194 lines
7.7 KiB
C#
194 lines
7.7 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Net;
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using System.Net.Sockets;
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using SafeMobileLib;
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namespace MotoRepeater
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{
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class TelemetrySendThread
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{
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public static IPEndPoint iep;
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public static Socket server;
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private ushort telemetryPort = 0;
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private string radioIP;
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UdpClient udpClient;
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public TelemetrySendThread(ushort port)
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{
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telemetryPort = port;
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}
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public void handleConnection()
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{
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try {
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udpClient = new UdpClient();
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udpClient.Client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
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udpClient.Client.Bind(new IPEndPoint(IPAddress.Any, telemetryPort));
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}
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catch (Exception ex)
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{
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Utils.WriteLine("TelemetrySendThread handleConnection exception while creating udpClient: " + ex.ToString(), ConsoleColor.Red);
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}
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while (true) { Thread.Sleep(100); }
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}
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void udp_OnNewDataReceived(byte[] data, int dataLen)
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{
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try
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{
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string str = System.Text.Encoding.ASCII.GetString(data, 0, dataLen);
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String[] tempArray = str.Trim().Split('#');
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if (tempArray.Length > 3)
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{
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int gwid_recv = 0;
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Int32.TryParse((tempArray[4].Split('.'))[0], out gwid_recv);
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//if (gwid_recv == MotoRepeater_GW.cfg.GWID)
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{
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if (tempArray[3].Equals("133"))
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{
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Utils.WriteLine("TelemetrySend thread received data from multicast bus");
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String seqId = tempArray[2];
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int transactionID = TelemetryConfirm.addToConfirmationQueue(seqId);
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String radioID = (tempArray[4].Split('.'))[2];
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String[] temp = tempArray[5].Split('.');
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if (temp.Length == 2)
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{
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String gpio = temp[0];
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String type = temp[1];
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sendTelemetryCommand(radioID, gpio, type, transactionID);
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}
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}
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}
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}
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}
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catch (Exception ex)
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{
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SM.Debug(ex.ToString());
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}
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}
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public void sendTelemetryCommand(String ID, String _gpio, String _type, int transactionID)
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{
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byte gpio, type;
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if (!Byte.TryParse(_gpio, out gpio))
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{
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return;
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}
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if (!Byte.TryParse(_type, out type))
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{
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return;
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}
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String radioIP = Utils.ID2IP("12", ID);
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List<Byte> bufferList = new List<Byte>();
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bufferList.Add((byte)(transactionID / 256));//transaction id MS byte
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bufferList.Add((byte)(transactionID % 256));//transaction id LS byte --> this should increment for every message
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if (gpio == 10) //status query
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{
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Utils.WriteLine("Telemetry status query");
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bufferList.Add(0x08); //query opcode, %00 1000
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bufferList.Add(0x00);
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}
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else
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{
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if (type == 0)
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{
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Utils.WriteLine("Telemetry set query");
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bufferList.Add(0x00); //set opcode %00 0000
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}
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else if (type == 1)
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{
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Utils.WriteLine("Telemetry clear query");
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bufferList.Add(0x01); //clear opcode %00 0001
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}
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else if (type == 2)
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{
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Utils.WriteLine("Telemetry toggle query");
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bufferList.Add(0x02); //toggle opcode %00 0010
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}
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else if (type == 3)
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{
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Utils.WriteLine("Telemetry pulse query");
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bufferList.Add(0x03); //pulse opcode %00 0011
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}
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bufferList.Add((byte)(Math.Pow(2, gpio - 1)));
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bufferList.Add(0x00);
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}
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ushort temp = crc16(bufferList.ToArray(), bufferList.Count);
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bufferList.Add((byte)(temp / 256));
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bufferList.Add((byte)(temp % 256));
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try
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{
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udpClient.Client.SendTo(bufferList.ToArray(), new IPEndPoint(IPAddress.Parse(radioIP), telemetryPort));
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Utils.WriteLine("Sent to remote radio with ip " + radioIP + ": ");
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Utils.WriteLine("Data: " + Utils.Byte2String(bufferList.ToArray(), 0, bufferList.Count));
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}
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catch (System.NullReferenceException ex)
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{
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Utils.WriteLine("TelemetrySendThread sendQueryStatus exception: " + ex.ToString(), ConsoleColor.Red);
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}
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}
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//aux
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private ushort crc16(byte[] data_ptr, int length)
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{
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ulong crc_ret = 0;
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int i = 0;
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while (length > 0)
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{
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crc_ret = crc16_table[((crc_ret >> 8) ^ data_ptr[i]) & 0xFFL] ^ (crc_ret << 8);
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i++;
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length--;
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}
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return ((ushort)crc_ret);
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}
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private ushort[] crc16_table = {
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0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
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0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
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0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
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0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
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0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
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0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
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0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
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0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
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0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
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0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
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0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
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0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
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0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
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0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
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0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
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0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
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0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
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0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
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0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
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0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
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0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
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0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
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0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
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0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
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0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
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0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
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0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
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0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
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0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
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0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
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0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
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0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0,
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};
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}
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}
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