Add compatibility with only accelerometer and auto calibrate for drift
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german
parent
4d0ae1a17a
commit
a220d8799e
2 changed files with 106 additions and 12 deletions
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@ -16,8 +16,16 @@ void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
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void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
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gyro = gyroscope - gyro_drift;
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// Auto adjust drift to minimize drift
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if (!IsMoving(0.1f)) {
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gyro_drift = (gyro_drift * 0.9999f) + (gyroscope * 0.0001f);
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}
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if (gyro.Length2() < gyro_threshold) {
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gyro = {};
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} else {
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only_accelerometer = false;
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}
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}
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@ -49,7 +57,7 @@ bool MotionInput::IsCalibrated(f32 sensitivity) const {
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return real_error.Length() < sensitivity;
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}
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void MotionInput::UpdateRotation(u64 elapsed_time) {
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void MotionInput::UpdateRotation(const u64 elapsed_time) {
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const f32 sample_period = elapsed_time / 1000000.0f;
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if (sample_period > 0.1f) {
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return;
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@ -57,7 +65,7 @@ void MotionInput::UpdateRotation(u64 elapsed_time) {
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rotations += gyro * sample_period;
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}
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void MotionInput::UpdateOrientation(u64 elapsed_time) {
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void MotionInput::UpdateOrientation(const u64 elapsed_time) {
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if (!IsCalibrated(0.1f)) {
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ResetOrientation();
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}
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@ -68,7 +76,7 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
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f32 q4 = quat.xyz[2];
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const f32 sample_period = elapsed_time / 1000000.0f;
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// ignore invalid elapsed time
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// Ignore invalid elapsed time
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if (sample_period > 0.1f) {
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return;
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}
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@ -80,6 +88,13 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
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rad_gyro.y = -swap;
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rad_gyro.z = -rad_gyro.z;
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// Clear gyro values if there is no gyro present
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if (only_accelerometer) {
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rad_gyro.x = 0;
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rad_gyro.y = 0;
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rad_gyro.z = 0;
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}
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// Ignore drift correction if acceleration is not reliable
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if (accel.Length() >= 0.75f && accel.Length() <= 1.25f) {
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const f32 ax = -normal_accel.x;
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@ -92,8 +107,11 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
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const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
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// Error is cross product between estimated direction and measured direction of gravity
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const Common::Vec3f new_real_error = {az * vx - ax * vz, ay * vz - az * vy,
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ax * vy - ay * vx};
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const Common::Vec3f new_real_error = {
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az * vx - ax * vz,
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ay * vz - az * vy,
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ax * vy - ay * vx,
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};
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derivative_error = new_real_error - real_error;
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real_error = new_real_error;
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@ -106,9 +124,22 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
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}
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// Apply feedback terms
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if (!only_accelerometer) {
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rad_gyro += kp * real_error;
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rad_gyro += ki * integral_error;
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rad_gyro += kd * derivative_error;
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} else {
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// Give more weight to acelerometer values to compensate for the lack of gyro
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rad_gyro += 35.0f * kp * real_error;
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rad_gyro += 10.0f * ki * integral_error;
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rad_gyro += 10.0f * kd * derivative_error;
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// Emulate gyro values for games that need them
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gyro.x = -rad_gyro.y;
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gyro.y = rad_gyro.x;
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gyro.z = -rad_gyro.z;
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UpdateRotation(elapsed_time);
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}
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}
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const f32 gx = rad_gyro.y;
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@ -143,6 +174,67 @@ std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
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Common::Vec3f(-matrix4x4[8], -matrix4x4[9], matrix4x4[10])};
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}
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void MotionInput::SetOrientationFromAccelerometer() {
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int iterations = 0;
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const f32 sample_period = 0.015f;
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const auto normal_accel = accel.Normalized();
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const f32 ax = -normal_accel.x;
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const f32 ay = normal_accel.y;
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const f32 az = -normal_accel.z;
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while (!IsCalibrated(0.01f) && ++iterations < 100) {
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// Short name local variable for readability
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f32 q1 = quat.w;
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f32 q2 = quat.xyz[0];
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f32 q3 = quat.xyz[1];
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f32 q4 = quat.xyz[2];
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Common::Vec3f rad_gyro = {};
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const f32 ax = -normal_accel.x;
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const f32 ay = normal_accel.y;
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const f32 az = -normal_accel.z;
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// Estimated direction of gravity
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const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
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const f32 vy = 2.0f * (q1 * q2 + q3 * q4);
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const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
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// Error is cross product between estimated direction and measured direction of gravity
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const Common::Vec3f new_real_error = {
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az * vx - ax * vz,
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ay * vz - az * vy,
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ax * vy - ay * vx,
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};
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derivative_error = new_real_error - real_error;
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real_error = new_real_error;
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rad_gyro += 10.0f * kp * real_error;
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rad_gyro += 5.0f * ki * integral_error;
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rad_gyro += 10.0f * kd * derivative_error;
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const f32 gx = rad_gyro.y;
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const f32 gy = rad_gyro.x;
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const f32 gz = rad_gyro.z;
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// Integrate rate of change of quaternion
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const f32 pa = q2;
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const f32 pb = q3;
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const f32 pc = q4;
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q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period);
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q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period);
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q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
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q4 = pc + (q1 * gz + pa * gy - pb * gx) * (0.5f * sample_period);
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quat.w = q1;
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quat.xyz[0] = q2;
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quat.xyz[1] = q3;
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quat.xyz[2] = q4;
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quat = quat.Normalized();
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}
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}
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Common::Vec3f MotionInput::GetAcceleration() const {
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return accel;
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}
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@ -160,17 +252,17 @@ Common::Vec3f MotionInput::GetRotations() const {
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}
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void MotionInput::ResetOrientation() {
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if (!reset_enabled) {
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if (!reset_enabled || only_accelerometer) {
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return;
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}
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if (!IsMoving(0.5f) && accel.z <= -0.9f) {
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++reset_counter;
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if (reset_counter > 900) {
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// TODO: calculate quaternion from gravity vector
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quat.w = 0;
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quat.xyz[0] = 0;
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quat.xyz[1] = 0;
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quat.xyz[2] = -1;
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SetOrientationFromAccelerometer();
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integral_error = {};
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reset_counter = 0;
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}
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@ -29,8 +29,8 @@ public:
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void EnableReset(bool reset);
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void ResetRotations();
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void UpdateRotation(u64 elapsed_time);
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void UpdateOrientation(u64 elapsed_time);
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void UpdateRotation(const u64 elapsed_time);
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void UpdateOrientation(const u64 elapsed_time);
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std::array<Common::Vec3f, 3> GetOrientation() const;
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Common::Vec3f GetAcceleration() const;
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@ -43,6 +43,7 @@ public:
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private:
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void ResetOrientation();
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void SetOrientationFromAccelerometer();
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// PID constants
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const f32 kp;
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@ -63,6 +64,7 @@ private:
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f32 gyro_threshold = 0.0f;
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u32 reset_counter = 0;
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bool reset_enabled = true;
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bool only_accelerometer = true;
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};
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} // namespace InputCommon
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