Fix looping runs, faster path
This commit is contained in:
Stefan Bühler
parent
ac2574fe2a
commit
499faf4341
@ -27,7 +27,7 @@ static timestamp extract_ts(context *ctx, char *fpc) {
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return atoi(ctx->tmp->str);
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}
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#line 125 "control_parser.rl"
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#line 130 "control_parser.rl"
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@ -50,188 +50,191 @@ static const char _control_parser_actions[] = {
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};
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static const short _control_parser_key_offsets[] = {
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0, 0, 1, 2, 7, 12, 17, 22,
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27, 32, 37, 42, 43, 49, 50, 53,
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56, 57, 60, 61, 62, 63, 66, 69,
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70, 73, 76, 79, 80, 83, 86, 91,
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92, 97, 102, 107, 112, 117, 123, 124,
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129, 134, 139, 144, 145, 150, 155, 160,
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165, 166, 171, 176, 181, 186, 187, 192,
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197, 202, 207, 212, 216, 220, 224, 228,
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232, 236, 240, 244, 248, 252, 256, 260,
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264, 268, 272, 276, 280, 283, 287, 291,
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295, 299, 303, 307, 311, 315
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0, 0, 7, 8, 11, 12, 18, 19,
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22, 23, 24, 25, 28, 31, 32, 35,
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38, 41, 42, 45, 48, 53, 54, 59,
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64, 69, 74, 79, 85, 86, 91, 96,
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101, 106, 107, 112, 117, 122, 127, 128,
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133, 138, 143, 148, 149, 154, 159, 164,
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169, 174, 178, 182, 186, 190, 194, 198,
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202, 206, 210, 214, 218, 222, 226, 230,
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234, 238, 242, 245, 248, 249, 254, 259,
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264, 269, 274, 279, 284, 289, 293, 297,
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301, 305, 309, 313, 317, 321
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};
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static const char _control_parser_trans_keys[] = {
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73, 32, 32, 45, 46, 48, 57, 32,
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45, 46, 48, 57, 32, 45, 46, 48,
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57, 32, 45, 46, 48, 57, 32, 45,
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66, 67, 69, 73, 75, 83, 84, 32,
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32, 48, 57, 59, 66, 67, 69, 75,
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83, 84, 32, 32, 48, 57, 59, 69,
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32, 32, 48, 57, 32, 48, 57, 59,
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32, 48, 57, 32, 48, 57, 32, 48,
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57, 32, 32, 48, 57, 45, 97, 98,
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45, 76, 82, 108, 114, 32, 32, 45,
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46, 48, 57, 32, 45, 46, 48, 57,
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32, 45, 46, 48, 57, 32, 45, 46,
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48, 57, 59, 66, 67, 69, 75, 83,
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84, 32, 32, 48, 57, 32, 48, 57,
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32, 32, 48, 57, 59, 69, 32, 32,
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48, 57, 32, 48, 57, 59, 32, 48,
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57, 32, 48, 57, 32, 48, 57, 32,
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32, 48, 57, 45, 97, 98, 45, 76,
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82, 108, 114, 32, 32, 45, 46, 48,
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57, 32, 45, 46, 48, 57, 32, 45,
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46, 48, 57, 32, 45, 46, 48, 57,
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59, 98, 99, 104, 109, 66, 67, 69,
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75, 83, 84, 32, 32, 45, 46, 48,
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57, 32, 45, 46, 48, 57, 32, 45,
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46, 48, 57, 59, 98, 99, 104, 109,
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32, 32, 45, 46, 48, 57, 32, 45,
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46, 48, 57, 32, 45, 46, 48, 57,
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59, 98, 99, 104, 109, 32, 32, 45,
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48, 57, 59, 98, 99, 104, 109, 66,
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67, 69, 75, 83, 84, 32, 32, 45,
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46, 48, 57, 32, 45, 46, 48, 57,
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32, 45, 46, 48, 57, 59, 98, 99,
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104, 109, 32, 32, 45, 46, 48, 57,
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32, 45, 46, 48, 57, 32, 45, 46,
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48, 57, 59, 98, 99, 104, 109, 32,
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32, 45, 46, 48, 57, 32, 45, 46,
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48, 57, 32, 45, 46, 48, 57, 59,
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98, 99, 104, 109, 32, 46, 48, 57,
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32, 46, 48, 57, 32, 46, 48, 57,
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32, 46, 48, 57, 32, 46, 48, 57,
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32, 46, 48, 57, 32, 46, 48, 57,
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32, 46, 48, 57, 32, 46, 48, 57,
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32, 46, 48, 57, 32, 46, 48, 57,
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32, 46, 48, 57, 32, 46, 48, 57,
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32, 46, 48, 57, 32, 46, 48, 57,
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32, 46, 48, 57, 32, 46, 48, 57,
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32, 48, 57, 32, 46, 48, 57, 32,
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46, 48, 57, 32, 46, 48, 57, 32,
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46, 48, 57, 32, 46, 48, 57, 32,
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46, 48, 57, 32, 46, 48, 57, 32,
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46, 48, 57, 0
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98, 99, 104, 109, 32, 32, 45, 46,
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48, 57, 32, 45, 46, 48, 57, 32,
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45, 46, 48, 57, 32, 45, 46, 48,
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57, 59, 98, 99, 104, 109, 32, 46,
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48, 57, 32, 46, 48, 57, 32, 46,
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48, 57, 32, 46, 48, 57, 32, 46,
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48, 57, 32, 46, 48, 57, 32, 46,
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48, 57, 32, 46, 48, 57, 32, 46,
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48, 57, 32, 46, 48, 57, 32, 46,
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48, 57, 32, 46, 48, 57, 32, 46,
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48, 57, 32, 46, 48, 57, 32, 46,
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48, 57, 32, 46, 48, 57, 32, 46,
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48, 57, 32, 48, 57, 32, 48, 57,
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32, 32, 45, 46, 48, 57, 32, 45,
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46, 48, 57, 32, 45, 46, 48, 57,
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32, 45, 46, 48, 57, 32, 45, 46,
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48, 57, 32, 45, 46, 48, 57, 32,
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45, 46, 48, 57, 32, 45, 46, 48,
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57, 32, 46, 48, 57, 32, 46, 48,
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57, 32, 46, 48, 57, 32, 46, 48,
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57, 32, 46, 48, 57, 32, 46, 48,
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57, 32, 46, 48, 57, 32, 46, 48,
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57, 0
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};
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static const char _control_parser_single_lengths[] = {
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0, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 6, 1, 1, 1,
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0, 7, 1, 1, 1, 6, 1, 1,
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1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 3, 5, 1,
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1, 1, 1, 1, 5, 6, 1, 1,
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1, 1, 5, 1, 1, 1, 1, 5,
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1, 1, 1, 1, 5, 1, 1, 1,
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1, 1, 5, 2, 2, 2, 2, 2,
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1, 1, 1, 3, 5, 1, 1, 1,
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1, 1, 5, 6, 1, 1, 1, 1,
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5, 1, 1, 1, 1, 5, 1, 1,
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1, 1, 5, 1, 1, 1, 1, 1,
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5, 2, 2, 2, 2, 2, 2, 2,
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2, 2, 2, 2, 2, 2, 2, 2,
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2, 2, 2, 2, 1, 2, 2, 2,
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2, 2, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 2, 2, 2,
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2, 2, 2, 2, 2, 0
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};
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static const char _control_parser_range_lengths[] = {
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0, 0, 0, 2, 2, 2, 2, 2,
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2, 2, 2, 0, 0, 0, 1, 1,
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0, 1, 0, 0, 0, 1, 1, 0,
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1, 1, 1, 0, 1, 0, 0, 0,
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2, 2, 2, 2, 0, 0, 0, 2,
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2, 2, 0, 0, 2, 2, 2, 0,
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0, 2, 2, 2, 0, 0, 2, 2,
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2, 2, 0, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, 1, 1,
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0, 0, 0, 1, 0, 0, 0, 1,
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0, 0, 0, 1, 1, 0, 1, 1,
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1, 0, 1, 0, 0, 0, 2, 2,
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2, 2, 0, 0, 0, 2, 2, 2,
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0, 0, 2, 2, 2, 0, 0, 2,
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2, 2, 0, 0, 2, 2, 2, 2,
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0, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 0, 2, 2, 2,
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2, 2, 2, 2, 2, 1, 1, 1,
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1, 1, 1, 1, 1, 0
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};
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static const short _control_parser_index_offsets[] = {
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0, 0, 2, 4, 8, 12, 16, 20,
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24, 28, 32, 36, 38, 45, 47, 50,
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53, 55, 58, 60, 62, 64, 67, 70,
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72, 75, 78, 81, 83, 86, 90, 96,
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98, 102, 106, 110, 114, 120, 127, 129,
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133, 137, 141, 147, 149, 153, 157, 161,
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167, 169, 173, 177, 181, 187, 189, 193,
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197, 201, 205, 211, 215, 219, 223, 227,
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231, 235, 239, 243, 247, 251, 255, 259,
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263, 267, 271, 275, 279, 282, 286, 290,
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294, 298, 302, 306, 310, 314
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0, 0, 8, 10, 13, 15, 22, 24,
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27, 29, 31, 33, 36, 39, 41, 44,
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47, 50, 52, 55, 59, 65, 67, 71,
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75, 79, 83, 89, 96, 98, 102, 106,
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110, 116, 118, 122, 126, 130, 136, 138,
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142, 146, 150, 156, 158, 162, 166, 170,
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174, 180, 184, 188, 192, 196, 200, 204,
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208, 212, 216, 220, 224, 228, 232, 236,
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240, 244, 248, 251, 254, 256, 260, 264,
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268, 272, 276, 280, 284, 288, 292, 296,
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300, 304, 308, 312, 316, 320
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};
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static const char _control_parser_trans_targs[] = {
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2, 0, 3, 0, 4, 84, 84, 0,
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5, 83, 83, 0, 6, 82, 82, 0,
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7, 81, 81, 0, 8, 80, 80, 0,
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9, 79, 79, 0, 10, 78, 78, 0,
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11, 77, 77, 0, 12, 0, 13, 16,
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20, 16, 16, 27, 0, 14, 0, 11,
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15, 0, 11, 15, 0, 17, 0, 18,
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26, 0, 19, 0, 20, 0, 21, 0,
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22, 25, 0, 23, 24, 0, 85, 0,
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23, 24, 0, 22, 25, 0, 18, 26,
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0, 28, 0, 29, 76, 0, 30, 30,
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30, 0, 31, 31, 31, 31, 31, 0,
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32, 0, 33, 75, 75, 0, 34, 74,
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74, 0, 35, 73, 73, 0, 36, 72,
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72, 0, 37, 38, 43, 48, 53, 0,
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13, 16, 20, 16, 16, 27, 0, 39,
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0, 40, 71, 71, 0, 41, 70, 70,
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0, 42, 69, 69, 0, 37, 38, 43,
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48, 53, 0, 44, 0, 45, 68, 68,
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0, 46, 67, 67, 0, 47, 66, 66,
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0, 37, 38, 43, 48, 53, 0, 49,
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0, 50, 65, 65, 0, 51, 64, 64,
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0, 52, 63, 63, 0, 37, 38, 43,
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48, 53, 0, 54, 0, 55, 62, 62,
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0, 56, 61, 61, 0, 57, 60, 60,
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0, 58, 59, 59, 0, 37, 38, 43,
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48, 53, 0, 58, 59, 59, 0, 57,
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60, 60, 0, 56, 61, 61, 0, 55,
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62, 62, 0, 52, 63, 63, 0, 51,
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64, 64, 0, 50, 65, 65, 0, 47,
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66, 66, 0, 46, 67, 67, 0, 45,
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68, 68, 0, 42, 69, 69, 0, 41,
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70, 70, 0, 40, 71, 71, 0, 36,
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72, 72, 0, 35, 73, 73, 0, 34,
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74, 74, 0, 33, 75, 75, 0, 29,
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76, 0, 11, 77, 77, 0, 10, 78,
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78, 0, 9, 79, 79, 0, 8, 80,
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80, 0, 7, 81, 81, 0, 6, 82,
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82, 0, 5, 83, 83, 0, 4, 84,
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84, 0, 0, 0
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2, 6, 10, 68, 6, 6, 17, 0,
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3, 0, 4, 67, 0, 5, 0, 2,
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6, 10, 6, 6, 17, 0, 7, 0,
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8, 16, 0, 9, 0, 10, 0, 11,
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0, 12, 15, 0, 13, 14, 0, 85,
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0, 13, 14, 0, 12, 15, 0, 8,
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16, 0, 18, 0, 19, 66, 0, 20,
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20, 20, 0, 21, 21, 21, 21, 21,
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0, 22, 0, 23, 65, 65, 0, 24,
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64, 64, 0, 25, 63, 63, 0, 26,
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62, 62, 0, 27, 28, 33, 38, 43,
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0, 2, 6, 10, 6, 6, 17, 0,
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29, 0, 30, 61, 61, 0, 31, 60,
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60, 0, 32, 59, 59, 0, 27, 28,
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33, 38, 43, 0, 34, 0, 35, 58,
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58, 0, 36, 57, 57, 0, 37, 56,
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56, 0, 27, 28, 33, 38, 43, 0,
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39, 0, 40, 55, 55, 0, 41, 54,
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54, 0, 42, 53, 53, 0, 27, 28,
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33, 38, 43, 0, 44, 0, 45, 52,
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52, 0, 46, 51, 51, 0, 47, 50,
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50, 0, 48, 49, 49, 0, 27, 28,
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33, 38, 43, 0, 48, 49, 49, 0,
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47, 50, 50, 0, 46, 51, 51, 0,
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45, 52, 52, 0, 42, 53, 53, 0,
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41, 54, 54, 0, 40, 55, 55, 0,
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37, 56, 56, 0, 36, 57, 57, 0,
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35, 58, 58, 0, 32, 59, 59, 0,
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31, 60, 60, 0, 30, 61, 61, 0,
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26, 62, 62, 0, 25, 63, 63, 0,
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24, 64, 64, 0, 23, 65, 65, 0,
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19, 66, 0, 4, 67, 0, 69, 0,
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70, 84, 84, 0, 71, 83, 83, 0,
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72, 82, 82, 0, 73, 81, 81, 0,
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74, 80, 80, 0, 75, 79, 79, 0,
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76, 78, 78, 0, 4, 77, 77, 0,
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4, 77, 77, 0, 76, 78, 78, 0,
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75, 79, 79, 0, 74, 80, 80, 0,
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73, 81, 81, 0, 72, 82, 82, 0,
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71, 83, 83, 0, 70, 84, 84, 0,
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0, 0
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};
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static const char _control_parser_trans_actions[] = {
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0, 0, 0, 0, 61, 3, 3, 0,
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64, 3, 3, 0, 0, 0, 0, 0,
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67, 3, 3, 0, 70, 3, 3, 0,
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73, 3, 3, 0, 76, 3, 3, 0,
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79, 3, 3, 0, 0, 0, 0, 0,
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0, 0, 0, 5, 0, 0, 0, 97,
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3, 0, 51, 0, 0, 0, 0, 97,
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3, 0, 0, 0, 0, 0, 0, 0,
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97, 3, 0, 100, 3, 0, 1, 0,
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53, 0, 0, 51, 0, 0, 51, 0,
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0, 0, 0, 97, 3, 0, 37, 35,
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39, 0, 45, 41, 49, 43, 47, 0,
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0, 0, 0, 0, 0, 0, 5, 0,
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0, 0, 97, 3, 0, 0, 0, 0,
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0, 0, 0, 0, 5, 0, 0, 0,
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97, 3, 0, 0, 0, 0, 0, 0,
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0, 97, 3, 0, 100, 3, 0, 1,
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0, 53, 0, 0, 51, 0, 0, 51,
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0, 0, 0, 0, 97, 3, 0, 37,
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35, 39, 0, 45, 41, 49, 43, 47,
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0, 0, 0, 82, 3, 3, 0, 85,
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3, 3, 0, 91, 3, 3, 0, 94,
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3, 3, 0, 9, 9, 9, 9, 9,
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0, 7, 7, 7, 7, 7, 103, 0,
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0, 0, 82, 3, 3, 0, 85, 3,
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3, 0, 91, 3, 3, 0, 94, 3,
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3, 0, 9, 9, 9, 9, 9, 0,
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7, 7, 7, 7, 7, 103, 0, 0,
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0, 82, 3, 3, 0, 85, 3, 3,
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||||
0, 88, 3, 3, 0, 55, 55, 55,
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55, 55, 0, 0, 0, 82, 3, 3,
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0, 85, 3, 3, 0, 88, 3, 3,
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||||
0, 57, 57, 57, 57, 57, 0, 0,
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||||
0, 82, 3, 3, 0, 85, 3, 3,
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||||
0, 88, 3, 3, 0, 0, 0, 0,
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||||
0, 0, 0, 0, 0, 82, 3, 3,
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||||
0, 85, 3, 3, 0, 91, 3, 3,
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||||
0, 94, 3, 3, 0, 59, 59, 59,
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||||
59, 59, 0, 33, 0, 0, 0, 31,
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||||
0, 0, 0, 27, 0, 0, 0, 25,
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||||
0, 0, 0, 29, 0, 0, 0, 27,
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||||
0, 0, 0, 25, 0, 0, 0, 29,
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||||
0, 0, 0, 27, 0, 0, 0, 25,
|
||||
0, 0, 0, 29, 0, 0, 0, 27,
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||||
0, 0, 0, 25, 0, 0, 0, 33,
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||||
0, 0, 0, 31, 0, 0, 0, 27,
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||||
0, 0, 0, 25, 0, 0, 0, 51,
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0, 0, 23, 0, 0, 0, 21, 0,
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0, 0, 19, 0, 0, 0, 17, 0,
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0, 0, 15, 0, 0, 0, 0, 0,
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0, 0, 13, 0, 0, 0, 11, 0,
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0, 0, 0, 0
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3, 0, 88, 3, 3, 0, 55, 55,
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55, 55, 55, 0, 0, 0, 82, 3,
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3, 0, 85, 3, 3, 0, 88, 3,
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3, 0, 57, 57, 57, 57, 57, 0,
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0, 0, 82, 3, 3, 0, 85, 3,
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3, 0, 88, 3, 3, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 82, 3,
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3, 0, 85, 3, 3, 0, 91, 3,
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3, 0, 94, 3, 3, 0, 59, 59,
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59, 59, 59, 0, 33, 0, 0, 0,
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31, 0, 0, 0, 27, 0, 0, 0,
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25, 0, 0, 0, 29, 0, 0, 0,
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27, 0, 0, 0, 25, 0, 0, 0,
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29, 0, 0, 0, 27, 0, 0, 0,
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25, 0, 0, 0, 29, 0, 0, 0,
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27, 0, 0, 0, 25, 0, 0, 0,
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33, 0, 0, 0, 31, 0, 0, 0,
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27, 0, 0, 0, 25, 0, 0, 0,
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51, 0, 0, 51, 0, 0, 0, 0,
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61, 3, 3, 0, 64, 3, 3, 0,
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0, 0, 0, 0, 67, 3, 3, 0,
|
||||
70, 3, 3, 0, 73, 3, 3, 0,
|
||||
76, 3, 3, 0, 79, 3, 3, 0,
|
||||
23, 0, 0, 0, 21, 0, 0, 0,
|
||||
19, 0, 0, 0, 17, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 0, 0, 0, 11, 0, 0, 0,
|
||||
0, 0
|
||||
};
|
||||
|
||||
static const int control_parser_start = 1;
|
||||
@ -240,7 +243,7 @@ static const int control_parser_error = 0;
|
||||
|
||||
static const int control_parser_en_main = 1;
|
||||
|
||||
#line 128 "control_parser.rl"
|
||||
#line 133 "control_parser.rl"
|
||||
|
||||
static int control_parser_has_error(context *ctx) {
|
||||
return ctx->cs == control_parser_error;
|
||||
@ -253,11 +256,11 @@ static int control_parser_is_finished(context *ctx) {
|
||||
void control_parser_new(trial *t) {
|
||||
context *ctx = t->parse_ctx = g_slice_new(context);
|
||||
|
||||
#line 257 "control_parser.c"
|
||||
#line 260 "control_parser.c"
|
||||
{
|
||||
( ctx->cs) = control_parser_start;
|
||||
}
|
||||
#line 140 "control_parser.rl"
|
||||
#line 145 "control_parser.rl"
|
||||
ctx->buffer = g_string_sized_new(0);
|
||||
ctx->tmp = g_string_sized_new(0);
|
||||
ctx->mark = -1;
|
||||
@ -267,14 +270,14 @@ void control_parser_new(trial *t) {
|
||||
void control_parser_reset(trial *t) {
|
||||
context *ctx = t->parse_ctx;
|
||||
|
||||
#line 271 "control_parser.c"
|
||||
#line 274 "control_parser.c"
|
||||
{
|
||||
( ctx->cs) = control_parser_start;
|
||||
}
|
||||
#line 149 "control_parser.rl"
|
||||
#line 154 "control_parser.rl"
|
||||
g_string_truncate(ctx->tmp, 0);
|
||||
ctx->mark = -1;
|
||||
ctx->pos = 0;
|
||||
/* fprintf(stderr, "Parser reset\n"); */
|
||||
}
|
||||
|
||||
void control_parser_free(trial *t) {
|
||||
@ -295,7 +298,7 @@ run_t control_parse(trial *t) {
|
||||
/* fprintf(stderr, "Parsing '%s' (len=%zu)\n", p, wehave); */
|
||||
|
||||
|
||||
#line 299 "control_parser.c"
|
||||
#line 302 "control_parser.c"
|
||||
{
|
||||
int _klen;
|
||||
unsigned int _trans;
|
||||
@ -370,24 +373,29 @@ _match:
|
||||
{
|
||||
case 0:
|
||||
#line 34 "control_parser.rl"
|
||||
{ {p++; goto _out; } t->alive = 0; }
|
||||
{
|
||||
t->alive = 0;
|
||||
/* fprintf(stderr, "Run finished\n"); */
|
||||
{p++; goto _out; }
|
||||
}
|
||||
break;
|
||||
case 1:
|
||||
#line 35 "control_parser.rl"
|
||||
#line 39 "control_parser.rl"
|
||||
{ ctx->mark = p - ctx->buffer->str; }
|
||||
break;
|
||||
case 2:
|
||||
#line 36 "control_parser.rl"
|
||||
#line 40 "control_parser.rl"
|
||||
{ ctx->tm = telemetry_new(); }
|
||||
break;
|
||||
case 3:
|
||||
#line 37 "control_parser.rl"
|
||||
#line 41 "control_parser.rl"
|
||||
{
|
||||
g_queue_push_tail(&t->telemetry, ctx->tm);
|
||||
if (!t->alive) {
|
||||
t->vehicle.accel = ctx->tm->vehicle.accel;
|
||||
t->vehicle.turn = ctx->tm->vehicle.turn;
|
||||
gettimeofday(&t->started, NULL);
|
||||
/* fprintf(stderr, "New run\n"); */
|
||||
} else {
|
||||
/* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */
|
||||
}
|
||||
@ -397,7 +405,7 @@ _match:
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
#line 50 "control_parser.rl"
|
||||
#line 55 "control_parser.rl"
|
||||
{
|
||||
ctx->tm->ts = ctx->ts;
|
||||
ctx->tm->vehicle.x = ctx->x;
|
||||
@ -412,115 +420,115 @@ _match:
|
||||
}
|
||||
break;
|
||||
case 5:
|
||||
#line 67 "control_parser.rl"
|
||||
#line 72 "control_parser.rl"
|
||||
{ t->map.dx = extract_double(ctx, p); }
|
||||
break;
|
||||
case 6:
|
||||
#line 68 "control_parser.rl"
|
||||
#line 73 "control_parser.rl"
|
||||
{ t->map.dy = extract_double(ctx, p); }
|
||||
break;
|
||||
case 7:
|
||||
#line 69 "control_parser.rl"
|
||||
#line 74 "control_parser.rl"
|
||||
{ t->map.min_sensor = extract_double(ctx, p); }
|
||||
break;
|
||||
case 8:
|
||||
#line 70 "control_parser.rl"
|
||||
#line 75 "control_parser.rl"
|
||||
{ t->map.max_sensor = extract_double(ctx, p); }
|
||||
break;
|
||||
case 9:
|
||||
#line 71 "control_parser.rl"
|
||||
#line 76 "control_parser.rl"
|
||||
{ t->map.max_speed = extract_double(ctx, p); }
|
||||
break;
|
||||
case 10:
|
||||
#line 72 "control_parser.rl"
|
||||
#line 77 "control_parser.rl"
|
||||
{ t->map.max_turn = extract_double(ctx, p); }
|
||||
break;
|
||||
case 11:
|
||||
#line 73 "control_parser.rl"
|
||||
#line 78 "control_parser.rl"
|
||||
{ t->map.max_hard_turn = extract_double(ctx, p); }
|
||||
break;
|
||||
case 12:
|
||||
#line 77 "control_parser.rl"
|
||||
#line 82 "control_parser.rl"
|
||||
{ ctx->x = extract_double(ctx, p); }
|
||||
break;
|
||||
case 13:
|
||||
#line 78 "control_parser.rl"
|
||||
#line 83 "control_parser.rl"
|
||||
{ ctx->y = extract_double(ctx, p); }
|
||||
break;
|
||||
case 14:
|
||||
#line 79 "control_parser.rl"
|
||||
#line 84 "control_parser.rl"
|
||||
{ ctx->r = extract_double(ctx, p); }
|
||||
break;
|
||||
case 15:
|
||||
#line 80 "control_parser.rl"
|
||||
#line 85 "control_parser.rl"
|
||||
{ ctx->dir = extract_double(ctx, p); }
|
||||
break;
|
||||
case 16:
|
||||
#line 81 "control_parser.rl"
|
||||
#line 86 "control_parser.rl"
|
||||
{ ctx->speed = extract_double(ctx, p); }
|
||||
break;
|
||||
case 17:
|
||||
#line 83 "control_parser.rl"
|
||||
#line 88 "control_parser.rl"
|
||||
{ ctx->tm->vehicle.accel = ACCEL; }
|
||||
break;
|
||||
case 18:
|
||||
#line 84 "control_parser.rl"
|
||||
#line 89 "control_parser.rl"
|
||||
{ ctx->tm->vehicle.accel = ROLL; }
|
||||
break;
|
||||
case 19:
|
||||
#line 85 "control_parser.rl"
|
||||
#line 90 "control_parser.rl"
|
||||
{ ctx->tm->vehicle.accel = BREAK; }
|
||||
break;
|
||||
case 20:
|
||||
#line 87 "control_parser.rl"
|
||||
#line 92 "control_parser.rl"
|
||||
{ ctx->tm->vehicle.turn = TURN_HARD_LEFT; }
|
||||
break;
|
||||
case 21:
|
||||
#line 88 "control_parser.rl"
|
||||
#line 93 "control_parser.rl"
|
||||
{ ctx->tm->vehicle.turn = TURN_LEFT; }
|
||||
break;
|
||||
case 22:
|
||||
#line 89 "control_parser.rl"
|
||||
#line 94 "control_parser.rl"
|
||||
{ ctx->tm->vehicle.turn = TURN_STRAIGHT; }
|
||||
break;
|
||||
case 23:
|
||||
#line 90 "control_parser.rl"
|
||||
#line 95 "control_parser.rl"
|
||||
{ ctx->tm->vehicle.turn = TURN_RIGHT; }
|
||||
break;
|
||||
case 24:
|
||||
#line 91 "control_parser.rl"
|
||||
#line 96 "control_parser.rl"
|
||||
{ ctx->tm->vehicle.turn = TURN_HARD_RIGHT; }
|
||||
break;
|
||||
case 25:
|
||||
#line 93 "control_parser.rl"
|
||||
#line 98 "control_parser.rl"
|
||||
{ ctx->ts = extract_ts(ctx, p); }
|
||||
break;
|
||||
case 26:
|
||||
#line 94 "control_parser.rl"
|
||||
#line 99 "control_parser.rl"
|
||||
{ printf("Score %u\n", extract_ts(ctx, p)); }
|
||||
break;
|
||||
case 27:
|
||||
#line 96 "control_parser.rl"
|
||||
#line 101 "control_parser.rl"
|
||||
{
|
||||
object o = { BOLDER, ctx->x, ctx->y, ctx->r, 0, 0 };
|
||||
g_array_append_val(ctx->tm->objects, o);
|
||||
}
|
||||
break;
|
||||
case 28:
|
||||
#line 100 "control_parser.rl"
|
||||
#line 105 "control_parser.rl"
|
||||
{
|
||||
object o = { CRATER, ctx->x, ctx->y, ctx->r, 0, 0 };
|
||||
g_array_append_val(ctx->tm->objects, o);
|
||||
}
|
||||
break;
|
||||
case 29:
|
||||
#line 105 "control_parser.rl"
|
||||
#line 110 "control_parser.rl"
|
||||
{
|
||||
object o = { MARTIAN, ctx->x, ctx->y, ctx->r, ctx->dir, ctx->speed };
|
||||
g_array_append_val(ctx->tm->objects, o);
|
||||
}
|
||||
break;
|
||||
#line 524 "control_parser.c"
|
||||
#line 532 "control_parser.c"
|
||||
}
|
||||
}
|
||||
|
||||
@ -532,7 +540,7 @@ _again:
|
||||
_test_eof: {}
|
||||
_out: {}
|
||||
}
|
||||
#line 172 "control_parser.rl"
|
||||
#line 177 "control_parser.rl"
|
||||
|
||||
ctx->pos = p - ctx->buffer->str;
|
||||
if (ctx->mark == -1) {
|
||||
@ -548,7 +556,7 @@ _again:
|
||||
}
|
||||
|
||||
if (control_parser_has_error(ctx)) {
|
||||
fprintf(stderr, "Parse error\n");
|
||||
fprintf(stderr, "Parse error: '%s'\n", ctx->buffer->str + ctx->pos);
|
||||
shutdown(t->socket, SHUT_RDWR);
|
||||
close(t->socket);
|
||||
exit(126);
|
||||
|
||||
@ -31,7 +31,11 @@ static timestamp extract_ts(context *ctx, char *fpc) {
|
||||
machine control_parser;
|
||||
variable cs ctx->cs;
|
||||
|
||||
action done { fbreak; t->alive = 0; }
|
||||
action done {
|
||||
t->alive = 0;
|
||||
/* fprintf(stderr, "Run finished\n"); */
|
||||
fbreak;
|
||||
}
|
||||
action mark { ctx->mark = fpc - ctx->buffer->str; }
|
||||
action telemetrystart { ctx->tm = telemetry_new(); }
|
||||
action telemetrystop {
|
||||
@ -40,6 +44,7 @@ static timestamp extract_ts(context *ctx, char *fpc) {
|
||||
t->vehicle.accel = ctx->tm->vehicle.accel;
|
||||
t->vehicle.turn = ctx->tm->vehicle.turn;
|
||||
gettimeofday(&t->started, NULL);
|
||||
/* fprintf(stderr, "New run\n"); */
|
||||
} else {
|
||||
/* fprintf(stderr, "time difference [ms]: %i\n", getcurts(t) - ctx->tm->ts); */
|
||||
}
|
||||
@ -121,7 +126,7 @@ static timestamp extract_ts(context *ctx, char *fpc) {
|
||||
|
||||
End = "E" SP timestamp SP score SP ";";
|
||||
|
||||
main := init (telemetry | Boulder)* (Crater | Kill | Success)? End @ done;
|
||||
main := init? (telemetry | Boulder)* (Crater | Kill | Success)? End @ done;
|
||||
}%%
|
||||
|
||||
%% write data;
|
||||
@ -148,7 +153,7 @@ void control_parser_reset(trial *t) {
|
||||
%% write init;
|
||||
g_string_truncate(ctx->tmp, 0);
|
||||
ctx->mark = -1;
|
||||
ctx->pos = 0;
|
||||
/* fprintf(stderr, "Parser reset\n"); */
|
||||
}
|
||||
|
||||
void control_parser_free(trial *t) {
|
||||
@ -184,7 +189,7 @@ run_t control_parse(trial *t) {
|
||||
}
|
||||
|
||||
if (control_parser_has_error(ctx)) {
|
||||
fprintf(stderr, "Parse error\n");
|
||||
fprintf(stderr, "Parse error: '%s'\n", ctx->buffer->str + ctx->pos);
|
||||
shutdown(t->socket, SHUT_RDWR);
|
||||
close(t->socket);
|
||||
exit(126);
|
||||
|
||||
@ -15,6 +15,7 @@ void trial_loop(trial *t) {
|
||||
path_execute(t,p);
|
||||
if (-1 == trial_check_input(t)) return;
|
||||
}
|
||||
trial_reset_run(t);
|
||||
path_free(p);
|
||||
} while (!t->finished);
|
||||
}
|
||||
|
||||
22
src/path.c
22
src/path.c
@ -16,6 +16,13 @@ void command_free(command* c){
|
||||
g_slice_free(command, c);
|
||||
}
|
||||
|
||||
double angle_for_rot(double from, double to) {
|
||||
double a = to - from;
|
||||
if (a > 180) a = -360 + a;
|
||||
else if (a < -180) a = 360 + a;
|
||||
return a;
|
||||
}
|
||||
|
||||
path *path_new(map* m,vehicle *v){
|
||||
command* tmp;
|
||||
path* res;
|
||||
@ -27,23 +34,24 @@ path *path_new(map* m,vehicle *v){
|
||||
|
||||
/* Turn towards origin, take shorter direction*/
|
||||
angle = atan2(-v->y,-v->x)*180/M_PI;
|
||||
stop = abs(angle - v->dir)/m->max_turn*1000;
|
||||
angle = angle_for_rot(v->dir, angle);
|
||||
stop = abs(angle)/m->max_hard_turn*1000;
|
||||
printf("Angle: %f stop: %f\n",angle,stop);
|
||||
if(angle - v->dir > 0){
|
||||
if(angle > 0){
|
||||
/*clockwise/left turn*/
|
||||
tmp = command_new(0,BREAK,TURN_LEFT);
|
||||
tmp = command_new(0,BREAK,TURN_HARD_LEFT);
|
||||
g_queue_push_tail(res->commands,tmp);
|
||||
} else {
|
||||
/*counterclockwise/right turn*/
|
||||
tmp = command_new(0,BREAK,TURN_RIGHT);
|
||||
tmp = command_new(0,BREAK,TURN_HARD_RIGHT);
|
||||
g_queue_push_tail(res->commands,tmp);
|
||||
}
|
||||
tmp = command_new(stop,BREAK,TURN_STRAIGHT);
|
||||
tmp = command_new(stop,ACCEL,TURN_STRAIGHT);
|
||||
g_queue_push_tail(res->commands,tmp);
|
||||
|
||||
/*start driving*/
|
||||
tmp = command_new(stop,ACCEL,TURN_STRAIGHT);
|
||||
g_queue_push_tail(res->commands,tmp);
|
||||
// tmp = command_new(stop,ACCEL,TURN_STRAIGHT);
|
||||
// g_queue_push_tail(res->commands,tmp);
|
||||
return res;
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user