mpu9250: Use adxl345.AccelCommandHelper directly
The MPU9250CommandHelper() class is nearly a duplicate of ADXL345CommandHelper(). Rename ADXL345QueryHelper() to AccelCommandHelper and remove user facing references to "adxl345". Use it directly from mpu9250.py . Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
4a7b429115
commit
f6734d83b3
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@ -101,15 +101,18 @@ class AccelQueryHelper:
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write_proc.start()
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# Helper class for G-Code commands
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class ADXLCommandHelper:
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class AccelCommandHelper:
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def __init__(self, config, chip):
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self.printer = config.get_printer()
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self.chip = chip
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self.bg_client = None
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self.name = config.get_name().split()[-1]
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name_parts = config.get_name().split()
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self.base_name = name_parts[0]
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self.name = name_parts[-1]
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self.register_commands(self.name)
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if self.name == "adxl345":
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self.register_commands(None)
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if len(name_parts) == 1:
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if self.name == "adxl345" or not config.has_section("adxl345"):
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self.register_commands(None)
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def register_commands(self, name):
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# Register commands
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gcode = self.printer.lookup_object('gcode')
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@ -130,20 +133,20 @@ class ADXLCommandHelper:
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if self.bg_client is None:
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# Start measurements
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self.bg_client = self.chip.start_internal_client()
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gcmd.respond_info("adxl345 measurements started")
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gcmd.respond_info("accelerometer measurements started")
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return
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# End measurements
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name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
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if not name.replace('-', '').replace('_', '').isalnum():
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raise gcmd.error("Invalid adxl345 NAME parameter")
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raise gcmd.error("Invalid NAME parameter")
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bg_client = self.bg_client
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self.bg_client = None
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bg_client.finish_measurements()
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# Write data to file
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if self.name == "adxl345":
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filename = "/tmp/adxl345-%s.csv" % (name,)
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if self.base_name == self.name:
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filename = "/tmp/%s-%s.csv" % (self.base_name, name)
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else:
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filename = "/tmp/adxl345-%s-%s.csv" % (self.name, name,)
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filename = "/tmp/%s-%s-%s.csv" % (self.base_name, self.name, name)
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bg_client.write_to_file(filename)
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gcmd.respond_info("Writing raw accelerometer data to %s file"
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% (filename,))
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@ -154,18 +157,18 @@ class ADXLCommandHelper:
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aclient.finish_measurements()
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values = aclient.get_samples()
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if not values:
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raise gcmd.error("No adxl345 measurements found")
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raise gcmd.error("No accelerometer measurements found")
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_, accel_x, accel_y, accel_z = values[-1]
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gcmd.respond_info("adxl345 values (x, y, z): %.6f, %.6f, %.6f"
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gcmd.respond_info("accelerometer values (x, y, z): %.6f, %.6f, %.6f"
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% (accel_x, accel_y, accel_z))
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cmd_ACCELEROMETER_DEBUG_READ_help = "Query adxl345 register (for debugging)"
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cmd_ACCELEROMETER_DEBUG_READ_help = "Query register (for debugging)"
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def cmd_ACCELEROMETER_DEBUG_READ(self, gcmd):
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reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
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reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
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val = self.chip.read_reg(reg)
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gcmd.respond_info("ADXL345 REG[0x%x] = 0x%x" % (reg, val))
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cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set adxl345 register (for debugging)"
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gcmd.respond_info("Accelerometer REG[0x%x] = 0x%x" % (reg, val))
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cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set register (for debugging)"
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def cmd_ACCELEROMETER_DEBUG_WRITE(self, gcmd):
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reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
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reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
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val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
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self.chip.set_reg(reg, val)
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@ -226,7 +229,7 @@ SAMPLES_PER_BLOCK = 10
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class ADXL345:
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def __init__(self, config):
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self.printer = config.get_printer()
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ADXLCommandHelper(config, self)
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AccelCommandHelper(config, self)
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self.query_rate = 0
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am = {'x': (0, SCALE), 'y': (1, SCALE), 'z': (2, SCALE),
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'-x': (0, -SCALE), '-y': (1, -SCALE), '-z': (2, -SCALE)}
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@ -48,75 +48,6 @@ def twos_complement(val, nbits):
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val = val - (1 << nbits)
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return val
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# Helper class for G-Code commands
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class MPU9250CommandHelper:
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def __init__(self, config, chip):
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self.printer = config.get_printer()
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self.chip = chip
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self.bg_client = None
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self.name = config.get_name().split()[-1]
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self.register_commands(self.name)
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if self.name == "mpu9250":
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self.register_commands(None)
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def register_commands(self, name):
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# Register commands
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gcode = self.printer.lookup_object('gcode')
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gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", name,
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self.cmd_ACCELEROMETER_MEASURE,
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desc=self.cmd_ACCELEROMETER_MEASURE_help)
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gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", name,
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self.cmd_ACCELEROMETER_QUERY,
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desc=self.cmd_ACCELEROMETER_QUERY_help)
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gcode.register_mux_command("ACCELEROMETER_DEBUG_READ", "CHIP", name,
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self.cmd_ACCELEROMETER_DEBUG_READ,
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desc=self.cmd_ACCELEROMETER_DEBUG_READ_help)
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gcode.register_mux_command("ACCELEROMETER_DEBUG_WRITE", "CHIP", name,
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self.cmd_ACCELEROMETER_DEBUG_WRITE,
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desc=self.cmd_ACCELEROMETER_DEBUG_WRITE_help)
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cmd_ACCELEROMETER_MEASURE_help = "Start/stop accelerometer"
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def cmd_ACCELEROMETER_MEASURE(self, gcmd):
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if self.bg_client is None:
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# Start measurements
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self.bg_client = self.chip.start_internal_client()
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gcmd.respond_info("mpu9250 measurements started")
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return
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# End measurements
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name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
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if not name.replace('-', '').replace('_', '').isalnum():
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raise gcmd.error("Invalid mpu9250 NAME parameter")
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bg_client = self.bg_client
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self.bg_client = None
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bg_client.finish_measurements()
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# Write data to file
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if self.name == "mpu9250":
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filename = "/tmp/mpu9250-%s.csv" % (name,)
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else:
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filename = "/tmp/mpu9250-%s-%s.csv" % (self.name, name,)
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bg_client.write_to_file(filename)
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gcmd.respond_info("Writing raw accelerometer data to %s file"
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% (filename,))
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cmd_ACCELEROMETER_QUERY_help = "Query accelerometer for the current values"
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def cmd_ACCELEROMETER_QUERY(self, gcmd):
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aclient = self.chip.start_internal_client()
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self.printer.lookup_object('toolhead').dwell(1.)
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aclient.finish_measurements()
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values = aclient.get_samples()
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if not values:
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raise gcmd.error("No mpu9250 measurements found")
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_, accel_x, accel_y, accel_z = values[-1]
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gcmd.respond_info("mpu9250 values (x, y, z): %.6f, %.6f, %.6f"
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% (accel_x, accel_y, accel_z))
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cmd_ACCELEROMETER_DEBUG_READ_help = "Query mpu9250 register (for debugging)"
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def cmd_ACCELEROMETER_DEBUG_READ(self, gcmd):
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reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
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val = self.chip.read_reg(reg)
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gcmd.respond_info("MPU9250 REG[0x%x] = 0x%x" % (reg, val))
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cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set mpu9250 register (for debugging)"
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def cmd_ACCELEROMETER_DEBUG_WRITE(self, gcmd):
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reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
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val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
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self.chip.set_reg(reg, val)
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MIN_MSG_TIME = 0.100
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BYTES_PER_SAMPLE = 6
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@ -126,7 +57,7 @@ SAMPLES_PER_BLOCK = 8
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class MPU9250:
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def __init__(self, config):
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self.printer = config.get_printer()
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MPU9250CommandHelper(config, self)
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adxl345.AccelCommandHelper(config, self)
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self.query_rate = 0
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am = {'x': (0, SCALE), 'y': (1, SCALE), 'z': (2, SCALE),
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'-x': (0, -SCALE), '-y': (1, -SCALE), '-z': (2, -SCALE)}
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