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You can test unsing c-icap client on your linux machine, you can download it from here.
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You can test REQMOD by the following command
c-icap-client -i 127.0.0.1 -p 1344 -s service_name -f ./name_of_the_file_you_want_to_test.pdf -o name_of_the_file_after_testing.pdf -v -req http://www.example.com
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c-icap-client -i 127.0.0.1 -p 1344 -s service_name -f ./name_of_the_file_you_want_to_test.pdf -o name_of_the_file_after_testing.pdf -v
You can check the documentation of how to test using c-icap client from here.
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You can test using a Proxy server like squid, you can check how to install it in your machine from here, Then you should configure it with your favourite browser and enjoy.