周立功开发过程1

This commit is contained in:
2026-02-02 21:22:01 +08:00
parent 4d16b474c6
commit 2e8ad1cffa
42 changed files with 11571 additions and 122 deletions

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<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
</startup>
</configuration>

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<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="12.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProjectGuid>{DEFCD218-D268-4833-950E-6F697BC93F8C}</ProjectGuid>
<OutputType>Exe</OutputType>
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>DBC</RootNamespace>
<AssemblyName>DBC</AssemblyName>
<TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
<DebugSymbols>true</DebugSymbols>
<OutputPath>bin\x64\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<DebugType>full</DebugType>
<PlatformTarget>x64</PlatformTarget>
<ErrorReport>prompt</ErrorReport>
<CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
<Prefer32Bit>true</Prefer32Bit>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
<OutputPath>bin\x64\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<Optimize>true</Optimize>
<DebugType>pdbonly</DebugType>
<PlatformTarget>x64</PlatformTarget>
<ErrorReport>prompt</ErrorReport>
<CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
<Prefer32Bit>true</Prefer32Bit>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x86'">
<DebugSymbols>true</DebugSymbols>
<OutputPath>bin\x86\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<DebugType>full</DebugType>
<PlatformTarget>x86</PlatformTarget>
<ErrorReport>prompt</ErrorReport>
<CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
<Prefer32Bit>true</Prefer32Bit>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x86'">
<OutputPath>bin\x86\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<Optimize>true</Optimize>
<DebugType>pdbonly</DebugType>
<PlatformTarget>x86</PlatformTarget>
<ErrorReport>prompt</ErrorReport>
<CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
<Prefer32Bit>true</Prefer32Bit>
</PropertyGroup>
<ItemGroup>
<Reference Include="System" />
<Reference Include="System.Core" />
<Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" />
<Reference Include="Microsoft.CSharp" />
<Reference Include="System.Data" />
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="Program.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="ZLGAPI.cs" />
</ItemGroup>
<ItemGroup>
<None Include="App.config" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
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Other similar extension points exist, see Microsoft.Common.targets.
<Target Name="BeforeBuild">
</Target>
<Target Name="AfterBuild">
</Target>
-->
</Project>

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/*
* 241217 程序默认用USBCANFD-200U通讯两通道对侧
* Main 有加载DBC文件打印DBC文件信息
* 打开设备并演示Encode Decode函数
*/
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Runtime.InteropServices;
using System.Threading;
using System.IO;
using ZLGAPI;
namespace DBC
{
internal class Program
{
private static IntPtr deviceHandle = IntPtr.Zero; // 设备句柄
private static IntPtr[] channelHandles = new IntPtr[]{
IntPtr.Zero,
IntPtr.Zero
};
private static int max_chn = 2; // 通道数量
private static uint DBCHandle = 0; // DBC句柄
private static volatile bool isRunning = true; // 线程标志
static void Main(string[] args)
{
Program.LoadDBCFile(); // 加载DBC文件
Program.ReadDBCFileMessages(); // 打印DBC文件信息
//Program.ReadSignalDescPair(); // 获取具体信号的值与含义
//Program.InitDevice(); // 打开设备,并演示接收解析和发送
Console.ReadKey();
Program.CloseDBCFile();
}
// 加载DBC文件
static void LoadDBCFile()
{
// DBC文件路径
string DBCFilePath = "C:\\Users\\admin\\Desktop\\DBC\\12.dbc";
//string currentDirectory = AppDomain.CurrentDomain.BaseDirectory; // 获取当前执行文件exe同级目录
//string fileName = "12.DBC"; // 替换为你的文件名
//string filePath = Path.Combine(currentDirectory, fileName);
//DBCFilePath = filePath.Replace("\\", "\\\\"); // 将路径中的分隔符替换为双反斜杠
Console.WriteLine("{0} ", DBCFilePath);
// 加载DBC文件
Program.DBCHandle = ZDBC.ZDBC_Init();
IntPtr P2DBCFileAddress = Marshal.StringToHGlobalAnsi(DBCFilePath);
bool Result = ZDBC.ZDBC_LoadFile(DBCHandle, P2DBCFileAddress);
Marshal.FreeHGlobal(P2DBCFileAddress);
}
// 关闭DBC文件
static void CloseDBCFile()
{
ZDBC.ZDBC_Release(Program.DBCHandle);
}
// 读取DBC文件内容
static void ReadDBCFileMessages()
{
uint count = ZDBC.ZDBC_GetMessageCount(Program.DBCHandle); //信号数量
Console.WriteLine(" DBC文件中消息的数量{0}\n", count);
ZDBC.DBCMessage msg = new ZDBC.DBCMessage();
IntPtr ptrMsg = Marshal.AllocHGlobal(Marshal.SizeOf(msg));
if (ZDBC.ZDBC_GetFirstMessage(DBCHandle, ptrMsg))
{
Program.PrintfDBCMessage(ptrMsg);
}
while (ZDBC.ZDBC_GetNextMessage(DBCHandle, ptrMsg))
{
Program.PrintfDBCMessage(ptrMsg);
}
Marshal.FreeHGlobal(ptrMsg);
}
// 打印值描述
static void ReadSignalDescPair()
{
ZDBC.DBCMessage msg = new ZDBC.DBCMessage();
IntPtr ptrMsg = Marshal.AllocHGlobal(Marshal.SizeOf(msg));
uint ID = 0x36F;
string SignalName = "BMS_AbnormRlyOffSt";
// 获取这个id的消息情况
if (ZDBC.ZDBC_GetMessageById(Program.DBCHandle, ID, ptrMsg))
{
Program.PrintfDBCMessage(ptrMsg);
}
else
{
Console.WriteLine("没有找到这个0x{0:x}的定义", ID);
}
// 获取具体信号的值与含义对个数
uint ret = ZDBC.ZDBC_GetValDescPairCount(Program.DBCHandle, ID, SignalName);
Console.WriteLine("{0} 的值与含义对个数: {1}\n", SignalName, ret);
// 循环获取值与含义对
IntPtr ptr_pair = Marshal.AllocHGlobal((int)ret * Marshal.SizeOf(typeof(ZDBC.ValDescPair)));
ZDBC.ZDBC_GetValDescPair(Program.DBCHandle, ID, SignalName, ptr_pair);
ZDBC.ValDescPair[] pair = new ZDBC.ValDescPair[ret];
for (int i = 0; i < ret; i++)
{
pair[i] = (ZDBC.ValDescPair)Marshal.PtrToStructure((IntPtr)((Int64)ptr_pair + i * Marshal.SizeOf(typeof(ZDBC.ValDescPair))), typeof(ZDBC.ValDescPair));
string pair_name = new string(Encoding.ASCII.GetChars(pair[i].strName));
string result = pair_name.Substring(0, pair_name.IndexOf('\0'));
Console.WriteLine("[{0}] {1} {2}", i + 1, result, pair[i].value);
}
Console.ReadKey();
}
// 打印消息
static void PrintfDBCMessage(IntPtr ptrMsg)
{
// 消息
ZDBC.DBCMessage msg = new ZDBC.DBCMessage();
msg = (ZDBC.DBCMessage)Marshal.PtrToStructure(ptrMsg, typeof(ZDBC.DBCMessage));
string str_name = new string(Encoding.ASCII.GetChars(msg.strName));
string result = str_name.Substring(0, str_name.IndexOf('\0'));
Console.WriteLine("0x{0:X} {1}", msg.nID, result);
// 信号
Console.WriteLine("\t{0,-27} {1,-4} {2,-5} {3,-5}", "信号名", "起始位", "长度", "原始值");
for (int i = 0; i < msg.nSignalCount; i++)
{
ZDBC.DBCSignal curSig = msg.vSignals[i];
str_name = new string(Encoding.ASCII.GetChars(curSig.strName));
result = str_name.Substring(0, str_name.IndexOf('\0'));
Console.WriteLine("\t{0,-30} {1,-7} {2,-5} {3,-8:X}", result, msg.vSignals[i].nStartBit, msg.vSignals[i].nLen, msg.vSignals[i].nRawvalue);
}
Console.WriteLine("");
}
// 初始化设备
static void InitDevice()
{
//int chn_idx = 0; // 通道号
uint ret; // 返回值
//打开设备
Program.deviceHandle = ZLGCAN.ZCAN_OpenDevice(41, 0, 0); // USBCANFD-200U 41
if (Program.deviceHandle == IntPtr.Zero)
{
Console.WriteLine("打开设备失败");
Console.ReadKey();
return;
}
else
Console.WriteLine("打开设备成功");
// 初始化通道
for (int i = 0; i < Program.max_chn; i++)
{
// 仲裁域波特率
string path = String.Format("{0}/canfd_abit_baud_rate", i);
ret = ZLGCAN.ZCAN_SetValue(deviceHandle, path, "500000"); // 500k
if (ret != 1)
{
Console.WriteLine("设置仲裁域波特率失败");
Console.ReadKey();
return;
}
// 数据域波特率
path = String.Format("{0}/canfd_dbit_baud_rate", i);
ret = ZLGCAN.ZCAN_SetValue(deviceHandle, path, "2000000"); // 2M
if (ret != 1)
{
Console.WriteLine("设置数据域波特率失败");
Console.ReadKey();
return;
}
// 终端电阻
path = String.Format("{0}/initenal_resistance", i);
string resistance = "1";//1-使能 0-禁能
ret = ZLGCAN.ZCAN_SetValue(deviceHandle, path, resistance);
if (ret != 1)
{
Console.WriteLine("设置终端电阻失败");
Console.ReadKey();
return;
}
// 初始化通道
ZLGCAN.ZCAN_CHANNEL_INIT_CONFIG InitConfig = new ZLGCAN.ZCAN_CHANNEL_INIT_CONFIG(); // 结构体
InitConfig.can_type = 1; // 1 - CANFD (USBCANFD 只能选择CANFD模式)
InitConfig.config.canfd.mode = 0; // 0 - 正常模式1 - 只听模式
IntPtr P2InitConfig = Marshal.AllocHGlobal(Marshal.SizeOf(InitConfig));
Marshal.StructureToPtr(InitConfig, P2InitConfig, true); // 转成指针
Program.channelHandles[i] = ZLGCAN.ZCAN_InitCAN(deviceHandle, (uint)i, P2InitConfig);
Marshal.FreeHGlobal(P2InitConfig); // 释放内存
if (Program.channelHandles[i] == IntPtr.Zero)
{
Console.WriteLine("初始化通道失败");
Console.ReadKey();
return;
}
Console.WriteLine("初始化通道成功");
//打开通道
ret = ZLGCAN.ZCAN_StartCAN(Program.channelHandles[i]);
if (ret != 1)
{
Console.WriteLine("打开通道失败");
Console.ReadKey();
return;
}
Console.WriteLine("打开通道成功");
// 创建一个接收线程
Thread workerThread = new Thread(ReceiveThread);
workerThread.IsBackground = true; // 设置为后台线程
workerThread.Start(Program.channelHandles[i]); // 启动线程
}
Thread.Sleep(1000);
// DBC发送
//Program.SendDBCMessageById(0x15D);
// 阻塞等待
Console.ReadKey();
Program.isRunning = false;
for (int i = 0; i < max_chn; i++)
{
// 关闭通道
ret = ZLGCAN.ZCAN_ResetCAN(Program.channelHandles[i]);
if (ret != 1)
{
Console.WriteLine("关闭通道失败");
Console.ReadKey();
return;
}
Console.WriteLine("关闭通道成功");
}
// 关闭设备
ret = ZLGCAN.ZCAN_CloseDevice(Program.deviceHandle);
if (ret != 1)
{
Console.WriteLine("关闭设备失败");
Console.ReadKey();
return;
}
Console.WriteLine("关闭设备成功");
}
// 接收线程 (有DBC解析)
static void ReceiveThread(object state)
{
IntPtr cur_chn = (IntPtr)state;
const int arraySize = 100;
IntPtr ptrCanData = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.ZCAN_Receive_Data)) * arraySize);
IntPtr ptrCanFDData = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.ZCAN_ReceiveFD_Data)) * arraySize);
IntPtr ptrMsg = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCMessage)));
byte[] zero = new byte[Marshal.SizeOf(typeof(ZLGCAN.ZCAN_Receive_Data)) * arraySize];
while (Program.isRunning)
{
uint RecNum = ZLGCAN.ZCAN_GetReceiveNum(cur_chn, 0); //CAN
if (RecNum != 0)
{
// Marshal.Copy(zero, 0, ptrCanData, zero.Length); // 赋0
uint ReceiveNum = ZLGCAN.ZCAN_Receive(cur_chn, ptrCanData, arraySize, 10); // 接收报文
for (int i = 0; i < ReceiveNum; i++)
{
IntPtr curPtr = IntPtr.Add(ptrCanData, i * Marshal.SizeOf(typeof(ZLGCAN.ZCAN_Receive_Data)));
ZLGCAN.ZCAN_Receive_Data data = (ZLGCAN.ZCAN_Receive_Data)Marshal.PtrToStructure(curPtr, typeof(ZLGCAN.ZCAN_Receive_Data));
// DBC解析
if (true == ZDBC.ZDBC_Decode(Program.DBCHandle, ptrMsg, curPtr, 1, 0))
Program.PrintfDBCMessage(ptrMsg); // 打印解析
}
}
RecNum = ZLGCAN.ZCAN_GetReceiveNum(cur_chn, 1); // CANFD
if (RecNum != 0)
{
// Marshal.Copy(zero, 0, ptrCanData, zero.Length); // 赋0
uint ReceiveNum = ZLGCAN.ZCAN_ReceiveFD(cur_chn, ptrCanFDData, arraySize, 10); // 接收报文
for (int i = 0; i < ReceiveNum; i++)
{
IntPtr curPtr = IntPtr.Add(ptrCanFDData, i * Marshal.SizeOf(typeof(ZLGCAN.ZCAN_ReceiveFD_Data)));
ZLGCAN.ZCAN_ReceiveFD_Data data = (ZLGCAN.ZCAN_ReceiveFD_Data)Marshal.PtrToStructure(curPtr, typeof(ZLGCAN.ZCAN_ReceiveFD_Data));
// DBC解析
if (true == ZDBC.ZDBC_Decode(Program.DBCHandle, ptrMsg, curPtr, 1, 1))
{
Program.PrintfDBCMessage(ptrMsg); // 打印解析
}
}
}
}
Marshal.FreeHGlobal(ptrMsg);
Marshal.FreeHGlobal(ptrCanData);
}
// DBC发送
static void SendDBCMessageById(uint id)
{
// 从DBC文件获取对应ID的 DBC结构体
IntPtr ptrMsg = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCMessage)));
if (ZDBC.ZDBC_GetMessageById(Program.DBCHandle, id, ptrMsg) == false) // 找不到对应id退出
{
Marshal.FreeHGlobal(ptrMsg);
return;
}
ZDBC.DBCMessage msg = (ZDBC.DBCMessage)Marshal.PtrToStructure(ptrMsg, typeof(ZDBC.DBCMessage));
//通过 ZDBC_CalcRawValue 设置信号值这里是根据实际的DBC信号设置的值作为示例设置该消息的第5个信号
/*
double actualVal = 12; // 物理值
IntPtr signalPtr = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZDBC.DBCSignal)));
IntPtr actualValPtr = Marshal.AllocHGlobal(sizeof(double));
Marshal.StructureToPtr(msg.vSignals[5], signalPtr, true);
Marshal.StructureToPtr(actualVal, actualValPtr, true);
//计算原始值
ulong rawValue = ZDBC.ZDBC_CalcRawValue(signalPtr, actualValPtr); // 超出可信号值范围时会被修正
msg.vSignals[5].nRawvalue = rawValue;
Marshal.StructureToPtr(msg, ptrMsg, true);
*/
uint count = 1; // 初始化一个值
IntPtr ptrCount = Marshal.AllocHGlobal(sizeof(uint)); // 分配内存
Marshal.WriteInt32(ptrCount, (int)count); // 写入值
//CAN 根据消息类型选择can还是canfd
//Encode DBC_frame -> can_frame
IntPtr ptrCanFrame = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.can_frame)));
if (ZDBC.ZDBC_Encode(Program.DBCHandle, ptrCanFrame, ptrCount, ptrMsg, (int)0) == false) // Encode
{
Marshal.FreeHGlobal(ptrMsg);
Marshal.FreeHGlobal(ptrCount);
Marshal.FreeHGlobal(ptrCanFrame);
return;
}
// 构造发送结构体
ZLGCAN.can_frame can_f = (ZLGCAN.can_frame)Marshal.PtrToStructure(ptrCanFrame, typeof(ZLGCAN.can_frame));
ZLGCAN.ZCAN_Transmit_Data tran_data = new ZLGCAN.ZCAN_Transmit_Data();
tran_data.frame = can_f;
// 转换成 ZCAN_Transmit_Data并发送
IntPtr ptrTransmit = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.ZCAN_Transmit_Data)));
Marshal.StructureToPtr(tran_data, ptrTransmit, true);
if (count != ZLGCAN.ZCAN_Transmit(Program.channelHandles[0], ptrTransmit, count))
{
Console.WriteLine("发送CAN失败");
}
// CANFD
// Encode DBC_frame -> canfd_frame
IntPtr ptrCanFDFrame = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.canfd_frame)));
if (ZDBC.ZDBC_Encode(Program.DBCHandle, ptrCanFDFrame, ptrCount, ptrMsg, (int)1) == false) // Encode
{
Marshal.FreeHGlobal(ptrMsg);
Marshal.FreeHGlobal(ptrCount);
Marshal.FreeHGlobal(ptrCanFDFrame);
return;
}
// 构造发送结构体
ZLGCAN.canfd_frame canfd_f = (ZLGCAN.canfd_frame)Marshal.PtrToStructure(ptrCanFDFrame, typeof(ZLGCAN.canfd_frame));
ZLGCAN.ZCAN_TransmitFD_Data tranfd_data = new ZLGCAN.ZCAN_TransmitFD_Data();
tranfd_data.frame = canfd_f;
// 转换成 ZCAN_Transmit_Data并发送
IntPtr ptrTransmitFD = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(ZLGCAN.ZCAN_TransmitFD_Data)));
Marshal.StructureToPtr(tranfd_data, ptrTransmitFD, true);
if (count != ZLGCAN.ZCAN_TransmitFD(Program.channelHandles[0], ptrTransmitFD, count))
{
Console.WriteLine("发送CANFD失败");
}
Marshal.FreeHGlobal(ptrMsg);
Marshal.FreeHGlobal(ptrCount);
Marshal.FreeHGlobal(ptrCanFrame);
Marshal.FreeHGlobal(ptrCanFDFrame);
Marshal.FreeHGlobal(ptrTransmit);
//Marshal.FreeHGlobal(actualValPtr);
//Marshal.FreeHGlobal(signalPtr);
return;
}
}
}

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using System.Reflection;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
// 有关程序集的常规信息通过以下
// 特性集控制。更改这些特性值可修改
// 与程序集关联的信息。
[assembly: AssemblyTitle("DBC")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("DBC")]
[assembly: AssemblyCopyright("Copyright © 2024")]
[assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")]
// 将 ComVisible 设置为 false 使此程序集中的类型
// 对 COM 组件不可见。 如果需要从 COM 访问此程序集中的类型,
// 则将该类型上的 ComVisible 特性设置为 true。
[assembly: ComVisible(false)]
// 如果此项目向 COM 公开,则下列 GUID 用于类型库的 ID
[assembly: Guid("adbdb093-47ba-4e8c-bb2e-b08ad7638493")]
// 程序集的版本信息由下面四个值组成:
//
// 主版本
// 次版本
// 生成号
// 修订号
//
// 可以指定所有这些值,也可以使用“生成号”和“修订号”的默认值,
// 方法是按如下所示使用“*”:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]

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