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244 lines
3.0 KiB
Plaintext
244 lines
3.0 KiB
Plaintext
version = 2021
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[proc]
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pid = 1047
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type = 0
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name = 料仓单次拍照(3点矩阵)
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start =
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pause =
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step_count = 4
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[step]
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sid = 24701
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bDisable = 0
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desc = 设置当前节点
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script:
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//a标识当前节点
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work_set(t,a)
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script_end
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node_count = 2
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[node]
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nid = 3470101
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task = 1047
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type = 10
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state = 0
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desc = node1
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cmd = t x1 y1
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[node]
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nid = 3470102
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task = 1047
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type = 18
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state = 0
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desc = 避让
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cmd = 1046
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[step]
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sid = 24702
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bDisable = 1
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desc = 到拍照位
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script:
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script_end
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node_count = 12
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[node]
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nid = 3470251
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task = 1
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type = 27
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state = 0
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desc = node1
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cmd = tmp = rpos(51002)
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[node]
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nid = 3470252
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task = 1
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type = 27
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state = 1
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desc = node2
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cmd = if (tmp>0) jump(3220857)
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[node]
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nid = 3470253
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task = 1
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type = 6
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state = 0
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desc = node3
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cmd = p2 = p0 :z(safez)
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[node]
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nid = 3470254
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task = 1
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type = 7
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state = 1
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desc = node4
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cmd = p2
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[node]
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nid = 3470255
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task = 1
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type = 6
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state = 0
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desc = node5
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cmd = p2 = p14 :x(x1) :y(y1) :z(safez)
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[node]
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nid = 3470256
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task = 1
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type = 7
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state = 1
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desc = node6
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cmd = p2
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[node]
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nid = 3470257
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task = 1
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type = 27
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state = 0
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desc = node7
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cmd = tmp = rpos(51004)
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[node]
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nid = 3470258
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task = 1
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type = 6
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state = 0
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desc = node8
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cmd = p2 = p14 :x(x1) :y(y1) :z(tmp)
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[node]
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nid = 3470259
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task = 1
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type = 7
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state = 1
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desc = node9
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cmd = p2
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[node]
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nid = 3470260
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task = 1
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type = 6
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state = 0
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desc = node10
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cmd = p2 = p14 :x(x1) :y(y1)
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[node]
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nid = 3470261
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task = 1
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type = 7
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state = 1
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desc = node11
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cmd = p2
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[node]
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nid = 3470262
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task = 1
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type = 1
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state = 0
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desc = node12
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cmd = 1000
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[step]
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sid = 24703
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bDisable = 0
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desc = 拍照
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script:
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//b标识发送给视觉 "M3"
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//c标识接收视觉 "WaitM3"
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if (t==2)
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{//ok
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b = "M3"
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c = "WaitM3"
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}
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else
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{//ng
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b = "M4"
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c = "WaitM4"
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}
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script_end
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node_count = 12
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[node]
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nid = 3470301
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task = 1047
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type = 22
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state = 0
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desc = node1
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cmd = 31 b
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[node]
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nid = 3470302
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task = 1047
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type = 23
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state = 0
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desc = node2
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cmd = 31 c 5000 ret offsetx offsety
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[node]
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nid = 3470303
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task = 1047
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type = 27
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state = 0
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desc = node3
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cmd = if(ret == 0) jump(3470310)
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[node]
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nid = 3470304
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task = 1047
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type = 27
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state = 0
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desc = node4
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cmd = redLight = 1
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[node]
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nid = 3470305
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task = 1047
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type = 24
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state = 0
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desc = node5
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cmd = 0 "料仓拍照失败，物料定位失败！"
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[node]
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nid = 3470306
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task = 1047
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type = 27
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state = 0
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desc = node6
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cmd = redLight = 0
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[node]
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nid = 3470307
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task = 1047
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type = 24
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state = 0
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desc = node7
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cmd = 1 "camera fail are you tay again?"
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[node]
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nid = 3470308
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task = 1047
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type = 27
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state = 0
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desc = node8
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cmd = if(4==t1047) jump(3470301)
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[node]
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nid = 3470309
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task = 1047
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type = 27
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state = 0
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desc = node9
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cmd = wlog("ERROR START", -1, "Get marital camera fail", "");jump(3470312)
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[node]
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nid = 3470310
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task = 1047
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type = 27
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state = 0
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desc = node10
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cmd = x=x1+offsetx;y=y1+offsety
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[node]
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nid = 3470311
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task = 1047
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type = 22
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state = 0
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desc = node11
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cmd = 31 "posset " +str(t) + " 1 sn12 " +str(x)+" "+str(y)
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[node]
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nid = 3470312
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task = 1047
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type = 1
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state = 0
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desc = node12
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cmd = 700
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[step]
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sid = 24704
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bDisable = 0
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desc = log记录
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script:
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script_end
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node_count = 1
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[node]
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nid = 3470401
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task = 1047
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type = 1
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state = 0
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desc = node1
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cmd = 0
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