src/platforms: move all headers to platforms/common/include/px4_platform_common

and remove the px4_ prefix, except for px4_config.h. command to update includes: for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done Transitional headers for submodules are added (px4_{defines,log,time}.h)
2026-05-31 18:47:21 +08:00 · 2019-10-25 10:56:32 +02:00
parent fad0c31872
commit 3198610f85
740 changed files with 1502 additions and 1382 deletions
@@ -1,7 +1,7 @@
 /* definitions of builtin command list - automatically generated, do not edit */
-#include "px4_time.h"
-#include "px4_posix.h"
-#include "px4_log.h"
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/log.h>

 #include "apps.h"

@@ -2,7 +2,7 @@

 #pragma once

-#include "px4_tasks.h"	// px4_main_t
+#include <px4_platform_common/tasks.h>	// px4_main_t
 #include <map>
 #include <string>

@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_defines.h
+ * transitional include header for submodules
+ */
+#pragma once
+
+#include <px4_platform_common/defines.h>
+
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_log.h
+ * transitional include header for submodules
+ */
+
+#pragma once
+
+#include <px4_platform_common/log.h>
+
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file app.h
+ *
+ * PX4 app template classes, functions and defines. Apps need to call their
+ * main function PX4_MAIN.
+ */
+
+#pragma once
+
+namespace px4
+{
+
+class AppState
+{
+public:
+	~AppState() {}
+
+	AppState() : _exitRequested(false), _isRunning(false) {}
+
+	bool exitRequested() { return _exitRequested; }
+	void requestExit() { _exitRequested = true; }
+
+	bool isRunning() { return _isRunning; }
+	void setRunning(bool running) { _isRunning = running; }
+
+protected:
+	bool _exitRequested;
+	bool _isRunning;
+private:
+	AppState(const AppState &);
+	const AppState &operator=(const AppState &);
+};
+}
+
+// Task/process based build
+
+#ifdef PX4_MAIN
+extern int PX4_MAIN(int argc, char *argv[]);
+#endif
+
+
@@ -0,0 +1,185 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file atomic.h
+ *
+ * Provides atomic integers and counters. Each method is executed atomically and thus
+ * can be used to prevent data races and add memory synchronization between threads.
+ *
+ * In addition to the atomicity, each method serves as a memory barrier (sequential
+ * consistent ordering). This means all operations that happen before and could
+ * potentially have visible side-effects in other threads will happen before
+ * the method is executed.
+ *
+ * The implementation uses the built-in methods from GCC (supported by Clang as well).
+ * @see https://gcc.gnu.org/onlinedocs/gcc/_005f_005fatomic-Builtins.html.
+ *
+ * @note: on ARM, the instructions LDREX and STREX might be emitted. To ensure correct
+ * behavior, the exclusive monitor needs to be cleared on a task switch (via CLREX).
+ * This happens automatically e.g. on ARMv7-M as part of an exception entry or exit
+ * sequence.
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+
+#include <stdbool.h>
+#include <stdint.h>
+
+namespace px4
+{
+
+template <typename T>
+class atomic
+{
+public:
+
+#ifdef __PX4_NUTTX
+	// Ensure that all operations are lock-free, so that 'atomic' can be used from
+	// IRQ handlers. This might not be required everywhere though.
+	static_assert(__atomic_always_lock_free(sizeof(T), 0), "atomic is not lock-free for the given type T");
+#endif
+
+
+	explicit atomic(T value) : _value(value) {}
+
+	/**
+	 * Atomically read the current value
+	 */
+	inline T load() const
+	{
+#ifdef __PX4_QURT
+		return _value;
+#else
+		return __atomic_load_n(&_value, __ATOMIC_SEQ_CST);
+#endif
+	}
+
+	/**
+	 * Atomically store a value
+	 */
+	inline void store(T value)
+	{
+#ifdef __PX4_QURT
+		_value = value;
+#else
+		__atomic_store(&_value, &value, __ATOMIC_SEQ_CST);
+#endif
+	}
+
+	/**
+	 * Atomically add a number and return the previous value.
+	 * @return value prior to the addition
+	 */
+	inline T fetch_add(T num)
+	{
+		return __atomic_fetch_add(&_value, num, __ATOMIC_SEQ_CST);
+	}
+
+	/**
+	 * Atomically substract a number and return the previous value.
+	 * @return value prior to the substraction
+	 */
+	inline T fetch_sub(T num)
+	{
+		return __atomic_fetch_sub(&_value, num, __ATOMIC_SEQ_CST);
+	}
+
+	/**
+	 * Atomic AND with a number
+	 * @return value prior to the operation
+	 */
+	inline T fetch_and(T num)
+	{
+		return __atomic_fetch_and(&_value, num, __ATOMIC_SEQ_CST);
+	}
+
+	/**
+	 * Atomic XOR with a number
+	 * @return value prior to the operation
+	 */
+	inline T fetch_xor(T num)
+	{
+		return __atomic_fetch_xor(&_value, num, __ATOMIC_SEQ_CST);
+	}
+
+	/**
+	 * Atomic OR with a number
+	 * @return value prior to the operation
+	 */
+	inline T fetch_or(T num)
+	{
+		return __atomic_fetch_or(&_value, num, __ATOMIC_SEQ_CST);
+	}
+
+	/**
+	 * Atomic NAND (~(_value & num)) with a number
+	 * @return value prior to the operation
+	 */
+	inline T fetch_nand(T num)
+	{
+		return __atomic_fetch_nand(&_value, num, __ATOMIC_SEQ_CST);
+	}
+
+	/**
+	 * Atomic compare and exchange operation.
+	 * This compares the contents of _value with the contents of *expected. If
+	 * equal, the operation is a read-modify-write operation that writes desired
+	 * into _value. If they are not equal, the operation is a read and the current
+	 * contents of _value are written into *expected.
+	 * @return If desired is written into _value then true is returned
+	 */
+	inline bool compare_exchange(T *expected, T num)
+	{
+		return __atomic_compare_exchange(&_value, expected, num, false, __ATOMIC_SEQ_CST, __ATOMIC_SEQ_CST);
+	}
+
+private:
+#ifdef __PX4_QURT
+	// It seems that __atomic_store  and __atomic_load are not supported on Qurt,
+	// so the best that we can do is to use volatile.
+	volatile T _value;
+#else
+	T _value;
+#endif
+};
+
+using atomic_int = atomic<int>;
+using atomic_int32_t = atomic<int32_t>;
+using atomic_bool = atomic<bool>;
+
+} /* namespace px4 */
+
+#endif /* __cplusplus */
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file cli.h
+ * Helper methods for command-line parameters
+ */
+
+#pragma once
+
+
+/**
+ * Parse a CLI argument to an integer. There are 2 valid formats:
+ * - 'p:<param_name>'
+ *   in this case the parameter is loaded from an integer parameter
+ * - <int>
+ *   an integer value, so just a string to integer conversion is done
+ * @param option CLI argument
+ * @param value returned value
+ * @return 0 on success, -errno otherwise
+ */
+int px4_get_parameter_value(const char *option, int &value);
+
+
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file console_buffer.h
+ * This implements a simple console buffer to store the full bootup output.
+ * It can be printed via the 'dmesg' utility.
+ * The output of stdout is redirected to CONSOLE_BUFFER_DEVICE, which is stored
+ * to a circular buffer and output to stderr, so that everything is still printed
+ * to the original console.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+
+#define CONSOLE_BUFFER_DEVICE "/dev/console_buf"
+
+#ifdef BOARD_ENABLE_CONSOLE_BUFFER
+
+__BEGIN_DECLS
+
+/**
+ * Initialize the console buffer: register the CONSOLE_BUFFER_DEVICE
+ * @return 0 on success, <0 error otherwise
+ */
+int px4_console_buffer_init();
+
+/**
+ * Print content of the console buffer to stdout
+ * @param follow if true keep waiting and print new content whenever the buffer
+ *               is updated
+ */
+void px4_console_buffer_print(bool follow);
+
+/**
+ * Get the current used buffer size
+ */
+int px4_console_buffer_size();
+
+/**
+ * Read (chunks) of the console buffer.
+ * Note that no lock is held between reading multiple chunks, so the buffer could get
+ * updated meanwhile. Use px4_console_buffer_size() to read no more than expected.
+ * @param buffer output buffer
+ * @param buffer_length output buffer length
+ * @param offset input and output argument for the offset. Initially set this to -1.
+ * @return number of bytes written to the buffer (or <0 on error)
+ */
+int px4_console_buffer_read(char *buffer, int buffer_length, int *offset);
+
+__END_DECLS
+
+#else
+
+static inline int px4_console_buffer_init()
+{
+	return 0;
+}
+
+static inline int px4_console_buffer_size()
+{
+	return 0;
+}
+
+static inline int px4_console_buffer_read(char *buffer, int buffer_length, int *offset)
+{
+	return 0;
+}
+#endif /* BOARD_ENABLE_CONSOLE_BUFFER */
@@ -0,0 +1,211 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file defines.h
+ *
+ * Generally used magic defines
+ */
+
+#pragma once
+
+#include <px4_platform_common/log.h>
+
+#if defined(__PX4_NUTTX) && !defined(CONFIG_ARCH_MATH_H)
+#error CONFIG_ARCH_MATH_H is required to use math definitions and functions
+#endif
+
+/****************************************************************************
+ * Defines for all platforms.
+ ****************************************************************************/
+
+/* Get the name of the default value fiven the param name */
+#define PX4_PARAM_DEFAULT_VALUE_NAME(_name) PARAM_##_name##_DEFAULT
+
+/* Shortcuts to define parameters when the default value is defined according to PX4_PARAM_DEFAULT_VALUE_NAME */
+#define PX4_PARAM_DEFINE_INT32(_name) PARAM_DEFINE_INT32(_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
+#define PX4_PARAM_DEFINE_FLOAT(_name) PARAM_DEFINE_FLOAT(_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
+
+#define PX4_ERROR (-1)
+#define PX4_OK 0
+
+/* Wrapper for 2d matrices */
+#define PX4_ARRAY2D(_array, _ncols, _x, _y) (_array[_x * _ncols + _y])
+
+/* Wrapper for rotation matrices stored in arrays */
+#define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y)
+
+/* Define PX4_ISFINITE */
+#ifdef __cplusplus
+constexpr bool PX4_ISFINITE(float x) { return __builtin_isfinite(x); }
+constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
+#endif /* __cplusplus */
+
+#if defined(__PX4_NUTTX) || defined(__PX4_POSIX)
+/****************************************************************************
+ * Building for NuttX or POSIX.
+ ****************************************************************************/
+
+/* Main entry point */
+#define PX4_MAIN_FUNCTION(_prefix) int _prefix##_task_main(int argc, char *argv[])
+
+/* Parameter handle datatype */
+#include <parameters/param.h>
+typedef param_t px4_param_t;
+
+/* Get value of parameter by name */
+#define PX4_PARAM_GET_BYNAME(_name, _destpt) param_get(param_find(_name), _destpt)
+
+#else // defined(__PX4_NUTTX) || defined(__PX4_POSIX)
+/****************************************************************************/
+#error "No target OS defined"
+#endif
+
+#if defined(__PX4_NUTTX)
+/****************************************************************************
+ * NuttX specific defines.
+ ****************************************************************************/
+
+#define PX4_ROOTFSDIR ""
+#define PX4_STORAGEDIR PX4_ROOTFSDIR "/fs/microsd"
+#define _PX4_IOC(x,y) _IOC(x,y)
+
+// mode for open with O_CREAT
+#define PX4_O_MODE_777 0777
+#define PX4_O_MODE_666 0666
+#define PX4_O_MODE_600 0600
+
+#ifndef PRIu64
+#  define PRIu64 "llu"
+#endif
+#ifndef PRId64
+#  define PRId64 "lld"
+#endif
+
+#ifndef offsetof
+#  define offsetof(TYPE, MEMBER) __builtin_offsetof (TYPE, MEMBER)
+#endif
+
+#elif defined(__PX4_POSIX)
+/****************************************************************************
+ * POSIX Specific defines
+ ****************************************************************************/
+
+// Flag is meaningless on Linux
+#ifndef O_BINARY
+#define O_BINARY 0
+#endif
+
+// mode for open with O_CREAT
+#define PX4_O_MODE_777 (S_IRWXU | S_IRWXG | S_IRWXO)
+#define PX4_O_MODE_666 (S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH )
+#define PX4_O_MODE_600 (S_IRUSR | S_IWUSR)
+
+// NuttX _IOC is equivalent to Linux _IO
+#define _PX4_IOC(x,y) _IO(x,y)
+
+/* FIXME - Used to satisfy build */
+#define getreg32(a)    (*(volatile uint32_t *)(a))
+
+#define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC)
+#define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
+
+#ifdef __PX4_QURT
+
+// QURT specific
+#  include "dspal_math.h"
+#  define PX4_ROOTFSDIR "."
+#  define PX4_TICKS_PER_SEC 1000L
+#  define SIOCDEVPRIVATE 999999
+
+#else // __PX4_QURT
+
+// All POSIX except QURT.
+
+__BEGIN_DECLS
+extern long PX4_TICKS_PER_SEC;
+__END_DECLS
+
+#  if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
+#    define PX4_ROOTFSDIR "/home/linaro"
+#  elif defined(__PX4_POSIX_BEBOP)
+#    define PX4_ROOTFSDIR "/data/ftp/internal_000/px4"
+#  else
+#    define PX4_ROOTFSDIR "."
+#  endif
+
+#endif // __PX4_QURT
+
+#define PX4_STORAGEDIR PX4_ROOTFSDIR
+#endif // __PX4_POSIX
+
+#if defined(__PX4_POSIX)
+/****************************************************************************
+ * Defines for POSIX and ROS
+ ****************************************************************************/
+
+#define OK 0
+#define ERROR -1
+#define MAX_RAND 32767
+
+/* Math macro's for float literals. Do not use M_PI et al as they aren't
+ * defined (neither C nor the C++ standard define math constants) */
+#define M_E_F			2.71828183f
+#define M_LOG2E_F		1.44269504f
+#define M_LOG10E_F		0.43429448f
+#define M_LN2_F			0.69314718f
+#define M_LN10_F		2.30258509f
+#define M_PI_F			3.14159265f
+#define M_TWOPI_F		6.28318531f
+#define M_PI_2_F		1.57079632f
+#define M_PI_4_F		0.78539816f
+#define M_3PI_4_F		2.35619449f
+#define M_SQRTPI_F		1.77245385f
+#define M_1_PI_F		0.31830989f
+#define M_2_PI_F		0.63661977f
+#define M_2_SQRTPI_F		1.12837917f
+#define M_DEG_TO_RAD_F		0.0174532925f
+#define M_RAD_TO_DEG_F		57.2957795f
+#define M_SQRT2_F		1.41421356f
+#define M_SQRT1_2_F		0.70710678f
+#define M_LN2LO_F		1.90821484E-10f
+#define M_LN2HI_F		0.69314718f
+#define M_SQRT3_F		1.73205081f
+#define M_IVLN10_F		0.43429448f	// 1 / log(10)
+#define M_LOG2_E_F		0.69314718f
+#define M_INVLN2_F		1.44269504f	// 1 / log(2)
+
+#define M_DEG_TO_RAD 		0.017453292519943295
+#define M_RAD_TO_DEG 		57.295779513082323
+
+#endif // defined(__PX4_POSIX)
@@ -0,0 +1,46 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file getopt.h
+ * Thread safe version of getopt
+ */
+
+#pragma once
+
+__BEGIN_DECLS
+
+int px4_getopt(int argc, char *argv[], const char *options, int *myoptind, const char **myoptarg);
+
+__END_DECLS
+
@@ -0,0 +1,122 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_i2c.h
+ *
+ * Includes device headers depending on the build target
+ */
+
+#pragma once
+
+#define PX4_I2C_M_READ           0x0001          /* read data, from slave to master */
+
+#if defined (__PX4_NUTTX)
+__BEGIN_DECLS
+
+/*
+ * Building for NuttX
+ */
+#include <px4_platform_common/px4_config.h>
+#include <sys/ioctl.h>
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/irq.h>
+#include <nuttx/wqueue.h>
+#include <chip.h>
+#include <arch/board/board.h>
+#include <arch/chip/chip.h>
+#include "up_internal.h"
+#include "up_arch.h"
+
+#define px4_i2c_msg_t i2c_msg_s
+
+typedef struct i2c_master_s px4_i2c_dev_t;
+__END_DECLS
+
+#elif defined(__PX4_POSIX)
+#include <stdint.h>
+
+#define I2C_M_READ           0x0001          /* read data, from slave to master */
+#define I2C_M_TEN            0x0002          /* ten bit address */
+#define I2C_M_NORESTART      0x0080          /* message should not begin with (re-)start of transfer */
+
+// NOTE - This is a copy of the NuttX i2c_msg_s structure
+
+typedef struct {
+	uint32_t frequency;         /* I2C frequency */
+	uint16_t addr;              /* Slave address (7- or 10-bit) */
+	uint16_t flags;             /* See I2C_M_* definitions */
+	uint8_t *buffer;        /* Buffer to be transferred */
+	ssize_t length;             /* Length of the buffer in bytes */
+} px4_i2c_msg_t;
+
+// NOTE - This is a copy of the NuttX i2c_ops_s structure
+typedef struct {
+	const struct px4_i2c_ops_t *ops; /* I2C vtable */
+} px4_i2c_dev_t;
+
+//#define SPI_SELECT(d,id,s) ((d)->ops->select(d,id,s))
+#define SPI_SELECT(d,id,s)
+
+// FIXME - Stub implementation
+// Original version commented out
+//#define I2C_TRANSFER(d,m,c) ((d)->ops->transfer(d,m,c))
+inline int I2C_TRANSFER(px4_i2c_dev_t *dev, px4_i2c_msg_t *msg, int count);
+inline int I2C_TRANSFER(px4_i2c_dev_t *dev, px4_i2c_msg_t *msg, int count) { return 0; }
+
+#ifdef __PX4_QURT
+
+struct i2c_msg {
+	uint16_t  addr;                  /* Slave address */
+	uint16_t  flags;                 /* See I2C_M_* definitions */
+	uint8_t  *buf;
+	int       len;
+};
+
+#define I2C_RDWR 0x0FFF
+
+struct i2c_rdwr_ioctl_data {
+	struct i2c_msg *msgs;   /* pointers to i2c_msgs */
+	uint32_t nmsgs;         /* number of i2c_msgs */
+};
+
+// FIXME - The functions are not implemented on QuRT/DSPAL
+int ioctl(int fd, int flags, unsigned long data);
+int write(int fd, const char *buffer, int buflen);
+#endif
+#else
+#error "No target platform defined"
+#endif
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+__BEGIN_DECLS
+
+int px4_platform_init(void);
+
+__END_DECLS
+
+#ifdef __cplusplus
+
+namespace px4
+{
+
+/**
+ * Startup init method. It has no specific functionality, just prints a welcome
+ * message and sets the thread name
+ */
+__EXPORT void init(int argc, char *argv[], const char *process_name);
+
+} // namespace px4
+
+#endif /* __cplusplus */
+
@@ -0,0 +1,435 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015-2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file log.h
+ * Platform dependant logging/debug implementation
+ */
+
+#pragma once
+
+#define _PX4_LOG_LEVEL_DEBUG		0
+#define _PX4_LOG_LEVEL_INFO		1
+#define _PX4_LOG_LEVEL_WARN		2
+#define _PX4_LOG_LEVEL_ERROR		3
+#define _PX4_LOG_LEVEL_PANIC		4
+
+// Used to silence unused variable warning
+static inline void do_nothing(int level, ...)
+{
+	(void)level;
+}
+
+__BEGIN_DECLS
+
+/**
+ * initialize the orb logging. Logging to console still works without or before calling this.
+ */
+__EXPORT extern void px4_log_initialize(void);
+
+__END_DECLS
+
+/****************************************************************************
+ * __px4_log_omit:
+ * Compile out the message
+ ****************************************************************************/
+#define __px4_log_omit(level, FMT, ...)   do_nothing(level, ##__VA_ARGS__)
+
+#if defined(__PX4_QURT)
+#include "qurt_log.h"
+/****************************************************************************
+ * Messages that should never be filtered or compiled out
+ ****************************************************************************/
+#define PX4_INFO(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_INFO_RAW(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
+
+#if defined(TRACE_BUILD)
+/****************************************************************************
+ * Extremely Verbose settings for a Trace build
+ ****************************************************************************/
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+
+#elif defined(DEBUG_BUILD)
+/****************************************************************************
+ * Verbose settings for a Debug build
+ ****************************************************************************/
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__,  FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+
+#elif defined(RELEASE_BUILD)
+/****************************************************************************
+ * Non-verbose settings for a Release build to minimize strings in build
+ ****************************************************************************/
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
+
+#else
+/****************************************************************************
+ * Medium verbose settings for a default build
+ ****************************************************************************/
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
+
+#endif
+#define PX4_LOG_NAMED(name, FMT, ...) 	qurt_log( _PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
+#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, "%s " FMT, name,  ##__VA_ARGS__)
+
+#else
+
+#include <inttypes.h>
+#include <stdint.h>
+#include <sys/cdefs.h>
+#include <stdio.h>
+#include <stdarg.h>
+
+#include <px4_platform_common/defines.h>
+
+__BEGIN_DECLS
+
+__EXPORT extern const char *__px4_log_level_str[_PX4_LOG_LEVEL_PANIC + 1];
+__EXPORT extern const char *__px4_log_level_color[_PX4_LOG_LEVEL_PANIC + 1];
+__EXPORT void px4_log_modulename(int level, const char *moduleName, const char *fmt, ...)
+__attribute__((format(printf, 3, 4)));
+__EXPORT void px4_log_raw(int level, const char *fmt, ...)
+__attribute__((format(printf, 2, 3)));
+
+#if __GNUC__
+// Allow empty format strings.
+#pragma GCC diagnostic ignored "-Wformat-zero-length"
+#endif
+
+__END_DECLS
+
+
+/****************************************************************************
+ * Implementation of log section formatting based on printf
+ *
+ * To write to a specific stream for each message type, open the streams and
+ * set __px4__log_startline to something like:
+ * 	printf(_px4_fd[level],
+ *
+ * Additional behavior can be added using "{\" for __px4__log_startline and
+ * "}" for __px4__log_endline and any other required setup or teardown steps
+ ****************************************************************************/
+#define __px4__log_printcond(cond, ...)	    if (cond) printf(__VA_ARGS__)
+#define __px4__log_printline(level, ...)    printf(__VA_ARGS__)
+
+#define __px4__log_timestamp_fmt	"%-10" PRIu64 " "
+#define __px4__log_timestamp_arg 	,hrt_absolute_time()
+#define __px4__log_level_fmt		"%-5s "
+#define __px4__log_level_arg(level)	,__px4_log_level_str[level]
+#define __px4__log_thread_fmt		"%#X "
+#define __px4__log_thread_arg		,(unsigned int)pthread_self()
+#define __px4__log_modulename_fmt	"%-10s "
+#define __px4__log_modulename_pfmt	"[%s] "
+#define __px4__log_modulename_arg	,"[" MODULE_NAME "]"
+
+#define __px4__log_file_and_line_fmt 	" (file %s line %u)"
+#define __px4__log_file_and_line_arg 	, __FILE__, __LINE__
+#define __px4__log_end_fmt 		"\n"
+
+#define PX4_ANSI_COLOR_RED     "\x1b[31m"
+#define PX4_ANSI_COLOR_GREEN   "\x1b[32m"
+#define PX4_ANSI_COLOR_YELLOW  "\x1b[33m"
+#define PX4_ANSI_COLOR_BLUE    "\x1b[34m"
+#define PX4_ANSI_COLOR_MAGENTA "\x1b[35m"
+#define PX4_ANSI_COLOR_CYAN    "\x1b[36m"
+#define PX4_ANSI_COLOR_GRAY    "\x1B[37m"
+#define PX4_ANSI_COLOR_RESET   "\x1b[0m"
+
+#ifdef __PX4_POSIX
+#define PX4_LOG_COLORIZED_OUTPUT //if defined and output is a tty, colorize the output according to the log level
+#endif /* __PX4_POSIX */
+
+
+/****************************************************************************
+ * Output format macros
+ * Use these to implement the code level macros below
+ ****************************************************************************/
+
+
+/****************************************************************************
+ * __px4_log_named_cond:
+ * Convert a message in the form:
+ * 	PX4_LOG_COND(__dbg_enabled, "val is %d", val);
+ * to
+ * 	printf("%-5s val is %d\n", "LOG", val);
+ * if the first arg/condition is true.
+ ****************************************************************************/
+#define __px4_log_named_cond(name, cond, FMT, ...) \
+	__px4__log_printcond(cond,\
+			     "%s " \
+			     FMT\
+			     __px4__log_end_fmt \
+			     ,name, ##__VA_ARGS__\
+			    )
+
+/****************************************************************************
+ * __px4_log:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s val is %d\n", __px4_log_level_str[3], val);
+ ****************************************************************************/
+#define __px4_log(level, FMT, ...) \
+	__px4__log_printline(level,\
+			     __px4__log_level_fmt \
+			     FMT\
+			     __px4__log_end_fmt \
+			     __px4__log_level_arg(level), ##__VA_ARGS__\
+			    )
+
+/****************************************************************************
+ * __px4_log_modulename:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s [%s] val is %d\n", __px4_log_level_str[3],
+ *		MODULENAME, val);
+ ****************************************************************************/
+
+#define __px4_log_modulename(level, fmt, ...) \
+	do { \
+		px4_log_modulename(level, MODULE_NAME, fmt, ##__VA_ARGS__); \
+	} while(0)
+
+/****************************************************************************
+ * __px4_log_raw:
+ * Convert a message in the form:
+ * 	PX4_INFO("val is %d", val);
+ * to
+ * 	printf("val is %d", val);
+ *
+ * This can be used for simple printfs with all the formatting control.
+ ****************************************************************************/
+#define __px4_log_raw(level, fmt, ...) \
+	do { \
+		px4_log_raw(level, fmt, ##__VA_ARGS__); \
+	} while(0)
+
+
+/****************************************************************************
+ * __px4_log_timestamp:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s %10lu val is %d\n", __px4_log_level_str[3],
+ *		hrt_absolute_time(), val);
+ ****************************************************************************/
+#define __px4_log_timestamp(level, FMT, ...) \
+	__px4__log_printline(level,\
+			     __px4__log_level_fmt\
+			     __px4__log_timestamp_fmt\
+			     FMT\
+			     __px4__log_end_fmt\
+			     __px4__log_level_arg(level)\
+			     __px4__log_timestamp_arg\
+			     , ##__VA_ARGS__\
+			    )
+
+/****************************************************************************
+ * __px4_log_timestamp_thread:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s %10lu %#X val is %d\n", __px4_log_level_str[3],
+ *		hrt_absolute_time(), pthread_self(), val);
+ ****************************************************************************/
+#define __px4_log_timestamp_thread(level, FMT, ...) \
+	__px4__log_printline(level,\
+			     __px4__log_level_fmt\
+			     __px4__log_timestamp_fmt\
+			     __px4__log_thread_fmt\
+			     FMT\
+			     __px4__log_end_fmt\
+			     __px4__log_level_arg(level)\
+			     __px4__log_timestamp_arg\
+			     __px4__log_thread_arg\
+			     , ##__VA_ARGS__\
+			    )
+
+/****************************************************************************
+ * __px4_log_file_and_line:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s val is %d (file %s line %u)\n",
+ *		__px4_log_level_str[3], val, __FILE__, __LINE__);
+ ****************************************************************************/
+#define __px4_log_file_and_line(level, FMT, ...) \
+	__px4__log_printline(level,\
+			     __px4__log_level_fmt\
+			     __px4__log_timestamp_fmt\
+			     FMT\
+			     __px4__log_file_and_line_fmt\
+			     __px4__log_end_fmt\
+			     __px4__log_level_arg(level)\
+			     __px4__log_timestamp_arg\
+			     , ##__VA_ARGS__\
+			     __px4__log_file_and_line_arg\
+			    )
+
+/****************************************************************************
+ * __px4_log_timestamp_file_and_line:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s %-10lu val is %d (file %s line %u)\n",
+ *		__px4_log_level_str[3], hrt_absolute_time(),
+ *		val, __FILE__, __LINE__);
+ ****************************************************************************/
+#define __px4_log_timestamp_file_and_line(level, FMT, ...) \
+	__px4__log_printline(level,\
+			     __px4__log_level_fmt\
+			     __px4__log_timestamp_fmt\
+			     FMT\
+			     __px4__log_file_and_line_fmt\
+			     __px4__log_end_fmt\
+			     __px4__log_level_arg(level)\
+			     __px4__log_timestamp_arg\
+			     , ##__VA_ARGS__\
+			     __px4__log_file_and_line_arg\
+			    )
+
+/****************************************************************************
+ * __px4_log_thread_file_and_line:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s %#X val is %d (file %s line %u)\n",
+ *		__px4_log_level_str[3], pthread_self(),
+ *		val, __FILE__, __LINE__);
+ ****************************************************************************/
+#define __px4_log_thread_file_and_line(level, FMT, ...) \
+	__px4__log_printline(level,\
+			     __px4__log_level_fmt\
+			     __px4__log_thread_fmt\
+			     FMT\
+			     __px4__log_file_and_line_fmt\
+			     __px4__log_end_fmt\
+			     __px4__log_level_arg(level)\
+			     __px4__log_thread_arg\
+			     , ##__VA_ARGS__\
+			     __px4__log_file_and_line_arg\
+			    )
+
+/****************************************************************************
+ * __px4_log_timestamp_thread_file_and_line:
+ * Convert a message in the form:
+ * 	PX4_WARN("val is %d", val);
+ * to
+ * 	printf("%-5s %-10lu %#X val is %d (file %s line %u)\n",
+ *		__px4_log_level_str[3], hrt_absolute_time(),
+ *		pthread_self(), val, __FILE__, __LINE__);
+ ****************************************************************************/
+#define __px4_log_timestamp_thread_file_and_line(level, FMT, ...) \
+	__px4__log_printline(level,\
+			     __px4__log_level_fmt\
+			     __px4__log_timestamp_fmt\
+			     __px4__log_thread_fmt\
+			     FMT\
+			     __px4__log_file_and_line_fmt\
+			     __px4__log_end_fmt\
+			     __px4__log_level_arg(level)\
+			     __px4__log_timestamp_arg\
+			     __px4__log_thread_arg\
+			     , ##__VA_ARGS__\
+			     __px4__log_file_and_line_arg\
+			    )
+
+
+/****************************************************************************
+ * Code level macros
+ * These are the log APIs that should be used by the code
+ ****************************************************************************/
+
+/****************************************************************************
+ * Messages that should never be filtered or compiled out
+ ****************************************************************************/
+#define PX4_INFO(FMT, ...) 	__px4_log_modulename(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
+
+#ifdef __NUTTX
+#define PX4_INFO_RAW		printf
+#else
+#define PX4_INFO_RAW(FMT, ...) 	__px4_log_raw(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
+#endif
+
+#if defined(TRACE_BUILD)
+/****************************************************************************
+ * Extremely Verbose settings for a Trace build
+ ****************************************************************************/
+#define PX4_PANIC(FMT, ...)	__px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	__px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	__px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_WARN,  FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	__px4_log_timestamp_thread(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
+
+#elif defined(DEBUG_BUILD)
+/****************************************************************************
+ * Verbose settings for a Debug build
+ ****************************************************************************/
+#define PX4_PANIC(FMT, ...)	__px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	__px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	__px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_WARN,  FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	__px4_log_timestamp(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
+
+#elif defined(RELEASE_BUILD)
+/****************************************************************************
+ * Non-verbose settings for a Release build to minimize strings in build
+ ****************************************************************************/
+#define PX4_PANIC(FMT, ...)	__px4_log_modulename(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	__px4_log_modulename(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_WARN,  FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
+
+#else
+/****************************************************************************
+ * Medium verbose settings for a default build
+ ****************************************************************************/
+#define PX4_PANIC(FMT, ...)	__px4_log_modulename(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	__px4_log_modulename(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	__px4_log_modulename(_PX4_LOG_LEVEL_WARN,  FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
+
+#endif
+#define PX4_LOG_NAMED(name, FMT, ...) 	__px4_log_named_cond(name, true, FMT, ##__VA_ARGS__)
+#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) __px4_log_named_cond(name, cond, FMT, ##__VA_ARGS__)
+#endif
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+/*
+ * This file is a shim to bridge to the many SoC architecture supported by PX4
+ */
+
+// include arch-specific header
+#include <px4_arch/micro_hal.h>
+
@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_module_params.h
+ *
+ * @class ModuleParams is a C++ base class for modules/classes using configuration parameters.
+ */
+
+#pragma once
+
+#include <containers/List.hpp>
+
+#include "param.h"
+
+class ModuleParams : public ListNode<ModuleParams *>
+{
+public:
+
+	ModuleParams(ModuleParams *parent)
+	{
+		setParent(parent);
+	}
+
+	/**
+	 * @brief Sets the parent module. This is typically not required,
+	 *         only in cases where the parent cannot be set via constructor.
+	 */
+	void setParent(ModuleParams *parent)
+	{
+		if (parent) {
+			parent->_children.add(this);
+		}
+	}
+
+	virtual ~ModuleParams() = default;
+
+	// Disallow copy construction and move assignment.
+	ModuleParams(const ModuleParams &) = delete;
+	ModuleParams &operator=(const ModuleParams &) = delete;
+	ModuleParams(ModuleParams &&) = delete;
+	ModuleParams &operator=(ModuleParams &&) = delete;
+
+protected:
+	/**
+	 * @brief Call this method whenever the module gets a parameter change notification.
+	 *        It will automatically call updateParams() for all children, which then call updateParamsImpl().
+	 */
+	virtual void updateParams()
+	{
+		for (const auto &child : _children) {
+			child->updateParams();
+		}
+
+		updateParamsImpl();
+	}
+
+	/**
+	 * @brief The implementation for this is generated with the macro DEFINE_PARAMETERS()
+	 */
+	virtual void updateParamsImpl() {}
+
+private:
+	/** @list _children The module parameter list of inheriting classes. */
+	List<ModuleParams *> _children;
+};
@@ -0,0 +1,321 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file param.h
+ *
+ * C++ Parameter class
+ */
+
+#pragma once
+
+#include "param_macros.h"
+
+#include <parameters/px4_parameters_public.h>
+
+/**
+ * get the parameter handle from a parameter enum
+ */
+inline static param_t param_handle(px4::params p)
+{
+	return (param_t)p;
+}
+
+
+
+
+#define _DEFINE_SINGLE_PARAMETER(x) \
+	do_not_explicitly_use_this_namespace::PAIR(x);
+
+#define _CALL_UPDATE(x) \
+	STRIP(x).update();
+
+// define the parameter update method, which will update all parameters.
+// It is marked as 'final', so that wrong usages lead to a compile error (see below)
+#define _DEFINE_PARAMETER_UPDATE_METHOD(...) \
+	protected: \
+	void updateParamsImpl() final { \
+		APPLY_ALL(_CALL_UPDATE, __VA_ARGS__) \
+	} \
+	private:
+
+// Define a list of parameters. This macro also creates code to update parameters.
+// If you get a compile error like:
+//   error: virtual function ‘virtual void <class>::updateParamsImpl()’
+// It means you have a custom inheritance tree (at least one class with params that inherits from another
+// class with params) and you need to use DEFINE_PARAMETERS_CUSTOM_PARENT() for **all** classes in
+// that tree.
+#define DEFINE_PARAMETERS(...) \
+	APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__) \
+	_DEFINE_PARAMETER_UPDATE_METHOD(__VA_ARGS__)
+
+
+#define _DEFINE_PARAMETER_UPDATE_METHOD_CUSTOM_PARENT(parent_class, ...) \
+	protected: \
+	void updateParamsImpl() override { \
+		parent_class::updateParamsImpl(); \
+		APPLY_ALL(_CALL_UPDATE, __VA_ARGS__) \
+	} \
+	private:
+
+#define DEFINE_PARAMETERS_CUSTOM_PARENT(parent_class, ...) \
+	APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__) \
+	_DEFINE_PARAMETER_UPDATE_METHOD_CUSTOM_PARENT(parent_class, __VA_ARGS__)
+
+
+
+// This namespace never needs to be used directly. Use the DEFINE_PARAMETERS_CUSTOM_PARENT and
+// DEFINE_PARAMETERS macros instead (the Param classes don't depend on using the macro, the macro just
+// makes sure that update() is automatically called).
+namespace do_not_explicitly_use_this_namespace
+{
+
+template<typename T, px4::params p>
+class Param
+{
+};
+
+// We use partial template specialization for each param type. This is only supported for classes, not individual methods,
+// which is why we have to repeat the whole class
+template<px4::params p>
+class Param<float, p>
+{
+public:
+	// static type-check
+	static_assert(px4::param_types_array[(int)p] == PARAM_TYPE_FLOAT, "parameter type must be float");
+
+	Param()
+	{
+		param_set_used(handle());
+		update();
+	}
+
+	float get() const { return _val; }
+
+	const float &reference() const { return _val; }
+
+	/// Store the parameter value to the parameter storage (@see param_set())
+	bool commit() const { return param_set(handle(), &_val) == 0; }
+
+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
+
+	void set(float val) { _val = val; }
+
+	bool update() { return param_get(handle(), &_val) == 0; }
+
+	param_t handle() const { return param_handle(p); }
+private:
+	float _val;
+};
+
+// external version
+template<px4::params p>
+class Param<float &, p>
+{
+public:
+	// static type-check
+	static_assert(px4::param_types_array[(int)p] == PARAM_TYPE_FLOAT, "parameter type must be float");
+
+	Param(float &external_val)
+		: _val(external_val)
+	{
+		param_set_used(handle());
+		update();
+	}
+
+	float get() const { return _val; }
+
+	const float &reference() const { return _val; }
+
+	/// Store the parameter value to the parameter storage (@see param_set())
+	bool commit() const { return param_set(handle(), &_val) == 0; }
+
+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
+
+	void set(float val) { _val = val; }
+
+	bool update() { return param_get(handle(), &_val) == 0; }
+
+	param_t handle() const { return param_handle(p); }
+private:
+	float &_val;
+};
+
+template<px4::params p>
+class Param<int32_t, p>
+{
+public:
+	// static type-check
+	static_assert(px4::param_types_array[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
+
+	Param()
+	{
+		param_set_used(handle());
+		update();
+	}
+
+	int32_t get() const { return _val; }
+
+	const int32_t &reference() const { return _val; }
+
+	/// Store the parameter value to the parameter storage (@see param_set())
+	bool commit() const { return param_set(handle(), &_val) == 0; }
+
+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
+
+	void set(int32_t val) { _val = val; }
+
+	bool update() { return param_get(handle(), &_val) == 0; }
+
+	param_t handle() const { return param_handle(p); }
+private:
+	int32_t _val;
+};
+
+//external version
+template<px4::params p>
+class Param<int32_t &, p>
+{
+public:
+	// static type-check
+	static_assert(px4::param_types_array[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
+
+	Param(int32_t &external_val)
+		: _val(external_val)
+	{
+		param_set_used(handle());
+		update();
+	}
+
+	int32_t get() const { return _val; }
+
+	const int32_t &reference() const { return _val; }
+
+	/// Store the parameter value to the parameter storage (@see param_set())
+	bool commit() const { return param_set(handle(), &_val) == 0; }
+
+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
+
+	void set(int32_t val) { _val = val; }
+
+	bool update() { return param_get(handle(), &_val) == 0; }
+
+	param_t handle() const { return param_handle(p); }
+private:
+	int32_t &_val;
+};
+
+template<px4::params p>
+class Param<bool, p>
+{
+public:
+	// static type-check
+	static_assert(px4::param_types_array[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
+
+	Param()
+	{
+		param_set_used(handle());
+		update();
+	}
+
+	bool get() const { return _val; }
+
+	const bool &reference() const { return _val; }
+
+	/// Store the parameter value to the parameter storage (@see param_set())
+	bool commit() const
+	{
+		int32_t value_int = (int32_t)_val;
+		return param_set(handle(), &value_int) == 0;
+	}
+
+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const
+	{
+		int32_t value_int = (int32_t)_val;
+		return param_set_no_notification(handle(), &value_int) == 0;
+	}
+
+	void set(bool val) { _val = val; }
+
+	bool update()
+	{
+		int32_t value_int;
+		int ret = param_get(handle(), &value_int);
+
+		if (ret == 0) {
+			_val = value_int != 0;
+			return true;
+		}
+
+		return false;
+	}
+
+	param_t handle() const { return param_handle(p); }
+private:
+	bool _val;
+};
+
+template <px4::params p>
+using ParamFloat = Param<float, p>;
+
+template <px4::params p>
+using ParamInt = Param<int32_t, p>;
+
+template <px4::params p>
+using ParamExtFloat = Param<float &, p>;
+
+template <px4::params p>
+using ParamExtInt = Param<int32_t &, p>;
+
+template <px4::params p>
+using ParamBool = Param<bool, p>;
+
+} /* namespace do_not_explicitly_use_this_namespace */
+
+
+// Raise an appropriate compile error if a Param class is used directly (just to simplify debugging)
+template<px4::params p>
+class ParamInt
+{
+	static_assert((int)p &&false, "Do not use this class directly, use the DEFINE_PARAMETERS macro instead");
+};
+template<px4::params p>
+class ParamFloat
+{
+	static_assert((int)p &&false, "Do not use this class directly, use the DEFINE_PARAMETERS macro instead");
+};
@@ -0,0 +1,250 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file param_macros.h
+ *
+ * Helper macros used by px4_param.h
+ */
+
+#pragma once
+
+
+#define APPLY0(t)
+#define APPLY1(t, aaa) t(aaa)
+#define APPLY2(t, aaa, aab) t(aaa) t(aab)
+#define APPLY3(t, aaa, aab, aac) t(aaa) t(aab) t(aac)
+#define APPLY4(t, aaa, aab, aac, aad) t(aaa) t(aab) t(aac) t(aad)
+#define APPLY5(t, aaa, aab, aac, aad, aae) t(aaa) t(aab) t(aac) t(aad) t(aae)
+#define APPLY6(t, aaa, aab, aac, aad, aae, aaf) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf)
+#define APPLY7(t, aaa, aab, aac, aad, aae, aaf, aag) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag)
+#define APPLY8(t, aaa, aab, aac, aad, aae, aaf, aag, aah) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah)
+#define APPLY9(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai)
+#define APPLY10(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj)
+#define APPLY11(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak)
+#define APPLY12(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal)
+#define APPLY13(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam)
+#define APPLY14(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan)
+#define APPLY15(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao)
+#define APPLY16(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap)
+#define APPLY17(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq)
+#define APPLY18(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar)
+#define APPLY19(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas)
+#define APPLY20(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat)
+#define APPLY21(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau)
+#define APPLY22(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav)
+#define APPLY23(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw)
+#define APPLY24(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax)
+#define APPLY25(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay)
+#define APPLY26(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz)
+#define APPLY27(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba)
+#define APPLY28(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb)
+#define APPLY29(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc)
+#define APPLY30(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd)
+#define APPLY31(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe)
+#define APPLY32(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf)
+#define APPLY33(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg)
+#define APPLY34(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh)
+#define APPLY35(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi)
+#define APPLY36(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj)
+#define APPLY37(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk)
+#define APPLY38(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl)
+#define APPLY39(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm)
+#define APPLY40(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn)
+#define APPLY41(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo)
+#define APPLY42(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp)
+#define APPLY43(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq)
+#define APPLY44(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr)
+#define APPLY45(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs)
+#define APPLY46(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt)
+#define APPLY47(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu)
+#define APPLY48(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv)
+#define APPLY49(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw)
+#define APPLY50(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx)
+#define APPLY51(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby)
+#define APPLY52(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz)
+#define APPLY53(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca)
+#define APPLY54(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb)
+#define APPLY55(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc)
+#define APPLY56(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd)
+#define APPLY57(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace)
+#define APPLY58(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf)
+#define APPLY59(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg)
+#define APPLY60(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach)
+#define APPLY61(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci)
+#define APPLY62(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj)
+#define APPLY63(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack)
+#define APPLY64(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl)
+#define APPLY65(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm)
+#define APPLY66(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn)
+#define APPLY67(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco)
+#define APPLY68(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp)
+#define APPLY69(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq)
+#define APPLY70(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr)
+#define APPLY71(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs)
+#define APPLY72(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act)
+#define APPLY73(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu)
+#define APPLY74(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv)
+#define APPLY75(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw)
+#define APPLY76(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx)
+#define APPLY77(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy)
+#define APPLY78(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz)
+#define APPLY79(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada)
+#define APPLY80(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb)
+#define APPLY81(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc)
+#define APPLY82(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add)
+#define APPLY83(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade)
+#define APPLY84(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf)
+#define APPLY85(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg)
+#define APPLY86(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh)
+#define APPLY87(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi)
+#define APPLY88(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj)
+#define APPLY89(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk)
+#define APPLY90(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl)
+#define APPLY91(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm)
+#define APPLY92(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn)
+#define APPLY93(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado)
+#define APPLY94(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp)
+#define APPLY95(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq)
+#define APPLY96(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr)
+#define APPLY97(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads)
+#define APPLY98(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt)
+#define APPLY99(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu)
+#define APPLY100(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv)
+#define APPLY101(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw)
+#define APPLY102(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx)
+#define APPLY103(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady)
+#define APPLY104(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz)
+#define APPLY105(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea)
+#define APPLY106(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb)
+#define APPLY107(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec)
+#define APPLY108(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed)
+#define APPLY109(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee)
+#define APPLY110(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef)
+#define APPLY111(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg)
+#define APPLY112(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh)
+#define APPLY113(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei)
+#define APPLY114(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej)
+#define APPLY115(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek)
+#define APPLY116(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael)
+#define APPLY117(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem)
+#define APPLY118(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen)
+#define APPLY119(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo)
+#define APPLY120(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep)
+#define APPLY121(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq)
+#define APPLY122(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer)
+#define APPLY123(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes)
+#define APPLY124(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet)
+#define APPLY125(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu)
+#define APPLY126(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev)
+#define APPLY127(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew)
+#define APPLY128(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex)
+#define APPLY129(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey)
+#define APPLY130(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez)
+#define APPLY131(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa)
+#define APPLY132(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb)
+#define APPLY133(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc)
+#define APPLY134(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd)
+#define APPLY135(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe)
+#define APPLY136(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff)
+#define APPLY137(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg)
+#define APPLY138(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg, afh) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg) t(afh)
+#define APPLY139(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg, afh, afi) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg) t(afh) t(afi)
+#define APPLY140(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg, afh, afi, afj) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg) t(afh) t(afi) t(afj)
+#define APPLY141(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg, afh, afi, afj, afk) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg) t(afh) t(afi) t(afj) t(afk)
+#define APPLY142(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg, afh, afi, afj, afk, afl) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg) t(afh) t(afi) t(afj) t(afk) t(afl)
+#define APPLY143(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg, afh, afi, afj, afk, afl, afm) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg) t(afh) t(afi) t(afj) t(afk) t(afl) t(afm)
+#define APPLY144(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg, afh, afi, afj, afk, afl, afm, afn) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg) t(afh) t(afi) t(afj) t(afk) t(afl) t(afm) t(afn)
+#define APPLY145(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg, afh, afi, afj, afk, afl, afm, afn, afo) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg) t(afh) t(afi) t(afj) t(afk) t(afl) t(afm) t(afn) t(afo)
+#define APPLY146(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg, afh, afi, afj, afk, afl, afm, afn, afo, afp) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg) t(afh) t(afi) t(afj) t(afk) t(afl) t(afm) t(afn) t(afo) t(afp)
+#define APPLY147(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg, afh, afi, afj, afk, afl, afm, afn, afo, afp, afq) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg) t(afh) t(afi) t(afj) t(afk) t(afl) t(afm) t(afn) t(afo) t(afp) t(afq)
+#define APPLY148(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg, afh, afi, afj, afk, afl, afm, afn, afo, afp, afq, afr) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg) t(afh) t(afi) t(afj) t(afk) t(afl) t(afm) t(afn) t(afo) t(afp) t(afq) t(afr)
+#define APPLY149(t, aaa, aab, aac, aad, aae, aaf, aag, aah, aai, aaj, aak, aal, aam, aan, aao, aap, aaq, aar, aas, aat, aau, aav, aaw, aax, aay, aaz, aba, abb, abc, abd, abe, abf, abg, abh, abi, abj, abk, abl, abm, abn, abo, abp, abq, abr, abs, abt, abu, abv, abw, abx, aby, abz, aca, acb, acc, acd, ace, acf, acg, ach, aci, acj, ack, acl, acm, acn, aco, acp, acq, acr, acs, act, acu, acv, acw, acx, acy, acz, ada, adb, adc, add, ade, adf, adg, adh, adi, adj, adk, adl, adm, adn, ado, adp, adq, adr, ads, adt, adu, adv, adw, adx, ady, adz, aea, aeb, aec, aed, aee, aef, aeg, aeh, aei, aej, aek, ael, aem, aen, aeo, aep, aeq, aer, aes, aet, aeu, aev, aew, aex, aey, aez, afa, afb, afc, afd, afe, aff, afg, afh, afi, afj, afk, afl, afm, afn, afo, afp, afq, afr, afs) t(aaa) t(aab) t(aac) t(aad) t(aae) t(aaf) t(aag) t(aah) t(aai) t(aaj) t(aak) t(aal) t(aam) t(aan) t(aao) t(aap) t(aaq) t(aar) t(aas) t(aat) t(aau) t(aav) t(aaw) t(aax) t(aay) t(aaz) t(aba) t(abb) t(abc) t(abd) t(abe) t(abf) t(abg) t(abh) t(abi) t(abj) t(abk) t(abl) t(abm) t(abn) t(abo) t(abp) t(abq) t(abr) t(abs) t(abt) t(abu) t(abv) t(abw) t(abx) t(aby) t(abz) t(aca) t(acb) t(acc) t(acd) t(ace) t(acf) t(acg) t(ach) t(aci) t(acj) t(ack) t(acl) t(acm) t(acn) t(aco) t(acp) t(acq) t(acr) t(acs) t(act) t(acu) t(acv) t(acw) t(acx) t(acy) t(acz) t(ada) t(adb) t(adc) t(add) t(ade) t(adf) t(adg) t(adh) t(adi) t(adj) t(adk) t(adl) t(adm) t(adn) t(ado) t(adp) t(adq) t(adr) t(ads) t(adt) t(adu) t(adv) t(adw) t(adx) t(ady) t(adz) t(aea) t(aeb) t(aec) t(aed) t(aee) t(aef) t(aeg) t(aeh) t(aei) t(aej) t(aek) t(ael) t(aem) t(aen) t(aeo) t(aep) t(aeq) t(aer) t(aes) t(aet) t(aeu) t(aev) t(aew) t(aex) t(aey) t(aez) t(afa) t(afb) t(afc) t(afd) t(afe) t(aff) t(afg) t(afh) t(afi) t(afj) t(afk) t(afl) t(afm) t(afn) t(afo) t(afp) t(afq) t(afr) t(afs)
+
+#define NUM_ARGS_H1(dummy, x149, x148, x147, x146, x145, x144, x143, x142, x141, x140, x139, x138, x137, x136, x135, x134, x133, x132, x131, x130, x129, x128, x127, x126, x125, x124, x123, x122, x121, x120, x119, x118, x117, x116, x115, x114, x113, x112, x111, x110, x109, x108, x107, x106, x105, x104, x103, x102, x101, x100, x99, x98, x97, x96, x95, x94, x93, x92, x91, x90, x89, x88, x87, x86, x85, x84, x83, x82, x81, x80, x79, x78, x77, x76, x75, x74, x73, x72, x71, x70, x69, x68, x67, x66, x65, x64, x63, x62, x61, x60, x59, x58, x57, x56, x55, x54, x53, x52, x51, x50, x49, x48, x47, x46, x45, x44, x43, x42, x41, x40, x39, x38, x37, x36, x35, x34, x33, x32, x31, x30, x29, x28, x27, x26, x25, x24, x23, x22, x21, x20, x19, x18, x17, x16, x15, x14, x13, x12, x11, x10, x9, x8, x7, x6, x5, x4, x3, x2, x1, x0, ...) x0
+#define NUM_ARGS(...) NUM_ARGS_H1(dummy, ##__VA_ARGS__, 149, 148, 147, 146, 145, 144, 143, 142, 141, 140, 139, 138, 137, 136, 135, 134, 133, 132, 131, 130, 129, 128, 127, 126, 125, 124, 123, 122, 121, 120, 119, 118, 117, 116, 115, 114, 113, 112, 111, 110, 109, 108, 107, 106, 105, 104, 103, 102, 101, 100, 99, 98, 97, 96, 95, 94, 93, 92, 91, 90, 89, 88, 87, 86, 85, 84, 83, 82, 81, 80, 79, 78, 77, 76, 75, 74, 73, 72, 71, 70, 69, 68, 67, 66, 65, 64, 63, 62, 61, 60, 59, 58, 57, 56, 55, 54, 53, 52, 51, 50, 49, 48, 47, 46, 45, 44, 43, 42, 41, 40, 39, 38, 37, 36, 35, 34, 33, 32, 31, 30, 29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0)
+
+#define APPLY_ALL_H3(t, n, ...) APPLY##n(t, __VA_ARGS__)
+#define APPLY_ALL_H2(t, n, ...) APPLY_ALL_H3(t, n, __VA_ARGS__)
+#define APPLY_ALL(t, ...) APPLY_ALL_H2(t, NUM_ARGS(__VA_ARGS__), __VA_ARGS__)
+
+/*
+ * The above macros are auto-generated using the following python script:
+#! /bin/python
+# generate a C/C++ macro APPLY_ALL up to 'count' arguments
+import sys
+
+count = 150
+
+def output(s):
+    sys.stdout.write(s)
+
+def var_name(i):
+    """ get a variable name in the form abc from a counter i """
+    b = ord('a')
+    return chr(b+((i/26/26) % 26)) + chr(b+((i/26) % 26)) + chr(b+(i % 26))
+
+for i in range(count):
+    output("#define APPLY{:}(t".format(i))
+    output(''.join([", {:}".format(var_name(j)) for j in range(i)]))
+    output(") ")
+    output(''.join(["t({:}) ".format(var_name(j)) for j in range(i)]))
+    output("\n")
+
+output('''\n#define NUM_ARGS_H1(dummy{:}, ...) x0
+'''.format(''.join([', x'+str(x) for x in reversed(range(count))])))
+output('''#define NUM_ARGS(...) NUM_ARGS_H1(dummy, ##__VA_ARGS__{:})
+'''.format(''.join([', '+str(x) for x in reversed(range(count))])))
+output('''
+#define APPLY_ALL_H3(t, n, ...) APPLY##n(t, __VA_ARGS__)
+#define APPLY_ALL_H2(t, n, ...) APPLY_ALL_H3(t, n, __VA_ARGS__)
+#define APPLY_ALL(t, ...) APPLY_ALL_H2(t, NUM_ARGS(__VA_ARGS__), __VA_ARGS__)
+''')
+
+ */
+
+
+// helper macros to handle macro arguments in the form: (type) name
+
+#define REM(...) __VA_ARGS__
+#define EAT(...)
+
+// Retrieve the type
+#define TYPEOF(x) DETAIL_TYPEOF(DETAIL_TYPEOF_PROBE x,)
+#define DETAIL_TYPEOF(...) DETAIL_TYPEOF_HEAD(__VA_ARGS__)
+#define DETAIL_TYPEOF_HEAD(x, ...) REM x
+#define DETAIL_TYPEOF_PROBE(...) (__VA_ARGS__),
+// Strip off the type, get the name
+#define STRIP(x) EAT x
+// Show the type without parenthesis
+#define PAIR(x) REM x
@@ -0,0 +1,148 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_posix.h
+ *
+ * Includes POSIX-like functions for virtual character devices
+ */
+
+#pragma once
+
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/tasks.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <stdint.h>
+
+#if defined(__PX4_QURT)
+#include <dspal_types.h>
+#else
+#include <sys/types.h>
+#endif
+
+#include "sem.h"
+
+#define  PX4_F_RDONLY 1
+#define  PX4_F_WRONLY 2
+
+#ifdef __PX4_NUTTX
+
+typedef struct pollfd px4_pollfd_struct_t;
+
+#if defined(__cplusplus)
+#define _GLOBAL ::
+#else
+#define _GLOBAL
+#endif
+#define px4_open 	_GLOBAL open
+#define px4_close 	_GLOBAL close
+#define px4_ioctl 	_GLOBAL ioctl
+#define px4_write 	_GLOBAL write
+#define px4_read 	_GLOBAL read
+#define px4_poll 	_GLOBAL poll
+#define px4_fsync 	_GLOBAL fsync
+#define px4_access 	_GLOBAL access
+#define px4_getpid 	_GLOBAL getpid
+
+#define  PX4_STACK_OVERHEAD	0
+
+#elif defined(__PX4_POSIX)
+
+#define	 PX4_STACK_OVERHEAD	(1024 * 11)
+
+/**
+ * Terminates the calling process immediately.
+ * @return 0 on success, 1 on error
+ */
+#define px4_exit(status) ({return status;})
+
+__BEGIN_DECLS
+
+typedef short pollevent_t;
+
+typedef struct {
+	/* This part of the struct is POSIX-like */
+	int		fd;       /* The descriptor being polled */
+	pollevent_t 	events;   /* The input event flags */
+	pollevent_t 	revents;  /* The output event flags */
+
+	/* Required for PX4 compatibility */
+	px4_sem_t   *sem;  	/* Pointer to semaphore used to post output event */
+	void   *priv;     	/* For use by drivers */
+} px4_pollfd_struct_t;
+
+__EXPORT int 		px4_open(const char *path, int flags, ...);
+__EXPORT int 		px4_close(int fd);
+__EXPORT ssize_t	px4_read(int fd, void *buffer, size_t buflen);
+__EXPORT ssize_t	px4_write(int fd, const void *buffer, size_t buflen);
+__EXPORT int		px4_ioctl(int fd, int cmd, unsigned long arg);
+__EXPORT int		px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
+__EXPORT int		px4_fsync(int fd);
+__EXPORT int		px4_access(const char *pathname, int mode);
+__EXPORT px4_task_t	px4_getpid(void);
+
+__END_DECLS
+#else
+#error "No TARGET OS Provided"
+#endif
+
+
+// The stack size is intended for 32-bit architectures; therefore
+// we often run out of stack space when pointers are larger than 4 bytes.
+// Double the stack size on posix when we're on a 64-bit architecture.
+// Most full-scale OS use 1-4K of memory from the stack themselves
+#define PX4_STACK_ADJUSTED(_s) (_s * (__SIZEOF_POINTER__ >> 2) + PX4_STACK_OVERHEAD)
+
+__BEGIN_DECLS
+extern int px4_errno;
+
+__EXPORT void		px4_show_devices(void);
+__EXPORT void		px4_show_files(void);
+__EXPORT const char 	*px4_get_device_names(unsigned int *handle);
+
+__EXPORT void		px4_show_topics(void);
+__EXPORT const char 	*px4_get_topic_names(unsigned int *handle);
+
+#ifndef __PX4_QURT
+/*
+ * The UNIX epoch system time following the system clock
+ */
+__EXPORT uint64_t	hrt_system_time(void);
+
+
+#endif
+
+__END_DECLS
@@ -0,0 +1,51 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_config.h
+   Configuration flags used in code.
+ */
+
+#pragma once
+
+#if defined(__PX4_NUTTX)
+
+#include <nuttx/config.h>
+#include <nuttx/arch.h>
+#include "micro_hal.h"
+#include <board_config.h>
+
+#elif defined (__PX4_POSIX)
+# include <board_config.h>
+#endif
@@ -37,7 +37,7 @@
 #include "WorkQueue.hpp"

 #include <containers/IntrusiveQueue.hpp>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>

 #include <lib/perf/perf_counter.h>
@@ -38,10 +38,10 @@
 #include <containers/BlockingList.hpp>
 #include <containers/List.hpp>
 #include <containers/IntrusiveQueue.hpp>
-#include <px4_atomic.h>
-#include <px4_defines.h>
-#include <px4_sem.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/atomic.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/sem.h>
+#include <px4_platform_common/tasks.h>

 namespace px4
 {
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sem.h
+ *
+ * Synchronization primitive: Semaphore
+ */
+
+#pragma once
+
+#include <semaphore.h>
+
+#if !defined(__PX4_NUTTX)
+/* Values for protocol attribute */
+
+#define SEM_PRIO_NONE             0
+#define SEM_PRIO_INHERIT          1
+#define SEM_PRIO_PROTECT          2
+#define sem_setprotocol(s,p)
+#endif
+
+#if (defined(__PX4_DARWIN) || defined(__PX4_CYGWIN) || defined(__PX4_POSIX)) && !defined(__PX4_QURT)
+
+__BEGIN_DECLS
+
+typedef struct {
+	pthread_mutex_t lock;
+	pthread_cond_t wait;
+	int value;
+} px4_sem_t;
+
+__EXPORT int		px4_sem_init(px4_sem_t *s, int pshared, unsigned value);
+__EXPORT int		px4_sem_setprotocol(px4_sem_t *s, int protocol);
+__EXPORT int		px4_sem_wait(px4_sem_t *s);
+__EXPORT int		px4_sem_trywait(px4_sem_t *sem);
+__EXPORT int		px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime);
+__EXPORT int		px4_sem_post(px4_sem_t *s);
+__EXPORT int		px4_sem_getvalue(px4_sem_t *s, int *sval);
+__EXPORT int		px4_sem_destroy(px4_sem_t *s);
+
+__END_DECLS
+
+//#elif defined(__PX4_QURT)
+
+//typedef sem_t px4_sem_t;
+
+//#define px4_sem_init		sem_init
+//#define px4_sem_setprotocol sem_setprotocol
+//#define px4_sem_wait		sem_wait
+//#define px4_sem_trywait	sem_trywait
+//#define px4_sem_post		sem_post
+//#define px4_sem_getvalue	sem_getvalue
+//#define px4_sem_destroy		sem_destroy
+
+#else
+
+typedef sem_t px4_sem_t;
+
+__BEGIN_DECLS
+
+#define px4_sem_init		sem_init
+#define px4_sem_setprotocol	sem_setprotocol
+#define px4_sem_wait		sem_wait
+#define px4_sem_trywait		sem_trywait
+#define px4_sem_post		sem_post
+#define px4_sem_getvalue	sem_getvalue
+#define px4_sem_destroy		sem_destroy
+
+#if defined(__PX4_QURT)
+__EXPORT int		px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime);
+#else
+#define px4_sem_timedwait	sem_timedwait
+#endif
+
+__END_DECLS
+
+#endif
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sem.hpp
+ *
+ * C++ synchronization helpers
+ */
+
+#pragma once
+
+#include "sem.h"
+
+
+/**
+ * @class Smart locking object that uses a semaphore. It automatically
+ * takes the lock when created and releases the lock when the object goes out of
+ * scope. Use like this:
+ *
+ *   px4_sem_t my_lock;
+ *   int ret = px4_sem_init(&my_lock, 0, 1);
+ *   ...
+ *
+ *   {
+ *       SmartLock smart_lock(my_lock);
+ *       //critical section start
+ *       ...
+ *       //critical section end
+ *   }
+ */
+class SmartLock
+{
+public:
+	SmartLock(px4_sem_t &sem) : _sem(sem) { do {} while (px4_sem_wait(&_sem) != 0); }
+	~SmartLock() { px4_sem_post(&_sem); }
+private:
+	px4_sem_t &_sem;
+};
@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2015 Ramakrishna Kintada. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <parameters/param.h>
+
+#define MAX_SHMEM_PARAMS 2000 //MAP_SIZE - (LOCK_SIZE - sizeof(struct shmem_info))
+
+#define PARAM_BUFFER_SIZE (MAX_SHMEM_PARAMS / 8 + 1)
+
+struct shmem_info {
+	union param_value_u params_val[MAX_SHMEM_PARAMS];
+	unsigned char krait_changed_index[MAX_SHMEM_PARAMS / 8 + 1]; /*bit map of all params changed by krait*/
+	unsigned char adsp_changed_index[MAX_SHMEM_PARAMS / 8 + 1]; /*bit map of all params changed by adsp*/
+
+#ifdef __PX4_NUTTX
+};
+#else
+} __attribute__((packed));
+#endif
+
+#if (defined(__PX4_POSIX_EXCELSIOR) || defined(__PX4_QURT_EXCELSIOR))
+#define MAP_ADDRESS    0x861FC000
+#else
+#define MAP_ADDRESS	0xfbfc000
+#endif
+#define MAP_SIZE 	16384
+#define MAP_MASK 	(MAP_SIZE - 1)
+
+#define LOCK_OFFSET	0
+#define LOCK_SIZE	4
+#define LOCK_MEM        1
+#define UNLOCK_MEM      2
+
+#define TYPE_MASK 	0x1
+
+extern bool handle_in_range(param_t);
+
+#ifdef __PX4_QURT
+extern struct shmem_info *shmem_info_p;
+
+int get_shmem_lock(const char *caller_file_name, int caller_line_number);
+void release_shmem_lock(const char *caller_file_name, int caller_line_number);
+void init_shared_memory(void);
+
+void copy_params_to_shmem(const param_info_s *param_info_base);
+#endif
+
+void update_to_shmem(param_t param, union param_value_u value);
+int update_from_shmem(param_t param, union param_value_u *value);
+void update_index_from_shmem(void);
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file shutdown.h
+ * Power-related API
+ */
+
+#pragma once
+
+#include <stdbool.h>
+
+__BEGIN_DECLS
+
+/**
+ * Shutdown hook callback method (@see px4_register_shutdown_hook()).
+ * @return true if it's ok to shutdown, false if more time needed for cleanup
+ */
+typedef bool (*shutdown_hook_t)(void);
+
+
+/**
+ * Register a method that should be called when powering off (and also on reboot).
+ * @param hook callback method. It must not block, but return immediately.
+ *        When the system is requested to shutdown, the registered hooks will be
+ *        called regularily until either all of them return true, or a timeout
+ *        is reached.
+ * @return 0 on success, <0 on error
+ */
+__EXPORT int px4_register_shutdown_hook(shutdown_hook_t hook);
+
+
+/**
+ * Unregister a shutdown hook
+ * @param hook callback method to be removed
+ * @return 0 on success, <0 on error
+ */
+__EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);
+
+
+/**
+ * Request the system to shut down or reboot.
+ * Note the following:
+ * - The system might not support to shutdown (or reboot). In that case -EINVAL will
+ *   be returned.
+ * - The system might not shutdown immediately, so expect this method to return even
+ *   on success.
+ * @param reboot perform a reboot instead of a shutdown
+ * @param to_bootloader reboot into bootloader mode (only used if reboot is true)
+ * @return 0 on success, <0 on error
+ */
+__EXPORT int px4_shutdown_request(bool reboot, bool to_bootloader);
+
+
+/**
+ * Grab the shutdown lock. It will prevent the system from shutting down until the lock is released.
+ * It is safe to call this recursively.
+ * @return 0 on success, <0 on error
+ */
+__EXPORT int px4_shutdown_lock(void);
+
+/**
+ * Release the shutdown lock.
+ * @return 0 on success, <0 on error
+ */
+__EXPORT int px4_shutdown_unlock(void);
+
+__END_DECLS
+
@@ -0,0 +1,193 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_tasks.h
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ * @author Mark Charlebois (2015) <charlebm@gmail.com>
+ *
+ * Preserve existing task API call signature with OS abstraction
+ */
+
+#pragma once
+
+#include <stdbool.h>
+
+#if defined(__PX4_NUTTX)
+typedef int px4_task_t;
+
+#include <sys/prctl.h>
+#define px4_prctl prctl
+
+/** Default scheduler type */
+#if CONFIG_RR_INTERVAL > 0
+# define SCHED_DEFAULT  SCHED_RR
+#else
+# define SCHED_DEFAULT  SCHED_FIFO
+#endif
+
+#define px4_task_exit(x) _exit(x)
+
+#elif defined(__PX4_POSIX) || defined(__PX4_QURT)
+
+#include <pthread.h>
+#include <sched.h>
+
+/** Default scheduler type */
+#define SCHED_DEFAULT	SCHED_FIFO
+
+#if defined(__PX4_LINUX) || defined(__PX4_DARWIN) || defined(__PX4_CYGWIN)
+
+#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
+#define SCHED_PRIORITY_MIN sched_get_priority_min(SCHED_FIFO)
+#define SCHED_PRIORITY_DEFAULT (((sched_get_priority_max(SCHED_FIFO) - sched_get_priority_min(SCHED_FIFO)) / 2) + sched_get_priority_min(SCHED_FIFO))
+
+#elif defined(__PX4_QURT)
+
+#define SCHED_PRIORITY_MAX 255
+#define SCHED_PRIORITY_MIN 0
+#define SCHED_PRIORITY_DEFAULT 20
+
+#else
+#error "No target OS defined"
+#endif
+
+#if defined (__PX4_LINUX)
+#include <sys/prctl.h>
+#else
+#define PR_SET_NAME	1
+#endif
+
+typedef int px4_task_t;
+
+typedef struct {
+	int argc;
+	char **argv;
+} px4_task_args_t;
+
+#else
+#error "No target OS defined"
+#endif
+
+// PX4 work queue starting high priority
+#define PX4_WQ_HP_BASE (SCHED_PRIORITY_MAX - 12)
+
+// Fast drivers - they need to run as quickly as possible to minimize control
+// latency.
+#define SCHED_PRIORITY_FAST_DRIVER		(SCHED_PRIORITY_MAX - 0)
+
+// Actuator outputs should run as soon as the rate controller publishes
+// the actuator controls topic
+#define SCHED_PRIORITY_ACTUATOR_OUTPUTS		(PX4_WQ_HP_BASE - 3)
+
+// Attitude controllers typically are in a blocking wait on driver data
+// they should be the first to run on an update, using the current sensor
+// data and the *previous* attitude reference from the position controller
+// which typically runs at a slower rate
+#define SCHED_PRIORITY_ATTITUDE_CONTROL		(PX4_WQ_HP_BASE - 4)
+
+// Estimators should run after the attitude controller but before anything
+// else in the system. They wait on sensor data which is either coming
+// from the sensor hub or from a driver. Keeping this class at a higher
+// priority ensures that the estimator runs first if it can, but will
+// wait for the sensor hub if its data is coming from it.
+#define SCHED_PRIORITY_ESTIMATOR		(PX4_WQ_HP_BASE - 5)
+
+// The sensor hub conditions sensor data. It is not the fastest component
+// in the controller chain, but provides easy-to-use data to the more
+// complex downstream consumers
+#define SCHED_PRIORITY_SENSOR_HUB		(PX4_WQ_HP_BASE - 6)
+
+// Position controllers typically are in a blocking wait on estimator data
+// so when new sensor data is available they will run last. Keeping them
+// on a high priority ensures that they are the first process to be run
+// when the estimator updates.
+#define SCHED_PRIORITY_POSITION_CONTROL		(PX4_WQ_HP_BASE - 7)
+
+// The log capture (which stores log data into RAM) should run faster
+// than other components, but should not run before the control pipeline
+#define SCHED_PRIORITY_LOG_CAPTURE		(PX4_WQ_HP_BASE - 10)
+
+// Slow drivers should run at a rate where they do not impact the overall
+// system execution
+#define SCHED_PRIORITY_SLOW_DRIVER		(PX4_WQ_HP_BASE - 35)
+
+// The navigation system needs to execute regularly but has no realtime needs
+#define SCHED_PRIORITY_NAVIGATION		(SCHED_PRIORITY_DEFAULT + 5)
+//      SCHED_PRIORITY_DEFAULT
+#define SCHED_PRIORITY_LOG_WRITER		(SCHED_PRIORITY_DEFAULT - 10)
+#define SCHED_PRIORITY_PARAMS			(SCHED_PRIORITY_DEFAULT - 15)
+//      SCHED_PRIORITY_IDLE
+
+typedef int (*px4_main_t)(int argc, char *argv[]);
+
+__BEGIN_DECLS
+
+/** Reboots the board (without waiting for clean shutdown). Modules should use px4_shutdown_request() in most cases.
+ */
+__EXPORT void px4_systemreset(bool to_bootloader) noreturn_function;
+
+/** Starts a task and performs any specific accounting, scheduler setup, etc. */
+__EXPORT px4_task_t px4_task_spawn_cmd(const char *name,
+				       int scheduler,
+				       int priority,
+				       int stack_size,
+				       px4_main_t entry,
+				       char *const argv[]);
+
+/** Deletes a task - does not do resource cleanup **/
+__EXPORT int px4_task_delete(px4_task_t pid);
+
+/** Send a signal to a task **/
+__EXPORT int px4_task_kill(px4_task_t pid, int sig);
+
+/** Exit current task with return value **/
+__EXPORT void px4_task_exit(int ret);
+
+/** Show a list of running tasks **/
+__EXPORT void px4_show_tasks(void);
+
+/** See if a task is running **/
+__EXPORT bool px4_task_is_running(const char *taskname);
+
+#ifdef __PX4_POSIX
+/** set process (and thread) options */
+__EXPORT int px4_prctl(int option, const char *arg2, px4_task_t pid);
+#endif
+
+/** return the name of the current task */
+__EXPORT const char *px4_get_taskname(void);
+
+__END_DECLS
+
@@ -0,0 +1,39 @@
+#pragma once
+
+#include <unistd.h>
+#include <sys/types.h>
+#include <time.h>
+#include <pthread.h>
+
+#if defined(__PX4_APPLE_LEGACY)
+#define clockid_t int
+#endif
+
+#if defined(__PX4_POSIX) || defined(__PX4_QURT)
+__BEGIN_DECLS
+__EXPORT int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
+__END_DECLS
+#else
+#define px4_clock_gettime system_clock_gettime
+#endif
+
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+
+__BEGIN_DECLS
+__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
+
+__EXPORT int px4_usleep(useconds_t usec);
+__EXPORT unsigned int px4_sleep(unsigned int seconds);
+__EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
+					pthread_mutex_t *mutex,
+					const struct timespec *abstime);
+__END_DECLS
+
+#else
+
+#define px4_clock_settime system_clock_settime
+#define px4_usleep system_usleep
+#define px4_sleep system_sleep
+#define px4_pthread_cond_timedwait system_pthread_cond_timedwait
+
+#endif
@@ -0,0 +1,145 @@
+/****************************************************************************
+ * include/nuttx/wqueue.h
+ *
+ *   Copyright (C) 2009, 2011-2013 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#if defined(__PX4_NUTTX)
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+#elif defined(__PX4_POSIX)
+
+#include <stdint.h>
+#include <queue.h>
+#include <px4_platform_types.h>
+
+#ifdef __PX4_QURT
+#include <dspal_types.h>
+#endif
+
+__BEGIN_DECLS
+
+#define HPWORK 0
+#define LPWORK 1
+#define NWORKERS 2
+
+struct wqueue_s {
+	pid_t             pid; /* The task ID of the worker thread */
+	struct dq_queue_s q;   /* The queue of pending work */
+};
+
+extern struct wqueue_s g_work[NWORKERS];
+
+/* Defines the work callback */
+
+typedef void (*worker_t)(void *arg);
+
+struct work_s {
+	struct dq_entry_s dq;  /* Implements a doubly linked list */
+	worker_t  worker;      /* Work callback */
+	void *arg;             /* Callback argument */
+	uint64_t  qtime;       /* Time work queued */
+	uint32_t  delay;       /* Delay until work performed */
+};
+
+/****************************************************************************
+ * Name: work_queues_init()
+ *
+ * Description:
+ *   Initialize the work queues.
+ *
+ ****************************************************************************/
+void work_queues_init(void);
+
+/****************************************************************************
+ * Name: work_queue
+ *
+ * Description:
+ *   Queue work to be performed at a later time.  All queued work will be
+ *   performed on the worker thread of of execution (not the caller's).
+ *
+ *   The work structure is allocated by caller, but completely managed by
+ *   the work queue logic.  The caller should never modify the contents of
+ *   the work queue structure; the caller should not call work_queue()
+ *   again until either (1) the previous work has been performed and removed
+ *   from the queue, or (2) work_cancel() has been called to cancel the work
+ *   and remove it from the work queue.
+ *
+ * Input parameters:
+ *   qid    - The work queue ID
+ *   work   - The work structure to queue
+ *   worker - The worker callback to be invoked.  The callback will invoked
+ *            on the worker thread of execution.
+ *   arg    - The argument that will be passed to the workder callback when
+ *            int is invoked.
+ *   delay  - Delay (in clock ticks) from the time queue until the worker
+ *            is invoked. Zero means to perform the work immediately.
+ *
+ * Returned Value:
+ *   Zero on success, a negated errno on failure
+ *
+ ****************************************************************************/
+
+int work_queue(int qid, struct work_s *work, worker_t worker, void *arg, uint32_t delay);
+
+/****************************************************************************
+ * Name: work_cancel
+ *
+ * Description:
+ *   Cancel previously queued work.  This removes work from the work queue.
+ *   After work has been canceled, it may be re-queue by calling work_queue()
+ *   again.
+ *
+ * Input parameters:
+ *   qid    - The work queue ID
+ *   work   - The previously queue work structure to cancel
+ *
+ * Returned Value:
+ *   Zero on success, a negated errno on failure
+ *
+ ****************************************************************************/
+
+int work_cancel(int qid, struct work_s *work);
+
+uint32_t clock_systimer(void);
+
+int work_hpthread(int argc, char *argv[]);
+int work_lpthread(int argc, char *argv[]);
+
+__END_DECLS
+
+#else
+#error "Unknown target OS"
+#endif
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_time.h
+ * transitional include header for submodules
+ */
+#pragma once
+
+#include <px4_platform_common/time.h>
+
@@ -40,9 +40,9 @@
 #define MODULE_NAME "module"
 #endif

-#include <px4_module.h>
-#include <px4_defines.h>
-#include <px4_log.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/log.h>

 pthread_mutex_t px4_modules_mutex = PTHREAD_MUTEX_INITIALIZER;

@@ -32,13 +32,13 @@
 ****************************************************************************/

 #include <parameters/param.h>
-#include <px4_cli.h>
+#include <px4_platform_common/cli.h>

 #ifndef MODULE_NAME
 #define MODULE_NAME "cli"
 #endif

-#include <px4_log.h>
+#include <px4_platform_common/log.h>

 #include <cstring>
 #include <errno.h>
@@ -36,7 +36,7 @@
 * Minimal, thread safe version of getopt
 */

-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <stdio.h>

 // check if p is a valid option and if the option takes an arg
@@ -40,7 +40,7 @@
 #define MODULE_NAME "log"
 #endif

-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #if defined(__PX4_POSIX)
 #include <px4_daemon/server_io.h>
 #endif
@@ -36,7 +36,7 @@
 #include <px4_platform_common/px4_work_queue/WorkQueue.hpp>
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>

-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <drivers/drv_hrt.h>

 namespace px4
@@ -36,8 +36,8 @@

 #include <string.h>

-#include <px4_tasks.h>
-#include <px4_time.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
 #include <drivers/drv_hrt.h>

 namespace px4
@@ -36,10 +36,10 @@
 #include <px4_platform_common/px4_work_queue/WorkQueue.hpp>

 #include <drivers/drv_hrt.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
-#include <px4_atomic.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/atomic.h>
 #include <containers/BlockingList.hpp>
 #include <containers/BlockingQueue.hpp>
 #include <lib/drivers/device/Device.hpp>
@@ -34,9 +34,9 @@
 #include "wqueue_test.h"
 #include "wqueue_scheduled_test.h"

-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_init.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/init.h>
 #include <stdio.h>

 int PX4_MAIN(int argc, char **argv)
@@ -34,8 +34,8 @@
 #include "wqueue_scheduled_test.h"

 #include <drivers/drv_hrt.h>
-#include <px4_log.h>
-#include <px4_time.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/time.h>

 #include <unistd.h>
 #include <stdio.h>
@@ -33,7 +33,7 @@

 #pragma once

-#include <px4_app.h>
+#include <px4_platform_common/app.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <string.h>

@@ -33,9 +33,9 @@

 #include "wqueue_test.h"

-#include <px4_app.h>
-#include <px4_log.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/tasks.h>
 #include <stdio.h>
 #include <string.h>
 #include <sched.h>
@@ -34,8 +34,8 @@
 #include "wqueue_test.h"

 #include <drivers/drv_hrt.h>
-#include <px4_log.h>
-#include <px4_time.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/time.h>

 #include <unistd.h>
 #include <stdio.h>
@@ -33,7 +33,7 @@

 #pragma once

-#include <px4_app.h>
+#include <px4_platform_common/app.h>
 #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <string.h>

@@ -38,15 +38,15 @@

 #include <board_config.h>

-#include <px4_workqueue.h>
-#include <px4_shutdown.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/shutdown.h>
+#include <px4_platform_common/tasks.h>

 #ifndef MODULE_NAME
 #define MODULE_NAME "shutdown"
 #endif

-#include <px4_log.h>
+#include <px4_platform_common/log.h>

 #include <stdint.h>
 #include <errno.h>
@@ -37,10 +37,10 @@
 * Included Files
 ****************************************************************************/

-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_workqueue.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/tasks.h>

 #include <signal.h>
 #include <stdint.h>
@@ -48,8 +48,8 @@
 #include <stdio.h>
 #include <semaphore.h>
 #include <drivers/drv_hrt.h>
-#include <px4_workqueue.h>
-#include <px4_posix.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/posix.h>
 #include "hrt_work.h"

 /****************************************************************************
@@ -38,17 +38,17 @@
 * Included Files
 ****************************************************************************/

-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
 #include <stdint.h>
 #include <signal.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <queue.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/workqueue.h>
 #include <drivers/drv_hrt.h>
 #include "hrt_work.h"

@@ -37,9 +37,9 @@
 * Included Files
 ****************************************************************************/

-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/workqueue.h>

 #include "hrt_work.h"

@@ -37,10 +37,10 @@
 * Included Files
 ****************************************************************************/

-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 #include <queue.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/workqueue.h>
 #include "work_lock.h"

 #ifdef CONFIG_SCHED_WORKQUEUE
@@ -30,8 +30,8 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
-#include <px4_log.h>
-#include <px4_posix.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/posix.h>
 #include <stdio.h>
 #include "work_lock.h"

@@ -37,10 +37,10 @@
 * Included Files
 ****************************************************************************/

-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_workqueue.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/tasks.h>

 #include <signal.h>
 #include <stdint.h>
--- a/Show More
+++ b/Show More