From 4c9169967a879b54c04b0754ab9830a5a6baa708 Mon Sep 17 00:00:00 2001
From: vincentlu <t1341870251@gmail.com>
Date: 星期二, 18 三月 2025 14:30:48 +0800
Subject: [PATCH] #
---
zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java | 397 +++++++++++++++++++++++++++++++++++---------------------
1 files changed, 247 insertions(+), 150 deletions(-)
diff --git a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
index b43c1d8..1f0817d 100644
--- a/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
+++ b/zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MapService.java
@@ -1,10 +1,10 @@
package com.zy.acs.manager.core.service;
-import com.alibaba.fastjson.JSONObject;
import com.zy.acs.common.enums.AgvDirectionType;
import com.zy.acs.framework.common.Cools;
-import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.constant.MapDataConstant;
+import com.zy.acs.manager.core.domain.SortCodeDto;
+import com.zy.acs.manager.core.domain.UnlockPathTask;
import com.zy.acs.manager.core.service.astart.*;
import com.zy.acs.manager.core.service.astart.domain.AStarNavigateNode;
import com.zy.acs.manager.core.service.astart.domain.DynamicNode;
@@ -16,13 +16,16 @@
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
-import org.apache.commons.lang.time.StopWatch;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;
import java.util.*;
+import java.util.concurrent.ConcurrentLinkedQueue;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
+import java.util.stream.IntStream;
/**
* Created by vincent on 2023/6/14
@@ -30,6 +33,8 @@
@Slf4j
@Component("mapService")
public class MapService {
+
+ private final static int[][] DIRECTIONS = {{0,1},{0,-1},{-1,0},{1,0}};
@Value("${floyd.enable}")
private Boolean floydEnable;
@@ -45,6 +50,8 @@
private ConfigService configService;
@Autowired
private ActionService actionService;
+ @Autowired
+ private LinkedBlockingQueue<UnlockPathTask> unlockTaskQueue;
/**
* 瀵诲潃 ===>> A Star
@@ -111,14 +118,14 @@
return floydNavigateService.calculatePath(startIdx, endIdx).stream().map(path -> {
Long codeId = floydNavigateService.getCodeId(path);
- Code code = codeService.getById(codeId);
+ Code code = codeService.getCacheById(codeId);
return code.getData();
}).collect(Collectors.toList());
}
// 瑙掑害璁＄畻
- public Double calculateDirection(Code startCode, Code endCode) {
+ public Double calculateDirection(Code startCode, Code endCode, int angleOffsetVal) {
Double x0 = startCode.getX();
Double y0 = startCode.getY();
@@ -128,7 +135,6 @@
double deltaX = x1 - x0;
double deltaY = y1 - y0;
double angle = -Math.atan2(deltaX, deltaY);
- int angleOffsetVal = configService.getVal("mapAngleOffsetVal", Integer.class);
angle = Math.toDegrees(angle) + angleOffsetVal;
angle = (angle + 360) % 360; // 灏嗚搴﹁浆鎹负姝ｅ��
@@ -136,8 +142,7 @@
}
// 鍧愭爣璐ф灦闃堝�� todo:luxiaotao
- public AgvDirectionType calculateAgvWorkDirection(JSONObject storeDirection, Loc loc, Code code) {
- storeDirection.getString("key");
+ public AgvDirectionType calculateAgvWorkDirection(Loc loc, Code code) {
Integer compDirect = loc.getCompDirect();
AgvDirectionType agvDirectionType = null;
if (compDirect == 0) {
@@ -173,61 +178,54 @@
}
public void lockPath(Integer lev, List<String> pathList, String agvNo) {
- mapDataDispatcher.modifyDynamicMatrix(lev, pathList, agvNo);
+ List<int[]> codeMatrixIdxList = mapDataDispatcher.getCodeMatrixIdxList(lev, pathList);
+ mapDataDispatcher.modifyDynamicMatrix(lev, codeMatrixIdxList, agvNo);
}
- public synchronized void unlockPath(String agvNo, String codeData) {
- try {
- StopWatch stopWatch = new StopWatch();
- stopWatch.start();
-
- if (Cools.isEmpty(agvNo, codeData)) {
- return;
- }
-
- Integer lev = null;
-
- String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
- int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, codeData);
-
-
- DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
-
- DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
-
-
- Integer serial = dynamicNode.getSerial();
-
- List<String> resetCodeList = new ArrayList<>();
-
- for (int i = 0; i < dynamicMatrix.length; i++) {
- for (int j = 0; j < dynamicMatrix[i].length; j++) {
-
-// if (i == codeMatrixIdx[0] && j == codeMatrixIdx[1]) { continue; }
-
- DynamicNode node = dynamicMatrix[i][j];
- if (node.getVehicle().equals(agvNo)) {
- if (node.getSerial() < serial) {
- resetCodeList.add(codeMatrix[i][j]);
- }
- }
- }
- }
-
- if (!Cools.isEmpty(resetCodeList)) {
-
- mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeList);
- }
-
- stopWatch.stop();
- if (stopWatch.getTime() > 50) {
- log.info("瑙ｉ攣璺緞鍑芥暟鑺辫垂鏃堕棿涓猴細{}姣......", stopWatch.getTime());
- }
-
- } catch (Exception e) {
- log.error("MapService.unlockPath", e);
+ public void unlockPath(String agvNo, String codeData) {
+ if (Cools.isEmpty(agvNo, codeData)) {
+ return;
}
+ try {
+ unlockTaskQueue.offer(new UnlockPathTask(agvNo, codeData), 5, TimeUnit.SECONDS);
+// Integer lev = null;
+//
+// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(null);
+// int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, codeData);
+//
+//
+// DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+//
+// DynamicNode dynamicNode = dynamicMatrix[codeMatrixIdx[0]][codeMatrixIdx[1]];
+//
+//
+// int serial = dynamicNode.getSerial();
+//
+// List<int[]> resetCodeIdxList = new ArrayList<>();
+//
+// for (int i = 0; i < dynamicMatrix.length; i++) {
+// for (int j = 0; j < dynamicMatrix[i].length; j++) {
+//
+//// if (i == codeMatrixIdx[0] && j == codeMatrixIdx[1]) { continue; }
+//
+// DynamicNode node = dynamicMatrix[i][j];
+// if (node.getVehicle().equals(agvNo)) {
+// if (node.getSerial() < serial) {
+// resetCodeIdxList.add(new int[] {i, j});
+// }
+// }
+// }
+// }
+//
+// if (!Cools.isEmpty(resetCodeIdxList)) {
+//
+// mapDataDispatcher.clearDynamicMatrixByCodeList(lev, resetCodeIdxList);
+// }
+
+ } catch (InterruptedException e) {
+ log.error("unlockTaskQueue", e);
+ }
}
public List<String> getWaveScopeByCodeList(Integer lev, List<String> codeList, Double radiusLen) {
@@ -250,8 +248,10 @@
// v1 BFS ------------------------------------------------------------------------------
public List<NavigateNode> getWaveScopeByCode(Integer lev, String code, Double radiusLen) {
+ double radiusLenSquared = Math.pow(radiusLen, 2);
+
String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
- String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
+ Double[][][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);
@@ -262,25 +262,25 @@
includeList.add(originNode);
existNodes.add(originNode);
- this.spreadWaveNode(originNode, originNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
+ this.spreadWaveNode(originNode, originNode, codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
return includeList;
}
public void spreadWaveNode(NavigateNode originNode, NavigateNode currNode
- , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
+ , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLenSquared
, List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
int x = currNode.getX();
int y = currNode.getY();
- this.extendNeighborNodes(originNode, new NavigateNode(x, y + 1), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
- this.extendNeighborNodes(originNode, new NavigateNode(x, y - 1), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
- this.extendNeighborNodes(originNode, new NavigateNode(x - 1, y), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
- this.extendNeighborNodes(originNode, new NavigateNode(x + 1, y), codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
+ this.extendNeighborNodes(originNode, new NavigateNode(x, y + 1), codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
+ this.extendNeighborNodes(originNode, new NavigateNode(x, y - 1), codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
+ this.extendNeighborNodes(originNode, new NavigateNode(x - 1, y), codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
+ this.extendNeighborNodes(originNode, new NavigateNode(x + 1, y), codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
}
public void extendNeighborNodes(NavigateNode originNode, NavigateNode nextNode
- , String[][] codeMatrix, String[][] cdaMatrix, Double radiusLen
+ , String[][] codeMatrix, Double[][][] cdaMatrix, Double radiusLenSquared
, List<NavigateNode> includeList, Set<NavigateNode> existNodes) {
int x = nextNode.getX();
@@ -297,100 +297,98 @@
existNodes.add(nextNode);
-
- List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
- List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[x][y]);
-
- if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
+ Double[] o1Cda = cdaMatrix[originNode.getX()][originNode.getY()];
+ Double[] o2Cda = cdaMatrix[x][y];
+ if (Math.pow(o1Cda[0] - o2Cda[0], 2) + Math.pow(o1Cda[1] - o2Cda[1], 2) <= radiusLenSquared) {
nextNode.setCodeData(codeMatrix[x][y]);
if (!nextNode.getCodeData().equals(CodeNodeType.NONE.val)) {
includeList.add(nextNode);
}
- this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLen, includeList, existNodes);
+ this.spreadWaveNode(originNode, nextNode, codeMatrix, cdaMatrix, radiusLenSquared, includeList, existNodes);
}
}
// v2 BFS ------------------------------------------------------------------------------
- public List<NavigateNode> getWaveScopeByCode0(Integer lev, String code, Double radiusLen) {
- String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
-
- int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
- NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);
-
- List<NavigateNode> includeList = new ArrayList<>();
- Set<NavigateNode> visited = new HashSet<>(); // Track visited nodes to avoid re-processing
- Queue<NavigateNode> queue = new LinkedList<>();
-
- includeList.add(originNode);
- visited.add(originNode);
- queue.offer(originNode);
-
- while (!queue.isEmpty()) {
- NavigateNode currNode = queue.poll();
- this.spreadWaveNode0(originNode, currNode, codeMatrix, radiusLen, includeList, visited, queue);
- }
-
- return includeList;
- }
-
- public void spreadWaveNode0(NavigateNode originNode, NavigateNode currNode,
- String[][] codeMatrix, Double radiusLen,
- List<NavigateNode> includeList, Set<NavigateNode> visited, Queue<NavigateNode> queue) {
-
- int x = currNode.getX();
- int y = currNode.getY();
-
- // Expand neighbors in all four directions (up, down, left, right)
- this.extendNeighborNodes0(originNode, new NavigateNode(x, y + 1), codeMatrix, radiusLen, includeList, visited, queue);
- this.extendNeighborNodes0(originNode, new NavigateNode(x, y - 1), codeMatrix, radiusLen, includeList, visited, queue);
- this.extendNeighborNodes0(originNode, new NavigateNode(x - 1, y), codeMatrix, radiusLen, includeList, visited, queue);
- this.extendNeighborNodes0(originNode, new NavigateNode(x + 1, y), codeMatrix, radiusLen, includeList, visited, queue);
- }
-
- public void extendNeighborNodes0(NavigateNode originNode, NavigateNode nextNode,
- String[][] codeMatrix, Double radiusLen,
- List<NavigateNode> includeList, Set<NavigateNode> visited, Queue<NavigateNode> queue) {
- int x = nextNode.getX();
- int y = nextNode.getY();
-
- // Check if the node is out of bounds
- if (x < 0 || x >= codeMatrix.length || y < 0 || y >= codeMatrix[0].length) {
- return;
- }
-
- // If the node has already been visited, skip it
- if (visited.contains(nextNode)) {
- return;
- }
-
- visited.add(nextNode);
-
- String nextNodeCodeData = codeMatrix[x][y];
-
- // If it's a NONE node, we still need to check its surroundings
- if (nextNodeCodeData.equals(CodeNodeType.NONE.val)) {
- this.spreadWaveNode0(originNode, nextNode, codeMatrix, radiusLen, includeList, visited, queue);
- } else {
- Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
- String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
-
- // Check if the distance between nodes is within the radius length
- List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
- List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[nextNode.getX()][nextNode.getY()]);
-
- // Calculate Euclidean distance between the nodes
- if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
- nextNode.setCodeData(nextNodeCodeData);
- includeList.add(nextNode);
-
- // Add the node to the queue to expand its neighbors
- queue.offer(nextNode);
- }
- }
- }
+// public List<NavigateNode> getWaveScopeByCode0(Integer lev, String code, Double radiusLen) {
+// String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
+//
+// int[] codeMatrixIdx = mapDataDispatcher.getCodeMatrixIdx(lev, code);
+// NavigateNode originNode = new NavigateNode(codeMatrixIdx[0], codeMatrixIdx[1], code);
+//
+// List<NavigateNode> includeList = new ArrayList<>();
+// Set<NavigateNode> visited = new HashSet<>(); // Track visited nodes to avoid re-processing
+// Queue<NavigateNode> queue = new LinkedList<>();
+//
+// includeList.add(originNode);
+// visited.add(originNode);
+// queue.offer(originNode);
+//
+// while (!queue.isEmpty()) {
+// NavigateNode currNode = queue.poll();
+// this.spreadWaveNode0(originNode, currNode, codeMatrix, radiusLen, includeList, visited, queue);
+// }
+//
+// return includeList;
+// }
+//
+// public void spreadWaveNode0(NavigateNode originNode, NavigateNode currNode,
+// String[][] codeMatrix, Double radiusLen,
+// List<NavigateNode> includeList, Set<NavigateNode> visited, Queue<NavigateNode> queue) {
+//
+// int x = currNode.getX();
+// int y = currNode.getY();
+//
+// // Expand neighbors in all four directions (up, down, left, right)
+// this.extendNeighborNodes0(originNode, new NavigateNode(x, y + 1), codeMatrix, radiusLen, includeList, visited, queue);
+// this.extendNeighborNodes0(originNode, new NavigateNode(x, y - 1), codeMatrix, radiusLen, includeList, visited, queue);
+// this.extendNeighborNodes0(originNode, new NavigateNode(x - 1, y), codeMatrix, radiusLen, includeList, visited, queue);
+// this.extendNeighborNodes0(originNode, new NavigateNode(x + 1, y), codeMatrix, radiusLen, includeList, visited, queue);
+// }
+//
+// public void extendNeighborNodes0(NavigateNode originNode, NavigateNode nextNode,
+// String[][] codeMatrix, Double radiusLen,
+// List<NavigateNode> includeList, Set<NavigateNode> visited, Queue<NavigateNode> queue) {
+// int x = nextNode.getX();
+// int y = nextNode.getY();
+//
+// // Check if the node is out of bounds
+// if (x < 0 || x >= codeMatrix.length || y < 0 || y >= codeMatrix[0].length) {
+// return;
+// }
+//
+// // If the node has already been visited, skip it
+// if (visited.contains(nextNode)) {
+// return;
+// }
+//
+// visited.add(nextNode);
+//
+// String nextNodeCodeData = codeMatrix[x][y];
+//
+// // If it's a NONE node, we still need to check its surroundings
+// if (nextNodeCodeData.equals(CodeNodeType.NONE.val)) {
+// this.spreadWaveNode0(originNode, nextNode, codeMatrix, radiusLen, includeList, visited, queue);
+// } else {
+// Integer lev = MapDataDispatcher.MAP_DEFAULT_LEV;
+// String[][] cdaMatrix = mapDataDispatcher.getCdaMatrix(lev);
+//
+// // Check if the distance between nodes is within the radius length
+// List<Double> o1Cda = MapDataUtils.parseCdaNode(cdaMatrix[originNode.getX()][originNode.getY()]);
+// List<Double> o2Cda = MapDataUtils.parseCdaNode(cdaMatrix[nextNode.getX()][nextNode.getY()]);
+//
+// // Calculate Euclidean distance between the nodes
+// if (Math.pow(o1Cda.get(0) - o2Cda.get(0), 2) + Math.pow(o1Cda.get(1) - o2Cda.get(1), 2) <= Math.pow(radiusLen, 2)) {
+// nextNode.setCodeData(nextNodeCodeData);
+// includeList.add(nextNode);
+//
+// // Add the node to the queue to expand its neighbors
+// queue.offer(nextNode);
+// }
+// }
+// }
public Boolean isTurnCorner(String codeData) {
@@ -406,4 +404,103 @@
return turnMatrixNode == TurnNodeType.TURN.val;
}
+ /**
+ * That vehicle is walking if the dynamic node count > 1
+ */
+ @SuppressWarnings("all")
+ public boolean isWalkingByVehicle(Integer lev, String vehicle) {
+ if (Cools.isEmpty(vehicle)) {
+ return false;
+ }
+
+ lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+
+ int count = 0;
+ for (int i = 0; i < dynamicMatrix.length; i++) {
+ for (int j = 0; j < dynamicMatrix[i].length; j++) {
+ if (vehicle.equals(dynamicMatrix[i][j].getVehicle())) {
+ count++;
+ if (count > 1) {
+ return true;
+ }
+ }
+ }
+ }
+
+ return false;
+ }
+
+ public List<String> queryCodeListFromDynamicNode(Integer lev, String nodeType) {
+ if (Cools.isEmpty(nodeType)) {
+ return new ArrayList<>();
+ }
+ lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);
+
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+ String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
+
+ // concurrent
+ ConcurrentLinkedQueue<SortCodeDto> codeList = new ConcurrentLinkedQueue<>();
+ IntStream.range(0, codeMatrix.length).parallel().forEach(i -> {
+ for (int j = 0; j < codeMatrix[i].length; j++) {
+ DynamicNode dynamicNode = dynamicMatrix[i][j];
+ if (nodeType.equals(dynamicNode.getVehicle())) {
+ codeList.add(new SortCodeDto(codeMatrix[i][j], dynamicNode.getSerial()));
+ }
+ }
+ });
+
+ // synchronize
+// List<SortCodeDto> codeList = new ArrayList<>();
+// for (int i = 0; i < codeMatrix.length; i++) {
+// for (int j = 0; j < codeMatrix[i].length; j++) {
+// DynamicNode dynamicNode = dynamicMatrix[i][j];
+// if (nodeType.equals(dynamicNode.getVehicle())) {
+// codeList.add(new SortCodeDto(codeMatrix[i][j], dynamicNode.getSerial()));
+// }
+// }
+// }
+
+ return codeList.stream()
+ .sorted(Comparator.comparingInt(SortCodeDto::getSerial))
+ .map(SortCodeDto::getCode)
+ .collect(Collectors.toList());
+ }
+
+ public Map<String, List<String>> queryCodeListFromDynamicNode(Integer lev, Set<String> vehicles) {
+ if (Cools.isEmpty(vehicles)) {
+ return new HashMap<>();
+ }
+ lev = Optional.ofNullable(lev).orElse(MapDataDispatcher.MAP_DEFAULT_LEV);
+
+ DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
+ String[][] codeMatrix = mapDataDispatcher.getCodeMatrix(lev);
+
+ Map<String, List<SortCodeDto>> map = new HashMap<>(vehicles.size());
+
+ for (int i = 0; i < codeMatrix.length; i++) {
+ for (int j = 0; j < codeMatrix[i].length; j++) {
+ DynamicNode dynamicNode = dynamicMatrix[i][j];
+ String vehicle = dynamicNode.getVehicle();
+
+ if (vehicles.contains(vehicle)) {
+ int serial = dynamicNode.getSerial();
+ map.computeIfAbsent(vehicle, k -> new ArrayList<>()).add(new SortCodeDto(codeMatrix[i][j], serial));
+ }
+ }
+ }
+
+ Map<String, List<String>> result = new HashMap<>(vehicles.size());
+ for (Map.Entry<String, List<SortCodeDto>> entry : map.entrySet()) {
+ List<String> codeDataList = entry.getValue().stream()
+ .sorted(Comparator.comparingInt(SortCodeDto::getSerial))
+ .map(SortCodeDto::getCode)
+ .collect(Collectors.toList());
+ result.put(entry.getKey(), codeDataList);
+ }
+
+ return result;
+ }
+
}
--
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