</a></span>()</code>
<div class="block">Force the output buffer to be written to the port.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#free--">free</a></span>()</code>
<div class="block">Destructor.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#getBytesReceived--">getBytesReceived</a></span>()</code>
<div class="block">Get the number of bytes currently available to read from the serial port.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>byte[]</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#read-int-">read</a></span>(int count)</code>
<div class="block">Read raw bytes out of the buffer.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#readString--">readString</a></span>()</code>
<div class="block">Read a string out of the buffer.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#readString-int-">readString</a></span>(int count)</code>
<div class="block">Read a string out of the buffer.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#reset--">reset</a></span>()</code>
<div class="block">Reset the serial port driver to a known state.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#setFlowControl-edu.wpi.first.wpilibj.SerialPort.FlowControl-">setFlowControl</a></span>(<a href="../../../../edu/wpi/first/wpilibj/SerialPort.FlowControl.html" title="enum in edu.wpi.first.wpilibj">SerialPort.FlowControl</a> flowControl)</code>
<div class="block">Set the type of flow control to enable on this port.</div>
</td>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#setReadBufferSize-int-">setReadBufferSize</a></span>(int size)</code>
<div class="block">Specify the size of the input buffer.</div>
</td>
</tr>
<tr id="i12" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#setTimeout-double-">setTimeout</a></span>(double timeout)</code>
<div class="block">Configure the timeout of the serial m_port.</div>
</td>
</tr>
<tr id="i13" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#setWriteBufferMode-edu.wpi.first.wpilibj.SerialPort.WriteBufferMode-">setWriteBufferMode</a></span>(<a href="../../../../edu/wpi/first/wpilibj/SerialPort.WriteBufferMode.html" title="enum in edu.wpi.first.wpilibj">SerialPort.WriteBufferMode</a> mode)</code>
<div class="block">Specify the flushing behavior of the output buffer.</div>
</td>
</tr>
<tr id="i14" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#setWriteBufferSize-int-">setWriteBufferSize</a></span>(int size)</code>
<div class="block">Specify the size of the output buffer.</div>
</td>
</tr>
<tr id="i15" class="rowColor">
<td class="colFirst"><code>int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#write-byte:A-int-">write</a></span>(byte[] buffer,
int count)</code>
<div class="block">Write raw bytes to the serial port.</div>
</td>
</tr>
<tr id="i16" class="altColor">
<td class="colFirst"><code>int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SerialPort.html#writeString-java.lang.String-">writeString</a></span>(java.lang.String data)</code>
<div class="block">Write a string to the serial port.</div>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h4>SerialPort</h4>
<pre>public SerialPort(int baudRate,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.Port.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Port</a> port,
int dataBits,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.Parity.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Parity</a> parity,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.StopBits.html" title="enum in edu.wpi.first.wpilibj">SerialPort.StopBits</a> stopBits)</pre>
<div class="block">Create an instance of a Serial Port class.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>baudRate</code> - The baud rate to configure the serial port.</dd>
<dd><code>port</code> - The Serial port to use</dd>
<dd><code>dataBits</code> - The number of data bits per transfer. Valid values are between 5 and 8 bits.</dd>
<dd><code>parity</code> - Select the type of parity checking to use.</dd>
<dd><code>stopBits</code> - The number of stop bits to use as defined by the enum StopBits.</dd>
</dl>
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<h4>SerialPort</h4>
<pre>public SerialPort(int baudRate,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.Port.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Port</a> port,
int dataBits,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.Parity.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Parity</a> parity)</pre>
<div class="block">Create an instance of a Serial Port class. Defaults to one stop bit.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>baudRate</code> - The baud rate to configure the serial port.</dd>
<dd><code>dataBits</code> - The number of data bits per transfer. Valid values are between 5 and 8 bits.</dd>
<dd><code>parity</code> - Select the type of parity checking to use.</dd>
</dl>
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<h4>SerialPort</h4>
<pre>public SerialPort(int baudRate,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.Port.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Port</a> port,
int dataBits)</pre>
<div class="block">Create an instance of a Serial Port class. Defaults to no parity and one stop bit.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>baudRate</code> - The baud rate to configure the serial port.</dd>
<dd><code>dataBits</code> - The number of data bits per transfer. Valid values are between 5 and 8 bits.</dd>
</dl>
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<h4>SerialPort</h4>
<pre>public SerialPort(int baudRate,
<a href="../../../../edu/wpi/first/wpilibj/SerialPort.Port.html" title="enum in edu.wpi.first.wpilibj">SerialPort.Port</a> port)</pre>
<div class="block">Create an instance of a Serial Port class. Defaults to 8 databits, no parity, and one stop
bit.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>baudRate</code> - The baud rate to configure the serial port.</dd>
</dl>
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<h4>free</h4>
<pre>public void free()</pre>
<div class="block">Destructor.</div>
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<h4>setFlowControl</h4>
<pre>public void setFlowControl(<a href="../../../../edu/wpi/first/wpilibj/SerialPort.FlowControl.html" title="enum in edu.wpi.first.wpilibj">SerialPort.FlowControl</a> flowControl)</pre>
<div class="block">Set the type of flow control to enable on this port.
<p>By default, flow control is disabled.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>flowControl</code> - the FlowControl m_value to use</dd>
</dl>
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<h4>enableTermination</h4>
<pre>public void enableTermination(char terminator)</pre>
<div class="block">Enable termination and specify the termination character.
<p>Termination is currently only implemented for receive. When the the terminator is received,
the read() or readString() will return fewer bytes than requested, stopping after the
terminator.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>terminator</code> - The character to use for termination.</dd>
</dl>
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<h4>enableTermination</h4>
<pre>public void enableTermination()</pre>
<div class="block">Enable termination with the default terminator '\n'
<p>Termination is currently only implemented for receive. When the the terminator is received,
the read() or readString() will return fewer bytes than requested, stopping after the
terminator.
<p>The default terminator is '\n'</div>
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<h4>disableTermination</h4>
<pre>public void disableTermination()</pre>
<div class="block">Disable termination behavior.</div>
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<pre>public int getBytesReceived()</pre>
<div class="block">Get the number of bytes currently available to read from the serial port.</div>
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<dt><span class="returnLabel">Returns:</span></dt>
<dd>The number of bytes available to read.</dd>
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<h4>readString</h4>
<pre>public java.lang.String readString()</pre>
<div class="block">Read a string out of the buffer. Reads the entire contents of the buffer</div>
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<dt><span class="returnLabel">Returns:</span></dt>
<dd>The read string</dd>
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<pre>public java.lang.String readString(int count)</pre>
<div class="block">Read a string out of the buffer. Reads the entire contents of the buffer</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>count</code> - the number of characters to read into the string</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The read string</dd>
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<h4>read</h4>
<pre>public byte[] read(int count)</pre>
<div class="block">Read raw bytes out of the buffer.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>count</code> - The maximum number of bytes to read.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>An array of the read bytes</dd>
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<h4>write</h4>
<pre>public int write(byte[] buffer,
int count)</pre>
<div class="block">Write raw bytes to the serial port.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>buffer</code> - The buffer of bytes to write.</dd>
<dd><code>count</code> - The maximum number of bytes to write.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The number of bytes actually written into the port.</dd>
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<pre>public int writeString(java.lang.String data)</pre>
<div class="block">Write a string to the serial port.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>data</code> - The string to write to the serial port.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The number of bytes actually written into the port.</dd>
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<h4>setTimeout</h4>
<pre>public void setTimeout(double timeout)</pre>
<div class="block">Configure the timeout of the serial m_port.
<p>This defines the timeout for transactions with the hardware. It will affect reads if less
bytes are available than the read buffer size (defaults to 1) and very large writes.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>timeout</code> - The number of seconds to to wait for I/O.</dd>
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<h4>setReadBufferSize</h4>
<pre>public void setReadBufferSize(int size)</pre>
<div class="block">Specify the size of the input buffer.
<p>Specify the amount of data that can be stored before data from the device is returned to
Read. If you want data that is received to be returned immediately, set this to 1.
<p>It the buffer is not filled before the read timeout expires, all data that has been received
so far will be returned.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>size</code> - The read buffer size.</dd>
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<h4>setWriteBufferSize</h4>
<pre>public void setWriteBufferSize(int size)</pre>
<div class="block">Specify the size of the output buffer.
<p>Specify the amount of data that can be stored before being transmitted to the device.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>size</code> - The write buffer size.</dd>
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<h4>setWriteBufferMode</h4>
<pre>public void setWriteBufferMode(<a href="../../../../edu/wpi/first/wpilibj/SerialPort.WriteBufferMode.html" title="enum in edu.wpi.first.wpilibj">SerialPort.WriteBufferMode</a> mode)</pre>
<div class="block">Specify the flushing behavior of the output buffer.
<p>When set to kFlushOnAccess, data is synchronously written to the serial port after each
call to either print() or write().
<p>When set to kFlushWhenFull, data will only be written to the serial port when the buffer
is full or when flush() is called.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>mode</code> - The write buffer mode.</dd>
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<h4>flush</h4>
<pre>public void flush()</pre>
<div class="block">Force the output buffer to be written to the port.
<p>This is used when setWriteBufferMode() is set to kFlushWhenFull to force a flush before the
buffer is full.</div>
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<h4>reset</h4>
<pre>public void reset()</pre>
<div class="block">Reset the serial port driver to a known state.
<p>Empty the transmit and receive buffers in the device and formatted I/O.</div>
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