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-rw-r--r--src/drivers/ll40ls/ll40ls.cpp882
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diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp
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+++ b/src/drivers/ll40ls/ll40ls.cpp
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+/****************************************************************************
+ *
+ * Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ll40ls.cpp
+ * @author Allyson Kreft
+ *
+ * Driver for the PulsedLight Lidar-Lite range finders connected via I2C.
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/device/i2c.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_range_finder.h>
+#include <drivers/device/ringbuffer.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/subsystem_info.h>
+
+#include <board_config.h>
+
+/* Configuration Constants */
+#define LL40LS_BUS PX4_I2C_BUS_EXPANSION
+#define LL40LS_BASEADDR 0x42 /* 7-bit address */
+#define LL40LS_DEVICE_PATH "/dev/ll40ls"
+
+/* LL40LS Registers addresses */
+
+#define LL40LS_MEASURE_REG 0x00 /* Measure range register */
+#define LL40LS_MSRREG_ACQUIRE 0x04 /* Value to initiate a measurement, varies based on sensor revision */
+#define LL40LS_DISTHIGH_REG 0x8F /* High byte of distance register, auto increment */
+
+/* Device limits */
+#define LL40LS_MIN_DISTANCE (0.00f)
+#define LL40LS_MAX_DISTANCE (14.00f)
+
+#define LL40LS_CONVERSION_INTERVAL 100000 /* 100ms */
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+class LL40LS : public device::I2C
+{
+public:
+ LL40LS(int bus = LL40LS_BUS, int address = LL40LS_BASEADDR);
+ virtual ~LL40LS();
+
+ virtual int init();
+
+ virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
+ virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
+
+ /**
+ * Diagnostics - print some basic information about the driver.
+ */
+ void print_info();
+
+protected:
+ virtual int probe();
+
+private:
+ float _min_distance;
+ float _max_distance;
+ work_s _work;
+ RingBuffer *_reports;
+ bool _sensor_ok;
+ int _measure_ticks;
+ bool _collect_phase;
+ int _class_instance;
+
+ orb_advert_t _range_finder_topic;
+
+ perf_counter_t _sample_perf;
+ perf_counter_t _comms_errors;
+ perf_counter_t _buffer_overflows;
+
+ /**
+ * Test whether the device supported by the driver is present at a
+ * specific address.
+ *
+ * @param address The I2C bus address to probe.
+ * @return True if the device is present.
+ */
+ int probe_address(uint8_t address);
+
+ /**
+ * Initialise the automatic measurement state machine and start it.
+ *
+ * @note This function is called at open and error time. It might make sense
+ * to make it more aggressive about resetting the bus in case of errors.
+ */
+ void start();
+
+ /**
+ * Stop the automatic measurement state machine.
+ */
+ void stop();
+
+ /**
+ * Set the min and max distance thresholds if you want the end points of the sensors
+ * range to be brought in at all, otherwise it will use the defaults LL40LS_MIN_DISTANCE
+ * and LL40LS_MAX_DISTANCE
+ */
+ void set_minimum_distance(float min);
+ void set_maximum_distance(float max);
+ float get_minimum_distance();
+ float get_maximum_distance();
+
+ /**
+ * Perform a poll cycle; collect from the previous measurement
+ * and start a new one.
+ */
+ void cycle();
+ int measure();
+ int collect();
+ /**
+ * Static trampoline from the workq context; because we don't have a
+ * generic workq wrapper yet.
+ *
+ * @param arg Instance pointer for the driver that is polling.
+ */
+ static void cycle_trampoline(void *arg);
+
+
+};
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int ll40ls_main(int argc, char *argv[]);
+
+LL40LS::LL40LS(int bus, int address) :
+ I2C("LL40LS", LL40LS_DEVICE_PATH, bus, address, 100000),
+ _min_distance(LL40LS_MIN_DISTANCE),
+ _max_distance(LL40LS_MAX_DISTANCE),
+ _reports(nullptr),
+ _sensor_ok(false),
+ _measure_ticks(0),
+ _collect_phase(false),
+ _class_instance(-1),
+ _range_finder_topic(-1),
+ _sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")),
+ _comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")),
+ _buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows"))
+{
+ // up the retries since the device misses the first measure attempts
+ I2C::_retries = 3;
+
+ // enable debug() calls
+ _debug_enabled = false;
+
+ // work_cancel in the dtor will explode if we don't do this...
+ memset(&_work, 0, sizeof(_work));
+}
+
+LL40LS::~LL40LS()
+{
+ /* make sure we are truly inactive */
+ stop();
+
+ /* free any existing reports */
+ if (_reports != nullptr) {
+ delete _reports;
+ }
+
+ if (_class_instance != -1) {
+ unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
+ }
+
+ // free perf counters
+ perf_free(_sample_perf);
+ perf_free(_comms_errors);
+ perf_free(_buffer_overflows);
+}
+
+int
+LL40LS::init()
+{
+ int ret = ERROR;
+
+ /* do I2C init (and probe) first */
+ if (I2C::init() != OK) {
+ goto out;
+ }
+
+ /* allocate basic report buffers */
+ _reports = new RingBuffer(2, sizeof(range_finder_report));
+
+ if (_reports == nullptr) {
+ goto out;
+ }
+
+ _class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
+
+ if (_class_instance == CLASS_DEVICE_PRIMARY) {
+ /* get a publish handle on the range finder topic */
+ struct range_finder_report rf_report;
+ measure();
+ _reports->get(&rf_report);
+ _range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
+
+ if (_range_finder_topic < 0) {
+ debug("failed to create sensor_range_finder object. Did you start uOrb?");
+ }
+ }
+
+ ret = OK;
+ /* sensor is ok, but we don't really know if it is within range */
+ _sensor_ok = true;
+out:
+ return ret;
+}
+
+int
+LL40LS::probe()
+{
+ return measure();
+}
+
+void
+LL40LS::set_minimum_distance(float min)
+{
+ _min_distance = min;
+}
+
+void
+LL40LS::set_maximum_distance(float max)
+{
+ _max_distance = max;
+}
+
+float
+LL40LS::get_minimum_distance()
+{
+ return _min_distance;
+}
+
+float
+LL40LS::get_maximum_distance()
+{
+ return _max_distance;
+}
+
+int
+LL40LS::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+ switch (cmd) {
+
+ case SENSORIOCSPOLLRATE: {
+ switch (arg) {
+
+ /* switching to manual polling */
+ case SENSOR_POLLRATE_MANUAL:
+ stop();
+ _measure_ticks = 0;
+ return OK;
+
+ /* external signalling (DRDY) not supported */
+ case SENSOR_POLLRATE_EXTERNAL:
+
+ /* zero would be bad */
+ case 0:
+ return -EINVAL;
+
+ /* set default/max polling rate */
+ case SENSOR_POLLRATE_MAX:
+ case SENSOR_POLLRATE_DEFAULT: {
+ /* do we need to start internal polling? */
+ bool want_start = (_measure_ticks == 0);
+
+ /* set interval for next measurement to minimum legal value */
+ _measure_ticks = USEC2TICK(LL40LS_CONVERSION_INTERVAL);
+
+ /* if we need to start the poll state machine, do it */
+ if (want_start) {
+ start();
+ }
+
+ return OK;
+ }
+
+ /* adjust to a legal polling interval in Hz */
+ default: {
+ /* do we need to start internal polling? */
+ bool want_start = (_measure_ticks == 0);
+
+ /* convert hz to tick interval via microseconds */
+ unsigned ticks = USEC2TICK(1000000 / arg);
+
+ /* check against maximum rate */
+ if (ticks < USEC2TICK(LL40LS_CONVERSION_INTERVAL)) {
+ return -EINVAL;
+ }
+
+ /* update interval for next measurement */
+ _measure_ticks = ticks;
+
+ /* if we need to start the poll state machine, do it */
+ if (want_start) {
+ start();
+ }
+
+ return OK;
+ }
+ }
+ }
+
+ case SENSORIOCGPOLLRATE:
+ if (_measure_ticks == 0) {
+ return SENSOR_POLLRATE_MANUAL;
+ }
+
+ return (1000 / _measure_ticks);
+
+ case SENSORIOCSQUEUEDEPTH: {
+ /* lower bound is mandatory, upper bound is a sanity check */
+ if ((arg < 1) || (arg > 100)) {
+ return -EINVAL;
+ }
+
+ irqstate_t flags = irqsave();
+
+ if (!_reports->resize(arg)) {
+ irqrestore(flags);
+ return -ENOMEM;
+ }
+
+ irqrestore(flags);
+
+ return OK;
+ }
+
+ case SENSORIOCGQUEUEDEPTH:
+ return _reports->size();
+
+ case SENSORIOCRESET:
+ /* XXX implement this */
+ return -EINVAL;
+
+ case RANGEFINDERIOCSETMINIUMDISTANCE: {
+ set_minimum_distance(*(float *)arg);
+ return 0;
+ }
+ break;
+
+ case RANGEFINDERIOCSETMAXIUMDISTANCE: {
+ set_maximum_distance(*(float *)arg);
+ return 0;
+ }
+ break;
+
+ default:
+ /* give it to the superclass */
+ return I2C::ioctl(filp, cmd, arg);
+ }
+}
+
+ssize_t
+LL40LS::read(struct file *filp, char *buffer, size_t buflen)
+{
+ unsigned count = buflen / sizeof(struct range_finder_report);
+ struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
+ int ret = 0;
+
+ /* buffer must be large enough */
+ if (count < 1) {
+ return -ENOSPC;
+ }
+
+ /* if automatic measurement is enabled */
+ if (_measure_ticks > 0) {
+
+ /*
+ * While there is space in the caller's buffer, and reports, copy them.
+ * Note that we may be pre-empted by the workq thread while we are doing this;
+ * we are careful to avoid racing with them.
+ */
+ while (count--) {
+ if (_reports->get(rbuf)) {
+ ret += sizeof(*rbuf);
+ rbuf++;
+ }
+ }
+
+ /* if there was no data, warn the caller */
+ return ret ? ret : -EAGAIN;
+ }
+
+ /* manual measurement - run one conversion */
+ do {
+ _reports->flush();
+
+ /* trigger a measurement */
+ if (OK != measure()) {
+ ret = -EIO;
+ break;
+ }
+
+ /* wait for it to complete */
+ usleep(LL40LS_CONVERSION_INTERVAL);
+
+ /* run the collection phase */
+ if (OK != collect()) {
+ ret = -EIO;
+ break;
+ }
+
+ /* state machine will have generated a report, copy it out */
+ if (_reports->get(rbuf)) {
+ ret = sizeof(*rbuf);
+ }
+
+ } while (0);
+
+ return ret;
+}
+
+int
+LL40LS::measure()
+{
+ int ret;
+
+ /*
+ * Send the command to begin a measurement.
+ */
+ const uint8_t cmd[2] = { LL40LS_MEASURE_REG, LL40LS_MSRREG_ACQUIRE };
+ ret = transfer(cmd, sizeof(cmd), nullptr, 0);
+
+ if (OK != ret) {
+ perf_count(_comms_errors);
+ log("i2c::transfer returned %d", ret);
+ return ret;
+ }
+
+ ret = OK;
+
+ return ret;
+}
+
+int
+LL40LS::collect()
+{
+ int ret = -EIO;
+
+ /* read from the sensor */
+ uint8_t val[2] = {0, 0};
+
+ perf_begin(_sample_perf);
+
+ // read the high and low byte distance registers
+ uint8_t distance_reg = LL40LS_DISTHIGH_REG;
+ ret = transfer(&distance_reg, 1, &val[0], sizeof(val));
+
+ if (ret < 0) {
+ log("error reading from sensor: %d", ret);
+ perf_count(_comms_errors);
+ perf_end(_sample_perf);
+ return ret;
+ }
+
+ uint16_t distance = (val[0] << 8) | val[1];
+ float si_units = distance * 0.01f; /* cm to m */
+ struct range_finder_report report;
+
+ /* this should be fairly close to the end of the measurement, so the best approximation of the time */
+ report.timestamp = hrt_absolute_time();
+ report.error_count = perf_event_count(_comms_errors);
+ report.distance = si_units;
+ if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
+ report.valid = 1;
+ }
+ else {
+ report.valid = 0;
+ }
+
+ /* publish it, if we are the primary */
+ if (_range_finder_topic >= 0) {
+ orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
+ }
+
+ if (_reports->force(&report)) {
+ perf_count(_buffer_overflows);
+ }
+
+ /* notify anyone waiting for data */
+ poll_notify(POLLIN);
+
+ ret = OK;
+
+ perf_end(_sample_perf);
+ return ret;
+}
+
+void
+LL40LS::start()
+{
+ /* reset the report ring and state machine */
+ _collect_phase = false;
+ _reports->flush();
+
+ /* schedule a cycle to start things */
+ work_queue(HPWORK, &_work, (worker_t)&LL40LS::cycle_trampoline, this, 1);
+
+ /* notify about state change */
+ struct subsystem_info_s info = {
+ true,
+ true,
+ true,
+ SUBSYSTEM_TYPE_RANGEFINDER
+ };
+ static orb_advert_t pub = -1;
+
+ if (pub > 0) {
+ orb_publish(ORB_ID(subsystem_info), pub, &info);
+
+ } else {
+ pub = orb_advertise(ORB_ID(subsystem_info), &info);
+ }
+}
+
+void
+LL40LS::stop()
+{
+ work_cancel(HPWORK, &_work);
+}
+
+void
+LL40LS::cycle_trampoline(void *arg)
+{
+ LL40LS *dev = (LL40LS *)arg;
+
+ dev->cycle();
+}
+
+void
+LL40LS::cycle()
+{
+ /* collection phase? */
+ if (_collect_phase) {
+
+ /* perform collection */
+ if (OK != collect()) {
+ log("collection error");
+ /* restart the measurement state machine */
+ start();
+ return;
+ }
+
+ /* next phase is measurement */
+ _collect_phase = false;
+
+ /*
+ * Is there a collect->measure gap?
+ */
+ if (_measure_ticks > USEC2TICK(LL40LS_CONVERSION_INTERVAL)) {
+
+ /* schedule a fresh cycle call when we are ready to measure again */
+ work_queue(HPWORK,
+ &_work,
+ (worker_t)&LL40LS::cycle_trampoline,
+ this,
+ _measure_ticks - USEC2TICK(LL40LS_CONVERSION_INTERVAL));
+
+ return;
+ }
+ }
+
+ /* measurement phase */
+ if (OK != measure()) {
+ log("measure error");
+ }
+
+ /* next phase is collection */
+ _collect_phase = true;
+
+ /* schedule a fresh cycle call when the measurement is done */
+ work_queue(HPWORK,
+ &_work,
+ (worker_t)&LL40LS::cycle_trampoline,
+ this,
+ USEC2TICK(LL40LS_CONVERSION_INTERVAL));
+}
+
+void
+LL40LS::print_info()
+{
+ perf_print_counter(_sample_perf);
+ perf_print_counter(_comms_errors);
+ perf_print_counter(_buffer_overflows);
+ printf("poll interval: %u ticks\n", _measure_ticks);
+ _reports->print_info("report queue");
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace ll40ls
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+const int ERROR = -1;
+
+LL40LS *g_dev;
+
+void start();
+void stop();
+void test();
+void reset();
+void info();
+
+/**
+ * Start the driver.
+ */
+void
+start()
+{
+ int fd;
+
+ if (g_dev != nullptr) {
+ errx(1, "already started");
+ }
+
+ /* create the driver */
+ g_dev = new LL40LS(LL40LS_BUS);
+
+ if (g_dev == nullptr) {
+ goto fail;
+ }
+
+ if (OK != g_dev->init()) {
+ goto fail;
+ }
+
+ /* set the poll rate to default, starts automatic data collection */
+ fd = open(LL40LS_DEVICE_PATH, O_RDONLY);
+
+ if (fd < 0) {
+ goto fail;
+ }
+
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+ goto fail;
+ }
+
+ exit(0);
+
+fail:
+
+ if (g_dev != nullptr) {
+ delete g_dev;
+ g_dev = nullptr;
+ }
+
+ errx(1, "driver start failed");
+}
+
+/**
+ * Stop the driver
+ */
+void stop()
+{
+ if (g_dev != nullptr) {
+ delete g_dev;
+ g_dev = nullptr;
+
+ } else {
+ errx(1, "driver not running");
+ }
+
+ exit(0);
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+ struct range_finder_report report;
+ ssize_t sz;
+ int ret;
+
+ int fd = open(LL40LS_DEVICE_PATH, O_RDONLY);
+
+ if (fd < 0) {
+ err(1, "%s open failed (try 'll40ls start' if the driver is not running", LL40LS_DEVICE_PATH);
+ }
+
+ /* do a simple demand read */
+ sz = read(fd, &report, sizeof(report));
+
+ if (sz != sizeof(report)) {
+ err(1, "immediate read failed");
+ }
+
+ warnx("single read");
+ warnx("measurement: %0.2f m", (double)report.distance);
+ warnx("time: %lld", report.timestamp);
+
+ /* start the sensor polling at 2Hz */
+ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
+ errx(1, "failed to set 2Hz poll rate");
+ }
+
+ /* read the sensor 5x and report each value */
+ for (unsigned i = 0; i < 5; i++) {
+ struct pollfd fds;
+
+ /* wait for data to be ready */
+ fds.fd = fd;
+ fds.events = POLLIN;
+ ret = poll(&fds, 1, 2000);
+
+ if (ret != 1) {
+ errx(1, "timed out waiting for sensor data");
+ }
+
+ /* now go get it */
+ sz = read(fd, &report, sizeof(report));
+
+ if (sz != sizeof(report)) {
+ err(1, "periodic read failed");
+ }
+
+ warnx("periodic read %u", i);
+ warnx("measurement: %0.3f", (double)report.distance);
+ warnx("time: %lld", report.timestamp);
+ }
+
+ /* reset the sensor polling to default rate */
+ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
+ errx(1, "failed to set default poll rate");
+ }
+
+ errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+ int fd = open(LL40LS_DEVICE_PATH, O_RDONLY);
+
+ if (fd < 0) {
+ err(1, "failed ");
+ }
+
+ if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
+ err(1, "driver reset failed");
+ }
+
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+ err(1, "driver poll restart failed");
+ }
+
+ exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info()
+{
+ if (g_dev == nullptr) {
+ errx(1, "driver not running");
+ }
+
+ printf("state @ %p\n", g_dev);
+ g_dev->print_info();
+
+ exit(0);
+}
+
+} // namespace
+
+int
+ll40ls_main(int argc, char *argv[])
+{
+ /*
+ * Start/load the driver.
+ */
+ if (!strcmp(argv[1], "start")) {
+ ll40ls::start();
+ }
+
+ /*
+ * Stop the driver
+ */
+ if (!strcmp(argv[1], "stop")) {
+ ll40ls::stop();
+ }
+
+ /*
+ * Test the driver/device.
+ */
+ if (!strcmp(argv[1], "test")) {
+ ll40ls::test();
+ }
+
+ /*
+ * Reset the driver.
+ */
+ if (!strcmp(argv[1], "reset")) {
+ ll40ls::reset();
+ }
+
+ /*
+ * Print driver information.
+ */
+ if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
+ ll40ls::info();
+ }
+
+ errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+}
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