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223 lines
2.7 KiB
Plaintext
223 lines
2.7 KiB
Plaintext
version = 2021
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[proc]
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pid = 1009
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type = 0
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name = 料仓取料
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start =
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pause =
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step_count = 3
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[step]
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sid = 20901
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bDisable = 0
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desc = 判断是否需要换料盘
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script:
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script_end
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node_count = 3
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[node]
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nid = 3090101
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task = 1009
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type = 19
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state = 0
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desc = node1
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cmd = 1007
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[node]
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nid = 3090102
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task = 1009
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type = 10
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state = 0
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desc = node2
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cmd = 1 x y
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[node]
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nid = 3090103
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task = 1009
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type = 27
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state = 0
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desc = node3
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cmd = if (t1009==0) {pstart(1007);jump(3090101)}
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[step]
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sid = 20903
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bDisable = 0
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desc = 取料
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script:
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if (v==1)
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{//1号吸嘴
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a = "吸料上下气缸1"
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b = "吸料真空1吸"
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c = 0
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d = 0
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e = "吸料真空1检测"
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f = "吸料真空1破"
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}
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else if (v==2)
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{//2号吸嘴
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a = "吸料上下气缸2"
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b = "吸料真空2吸"
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c = v2x
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d = v2y
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e = "吸料真空2检测"
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f = "吸料真空2破"
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}
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else if (v==3)
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{//3号吸嘴
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a = "吸料上下气缸3"
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b = "吸料真空3吸"
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c = v3x
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d = v3y
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e = "吸料真空3检测"
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f = "吸料真空3破"
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}
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else if (v==4)
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{//3号吸嘴
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a = "吸料上下气缸4"
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b = "吸料真空4吸"
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c = v4x
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d = v4y
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e = "吸料真空4检测"
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f = "吸料真空4破"
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}
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script_end
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node_count = 19
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[node]
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nid = 3090321
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task = 1
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type = 6
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state = 0
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desc = node1
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cmd = p2 = p2 :x(x) :y(y)
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[node]
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nid = 3090322
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task = 1
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type = 7
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state = 1
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desc = 判断料盘是否结束
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cmd = p2
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[node]
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nid = 3090323
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task = 1
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type = 27
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state = 0
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desc = node3
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cmd = ret++; sn = "sn100" + str(ret);
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[node]
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nid = 3090324
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task = 1
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type = 23
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state = 1
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desc = node3
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cmd = 31 "WaitM1" 5000 ret sn offsetx offsety
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[node]
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nid = 3090325
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task = 1
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type = 22
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state = 0
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desc = node4
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cmd = 31 "create " +sn+" "+str(v)
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[node]
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nid = 3090326
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task = 1
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type = 27
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state = 0
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desc = node5
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cmd = offsetx += c
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[node]
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nid = 3090327
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task = 1
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type = 27
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state = 0
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desc = node6
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cmd = offsety += d
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[node]
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nid = 3090328
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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 = offsetx += cameraoffsetx
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[node]
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nid = 3090329
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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 = offsety += cameraoffsety
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[node]
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nid = 3090330
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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 = p3 = p2 +x(offsetx) +y(offsety)
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[node]
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nid = 3090331
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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 = p3
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[node]
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nid = 3090332
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task = 1
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type = 14
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state = 1
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desc = node11
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cmd = a=1
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[node]
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nid = 3090333
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task = 1
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type = 14
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state = 1
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desc = node10
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cmd = b=1
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[node]
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nid = 3090334
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task = 1
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type = 6
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state = 0
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desc = node11
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cmd = p3 = p3 +z(-2)
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[node]
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nid = 3090335
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task = 1
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type = 7
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state = 1
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desc = node13
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cmd = p3
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[node]
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nid = 3090336
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task = 1
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type = 1
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state = 0
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desc = node8
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cmd = 700
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[node]
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nid = 3090337
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task = 1
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type = 14
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state = 1
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desc = 获取料盘数量
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cmd = a=0
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[node]
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nid = 3090338
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task = 1
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type = 7
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state = 1
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desc = node18
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cmd = p3 +z(2)
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[node]
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nid = 3090339
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task = 1
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type = 15
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state = 1
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desc = node19
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cmd = e=1 1000
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[step]
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sid = 20902
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bDisable = 0
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desc = end
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script:
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script_end
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node_count = 0
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