package com.zy.core.thread; import HslCommunication.Core.Types.OperateResult; import HslCommunication.Core.Types.OperateResultExOne; 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.entity.BasCrnOpt; import com.zy.entity.BasCrnp; import com.zy.service.BasCrnOptService; import com.zy.service.BasCrnpService; import com.zy.utils.News; import com.zy.core.CrnThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.OutputQueue; import com.zy.core.enums.*; import com.zy.core.model.CrnSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.protocol.CrnProtocol; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.text.MessageFormat; import java.util.Date; /** * 堆垛机线程 * Created by vincent on 2020/8/4 */ @Data @Slf4j public class SiemensCrnThread implements Runnable, CrnThread { private SiemensS7Net siemensNet; private CrnSlave slave; private CrnProtocol crnProtocol; private boolean resetFlag = false; public boolean isRunning = true; public Long sign = System.currentTimeMillis(); /** * 堆垛机是否在回原点运动中标记 */ private boolean backHpFlag = false; public SiemensCrnThread(CrnSlave slave) { this.slave = slave; } @Override @SuppressWarnings("InfiniteLoopStatement") public void run() { this.connect(); while (isRunning) { try { int step = 1; Task task = MessageQueue.poll(SlaveType.Crn, slave.getId()); if (task != null) { step = task.getStep(); } switch (step) { // 读数据 case 1: readStatus(); break; // 写入数据 case 2: write((CrnCommand) task.getData()); break; // 复位 case 3: CrnCommand command = (CrnCommand) task.getData(); if (null == command) { command = new CrnCommand(); } command.setCrnNo(slave.getId()); // 堆垛机编号 command.setTaskNo((short) 0); // 工作号 command.setAckFinish((short) 1); // 任务完成确认位 command.setTaskMode(CrnTaskModeType.NONE); // 任务模式 command.setSourcePosX((short)0); // 源库位排 command.setSourcePosY((short)0); // 源库位列 command.setSourcePosZ((short)0); // 源库位层 command.setDestinationPosX((short)0); // 目标库位排 command.setDestinationPosY((short)0); // 目标库位列 command.setDestinationPosZ((short)0); // 目标库位层 write(command); break; default: break; } Thread.sleep(500); } catch (Exception e) { // e.printStackTrace(); } } } /** * 初始化堆垛机状态 */ private void initCrn() { if (null == crnProtocol) { crnProtocol = new CrnProtocol(); } crnProtocol.setMode((short) -1); // crnProtocol.setTaskNo((short)0); crnProtocol.setStatus((short)-1); crnProtocol.setBay((short)0); crnProtocol.setLevel((short)0); crnProtocol.setForkPos((short) -1); crnProtocol.setLiftPos((short) -1); crnProtocol.setWalkPos((short)0); crnProtocol.setLoaded((short)0); crnProtocol.setAlarm((short)0); crnProtocol.setxSpeed((short) 0); crnProtocol.setySpeed((short) 0); crnProtocol.setzSpeed((short) 0); crnProtocol.setxDistance((short) 0); crnProtocol.setyDistance((short) 0); crnProtocol.setxDuration((short) 0); crnProtocol.setyDuration((short) 0); } @Override public boolean connect() { boolean result = false; siemensNet = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp()); siemensNet.setRack(slave.getRack().byteValue()); siemensNet.setSlot(slave.getSlot().byteValue()); OperateResult connect = siemensNet.ConnectServer(); if(connect.IsSuccess){ result = true; OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); News.info("SiemensCrn"+" - 1"+" - 堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); News.error("SiemensCrn"+" - 2"+" - 堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); initCrn(); } // siemensNet.ConnectClose(); return result; } /** * 读取状态 */ private void readStatus(){ try { OperateResultExOne result = siemensNet.Read("DB101.0", (short) 56); if (result.IsSuccess) { if (null == crnProtocol) { crnProtocol = new CrnProtocol(); crnProtocol.setCrnNo(slave.getId()); } crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0)); crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2)); crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4)); crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6)); crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8)); crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10)); crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12)); crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14)); crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 16)); crnProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 18)); crnProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 20)); crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22)); crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24)); crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26)); crnProtocol.setxSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28)); crnProtocol.setySpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32)); crnProtocol.setzSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36)); crnProtocol.setxDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40)); crnProtocol.setyDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44)); crnProtocol.setxDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48)); crnProtocol.setyDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52)); OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId())); // 复位信号 if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) { if (resetFlag) { if(crnProtocol.getTaskNo()==9999){ backHpFlag = false; } CrnCommand crnCommand = new CrnCommand(); crnCommand.setAckFinish((short)1); if (write(crnCommand)) { resetFlag = false; } } } try { // 根据实时信息更新数据库 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))){ News.error("SiemensCrn"+" - 3"+" - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } } catch (Exception ignore){} } else { initCrn(); OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); News.error("SiemensCrn"+" - 4"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } } catch (Exception e) { e.printStackTrace(); OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); News.error("SiemensCrn"+" - 5"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); initCrn(); } } private void convertRow(CrnCommand crnCommand) { if (crnCommand.getSourcePosX() != null && crnCommand.getSourcePosX() != 0) { crnCommand.setSourcePosX((short) (crnCommand.getSourcePosX() - ((slave.getId() - 1) * 4))); } if (crnCommand.getDestinationPosX() != null && crnCommand.getDestinationPosX() != 0) { crnCommand.setDestinationPosX((short) (crnCommand.getDestinationPosX() - ((slave.getId() - 1) * 4))); } } /** * 写入数据 */ private boolean write(CrnCommand command) throws InterruptedException { if (null == command) { News.error("堆垛机写入命令为空"); return false; } // 向堆垛机发任务前的堆垛机状态 try{ OperateResultExOne resultRead = siemensNet.Read("DB100.0", (short) 24); if (resultRead.IsSuccess) { CrnCommand one = new CrnCommand(); one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2)); one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4)); one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6)); one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8)); one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10)); one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12)); one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14)); one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16)); if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode()) || !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()) ){ News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } else { News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } } }catch (Exception e){ News.error("堆垛机命令地址写入后回读出错"); } // convertRow(command); command.setCrnNo(slave.getId()); // short[] array = new short[10]; short[] array = new short[10]; array[0] = command.getAckFinish(); // 任务完成确认位 array[1] = command.getTaskNo(); // 任务号 array[2] = command.getTaskMode(); // 模式 array[3] = command.getSourcePosX(); // 源位置排号 array[4] = command.getSourcePosY(); // 源位置列号 array[5] = command.getSourcePosZ(); // 源位置层号 array[6] = command.getDestinationPosX(); // 目标位置排号 array[7] = command.getDestinationPosY(); // 目标位置列号 array[8] = command.getDestinationPosZ(); // 目标位置层号 array[9] = command.getCommand(); OperateResult result = siemensNet.Write("DB100.0", array); News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array); if(!result.IsSuccess){ News.error("写入堆垛机plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command)); Thread.sleep(100); readStatus(); return false; } //堆垛机任务写入后，回读一次，看是否成功 Thread.sleep(200); try{ OperateResultExOne resultRead = siemensNet.Read("DB100.0", (short) 24); if (resultRead.IsSuccess) { CrnCommand one = new CrnCommand(); one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2)); one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4)); one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6)); one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8)); one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10)); one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12)); one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14)); one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16)); one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22)); if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode()) || !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()) ){ try{ News.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); }catch (Exception e){ try{ News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead)); }catch (Exception e1){ News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); } } News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command)); Thread.sleep(100); readStatus(); return false; } else { News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } } }catch (Exception e){ News.error("堆垛机命令地址写入后回读出错"); } if (command.getAckFinish() == 0) { if (result.IsSuccess) { Thread.sleep(300); //任务下发次数 int writeCount2 = 0; do { writeCount2++; short commandFinish = (short) 1; result = siemensNet.Write("DB100.18", commandFinish); if(result.IsSuccess){ //堆垛机任务写入后，回读一次，看是否成功 Thread.sleep(200); OperateResultExOne resultRead = siemensNet.Read("DB100.18", (short) 2); if (resultRead.IsSuccess) { commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0); if (commandFinish != 1){ News.error("堆垛机任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次"); }else{ //任务命令写入成功 News.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次"); break; } }else { News.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次"); } } else { News.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次"); } }while (writeCount2<5); } } try { // 日志记录 BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class); BasCrnOpt basCrnOpt = new BasCrnOpt( command.getTaskNo().intValue(), // 任务号 command.getCrnNo(), // 堆垛机[非空] new Date(), // 下发时间 command.getTaskModeType().toString(), // 模式 command.getSourcePosX().intValue(), // 源排 command.getSourcePosY().intValue(), // 源列 command.getSourcePosZ().intValue(), // 源层 null, // 源站 command.getDestinationPosX().intValue(), // 目标排 command.getDestinationPosY().intValue(), // 目标列 command.getDestinationPosZ().intValue(), // 目标层 null, // 目标站 null, // 响应结果 null, // 修改时间 null // 修改人员 ); bean.insert(basCrnOpt); } catch (Exception ignore) {} if (result.IsSuccess) { this.readStatus(); News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); return true; } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return false; } } public void requestStop() { isRunning = false; } @Override public void close() { siemensNet.ConnectClose(); } /******************************************************************************************/ /**************************************** 测试专用 *****************************************/ /*****************************************************************************************/ public static void main(String[] args) throws InterruptedException { CrnSlave slave = new CrnSlave(); slave.setId(1); slave.setIp("10.10.10.1"); slave.setRack(0); slave.setSlot(0); SiemensCrnThread crnThread = new SiemensCrnThread(slave); crnThread.connect(); crnThread.readStatus(); System.out.println(JSON.toJSONString(crnThread.crnProtocol)); Thread.sleep(3000L); // 1.入库 源和目标都发 // CrnCommand command = new CrnCommand(); // command.setCrnNo(1); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式 // command.setSourcePosX((short) 1); // 源库位排 // command.setSourcePosY((short) 0); // 源库位列 // command.setSourcePosZ((short) 1); // 源库位层 // command.setDestinationPosX((short) 2); // 目标库位排 // command.setDestinationPosY((short) 3); // 目标库位列 // command.setDestinationPosZ((short) 1); // 目标库位层 // crnThread.write(command); // 2.出库 源和目标都发 // CrnCommand command = new CrnCommand(); // command.setCrnNo(1); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式 // command.setSourcePosX((short) 2); // 源库位排 // command.setSourcePosY((short) 4); // 源库位列 // command.setSourcePosZ((short) 3); // 源库位层 // command.setDestinationPosX((short) 1); // 目标库位排 // command.setDestinationPosY((short) 0); // 目标库位列 // command.setDestinationPosZ((short) 1); // 目标库位层 // crnThread.write(command); // // 3.库位移转 源和目标都发 pass // CrnCommand command = new CrnCommand(); // command.setCrnNo(slave.getId()); // 堆垛机编号 // command.setTaskNo((short) 2); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 // command.setSourcePosX((short)2); // 源库位排 // command.setSourcePosY((short)1); // 源库位列 // command.setSourcePosZ((short)1); // 源库位层 // command.setDestinationPosX((short)3); // 目标库位排 // command.setDestinationPosY((short)1); // 目标库位列 // command.setDestinationPosZ((short)1); // 目标库位层 // crnThread.write(command); // 4.站位移转 源和目标都发 // CrnCommand command = new CrnCommand(); // command.setCrnNo(slave.getId()); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式: 库位移转 // command.setSourcePosX((short)1); // 源库位排 // command.setSourcePosY((short)0); // 源库位列 // command.setSourcePosZ((short)1); // 源库位层 // command.setDestinationPosX((short)2); // 目标库位排 // command.setDestinationPosY((short)0); // 目标库位列 // command.setDestinationPosZ((short)1); // 目标库位层 // crnThread.write(command); // // 5.回原点 不用发 pass // CrnCommand command = new CrnCommand(); // command.setCrnNo(1); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式 // command.setSourcePosX((short) 0); // 源库位排 // command.setSourcePosY((short) 0); // 源库位列 // command.setSourcePosZ((short) 0); // 源库位层 // command.setDestinationPosX((short) 0); // 目标库位排 // command.setDestinationPosY((short) 0); // 目标库位列 // command.setDestinationPosZ((short) 0); // 目标库位层 // crnThread.write(command); // // 7.坐标移行 目标发 pass // CrnCommand command = new CrnCommand(); // command.setCrnNo(1); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式 // command.setSourcePosX((short) 0); // 源库位排 // command.setSourcePosY((short) 0); // 源库位列 // command.setSourcePosZ((short) 0); // 源库位层 // command.setDestinationPosX((short) 2); // 目标库位排 // command.setDestinationPosY((short) 1); // 目标库位列 // command.setDestinationPosZ((short) 1); // 目标库位层 // crnThread.write(command); // 只有出现指定异常才进行复位 // if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr // || crnThread.crnProtocol.getCrnError2().rightTakeNoneErr // || crnThread.crnProtocol.getCrnError2().leftPutLoadErr // || crnThread.crnProtocol.getCrnError2().rightPutLoadErr) { // CrnCommand command = new CrnCommand(); // command.setCrnNo(1); // 堆垛机编号 // command.setAckFinish((short) 1); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.NONE); // 任务模式 // Thread.sleep(3000L); // crnThread.write(command); // } } }