From 23423cc4909b4a958ba581e9bc54bfa007155be1 Mon Sep 17 00:00:00 2001
From: zhang <zc857179121@qq.com>
Date: 星期五, 13 六月 2025 15:11:29 +0800
Subject: [PATCH] 1
---
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 232 ++++++++++++++++++++++++++++++++-------------------------
1 files changed, 129 insertions(+), 103 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
index 1a54e6a..45660bf 100644
--- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -18,16 +18,15 @@
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.*;
+import com.zy.core.enums.CommandStatusType;
+import com.zy.core.enums.CrnTaskModeType;
+import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.CommandPackage;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
-import com.zy.core.model.protocol.StaProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
-import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import java.text.MessageFormat;
@@ -46,19 +45,37 @@
private CrnProtocol crnProtocol;
private boolean resetFlag = false;
+
@Value("${wms.url}")
private String wmsUrl;
public static final List<Short> rowOne = new ArrayList<Short>() {{
- add((short) 1);add((short) 5);add((short) 7);add((short) 11);add((short) 15);add((short) 19);
+ add((short) 1);
+ add((short) 5);
+ add((short) 7);
+ add((short) 11);
+ add((short) 15);
+ add((short) 19);
}};
public static final List<Short> rowTwo = new ArrayList<Short>() {{
- add((short) 2);add((short) 6);add((short) 8);add((short) 12);add((short) 16);add((short) 20);
+ add((short) 2);
+ add((short) 6);
+ add((short) 8);
+ add((short) 12);
+ add((short) 16);
+ add((short) 20);
}};
public static final List<Short> rowThree = new ArrayList<Short>() {{
- add((short) 3);add((short) 9);add((short) 13);add((short) 17);add((short) 21);
+ add((short) 3);
+ add((short) 9);
+ add((short) 13);
+ add((short) 17);
+ add((short) 21);
}};
public static final List<Short> rowFour = new ArrayList<Short>() {{
- add((short) 4);add((short) 10);add((short) 14);add((short) 18);
+ add((short) 4);
+ add((short) 10);
+ add((short) 14);
+ add((short) 18);
}};
@@ -97,12 +114,12 @@
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourcePosX((short)0); // 婧愬簱浣嶆帓
- command.setSourcePosY((short)0); // 婧愬簱浣嶅垪
- command.setSourcePosZ((short)0); // 婧愬簱浣嶅眰
- command.setDestinationPosX((short)0); // 鐩爣搴撲綅鎺�
- command.setDestinationPosY((short)0); // 鐩爣搴撲綅鍒�
- command.setDestinationPosZ((short)0); // 鐩爣搴撲綅灞�
+ command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+ command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
write(command);
break;
case 4:
@@ -125,7 +142,7 @@
/**
* 鍒濆鍖栧爢鍨涙満
*/
- private void initCrnProtocol(){
+ private void initCrnProtocol() {
crnProtocol = new CrnProtocol();
crnProtocol.setMode((short) 0);
crnProtocol.setStatus((short) 0);
@@ -145,9 +162,9 @@
siemensNet.setRack(slave.getRack().byteValue());
siemensNet.setSlot(slave.getSlot().byteValue());
OperateResult connect = siemensNet.ConnectServer();
- if(connect.IsSuccess){
+ if (connect.IsSuccess) {
result = true;
- OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戝爢鍨涙満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
+ OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝爢鍨涙満plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
log.info("鍫嗗灈鏈簆lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
} else {
OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝爢鍨涙満plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
@@ -160,11 +177,22 @@
return result;
}
+ // 鏇存柊鍏ュ嚭搴撴ā寮�
+ private void updateIoMode(SiemensDevpThread devpThread) {
+ if (slave.getId() == 1 && devpThread.ioModeOf1F1 != null) {
+ if (!siemensNet.Write("DB105.0", devpThread.ioModeOf1F1.id).IsSuccess) {
+ OutputQueue.DEVP.offer(MessageFormat.format("銆恵0}銆戝啓鍏ヨ緭閫佺嚎21F1鍏ュ嚭搴撴ā寮忓け璐ャ�傝緭閫佺嚎plc缂栧彿={1}", slave.getId()));
+ log.error("鍐欏叆杈撻�佺嚎1F1鍏ュ嚭搴撴ā寮忓け璐ャ�傝緭閫佺嚎plc缂栧彿={}", slave.getId());
+ }
+ }
+ }
+
/**
* 璇诲彇鐘舵��
*/
- private void readStatus(){
-
+ private void readStatus() {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ updateIoMode(devpThread);
OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56);
if (result.IsSuccess) {
if (null == crnProtocol) {
@@ -194,59 +222,57 @@
// TODO
//鏇存柊铏氭嫙杈撻�佺嚎鐘舵��
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
//devpThread.setData();
OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛", DateUtils.convert(new Date()), slave.getId()));
-
// 澶嶄綅淇″彿
if (crnProtocol.getTaskFinish() == 0) {
if (resetFlag) {
CrnCommand crnCommand = new CrnCommand();
- crnCommand.setAckFinish((short)1);
+ crnCommand.setAckFinish((short) 1);
if (write(crnCommand)) {
resetFlag = false;
//鍫嗗灈鏈轰换鍔″畬鎴愬悗璁块棶wms璇锋眰浠诲姟瀹屾垚 locationDone 璐т綅澶勭悊瀹屾垚
TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
- TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("wrk_no",crnProtocol.getTaskNo()));
+ TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("wrk_no", crnProtocol.getTaskNo()));
String tasktype = null;
- switch (taskWrk.getIoType()){
+ switch (taskWrk.getIoType()) {
case 1:
- tasktype= "RK";
+ tasktype = "RK";
break;
case 2:
- tasktype= "CK";
+ tasktype = "CK";
break;
case 3:
- tasktype= "YK";
+ tasktype = "YK";
break;
default:
- tasktype= "鏈煡";
+ tasktype = "鏈煡";
}
Map<String, Object> map = new HashMap<>();
- map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
+ map.put("x-api-key", "7a15b5db-29b6-552c-8cff-0cfec3756da2");
TaskOverToWms taskOverToWms = new TaskOverToWms();
taskOverToWms.setFeedbackFrom("WCS"); //鏉ユ簮
taskOverToWms.setWarehouseId("1688469798893297665"); //浠撳簱鏍囪瘑
taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //浠诲姟鍙�
taskOverToWms.setTaskType(tasktype); // 浠诲姟绫诲瀷
taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 瀹瑰櫒缂栫爜
- if (taskWrk.getIoType() ==1){
+ if (taskWrk.getIoType() == 1) {
taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //璁惧缂栫爜
taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //鐩爣搴撲綅
- }else if (taskWrk.getIoType() ==2){
- Map<Integer,String> map1 = new HashMap<>();
- map1.put(102,"J-1101");
- map1.put(106,"J-1103");
- map1.put(110,"J-1105");
- map1.put(114,"J-1107");
- map1.put(118,"J-1109");
- map1.put(122,"J-1111");
- map1.put(305,"H-1101");
- map1.put(405,"G-1101");
+ } else if (taskWrk.getIoType() == 2) {
+ Map<Integer, String> map1 = new HashMap<>();
+ map1.put(102, "J-1101");
+ map1.put(106, "J-1103");
+ map1.put(110, "J-1105");
+ map1.put(114, "J-1107");
+ map1.put(118, "J-1109");
+ map1.put(122, "J-1111");
+ map1.put(305, "H-1101");
+ map1.put(405, "G-1101");
taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //璁惧缂栫爜
taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //婧愬簱浣�
} else if (taskWrk.getIoType() == 3) {
@@ -264,35 +290,34 @@
.setJson(JSON.toJSONString(taskOverToWms))
.build()
.doPost();
- }catch (Exception e){
+ } catch (Exception e) {
log.error("鍫嗗灈鏈轰换鍔″畬鎴愶紝璇锋眰wms浠诲姟瀹屾垚鎺ュ彛澶辫触");
}
ApiLogService apiLogService = SpringUtils.getBean(ApiLogService.class);
apiLogService.save("Wms浠诲姟瀹屾垚鎺ュ彛"
- ,"10.32.53.195:8080"+"/wcsManager/wcsInterface/taskStatusFeedback"
- ,null
- ,"127.0.0.1"
- ,JSON.toJSONString(taskOverToWms)
- ,response
- ,true
+ , "10.32.53.195:8080" + "/wcsManager/wcsInterface/taskStatusFeedback"
+ , null
+ , "127.0.0.1"
+ , JSON.toJSONString(taskOverToWms)
+ , response
+ , true
);
JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)){
- if (taskWrk.getIoType() == 3){
+ if (jsonObject.getInteger("code").equals(200)) {
+ if (taskWrk.getIoType() == 3) {
taskWrk.setWrkSts(4);
}
taskWrk.setStatus(5);
- if (!taskWrkService.update(taskWrk,new EntityWrapper<TaskWrk>().eq("wrk_no",crnProtocol.getTaskNo()))){
+ if (!taskWrkService.update(taskWrk, new EntityWrapper<TaskWrk>().eq("wrk_no", crnProtocol.getTaskNo()))) {
log.error("鍫嗗灈鏈轰换鍔″畬鎴愶紝鏀瑰彉浠诲姟鐘舵�佸け璐�");
}
log.info("鍫嗗灈鏈轰换鍔″畬鎴愶紝璇锋眰wms浠诲姟瀹屾垚鎺ュ彛鎴愬姛");
- }else {
+ } else {
log.error("鍫嗗灈鏈轰换鍔″畬鎴愶紝璇锋眰wms浠诲姟瀹屾垚鎺ュ彛瀹屾垚锛屼絾杩斿洖澶辫触");
}
}
-
}
@@ -303,11 +328,12 @@
BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
BasCrnp basCrnp = new BasCrnp();
basCrnp.setCrnNo(slave.getId());
- basCrnp.setCrnSts((int)crnProtocol.getMode());
- if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
+ basCrnp.setCrnSts((int) crnProtocol.getMode());
+ if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))) {
log.error("鍫嗗灈鏈簆lc鏁版嵁搴撴洿鏂板け璐� ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
}
- } catch (Exception ignore){}
+ } catch (Exception ignore) {
+ }
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
deviceErrorService.deleteDeviceError("crn", slave.getId());
@@ -322,7 +348,7 @@
/**
* 鍐欏叆鏁版嵁
*/
- private boolean write(CrnCommand command){
+ private boolean write(CrnCommand command) {
if (null == command) {
log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
return false;
@@ -399,12 +425,12 @@
// array[9] = command.getSourceStaNo();
// array[10] = command.getDestinationStaNo();
array[9] = command.getCommand();
- OperateResult result18 = siemensNet.Write("DB100.18", (short)0);
+ OperateResult result18 = siemensNet.Write("DB100.18", (short) 0);
Thread.sleep(100L);
OperateResult result = siemensNet.Write("DB100.0", array);
- int i=0;
- do{
+ int i = 0;
+ do {
//鍫嗗灈鏈轰换鍔″啓鍏ュ悗锛屽洖璇讳竴娆★紝鐪嬫槸鍚︽垚鍔�
Thread.sleep(100);
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20);
@@ -422,32 +448,32 @@
|| !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY())
|| !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX())
|| !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ())
- ){
+ ) {
i++;
- log.error("鍫嗗灈鏈哄懡浠ゅ湴鍧�鍐欏叆鍚庡洖璇诲け璐id:{}]>>>>閲嶅啓[{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), i,JSON.toJSON(command),JSON.toJSON(one));
+ log.error("鍫嗗灈鏈哄懡浠ゅ湴鍧�鍐欏叆鍚庡洖璇诲け璐id:{}]>>>>閲嶅啓[{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), i, JSON.toJSON(command), JSON.toJSON(one));
result = siemensNet.Write("DB100.0", array);
- }else{
+ } else {
break;
}
}
- }while(i<5);
+ } while (i < 5);
if (command.getAckFinish() == 0) {
short commandFinish = 1;
Thread.sleep(100L);
result = siemensNet.Write("DB100.18", commandFinish);
int signFinish = 1;
- while (signFinish<5){
+ while (signFinish < 5) {
OperateResultExOne<byte[]> result10018 = siemensNet.Read("DB100.18", (short) 2);
short transInt16 = siemensNet.getByteTransform().TransInt16(result10018.Content, 0);
- if (transInt16 != commandFinish){
- log.info("涓嬪彂DB100.18 鍥炶澶辫触" + "commandFinish:"+commandFinish);
- log.info("涓嬪彂DB100.18 鍥炶澶辫触" + "array:"+ JSON.toJSONString(array));
+ if (transInt16 != commandFinish) {
+ log.info("涓嬪彂DB100.18 鍥炶澶辫触" + "commandFinish:" + commandFinish);
+ log.info("涓嬪彂DB100.18 鍥炶澶辫触" + "array:" + JSON.toJSONString(array));
result = siemensNet.Write("DB100.18", commandFinish);
signFinish++;
- }else {
- log.info("涓嬪彂DB100.18" + "commandFinish:"+commandFinish);
- log.info("涓嬪彂DB100.18" + "array:"+ JSON.toJSONString(array));
+ } else {
+ log.info("涓嬪彂DB100.18" + "commandFinish:" + commandFinish);
+ log.info("涓嬪彂DB100.18" + "array:" + JSON.toJSONString(array));
break;
}
}
@@ -474,7 +500,8 @@
null // 淇敼浜哄憳
);
bean.insert(basCrnOpt);
- } catch (Exception ignore) {}
+ } catch (Exception ignore) {
+ }
if (result != null && result.IsSuccess) {
Thread.sleep(300);
@@ -492,7 +519,7 @@
/**
* 鍐欏叆鏁版嵁
*/
- private boolean write2(CrnCommand command){
+ private boolean write2(CrnCommand command) {
if (null == command) {
log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
return false;
@@ -535,37 +562,37 @@
// 浣滀笟淇℃伅
OperateResult result = siemensNet.Write("DB100.0", array);
// 鏃ュ織璁板綍
- if (command.getAckFinish() != 1) {
- BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
- BasCrnOpt basCrnOpt = new BasCrnOpt(
- command.getTaskNo().intValue(), // 浠诲姟鍙�
- command.getCrnNo(), // 鍫嗗灈鏈篬闈炵┖]
- new Date(), // 涓嬪彂鏃堕棿
- command.getTaskModeType() == null ? null : command.getTaskModeType().toString(), // 妯″紡
- command.getSourcePosX().intValue(), // 婧愭帓
- command.getSourcePosY().intValue(), // 婧愬垪
- command.getSourcePosZ().intValue(), // 婧愬眰
- null, // 婧愮珯
- command.getDestinationPosX().intValue(), // 鐩爣鎺�
- command.getDestinationPosY().intValue(), // 鐩爣鍒�
- command.getDestinationPosZ().intValue(), // 鐩爣灞�
- null, // 鐩爣绔�
- null, // 鍝嶅簲缁撴灉
- null, // 淇敼鏃堕棿
- null // 淇敼浜哄憳
- );
- bean.insert(basCrnOpt);
- }
+ if (command.getAckFinish() != 1) {
+ BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
+ BasCrnOpt basCrnOpt = new BasCrnOpt(
+ command.getTaskNo().intValue(), // 浠诲姟鍙�
+ command.getCrnNo(), // 鍫嗗灈鏈篬闈炵┖]
+ new Date(), // 涓嬪彂鏃堕棿
+ command.getTaskModeType() == null ? null : command.getTaskModeType().toString(), // 妯″紡
+ command.getSourcePosX().intValue(), // 婧愭帓
+ command.getSourcePosY().intValue(), // 婧愬垪
+ command.getSourcePosZ().intValue(), // 婧愬眰
+ null, // 婧愮珯
+ command.getDestinationPosX().intValue(), // 鐩爣鎺�
+ command.getDestinationPosY().intValue(), // 鐩爣鍒�
+ command.getDestinationPosZ().intValue(), // 鐩爣灞�
+ null, // 鐩爣绔�
+ null, // 鍝嶅簲缁撴灉
+ null, // 淇敼鏃堕棿
+ null // 淇敼浜哄憳
+ );
+ bean.insert(basCrnOpt);
+ }
// } catch (Exception ignore) {}
//鏇存柊鍛戒护鏃ュ織
CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId());
- if (Cools.isEmpty(commandInfo)){
+ if (Cools.isEmpty(commandInfo)) {
commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
- .eq("wrk_no",crnProtocol.getTaskNo())
- .eq("device","Crn"));
+ .eq("wrk_no", crnProtocol.getTaskNo())
+ .eq("device", "Crn"));
}
CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
commandInfoLog.setId(null);
@@ -599,7 +626,7 @@
return true;
}
- private boolean writeAuto(CrnCommand command){
+ private boolean writeAuto(CrnCommand command) {
if (null == command) {
log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
return false;
@@ -607,19 +634,19 @@
OperateResult result = new OperateResult();
short[] array = new short[1];
array[0] = command.getAuto();
- if(command.getAuto() !=0){
+ if (command.getAuto() != 0) {
array[0] = command.getAuto();
result = siemensNet.Write("DB103.0", array);
- }else if (command.getOnlineWrk1() != 0){
+ } else if (command.getOnlineWrk1() != 0) {
array[0] = command.getOnlineWrk1();
result = siemensNet.Write("DB103.2", array);
- }else if (command.getOnlineWrk2() !=0){
+ } else if (command.getOnlineWrk2() != 0) {
array[0] = command.getOnlineWrk2();
result = siemensNet.Write("DB103.4", array);
- }else if (command.getOnlineWrk3() != 0){
+ } else if (command.getOnlineWrk3() != 0) {
array[0] = command.getOnlineWrk3();
result = siemensNet.Write("DB103.6", array);
- }else if (command.getOnlineWrk4() != 0){
+ } else if (command.getOnlineWrk4() != 0) {
array[0] = command.getOnlineWrk4();
result = siemensNet.Write("DB103.8", array);
} else if (command.getReset() != 0) {
@@ -631,7 +658,6 @@
if (result.IsSuccess) {
log.warn("鍫嗗灈鏈哄懡浠や笅鍙慬id:{},鏃堕棿锛歿}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
-
return true;
--
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