Add rclc_parameter Quality Declaration #144

pablogs9 · 2021-07-20T05:59:42Z

Closes #137

pablogs9 · 2021-07-20T05:59:57Z

@mergify backport galactic

mergify · 2021-07-20T06:00:02Z

Command backport galactic: pending

Waiting for the pull request to get merged

Hey, I reacted but my real name is @Mergifyio

codecov-commenter · 2021-07-20T06:09:54Z

Codecov Report

Merging #144 (f76cce6) into master (6ae73ca) will not change coverage.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master     #144      +/-   ##
==========================================
  Coverage   31.31%   31.31%              
==========================================
  Files         128       32      -96     
  Lines       15776     3944   -11832     
  Branches     7900     1975    -5925     
==========================================
- Hits         4940     1235    -3705     
+ Misses       4128     1032    -3096     
+ Partials     6708     1677    -5031

Impacted Files	Coverage Δ
...src/j5mjh33xjwg/rclc/rclc/test/rclc/test_timer.cpp
...67c7n/rclc/rclc_examples/src/example_client_node.c
ros_ws/src/bpfru1rf0t8/rclc/rclc/src/rclc/client.c
...c/rclc_examples/src/example_executor_convenience.c
.../rclc/rclc_examples/src/example_parameter_server.c
...rc/ul88c67c7n/rclc/rclc/src/rclc/executor_handle.c
...bpfru1rf0t8/rclc/rclc/test/rclc/test_publisher.cpp
...clc_parameter/src/rclc_parameter/parameter_utils.c
...rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c
...rq/rclc/rclc_examples/src/example_lifecycle_node.c
... and 150 more

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JanStaschulat

@pablogs9 @norro We need to test rclc_parameter on Windows first before we can add this quality declaration for this package.

rclc_parameter/QUALITY_DECLARATION.md

norro · 2021-08-12T09:14:12Z

With the branch feature/parameter_quality, I get the following errors when building in Windows 10:

pablogs9 · 2021-08-12T09:19:24Z

Thanks, @norro, can you copy-paste the output?

@JanStaschulat that seems to be in the executor test also...

norro · 2021-08-12T11:14:58Z

Sure!

C:\Users\compass\ros2_ws\src\rclc\rclc\test\rclc\test_executor.cpp(1710,10): warning C4477: 'printf' : format string '%ld' requires an argument of type 'long', but variadic argument 2 has type 'uint64_t' [C:\Users\compass\ros2_ws\build\rclc\rclc_test.vcxproj]
C:\Users\compass\ros2_ws\src\rclc\rclc\test\rclc\test_executor.cpp(1710,10): message : consider using '%lld' in the format string [C:\Users\compass\ros2_ws\build\rclc\rclc_test.vcxproj]
C:\Users\compass\ros2_ws\src\rclc\rclc\test\rclc\test_executor.cpp(1710,10): message : consider using '%Id' in the format string [C:\Users\compass\ros2_ws\build\rclc\rclc_test.vcxproj]
C:\Users\compass\ros2_ws\src\rclc\rclc\test\rclc\test_executor.cpp(1710,10): message : consider using '%I64d' in the format string [C:\Users\compass\ros2_ws\build\rclc\rclc_test.vcxproj]
test_executor.obj : error LNK2019: unresolved external symbol rclc_executor_add_subscription_with_context referenced in function "private: virtual void __cdecl TestDefaultExecutor_executor_add_subscription_with_context_Test::TestBody(void)" (?TestBody@TestDefaultExecutor_executor_add_subscription_with_context_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc\rclc_test.vcxproj]
test_executor.obj : error LNK2019: unresolved external symbol rclc_executor_remove_subscription referenced in function "private: virtual void __cdecl TestDefaultExecutor_executor_remove_subscription_Test::TestBody(void)" (?TestBody@TestDefaultExecutor_executor_remove_subscription_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc\rclc_test.vcxproj]
test_executor.obj : error LNK2019: unresolved external symbol rclc_executor_remove_timer referenced in function "private: virtual void __cdecl TestDefaultExecutor_executor_remove_timer_Test::TestBody(void)" (?TestBody@TestDefaultExecutor_executor_remove_timer_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc\rclc_test.vcxproj]
test_executor.obj : error LNK2019: unresolved external symbol rclc_executor_remove_client referenced in function "private: virtual void __cdecl TestDefaultExecutor_executor_remove_client_Test::TestBody(void)" (?TestBody@TestDefaultExecutor_executor_remove_client_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc\rclc_test.vcxproj]
test_executor.obj : error LNK2019: unresolved external symbol rclc_executor_remove_service referenced in function "private: virtual void __cdecl TestDefaultExecutor_executor_remove_service_Test::TestBody(void)" (?TestBody@TestDefaultExecutor_executor_remove_service_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc\rclc_test.vcxproj]
test_executor.obj : error LNK2019: unresolved external symbol rclc_executor_remove_guard_condition referenced in function "private: virtual void __cdecl TestDefaultExecutor_executor_test_remove_guard_condition_Test::TestBody(void)" (?TestBody@TestDefaultExecutor_executor_test_remove_guard_condition_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc\rclc_test.vcxproj]
C:\Users\compass\ros2_ws\build\rclc\Release\rclc_test.exe : fatal error LNK1120: 6 unresolved externals [C:\Users\compass\ros2_ws\build\rclc\rclc_test.vcxproj]
Failed   <<< rclc [44.0s, exited with code 1]

Summary: 0 packages finished [44.4s]
  1 package failed: rclc

pablogs9 · 2021-08-12T11:17:45Z

Those functions are not related to rclc_parameter, we should check the Windows compatibility of the rest of the package @JanStaschulat

JanStaschulat · 2021-08-12T15:20:55Z

Hmm, all these functions rclc_executor_remove_*have been added later. I'll check, I remember from my first port of rclc to Windows this has to do with visibility control.

The macro RCLC_PUBLIC is missing in front of those functions. I'll update that.

Signed-off-by: Jan Staschulat <[email protected]>

Co-authored-by: Jan Staschulat <[email protected]> Signed-off-by: Jan Staschulat <[email protected]>

Signed-off-by: Jan Staschulat <[email protected]>

norro · 2021-08-13T06:36:11Z

Build of rclc_parameters in 126a762 fails on Windows 10 with

test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_server_init_default referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_executor_add_parameter_server referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_add_parameter referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_set_bool referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_set_int referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_set_double referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_get_bool referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_get_int referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_get_double referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
C:\Users\compass\ros2_ws\build\rclc_parameter\Release\rclc_parameter_test.exe : fatal error LNK1120: 9 unresolved externals [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
Failed   <<< rclc_parameter [6.84s, exited with code 1]

Summary: 2 packages finished [18.8s]
  1 package failed: rclc_parameter

pablogs9 · 2021-08-13T06:57:10Z

Those new symbols have the RCLC_PARAMETER_PUBLIC set. Any idea on how to solve it @JanStaschulat? Thanks!

pablogs9 · 2021-08-13T06:59:50Z

Maybe e5bb567? Can you test it again @norro? Sorry for the inconvenience...

JanStaschulat · 2021-08-13T07:18:11Z

not yet:

  cl /c /IC:\dev\ros2_galactic\src\gtest_vendor\include /IC:\Users\compass\ros2_ws\src\rclc\rclc_parameter\include /IC:\Users\compass\ros2_ws\src\rclc\rclc_parameter\src /IC:\dev\ros2_galactic\include /IC:\Users\compass\ros2_ws\install\include /W3 /WX- /diagnostics:column /O2 /Ob2 /D WIN32 /D _WINDOWS /D NDEBUG /D RCLC_PARAMETER_MAX_STRING_LENGTH=50 /D _CRT_SECURE_NO_WARNINGS /D DEFAULT_RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /D _SILENCE_ALL_CXX17_DEPRECATION_WARNINGS /D "CMAKE_INTDIR=\"Release\"" /D _MBCS /Gm- /EHsc /MD /GS /fp:precise /Zc:wchar_t /Zc:forScope /Zc:inline /GR /std:c++17 /Fo"rclc_parameter_test.dir\Release\\" /Fd"rclc_parameter_test.dir\Release\vc142.pdb" /external:env:EXTERNAL_INCLUDE /external:W3 /Gd /TP /errorReport:queue C:\Users\compass\ros2_ws\src\rclc\rclc_parameter\test\rclc_parameter\test_parameter.cpp
  test_parameter.cpp
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_server_init_default referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_executor_add_parameter_server referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_add_parameter referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_set_bool referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_set_int referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_set_double referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_get_bool referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_get_int referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
test_parameter.obj : error LNK2019: unresolved external symbol __imp_rclc_parameter_get_double referenced in function "private: virtual void __cdecl Test_rclc_node_init_default_Test::TestBody(void)" (?TestBody@Test_rclc_node_init_default_Test@@EEAAXXZ) [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
C:\Users\compass\ros2_ws\build\rclc_parameter\Release\rclc_parameter_test.exe : fatal error LNK1120: 9 unresolved externals [C:\Users\compass\ros2_ws\build\rclc_parameter\rclc_parameter_test.vcxproj]
Failed   <<< rclc_parameter [16.2s, exited with code 1]

Summary: 0 packages finished [16.5s]
  1 package failed: rclc_parameter

c:\Users\compass\ros2_ws>

pablogs9 · 2021-08-13T08:57:58Z

No idea what is happening. Can you provide some tips @JanStaschulat?

JanStaschulat · 2021-08-13T10:02:28Z

we have been working on it.
The macro in CMakeLists.txt is not taken over into the visibility_control.h.
We experimented a lot, this fix works:

target_compile_definitions(${PROJECT_NAME}
  PUBLIC "RCLC_PARAMETER_BUILDING_LIBRARY")

also this one would

add_definitions(-DRCLC_PARAMETER_BUILDING_LIBRARY)

We don't know, why the previous configuration with PRIVATE works for rclc and rclc_lifecycle but not for rclc_parameter

pablogs9 · 2021-08-13T10:26:33Z

Thanks a lot

JanStaschulat · 2021-08-13T11:17:38Z

@pablogs9 can you sign your commit? I tried to signoff the last three commits, but Github expects you to sign your commit.
https://github.com/ros2/rclc/pull/144/checks?check_run_id=3321167322

* Add tracing instrumentation for rcl_take Signed-off-by: Christophe Bedard <[email protected]> * Remove redundant publisher field in rcl_publish tracepoint Signed-off-by: Christophe Bedard <[email protected]> * Re-add publisher handle field in rcl_publish tracepoint Signed-off-by: Christophe Bedard <[email protected]>

Signed-off-by: Pablo Garrido <[email protected]>

Signed-off-by: Jan Staschulat <[email protected]> Signed-off-by: Jan Staschulat <[email protected]>

pablogs9 · 2021-08-13T11:28:53Z

I don't understand this:

I'm clicking Set DCO to pass

JanStaschulat · 2021-08-13T11:31:25Z

There is a new commit on rcl which leads to a failing github-ci job:
https://github.com/ros2/rclc/runs/3321167476?check_suite_focus=true

I commented on this problem here: ros2/rcl commit.

JanStaschulat · 2021-08-13T11:36:44Z

This version of rclc_parameters compiles and links on Windows. The units tests are all successfull. From my side, you can merge this pull request.

pablogs9 · 2021-08-13T11:37:44Z

Nice, thanks a lot for the help. Merging.

pablogs9 · 2021-08-13T11:38:04Z

@mergify backport galactic

* Add rclc_parameter Quality Declaration Signed-off-by: Jan Staschulat <[email protected]> * Update rclc_parameter/QUALITY_DECLARATION.md Co-authored-by: Jan Staschulat <[email protected]> Signed-off-by: Jan Staschulat <[email protected]> * added RCL_PUBLIC to function declarations in executor.h Signed-off-by: Jan Staschulat <[email protected]> * updated printf format string to %lld Signed-off-by: Jan Staschulat <[email protected]> * corrected printf format for 'unsigned long' Signed-off-by: Jan Staschulat <[email protected]> * Modify building library flag in params Signed-off-by: Pablo Garrido <[email protected]> * fix target_compile_definitions for visibility macro Signed-off-by: Jan Staschulat <[email protected]> Signed-off-by: Jan Staschulat <[email protected]> * ament_uncrustify Signed-off-by: Jan Staschulat <[email protected]> Signed-off-by: Jan Staschulat <[email protected]> Co-authored-by: Jan Staschulat <[email protected]> (cherry picked from commit 6f9f9f4)

mergify · 2021-08-13T11:38:32Z

Command backport galactic: success

Backports have been created

#181 Add rclc_parameter Quality Declaration (backport #144) has been created for branch galactic

mergify · 2021-08-13T11:38:33Z

Command backport galactic: success

Backports have been created

#181 Add rclc_parameter Quality Declaration (backport #144) has been created for branch galactic

Hey, I reacted but my real name is @Mergifyio

JanStaschulat · 2021-08-13T11:40:14Z

Backport to Foxy we have to do more selectivly, I guess?

pablogs9 · 2021-08-13T11:43:55Z

We do not have parameters in Foxy, but the other changes yes...

Signed-off-by: Jan Staschulat <[email protected]>

JanStaschulat · 2021-08-13T12:00:52Z

Created a selected backport for Foxy #182 to resolve missing visibility of new functions.

Signed-off-by: Jan Staschulat <[email protected]>

* Add rclc_parameter Quality Declaration (#144) * Add rclc_parameter Quality Declaration Signed-off-by: Jan Staschulat <[email protected]> * Update rclc_parameter/QUALITY_DECLARATION.md Co-authored-by: Jan Staschulat <[email protected]> Signed-off-by: Jan Staschulat <[email protected]> * added RCL_PUBLIC to function declarations in executor.h Signed-off-by: Jan Staschulat <[email protected]> * updated printf format string to %lld Signed-off-by: Jan Staschulat <[email protected]> * corrected printf format for 'unsigned long' Signed-off-by: Jan Staschulat <[email protected]> * Modify building library flag in params Signed-off-by: Pablo Garrido <[email protected]> * fix target_compile_definitions for visibility macro Signed-off-by: Jan Staschulat <[email protected]> Signed-off-by: Jan Staschulat <[email protected]> * ament_uncrustify Signed-off-by: Jan Staschulat <[email protected]> Signed-off-by: Jan Staschulat <[email protected]> Co-authored-by: Jan Staschulat <[email protected]> (cherry picked from commit 6f9f9f4) * fixed dependency of rcl on galactic branch Signed-off-by: Jan Staschulat <[email protected]> Co-authored-by: Pablo Garrido <[email protected]> Co-authored-by: Jan Staschulat <[email protected]>

pablogs9 requested a review from JanStaschulat July 20, 2021 05:59

JanStaschulat requested changes Jul 20, 2021

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rclc_parameter/QUALITY_DECLARATION.md Outdated Show resolved Hide resolved

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pablogs9 and others added 5 commits August 13, 2021 08:26

Add rclc_parameter Quality Declaration

4c58bea

Signed-off-by: Jan Staschulat <[email protected]>

Update rclc_parameter/QUALITY_DECLARATION.md

51355a6

Co-authored-by: Jan Staschulat <[email protected]> Signed-off-by: Jan Staschulat <[email protected]>

added RCL_PUBLIC to function declarations in executor.h

8ea18fa

Signed-off-by: Jan Staschulat <[email protected]>

updated printf format string to %lld

950f4ec

Signed-off-by: Jan Staschulat <[email protected]>

corrected printf format for 'unsigned long'

126a762

Signed-off-by: Jan Staschulat <[email protected]>

JanStaschulat force-pushed the feature/parameter_quality branch from 5885006 to 126a762 Compare August 13, 2021 06:26

JanStaschulat force-pushed the feature/parameter_quality branch from 587dbf8 to b101b3e Compare August 13, 2021 10:26

JanStaschulat force-pushed the feature/parameter_quality branch from b101b3e to a9a572d Compare August 13, 2021 10:36

pablogs9 force-pushed the feature/parameter_quality branch 2 times, most recently from ec36b74 to 9836e9c Compare August 13, 2021 11:25

pablogs9 force-pushed the feature/parameter_quality branch from 9836e9c to 5f31fbf Compare August 13, 2021 11:26

pablogs9 and others added 3 commits August 13, 2021 13:26

Modify building library flag in params

16a7aab

Signed-off-by: Pablo Garrido <[email protected]>

fix target_compile_definitions for visibility macro

6e95eb4

Signed-off-by: Jan Staschulat <[email protected]> Signed-off-by: Jan Staschulat <[email protected]>

ament_uncrustify

6e82daa

Signed-off-by: Jan Staschulat <[email protected]> Signed-off-by: Jan Staschulat <[email protected]>

pablogs9 force-pushed the feature/parameter_quality branch from 5f31fbf to 6e82daa Compare August 13, 2021 11:26

JanStaschulat approved these changes Aug 13, 2021

View reviewed changes

pablogs9 merged commit 6f9f9f4 into master Aug 13, 2021

pablogs9 deleted the feature/parameter_quality branch August 13, 2021 11:37

mergify bot mentioned this pull request Aug 13, 2021

Add rclc_parameter Quality Declaration (backport #144) #181

Merged

JanStaschulat added a commit that referenced this pull request Aug 13, 2021

backport windows port of PR #144

4f9c3da

Signed-off-by: Jan Staschulat <[email protected]>

This was referenced Aug 13, 2021

[foxy] backport of windows portability #182

Merged

[rclc_parameter] Add quality declaration statement #183

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JanStaschulat added a commit that referenced this pull request Aug 13, 2021

backport windows port of PR #144 (#182)

d711b28

Signed-off-by: Jan Staschulat <[email protected]>

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