From f6e955d57bf5e885afde54a8c6eefe80bc1bec26 Mon Sep 17 00:00:00 2001 From: zjj <3272660260@qq.com> Date: 星期四, 30 十一月 2023 17:00:06 +0800 Subject: [PATCH] #出入库任务下发 --- src/main/java/com/zy/core/thread/SiemensCrnThread.java | 400 +++++++++++++++++++++++++++++++++++++++++--------------- 1 files changed, 292 insertions(+), 108 deletions(-) diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java index 4bfdede..9761ec6 100644 --- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java +++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java @@ -5,6 +5,7 @@ import HslCommunication.Profinet.Siemens.SiemensPLCS; import HslCommunication.Profinet.Siemens.SiemensS7Net; import com.alibaba.fastjson.JSON; +import com.core.common.Cools; import com.core.common.DateUtils; import com.core.common.SpringUtils; import com.zy.asrs.entity.*; @@ -25,6 +26,7 @@ import java.util.ArrayList; import java.util.Date; import java.util.List; +import java.util.Optional; /** * 鍫嗗灈鏈虹嚎绋� @@ -75,7 +77,7 @@ break; // 鍐欏叆鏁版嵁 case 2: - write((CrnCommand) task.getData()); + write2((CrnCommand) task.getData()); break; // 澶嶄綅 case 3: @@ -94,6 +96,9 @@ 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: + writeAuto((CrnCommand) task.getData()); break; default: break; @@ -270,80 +275,80 @@ if (err15[5]) { crnProtocol.setAlarm4(72); } if (err15[6]) { crnProtocol.setAlarm4(73); } - boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1); // 62 - crnProtocol.setConnStatus(bool1[0]); - crnProtocol.setCorrection(bool1[3]); - crnProtocol.setTuError(bool1[4]); - crnProtocol.setNoneError(bool1[5]); - crnProtocol.setStockError(bool1[6]); - crnProtocol.setJobInvalid(bool1[7]); - boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1); // 63 - crnProtocol.setIdle(bool2[0]); - crnProtocol.setControl(bool2[1]); - crnProtocol.setStopQuasi(bool2[2]); - crnProtocol.setRunning(bool2[3]); - crnProtocol.setFault(bool2[4]); - crnProtocol.setForkHome(bool2[5]); - crnProtocol.setForkSingleLeft(bool2[6]); - crnProtocol.setForkSingleRight(bool2[7]); - boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1); // 64 - crnProtocol.setForkDoubleLeft(bool3[0]); - crnProtocol.setForkDoubleRight(bool3[1]); - crnProtocol.setSingleHigh(bool3[2]); - crnProtocol.setSingleLow(bool3[3]); - crnProtocol.setDoubleHigh(bool3[4]); - crnProtocol.setDoubleLow(bool3[5]); - crnProtocol.setPlatformHigh(bool3[6]); - crnProtocol.setPlatformLow(bool3[7]); - boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1); // 66 - crnProtocol.setLoaded((short) (bool4[4]?1:0)); // 鏈夌墿 +// boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1); // 62 +// crnProtocol.setConnStatus(bool1[0]); +// crnProtocol.setCorrection(bool1[3]); +// crnProtocol.setTuError(bool1[4]); +// crnProtocol.setNoneError(bool1[5]); +// crnProtocol.setStockError(bool1[6]); +// crnProtocol.setJobInvalid(bool1[7]); +// boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1); // 63 +// crnProtocol.setIdle(bool2[0]); +// crnProtocol.setControl(bool2[1]); +// crnProtocol.setStopQuasi(bool2[2]); +// crnProtocol.setRunning(bool2[3]); +// crnProtocol.setFault(bool2[4]); +// crnProtocol.setForkHome(bool2[5]); +// crnProtocol.setForkSingleLeft(bool2[6]); +// crnProtocol.setForkSingleRight(bool2[7]); +// boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1); // 64 +// crnProtocol.setForkDoubleLeft(bool3[0]); +// crnProtocol.setForkDoubleRight(bool3[1]); +// crnProtocol.setSingleHigh(bool3[2]); +// crnProtocol.setSingleLow(bool3[3]); +// crnProtocol.setDoubleHigh(bool3[4]); +// crnProtocol.setDoubleLow(bool3[5]); +// crnProtocol.setPlatformHigh(bool3[6]); +// crnProtocol.setPlatformLow(bool3[7]); +// boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1); // 66 +// crnProtocol.setLoaded((short) (bool4[4]?1:0)); // 鏈夌墿 // 閫熷害 - crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22)); // 24 - crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24)); // 26 - crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26)); // 28 - // 绱閲岀▼銆佹椂闀� - crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88)); // 90 - crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92)); // 94 - crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96)); // 98 - crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100)); // 102 +// crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22)); // 24 +// crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24)); // 26 +// crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26)); // 28 +// // 绱閲岀▼銆佹椂闀� +// crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88)); // 90 +// crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92)); // 94 +// crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96)); // 98 +// crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100)); // 102 - // 澧炲己 - if (crnProtocol.getForkHome()) { - crnProtocol.setForkPos(CrnForkPosType.HOME); - } - if (crnProtocol.getForkSingleLeft()) { - crnProtocol.setForkPos(CrnForkPosType.LEFT); - } - if (crnProtocol.getForkSingleRight()) { - crnProtocol.setForkPos(CrnForkPosType.RIGHT); - } - if (crnProtocol.getForkDoubleLeft()) { - crnProtocol.setForkPos(CrnForkPosType._LEFT); - } - if (crnProtocol.getForkDoubleRight()) { - crnProtocol.setForkPos(CrnForkPosType._RIGHT); - } - if (crnProtocol.getSingleHigh()) { - crnProtocol.setLiftPos(CrnLiftPosType.UP); - } - if (crnProtocol.getSingleLow()) { - crnProtocol.setLiftPos(CrnLiftPosType.DOWN); - } - if (crnProtocol.getDoubleHigh()) { - crnProtocol.setLiftPos(CrnLiftPosType._UP); - } - if (crnProtocol.getDoubleLow()) { - crnProtocol.setLiftPos(CrnLiftPosType._DOWN); - } - if (crnProtocol.getIdle()) { - crnProtocol.setStatus(CrnStatusType.IDLE); - } +// // 澧炲己 +// if (crnProtocol.getForkHome()) { +// crnProtocol.setForkPos(CrnForkPosType.HOME); +// } +// if (crnProtocol.getForkSingleLeft()) { +// crnProtocol.setForkPos(CrnForkPosType.LEFT); +// } +// if (crnProtocol.getForkSingleRight()) { +// crnProtocol.setForkPos(CrnForkPosType.RIGHT); +// } +// if (crnProtocol.getForkDoubleLeft()) { +// crnProtocol.setForkPos(CrnForkPosType._LEFT); +// } +// if (crnProtocol.getForkDoubleRight()) { +// crnProtocol.setForkPos(CrnForkPosType._RIGHT); +// } +// if (crnProtocol.getSingleHigh()) { +// crnProtocol.setLiftPos(CrnLiftPosType.UP); +// } +// if (crnProtocol.getSingleLow()) { +// crnProtocol.setLiftPos(CrnLiftPosType.DOWN); +// } +// if (crnProtocol.getDoubleHigh()) { +// crnProtocol.setLiftPos(CrnLiftPosType._UP); +// } +// if (crnProtocol.getDoubleLow()) { +// crnProtocol.setLiftPos(CrnLiftPosType._DOWN); +// } +// if (crnProtocol.getIdle()) { +// crnProtocol.setStatus(CrnStatusType.IDLE); +// } 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() == 1) { + if (crnProtocol.getTaskFinish() == 0) { if (resetFlag) { CrnCommand crnCommand = new CrnCommand(); crnCommand.setAckFinish((short)1); @@ -383,70 +388,160 @@ log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�"); return false; } - if (command.getTaskNo() == 0 && command.getAckFinish() == 0) { + if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) { command.setTaskNo((short) 9999); } command.setCrnNo(slave.getId()); - short[] array = new short[9]; - if (command.getAckFinish() == 0) { + short[] array = new short[10]; + if (Cools.isEmpty(command.getAckFinish())) { array[0] = 5; } else { - array[0] = 0; + array[0] = command.getAckFinish(); } array[1] = command.getTaskNo(); array[2] = command.getTaskMode(); - array[3] = command.getDestinationPosZ(); - if (rowOne.contains(command.getSourcePosX())){ - array[4] = (short)1; - }else if (rowTwo.contains(command.getSourcePosX())){ - array[4] = (short)2; - }else if (rowThree.contains(command.getSourcePosX())){ - array[4] = (short)3; - }else if (rowFour.contains(command.getSourcePosX())){ - array[4] = (short)4; - }else { - array[4] = command.getSourcePosX(); - } - array[5] = command.getDestinationPosY(); + array[3] = command.getSourcePosZ(); +// if (rowOne.contains(command.getSourcePosX())){ +// array[4] = (short)1; +// }else if (rowTwo.contains(command.getSourcePosX())){ +// array[4] = (short)2; +// }else if (rowThree.contains(command.getSourcePosX())){ +// array[4] = (short)3; +// }else if (rowFour.contains(command.getSourcePosX())){ +// array[4] = (short)4; +// }else { + array[4] = command.getSourcePosX(); +// } + array[5] = command.getSourcePosY(); array[6] = command.getDestinationPosZ(); - if (rowOne.contains(command.getDestinationPosX())){ - array[7] = (short)1; - }else if (rowTwo.contains(command.getDestinationPosX())){ - array[7] = (short)2; - }else if (rowThree.contains(command.getDestinationPosX())){ - array[7] = (short)3; - }else if (rowFour.contains(command.getDestinationPosX())){ - array[7] = (short)4; - }else { - array[7] = command.getDestinationPosX(); - } +// if (rowOne.contains(command.getDestinationPosX())){ +// array[7] = (short)1; +// }else if (rowTwo.contains(command.getDestinationPosX())){ +// array[7] = (short)2; +// }else if (rowThree.contains(command.getDestinationPosX())){ +// array[7] = (short)3; +// }else if (rowFour.contains(command.getDestinationPosX())){ +// array[7] = (short)4; +// }else { + array[7] = command.getDestinationPosX(); +// } array[8] = command.getDestinationPosY(); + array[9] = command.getCommand(); // 浣滀笟淇℃伅 OperateResult result = siemensNet.Write("DB100.0", array); - // 浠诲姟鍙� + 瀹屾垚浣� - short[] array2 = new short[2]; - array2[0] = command.getTaskNo(); - array2[1] = command.getAckFinish(); - OperateResult result1 = siemensNet.Write("DB10.24", array2); - // 缁撴潫浣� - if (command.getAckFinish() == 0) { - OperateResult result2 = siemensNet.Write("DB10.28.1", true); + 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 (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; + } else { + OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [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.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); + return false; + } + } + + /** + * 鍐欏叆鏁版嵁 + */ + 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; + } + if (command.getTaskNo() == 0 && command.getAckFinish() == 0 && command.getAuto() != 1) { + command.setTaskNo((short) 9999); + } + + command.setCrnNo(slave.getId()); + short[] array = new short[10]; + if (Cools.isEmpty(command.getAckFinish())) { + array[0] = 5; + } else { + array[0] = command.getAckFinish(); + } + array[1] = command.getTaskNo(); + array[2] = command.getTaskMode(); + + array[3] = command.getSourcePosZ(); +// if (rowOne.contains(command.getSourcePosX())){ +// array[4] = (short)1; +// }else if (rowTwo.contains(command.getSourcePosX())){ +// array[4] = (short)2; +// }else if (rowThree.contains(command.getSourcePosX())){ +// array[4] = (short)3; +// }else if (rowFour.contains(command.getSourcePosX())){ +// array[4] = (short)4; +// }else { + array[4] = command.getSourcePosX(); +// } + array[5] = command.getSourcePosY(); + + array[6] = command.getDestinationPosZ(); +// if (rowOne.contains(command.getDestinationPosX())){ +// array[7] = (short)1; +// }else if (rowTwo.contains(command.getDestinationPosX())){ +// array[7] = (short)2; +// }else if (rowThree.contains(command.getDestinationPosX())){ +// array[7] = (short)3; +// }else if (rowFour.contains(command.getDestinationPosX())){ +// array[7] = (short)4; +// }else { + array[7] = command.getDestinationPosX(); +// } + array[8] = command.getDestinationPosY(); + array[9] = command.getCommand(); + + + + // 浣滀笟淇℃伅 + OperateResult result = siemensNet.Write("DB100.0", array); +// // 浠诲姟鍙� + 瀹屾垚浣� +// short[] array2 = new short[2]; +// array2[0] = command.getTaskNo(); +// array2[1] = command.getAckFinish(); +// OperateResult result1 = siemensNet.Write("DB10.24", array2); +// +// // 缁撴潫浣� +// if (command.getAckFinish() == 0) { +// OperateResult result2 = siemensNet.Write("DB10.28.1", true); +// } + // 鏃ュ織璁板綍 - try { +// try { 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().toString(), // 妯″紡 + 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 @@ -461,7 +556,96 @@ ); bean.insert(basCrnOpt); } - } catch (Exception ignore) {} +// } 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()); + CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class); + commandInfoLog.setId(null); +// CommandInfoLog commandInfoLog = new CommandInfoLog(); +// if (commandInfo != null) { +// commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class); +// commandInfoLog.setId(null); +// }else { +// Date now = new Date(); +// commandInfoLog.setCommand(JSON.toJSONString(command)); +// commandInfoLog.setCommandStatus(3); +// commandInfoLog.setStartTime(now); +// commandInfoLog.setExecuteTime(now); +// commandInfoLog.setCompleteTime(now); +// commandInfoLog.setDevice(SlaveType.Devp.toString()); +// commandInfoLog.setWrkNo(9999); +// commandInfoLog.setTaskNo("9999"); +// commandInfoLog.setCommandDesc("鎵嬪姩鍛戒护"); +// } + + + 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))); + + Date now = new Date(); + + //鏇存柊鎸囦护鏃ュ織 + commandInfoLog.setDeviceLog("鎸囦护涓嬪彂鎴愬姛"); + commandInfoLogService.insert(commandInfoLog); + + //绾跨▼鏆傚瓨鎸囦护ID + crnProtocol.setCommandId(command.getCommandId()); + + //鏇存柊鎸囦护鐘舵�� + commandInfo.setCommandStatus(CommandStatusType.EXECUTE.id);//鎵ц涓� + commandInfo.setExecuteTime(now); + commandInfoService.updateById(commandInfo); + + //鏇存柊浠诲姟姝ュ簭 + TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class); + TaskWrk taskWrk = taskWrkService.selectByWrkNo(command.getTaskNo().intValue()); + if (taskWrk != null) { + taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//鏇存柊鎸囦护姝ュ簭 + taskWrkService.updateById(taskWrk); + } + + return true; + } else { + OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ爢鍨涙満plc鏁版嵁澶辫触 ===>> [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.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); + + //鏇存柊鎸囦护鏃ュ織 + commandInfoLog.setDeviceLog("鎸囦护涓嬪彂澶辫触"); + commandInfoLogService.insert(commandInfoLog); + return false; + } + } + + 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; + } + OperateResult result = new OperateResult(); + short[] array = new short[1]; + array[0] = command.getAuto(); + if(command.getAuto() !=0){ + array[0] = command.getAuto(); + result = siemensNet.Write("DB103.0", array); + }else if (command.getOnlineWrk1() != 0){ + array[0] = command.getOnlineWrk1(); + result = siemensNet.Write("DB103.2", array); + }else if (command.getOnlineWrk2() !=0){ + array[0] = command.getOnlineWrk2(); + result = siemensNet.Write("DB103.4", array); + }else if (command.getOnlineWrk3() != 0){ + array[0] = command.getOnlineWrk3(); + result = siemensNet.Write("DB103.6", array); + }else if (command.getOnlineWrk4() != 0){ + array[0] = command.getOnlineWrk4(); + result = siemensNet.Write("DB103.8", array); + } + + //鏇存柊鍛戒护鏃ュ織 CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class); @@ -470,7 +654,7 @@ CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class); commandInfoLog.setId(null); - if (result.IsSuccess && result1.IsSuccess) { + 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))); 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