package com.zy.acs.manager.core.scheduler;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.acs.common.constant.RedisConstant;
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import com.zy.acs.common.utils.RedisSupport;
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import com.zy.acs.framework.common.Cools;
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import com.zy.acs.framework.common.SnowflakeIdWorker;
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import com.zy.acs.manager.common.domain.TaskDto;
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import com.zy.acs.manager.core.constant.AgvGroupConstant;
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import com.zy.acs.manager.core.constant.LocGroupConstant;
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import com.zy.acs.manager.core.constant.StaGroupConstant;
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import com.zy.acs.manager.core.service.MainService;
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import com.zy.acs.manager.manager.controller.param.OpenBusSubmitParam;
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import com.zy.acs.manager.manager.entity.Agv;
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import com.zy.acs.manager.manager.entity.AgvModel;
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import com.zy.acs.manager.manager.entity.Loc;
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import com.zy.acs.manager.manager.entity.Task;
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import com.zy.acs.manager.manager.enums.AgvModelType;
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import com.zy.acs.manager.manager.enums.LocStsType;
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import com.zy.acs.manager.manager.enums.TaskStsType;
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import com.zy.acs.manager.manager.service.*;
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import com.zy.acs.manager.system.service.ConfigService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.scheduling.annotation.Scheduled;
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import org.springframework.stereotype.Component;
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import java.util.*;
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@Slf4j
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@Component
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public class EfficiencyTestV2Scheduler {
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private final RedisSupport redis = RedisSupport.defaultRedisSupport;
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@Autowired
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private AgvService agvService;
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@Autowired
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private MainService mainService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private LocService locService;
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@Autowired
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private StaService staService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private AgvModelService agvModelService;
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@Autowired
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private SnowflakeIdWorker snowflakeIdWorker;
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@Scheduled(fixedDelay = 1000) // 固定频率执行，同步
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private void execute() {
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String efficiency = configService.getVal("EfficiencyV2", String.class);
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// 1/0,23,1/2,1-5,1 1,60,7-ruku
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// 是否开启,1开启，0关闭 哪些区，1入库还是2出库，一次生成任务数量,最大任务数
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if (!Cools.isEmpty(efficiency)) {
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String[] split = efficiency.split(",");
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if (split[0].equals("1")) {
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this.autoRun(LocGroupConstant.RIGHT_LOC_ROW_LIST, StaGroupConstant.RIGHT_STA_ROW_LIST, AgvGroupConstant.FOURTH_AGV_GROUP, 5, Integer.parseInt(split[1]), split[2]);
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}
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}
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}
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private void autoRun(List<Integer> locGroupList, List<String> staGroupList, List<String> agvGroupList, Integer taskNum, Integer taskMax, String memo) {
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List<String> staPreNos = getStaPrefixes(staGroupList);
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String staTaskMemo = "DEMO_STA_" + String.join("-", staPreNos) + "_" + memo;
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// 最多 ? 个任务运行
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if (taskMax <= taskService.count(new LambdaQueryWrapper<Task>().in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()).in(Task::getMemo, staTaskMemo))) {
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return;
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}
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Integer startRow = Collections.min(locGroupList);
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Integer endRow = Collections.max(locGroupList);
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LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
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if (null != startRow) {
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stockWrapper.ge(Loc::getRow, startRow);
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}
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if (null != endRow) {
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stockWrapper.le(Loc::getRow, endRow);
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}
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List<Loc> stockList = locService.list(stockWrapper);
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if (Cools.isEmpty(stockList) || stockList.size() < 5) {
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return;
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}
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// 入库
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this.runStaToLoc(locGroupList, staGroupList, staTaskMemo, taskNum, "4-1");
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// 出库
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this.runLocToSta(locGroupList, staGroupList, staTaskMemo, taskNum, "3-1");
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}
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// 入库
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private void runStaToLoc(List<Integer> locGroupList, List<String> staGroupList, String memo, Integer taskNum, String sta) {
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Integer startRow = Collections.min(locGroupList);
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Integer endRow = Collections.max(locGroupList);
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AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
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if (null == agvModel) {
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return;
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}
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// IDLE
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LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.IDLE.val());
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if (null != startRow) {
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idleWrapper.ge(Loc::getRow, startRow);
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}
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if (null != endRow) {
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idleWrapper.le(Loc::getRow, endRow);
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}
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List<Loc> idleList = locService.list(idleWrapper);
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if (Cools.isEmpty(idleList)) {
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return;
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}
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Collections.shuffle(idleList);
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OpenBusSubmitParam param = new OpenBusSubmitParam();
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param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
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for (int i = 0; i < taskNum; i++) {
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Loc idleLoc = idleList.get(i);
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TaskDto taskDto = new TaskDto();
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taskDto.setOriSta(sta);
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taskDto.setDestLoc(idleLoc.getLocNo());
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taskDto.setPriority(100);
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taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(11, 19));
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taskDto.setMemo(memo);
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param.getTaskList().add(taskDto);
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}
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mainService.generateBusAndTask(param, memo);
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}
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// 出库
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private void runLocToSta(List<Integer> locGroupList, List<String> staGroupList, String memo, Integer taskNum, String sta) {
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Integer startRow = Collections.min(locGroupList);
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Integer endRow = Collections.max(locGroupList);
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AgvModel agvModel = agvModelService.getOne(new LambdaQueryWrapper<AgvModel>().eq(AgvModel::getType, AgvModelType.CTU_BOX_TRANSPORT_AGV.toString()));
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if (null == agvModel) {
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return;
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}
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// LOC STOCK
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LambdaQueryWrapper<Loc> stockWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, LocStsType.STOCK.val());
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if (null != startRow) {
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stockWrapper.ge(Loc::getRow, startRow);
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}
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if (null != endRow) {
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stockWrapper.le(Loc::getRow, endRow);
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}
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List<Loc> stockList = locService.list(stockWrapper);
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if (Cools.isEmpty(stockList)) {
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return;
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}
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Collections.shuffle(stockList);
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OpenBusSubmitParam param = new OpenBusSubmitParam();
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param.setBatch(String.valueOf(snowflakeIdWorker.nextId()).substring(13, 19));
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for (int i = 0; i < taskNum; i++) {
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Loc stockLoc = stockList.get(i);
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TaskDto taskDto = new TaskDto();
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taskDto.setOriLoc(stockLoc.getLocNo());
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taskDto.setDestSta(sta);
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taskDto.setPriority(100);
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taskDto.setSeqNum(String.valueOf(snowflakeIdWorker.nextId()).substring(11, 19));
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taskDto.setMemo(memo);
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param.getTaskList().add(taskDto);
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}
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mainService.generateBusAndTask(param, memo);
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}
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public static List<String> getStaPrefixes(List<String> staGroupList) {
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Set<String> rowSet = new HashSet<>();
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for (String s : staGroupList) {
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rowSet.add(s.split("-")[0]);
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}
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List<String> result = new ArrayList<>(rowSet);
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result.sort(Comparator.comparingInt(Integer::parseInt));
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return result;
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}
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private int getAvailableAgvCount(List<String> agvNos) {
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int res = 0;
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if (Cools.isEmpty(agvNos)) {
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return res;
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}
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for (String agvNo : agvNos) {
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if (null == redis.getObject(RedisConstant.AGV_ONLINE_FLAG, agvNo)) {
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continue;
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}
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Agv agv = agvService.selectByUuid(agvNo);
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if (!agv.getStatusBool()) {
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continue;
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}
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res++;
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}
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return res;
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}
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}
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