Re-implementation of rustbootd's ecat_el6695_* examples as a single binary with fixes found in review and on hardware: - DC-follow PLL hardened against period-2 hunting: slew-limited anchor (+/-50us/cycle), bistable-trap snap re-anchor, re-prime on stale deadline - drift-free absolute-grid ticker mode; probe mode for timestamp forensics - bounded-memory online stats (histograms), graceful SIGINT/SIGTERM shutdown with full report, error-streak abort - timestamp plausibility filter comparing against the previous raw sample (avoids the deadlock after a startup outlier) - XFC scope waveform options: --el2202 (with --el2202-dual), --el2262, --el1252 latch timestamp readback with per-channel edge statistics - register access unified in regs.rs: named bit constants everywhere, read-modify-write for enable/activation bytes - vendored patched ethercrab 0.7.1 (sdo_write_complete, send_raw_coe) Verified on J1900 (PREEMPT_RT 6.6.135): 600k cycles/600s exact 1 kHz, tx/rx zero errors, phase_err p50=164us std=5us; EL2202<->EL1252 loopback edge interval mean 2000.24us std=24.65us.
244 lines
6.1 KiB
Rust
244 lines
6.1 KiB
Rust
#![macro_use]
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#![allow(unused_macros)]
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#![allow(unused)]
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use core::fmt::{Debug, Display, LowerHex};
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#[cfg(all(feature = "defmt", feature = "log"))]
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compile_error!("The `defmt` and `log` features may not be enabled at the same time");
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macro_rules! assert_ {
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($($x:tt)*) => {
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{
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#[cfg(not(feature = "defmt"))]
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::core::assert!($($x)*);
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#[cfg(feature = "defmt")]
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::defmt::assert!($($x)*);
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}
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};
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}
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macro_rules! assert_eq_ {
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($($x:tt)*) => {
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{
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#[cfg(not(feature = "defmt"))]
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::core::assert_eq!($($x)*);
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#[cfg(feature = "defmt")]
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::defmt::assert_eq!($($x)*);
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}
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};
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}
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macro_rules! assert_ne_ {
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($($x:tt)*) => {
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{
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#[cfg(not(feature = "defmt"))]
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::core::assert_ne!($($x)*);
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#[cfg(feature = "defmt")]
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::defmt::assert_ne!($($x)*);
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}
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};
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}
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macro_rules! debug_assert_ {
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($($x:tt)*) => {
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{
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#[cfg(not(feature = "defmt"))]
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::core::debug_assert!($($x)*);
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#[cfg(feature = "defmt")]
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::defmt::debug_assert!($($x)*);
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}
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};
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}
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macro_rules! debug_assert_eq_ {
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($($x:tt)*) => {
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{
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#[cfg(not(feature = "defmt"))]
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::core::debug_assert_eq!($($x)*);
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#[cfg(feature = "defmt")]
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::defmt::debug_assert_eq!($($x)*);
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}
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};
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}
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macro_rules! debug_assert_ne_ {
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($($x:tt)*) => {
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{
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#[cfg(not(feature = "defmt"))]
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::core::debug_assert_ne!($($x)*);
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#[cfg(feature = "defmt")]
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::defmt::debug_assert_ne!($($x)*);
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}
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};
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}
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macro_rules! todo_ {
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($($x:tt)*) => {
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{
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#[cfg(not(feature = "defmt"))]
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::core::todo!($($x)*);
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#[cfg(feature = "defmt")]
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::defmt::todo!($($x)*);
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}
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};
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}
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macro_rules! unreachable_ {
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($($x:tt)*) => {
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{
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#[cfg(not(feature = "defmt"))]
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::core::unreachable!($($x)*);
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#[cfg(feature = "defmt")]
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::defmt::unreachable!($($x)*);
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}
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};
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}
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macro_rules! panic_ {
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($($x:tt)*) => {
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{
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#[cfg(not(feature = "defmt"))]
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::core::panic!($($x)*);
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#[cfg(feature = "defmt")]
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::defmt::panic!($($x)*);
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}
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};
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}
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macro_rules! trace_ {
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($s:literal $(, $x:expr)* $(,)?) => {
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{
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#[cfg(feature = "log")]
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::log::trace!($s $(, $x)*);
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#[cfg(feature = "defmt")]
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::defmt::trace!($s $(, $x)*);
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#[cfg(not(any(feature = "log", feature="defmt")))]
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let _ = ($( & $x ),*);
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}
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};
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}
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macro_rules! debug_ {
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($s:literal $(, $x:expr)* $(,)?) => {
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{
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#[cfg(feature = "log")]
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::log::debug!($s $(, $x)*);
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#[cfg(feature = "defmt")]
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::defmt::debug!($s $(, $x)*);
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#[cfg(not(any(feature = "log", feature="defmt")))]
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let _ = ($( & $x ),*);
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}
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};
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}
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macro_rules! info_ {
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($s:literal $(, $x:expr)* $(,)?) => {
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{
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#[cfg(feature = "log")]
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::log::info!($s $(, $x)*);
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#[cfg(feature = "defmt")]
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::defmt::info!($s $(, $x)*);
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#[cfg(not(any(feature = "log", feature="defmt")))]
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let _ = ($( & $x ),*);
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}
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};
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}
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macro_rules! warn_ {
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($s:literal $(, $x:expr)* $(,)?) => {
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{
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#[cfg(feature = "log")]
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::log::warn!($s $(, $x)*);
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#[cfg(feature = "defmt")]
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::defmt::warn!($s $(, $x)*);
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#[cfg(not(any(feature = "log", feature="defmt")))]
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let _ = ($( & $x ),*);
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}
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};
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}
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macro_rules! error_ {
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($s:literal $(, $x:expr)* $(,)?) => {
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{
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#[cfg(feature = "log")]
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::log::error!($s $(, $x)*);
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#[cfg(feature = "defmt")]
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::defmt::error!($s $(, $x)*);
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#[cfg(not(any(feature = "log", feature="defmt")))]
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let _ = ($( & $x ),*);
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}
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};
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}
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#[cfg(feature = "defmt")]
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macro_rules! unwrap_ {
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($($x:tt)*) => {
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::defmt::unwrap!($($x)*)
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};
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}
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#[cfg(not(feature = "defmt"))]
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macro_rules! unwrap_ {
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($arg:expr) => {
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match $arg {
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::core::result::Result::Ok(t) => t,
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::core::result::Result::Err(e) => {
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::core::panic!("unwrap of `{}` failed: {:?}", ::core::stringify!($arg), e);
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}
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}
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};
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($arg:expr, $($msg:expr),+ $(,)? ) => {
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match $arg {
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::core::result::Result::Ok(t) => t,
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::core::result::Result::Err(e) => {
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::core::panic!("unwrap of `{}` failed: {}: {:?}", ::core::stringify!($arg), ::core::format_args!($($msg,)*), e);
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}
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}
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}
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}
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#[cfg(feature = "defmt")]
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macro_rules! unwrap_opt_ {
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($($x:tt)*) => {
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::defmt::unwrap!($($x)*)
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};
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}
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#[cfg(not(feature = "defmt"))]
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macro_rules! unwrap_opt_ {
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($arg:expr) => {
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match $arg {
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::core::option::Option::Some(t) => t,
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::core::option::Option::None => {
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::core::panic!("unwrap of `{}` failed", ::core::stringify!($arg));
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}
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}
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};
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($arg:expr, $($msg:expr),+ $(,)? ) => {
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match $arg {
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::core::option::Option::Some(t) => t,
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::core::option::Option::None => {
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::core::panic!("unwrap of `{}` failed: {}", ::core::stringify!($arg), ::core::format_args!($($msg,)*));
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}
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}
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}
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}
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pub(crate) use assert_ as assert;
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pub(crate) use assert_eq_ as assert_eq;
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pub(crate) use assert_ne_ as assert_ne;
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pub(crate) use debug_ as debug;
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pub(crate) use debug_assert_ as debug_assert;
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pub(crate) use debug_assert_eq_ as debug_assert_eq;
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pub(crate) use debug_assert_ne_ as debug_assert_ne;
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pub(crate) use error_ as error;
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pub(crate) use info_ as info;
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pub(crate) use panic_ as panic;
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pub(crate) use todo_ as todo;
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pub(crate) use trace_ as trace;
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pub(crate) use unreachable_ as unreachable;
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pub(crate) use unwrap_ as unwrap;
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pub(crate) use unwrap_opt_ as unwrap_opt;
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pub(crate) use warn_ as warn;
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