[6.4.0][启自驾指引] 优化轨迹下载状态展示逻辑
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renwj
@@ -245,12 +245,13 @@ internal class MoFangCommandExecutor {
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linkedLog?.record(mapOf("执行:${System.currentTimeMillis()}" to "$message, $json"))
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Log.d(TAG, "--- 启动自驾 ----入参:$json")
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//清扫车有FSM模块，魔方启动自驾时需要将Source修改为魔方，以便telamatics做区分并在转发时增加flag标记
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if (AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
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CallerAutoPilotControlManager.startAutoPilotByMoFang(parameters)
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} else{
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CallerAutoPilotControlManager.startAutoPilot(parameters)
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if (CallerAutoPilotControlManager.isCanStartAutopilot(true)) {
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if (AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
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CallerAutoPilotControlManager.startAutoPilotByMoFang(parameters)
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} else{
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CallerAutoPilotControlManager.startAutoPilot(parameters)
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}
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}
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} catch (t: Throwable) {
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t.printStackTrace()
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Log.e(TAG, "error: ${t.message}, msg-> $msg")
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@@ -3,8 +3,10 @@ package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
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import android.content.Context
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import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
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import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
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import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
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import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
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import com.mogo.eagle.core.utilcode.mogo.logger.Logger
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import com.zhjt.mogo.adas.data.AdasConstants
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import com.zhjt.mogo.adas.data.bean.MogoReport
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import com.zhjt.mogo_core_function_devatools.status.entity.RouteDownloadStatus
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import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteComplete
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@@ -24,11 +26,17 @@ internal class RouteDownloadImpl(ctx: Context) : IFlow<RouteDownloadStatus>(ctx)
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private const val TAG = "RouteDownloadImpl"
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}
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@Volatile
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private var toDownloadLineId: Long? = null
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private val extra by lazy { ConcurrentSkipListMap<Int, Any>() }
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@Volatile
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private var isTriggerDownloadAgain: Boolean = false
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@Volatile
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private var toDownloadLineInfo: AutoPilotLine? = null
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@Volatile
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private var isTriggerDownloadByMe = false
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override fun onCreate() {
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CallerAutoPilotStatusListenerManager.addListener(TAG, this)
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}
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@@ -42,27 +50,52 @@ internal class RouteDownloadImpl(ctx: Context) : IFlow<RouteDownloadStatus>(ctx)
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super.onAutopilotStatusResponse(state)
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Logger.d(TAG, "--- onAutopilotStatusResponse -- 1 --: $state")
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if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
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val lineId = toDownloadLineId
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Logger.d(TAG, "--- onAutopilotStatusResponse -- 2 --: $lineId")
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if (lineId != null && lineId >= 0) {
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val info = toDownloadLineInfo
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Logger.d(TAG, "--- onAutopilotStatusResponse -- 2 --: $info")
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if (info != null) {
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extra.clear()
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send(RouteDownloadStatus(lineId, RouteComplete))
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toDownloadLineId = null
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send(RouteDownloadStatus(info.lineId, RouteComplete))
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toDownloadLineInfo = null
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}
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}
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}
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override fun onAutopilotIpcConnectStatusChanged(
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status: AdasConstants.IpcConnectionStatus,
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reason: String?
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) {
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super.onAutopilotIpcConnectStatusChanged(status, reason)
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val info = toDownloadLineInfo
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val isConnected = CallerAutoPilotStatusListenerManager.isConnect()
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if (!isConnected && info != null && !isTriggerDownloadAgain) {
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Logger.d(TAG, "工控机断开了，但是轨迹未下载完成, 等待重新连接后，再次发送轨迹下载请求...")
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isTriggerDownloadAgain = true
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}
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if (isConnected && isTriggerDownloadAgain && info != null) {
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Logger.d(TAG, "工控机连上了，重新发送下载请求, 用以更新下载状态...")
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isTriggerDownloadAgain = false
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isTriggerDownloadByMe = true
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CallerAutoPilotControlManager.sendTrajectoryDownloadReq(info)
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}
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}
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override fun onAutopilotTrajectoryDownloadReq(autoPilotLine: AutoPilotLine, downloadType: Int) {
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super.onAutopilotTrajectoryDownloadReq(autoPilotLine, downloadType)
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Logger.d(TAG, "--- onAutopilotTrajectoryDownloadReq --: 1:$autoPilotLine, 2:$downloadType")
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val lineId = autoPilotLine.lineId
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if (downloadType == 0 && lineId >= 0) {
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val info = autoPilotLine.deepCopy()
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toDownloadLineInfo = info
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extra.clear()
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extra[0] = lineId to System.currentTimeMillis()
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toDownloadLineId = lineId
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send(RouteDownloadStatus(lineId = lineId, state = RouteNone).also {
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it.rawData = extra
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})
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extra[0] = info.lineId to info
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if (!isTriggerDownloadByMe) {
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send(RouteDownloadStatus(lineId = lineId, state = RouteNone).also {
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it.rawData = extra
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})
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} else {
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isTriggerDownloadByMe = false
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}
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}
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}
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@@ -97,37 +130,40 @@ internal class RouteDownloadImpl(ctx: Context) : IFlow<RouteDownloadStatus>(ctx)
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} catch (ignore: Exception) {
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}
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}
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extra[1] = lineId to "${System.currentTimeMillis()} => ($code,$toDownloadLineId)"
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Logger.d(
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TAG,
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"--- onAutopilotGuardian -- 3 --:lineId => $toDownloadLineId, parse_line_id: $lineId"
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)
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if (toDownloadLineId != lineId) {
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val info = toDownloadLineInfo
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extra[1] = lineId to info
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Logger.d(TAG, "--- onAutopilotGuardian -- 3 --:lineId => ${info?.lineId}, parse_line_id: $lineId")
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if (info?.lineId != lineId) {
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return
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}
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Logger.d(
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TAG,
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"--- onAutopilotGuardian -- 4 --:line_id => $lineId, code: ${guardianInfo.code}"
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)
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Logger.d(TAG, "--- onAutopilotGuardian -- 4 --:line_id => $lineId, code: ${guardianInfo.code}")
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when (code) {
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MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_START -> { // 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
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extra[2] = lineId to System.currentTimeMillis()
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extra[2] = lineId to info
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send(RouteDownloadStatus(lineId, RouteStart).also { it.rawData = extra })
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}
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MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING,
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MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_SUCCESS -> { // 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
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extra[3] = lineId to System.currentTimeMillis()
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if (code == MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING) {
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extra[3] = lineId to info
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} else {
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extra[4] = lineId to info
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}
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send(RouteDownloadStatus(lineId, RouteComplete).also { it.rawData = extra })
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toDownloadLineId = null
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toDownloadLineInfo = null
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}
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MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE,
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MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING,
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MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_TIMEOUT -> {
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// 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
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extra[4] = lineId to System.currentTimeMillis()
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if (code == MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE) {
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extra[5] = lineId to info
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} else {
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extra[6] = lineId to info
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}
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send(RouteDownloadStatus(lineId, RouteFailed).also { it.rawData = extra })
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toDownloadLineId = null
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toDownloadLineInfo = null
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}
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}
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}
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@@ -192,6 +192,9 @@ class AutopilotControlParameters {
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"timestamp_dpqp=$timestamp_dpqp)"
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}
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fun deepCopy(): AutoPilotLine {
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return AutoPilotLine(this.lineId, this.lineName, this.trajUrl, this.trajMd5, this.stopUrl, this.stopMd5, this.timestamp, this.vehicleModel, this.trajUrl_dpqp, this.trajMd5_dpqp, this.stopUrl_dpqp, this.stopMd5_dpqp, this.timestamp_dpqp)
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}
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}
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class AutoPilotLonLat {
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