添加异常看板

.gitignore

+## Ignore Visual Studio temporary files, build results, and
+## files generated by popular Visual Studio add-ons.
+
+# User-specific files
+*.suo
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+[Rr]elease/
+[Rr]eleases/
+x64/
+x86/
+bld/
+[Bb]in/
+[Oo]bj/
+[Ll]og/
+
+# Visual Studio 2015 cache/options directory
+.vs/
+# Uncomment if you have tasks that create the project's static files in wwwroot
+#wwwroot/
+
+# MSTest test Results
+[Tt]est[Rr]esult*/
+[Bb]uild[Ll]og.*
+
+# NUNIT
+*.VisualState.xml
+TestResult.xml
+
+# Build Results of an ATL Project
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+dlldata.c
+
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+artifacts/
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+*_i.c
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+*.ilk
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+# Visual Studio profiler
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+$tf/
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+
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+nCrunchTemp_*
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+# Publish Web Output
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+# TODO: Comment the next line if you want to checkin your web deploy settings
+# but database connection strings (with potential passwords) will be unencrypted
+#*.pubxml
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+
+# Microsoft Azure Web App publish settings. Comment the next line if you want to
+# checkin your Azure Web App publish settings, but sensitive information contained
+# in these scripts will be unencrypted
+PublishScripts/
+
+# NuGet Packages
+*.nupkg
+# The packages folder can be ignored because of Package Restore
+**/packages/*
+# except build/, which is used as an MSBuild target.
+!**/packages/build/
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+#!**/packages/repositories.config
+# NuGet v3's project.json files produces more ignoreable files
+*.nuget.props
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+
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+# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622)
+#bower_components/
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+
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+paket-files/
+
+# FAKE - F# Make
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+
+# JetBrains Rider
+.idea/
+*.sln.iml
+
+# CodeRush
+.cr/
+
+# Python Tools for Visual Studio (PTVS)
+__pycache__/
+*.pyc
+*.DS_Store

BLL/BLL.csproj

@@ -41,6 +41,7 @@
     <Reference Include="System.ServiceModel" />
     <Reference Include="System.ServiceModel" />
     <Reference Include="System.ServiceModel.Activation" />
     <Reference Include="System.ServiceModel.Activation" />
     <Reference Include="System.ServiceModel.Web" />
     <Reference Include="System.ServiceModel.Web" />
+    <Reference Include="System.Web" />
     <Reference Include="System.Windows.Forms" />
     <Reference Include="System.Windows.Forms" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />
     <Reference Include="System.Data.DataSetExtensions" />

BLL/Control.cs

@@ -77,15 +77,76 @@ namespace BLL
                 info.StateText = stateText;
                 info.StateText = stateText;
                 info.Battery = battery;
                 info.Battery = battery;
                 info.MissionText = missionText;
                 info.MissionText = missionText;
-                info.Position = position;
-
+                //info.Position = position;
+                CheckStandTimeOut(info,position);
+                UpdateDisplayBoard(info);
                 string ip = info.IP;
                 string ip = info.IP;
                 int idx = Common.agvInfos.FindIndex(s => s.IP == ip);
                 int idx = Common.agvInfos.FindIndex(s => s.IP == ip);
                 if (idx > -1) AgvChanged?.Invoke(idx);
                 if (idx > -1) AgvChanged?.Invoke(idx);
 
 
             }
             }
         }
         }
+        /// <summary>
+        /// 检查小车是否在原地停留超时
+        /// </summary>
+        /// <returns></returns>
+        private void CheckStandTimeOut(AgvInfo agv,System.Drawing.PointF position)
+        {
+            if (agv.IsCall && agv.CurrentJob != null && !(agv.CurrentJob is ChargeJob) && !(agv.CurrentJob is StandbyJob))//!CurTaskName.Contains(SettingString.AutoCharge) ||
+            {
+                if (Math.Abs(position.X - agv.Position.X) < 1 && Math.Abs(position.Y - agv.Position.Y) < 1)
+                {
+                    //满足条件，计算持续时间
+                    if (agv.StandStartTime == DateTime.MaxValue)
+                    {
+                        agv.StandStartTime = DateTime.Now;
+                    }
+                    TimeSpan lastTimeSpan = DateTime.Now - agv.StandStartTime;
+                    agv.StandTimeOut = (lastTimeSpan.TotalMinutes >= agv.StandLastTimeMinute);
+                }
+                else
+                {
+                    //重新计时
+                    agv.StandStartTime = DateTime.Now;
+                    agv.StandTimeOut = false;
+
+                }
+            }
+            else if (agv.CurrentJob != null && ((agv.CurrentJob is ChargeJob)|| (agv.CurrentJob is StandbyJob)))
+            {
+                agv.StandTimeOut = false;
+                agv.StandStartTime = DateTime.Now;
+            }
+            else
+            {
+                agv.StandTimeOut = false;
+                agv.StandStartTime = DateTime.Now;
+            }
+            agv.Position = position;
+        }
+
+        private void UpdateDisplayBoard(AgvInfo agv)
+        {
+            try
+            {
+                if (agv.StandTimeOut)
+                {
+                   // isAlarm = true;
+                    agv.DisplayBoard.Add(agv.Name, "lineAgv." + agv.Name + ".StandTimeOut", "在" + agv.Place + "停留超时" + (DateTime.Now - agv.StandStartTime).TotalMinutes.ToString("f2") + "分钟");
+                }
 
 
+                if ((int)StateID.Error == agv.StateID || (int)StateID.EmergencyStop == agv.StateID || (int)StateID.Pause == agv.StateID)
+                {
+                    //isAlarm = true;
+                    agv.DisplayBoard.Add(agv.Name, "lineAgv." + agv.Name + ".Error.EmergencyStop", "agv状态:" + agv.StateText);
+                }
+                agv.DisplayBoard.UpdateAlarmMsg();
+            }
+            catch (Exception ex)
+            {
+                Common.log.Error(agv.Name + "上报小车信息失败",ex);
+            }
+        }
         private void CheckAgvOnline(ref AgvInfo info)
         private void CheckAgvOnline(ref AgvInfo info)
         {
         {
             bool rtn = Common.mir.CheckIP(info.IP);
             bool rtn = Common.mir.CheckIP(info.IP);

Model/AGVManager.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using AGVControl;
+using Model;
+
+namespace AGVControl
+{
+    public class AGVManager
+    {
+        private static string Addr_updateDeviceAlarmMsg = "/rest/api/qisda/device/updateDeviceAlarmMsg";
+        /// <summary>
+        /// 异常看板
+        /// </summary>
+        /// <param name="msgList"></param>
+        /// <returns></returns>
+        public static string updateDeviceAlarmMsg(List<AlarmMsg> msgList)
+        {
+            string msg = "";
+            try
+            {
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                string msgListStr = JsonHelper.SerializeObject(msgList);
+                paramMap.Add("deviceAlarmList", msgListStr);
+                string server = GetAddr(Addr_updateDeviceAlarmMsg, paramMap);
+                DateTime startTime = DateTime.Now;
+                string resultStr = HttpHelper.Post(server, "");
+                Common.log.Debug("updateDeviceAlarmMsg    " + "  【" + server + "】【" + resultStr + "】");
+
+                RfidData data = JsonHelper.DeserializeJsonToObject<RfidData>(resultStr);
+
+                if (data == null)
+                {
+                    return msg = " updateDeviceAlarmMsg 没有收到服务器反馈";
+                }
+                else if (data.code.Equals(0).Equals(false))
+                {
+                    return msg = " updateDeviceAlarmMsg   【" + server + "】【" + resultStr + "】" + data.msg;
+                }
+                return "";
+            }
+            catch (Exception ex)
+            {
+                Common.log.Error("updateDeviceAlarmMsg",ex);
+            }
+            return msg;
+        }
+        private static string GetAddr(string addr, Dictionary<string, string> paramsMap)
+        {
+            string server = "http://10.85.199.25/myproject/";
+            if (server.EndsWith("/"))
+            {
+                server = server.Substring(0, server.Length - 1);
+            }
+            string path = server + addr.Trim() + "?";
+            foreach (string paramName in paramsMap.Keys)
+            {
+                string par = System.Web.HttpUtility.UrlEncode(paramsMap[paramName], System.Text.Encoding.UTF8);
+                path += paramName + "=" + par + "&";
+            }
+            path = path.Substring(0, path.Length - 1);
+            return path;
+        }
+    }
+
+
+    public class AlarmMsg
+    {
+
+        //>>>name :  异常位置名称
+        public string name = "";
+        //>>>msgKey :  异常信息唯一标识
+        public string msgKey = "";
+        //>>>msgValue :  异常信息
+        public string msgValue = "";
+
+        public int type;
+        /// <summary>
+        /// 异常信息
+        /// </summary>
+        /// <param name="name">异常位置名称</param>
+        /// <param name="key">异常信息唯一标识</param>
+        /// <param name="value">异常信息</param>
+        public AlarmMsg(string name, string key, string value,int type=0)
+        {
+            this.name = name;
+            this.msgKey = key;
+            this.msgValue = value;
+            this.type = type;
+        }
+    }
+    public class RfidData
+    {
+        //{"code":0,"msg":"ok","data":"7"} 
+        public int code { get; set; }
+
+        public string msg { get; set; }
+
+        public Dictionary<string, string> data { get; set; }
+    }
+}

Model/AgvInfo.cs

-using System;
+using AGVControl;
+using System;
 using System.Collections.Generic;
 using System.Collections.Generic;
 using System.Linq;
 using System.Linq;
 using System.Text;
 using System.Text;
@@ -79,7 +80,10 @@ namespace Model
 
 
         public int NewSteel { set; get; } = 0;
         public int NewSteel { set; get; } = 0;
 
 
-
+        /// <summary>
+        /// 看板信息
+        /// </summary>
+        public DisplayBoard DisplayBoard;
 
 
 
 
 
 
@@ -140,5 +144,13 @@ namespace Model
             else
             else
                 return false;
                 return false;
         }
         }
+
+        public int StandLastTimeMinute = 5;
+        public DateTime StandStartTime = DateTime.MaxValue;
+        /// <summary>
+        /// 停在同一处超时
+        /// </summary>
+        public bool StandTimeOut = false;
+
     }
     }
 }
 }

Model/DisplayBoard.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AGVControl
+{
+    public class DisplayBoard
+    {
+        /// <summary>
+        /// 异常列表
+        /// </summary>
+        public List<AlarmMsg> MsgList { get; private set; }
+        /// <summary>
+        /// 看板类
+        /// </summary>
+        public DisplayBoard()
+        {
+            MsgList = new List<AlarmMsg>();
+        }
+        /// <summary>
+        /// 添加上报信息
+        /// </summary>
+        /// <param name="name"></param>
+        /// <param name="key"></param>
+        /// <param name="value"></param>
+        /// <param name="type">默认类型是异常，1表示正常信息</param>
+        public void Add(string name, string key, string value, int type = 0)
+        {
+            MsgList.Add(new AlarmMsg(name, key, value, type));
+        }
+
+        private void ClearAlram()
+        {
+            if (MsgList != null && MsgList.Count > 0)
+                MsgList.Clear();
+        }
+        public void UpdateAlarmMsg()
+        {
+            if (MsgList != null && MsgList.Count > 0)
+            {
+                AGVManager.updateDeviceAlarmMsg(MsgList);
+                ClearAlram();
+            }
+
+        }
+    }
+}

Model/HttpHelper.cs

+using System;
+using System.IO;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Web;
+using System.Collections;
+using System.Net;
+using System.Net.Security;
+using System.Security;
+using System.Security.Cryptography;
+using System.Security.Cryptography.X509Certificates;
+using System.Reflection;
+using System.Net.NetworkInformation;
+using MiR;
+using AGVControl;
+
+namespace AGVControl
+{
+    public class HttpHelper
+    {
+        //  public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        public static string Post(string url, string paramData)
+        {
+            return Post(url, paramData, Encoding.UTF8);
+        }
+        //public static bool  PingURLIP(string url, int ms=100)
+        //{
+        //    string[] urlArray = url.Split('/');
+        //    if (urlArray.Length > 3)
+        //    {
+        //        string ip = urlArray[2];
+
+        //        Ping pingSender = new Ping();
+        //        PingReply reply = pingSender.Send(ip, ms);//第一个参数为ip地址，第二个参数为ping的时间 
+        //        if (reply.Status == IPStatus.Success)
+        //        {
+        //            //通
+        //            return true;
+        //        }
+        //        else
+        //        {
+        //            //不通 
+        //            return false;
+        //        }
+        //    }
+        //    return true;
+        //}
+
+        /// <summary>
+        /// 
+        /// </summary>
+        /// <param name="url"></param>
+        /// <param name="operation"></param>
+        /// <param name="simulate">是否模拟服务器返回结果</param>
+        /// <returns></returns>
+        //public static Operation Post(string url, Operation operation, bool simulate)
+        //{
+        //    try
+        //    {
+        //        ////如果Op=0或者Op=5，先拼Ip，不通不发送
+        //        //if (operation.op < 0 || operation.op.Equals(5))
+        //        //{ 
+        //        //    if (PingURLIP(url, 100).Equals(false))
+        //        //    {
+        //        //        return null;
+        //        //    } 
+        //        //}
+
+        //        if (simulate)
+        //        {//模拟服务器返回
+        //            operation.status = 200;
+        //            operation.data.Clear();
+        //            operation.data.Add("posId", "A001");
+        //            string pos = "D100-111#D102-222#D104-333";
+        //            operation.data.Add("pos", pos);
+        //            if (operation.op == 1 || operation.op == 2)
+        //            {//入库或出库
+
+        //                string json = JsonHelper.SerializeObject(operation);
+        //                LogUtil.error("模拟HTTP服务器返回出库入库信息：" + json);
+        //                return operation;
+        //            }
+        //        }
+        //        else
+        //        {
+        //            string json = "";
+        //            try
+        //            {
+        //                json = JsonHelper.SerializeObject(operation);
+        //            }
+        //            catch (Exception ex)
+        //            {
+        //                LogUtil.error("JsonHelper.SerializeObject(operation) 出错【operation.op=" + operation.op + "】" + ex);
+        //            }
+        //            string result = Post(url, json);
+        //            if (!string.IsNullOrEmpty(result))
+        //            {
+        //                try
+        //                {
+        //                    return JsonHelper.DeserializeJsonToObject<Operation>(result);
+        //                }
+        //                catch (Exception ex)
+        //                {
+        //                    LogUtil.error("JsonHelper.DeserializeJsonToObject 出错【result=" + result + "】" + ex);
+        //                }
+        //            }
+        //        }
+        //    }
+        //    catch (Exception ex)
+        //    {
+        //        LogUtil.error("Post 出错【operation.op=" + operation.op + "】：" + ex);
+        //    }
+        //    return null;
+        //}
+        public static string LastServerMsg = "";
+        public static string Post(string url, string paramData, Encoding encoding)
+        {
+            //if (PingURLIP(url, 100).Equals(false))
+            //{
+            //    return null;
+            //}
+            if (paramData != "null" && paramData != null)
+            {
+                //   LogUtil.debug(LOGGER,  "HTTP POST to " + url + " \n\t >> " + paramData);
+            }
+            string result = "";
+
+            if (url.ToLower().IndexOf("https", System.StringComparison.Ordinal) > -1)
+            {
+                ServicePointManager.ServerCertificateValidationCallback =
+                               new RemoteCertificateValidationCallback((sender, certificate, chain, errors) => { return true; });
+            }
+
+            try
+            {
+                var wc = new MyWebClient(5000);
+                if (string.IsNullOrEmpty(wc.Headers["Content-Type"]))
+                    wc.Headers.Add("Content-Type", "application/json;charset=UTF-8");
+                wc.Encoding = encoding;
+
+                result = wc.UploadString(url, "POST", paramData);
+                //Common.LogInfo(result);
+            }
+            catch (Exception e)
+            {
+                Common.log.Error("POST ERROR:" + e.ToString());
+            }
+            if (!result.Contains("null") && result.Length != 0)
+            {
+                //LogUtil.debug(LOGGER,"receive << " + result);
+            }
+            LastServerMsg = DateTime.Now.ToLongTimeString() + " URL：" + url + "\r\n"
+              + "发送：" + paramData + "\r\n"
+                 + "接收：" + result + "\r\n"
+                ;
+            return result;
+        }
+
+        public static string Get(string url)
+        {
+            return Get(url, Encoding.UTF8);
+        }
+
+        public static string Get(string url, Encoding encoding)
+        {
+            try
+            {
+                Common.log.Debug("HTTP GET FROM: " + url);
+                var wc = new WebClient { Encoding = encoding };
+                var readStream = wc.OpenRead(url);
+                using (var sr = new StreamReader(readStream, encoding))
+                {
+                    var result = sr.ReadToEnd();
+                    Common.log.Debug("receive << " + result);
+                    return result;
+                }
+            }
+            catch (Exception e)
+            {
+                Common.log.Error("HTTP GET ERROR:" + e.Message);
+            }
+            return "";
+        }
+    }
+}
\ No newline at end of file

Model/JsonHelper.cs

+using AGVControl;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.IO;
+
+namespace AGVControl
+{
+    /// <summary>
+    /// Json帮助类
+    /// </summary>
+    public class JsonHelper
+    {
+        /// <summary>
+        /// 将对象序列化为JSON格式
+        /// </summary>
+        /// <param name="o">对象</param>
+        /// <returns>json字符串</returns>
+        public static string SerializeObject(object o)
+        {
+            string json = JsonConvert.SerializeObject(o);
+            return json;
+        }
+
+        /// <summary>
+        /// 解析JSON字符串生成对象实体
+        /// </summary>
+        /// <typeparam name="T">对象类型</typeparam>
+        /// <param name="json">json字符串(eg.{"ID":"112","Name":"石子儿"})</param>
+        /// <returns>对象实体</returns>
+        public static T DeserializeJsonToObject<T>(string json) where T : class
+        {
+            JsonSerializer serializer = new JsonSerializer();
+            StringReader sr = new StringReader(json);
+            object o = serializer.Deserialize(new JsonTextReader(sr), typeof(T));
+            T t = o as T;
+            return t;
+        }
+
+        /// <summary>
+        /// 解析JSON数组生成对象实体集合
+        /// </summary>
+        /// <typeparam name="T">对象类型</typeparam>
+        /// <param name="json">json数组字符串(eg.[{"ID":"112","Name":"石子儿"}])</param>
+        /// <returns>对象实体集合</returns>
+        public static List<T> DeserializeJsonToList<T>(string json) where T : class
+        {
+            JsonSerializer serializer = new JsonSerializer();
+            StringReader sr = new StringReader(json);
+            object o = serializer.Deserialize(new JsonTextReader(sr), typeof(List<T>));
+            List<T> list = o as List<T>;
+            return list;
+        }
+
+        /// <summary>
+        /// 反序列化JSON到给定的匿名对象.
+        /// </summary>
+        /// <typeparam name="T">匿名对象类型</typeparam>
+        /// <param name="json">json字符串</param>
+        /// <param name="anonymousTypeObject">匿名对象</param>
+        /// <returns>匿名对象</returns>
+        public static T DeserializeAnonymousType<T>(string json, T anonymousTypeObject)
+        {
+            T t = JsonConvert.DeserializeAnonymousType(json, anonymousTypeObject);
+            return t;
+        }
+        /// <summary>
+        ///写入JSON文件
+        /// </summary>
+        /// <typeparam name="T"></typeparam>
+        /// <param name="ts"></param>
+        /// <param name="fileName"></param>
+        public static void WriteJson<T>(List<T> ts, string fileName) where T : class
+        {
+            try
+            {
+                string path = Common.CONFIG_PATH + fileName + ".json";
+                string output = JsonConvert.SerializeObject(ts,Formatting.Indented);
+                File.WriteAllText(path, output);
+
+            }
+            catch (Exception e)
+            {
+                Common.log.Error(e.Message + "/r/n" + e.StackTrace);
+            }
+        }
+        /// <summary>
+        /// 读取JSON文件
+        /// </summary>
+        /// <typeparam name="T"></typeparam>
+        /// <param name="ts"></param>
+        /// <param name="fileName"></param>
+        public static List<T> ReadJson<T>(string fileName) where T : class
+        {
+            try
+            {
+                string path = Common.CONFIG_PATH + fileName + ".json";
+                StreamReader streamReader = new StreamReader(path);
+                string jsonStr = streamReader.ReadToEnd();
+                List<T> jsonObj = DeserializeJsonToList<T>(jsonStr);
+                streamReader.Close();
+                return jsonObj;
+            }
+            catch (Exception e)
+            {
+                Common.log.Error(e.Message + "/r/n" + e.StackTrace);
+                return null;
+            }
+        }
+    }
+    ///// <summary>
+    ///// 与服务器通信用对象
+    ///// </summary>
+    //public class Operation
+    //{
+    //    private string _cid = "";
+    //    public string cid
+    //    {
+    //        get { return _cid; }
+    //        set { _cid = value; }
+    //    }
+
+    //    public int seq { get; set; }
+    //    public int op { get; set; }
+    //    public int status { get; set; }
+
+    //    private string _error = "";
+    //    public string error
+    //    {
+    //        get { return _error; }
+    //        set { _error = value; }
+    //    }
+
+    //    private Dictionary<string, string> _data = new Dictionary<string,string>(); 
+    //    public Dictionary<string, string> data {  
+    //        get { return _data; }
+    //        set { _data = value; }
+    //    }
+
+
+    //}
+
+}

Model/Model.csproj

@@ -56,10 +56,17 @@
   </ItemGroup>
   </ItemGroup>
   <ItemGroup>
   <ItemGroup>
     <Compile Include="AgvInfo.cs" />
     <Compile Include="AgvInfo.cs" />
+    <Compile Include="AGVManager.cs" />
     <Compile Include="Common.cs" />
     <Compile Include="Common.cs" />
+    <Compile Include="DisplayBoard.cs" />
+    <Compile Include="HttpHelper.cs" />
     <Compile Include="IJob.cs" />
     <Compile Include="IJob.cs" />
+    <Compile Include="JsonHelper.cs" />
     <Compile Include="Log.cs" />
     <Compile Include="Log.cs" />
     <Compile Include="MiR_API.cs" />
     <Compile Include="MiR_API.cs" />
+    <Compile Include="MyWebClient.cs">
+      <SubType>Component</SubType>
+    </Compile>
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="SteelWork.cs" />
     <Compile Include="SteelWork.cs" />
     <Compile Include="WorkshopLine.cs" />
     <Compile Include="WorkshopLine.cs" />

Model/MyWebClient.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Net;
+using System.Text;
+
+namespace MiR
+{
+    public class MyWebClient:WebClient
+    {
+        private int _timeout;
+
+        /// <summary>
+        /// 超时时间(毫秒)
+        /// </summary>
+        public int Timeout
+        {
+            get
+            {
+                return _timeout;
+            }
+            set
+            {
+                _timeout = value;
+            }
+        }
+
+        public MyWebClient()
+        {
+            this._timeout = 60000;
+        }
+
+        public MyWebClient(int timeout)
+        {
+            this._timeout = timeout;
+        }
+
+        protected override WebRequest GetWebRequest(Uri address)
+        {
+            var result = base.GetWebRequest(address);
+            result.Timeout = this._timeout;
+            return result;
+        }
+    }
+}

UI/FrmMain.Designer.cs

@@ -49,6 +49,7 @@
             this.Column8 = new System.Windows.Forms.DataGridViewButtonColumn();
             this.Column8 = new System.Windows.Forms.DataGridViewButtonColumn();
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabPage2 = new System.Windows.Forms.TabPage();
             this.tabPage2 = new System.Windows.Forms.TabPage();
+            this.BtnClearLog = new System.Windows.Forms.Button();
             this.tableLayoutPanel5 = new System.Windows.Forms.TableLayoutPanel();
             this.tableLayoutPanel5 = new System.Windows.Forms.TableLayoutPanel();
             this.TxtAgvMission0 = new System.Windows.Forms.TextBox();
             this.TxtAgvMission0 = new System.Windows.Forms.TextBox();
             this.TxtLog = new System.Windows.Forms.TextBox();
             this.TxtLog = new System.Windows.Forms.TextBox();
@@ -84,7 +85,6 @@
             this.BtnMissionClear = new System.Windows.Forms.Button();
             this.BtnMissionClear = new System.Windows.Forms.Button();
             this.BtnMissionAdd = new System.Windows.Forms.Button();
             this.BtnMissionAdd = new System.Windows.Forms.Button();
             this.LstMission = new System.Windows.Forms.ListBox();
             this.LstMission = new System.Windows.Forms.ListBox();
-            this.BtnClearLog = new System.Windows.Forms.Button();
             ((System.ComponentModel.ISupportInitialize)(this.DgvName)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.DgvName)).BeginInit();
             this.tabControl1.SuspendLayout();
             this.tabControl1.SuspendLayout();
             this.tabPage2.SuspendLayout();
             this.tabPage2.SuspendLayout();
@@ -246,6 +246,17 @@
             this.tabPage2.Text = "状态";
             this.tabPage2.Text = "状态";
             this.tabPage2.UseVisualStyleBackColor = true;
             this.tabPage2.UseVisualStyleBackColor = true;
             // 
             // 
+            // BtnClearLog
+            // 
+            this.BtnClearLog.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
+            this.BtnClearLog.Location = new System.Drawing.Point(457, 6);
+            this.BtnClearLog.Name = "BtnClearLog";
+            this.BtnClearLog.Size = new System.Drawing.Size(116, 36);
+            this.BtnClearLog.TabIndex = 11;
+            this.BtnClearLog.Text = "清空日志";
+            this.BtnClearLog.UseVisualStyleBackColor = true;
+            this.BtnClearLog.Click += new System.EventHandler(this.BtnClearLog_Click);
+            // 
             // tableLayoutPanel5
             // tableLayoutPanel5
             // 
             // 
             this.tableLayoutPanel5.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
             this.tableLayoutPanel5.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
@@ -337,7 +348,7 @@
             this.tabPage3.Location = new System.Drawing.Point(4, 26);
             this.tabPage3.Location = new System.Drawing.Point(4, 26);
             this.tabPage3.Name = "tabPage3";
             this.tabPage3.Name = "tabPage3";
             this.tabPage3.Padding = new System.Windows.Forms.Padding(3);
             this.tabPage3.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage3.Size = new System.Drawing.Size(819, 522);
+            this.tabPage3.Size = new System.Drawing.Size(825, 522);
             this.tabPage3.TabIndex = 3;
             this.tabPage3.TabIndex = 3;
             this.tabPage3.Text = "钢网任务";
             this.tabPage3.Text = "钢网任务";
             this.tabPage3.UseVisualStyleBackColor = true;
             this.tabPage3.UseVisualStyleBackColor = true;
@@ -665,7 +676,7 @@
             this.tabPage1.Location = new System.Drawing.Point(4, 26);
             this.tabPage1.Location = new System.Drawing.Point(4, 26);
             this.tabPage1.Name = "tabPage1";
             this.tabPage1.Name = "tabPage1";
             this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
             this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage1.Size = new System.Drawing.Size(819, 522);
+            this.tabPage1.Size = new System.Drawing.Size(825, 522);
             this.tabPage1.TabIndex = 2;
             this.tabPage1.TabIndex = 2;
             this.tabPage1.Text = "小车任务";
             this.tabPage1.Text = "小车任务";
             this.tabPage1.UseVisualStyleBackColor = true;
             this.tabPage1.UseVisualStyleBackColor = true;
@@ -727,17 +738,6 @@
             this.LstMission.Size = new System.Drawing.Size(220, 510);
             this.LstMission.Size = new System.Drawing.Size(220, 510);
             this.LstMission.TabIndex = 12;
             this.LstMission.TabIndex = 12;
             // 
             // 
-            // BtnClearLog
-            // 
-            this.BtnClearLog.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
-            this.BtnClearLog.Location = new System.Drawing.Point(457, 6);
-            this.BtnClearLog.Name = "BtnClearLog";
-            this.BtnClearLog.Size = new System.Drawing.Size(116, 36);
-            this.BtnClearLog.TabIndex = 11;
-            this.BtnClearLog.Text = "清空日志";
-            this.BtnClearLog.UseVisualStyleBackColor = true;
-            this.BtnClearLog.Click += new System.EventHandler(this.BtnClearLog_Click);
-            // 
             // FrmMain
             // FrmMain
             // 
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);

UI/FrmMain.resx

@@ -141,12 +141,26 @@
   <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
   <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>
     <value>
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+        AAABAAIAEBAAAAEAIABoBAAAJgAAACAgAAABACAAqBAAAI4EAAAoAAAAEAAAACAAAAABACAAAAAAADAE
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAckY+YohTStx5SUSWAAAAAAAA
+        AAAAAAAAAAAAAG9FQFyIU0vbektEnQAAAAAAAAAAAAAAAAAAAABQSjowcnBd0IRdUu2Ri4z/hllR/HR0
+        YM92dmLNdnZizVpzab10YF/ZkYuK/4lcVvxBdHqpNVRYOgAAAAAAAAAASUk9ZV5QkP+bfHD/jF1U/5Bt
+        Yv+2no//tp6P/7aej/+Cn4/tYa+5/31rZ/9rh4r/VoXC/0FUc78AAAAAAAAAAFFPPl59b3P/nYt8/52L
+        fP+di3z/nYt8/52LfP+di3z/fZyL7Fzm+f9c5vn/XOb5/1rI5v9BbnylAAAAAAAAAAA8QzJMhLqD/4zH
+        jP+Mx4z/jMeM/4zHjP+Mx4z/jMeM/2i0o91f0dr/jb+f/42/oP+Nv6D/XHtwsgAAAAAAAAAAPEMyTIS6
+        g/+Mx4z/n7+i/8DPx/+xybf/isGL/4zHjP9otKPdaMLA/9TNeP/UzXj/08x4/2uBaLAAAAAAAAAAADxD
+        MkyEuoP/hrmF/9Dc2//I0dL/4u7v/5m7nP+Mx4z/aLSj3WjCwP/UzXj/1M14/5yhavtIWEggAAAAAAAA
+        AAA8QzJMhLqD/4i/h//M2tX/7/3+/93o6f+Pt5H/jMeM/2i0o91f1N7/hbSY/5XBmP9iemmnAAAAAAAA
+        AAAAAAAAPEMyTIS6g/+Mx4z/jLeN/6a+qf+Tspb/i8aL/4zHjP9RcV/EQXiAmUF4gJk6XmZ/QEAABAAA
+        AAAAAAAAAAAAAEBAMCBoi2Tjf7B9/3+wff9/sH3/f7B9/3+wff96qXj2TV1FfgAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAMCAgEC0eHiItHh4iLR4eIi0eHiItHh4iKR8fGQAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAP//AAD//wAA//8AAPPnAADAAwAAwAEAAMABAADAAQAAwAEAAMAD
+        AADAAwAAwA8AAMB/AAD//wAA//8AAP//AAAoAAAAIAAAAEAAAAABACAAAAAAAIAQAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
@@ -160,6 +174,50 @@
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAEwyL1dqQzy+dUlCylw7NaQ2KCgTAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAASTEtSWdCO7p2SUHLXjw3qz4sLB0AAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAABEMik4g1BI6pVbVP+GWFL/n15V/189N7QAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAADwvLyZ8SkXil1xT/4VYU/+eX1X/ZD85vwAAAAEAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAACgbGxMqIR5VKiEeVU40L6OhX1b/fnJx/7C7vf+BXVj/gU1H7S0g
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+        Hk0rKysGAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAR0M4m3lnXv+HdGn/dFpT/6FfVv91aGb/nKOl/4Nd
+        WP+DU0v/iXVr/496cP+PenD/j3pw/496cP+PenD/a2BW/k6uvP9QfIH/oV9W/3ZlYv+jrK3/gV9b/4hX
+        Uf9KlqH/SZql9zNBQb8AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAABEPjWsW0t1/29eg/+hinz/hFVN/5lb
+        Uv+NV0//nl5V/3xcVf+2no//tp6P/7aej/+2no//tp6P/7aej/+GeWv+XOb5/1nR4f90Xlv/m1xU/4xW
+        T/+fXlX/YW5v/1W91v9Sb67/OUJT9S4jIxYAAAAAAAAAAAAAAAAAAAAAAAAAAEE7NLFZSbP/YVC0/66W
+        iP+cg3f/fVpT/35ZUf9/Y1r/spuM/7aej/+2no//tp6P/7aej/+2no//tp6P/4Z5a/5c5vn/XOb5/1jD
+        z/9hcnP/aGlp/1t7f/9b3O7/UI6z/2xb8f89QWH5KSEhHwAAAAAAAAAAAAAAAAAAAAAAAAAARkA3qGhX
+        a/+Ecn//tp6P/7aej/+2no//tp6P/7aej/+2no//tp6P/7aej/+2no//tp6P/7aej/+2no//hnlr/lzm
+        +f9c5vn/XOb5/1zm+f9c5vn/XOb5/1zm+f9Z1en/T4mw/zpQX/EpISEfAAAAAAAAAAAAAAAAAAAAAAAA
+        AABFQDejdm1e/4R8av+EfGr/hHxq/4R8av+EfGr/hHxq/4R8av+EfGr/hHxq/4R8av+EfGr/hHxq/4R8
+        av9ybV39XOb5/1zm+f9c5vn/XOb5/1zm+f9c5vn/XOb5/1zm+f9c5vn/QHZ85ikhIR8AAAAAAAAAAAAA
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+        AAAAAAAAAAAAAAAAAAAAAAAAOjowkHysev+Mx4z/jMeM/4zHjP+Mx4z/jMeM/4zHjP+Mx4z/jMeM/4zH
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+        UPspISEfAAAAAAAAAAAAAAAAAAAAAAAAAAA6OjCQfKx6/4zHjP+Mx4z/jMeM/4vGi/+BoID/l6ia/56r
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+        eP/UzXj/bW9Q+isgIBgAAAAAAAAAAAAAAAAAAAAAAAAAADo6MJB8rHr/jMeM/4zHjP+Mx4z/gZqB/+Tw
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+        eP/UzXj/1M14/9LLdv9PUULrAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAOjowkHysev+Mx4z/jMeM/4S5
+        g/+2wb3/7/3+/620s//Ey8z/7/3+/+/9/v+PnpD/jMeM/4zHjP+Mx4z/apFr81zm+f9c5vn/baCQ/9TN
+        eP/UzXj/1M14/9TNeP/UzXj/kI1b/kFGPGoAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA6OjCQfKx6/4zH
+        jP+Mx4z/eZ93/+Tx8v+5wcH/3Ofo/8TMzf+6wsH/7/3+/6CspP+LxYr/jMeM/4zHjP9qkWvzXOb5/1zm
+        +f9toJD/1M14/9TNeP/UzXj/1M14/87Idf9KTkDmAAAAAQAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADo6
+        MJB8rHr/jMeM/4zHjP9/rn3/zNfX/+/9/v/v/f7/7/3+/8rT1P/O2Nj/lKGX/4zHjP+Mx4z/jMeM/2qR
+        a/Nc5vn/XOb5/2Oim/+3sm3/v7Zs/8fAcf/HwHH/foFZ/Tg4Mk0AAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAOjowkHysev+Mx4z/jMeM/4vGi/+Kmon/7/3+/+/9/v/v/f7/7/3+/+bz8/99l3z/jMeM/4zH
+        jP+Mx4z/apFr81zm+f9c5vn/XOb5/1fQ4f9Yzt3/aNjd/1+7wP85RULFAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAA6OjCQfKx6/4zHjP+Mx4z/jMeM/4O0g/+Hloj/0d3c/+r4+f+8yMT/e5B7/4vF
+        iv+Mx4z/jMeM/4zHjP9hgF/zO2Jn5DtiZ+Q7YmfkO2Jn5DtiZ+Q2UVTmMjo8zSwhIRcAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAADo6MJB8rHr/jMeM/4zHjP+Mx4z/jMeM/4vFiv97pnj/dZdz/36v
+        fP+Mx4z/jMeM/4zHjP+Mx4z/jMeM/114WO4sICBALR4eES0eHhEtHh4RLR4eESsrKwYAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAODYsgHekdf+Mx4z/jMeM/4zHjP+Mx4z/jMeM/4zH
+        jP+Mx4z/jMeM/4zHjP+Mx4z/jMeM/4zHjP+Mx4z/VmxQ6S4hIScAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAsIyMdPT8z22WEYO5qjWX0ao1l9GqN
+        ZfRqjWX0ao1l9GqNZfRqjWX0ao1l9GqNZfRqjWX0ao1l9F53WOo3OS3CAAAAAgAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAArKxUMKyMeOyki
+        HkQpIh5EKSIeRCkiHkQpIh5EKSIeRCkiHkQpIh5EKSIeRCkiHkQpIh5EKR8fMlUAAAMAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
@@ -171,902 +229,9 @@
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         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
         AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
-        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
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-        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
-        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
-        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
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-        AC8AAAAgAAAADwAAAAEAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
-        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
-        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
-        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAACgAAADsAAAB+AAAAtQAA
-        ANgAAADnAAAA8AAAAPIAAADyAAAA8gAAAPIAAADyAAAA8gAAANcAAABEIiqZADZD8wAkLaMAAAAAUwAA
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\ No newline at end of file