BPASmartClient/FryPot_DosingSystem/ViewModel/AgvViewModel.cs

using FryPot_DosingSystem.AGV;
using Microsoft.Toolkit.Mvvm.ComponentModel;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;

namespace FryPot_DosingSystem.ViewModel
{
    /// <summary>
    /// AGV 视图
    /// </summary>
    public class AgvViewModel : ObservableObject
    {
        #region 单例模式
        private volatile static AgvViewModel _Instance;
        public static AgvViewModel GetInstance() => _Instance ?? (_Instance = new AgvViewModel());

        public int RollerNum { get { return _rollerNum; } set { _rollerNum = value;OnPropertyChanged(); } }
        private int _rollerNum;
        public AgvViewModel()
        {
            Init();
        }
        #endregion

        #region 私有函数
        public void Init()
        {
            //初始化车辆控制
            cartModel_1 = new CartModel();
            cartModel_2 = new CartModel();
            cartModel_3 = new CartModel();
            cartModel_4 = new CartModel();
            //初始化滚筒线
            RollerLines_1 = new RollerLinesModel();
            RollerLines_2 = new RollerLinesModel();
            RollerLines_3 = new RollerLinesModel();
            RollerLines_4 = new RollerLinesModel();
            //初始化停车桩
            ParkingPileModel_1 = new ParkingPileModel { isBool = IsBool.Yes };
            ParkingPileModel_2 = new ParkingPileModel { isBool = IsBool.Yes };
            ParkingPileModel_3 = new ParkingPileModel { isBool = IsBool.Yes };
            ParkingPileModel_4 = new ParkingPileModel { isBool = IsBool.Yes };
            ParkingPileModel_5 = new ParkingPileModel { isBool = IsBool.No };
            ParkingPileModel_6 = new ParkingPileModel { isBool = IsBool.No };
            //初始化炒锅
            wokModel_1 = new WokModel();
            wokModel_2 = new WokModel();
            wokModel_3 = new WokModel();
            wokModel_4 = new WokModel();
            wokModel_5 = new WokModel();
           // Test();
        }
        #endregion

        #region 公共调用函数
        public void Test()
        {
            RollerLines_2.DishesNum = "3";


            wokModel_1.goodsName = "番茄炒蛋";
            wokModel_1.workflows = new ObservableCollection<WorkflowModel>
            {
                new WorkflowModel {id=1,Name="取番茄",isBool= IsBool.Yes},
                new WorkflowModel {id=2,Name="取蛋" } };
        }
        public void SetCleanRollerNum(int num)
        {
            RollerNum = num;
        }
        /// <summary>
        /// 设置停车桩或充电桩 
        /// </summary>
        /// <param name="id">设置哪一个停车桩：1 2 3（5 6 为充电桩）</param>
        /// <param name="isBool">是否有小车</param>
        public void Set停车桩(int id, IsBool isBool)
        {
            try
            {
                switch (id)
                {
                    case 1:
                        ParkingPileModel_1.isBool = isBool;
                        break;
                    case 2:
                        ParkingPileModel_2.isBool = isBool;
                        break;
                    case 3:
                        ParkingPileModel_3.isBool = isBool;
                        break;
                    case 4:
                        ParkingPileModel_4.isBool = isBool;
                        break;
                    case 5:
                        ParkingPileModel_5.isBool = isBool;
                        break;
                    case 6:
                        ParkingPileModel_6.isBool = isBool;
                        break;
                }
                
            }
            catch (Exception ex)
            {

            }
        }
        /// <summary>
        /// 小车停止
        /// </summary>
        /// <param name="id">默认：1 2 3 4,代表四辆车</param>
        public void Set小车停止(int id)
        {
            try
            {
                switch (id)
                {
                    case 1:
                        cartModel_1.cartMotionTrajectory = CartMotionTrajectory.Stop;
                        break;
                    case 2:
                        cartModel_2.cartMotionTrajectory = CartMotionTrajectory.Stop;
                        break;
                    case 3:
                        cartModel_3.cartMotionTrajectory = CartMotionTrajectory.Stop;
                        break;
                    case 4:
                        cartModel_4.cartMotionTrajectory = CartMotionTrajectory.Stop;
                        break;
                }

            }
            catch (Exception ex)
            {

            }
        }
        /// <summary>
        /// 控制小车运行
        /// </summary>
        /// <param name="id">默认：1 2 3 4,代表四辆车</param>
        /// <param name="cart"></param>
        public void Set小车运动(int id, CartMotionTrajectory cart)
        {
            try
            {
                switch (id)
                {
                    case 1:
                        cartModel_1.cartMotionTrajectory = CartMotionTrajectory.Stop;
                        Thread.Sleep(10);
                        cartModel_1.cartMotionTrajectory = cart;
                        break;
                    case 2:
                        cartModel_2.cartMotionTrajectory = CartMotionTrajectory.Stop;
                        Thread.Sleep(10);
                        cartModel_2.cartMotionTrajectory = cart;
                        break;
                    case 3:
                        cartModel_3.cartMotionTrajectory = CartMotionTrajectory.Stop;
                        Thread.Sleep(10);
                        cartModel_3.cartMotionTrajectory = cart;
                        break;
                    case 4:
                        cartModel_4.cartMotionTrajectory = CartMotionTrajectory.Stop;
                        Thread.Sleep(10);
                        cartModel_4.cartMotionTrajectory = cart;
                        break;
                }

            }
            catch (Exception ex)
            {

            }
        }
        /// <summary>
        /// 小车是否承载物品
        /// </summary>
        /// <param name="id">默认：1 2 3 4,代表四辆车</param>
        /// <param name="cart"></param>
        public void Set小车是否承载物品(int id, IsBool cart)
        {
            try
            {
                switch (id)
                {
                    case 1:
                        cartModel_1.isBool = cart;
                        break;
                    case 2:
                        cartModel_2.isBool = cart;
                        break;
                    case 3:
                        cartModel_3.isBool = cart;
                        break;
                    case 4:
                        cartModel_4.isBool = cart;
                        break;
                }

            }
            catch (Exception ex)
            {

            }
        }
        /// <summary>
        /// 滚筒线状态
        /// </summary>
        /// <param name="id">默认：1 2 3 4,代表四条滚筒线,（4 代表空桶线）</param>
        /// <param name="cart"></param>
        public void Set滚筒线状态(int id, IsRun cart)
        {
            try
            {
                switch (id)
                {
                    case 1:
                        RollerLines_1.isRun = cart;
                        break;
                    case 2:
                        RollerLines_2.isRun = cart;
                        break;
                    case 3:
                        RollerLines_3.isRun = cart;
                        break;
                    case 4:
                        RollerLines_4.isRun = cart;
                        break;
                }

            }
            catch (Exception ex)
            {

            }
        }
        /// <summary>
        /// 滚筒线上数量
        /// </summary>
        /// <param name="id">默认：1 2 3 4,代表四条滚筒线,（4 代表空桶线）</param>
        /// <param name="cart">默认： 1 - 8，最多承载 8个菜品或者8个空碗</param>
        public void Set滚筒线上数量(int id, string cart)
        {
            try
            {
                switch (id)
                {
                    case 1:
                        RollerLines_1.DishesNum = cart;
                        break;
                    case 2:
                        RollerLines_2.DishesNum = cart;
                        break;
                    case 3:
                        RollerLines_3.DishesNum = cart;
                        break;
                    case 4:
                        RollerLines_4.DishesNum = cart;
                        break;
                }

            }
            catch (Exception ex)
            {

            }
        }
        /// <summary>
        /// 设置炒锅显示流程
        /// </summary>
        /// <param name="id">默认：1 2 3 4 5,代表五个炒锅</param>
        /// <param name="mode"></param>
        public void Set炒锅显示流程(int id, WokModel mode)
        {
            try
            {
                switch (id)
                {
                    case 1:
                        wokModel_1=mode;
                        break;
                    case 2:
                        wokModel_2 = mode;
                        break;
                    case 3:
                        wokModel_3 = mode;
                        break;
                    case 4:
                        wokModel_4 = mode;
                        break;
                    case 5:
                        wokModel_5 = mode;
                        break;
                }

            }
            catch (Exception ex)
            {

            }
        }
        /// <summary>
        /// 启动或停止炒锅
        /// </summary>
        /// <param name="id">默认：1 2 3 4 5,代表五个炒锅</param>
        /// <param name="mode"></param>
        public void Set启动或停止炒锅(int id, IsRun mode)
        {
            try
            {
                switch (id)
                {
                    case 1:
                        wokModel_1.isRun= mode;
                        break;
                    case 2:
                        wokModel_2.isRun = mode;
                        break;
                    case 3:
                        wokModel_3.isRun = mode;
                        break;
                    case 4:
                        wokModel_4.isRun = mode;
                        break;
                    case 5:
                        wokModel_5.isRun = mode;
                        break;
                }

            }
            catch (Exception ex)
            {

            }
        }
        #endregion

        #region 其他函数
        /// <summary>
        /// 获取所有命令
        /// </summary>
        public List<string> GetCommand()
        {
            List<string> vs = new List<string>();
            try
            {
                vs = System.Enum.GetNames(typeof(CartMotionTrajectory))?.ToList();
            }
            catch (Exception ex)
            {
                return vs;
            }
            return vs;
        }
        /// <summary>
        /// 根据命令获取值
        /// </summary>
        public CartMotionTrajectory GetCommandValue(string name)
        {
            return ToEnumValue<CartMotionTrajectory>(name);
        }
        /// <summary>
        /// 根据枚举名称获取枚举值
        /// </summary>
        public T ToEnumValue<T>(string name)
        {
            
            return (T)Enum.Parse(typeof(T), name);
        }
        #endregion

        #region 4个滚筒线控制
        /// <summary>
        /// 一号滚筒线
        /// </summary>
        private RollerLinesModel _RollerLines_1;
        public RollerLinesModel RollerLines_1
        {
            get
            {
                return _RollerLines_1;
            }
            set
            {
                if (_RollerLines_1 == value)
                    return;
                _RollerLines_1 = value;
                OnPropertyChanged("RollerLines_1");
            }
        }
        /// <summary>
        /// 二号滚筒线
        /// </summary>
        private RollerLinesModel _RollerLines_2;
        public RollerLinesModel RollerLines_2
        {
            get
            {
                return _RollerLines_2;
            }
            set
            {
                if (_RollerLines_2 == value)
                    return;
                _RollerLines_2 = value;
                OnPropertyChanged("RollerLines_2");
            }
        }
        /// <summary>
        /// 三号滚筒线
        /// </summary>
        private RollerLinesModel _RollerLines_3;
        public RollerLinesModel RollerLines_3
        {
            get
            {
                return _RollerLines_3;
            }
            set
            {
                if (_RollerLines_3 == value)
                    return;
                _RollerLines_3 = value;
                OnPropertyChanged("RollerLines_3");
            }
        }
        /// <summary>
        /// 四号滚筒线
        /// </summary>
        private RollerLinesModel _RollerLines_4;
        public RollerLinesModel RollerLines_4
        {
            get
            {
                return _RollerLines_4;
            }
            set
            {
                if (_RollerLines_4 == value)
                    return;
                _RollerLines_4 = value;
                OnPropertyChanged("RollerLines_4");
            }
        }
        #endregion

        #region 4个运动小车控制
        /// <summary>
        /// 一号车控制
        /// </summary>
        private CartModel _cartModel_1;
        public CartModel cartModel_1
        {
            get
            {
                return _cartModel_1;
            }
            set
            {
                if (_cartModel_1 == value)
                    return;
                _cartModel_1 = value;
                OnPropertyChanged("cartModel_1");
            }
        }
        /// <summary>
        /// 二号车控制
        /// </summary>
        private CartModel _cartModel_2;
        public CartModel cartModel_2
        {
            get
            {
                return _cartModel_2;
            }
            set
            {
                if (_cartModel_2 == value)
                    return;
                _cartModel_2 = value;
                OnPropertyChanged("cartModel_2");
            }
        }
        /// <summary>
        /// 三号车控制
        /// </summary>
        private CartModel _cartModel_3;
        public CartModel cartModel_3
        {
            get
            {
                return _cartModel_3;
            }
            set
            {
                if (_cartModel_3 == value)
                    return;
                _cartModel_3 = value;
                OnPropertyChanged("cartModel_3");
            }
        }
        /// <summary>
        /// 四号车控制
        /// </summary>
        private CartModel _cartModel_4;
        public CartModel cartModel_4
        {
            get
            {
                return _cartModel_4;
            }
            set
            {
                if (_cartModel_4 == value)
                    return;
                _cartModel_4 = value;
                OnPropertyChanged("cartModel_4");
            }
        }
        #endregion

        #region 6个停车桩控制
        /// <summary>
        /// 一号停车装
        /// </summary>
        private ParkingPileModel _ParkingPileModel_1;
        public ParkingPileModel ParkingPileModel_1
        {
            get
            {
                return _ParkingPileModel_1;
            }
            set
            {
                if (_ParkingPileModel_1 == value)
                    return;
                _ParkingPileModel_1 = value;
                OnPropertyChanged("ParkingPileModel_1");
            }
        }
        /// <summary>
        /// 二号停车装
        /// </summary>
        private ParkingPileModel _ParkingPileModel_2;
        public ParkingPileModel ParkingPileModel_2
        {
            get
            {
                return _ParkingPileModel_2;
            }
            set
            {
                if (_ParkingPileModel_2 == value)
                    return;
                _ParkingPileModel_2 = value;
                OnPropertyChanged("ParkingPileModel_2");
            }
        }
        /// <summary>
        /// 三号停车装
        /// </summary>
        private ParkingPileModel _ParkingPileModel_3;
        public ParkingPileModel ParkingPileModel_3
        {
            get
            {
                return _ParkingPileModel_3;
            }
            set
            {
                if (_ParkingPileModel_3 == value)
                    return;
                _ParkingPileModel_3 = value;
                OnPropertyChanged("ParkingPileModel_3");
            }
        }
        /// <summary>
        /// 四号停车装
        /// </summary>
        private ParkingPileModel _ParkingPileModel_4;
        public ParkingPileModel ParkingPileModel_4
        {
            get
            {
                return _ParkingPileModel_4;
            }
            set
            {
                if (_ParkingPileModel_4 == value)
                    return;
                _ParkingPileModel_4 = value;
                OnPropertyChanged("ParkingPileModel_4");
            }
        }
        /// <summary>
        /// 五号停车装
        /// </summary>
        private ParkingPileModel _ParkingPileModel_5;
        public ParkingPileModel ParkingPileModel_5
        {
            get
            {
                return _ParkingPileModel_5;
            }
            set
            {
                if (_ParkingPileModel_5 == value)
                    return;
                _ParkingPileModel_5 = value;
                OnPropertyChanged("ParkingPileModel_5");
            }
        }
        /// <summary>
        /// 六号停车装
        /// </summary>
        private ParkingPileModel _ParkingPileModel_6;
        public ParkingPileModel ParkingPileModel_6
        {
            get
            {
                return _ParkingPileModel_6;
            }
            set
            {
                if (_ParkingPileModel_6 == value)
                    return;
                _ParkingPileModel_6 = value;
                OnPropertyChanged("ParkingPileModel_6");
            }
        }
        #endregion

        #region 5个炒锅流程控制
        /// <summary>
        /// 一号炒锅工作流程
        /// </summary>
        private WokModel _wokModel_1;
        public WokModel wokModel_1
        {
            get
            {
                if (_wokModel_1 == null)
                {
                    _wokModel_1 = new WokModel();
                }
                return _wokModel_1;
            }
            set
            {
                if (_wokModel_1 == value)
                    return;
                _wokModel_1 = value;
                OnPropertyChanged("wokModel_1");
            }
        }
        /// <summary>
        /// 二号炒锅工作流程
        /// </summary>
        private WokModel _wokModel_2;
        public WokModel wokModel_2
        {
            get
            {
                return _wokModel_2;
            }
            set
            {
                if (_wokModel_2 == value)
                    return;
                _wokModel_2 = value;
                OnPropertyChanged("wokModel_2");
            }
        }
        /// <summary>
        /// 三号炒锅工作流程
        /// </summary>
        private WokModel _wokModel_3;
        public WokModel wokModel_3
        {
            get
            {
                return _wokModel_3;
            }
            set
            {
                if (_wokModel_3 == value)
                    return;
                _wokModel_3 = value;
                OnPropertyChanged("wokModel_3");
            }
        }
        /// <summary>
        /// 四号炒锅工作流程
        /// </summary>
        private WokModel _wokModel_4;
        public WokModel wokModel_4
        {
            get
            {
                return _wokModel_4;
            }
            set
            {
                if (_wokModel_4 == value)
                    return;
                _wokModel_4 = value;
                OnPropertyChanged("wokModel_4");
            }
        }
        /// <summary>
        /// 五号炒锅工作流程
        /// </summary>
        private WokModel _wokModel_5;
        public WokModel wokModel_5
        {
            get
            {
                return _wokModel_5;
            }
            set
            {
                if (_wokModel_5 == value)
                    return;
                _wokModel_5 = value;
                OnPropertyChanged("wokModel_5");
            }
        }
        #endregion
    }

    /// <summary>
    /// 小车控制Model
    /// </summary>
    public class CartModel : ObservableObject
    {
        /// <summary>
        /// 车上是否有物品
        /// </summary>
        private IsBool _isBool = IsBool.No;
        public IsBool isBool
        {
            get
            {
                return _isBool;
            }
            set
            {
                _isBool = value;
                Text = _isBool.ToString();
                OnPropertyChanged("isBool");
            }
        }
        /// <summary>
        /// 车运动轨迹方式
        /// </summary>
        private CartMotionTrajectory _cartMotionTrajectory = CartMotionTrajectory.Stop;
        public CartMotionTrajectory cartMotionTrajectory
        {
            get
            {
                return _cartMotionTrajectory;
            }
            set
            {
                _cartMotionTrajectory = value;
                Tag = _cartMotionTrajectory.ToString();
                OnPropertyChanged("cartMotionTrajectory");
            }
        }
        private string _Text = IsBool.No.ToString();
        public string Text
        {
            get
            {
                return _Text;
            }
            set
            {
                _Text = value;
                OnPropertyChanged("Text");
            }
        }
        private string _Tag = CartMotionTrajectory.Stop.ToString();
        public string Tag
        {
            get
            {
                return _Tag;
            }
            set
            {
                _Tag = value;
                OnPropertyChanged("Tag");
            }
        }

    }
    /// <summary>
    /// 停车装控制
    /// </summary>
    public class ParkingPileModel : ObservableObject
    {
        /// <summary>
        /// 是否有小车
        /// </summary>
        private IsBool _isBool = IsBool.No;
        public IsBool isBool
        {
            get
            {
                return _isBool;
            }
            set
            {
                _isBool = value;
                Text = _isBool.ToString();
                OnPropertyChanged("isBool");
            }
        }
        private string _Text = IsBool.No.ToString();
        public string Text
        {
            get
            {
                return _Text;
            }
            set
            {
                _Text = value;
                OnPropertyChanged("Text");
            }
        }
    }
    /// <summary>
    /// 滚筒线控制
    /// </summary>
    public class RollerLinesModel : ObservableObject
    {
        /// <summary>
        /// 是否运行
        /// </summary>
        private IsRun _isRun = IsRun.Stop;
        public IsRun isRun
        {
            get
            {
                return _isRun;
            }
            set
            {
                _isRun = value;
                Text = _isRun.ToString();
                OnPropertyChanged("isBool");
            }
        }
        /// <summary>
        /// 滚筒线上面的数量
        /// </summary>
        private string _DishesNum = "8";
        public string DishesNum
        {
            get
            {
                return _DishesNum;
            }
            set
            {
                _DishesNum = value;
                if (!string.IsNullOrEmpty(_DishesNum))
                {
                    int count = 1;
                    try
                    {
                        count = int.Parse(_DishesNum);
                        if (count >= 0 && count <= 8)
                        {
                            _DishesNum = count.ToString();
                        }
                        else
                            _DishesNum = 8.ToString();
                    }
                    catch (Exception ex)
                    {
                        _DishesNum = 8.ToString();
                    }
                }
                OnPropertyChanged("DishesNum");
            }
        }
        private string _Text = IsRun.Stop.ToString();
        public string Text
        {
            get
            {
                return _Text;
            }
            set
            {
                _Text = value;
                OnPropertyChanged("Text");
            }
        }
    }
    /// <summary>
    /// 炒锅 流程控制
    /// </summary>
    public class WokModel : ObservableObject
    {
        /// <summary>
        /// id
        /// </summary>
        private string _id;
        public string id
        {
            get
            {
                return _id;
            }
            set
            {
                _id = value;
                OnPropertyChanged("id");
            }
        }
        /// <summary>
        /// 订单id
        /// </summary>
        private string _orderID;
        public string orderID
        {
            get
            {
                return _orderID;
            }
            set
            {
                _orderID = value;
                OnPropertyChanged("orderID");
            }
        }
        /// <summary>
        /// 商品名称
        /// </summary>
        private string _goodsName;
        public string goodsName
        {
            get
            {
                return _goodsName;
            }
            set
            {
                _goodsName = value;
                OnPropertyChanged("goodsName");
            }
        }
        /// <summary>
        /// 其他信息
        /// </summary>
        private string _other;
        public string other
        {
            get
            {
                return _other;
            }
            set
            {
                _other = value;
                OnPropertyChanged("other");
            }
        }
        /// <summary>
        /// 是否运行
        /// </summary>
        private IsRun _isRun = IsRun.Stop;
        public IsRun isRun
        {
            get
            {
                return _isRun;
            }
            set
            {
                _isRun = value;
                Text = _isRun.ToString();
                OnPropertyChanged("isBool");
            }
        }
        private string _Text = IsRun.Stop.ToString();
        public string Text
        {
            get
            {
                return _Text;
            }
            set
            {
                _Text = value;
                OnPropertyChanged("Text");
            }
        }

        /// <summary>
        /// 工作流程
        /// </summary>
        private ObservableCollection<WorkflowModel> _workflows = new ObservableCollection<WorkflowModel>();
        public ObservableCollection<WorkflowModel> workflows
        {
            get
            {
                return _workflows;
            }
            set
            {
                _workflows = value;
                OnPropertyChanged("workflows");
            }
        }
        public WokModel()
        {
            id = Guid.NewGuid().ToString();
            workflows = new ObservableCollection<WorkflowModel>();
        }
    }

    /// <summary>
    /// 工作流程
    /// </summary>
    public class WorkflowModel : ObservableObject
    {
        /// <summary>
        /// 序号默认：1-10
        /// </summary>
        private int _id=1;
        public int id
        {
            get
            {
                return _id;
            }
            set
            {
                _id = value;
                xh = GetXH.ID(_id);
                OnPropertyChanged("id");
            }
        }
        /// <summary>
        /// 名称
        /// </summary>
        private string _Name;
        public string Name
        {
            get
            {
                return _Name;
            }
            set
            {
                _Name = value;
                OnPropertyChanged("Name");
            }
        }
        /// <summary>
        /// 是否已完成当前步骤
        /// </summary>
        private IsBool _isBool = IsBool.No;
        public IsBool isBool
        {
            get
            {
                return _isBool;
            }
            set
            {
                _isBool = value;
                if (_isBool == IsBool.Yes)
                {
                    visibility = Visibility.Visible;
                }
                else
                {
                    visibility = Visibility.Collapsed;
                }
                OnPropertyChanged("isBool");
            }
        }
        private Visibility _visibility = Visibility.Collapsed;
        public Visibility visibility
        {
            get
            {
                return _visibility;
            }
            set
            {
                _visibility = value;
                OnPropertyChanged("visibility");
            }
        }
        private string _xh;
        public string xh
        {
            get
            {
                return _xh;
            }
            set
            {
                _xh = value;
                OnPropertyChanged("xh");
            }
        }
    }

    /// <summary>
    /// 获取序号
    /// </summary>
    static class GetXH
    {
        //①②③④⑤⑥⑦⑧⑨⑩⑪⑫⑬⑭⑮⑯⑰⑱⑲⑳㉑㉒㉓㉔㉕㉖㉗㉘㉙㉚㉛㉜㉝㉞㉟㊱㊲㊳㊴㊵㊶㊷㊸㊹㊺㊻㊼㊽㊾㊿
        public static string ID(int i)
        {
            string strbu = "① ";
            string str = "①②③④⑤⑥⑦⑧⑨⑩⑪⑫⑬⑭⑮⑯⑰⑱⑲⑳㉑㉒㉓㉔㉕㉖㉗㉘㉙㉚㉛㉜㉝㉞㉟㊱㊲㊳㊴㊵㊶㊷㊸㊹㊺㊻㊼㊽㊾㊿";
            if (i <= 50)
            {
                strbu= str.Substring(i-1, 1)+" ";
            }
            return strbu;
        }
    }
}