From 0d580a2b6e4ac2013ba5cbab046bdabf956b301b Mon Sep 17 00:00:00 2001
From: whycq <913841844@qq.com>
Date: 星期三, 14 八月 2024 15:18:17 +0800
Subject: [PATCH] #
---
app/src/main/java/com/example/agvcontroller/protocol/AGV_02_DOWN.java | 31 +++
app/src/main/java/com/example/agvcontroller/protocol/ForceSwitchAction.java | 28 +++
app/src/main/java/com/example/agvcontroller/protocol/IActionBody.java | 12 +
app/src/main/java/com/example/agvcontroller/protocol/AgvActionItem.java | 63 +++++++
app/src/main/java/com/example/agvcontroller/protocol/HandleCmdType.java | 29 +++
app/src/main/java/com/example/agvcontroller/socket/RadixTools.java | 163 ++++++++++++++++++
app/src/main/java/com/example/agvcontroller/MainActivity.java | 16 +
app/src/main/java/com/example/agvcontroller/StartActivity.java | 2
app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java | 14 +
.idea/.name | 1
app/src/main/java/com/example/agvcontroller/protocol/DataSupport.java | 7
app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java | 35 +++
app/src/main/java/com/example/agvcontroller/socket/NettyServer.java | 11 +
app/src/main/java/com/example/agvcontroller/protocol/AgvAction.java | 124 +++++++++++++
14 files changed, 532 insertions(+), 4 deletions(-)
diff --git a/.idea/.name b/.idea/.name
new file mode 100644
index 0000000..944eaac
--- /dev/null
+++ b/.idea/.name
@@ -0,0 +1 @@
+AGVController
\ No newline at end of file
diff --git a/app/src/main/java/com/example/agvcontroller/MainActivity.java b/app/src/main/java/com/example/agvcontroller/MainActivity.java
index 69d593f..13761d8 100644
--- a/app/src/main/java/com/example/agvcontroller/MainActivity.java
+++ b/app/src/main/java/com/example/agvcontroller/MainActivity.java
@@ -15,6 +15,8 @@
import android.view.View;
import android.widget.Button;
+import com.example.agvcontroller.protocol.AgvAction;
+import com.example.agvcontroller.protocol.ForceSwitchAction;
import com.example.agvcontroller.protocol2.AgvPackage;
import com.example.agvcontroller.protocol2.PackagePart;
import com.example.agvcontroller.socket.NettyServerHandler;
@@ -43,11 +45,21 @@
private Handler handler = new Handler(new Handler.Callback() {
@Override
public boolean handleMessage(Message msg) {
+
+
+ AgvAction agvAction = new AgvAction<>(ForceSwitchAction.class)
+ .setAgvNo("1")
+ .setSerialNo("asdsadsadsad")
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 21));
+
+
// 鍦ㄨ繖閲岃繘琛屾墦鍗拌緭鍑�
System.out.println("鎵撳嵃杈撳嚭");
if (isDowm) {
- byte[] message2 = new byte[]{0x01, 0x02, 0x03, 0x06}; // 绀轰緥娑堟伅
- nettyServerHandler.sendMessageToClient(clientId, message2); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ System.out.println(agvAction);
+// byte[] message2 = new byte[]{0x01, 0x02, 0x03, 0x06}; // 绀轰緥娑堟伅
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
handler.sendEmptyMessageDelayed(0, 100);
}
return false;
diff --git a/app/src/main/java/com/example/agvcontroller/StartActivity.java b/app/src/main/java/com/example/agvcontroller/StartActivity.java
index ebc0cdf..adb74d2 100644
--- a/app/src/main/java/com/example/agvcontroller/StartActivity.java
+++ b/app/src/main/java/com/example/agvcontroller/StartActivity.java
@@ -52,7 +52,7 @@
}
});
socketManager = new SocketManager();
- socketManager.startServer(8024);
+ socketManager.startServer(8022);
}
@Subscribe(threadMode = ThreadMode.MAIN)
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/AGV_02_DOWN.java b/app/src/main/java/com/example/agvcontroller/protocol/AGV_02_DOWN.java
index 9578d44..a9a1292 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/AGV_02_DOWN.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AGV_02_DOWN.java
@@ -42,4 +42,35 @@
// 鍔ㄤ綔鍙傛暟
private ICommandBody commandBody;
+ public String getSerialNo() {
+ return serialNo;
+ }
+
+ public void setSerialNo(String serialNo) {
+ this.serialNo = serialNo;
+ }
+
+ public int getCmdCode() {
+ return cmdCode;
+ }
+
+ public void setCmdCode(int cmdCode) {
+ this.cmdCode = cmdCode;
+ }
+
+ public int getVal() {
+ return val;
+ }
+
+ public void setVal(int val) {
+ this.val = val;
+ }
+
+ public ICommandBody getCommandBody() {
+ return commandBody;
+ }
+
+ public void setCommandBody(ICommandBody commandBody) {
+ this.commandBody = commandBody;
+ }
}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/AgvAction.java b/app/src/main/java/com/example/agvcontroller/protocol/AgvAction.java
new file mode 100644
index 0000000..2ac3817
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AgvAction.java
@@ -0,0 +1,124 @@
+package com.example.agvcontroller.protocol;
+
+
+
+import com.example.agvcontroller.socket.NettyServerHandler;
+import com.example.agvcontroller.socket.RadixTools;
+
+import org.json.JSONObject;
+
+import java.io.Serializable;
+import java.util.ArrayList;
+import java.util.List;
+
+
+/**
+ * Created by vincent on 2023/3/14
+ */
+@SuppressWarnings("all")
+public class AgvAction<T extends IActionBody> implements Serializable {
+
+ private static final long serialVersionUID = -1701520567284510548L;
+
+ private String agvNo;
+
+ private String serialNo;
+
+ private int val;
+
+ private T actionBody;
+
+ private HandleCmdType handleCmdType;
+
+ public byte[] writeToBytes() {
+
+// byte[] bytes = new
+ String serialNo = Utils.zeroFill(this.serialNo, 16);
+ byte[] serialNoBytes = Utils.reverse(serialNo.getBytes()); // 娴佹按鍙�
+
+ byte cmdCode = (byte) handleCmdType.cmdCode; // 鍛戒护鐮�
+
+ byte valByte = (byte) val; // 灞炴�у��
+
+ byte[] bytes = actionBody.writeToBytes(); // 鍛戒护鍙傛暟
+
+ return new byte[12];
+ }
+
+ void readFromBytes(byte[] messageBodyBytes) {
+
+ }
+
+
+ public AgvAction(Class<T> clazz) {
+ try {
+ actionBody = clazz.newInstance();
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ this.handleCmdType = HandleCmdType.find(actionBody.getClass());
+ if (null == handleCmdType) {
+ throw new RuntimeException(clazz.getName() + "妫�绱� HandleCmdType 鏋氫妇澶辫触");
+ }
+ }
+
+ public AgvAction<T> setAgvNo(String agvNo) {
+ this.agvNo = agvNo;
+ return this;
+ }
+
+ public AgvAction<T> setSerialNo(String serialNo) {
+ this.serialNo = serialNo;
+ return this;
+ }
+
+ public AgvAction<T> bodySync(DataSupport<T> dataSupport) {
+ dataSupport.sync(this.actionBody);
+ return this;
+ }
+
+ public static void main(String[] args) {
+
+ AgvAction agvAction = new AgvAction<>(ForceSwitchAction.class)
+ .setAgvNo("1")
+ .setSerialNo("asdsadsadsad")
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 21));
+
+ NettyServerHandler.sendMessageToClient("123213", agvAction);
+
+ }
+
+ public String getAgvNo() {
+ return agvNo;
+ }
+
+ public String getSerialNo() {
+ return serialNo;
+ }
+
+ public T getActionBody() {
+ return actionBody;
+ }
+
+ public void setActionBody(T actionBody) {
+ this.actionBody = actionBody;
+ }
+
+ public HandleCmdType getHandleCmdType() {
+ return handleCmdType;
+ }
+
+ public void setHandleCmdType(HandleCmdType handleCmdType) {
+ this.handleCmdType = handleCmdType;
+ }
+
+ public int getVal() {
+ return val;
+ }
+
+ public AgvAction<T> setVal(int val) {
+ this.val = val;
+ return this;
+ }
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/AgvActionItem.java b/app/src/main/java/com/example/agvcontroller/protocol/AgvActionItem.java
new file mode 100644
index 0000000..2174a3e
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/AgvActionItem.java
@@ -0,0 +1,63 @@
+package com.example.agvcontroller.protocol;
+
+
+
+import java.io.Serializable;
+
+/**
+ * 璺緞鍖� - 璺緞鐐�
+ * Created by vincent on 2023/3/14
+ */
+//@Data
+public class AgvActionItem<T extends IActionBody> implements Serializable {
+
+ private static final long serialVersionUID = -6988765550778795176L;
+
+ // 鍦伴潰鐮�
+ private String qrCode;
+
+ // 鍔ㄤ綔鐮�
+// private AgvActionCmdType actionCmdType;
+
+ // 灞炴�у��
+ private int val;
+
+ // 鍔ㄤ綔鍙傛暟
+ private T actionBody;
+
+ public AgvActionItem() {
+ }
+
+// public AgvActionItem(Class<T> clazz) {
+// try {
+// actionBody = clazz.newInstance();
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// this.actionCmdType = AgvActionCmdType.find(actionBody.getClass());
+// if (null == actionCmdType) {
+// throw new CoolException(clazz.getName() + "妫�绱� AgvActionCmdType 鏋氫妇澶辫触");
+// }
+// }
+
+ public AgvActionItem<T> setQrCode(String qrCode) {
+ this.qrCode = qrCode;
+ return this;
+ }
+
+// public AgvActionItem<T> setActionCmdType(AgvActionCmdType actionCmdType) {
+// this.actionCmdType = actionCmdType;
+// return this;
+// }
+
+ public AgvActionItem<T> setVal(int val) {
+ this.val = val;
+ return this;
+ }
+
+ public AgvActionItem<T> bodySync(DataSupport<T> dataSupport) {
+ dataSupport.sync(this.actionBody);
+ return this;
+ }
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/DataSupport.java b/app/src/main/java/com/example/agvcontroller/protocol/DataSupport.java
new file mode 100644
index 0000000..e6ac0a8
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/DataSupport.java
@@ -0,0 +1,7 @@
+package com.example.agvcontroller.protocol;
+
+public interface DataSupport<T> {
+
+ void sync(T t);
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/ForceSwitchAction.java b/app/src/main/java/com/example/agvcontroller/protocol/ForceSwitchAction.java
new file mode 100644
index 0000000..d7e2c7a
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/ForceSwitchAction.java
@@ -0,0 +1,28 @@
+package com.example.agvcontroller.protocol;
+
+import java.io.Serializable;
+
+public class ForceSwitchAction implements IActionBody, Serializable {
+
+ private static final long serialVersionUID = -3250235107705010316L;
+
+ private Short pwd;
+
+ @Override
+ public byte[] writeToBytes() {
+ return new byte[0];
+ }
+
+ @Override
+ public void readFromBytes(byte[] messageBodyBytes) {
+
+ }
+
+ public Short getPwd() {
+ return pwd;
+ }
+
+ public void setPwd(Short pwd) {
+ this.pwd = pwd;
+ }
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/HandleCmdType.java b/app/src/main/java/com/example/agvcontroller/protocol/HandleCmdType.java
new file mode 100644
index 0000000..ea73339
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/HandleCmdType.java
@@ -0,0 +1,29 @@
+package com.example.agvcontroller.protocol;
+
+public enum HandleCmdType {
+
+ FORCE_SWITCH(0x80, "寮�鍚�/鍏抽棴寮哄埗", ForceSwitchAction.class),
+ ;
+
+ public int cmdCode;
+
+ public String desc;
+
+ public Class<? extends IActionBody> cls;
+
+ HandleCmdType(int cmdCode, String desc, Class<? extends IActionBody> cls) {
+ this.cmdCode = cmdCode;
+ this.desc = desc;
+ this.cls = cls;
+ }
+
+ public static HandleCmdType find(Class<? extends IActionBody> cls) {
+ for (HandleCmdType value : HandleCmdType.values()) {
+ if (value.cls.equals(cls)) {
+ return value;
+ }
+ }
+ return null;
+ }
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/IActionBody.java b/app/src/main/java/com/example/agvcontroller/protocol/IActionBody.java
new file mode 100644
index 0000000..5020172
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/protocol/IActionBody.java
@@ -0,0 +1,12 @@
+package com.example.agvcontroller.protocol;
+
+/**
+ * 鍔ㄤ綔鍙傛暟
+ */
+public interface IActionBody {
+
+ byte[] writeToBytes();
+
+ void readFromBytes(byte[] messageBodyBytes);
+
+}
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java
index 30b8695..9cb2cd5 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java
@@ -1,5 +1,7 @@
package com.example.agvcontroller.protocol;
+import com.example.agvcontroller.socket.RadixTools;
+
import java.util.logging.Logger;
import io.netty.buffer.ByteBuf;
@@ -32,6 +34,39 @@
} else if (obj instanceof byte[]){
out.writeBytes((byte[]) obj);
+
+ } else if (obj instanceof AgvAction<?>){
+
+
+ AgvAction action = (AgvAction)obj;
+
+ String uniqueNo = action.getAgvNo();
+
+ byte[] uniqueNoBytes = RadixTools.intToBytes(Integer.parseInt(uniqueNo)); // uniqueno
+
+ byte[] bodyBytes = action.writeToBytes();
+
+
+ int len = PackagePart.UNIQUENO.getLen() // len
+ + PackagePart.TIMESTAMP.getLen()
+ + PackagePart.COMMAND_MARK.getLen()
+ + bodyBytes.length;
+
+ out.writeByte((byte)0xEE) // symbol
+ .writeShortLE(len)
+ .writeBytes(Utils.reverse(uniqueNoBytes)) // uniqueno
+ .writeIntLE((int) (System.currentTimeMillis() / 1000)) // timestamp
+ .writeByte(ProtocolPojoType.ACTION_COMMAND.protocolType.getCode()) // type
+ .writeBytes(bodyBytes) // body
+ .writeShort((short)0) // valid
+ ;
+
+ int validCode = ValidUtil.calculateValidByteFromBuff(out);
+ out.resetReaderIndex();
+
+ out.writerIndex(out.readableBytes() - 2);
+ out.writeShortLE(validCode);
+
} else if (obj instanceof AgvPackage){
AgvPackage pac = (AgvPackage)obj;
diff --git a/app/src/main/java/com/example/agvcontroller/socket/NettyServer.java b/app/src/main/java/com/example/agvcontroller/socket/NettyServer.java
index be8a729..06bd508 100644
--- a/app/src/main/java/com/example/agvcontroller/socket/NettyServer.java
+++ b/app/src/main/java/com/example/agvcontroller/socket/NettyServer.java
@@ -1,5 +1,7 @@
package com.example.agvcontroller.socket;
+import com.example.agvcontroller.protocol.ProtocolEncoder;
+
import io.netty.bootstrap.ServerBootstrap;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
@@ -32,9 +34,16 @@
.childHandler(new ChannelInitializer<SocketChannel>() {
@Override
public void initChannel(SocketChannel ch) throws Exception {
- ch.pipeline().addLast(new NettyServerHandler());
+ ch.pipeline().addLast(new NettyServerHandler()).addLast(new ProtocolEncoder());
}
})
+// .childHandler(new ChannelInitializer<Channel>(){
+//
+// @Override
+// protected void initChannel(Channel ch) throws Exception {
+// ch.pipeline().addLast(new ProtocolEncoder());
+// }
+// })
.option(ChannelOption.SO_BACKLOG, 128)
.childOption(ChannelOption.SO_KEEPALIVE, true);
diff --git a/app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java b/app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java
index 73271c0..1bcb965 100644
--- a/app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java
+++ b/app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java
@@ -11,6 +11,7 @@
import android.util.Log;
import com.example.agvcontroller.Item;
+import com.example.agvcontroller.protocol.AgvAction;
import org.greenrobot.eventbus.EventBus;
@@ -89,6 +90,19 @@
}
}
+ public static void sendMessageToClient(String clientId, AgvAction<?> action) {
+
+
+
+ Channel channel = channelMap.get(clientId);
+ if (channel != null && channel.isActive()) {
+
+ channel.writeAndFlush(action);
+ } else {
+ Log.d(TAG, "Client " + clientId + " is not connected");
+ }
+ }
+
@Override
public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) throws Exception {
cause.printStackTrace();
diff --git a/app/src/main/java/com/example/agvcontroller/socket/RadixTools.java b/app/src/main/java/com/example/agvcontroller/socket/RadixTools.java
new file mode 100644
index 0000000..4e1089d
--- /dev/null
+++ b/app/src/main/java/com/example/agvcontroller/socket/RadixTools.java
@@ -0,0 +1,163 @@
+package com.example.agvcontroller.socket;
+
+import java.io.UnsupportedEncodingException;
+import java.nio.charset.Charset;
+
+/**
+ * radix tools
+ * Created by vincent on 2018/10/6
+ */
+public class RadixTools {
+
+ public static void main(String[] args) {
+ String s = RadixTools.toBinaryString((byte) 1);
+ System.out.println(s);
+ for(int i=s.length()-1;i>=0;i--){
+ char c=s.charAt(i);
+ if (i == 7 && c =='1'){
+ System.out.println("===");
+ }
+ }
+ }
+
+ /************************************** BinaryString **********************************************/
+
+ public static String toBinaryString(byte b){
+ return Long.toBinaryString((b & 0xFF) + 0x100).substring(1);
+ }
+
+ public static String toBinaryString(byte[] bytes){
+ StringBuilder sb = new StringBuilder();
+ for (byte aByte : bytes) {
+ sb.append(Long.toBinaryString((aByte & 0xFF) + 0x100).substring(1));
+ }
+ return sb.toString();
+ }
+
+ /************************************** HexString **********************************************/
+
+ public static byte[] hexStringToBytes(String hexString) {
+ if (hexString == null || hexString.equals("")) {
+ return null;
+ }
+ hexString = hexString.toUpperCase();
+ int length = hexString.length() / 2;
+ char[] hexChars = hexString.toCharArray();
+ byte[] d = new byte[length];
+ for (int i = 0; i < length; i++) {
+ int pos = i * 2;
+ d[i] = (byte) (charToByte(hexChars[pos]) << 4 | charToByte(hexChars[pos + 1]));
+ }
+ return d;
+ }
+
+ public static String bytesToHexStr(byte[] bytes){
+ StringBuilder buf = new StringBuilder(bytes.length * 2);
+ for(byte b : bytes) {
+ buf.append(String.format("%02x", b & 0xff));
+ }
+
+ return buf.toString();
+ }
+
+ private static byte charToByte(char c) {
+ return (byte) "0123456789ABCDEF".indexOf(c);
+ }
+
+
+ /************************************** String **********************************************/
+
+ public static String bytesToStr(byte[] bytes){
+ return bytesToStr(bytes, Charset.forName("gbk"));
+ }
+
+ public static String bytesToStr(byte[] bytes, Charset charset){
+ return new String(bytes, charset).trim().toUpperCase();
+ }
+
+ public static byte[] strToBytes(String str) throws UnsupportedEncodingException {
+ return str.getBytes("gbk");
+ }
+
+ /************************************** long **********************************************/
+
+ public static byte[] longToBytes(long number) {
+ long temp = number;
+ byte[] b = new byte[8];
+ for (int i = 0; i < b.length; i++) {
+ b[i] = new Long(temp & 0xff).byteValue();// 灏嗘渶浣庝綅淇濆瓨鍦ㄦ渶浣庝綅
+ temp = temp >> 8; // 鍚戝彸绉�8浣�
+ }
+ return b;
+ }
+
+ public static long bytesToLong(byte[] bytes) {
+ long s = 0;
+ long s0 = bytes[0] & 0xff;// 鏈�浣庝綅
+ long s1 = bytes[1] & 0xff;
+ long s2 = bytes[2] & 0xff;
+ long s3 = bytes[3] & 0xff;
+ long s4 = bytes[4] & 0xff;// 鏈�浣庝綅
+ long s5 = bytes[5] & 0xff;
+ long s6 = bytes[6] & 0xff;
+ long s7 = bytes[7] & 0xff;
+
+ // s0涓嶅彉
+ s1 <<= 8;
+ s2 <<= 16;
+ s3 <<= 24;
+ s4 <<= 8 * 4;
+ s5 <<= 8 * 5;
+ s6 <<= 8 * 6;
+ s7 <<= 8 * 7;
+ s = s0 | s1 | s2 | s3 | s4 | s5 | s6 | s7;
+ return s;
+ }
+
+
+ /************************************** int **********************************************/
+
+ public static byte[] intToBytes(int n) {
+ byte[] b = new byte[4];
+ b[3] = (byte) (n & 0xff);
+ b[2] = (byte) (n >> 8 & 0xff);
+ b[1] = (byte) (n >> 16 & 0xff);
+ b[0] = (byte) (n >> 24 & 0xff);
+ return b;
+ }
+
+
+ public static int bytesToInt(byte[] b) {
+ int s = 0;
+ int s0 = b[0] & 0xff;// 鏈�浣庝綅
+ int s1 = b[1] & 0xff;
+ int s2 = b[2] & 0xff;
+ int s3 = b[3] & 0xff;
+ s0 <<= 24;
+ s1 <<= 16;
+ s2 <<= 8;
+ s = s0 | s1 | s2 | s3;
+ return s;
+ }
+
+ /************************************** short **********************************************/
+
+ public static short byteToShort(byte[] b) {
+ short s = 0;
+ short s0 = (short) (b[1] & 0xff);// 鏈�浣庝綅
+ short s1 = (short) (b[0] & 0xff);
+ s1 <<= 8;
+ s = (short) (s0 | s1);
+ return s;
+ }
+
+ public static byte[] shortToByte(short s){
+ byte[] b = new byte[2];
+ for(int i = 0; i < 2; i++){
+ int offset = 16 - (i+1)*8; //鍥犱负byte鍗�4涓瓧鑺傦紝鎵�浠ヨ璁＄畻鍋忕Щ閲�
+ b[i] = (byte)((s >> offset)&0xff); //鎶�16浣嶅垎涓�2涓�8浣嶈繘琛屽垎鍒瓨鍌�
+ }
+ return b;
+ }
+
+}
--
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