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updown/distribute/Debug32/project/up_2nd_0308/flow/1010.proc

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version = 2021
[proc]
pid = 1010
type = 0
name = 自动标定吸嘴偏移
start =
pause =
step_count = 15
[step]
sid = 21001
state = 0
desc = 初始化
script:
//必须示教好 P20 P21
i = 0 //总偏移量
j = 10 //每次x轴偏移量
count = 0 //压印次数
exit = 0 //失败退出信号
x1 = 0 //标定偏移
y1 = 0
x2 = 0
y2 = 0
x3 = 0
y3 = 0
x4 = 0
y4 = 0
script_end
node_count = 2
[node]
nid = 3100105
task = 1010
type = 27
state = 0
desc = node1
cmd = downh = safez
[node]
nid = 3100101
task = 1010
type = 18
state = 0
desc = node1
cmd = 1058
[step]
sid = 21002
state = 0
desc = 取印尼
script:
script_end
node_count = 10
[node]
nid = 3100251
task = 1
type = 2
state = 0
desc = node1
cmd = 20 20 20
[node]
nid = 3100252
task = 1
type = 7
state = 0
desc = node2
cmd = p20
[node]
nid = 3100253
task = 1
type = 27
state = 0
desc = node3
cmd = downh = cab_zpos
[node]
nid = 3100254
task = 1
type = 27
state = 0
desc = node4
cmd = pstart(1058)
[node]
nid = 3100255
task = 1
type = 19
state = 0
desc = node5
cmd = 1058
[node]
nid = 3100256
task = 1
type = 1
state = 0
desc = node6
cmd = 1500
[node]
nid = 3100257
task = 1
type = 27
state = 0
desc = node7
cmd = downh = safez
[node]
nid = 3100258
task = 1
type = 27
state = 0
desc = node8
cmd = pstart(1058)
[node]
nid = 3100259
task = 1
type = 19
state = 0
desc = node9
cmd = 1058
[node]
nid = 3100260
task = 1
type = 1
state = 0
desc = node10
cmd = 0
[step]
sid = 21003
state = 0
desc = 压印尼
script:
script_end
node_count = 10
[node]
nid = 3100351
task = 1
type = 6
state = 0
desc = node1
cmd = p3 = p21 +x(i)
[node]
nid = 3100352
task = 1
type = 7
state = 0
desc = node2
cmd = p3
[node]
nid = 3100353
task = 1
type = 27
state = 0
desc = node3
cmd = downh = cab_zpos2
[node]
nid = 3100354
task = 1
type = 27
state = 0
desc = node4
cmd = pstart(1058)
[node]
nid = 3100355
task = 1
type = 19
state = 0
desc = node5
cmd = 1058
[node]
nid = 3100356
task = 1
type = 1
state = 0
desc = node6
cmd = 1500
[node]
nid = 3100357
task = 1
type = 27
state = 0
desc = node7
cmd = downh = safez
[node]
nid = 3100358
task = 1
type = 27
state = 0
desc = node8
cmd = pstart(1058)
[node]
nid = 3100359
task = 1
type = 19
state = 0
desc = node9
cmd = 1058
[node]
nid = 3100360
task = 1
type = 1
state = 0
desc = node10
cmd = 0
[step]
sid = 21004
state = 0
desc = 1号吸嘴拍照
script:
x = -1*cameraoffsetx
y = -1*cameraoffsety
script_end
node_count = 14
[node]
nid = 3100451
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p3 +x(x) +y(y)
[node]
nid = 3100452
task = 1
type = 7
state = 0
desc = node2
cmd = p2
[node]
nid = 3100453
task = 1
type = 22
state = 0
desc = node3
cmd = 31 "M7"
[node]
nid = 3100454
task = 1
type = 23
state = 0
desc = node4
cmd = 31 "WaitM7" 5000 ret offsetx offsety
[node]
nid = 3100455
task = 1
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3100462)//-->next
[node]
nid = 3100456
task = 1
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3100457
task = 1
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3100458
task = 1
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3100459
task = 1
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3100460
task = 1
type = 27
state = 0
desc = node10
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3100453);}
[node]
nid = 3100461
task = 1
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
[node]
nid = 3100462
task = 1
type = 27
state = 0
desc = node12
cmd = x1 += offsetx
[node]
nid = 3100463
task = 1
type = 27
state = 0
desc = node13
cmd = y1 += offsety
[node]
nid = 3100464
task = 1
type = 24
state = 1
desc = node14
cmd = 0 "nozzle1"
[step]
sid = 21005
state = 0
desc = 2号吸嘴拍照
script:
x = -1*(v2x+cameraoffsetx)
y = -1*(v2y+cameraoffsety)
script_end
node_count = 14
[node]
nid = 3100551
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p3 +x(x) +y(y)
[node]
nid = 3100552
task = 1
type = 7
state = 0
desc = node2
cmd = p2
[node]
nid = 3100553
task = 1
type = 22
state = 0
desc = node3
cmd = 31 "M7"
[node]
nid = 3100554
task = 1
type = 23
state = 0
desc = node4
cmd = 31 "WaitM7" 5000 ret offsetx offsety
[node]
nid = 3100555
task = 1
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3100562)//-->next
[node]
nid = 3100556
task = 1
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3100557
task = 1
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3100558
task = 1
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3100559
task = 1
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3100560
task = 1
type = 27
state = 0
desc = node10
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3100553);}
[node]
nid = 3100561
task = 1
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
[node]
nid = 3100562
task = 1
type = 27
state = 0
desc = node12
cmd = x2 += offsetx
[node]
nid = 3100563
task = 1
type = 27
state = 0
desc = node13
cmd = y2 += offsety
[node]
nid = 3100564
task = 1
type = 24
state = 1
desc = node14
cmd = 0 "nozzle2"
[step]
sid = 21006
state = 0
desc = 3号吸嘴拍照
script:
x = -1*(v3x+cameraoffsetx)
y = -1*(v3y+cameraoffsety)
script_end
node_count = 14
[node]
nid = 3100651
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p3 +x(x) +y(y)
[node]
nid = 3100652
task = 1
type = 7
state = 0
desc = node2
cmd = p2
[node]
nid = 3100653
task = 1
type = 22
state = 0
desc = node3
cmd = 31 "M7"
[node]
nid = 3100654
task = 1
type = 23
state = 0
desc = node4
cmd = 31 "WaitM7" 5000 ret offsetx offsety
[node]
nid = 3100655
task = 1
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3100662)//-->next
[node]
nid = 3100656
task = 1
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3100657
task = 1
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3100658
task = 1
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3100659
task = 1
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3100660
task = 1
type = 27
state = 0
desc = node10
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3100653);}
[node]
nid = 3100661
task = 1
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
[node]
nid = 3100662
task = 1
type = 27
state = 0
desc = node12
cmd = x3 += offsetx
[node]
nid = 3100663
task = 1
type = 27
state = 0
desc = node13
cmd = y3 += offsety
[node]
nid = 3100664
task = 1
type = 24
state = 1
desc = node14
cmd = 0 "nozzle3"
[step]
sid = 21007
state = 0
desc = 4号吸嘴拍照
script:
x = -1*(v4x+cameraoffsetx)
y = -1*(v4y+cameraoffsety)
script_end
node_count = 14
[node]
nid = 3100751
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p3 +x(x) +y(y)
[node]
nid = 3100752
task = 1
type = 7
state = 0
desc = node2
cmd = p2
[node]
nid = 3100753
task = 1
type = 22
state = 0
desc = node3
cmd = 31 "M7"
[node]
nid = 3100754
task = 1
type = 23
state = 0
desc = node4
cmd = 31 "WaitM7" 5000 ret offsetx offsety
[node]
nid = 3100755
task = 1
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3100762)//-->next
[node]
nid = 3100756
task = 1
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3100757
task = 1
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3100758
task = 1
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3100759
task = 1
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3100760
task = 1
type = 27
state = 0
desc = node10
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3100753);}
[node]
nid = 3100761
task = 1
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
[node]
nid = 3100762
task = 1
type = 27
state = 0
desc = node12
cmd = x4 += offsetx
[node]
nid = 3100763
task = 1
type = 27
state = 0
desc = node13
cmd = y4 += offsety
[node]
nid = 3100764
task = 1
type = 24
state = 1
desc = node14
cmd = 0 "nozzle4"
[step]
sid = 21008
state = 0
desc = 循环3次
script:
count++
i += j //偏移量增加
if (exit==0 && count < 3)
{
jump(21002)
return;
}
script_end
node_count = 2
[node]
nid = 3100801
task = 1010
type = 16
state = 0
desc = node1
cmd = exit=1
[node]
nid = 3100802
task = 1010
type = 24
state = 0
desc = node2
cmd = 0 "标定失败."
[step]
sid = 21009
state = 0
desc = 计算偏移量
script:
if (exit==1)
{
jump(21015)
return;
}
//取平均值
x1 /= count
y1 /= count
x2 /= count
y2 /= count
x3 /= count
y3 /= count
x4 /= count
y4 /= count
msg = "标定完成\n吸嘴1误差:x=" + str(x1) + " y=" + str(y1) + "\n吸嘴2误差:x=" + str(x2) + " y=" + str(y2)+ "\n吸嘴3误差:x=" + str(x3) + " y=" + str(y3)+ "\n吸嘴4误差:x=" + str(x4) + " y=" + str(y4) + "\n\n确认更新到配置吗?"
script_end
node_count = 25
[node]
nid = 3100901
task = 1010
type = 24
state = 0
desc = node1
cmd = 1 msg
[node]
nid = 3100902
task = 1010
type = 27
state = 0
desc = node2
cmd = if (4 != t1010) jump(3100924)
[node]
nid = 3100903
task = 1010
type = 27
state = 0
desc = node3
cmd = v1x = 0 v1y = 0
[node]
nid = 3100904
task = 1010
type = 27
state = 0
desc = node4
cmd = v2x -= x2 - x1
[node]
nid = 3100905
task = 1010
type = 27
state = 0
desc = node5
cmd = v2y -= y2 - y1
[node]
nid = 3100906
task = 1010
type = 27
state = 0
desc = node6
cmd = v3x -= x3 - x1
[node]
nid = 3100907
task = 1010
type = 27
state = 0
desc = node7
cmd = v3y -= y3 - y1
[node]
nid = 3100908
task = 1010
type = 27
state = 0
desc = node8
cmd = v4x -= x4 - x1
[node]
nid = 3100909
task = 1010
type = 27
state = 0
desc = node9
cmd = v4y -= y4 - y1
[node]
nid = 3100910
task = 1010
type = 27
state = 0
desc = node10
cmd = cameraoffsetx -= x1
[node]
nid = 3100911
task = 1010
type = 27
state = 0
desc = node11
cmd = cameraoffsety -= y1
[node]
nid = 3100912
task = 1010
type = 27
state = 0
desc = node12
cmd = config("vacm", "xoffset1", v1x)
[node]
nid = 3100913
task = 1010
type = 27
state = 0
desc = node13
cmd = config("vacm", "yoffset1", v1y)
[node]
nid = 3100914
task = 1010
type = 27
state = 0
desc = node14
cmd = config("vacm", "xoffset2", v2x)
[node]
nid = 3100915
task = 1010
type = 27
state = 0
desc = node15
cmd = config("vacm", "yoffset2", v2y)
[node]
nid = 3100916
task = 1010
type = 27
state = 0
desc = node16
cmd = config("vacm", "xoffset3", v3x)
[node]
nid = 3100917
task = 1010
type = 27
state = 0
desc = node17
cmd = config("vacm", "yoffset3", v3y)
[node]
nid = 3100918
task = 1010
type = 27
state = 0
desc = node18
cmd = config("vacm", "xoffset4", v4x)
[node]
nid = 3100919
task = 1010
type = 27
state = 0
desc = node19
cmd = config("vacm", "yoffset4", v4y)
[node]
nid = 3100920
task = 1010
type = 27
state = 0
desc = node20
cmd = config("vacm", "cameraoffsetx", cameraoffsetx)
[node]
nid = 3100921
task = 1010
type = 27
state = 0
desc = node21
cmd = config("vacm", "cameraoffsety", cameraoffsety)
[node]
nid = 3100922
task = 1010
type = 24
state = 0
desc = node22
cmd = 1 "更新成功，是否验证标定?"
[node]
nid = 3100923
task = 1010
type = 27
state = 0
desc = node23
cmd = if (4 == t1010) jump(3100925)
[node]
nid = 3100924
task = 1010
type = 27
state = 0
desc = node24
cmd = exit=1
[node]
nid = 3100925
task = 1010
type = 1
state = 0
desc = node25
cmd = 0
[step]
sid = 21010
state = 0
desc = 1号吸嘴拍照
script:
x = -1*cameraoffsetx
y = -1*cameraoffsety
if (exit==1) jump(21015)
script_end
node_count = 16
[node]
nid = 3101061
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p3 +x(x) +y(y)
[node]
nid = 3101062
task = 1
type = 7
state = 0
desc = node2
cmd = p2
[node]
nid = 10100103
task = 1
type = 1
state = 1
desc = slp
cmd = 1000
[node]
nid = 3101063
task = 1
type = 22
state = 0
desc = node3
cmd = 31 "M7"
[node]
nid = 3101064
task = 1
type = 23
state = 0
desc = node4
cmd = 31 "WaitM7" 5000 ret offsetx offsety
[node]
nid = 3101065
task = 1
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3101072)//-->next
[node]
nid = 3101066
task = 1
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3101067
task = 1
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3101068
task = 1
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3101069
task = 1
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3101070
task = 1
type = 27
state = 0
desc = node10
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3101063);}
[node]
nid = 3101071
task = 1
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
[node]
nid = 3101072
task = 1
type = 27
state = 0
desc = node12
cmd = x1 = offsetx
[node]
nid = 3101073
task = 1
type = 27
state = 0
desc = node13
cmd = y1 = offsety
[node]
nid = 10100114
task = 1
type = 1
state = 1
desc = slp
cmd = 5000
[node]
nid = 3101074
task = 1
type = 24
state = 1
desc = node14
cmd = 0 "nozzle1"
[step]
sid = 21011
state = 0
desc = 2号吸嘴拍照
script:
x = -1*(v2x+cameraoffsetx)
y = -1*(v2y+cameraoffsety)
if (exit==1) jump(21015)
script_end
node_count = 15
[node]
nid = 3101161
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p3 +x(x) +y(y)
[node]
nid = 3101162
task = 1
type = 7
state = 0
desc = node2
cmd = p2
[node]
nid = 3101163
task = 1
type = 22
state = 0
desc = node3
cmd = 31 "M7"
[node]
nid = 3101164
task = 1
type = 23
state = 0
desc = node4
cmd = 31 "WaitM7" 5000 ret offsetx offsety
[node]
nid = 3101165
task = 1
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3101172)//-->next
[node]
nid = 3101166
task = 1
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3101167
task = 1
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3101168
task = 1
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3101169
task = 1
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3101170
task = 1
type = 27
state = 0
desc = node10
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3101163);}
[node]
nid = 3101171
task = 1
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
[node]
nid = 3101172
task = 1
type = 27
state = 0
desc = node12
cmd = x2 = offsetx
[node]
nid = 3101173
task = 1
type = 27
state = 0
desc = node13
cmd = y2 = offsety
[node]
nid = 10110114
task = 1
type = 1
state = 1
desc = slp
cmd = 5000
[node]
nid = 3101174
task = 1
type = 24
state = 1
desc = node14
cmd = 0 "nozzle2"
[step]
sid = 21012
state = 0
desc = 3号吸嘴拍照
script:
x = -1*(v3x+cameraoffsetx)
y = -1*(v3y+cameraoffsety)
if (exit==1) jump(21015)
script_end
node_count = 15
[node]
nid = 3101261
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p3 +x(x) +y(y)
[node]
nid = 3101262
task = 1
type = 7
state = 0
desc = node2
cmd = p2
[node]
nid = 3101263
task = 1
type = 22
state = 0
desc = node3
cmd = 31 "M7"
[node]
nid = 3101264
task = 1
type = 23
state = 0
desc = node4
cmd = 31 "WaitM7" 5000 ret offsetx offsety
[node]
nid = 3101265
task = 1
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3101272)//-->next
[node]
nid = 3101266
task = 1
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3101267
task = 1
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3101268
task = 1
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3101269
task = 1
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3101270
task = 1
type = 27
state = 0
desc = node10
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3101263);}
[node]
nid = 3101271
task = 1
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
[node]
nid = 3101272
task = 1
type = 27
state = 0
desc = node12
cmd = x3 = offsetx
[node]
nid = 3101273
task = 1
type = 27
state = 0
desc = node13
cmd = y3 = offsety
[node]
nid = 10120114
task = 1
type = 1
state = 1
desc = slp
cmd = 5000
[node]
nid = 3101274
task = 1
type = 24
state = 1
desc = node14
cmd = 0 "nozzle3"
[step]
sid = 21013
state = 0
desc = 4号吸嘴拍照
script:
x = -1*(v4x+cameraoffsetx)
y = -1*(v4y+cameraoffsety)
if (exit==1) jump(21015)
script_end
node_count = 15
[node]
nid = 3101371
task = 1
type = 6
state = 0
desc = node1
cmd = p2 = p3 +x(x) +y(y)
[node]
nid = 3101372
task = 1
type = 7
state = 0
desc = node2
cmd = p2
[node]
nid = 3101373
task = 1
type = 22
state = 0
desc = node3
cmd = 31 "M7"
[node]
nid = 3101374
task = 1
type = 23
state = 0
desc = node4
cmd = 31 "WaitM7" 5000 ret offsetx offsety
[node]
nid = 3101375
task = 1
type = 27
state = 0
desc = node5
cmd = if(ret == 0) jump(3101382)//-->next
[node]
nid = 3101376
task = 1
type = 27
state = 0
desc = node6
cmd = redLight = 1
[node]
nid = 3101377
task = 1
type = 27
state = 0
desc = node7
cmd = wlog("ERROR START",-1,"Camera capture failed","")
[node]
nid = 3101378
task = 1
type = 24
state = 0
desc = node8
cmd = 1 "Camera fail Are you Try again?"
[node]
nid = 3101379
task = 1
type = 27
state = 0
desc = node9
cmd = redLight = 0
[node]
nid = 3101380
task = 1
type = 27
state = 0
desc = node10
cmd = if (4==t1){ wlog("ERROR END",-1,"Camera Try Again","");jump(3101373);}
[node]
nid = 3101381
task = 1
type = 27
state = 0
desc = node11
cmd = wlog("ERROR END",-1,"Camera To Next","");exit=1
[node]
nid = 3101382
task = 1
type = 27
state = 0
desc = node12
cmd = x4 = offsetx
[node]
nid = 3101383
task = 1
type = 27
state = 0
desc = node13
cmd = y4 = offsety
[node]
nid = 10130114
task = 1
type = 1
state = 1
desc = slp
cmd = 5000
[node]
nid = 3101384
task = 1
type = 24
state = 1
desc = node14
cmd = 0 "nozzle4"
[step]
sid = 21014
state = 0
desc = 显示验证结果
script:
msg = "验证结果：\n吸嘴1误差:x=" + str(x1) + " y=" + str(y1) + "\n吸嘴2误差:x=" + str(x2) + " y=" + str(y2)+ "\n吸嘴3误差:x=" + str(x3) + " y=" + str(y3)+ "\n吸嘴4误差:x=" + str(x4) + " y=" + str(y4) + "!"
if (exit==1) jump(21015)
script_end
node_count = 1
[node]
nid = 3101401
task = 1010
type = 24
state = 0
desc = node1
cmd = 0 msg
[step]
sid = 21015
state = 0
desc = end
script:
script_end
node_count = 0
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