Root/docs/build.tex

1One of the biggest challenges to getting started with embedded devices is that you
2cannot just install a copy of Linux and expect to be able to compile a firmware.
3Even if you did remember to install a compiler and every development tool offered,
4you still would not have the basic set of tools needed to produce a firmware image.
5The embedded device represents an entirely new hardware platform, which is
6most of the time incompatible with the hardware on your development machine, so in a process called
7cross compiling you need to produce a new compiler capable of generating code for
8your embedded platform, and then use it to compile a basic Linux distribution to
9run on your device.
10
11The process of creating a cross compiler can be tricky, it is not something that is
12regularly attempted and so there is a certain amount of mystery and black magic
13associated with it. In many cases when you are dealing with embedded devices you will
14be provided with a binary copy of a compiler and basic libraries rather than
15instructions for creating your own -- it is a time saving step but at the same time
16often means you will be using a rather dated set of tools. Likewise, it is also common
17to be provided with a patched copy of the Linux kernel from the board or chip vendor,
18but this is also dated and it can be difficult to spot exactly what has been
19modified to make the kernel run on the embedded platform.
20
21\subsection{Building an image}
22
23OpenWrt takes a different approach to building a firmware; downloading, patching
24and compiling everything from scratch, including the cross compiler. To put it
25in simpler terms, OpenWrt does not contain any executables or even sources, it is an
26automated system for downloading the sources, patching them to work with the given
27platform and compiling them correctly for that platform. What this means is that
28just by changing the template, you can change any step in the process.
29
30As an example, if a new kernel is released, a simple change to one of the Makefiles
31will download the latest kernel, patch it to run on the embedded platform and produce
32a new firmware image -- there is no work to be done trying to track down an unmodified
33copy of the existing kernel to see what changes had been made, the patches are
34already provided and the process ends up almost completely transparent. This does not
35just apply to the kernel, but to anything included with OpenWrt -- It is this one
36simple understated concept which is what allows OpenWrt to stay on the bleeding edge
37with the latest compilers, latest kernels and latest applications.
38
39So let's take a look at OpenWrt and see how this all works.
40
41
42\subsubsection{Download OpenWrt}
43
44This article refers to the "Kamikaze" branch of OpenWrt, which can be downloaded via
45subversion using the following command:
46
47\begin{Verbatim}
48$ svn checkout svn://svn.openwrt.org/openwrt/trunk kamikaze
49\end{Verbatim}
50
51Additionally, there is a trac interface on \href{https://dev.openwrt.org/}{https://dev.openwrt.org/}
52which can be used to monitor svn commits and browse the source repository.
53
54
55\subsubsection{The directory structure}
56
57There are four key directories in the base:
58
59\begin{itemize}
60    \item \texttt{tools}
61    \item \texttt{toolchain}
62    \item \texttt{package}
63    \item \texttt{target}
64\end{itemize}
65
66\texttt{tools} and \texttt{toolchain} refer to common tools which will be
67used to build the firmware image, the compiler, and the C library.
68The result of this is three new directories, \texttt{build\_dir/host}, which is a temporary
69directory for building the target independent tools, \texttt{build\_dir/toolchain-\textit{<arch>}*}
70which is used for building the toolchain for a specific architecture, and
71\texttt{staging\_dir/toolchain-\textit{<arch>}*} where the resulting toolchain is installed.
72You will not need to do anything with the toolchain directory unless you intend to
73add a new version of one of the components above.
74
75\begin{itemize}
76    \item \texttt{build\_dir/host}
77    \item \texttt{build\_dir/toolchain-\textit{<arch>}*}
78\end{itemize}
79
80\texttt{package} is for exactly that -- packages. In an OpenWrt firmware, almost everything
81is an \texttt{.ipk}, a software package which can be added to the firmware to provide new
82features or removed to save space. Note that packages are also maintained outside of the main
83trunk and can be obtained from subversion using the package feeds system:
84
85\begin{Verbatim}
86$ ./scripts/feeds update
87\end{Verbatim}
88
89Those packages can be used to extend the functionality of the build system and need to be
90symlinked into the main trunk. Once you do that, the packages will show up in the menu for
91configuration. From kamikaze you would do something like this:
92
93\begin{Verbatim}
94$ ./scripts/feeds search nmap
95Search results in feed 'packages':
96nmap Network exploration and/or security auditing utility
97
98$ ./scripts/feeds install nmap
99\end{Verbatim}
100
101To include all packages, issue the following command:
102
103\begin{Verbatim}
104$ make package/symlinks
105\end{Verbatim}
106
107\texttt{target} refers to the embedded platform, this contains items which are specific to
108a specific embedded platform. Of particular interest here is the "\texttt{target/linux}"
109directory which is broken down by platform \textit{<arch>} and contains the patches to the
110kernel, profile config, for a particular platform. There's also the "\texttt{target/image}" directory
111which describes how to package a firmware for a specific platform.
112
113Both the target and package steps will use the directory "\texttt{build\_dir/\textit{<arch>}}"
114as a temporary directory for compiling. Additionally, anything downloaded by the toolchain,
115target or package steps will be placed in the "\texttt{dl}" directory.
116
117\begin{itemize}
118    \item \texttt{build\_dir/\textit{<arch>}}
119    \item \texttt{dl}
120\end{itemize}
121
122\subsubsection{Building OpenWrt}
123
124While the OpenWrt build environment was intended mostly for developers, it also has to be
125simple enough that an inexperienced end user can easily build his or her own customized firmware.
126
127Running the command "\texttt{make menuconfig}" will bring up OpenWrt's configuration menu
128screen, through this menu you can select which platform you're targeting, which versions of
129the toolchain you want to use to build and what packages you want to install into the
130firmware image. Note that it will also check to make sure you have the basic dependencies for it
131to run correctly. If that fails, you will need to install some more tools in your local environment
132before you can begin.
133
134Similar to the linux kernel config, almost every option has three choices,
135\texttt{y/m/n} which are represented as follows:
136
137\begin{itemize}
138    \item{\texttt{<*>} (pressing y)} \\
139        This will be included in the firmware image
140    \item{\texttt{<M>} (pressing m)} \\
141        This will be compiled but not included (for later install)
142    \item{\texttt{< >} (pressing n)} \\
143        This will not be compiled
144\end{itemize}
145
146After you've finished with the menu configuration, exit and when prompted, save your
147configuration changes.
148
149If you want, you can also modify the kernel config for the selected target system.
150simply run "\texttt{make kernel\_menuconfig}" and the build system will unpack the kernel sources
151(if necessary), run menuconfig inside of the kernel tree, and then copy the kernel config
152to \texttt{target/linux/\textit{<platform>}/config} so that it is preserved over
153"\texttt{make clean}" calls.
154
155To begin compiling the firmware, type "\texttt{make}". By default
156OpenWrt will only display a high level overview of the compile process and not each individual
157command.
158
159\subsubsection{Example:}
160
161\begin{Verbatim}
162make[2] toolchain/install
163make[3] -C toolchain install
164make[2] target/compile
165make[3] -C target compile
166make[4] -C target/utils prepare
167
168[...]
169\end{Verbatim}
170
171This makes it easier to monitor which step it's actually compiling and reduces the amount
172of noise caused by the compile output. To see the full output, run the command
173"\texttt{make V=99}".
174
175During the build process, buildroot will download all sources to the "\texttt{dl}"
176directory and will start patching and compiling them in the "\texttt{build\_dir/\textit{<arch>}}"
177directory. When finished, the resulting firmware will be in the "\texttt{bin}" directory
178and packages will be in the "\texttt{bin/packages}" directory.
179
180
181\subsection{Creating packages}
182
183One of the things that we've attempted to do with OpenWrt's template system is make it
184incredibly easy to port software to OpenWrt. If you look at a typical package directory
185in OpenWrt you'll find two things:
186
187\begin{itemize}
188    \item \texttt{package/\textit{<name>}/Makefile}
189    \item \texttt{package/\textit{<name>}/patches}
190    \item \texttt{package/\textit{<name>}/files}
191\end{itemize}
192
193The patches directory is optional and typically contains bug fixes or optimizations to
194reduce the size of the executable. The package makefile is the important item, provides
195the steps actually needed to download and compile the package.
196
197The files directory is also optional and typicall contains package specific startup scripts or default configuration files that can be used out of the box with OpenWrt.
198
199Looking at one of the package makefiles, you'd hardly recognize it as a makefile.
200Through what can only be described as blatant disregard and abuse of the traditional
201make format, the makefile has been transformed into an object oriented template which
202simplifies the entire ordeal.
203
204Here for example, is \texttt{package/bridge/Makefile}:
205
206\begin{Verbatim}[frame=single,numbers=left]
207
208include $(TOPDIR)/rules.mk
209
210PKG_NAME:=bridge
211PKG_VERSION:=1.0.6
212PKG_RELEASE:=1
213
214PKG_SOURCE:=bridge-utils-$(PKG_VERSION).tar.gz
215PKG_SOURCE_URL:=@SF/bridge
216PKG_MD5SUM:=9b7dc52656f5cbec846a7ba3299f73bd
217PKG_CAT:=zcat
218
219PKG_BUILD_DIR:=$(BUILD_DIR)/bridge-utils-$(PKG_VERSION)
220
221include $(INCLUDE_DIR)/package.mk
222
223define Package/bridge
224  SECTION:=net
225  CATEGORY:=Base system
226  TITLE:=Ethernet bridging configuration utility
227  URL:=http://bridge.sourceforge.net/
228endef
229
230define Package/bridge/description
231  Manage ethernet bridging:
232  a way to connect networks together to form a larger network.
233endef
234
235define Build/Configure
236    $(call Build/Configure/Default, \
237        --with-linux-headers="$(LINUX_DIR)" \
238    )
239endef
240
241define Package/bridge/install
242    $(INSTALL_DIR) $(1)/usr/sbin
243    $(INSTALL_BIN) $(PKG_BUILD_DIR)/brctl/brctl $(1)/usr/sbin/
244endef
245
246$(eval $(call BuildPackage,bridge))
247\end{Verbatim}
248
249As you can see, there's not much work to be done; everything is hidden in other makefiles
250and abstracted to the point where you only need to specify a few variables.
251
252\begin{itemize}
253    \item \texttt{PKG\_NAME} \\
254        The name of the package, as seen via menuconfig and ipkg
255    \item \texttt{PKG\_VERSION} \\
256        The upstream version number that we are downloading
257    \item \texttt{PKG\_RELEASE} \\
258        The version of this package Makefile
259    \item \texttt{PKG\_SOURCE} \\
260        The filename of the original sources
261    \item \texttt{PKG\_SOURCE\_URL} \\
262        Where to download the sources from (no trailing slash), you can add multiple download sources by separating them with a \\ and a carriage return.
263    \item \texttt{PKG\_MD5SUM} \\
264        A checksum to validate the download
265    \item \texttt{PKG\_CAT} \\
266        How to decompress the sources (zcat, bzcat, unzip)
267    \item \texttt{PKG\_BUILD\_DIR} \\
268        Where to compile the package
269\end{itemize}
270
271The \texttt{PKG\_*} variables define where to download the package from;
272\texttt{@SF} is a special keyword for downloading packages from sourceforge. There is also
273another keyword of \texttt{@GNU} for grabbing GNU source releases. If any of the above mentionned download source fails, the OpenWrt mirrors will be used as source.
274
275The md5sum (if present) is used to verify the package was downloaded correctly and
276\texttt{PKG\_BUILD\_DIR} defines where to find the package after the sources are
277uncompressed into \texttt{\$(BUILD\_DIR)}.
278
279At the bottom of the file is where the real magic happens, "BuildPackage" is a macro
280set up by the earlier include statements. BuildPackage only takes one argument directly --
281the name of the package to be built, in this case "\texttt{bridge}". All other information
282is taken from the define blocks. This is a way of providing a level of verbosity, it's
283inherently clear what the contents of the \texttt{description} template in
284\texttt{Package/bridge} is, which wouldn't be the case if we passed this information
285directly as the Nth argument to \texttt{BuildPackage}.
286
287\texttt{BuildPackage} uses the following defines:
288
289\textbf{\texttt{Package/\textit{<name>}}:} \\
290    \texttt{\textit{<name>}} matches the argument passed to buildroot, this describes
291    the package the menuconfig and ipkg entries. Within \texttt{Package/\textit{<name>}}
292    you can define the following variables:
293
294    \begin{itemize}
295        \item \texttt{SECTION} \\
296            The section of package (currently unused)
297        \item \texttt{CATEGORY} \\
298            Which menu it appears in menuconfig: Network, Sound, Utilities, Multimedia ...
299        \item \texttt{TITLE} \\
300            A short description of the package
301        \item \texttt{URL} \\
302            Where to find the original software
303        \item \texttt{MAINTAINER} (optional) \\
304            Who to contact concerning the package
305        \item \texttt{DEPENDS} (optional) \\
306            Which packages must be built/installed before this package. To reference a dependency defined in the
307            same Makefile, use \textit{<dependency name>}. If defined as an external package, use
308            \textit{+<dependency name>}. For a kernel version dependency use: \textit{@LINUX\_2\_<minor version>}
309        \item \texttt{BUILDONLY} (optional) \\
310            Set this option to 1 if you do NOT want your package to appear in menuconfig.
311            This is useful for packages which are only used as build dependencies.
312    \end{itemize}
313
314\textbf{\texttt{Package/\textit{<name>}/conffiles} (optional):} \\
315   A list of config files installed by this package, one file per line.
316
317\textbf{\texttt{Build/Prepare} (optional):} \\
318   A set of commands to unpack and patch the sources. You may safely leave this
319   undefined.
320
321\textbf{\texttt{Build/Configure} (optional):} \\
322   You can leave this undefined if the source doesn't use configure or has a
323   normal config script, otherwise you can put your own commands here or use
324   "\texttt{\$(call Build/Configure/Default,\textit{<first list of arguments, second list>})}" as above to
325   pass in additional arguments for a standard configure script. The first list of arguments will be passed
326   to the configure script like that: \texttt{--arg 1} \texttt{--arg 2}. The second list contains arguments that should be
327   defined before running the configure script such as autoconf or compiler specific variables.
328   
329   To make it easier to modify the configure command line, you can either extend or completely override the following variables:
330   \begin{itemize}
331     \item \texttt{CONFIGURE\_ARGS} \\
332         Contains all command line arguments (format: \texttt{--arg 1} \texttt{--arg 2})
333     \item \texttt{CONFIGURE\_VARS} \\
334         Contains all environment variables that are passed to ./configure (format: \texttt{NAME="value"})
335   \end{itemize}
336
337\textbf{\texttt{Build/Compile} (optional):} \\
338   How to compile the source; in most cases you should leave this undefined.
339   
340   As with \texttt{Build/Configure} there are two variables that allow you to override
341   the make command line environment variables and flags:
342   \begin{itemize}
343     \item \texttt{MAKE\_FLAGS} \\
344       Contains all command line arguments (typically variable overrides like \texttt{NAME="value"}
345     \item \texttt{MAKE\_VARS} \\
346       Contains all environment variables that are passed to the make command
347   \end{itemize}
348
349\textbf{\texttt{Build/InstallDev} (optional):} \\
350    If your package provides a library that needs to be made available to other packages,
351    you can use the \texttt{Build/InstallDev} template to copy it into the staging directory
352    which is used to collect all files that other packages might depend on at build time.
353    When it is called by the build system, two parameters are passed to it. \texttt{\$(1)} points to
354    the regular staging dir, typically \texttt{staging\_dir/\textit{ARCH}}, while \texttt{\$(2)} points
355    to \texttt{staging\_dir/host}. The host staging dir is only used for binaries, which are
356    to be executed or linked against on the host and its \texttt{bin/} subdirectory is included
357    in the \texttt{PATH} which is passed down to the build system processes.
358    Please use \texttt{\$(1)} and \texttt{\$(2)} here instead of the build system variables
359    \texttt{\$(STAGING\_DIR)} and \texttt{\$(STAGING\_DIR\_HOST)}, because the build system behavior
360    when staging libraries might change in the future to include automatic uninstallation.
361
362\textbf{\texttt{Package/\textit{<name>}/install}:} \\
363   A set of commands to copy files out of the compiled source and into the ipkg
364   which is represented by the \texttt{\$(1)} directory. Note that there are currently
365   4 defined install macros:
366   \begin{itemize}
367       \item \texttt{INSTALL\_DIR} \\
368           install -d -m0755
369       \item \texttt{INSTALL\_BIN} \\
370           install -m0755
371       \item \texttt{INSTALL\_DATA} \\
372           install -m0644
373       \item \texttt{INSTALL\_CONF} \\
374           install -m0600
375   \end{itemize}
376
377The reason that some of the defines are prefixed by "\texttt{Package/\textit{<name>}}"
378and others are simply "\texttt{Build}" is because of the possibility of generating
379multiple packages from a single source. OpenWrt works under the assumption of one
380source per package Makefile, but you can split that source into as many packages as
381desired. Since you only need to compile the sources once, there's one global set of
382"\texttt{Build}" defines, but you can add as many "Package/<name>" defines as you want
383by adding extra calls to \texttt{BuildPackage} -- see the dropbear package for an example.
384
385After you have created your \texttt{package/\textit{<name>}/Makefile}, the new package
386will automatically show in the menu the next time you run "make menuconfig" and if selected
387will be built automatically the next time "\texttt{make}" is run.
388
389\subsection{Creating binary packages}
390
391You might want to create binary packages and include them in the resulting images as packages.
392To do so, you can use the following template, which basically sets to nothing the Configure and
393Compile templates.
394
395\begin{Verbatim}[frame=single,numbers=left]
396
397include $(TOPDIR)/rules.mk
398
399PKG_NAME:=binpkg
400PKG_VERSION:=1.0
401PKG_RELEASE:=1
402
403PKG_SOURCE:=binpkg-$(PKG_VERSION).tar.gz
404PKG_SOURCE_URL:=http://server
405PKG_MD5SUM:=9b7dc52656f5cbec846a7ba3299f73bd
406PKG_CAT:=zcat
407
408include $(INCLUDE_DIR)/package.mk
409
410define Package/binpkg
411  SECTION:=net
412  CATEGORY:=Network
413  TITLE:=Binary package
414endef
415
416define Package/bridge/description
417  Binary package
418endef
419
420define Build/Configure
421endef
422
423define Build/Compile
424endef
425
426define Package/bridge/install
427    $(INSTALL_DIR) $(1)/usr/sbin
428    $(INSTALL_BIN) $(PKG_BUILD_DIR)/* $(1)/usr/sbin/
429endef
430
431$(eval $(call BuildPackage,bridge))
432\end{Verbatim}
433
434Provided that the tarball which contains the binaries reflects the final
435directory layout (/usr, /lib ...), it becomes very easy to get your package
436look like one build from sources.
437
438Note that using the same technique, you can easily create binary pcakages
439for your proprietary kernel modules as well.
440
441\subsection{Creating kernel modules packages}
442
443The OpenWrt distribution makes the distinction between two kind of kernel modules, those coming along with the mainline kernel, and the others available as a separate project. We will see later that a common template is used for both of them.
444
445For kernel modules that are part of the mainline kernel source, the makefiles are located in \textit{package/kernel/modules/*.mk} and they appear under the section "Kernel modules"
446
447For external kernel modules, you can add them to the build system just like if they were software packages by defining a KernelPackage section in the package makefile.
448
449Here for instance the Makefile for the I2C subsytem kernel modules :
450
451\begin{Verbatim}[frame=single,numbers=left]
452
453I2CMENU:=I2C Bus
454
455define KernelPackage/i2c-core
456  TITLE:=I2C support
457  DESCRIPTION:=Kernel modules for i2c support
458  SUBMENU:=$(I2CMENU)
459  KCONFIG:=CONFIG_I2C_CORE CONFIG_I2C_DEV
460  FILES:=$(MODULES_DIR)/kernel/drivers/i2c/*.$(LINUX_KMOD_SUFFIX)
461  AUTOLOAD:=$(call AutoLoad,50,i2c-core i2c-dev)
462endef
463$(eval $(call KernelPackage,i2c-core))
464\end{Verbatim}
465
466To group kernel modules under a common description in menuconfig, you might want to define a \textit{<description>MENU} variable on top of the kernel modules makefile.
467
468\begin{itemize}
469    \item \texttt{TITLE} \\
470        The name of the module as seen via menuconfig
471    \item \texttt{DESCRIPTION} \\
472        The description as seen via help in menuconfig
473    \item \texttt{SUBMENU} \\
474        The sub menu under which this package will be seen
475    \item \texttt{KCONFIG} \\
476        Kernel configuration option dependency. For external modules, remove it.
477    \item \texttt{FILES} \\
478        Files you want to inlude to this kernel module package, separate with spaces.
479    \item \texttt{AUTOLOAD} \\
480        Modules that will be loaded automatically on boot, the order you write them is the order they would be loaded.
481\end{itemize}
482
483After you have created your \texttt{package/kernel/modules/\textit{<name>}.mk}, the new kernel modules package
484will automatically show in the menu under "Kernel modules" next time you run "make menuconfig" and if selected
485will be built automatically the next time "\texttt{make}" is run.
486
487\subsection{Conventions}
488
489There are a couple conventions to follow regarding packages:
490
491\begin{itemize}
492    \item \texttt{files}
493    \begin{enumerate}
494        \item configuration files follow the convention \\
495        \texttt{\textit{<name>}.conf}
496        \item init files follow the convention \\
497        \texttt{\textit{<name>}.init}
498    \end{enumerate}
499    \item \texttt{patches}
500    \begin{enumerate}
501        \item patches are numerically prefixed and named related to what they do
502    \end{enumerate}
503\end{itemize}
504
505\subsection{Troubleshooting}
506
507If you find your package doesn't show up in menuconfig, try the following command to
508see if you get the correct description:
509
510\begin{Verbatim}
511  TOPDIR=$PWD make -C package/<name> DUMP=1 V=99
512\end{Verbatim}
513
514If you're just having trouble getting your package to compile, there's a few
515shortcuts you can take. Instead of waiting for make to get to your package, you can
516run one of the following:
517
518\begin{itemize}
519    \item \texttt{make package/\textit{<name>}/clean V=99}
520    \item \texttt{make package/\textit{<name>}/install V=99}
521\end{itemize}
522
523Another nice trick is that if the source directory under \texttt{build\_dir/\textit{<arch>}}
524is newer than the package directory, it won't clobber it by unpacking the sources again.
525If you were working on a patch you could simply edit the sources under the
526\texttt{build\_dir/\textit{<arch>}/\textit{<source>}} directory and run the install command above,
527when satisfied, copy the patched sources elsewhere and diff them with the unpatched
528sources. A warning though - if you go modify anything under \texttt{package/\textit{<name>}}
529it will remove the old sources and unpack a fresh copy.
530
531Other useful targets include:
532
533\begin{itemize}
534    \item \texttt{make package/\textit{<name>}/prepare V=99}
535    \item \texttt{make package/\textit{<name>}/compile V=99}
536    \item \texttt{make package/\textit{<name>}/configure V=99}
537\end{itemize}
538
539
540\subsection{Using build environments}
541OpenWrt provides a means of building images for multiple configurations
542which can use multiple targets in one single checkout. These \emph{environments}
543store a copy of the .config file generated by \texttt{make menuconfig} and the contents
544of the \texttt{./files} folder.
545The script \texttt{./scripts/env} is used to manage these environments, it uses
546\texttt{git} (which needs to be installed on your system) as backend for version control.
547
548The command
549\begin{Verbatim}
550  ./scripts/env help
551\end{Verbatim}
552produces a short help text with a list of commands.
553
554To create a new environment named \texttt{current}, run the following command
555\begin{Verbatim}
556  ./scripts/env new current
557\end{Verbatim}
558This will move your \texttt{.config} file and \texttt{./files} (if it exists) to
559the \texttt{env/} subdirectory and create symlinks in the base folder.
560
561After running make menuconfig or changing things in files/, your current state will
562differ from what has been saved before. To show these changes, use:
563\begin{Verbatim}
564  ./scripts/env diff
565\end{Verbatim}
566
567If you want to save these changes, run:
568\begin{Verbatim}
569  ./scripts/env save
570\end{Verbatim}
571If you want to revert your changes to the previously saved copy, run:
572\begin{Verbatim}
573  ./scripts/env revert
574\end{Verbatim}
575
576If you want, you can now create a second environment using the \texttt{new} command.
577It will ask you whether you want to make it a clone of the current environment (e.g.
578for minor changes) or if you want to start with a clean version (e.g. for selecting
579a new target).
580
581To switch to a different environment (e.g. \texttt{test1}), use:
582\begin{Verbatim}
583  ./scripts/env switch test1
584\end{Verbatim}
585
586To rename the current branch to a new name (e.g. \texttt{test2}), use:
587\begin{Verbatim}
588  ./scripts/env rename test2
589\end{Verbatim}
590
591If you want to get rid of environment switching and keep everything in the base directory
592again, use:
593\begin{Verbatim}
594  ./scripts/env clear
595\end{Verbatim}
596

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