From 715101e29ad1eb8d70f587237a37d74d50d3fd2a Mon Sep 17 00:00:00 2001
From: zc <zc@123>
Date: 星期五, 25 四月 2025 15:23:28 +0800
Subject: [PATCH] 初步调试
---
src/main/java/com/zy/asrs/utils/Utils.java | 482 +++++++++++++----------------------------------------
1 files changed, 117 insertions(+), 365 deletions(-)
diff --git a/src/main/java/com/zy/asrs/utils/Utils.java b/src/main/java/com/zy/asrs/utils/Utils.java
index c1c8732..e614247 100644
--- a/src/main/java/com/zy/asrs/utils/Utils.java
+++ b/src/main/java/com/zy/asrs/utils/Utils.java
@@ -1,260 +1,51 @@
package com.zy.asrs.utils;
-import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Arith;
import com.core.common.Cools;
import com.core.common.SpringUtils;
-import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
-import com.zy.asrs.mapper.WrkMastMapper;
-import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
-import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
-import com.zy.common.service.CommonService;
-import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
-import com.zy.common.utils.ShuttleDispatchUtils;
-import com.zy.core.Slave;
-import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.ShuttleRunDirection;
-import com.zy.core.enums.ShuttleTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ShuttleSlave;
-import com.zy.core.model.Task;
-import com.zy.core.model.command.ShuttleAssignCommand;
-import com.zy.core.model.command.ShuttleCommand;
-import com.zy.core.model.protocol.NyShuttleProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
-import com.zy.core.thread.NyShuttleThread;
import com.zy.core.thread.ShuttleThread;
import java.text.DecimalFormat;
import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collections;
import java.util.List;
-/**
- * Created by vincent on 2020/8/27
- */
public class Utils {
-
- public static final List<Integer> FIRST_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(1);
- }};
- public static final List<Integer> SECOND_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(3);add(4);
- }};
- public static final List<Integer> THIRD_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(6);add(7);
- }};
- public static final List<Integer> FOURTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(8);
- }};
- public static final List<Integer> FIFTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(10);add(11);
- }};
- public static final List<Integer> SIXTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(13);add(14);add(15);add(16);
- }};
- public static final List<Integer> SEVENTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(13);add(14);
- }};
- public static final List<Integer> EIGHTH_GROUP_ROW_LIST = new ArrayList<Integer>() {{
- add(16);
- }};
private static final DecimalFormat fmt = new DecimalFormat("##0.00");
- public static float scale(Float f){
+ public static float scale(Float f) {
if (f == null || f == 0f || Float.isNaN(f)) {
return 0f;
}
return (float) Arith.multiplys(2, f, 1);
}
- public static String zerofill(String msg, Integer count){
- if (msg.length() == count){
+ public static String zerofill(String msg, Integer count) {
+ if (msg.length() == count) {
return msg;
- } else if (msg.length() > count){
+ } else if (msg.length() > count) {
return msg.substring(0, 16);
} else {
StringBuilder msgBuilder = new StringBuilder(msg);
- for (int i = 0; i<count-msg.length(); i++){
- msgBuilder.insert(0,"0");
+ for (int i = 0; i < count - msg.length(); i++) {
+ msgBuilder.insert(0, "0");
}
return msgBuilder.toString();
}
- }
-
- public static Integer getGroupRow(String locNo, Boolean pakin){
- int row = getRow(locNo);
- return getGroupRow(row, pakin);
- }
-
- public static List<String> getGroupLocNo(String locNo){
- int row = getRow(locNo);
- List<String> result = new ArrayList<>();
- if (FIRST_GROUP_ROW_LIST.contains(row)) {
- for (Integer groupRow : FIRST_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(groupRow), 2) + locNo.substring(2));
- }
- } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
- for (Integer groupRow : SECOND_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(groupRow), 2) + locNo.substring(2));
- }
- }
- return result;
- }
-
- public static Integer getGroupRow(Integer row, Boolean pakin) {
- if (FIRST_GROUP_ROW_LIST.contains(row)) {
- return 4;
- } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
- return 5;
- } else {
- return 0;
- }
-// if (pakin) {
-// if (FIRST_GROUP_ROW_LIST.contains(row)) {
-// return 2;
-// } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
-// return 18;
-// } else {
-// return 0;
-// }
-// } else {
-// if (FIRST_GROUP_ROW_LIST.contains(row)) {
-// return 12;
-// } else if (SECOND_GROUP_ROW_LIST.contains(row)) {
-// return 30;
-// } else {
-// return 0;
-// }
-// }
- }
-
- /**
- * 鍒ゆ柇搴撲綅鏄惁涓虹┛姊簱浣�
- * @param locNo
- * @return
- */
- public static Boolean isShuttle(String locNo) {
- int row = Utils.getRow(locNo);
- if (row >= 2 && row <= 12) {
- return Boolean.TRUE;
- }
- return Boolean.FALSE;
- }
-
- // -------------------------------------------------------------------------------------------------------------------
-
-
-
- /**
- * 鍒ゆ柇鏄惁涓烘繁搴撲綅
- */
- public static boolean isDeepLoc(SlaveProperties slaveProperties, String locNo){
- if (slaveProperties.isDoubleDeep()) {
- int row = getRow(locNo);
- return slaveProperties.getDoubleLocs().contains(row);
- } else {
- return false;
- }
- }
-
- /**
- * 鍒ゆ柇鏄惁涓烘繁搴撲綅
- */
- public static boolean isDeepLoc(SlaveProperties slaveProperties, Integer row){
- if (slaveProperties.isDoubleDeep()) {
- return slaveProperties.getDoubleLocs().contains(row);
- } else {
- return false;
- }
- }
-
- /**
- * 鍒ゆ柇鏄惁涓烘祬搴撲綅
- */
- public static boolean isShallowLoc(SlaveProperties slaveProperties, String locNo){
- if (slaveProperties.isDoubleDeep()) {
- int row = getRow(locNo);
- return !slaveProperties.getDoubleLocs().contains(row);
- } else {
- return false;
- }
- }
-
- /**
- * 鍒ゆ柇鏄惁涓烘祬搴撲綅
- */
- public static boolean isShallowLoc(SlaveProperties slaveProperties, Integer row){
- if (slaveProperties.isDoubleDeep()) {
- return !slaveProperties.getDoubleLocs().contains(row);
- } else {
- return false;
- }
- }
-
- /**
- * 鑾峰彇 娣卞簱浣嶅搴旂殑娴呭簱浣嶅彿
- */
- public static String getShallowLoc(SlaveProperties slaveProperties, String deepLoc) {
- int row = getRow(deepLoc);
- int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
- int shallowRow = remainder == 1 ? (row + 1) : (row - 1);
- return zerofill(String.valueOf(shallowRow), 2) + deepLoc.substring(2);
- }
-
-
- /**
- * 鑾峰彇 娣卞簱浣嶆帓瀵瑰簲鐨勬祬搴撲綅鎺�
- */
- public static Integer getShallowRow(SlaveProperties slaveProperties, Integer deepRow) {
- int remainder = (int) Arith.remainder(deepRow, slaveProperties.getGroupCount());
- return remainder == 1 ? (deepRow + 1) : (deepRow - 1);
- }
-
- /**
- * 鑾峰彇 娴呭簱浣嶅搴旂殑娣卞簱浣嶅彿
- */
- public static String getDeepLoc(SlaveProperties slaveProperties, String shallowLoc) {
- int row = getRow(shallowLoc);
- int remainder = (int) Arith.remainder(row, slaveProperties.getGroupCount());
- int targetRow;
- if (remainder == 2) {
- targetRow = row - 1;
- } else if (remainder == 1) {
- targetRow = row + 1;
- } else {
- throw new RuntimeException(shallowLoc + "涓嶆槸娴呭簱浣嶏紝绯荤粺绻佸繖");
- }
- return zerofill(String.valueOf(targetRow), 2) + shallowLoc.substring(2);
- }
-
- /**
- * 鑾峰彇 娴呭簱浣嶆帓瀵瑰簲鐨勬繁搴撲綅鎺�
- */
- public static Integer getDeepRow(SlaveProperties slaveProperties, Integer shallowRow) {
- int remainder = (int) Arith.remainder(shallowRow, slaveProperties.getGroupCount());
- int targetRow;
- if (remainder == 2) {
- targetRow = shallowRow - 1;
- } else if (remainder == 1) {
- targetRow = shallowRow + 1;
- } else {
- throw new RuntimeException(shallowRow + "涓嶆槸娴呭簱浣嶆帓锛岀郴缁熺箒蹇�");
- }
- return targetRow;
}
/**
@@ -287,92 +78,39 @@
throw new RuntimeException("搴撲綅瑙ｆ瀽寮傚父");
}
- /**
- * 閫氳繃鎺掑垪灞傛嫾鎺ュ嚭搴撲綅鍙�
- */
- public static String append(int row, int bay, int lev) {
- return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
- }
-
public static String getLocNo(Number row, Number bay, Number lev) {
return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2);
}
- public static void main(String[] args) {
- System.out.println(JSON.toJSONString(getGroupLoc("1606101")));
+ public static List<String> getGroupLoc(String locNo) {
+ return null;
}
- /**
- * 鑾峰彇搴撲綅缁�
- * @param locNo 搴撲綅鍙�
- */
- public static List<String> getGroupLoc(String locNo){
- int row = getRow(locNo);
- int bay = getBay(locNo);
- if (FIRST_GROUP_ROW_LIST.contains(row)) {
- List<String> result = new ArrayList<>();
- for (Integer row0 : FIRST_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
- }
- return result;
+ //鑾峰彇闄ょ櫧鍚嶅崟澶栫殑鎸囧畾妤煎眰鍏ㄩ儴绌挎杞y鍧愭爣鐐�
+ public static int[] getShuttlePoint(Integer shuttleNo) {
+ //鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return null;
}
- if (SECOND_GROUP_ROW_LIST.contains(row)) {
- List<String> result = new ArrayList<>();
- for (Integer row0 : SECOND_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
- }
- return result;
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return null;
}
- if (THIRD_GROUP_ROW_LIST.contains(row)) {
- List<String> result = new ArrayList<>();
- for (Integer row0 : THIRD_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
- }
- Collections.reverse(result);
- return result;
+
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ return null;
}
- if (FOURTH_GROUP_ROW_LIST.contains(row)) {
- List<String> result = new ArrayList<>();
- for (Integer row0 : FOURTH_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
- }
- return result;
+
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ return null;
}
- if (FIFTH_GROUP_ROW_LIST.contains(row)) {
- List<String> result = new ArrayList<>();
- for (Integer row0 : FIFTH_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
- }
- return result;
- }
- if (SIXTH_GROUP_ROW_LIST.contains(row) && (bay >= 59 && bay <= 61)) {
- List<String> result = new ArrayList<>();
- for (Integer row0 : SIXTH_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
- }
- Collections.reverse(result);
- return result;
- }
- if (SEVENTH_GROUP_ROW_LIST.contains(row) && bay < 59) {
- List<String> result = new ArrayList<>();
- for (Integer row0 : SEVENTH_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
- }
- return result;
- }
- if (EIGHTH_GROUP_ROW_LIST.contains(row) && bay < 59) {
- List<String> result = new ArrayList<>();
- for (Integer row0 : EIGHTH_GROUP_ROW_LIST) {
- result.add(zerofill(String.valueOf(row0), 2) + locNo.substring(2));
- }
- return result;
- }
- throw new RuntimeException("搴撲綅瑙ｆ瀽寮傚父");
+ return NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());
}
//鑾峰彇闄ょ櫧鍚嶅崟澶栫殑鎸囧畾妤煎眰鍏ㄩ儴绌挎杞y鍧愭爣鐐�
public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
- BasShuttleService basShuttleService = SpringUtils.getBean(BasShuttleService.class);
SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
ArrayList<int[]> list = new ArrayList<>();
for (ShuttleSlave slave : slaveProperties.getShuttle()) {
@@ -381,25 +119,18 @@
}
//鑾峰彇绌挎杞︽墍鍦ㄨ妭鐐逛綅缃�
- NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
if (shuttleThread == null) {
continue;
}
- NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
continue;
}
String currentLocNo = shuttleProtocol.getCurrentLocNo();
-
if (currentLocNo == null) {
- //灏忚溅娌℃湁搴撲綅鍙锋暟鎹紝浠庢暟鎹簱涓彇
- BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
- if (basShuttle == null || basShuttle.getPoint() == null) {
- continue;
- }
- NyShuttleProtocol.NyShuttlePointClass shuttlePoint = JSON.parseObject(basShuttle.getPoint(), NyShuttleProtocol.NyShuttlePointClass.class);
- currentLocNo = NavigatePositionConvert.nyXyzToLocNo(shuttlePoint.getX(), shuttlePoint.getY(), shuttlePoint.getZ());
+ continue;
}
if (lev != Utils.getLev(currentLocNo)) {
@@ -415,86 +146,38 @@
return list;
}
- //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
- public static boolean searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, NyShuttleThread shuttleThread) {
- LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
- WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
- CommonService commonService = SpringUtils.getBean(CommonService.class);
- ShuttleDispatchUtils shuttleDispatchUtils = SpringUtils.getBean(ShuttleDispatchUtils.class);
-
- if (shuttleThread == null) {
- return false;
- }
- NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- return false;
- }
-
- NavigateMapData mapData = new NavigateMapData(z);//鑾峰彇鍦板浘鏁版嵁
- int[][] data = mapData.getData(-1, null, currentShuttleId == null ? null : Utils.getShuttlePoints(0, z));//杞藉叆鍏ㄩ儴杞﹁締
-
- int distY = -1;
- int distX = -1;
- int distZ = -1;
- //鑾峰彇閬胯搴撲綅
- String distLocNo = null;
- for (int y = 20; y <= 56; y++) {
- boolean searchFlag = true;
- for (int x = 10; x <= 11; x++) {
- if (data[x][y] < 0 || data[x][y] == 66) {
- searchFlag = false;//璇ュ贩閬撴湁绂佺敤鑺傜偣鎴栨湁灏忚溅
- break;
- }
- }
-
- if (searchFlag) {
- //鎼滅储鍑虹┖宸烽亾
- distY = y;
- distX = 11;
- distZ = z;
-
- //鑾峰彇閬胯搴撲綅
- String locNo = NavigatePositionConvert.xyzToLocNo(distX, distY, distZ);
- LocMast distLocMast = locMastService.queryByLoc(locNo);
- if (distLocMast == null) {
- continue;
- }
-
- //鍒ゆ柇璇ュ簱浣嶆槸鍚﹀瓨鍦ㄥ伐浣滄。
- EntityWrapper<WrkMast> wrapper = new EntityWrapper<>();
- wrapper.eq("loc_no", locNo);
- WrkMast wrkMast = wrkMastService.selectOne(wrapper);
- if (wrkMast != null) {
- continue;//瀛樺湪宸ヤ綔妗ｈ烦杩囪搴撲綅
- }
-
- distLocNo = locNo;
- break;
- }
- }
-
- if (distLocNo != null) {
- //璋冨害灏忚溅鍒伴伩璁╀綅缃�
- return shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(7), distLocNo, shuttleProtocol.getShuttleNo().intValue());
- }
- return false;
- }
-
- //妫�娴嬫ゼ灞傛槸鍚︽湁绌挎杞�
+ //妫�娴嬫ゼ灞傛槸鍚︽湁鍙敤绌挎杞�
public static boolean checkLevHasShuttle(Integer lev) {
SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
if (shuttleThread == null) {
continue;
}
- NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
continue;
}
String currentLocNo = shuttleProtocol.getCurrentLocNo();
if (currentLocNo == null) {
+ continue;
+ }
+
+ //灏忚溅姝ｅ湪鍏呯數
+ if (shuttleThread.isCharging()) {
+ continue;
+ }
+
+ //灏忚溅鏈夊厖鐢典换鍔�
+ WrkMast chargeWorking = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
+ if (chargeWorking != null) {//宸叉湁鍏呯數浠诲姟
+ continue;
+ }
+
+ //灏忚溅澶勪簬鏁呴殰鐘舵��
+ if (shuttleThread.isFault()) {
continue;
}
@@ -506,4 +189,73 @@
return false;//鎸囧畾妤煎眰娌℃湁绌挎杞�
}
+ //妫�娴嬪簱浣嶇粍鏄惁瀛樺湪灏忚溅锛屽瓨鍦ㄨ繑鍥炲皬杞﹀彿銆�
+ public static Integer checkGroupLocHasShuttle(List<String> groupLoc) {
+ if (groupLoc == null) {
+ return null;
+ }
+
+ if (groupLoc.isEmpty()) {
+ return null;
+ }
+
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ if (slaveProperties == null) {
+ return null;
+ }
+
+ for (String loc : groupLoc) {
+ for (ShuttleSlave slave : slaveProperties.getShuttle()) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo().equals(loc)) {
+ //瀛樺湪灏忚溅
+ return slave.getId();
+ }
+ }
+ }
+
+ return null;
+ }
+
+ //鑾峰彇灏忚溅寰呮満浣�
+ public static String getShuttleStandbyLocNo(String locNo) {
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+ List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
+ .eq("loc_type", "standby")
+ .eq("lev1", Utils.getLev(locNo)));
+ if (locMasts.isEmpty()) {
+ return null;
+ }
+
+ Integer recentDistance = Integer.MAX_VALUE;
+ String recentLocNo = null;
+ for (LocMast locMast : locMasts) {
+ //寰呮満浣嶅埌鐩爣鐐硅窛绂�
+ List<NavigateNode> currentShuttlePath = navigateUtils.calc(locNo, locMast.getLocNo(), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(0, Utils.getLev(locNo)), null);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ if (currentShuttlePath == null) {
+ continue;
+ }
+ Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ if (currentAllDistance < recentDistance) {
+ recentDistance = currentAllDistance;
+ recentLocNo = locMast.getLocNo();
+ }
+ }
+
+ return recentLocNo;
+ }
}
--
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