mirror of
https://github.com/rtic-rs/rtic.git
synced 2025-12-19 06:15:45 +01:00
Monotonic codegen now passing compile stage
This commit is contained in:
Emil Fresk
parent
97a48983d2
commit
8e8ec9b7b8
8 changed files with 189 additions and 219 deletions
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@ -70,22 +70,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
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let inputs = util::inputs_ident(name);
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let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
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// TODO: Fix for new monotonics
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// let (let_instant, instant) = if extra.monotonic.is_some() {
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// let instants = util::instants_ident(name);
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// (
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// quote!(
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// let instant =
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// #instants.get_unchecked(usize::from(index)).as_ptr().read();
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// ),
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// quote!(, instant),
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// )
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// } else {
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// (quote!(), quote!())
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// };
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let (let_instant, instant) = (quote!(), quote!());
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let locals_new = if task.locals.is_empty() {
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quote!()
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} else {
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@ -99,12 +83,11 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
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#t::#name => {
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let #tupled =
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#inputs.get_unchecked(usize::from(index)).as_ptr().read();
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#let_instant
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#fq.split().0.enqueue_unchecked(index);
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let priority = &rtic::export::Priority::new(PRIORITY);
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#app_path::#name(
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#locals_new
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#name::Context::new(priority #instant)
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#name::Context::new(priority)
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#(,#pats)*
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)
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}
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@ -18,6 +18,8 @@ pub fn codegen(
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let mut task_cfgs = vec![];
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let name = ctxt.ident(app);
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let app_name = &app.name;
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let app_path = quote! {crate::#app_name};
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let mut lt = None;
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match ctxt {
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@ -125,7 +127,7 @@ pub fn codegen(
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.iter()
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.map(|(_, monotonic)| {
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let mono = &monotonic.ident;
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quote! {#mono}
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quote! {#app_path::#mono}
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})
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.collect();
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@ -190,9 +192,6 @@ pub fn codegen(
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let rq = util::rq_ident(priority);
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let inputs = util::inputs_ident(name);
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let app_name = &app.name;
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let app_path = quote! {crate::#app_name};
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let device = &extra.device;
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let enum_ = util::interrupt_ident();
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let interrupt = &analysis
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@ -234,11 +233,13 @@ pub fn codegen(
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// Schedule caller
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for (_, monotonic) in &app.monotonics {
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let instants = util::instants_ident(name);
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let instants = util::monotonic_instants_ident(name, &monotonic.ident);
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let tq = util::tq_ident(&monotonic.ident.to_string());
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let t = util::schedule_t_ident();
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let m = &monotonic.ident;
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let m_isr = &monotonic.args.binds;
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let enum_ = util::interrupt_ident();
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if monotonic.args.default {
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items.push(quote!(pub use #m::spawn_after;));
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@ -259,7 +260,7 @@ pub fn codegen(
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#(#cfgs)*
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pub fn spawn_at(
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instant: Instant<#app_path::#m as rtic::Monotonic>
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instant: rtic::Instant<#app_path::#m>
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#(,#args)*
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) -> Result<(), #ty> {
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unsafe {
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@ -284,9 +285,11 @@ pub fn codegen(
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task: #app_path::#t::#name,
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};
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rtic::export::interrupt::free(|_| #app_path::#tq.enqueue_unchecked(nr));
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// TODO: After adding the scheduled task, check and setup the timer.
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rtic::export::interrupt::free(|_| #app_path::#tq.enqueue_unchecked(
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nr,
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|| rtic::export::NVIC::unmask(#app_path::you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#enum_::#m_isr),
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|| rtic::pend(#app_path::you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#enum_::#m_isr),
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));
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Ok(())
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} else {
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@ -57,19 +57,22 @@ pub fn codegen(
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.map(|_| quote!(core::mem::MaybeUninit::uninit()))
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.collect::<Vec<_>>();
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// TODO: Update for new monotonic
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// if let Some(m) = &extra.monotonic {
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// let instants = util::instants_ident(name);
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let app_name = &app.name;
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let app_path = quote! {crate::#app_name};
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// let uninit = mk_uninit();
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// mod_app.push(quote!(
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// #uninit
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// /// Buffer that holds the instants associated to the inputs of a task
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// static mut #instants:
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// [core::mem::MaybeUninit<<#m as rtic::Monotonic>::Instant>; #cap_lit] =
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// [#(#elems,)*];
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// ));
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// }
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for (_, monotonic) in &app.monotonics {
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let instants = util::monotonic_instants_ident(name, &monotonic.ident);
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let m = &monotonic.ident;
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let uninit = mk_uninit();
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mod_app.push(quote!(
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#uninit
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/// Buffer that holds the instants associated to the inputs of a task
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static mut #instants:
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[core::mem::MaybeUninit<rtic::Instant<#app_path::#m>>; #cap_lit] =
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[#(#elems,)*];
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));
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}
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let uninit = mk_uninit();
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let inputs_ident = util::inputs_ident(name);
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@ -67,6 +67,8 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
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// Timer queue handler
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{
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let enum_ = util::interrupt_ident();
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let arms = app
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.software_tasks
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.iter()
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@ -75,7 +77,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
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let priority = task.args.priority;
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let rq = util::rq_ident(priority);
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let rqt = util::spawn_t_ident(priority);
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let enum_ = util::interrupt_ident();
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// The interrupt that runs the task dispatcher
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let interrupt = &analysis.interrupts.get(&priority).expect("RTIC-ICE: interrupt not found").0;
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@ -98,12 +99,15 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
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.collect::<Vec<_>>();
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let bound_interrupt = &monotonic.args.binds;
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items.push(quote!(
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#[no_mangle]
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unsafe fn #bound_interrupt() {
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use rtic::Mutex as _;
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while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue())
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while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue(
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|| rtic::export::NVIC::unmask(you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#enum_::#bound_interrupt),
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))
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{
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match task {
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#(#arms)*
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@ -77,8 +77,8 @@ pub fn inputs_ident(task: &Ident) -> Ident {
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}
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/// Generates an identifier for the `INSTANTS` buffer (`schedule` API)
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pub fn instants_ident(task: &Ident) -> Ident {
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Ident::new(&format!("{}_INSTANTS", task), Span::call_site())
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pub fn monotonic_instants_ident(task: &Ident, monotonic: &Ident) -> Ident {
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Ident::new(&format!("{}_{}_INSTANTS", task, monotonic), Span::call_site())
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}
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pub fn interrupt_ident() -> Ident {
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@ -103,22 +103,6 @@ pub fn is_exception(name: &Ident) -> bool {
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)
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}
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/// Generates a pre-reexport identifier for the "late resources" struct
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pub fn late_resources_ident(init: &Ident) -> Ident {
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Ident::new(
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&format!("{}LateResources", init.to_string()),
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Span::call_site(),
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)
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}
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/// Generates a pre-reexport identifier for the "monotonics" struct
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pub fn monotonics_ident(init: &Ident) -> Ident {
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Ident::new(
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&format!("{}Monotonics", init.to_string()),
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Span::call_site(),
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)
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}
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/// Mangle an ident
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pub fn mangle_ident(ident: &Ident) -> Ident {
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Ident::new(
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