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Remove redundant call to msDebugInitFromEnv (#4522)
`msSetup()` already calls `msDebugInitFromEnv()`. Specify correct "C" linkage in `cgiutil.h` `cgiutil.h` is the only file included by `mapserver.h` which defines symbols and which isn't wrapped by `extern "C"`: its symbols end up in `libmapserver` and without this fix linking against them in C++ fails. closes #4522
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