20210408, 调度测试

dispatch/carrier.h

@@ -93,6 +93,9 @@ public:
 	std::string							m_actual_error_description;//搬运器设备的错误描述
 
 
+	int 								m_actual_coordinates_id;			//机器人真实 空间位置的id.
+
+
 private:
 
 };

dispatch/catcher.h

@@ -90,6 +90,7 @@ public:
 
 
 	Catcher_direction 					m_catcher_direction;		//机器手的朝向, true:90度   false:270度
+	int 								m_actual_coordinates_id;			//机器人真实 空间位置的id.
 
 
 private:

dispatch/dispatch_process.cpp

@@ -131,7 +131,7 @@ void Dispatch_process::Main()
 		std::this_thread::sleep_for(std::chrono::microseconds(1));
 		std::this_thread::sleep_for(std::chrono::milliseconds(1));
 //		std::this_thread::sleep_for(std::chrono::seconds(1));
-		std::cout << " huli test ::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: " << " m_dispatch_process_status = " << m_dispatch_process_status << std::endl;
+		std::cout << " huli test :::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: " << " m_dispatch_process_status = " << m_dispatch_process_status << std::endl;
 
 		switch ( m_dispatch_process_status )
 		{
@@ -526,7 +526,7 @@ Error_manager Dispatch_process::excute_dispatch_control()
 //				break;
 //			}
 //		}
-		std::cout << " huli test :::: " << "ppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppp  = " << tp_catcher_task->m_step << std::endl;
+		std::cout << " huli test :::: " << "ppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppp  = " << tp_catcher_task->m_step << std::endl;
 		std::cout << " huli test :::: " << "1111111 tp_catcher_task->m_step   = " << tp_catcher_task->m_step << std::endl;
 
 		//设备的动作也使用外部的Main()的线程来循环
@@ -581,7 +581,7 @@ Error_manager Dispatch_process::excute_dispatch_control()
 //				break;
 //			}
 //		}
-		std::cout << " huli test :::: " << "lllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllll   = " << tp_carrier_task->m_step << std::endl;
+		std::cout << " huli test :::: " << "lllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllll   = " << tp_carrier_task->m_step << std::endl;
 		std::cout << " huli test :::: " << "3333333 tp_carrier_task->m_step   = " << tp_carrier_task->m_step << std::endl;
 
 		//设备的动作也使用外部的Main()的线程来循环
@@ -1133,7 +1133,7 @@ Error_manager Dispatch_process::excute_robot_catch_car_from_carrier()
 	{
 		float temp_wheel_base = tp_catcher->m_actual_d1 + tp_catcher->m_actual_d2 + tp_dispatch_coordinates->m_catcher_d1_d2_distance;
 		//修正轴距, 如果轴距大于3000mm, 那么就要修正轴距.
-		if ( Common_data::approximate_difference(m_car_measure_information.car_wheel_base, temp_wheel_base, DISPATCH_DEFAULT_DIFFERENCE) )
+		if ( Common_data::approximate_difference(m_wheel_base, temp_wheel_base, DISPATCH_DEFAULT_DIFFERENCE) )
 		{
 			tp_catcher_task->m_step +=2;
 		}
@@ -2493,16 +2493,16 @@ Error_manager Dispatch_process::excute_carrier_deliver_car_to_robot()
 	{
 		return check_task_ex(mp_carrier_task, tp_carrier_task->m_step);
 	}
-	if ( tp_carrier_task->m_step == 13 )//小跑车 松开夹杆
+	if ( tp_carrier_task->m_step == 15 )//小跑车 松开夹杆
 	{
 		carrier_move_c(tp_carrier, tp_carrier_task, tp_dispatch_coordinates, Carrier_task::Clamp_motion::E_CLAMP_LOOSE);
 		tp_carrier_task->m_step++;
 	}
-	if ( tp_carrier_task->m_step == 14 )
+	if ( tp_carrier_task->m_step == 16 )
 	{
 		return check_task_ex(mp_carrier_task, tp_carrier_task->m_step);
 	}
-	if ( tp_carrier_task->m_step == 15 )
+	if ( tp_carrier_task->m_step == 17 )
 	{
 		return Error_code::SUCCESS;
 	}

main.cpp

@@ -130,31 +130,31 @@ int main(int argc,char* argv[])
 
 
 
-/*
+
 	Catcher t_catcher;
 	t_error = t_catcher.dispatch_device_base_init(1);
 	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
 	std::this_thread::sleep_for(std::chrono::seconds(2));
 
 	std::shared_ptr<Task_Base> tp_task_Base1(new Catcher_task);
-	Catcher_task * tp_catcher_task = (Catcher_task *)tp_task_Base1.get();
-	tp_catcher_task->task_init(NULL,std::chrono::milliseconds(15000));
-	tp_catcher_task->m_request_key = "123456789012345678901234567890hl";
-	tp_catcher_task->m_request_x = 11000;
-	tp_catcher_task->m_request_y = 3000;
-	tp_catcher_task->m_request_b = 90;
-	tp_catcher_task->m_request_z = 4000;
-	tp_catcher_task->m_request_d1 = 355;
-	tp_catcher_task->m_request_d2 = 455;
-	tp_catcher_task->m_request_wheelbase = 2800;
-	tp_catcher_task->m_request_clamp_motion = Catcher_task::E_CLAMP_LOOSE;
+	Catcher_task * tp_catcher_task1 = (Catcher_task *)tp_task_Base1.get();
+	tp_catcher_task1->task_init(NULL,std::chrono::milliseconds(15000));
+	tp_catcher_task1->m_request_key = "123456789012345678901234567890hl";
+	tp_catcher_task1->m_request_x = 11000;
+	tp_catcher_task1->m_request_y = 3000;
+	tp_catcher_task1->m_request_b = 90;
+	tp_catcher_task1->m_request_z = 5410;
+	tp_catcher_task1->m_request_d1 = 355;
+	tp_catcher_task1->m_request_d2 = 455;
+	tp_catcher_task1->m_request_wheelbase = 2800;
+	tp_catcher_task1->m_request_clamp_motion = Catcher_task::E_CLAMP_LOOSE;
 	t_error = t_catcher.execute_task(tp_task_Base1, Dispatch_device_base::E_ONE_LEVEL);
 	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
 	std::cout << " ---------------------------------------------------" << std::endl;
 
+	/*
 	char zxczxcxzc1 ;
 	std::cin >> zxczxcxzc1 ;
-
 	while ( 1 )
 	{
 		std::cout << " huli test :::: " << "  ===================================== "   << std::endl;
@@ -215,40 +215,136 @@ int main(int argc,char* argv[])
 		std::this_thread::sleep_for(std::chrono::milliseconds(1000));
 
 	}
-
 */
 
 
 
 
-	Carrier t_carrier;
-	t_error = t_carrier.dispatch_device_base_init(1);
+
+	Carrier t_carrier20;
+	t_error = t_carrier20.dispatch_device_base_init(0);
 	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
 	std::this_thread::sleep_for(std::chrono::seconds(2));
 
-	std::shared_ptr<Task_Base> tp_task_Base2(new Carrier_task);
-	Carrier_task * tp_carrier_task = (Carrier_task *)tp_task_Base2.get();
-	tp_carrier_task->task_init(NULL,std::chrono::milliseconds(15000));
-	tp_carrier_task->m_request_key = "123456789012345678901234567890hl";
-	tp_carrier_task->m_request_x = 17955;
-	tp_carrier_task->m_request_y = 3000;
-	tp_carrier_task->m_request_z = 2525;
-	tp_carrier_task->m_request_y1 = 4500;
-	tp_carrier_task->m_request_y2 = 1700;
-	tp_carrier_task->m_request_clamp_motion = Carrier_task::E_CLAMP_LOOSE;
-	tp_carrier_task->m_request_joint_motion_x = Carrier_task::E_JOINT_HOLD_OUT;
-	tp_carrier_task->m_request_joint_motion_y = Carrier_task::E_JOINT_HOLD_OUT;
-	tp_carrier_task->m_request_space_id = 555;
-	tp_carrier_task->m_request_floor_id = 555;
-	tp_carrier_task->m_request_wheelbase = 555;
-
-	t_error = t_carrier.execute_task(tp_task_Base2, Dispatch_device_base::E_ONE_LEVEL);
+	std::shared_ptr<Task_Base> tp_task_Base20(new Carrier_task);
+	Carrier_task * tp_carrier_task20 = (Carrier_task *)tp_task_Base20.get();
+	tp_carrier_task20->task_init(NULL,std::chrono::milliseconds(15000));
+	tp_carrier_task20->m_request_key = "123456789012345678901234567890hl";
+	tp_carrier_task20->m_request_x = 1;
+//	tp_carrier_task20->m_request_x = 32600;
+	tp_carrier_task20->m_request_y = 3000;
+	tp_carrier_task20->m_request_z = 2525;
+	tp_carrier_task20->m_request_y1 = 4500;
+	tp_carrier_task20->m_request_y2 = 1700;
+	tp_carrier_task20->m_request_clamp_motion = Carrier_task::E_CLAMP_LOOSE;
+	tp_carrier_task20->m_request_joint_motion_x = Carrier_task::E_JOINT_HOLD_OUT;
+	tp_carrier_task20->m_request_joint_motion_y = Carrier_task::E_JOINT_HOLD_OUT;
+	tp_carrier_task20->m_request_space_id = 555;
+	tp_carrier_task20->m_request_floor_id = 555;
+	tp_carrier_task20->m_request_wheelbase = 555;
+
+	t_error = t_carrier20.execute_task(tp_task_Base20, Dispatch_device_base::E_ONE_LEVEL);
 	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
 	std::cout << " ---------------------------------------------------" << std::endl;
 
-	char zxczxcxzc2 ;
-	std::cin >> zxczxcxzc2 ;
+	/*
+	char zxczxcxzc20 ;
+	std::cin >> zxczxcxzc20 ;
+	while ( 1 )
+	{
+		std::cout << " huli test :::: " << "  ===================================== "   << std::endl;
+		std::cout << " huli test :::: " << " tp_carrier_task->get_task_statu = " << tp_carrier_task->get_task_statu() << std::endl;
+		std::cout << " huli test :::: " << " tp_carrier_task->m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
+
+
+		std::cout << " huli test :::: " << " m_respons_key = " << tp_carrier_task->m_respons_key << std::endl;
+		std::cout << " huli test :::: " << " m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
+		std::cout << " huli test :::: " << " m_respons_x = " << tp_carrier_task->m_respons_x << std::endl;
+		std::cout << " huli test :::: " << " m_respons_y = " << tp_carrier_task->m_respons_y << std::endl;
+		std::cout << " huli test :::: " << " m_respons_z = " << tp_carrier_task->m_respons_z << std::endl;
+		std::cout << " huli test :::: " << " m_respons_y1 = " << tp_carrier_task->m_respons_y1 << std::endl;
+		std::cout << " huli test :::: " << " m_respons_y2 = " << tp_carrier_task->m_respons_y2 << std::endl;
+		std::cout << " huli test :::: " << " m_respons_clamp_motion = " << tp_carrier_task->m_respons_clamp_motion << std::endl;
+		std::cout << " huli test :::: " << " m_respons_joint_motion_x = " << tp_carrier_task->m_respons_joint_motion_x << std::endl;
+		std::cout << " huli test :::: " << " m_respons_joint_motion_y = " << tp_carrier_task->m_respons_joint_motion_y << std::endl;
+		std::cout << " huli test :::: " << " m_respons_space_id = " << tp_carrier_task->m_respons_space_id << std::endl;
+		std::cout << " huli test :::: " << " m_respons_floor_id = " << tp_carrier_task->m_respons_floor_id << std::endl;
+		std::cout << " huli test :::: " << " m_respons_wheelbase = " << tp_carrier_task->m_respons_wheelbase << std::endl;
+		std::cout << " ---------------------------------------------------" << std::endl;
+
+
+
+
+
+		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
+		std::cout << " huli test :::: " << " t_carrier_base.get_carrier_status() = " << t_carrier.get_dispatch_device_status() << std::endl;
+		int heat = t_carrier.m_last_heartbeat;
+		std::cout << " huli test :::: " << " m_last_heartbeat = " << heat << std::endl;
+		std::cout << " huli test :::: " << " m_actual_device_status = " << t_carrier.m_actual_device_status << std::endl;
+		std::cout << " huli test :::: " << " m_actual_load_status = " << t_carrier.m_actual_load_status << std::endl;
+		std::cout << " huli test :::: " << " m_actual_x = " << t_carrier.m_actual_x << std::endl;
+		std::cout << " huli test :::: " << " m_actual_y = " << t_carrier.m_actual_y << std::endl;
+		std::cout << " huli test :::: " << " m_actual_z = " << t_carrier.m_actual_z << std::endl;
+		std::cout << " huli test :::: " << " m_actual_y1 = " << t_carrier.m_actual_y1 << std::endl;
+		std::cout << " huli test :::: " << " m_actual_y2 = " << t_carrier.m_actual_y2 << std::endl;
+		std::cout << " huli test :::: " << " m_actual_clamp_motion1 = " << t_carrier.m_actual_clamp_motion1 << std::endl;
+		std::cout << " huli test :::: " << " m_actual_clamp_motion2 = " << t_carrier.m_actual_clamp_motion2 << std::endl;
+		std::cout << " huli test :::: " << " m_actual_small_sports_car_motion = " << t_carrier.m_actual_small_sports_car_motion << std::endl;
+		std::cout << " huli test :::: " << " m_actual_joint_motion_x1 = " << t_carrier.m_actual_joint_motion_x1 << std::endl;
+		std::cout << " huli test :::: " << " m_actual_joint_motion_x2 = " << t_carrier.m_actual_joint_motion_x2 << std::endl;
+		std::cout << " huli test :::: " << " m_actual_error_code = " <<  std::endl;
+		for (int i = 0; i < 50; ++i)
+		{
+			printf("0x%x ", t_carrier.m_actual_error_code[i]);
+		}
+		std::cout <<  std::endl;
+
+		std::cout << " huli test :::: " << " m_actual_warning_code = " <<  std::endl;
+		for (int i = 0; i < 50; ++i)
+		{
+			printf("0x%x ", t_carrier.m_actual_warning_code[i]);
+		}
+		std::cout <<  std::endl;
+		std::cout << " huli test :::: " << " m_actual_error_description = " << t_carrier.m_actual_error_description << std::endl;
+
+		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
+
+
+
+		std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+	}
+*/
+
+	Carrier t_carrier21;
+	t_error = t_carrier21.dispatch_device_base_init(1);
+	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
+	std::this_thread::sleep_for(std::chrono::seconds(2));
+
+	std::shared_ptr<Task_Base> tp_task_Base21(new Carrier_task);
+	Carrier_task * tp_carrier_task21 = (Carrier_task *)tp_task_Base21.get();
+	tp_carrier_task21->task_init(NULL,std::chrono::milliseconds(15000));
+	tp_carrier_task21->m_request_key = "123456789012345678901234567890hl";
+//	tp_carrier_task21->m_request_x = 1;
+	tp_carrier_task21->m_request_x = 32600;
+	tp_carrier_task21->m_request_y = 3000;
+	tp_carrier_task21->m_request_z = 2525;
+	tp_carrier_task21->m_request_y1 = 4500;
+	tp_carrier_task21->m_request_y2 = 1700;
+	tp_carrier_task21->m_request_clamp_motion = Carrier_task::E_CLAMP_LOOSE;
+	tp_carrier_task21->m_request_joint_motion_x = Carrier_task::E_JOINT_HOLD_OUT;
+	tp_carrier_task21->m_request_joint_motion_y = Carrier_task::E_JOINT_HOLD_OUT;
+	tp_carrier_task21->m_request_space_id = 555;
+	tp_carrier_task21->m_request_floor_id = 555;
+	tp_carrier_task21->m_request_wheelbase = 555;
+
+	t_error = t_carrier21.execute_task(tp_task_Base21, Dispatch_device_base::E_ONE_LEVEL);
+	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
+	std::cout << " ---------------------------------------------------" << std::endl;
 
+	/*
+	char zxczxcxzc21 ;
+	std::cin >> zxczxcxzc21 ;
 	while ( 1 )
 	{
 		std::cout << " huli test :::: " << "  ===================================== "   << std::endl;
@@ -313,10 +409,104 @@ int main(int argc,char* argv[])
 		std::this_thread::sleep_for(std::chrono::milliseconds(1000));
 
 	}
+*/
+
+
+	Carrier t_carrier22;
+	t_error = t_carrier22.dispatch_device_base_init(2);
+	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
+	std::this_thread::sleep_for(std::chrono::seconds(2));
+
+	std::shared_ptr<Task_Base> tp_task_Base22(new Carrier_task);
+	Carrier_task * tp_carrier_task22 = (Carrier_task *)tp_task_Base22.get();
+	tp_carrier_task22->task_init(NULL,std::chrono::milliseconds(15000));
+	tp_carrier_task22->m_request_key = "123456789012345678901234567890hl";
+	tp_carrier_task22->m_request_x = 4455;
+	tp_carrier_task22->m_request_y = 3000;
+	tp_carrier_task22->m_request_z = 5125;
+	tp_carrier_task22->m_request_y1 = 4500;
+	tp_carrier_task22->m_request_y2 = 1700;
+	tp_carrier_task22->m_request_clamp_motion = Carrier_task::E_CLAMP_LOOSE;
+	tp_carrier_task22->m_request_joint_motion_x = Carrier_task::E_JOINT_HOLD_OUT;
+	tp_carrier_task22->m_request_joint_motion_y = Carrier_task::E_JOINT_HOLD_OUT;
+	tp_carrier_task22->m_request_space_id = 555;
+	tp_carrier_task22->m_request_floor_id = 555;
+	tp_carrier_task22->m_request_wheelbase = 555;
+
+	t_error = t_carrier22.execute_task(tp_task_Base22, Dispatch_device_base::E_ONE_LEVEL);
+	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
+	std::cout << " ---------------------------------------------------" << std::endl;
+
+	/*
+	char zxczxcxzc22 ;
+	std::cin >> zxczxcxzc22 ;
+	while ( 1 )
+	{
+		std::cout << " huli test :::: " << "  ===================================== "   << std::endl;
+		std::cout << " huli test :::: " << " tp_carrier_task->get_task_statu = " << tp_carrier_task->get_task_statu() << std::endl;
+		std::cout << " huli test :::: " << " tp_carrier_task->m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
+
+
+		std::cout << " huli test :::: " << " m_respons_key = " << tp_carrier_task->m_respons_key << std::endl;
+		std::cout << " huli test :::: " << " m_respons_status = " << tp_carrier_task->m_respons_status << std::endl;
+		std::cout << " huli test :::: " << " m_respons_x = " << tp_carrier_task->m_respons_x << std::endl;
+		std::cout << " huli test :::: " << " m_respons_y = " << tp_carrier_task->m_respons_y << std::endl;
+		std::cout << " huli test :::: " << " m_respons_z = " << tp_carrier_task->m_respons_z << std::endl;
+		std::cout << " huli test :::: " << " m_respons_y1 = " << tp_carrier_task->m_respons_y1 << std::endl;
+		std::cout << " huli test :::: " << " m_respons_y2 = " << tp_carrier_task->m_respons_y2 << std::endl;
+		std::cout << " huli test :::: " << " m_respons_clamp_motion = " << tp_carrier_task->m_respons_clamp_motion << std::endl;
+		std::cout << " huli test :::: " << " m_respons_joint_motion_x = " << tp_carrier_task->m_respons_joint_motion_x << std::endl;
+		std::cout << " huli test :::: " << " m_respons_joint_motion_y = " << tp_carrier_task->m_respons_joint_motion_y << std::endl;
+		std::cout << " huli test :::: " << " m_respons_space_id = " << tp_carrier_task->m_respons_space_id << std::endl;
+		std::cout << " huli test :::: " << " m_respons_floor_id = " << tp_carrier_task->m_respons_floor_id << std::endl;
+		std::cout << " huli test :::: " << " m_respons_wheelbase = " << tp_carrier_task->m_respons_wheelbase << std::endl;
+		std::cout << " ---------------------------------------------------" << std::endl;
+
 
 
 
 
+		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
+		std::cout << " huli test :::: " << " t_carrier_base.get_carrier_status() = " << t_carrier.get_dispatch_device_status() << std::endl;
+		int heat = t_carrier.m_last_heartbeat;
+		std::cout << " huli test :::: " << " m_last_heartbeat = " << heat << std::endl;
+		std::cout << " huli test :::: " << " m_actual_device_status = " << t_carrier.m_actual_device_status << std::endl;
+		std::cout << " huli test :::: " << " m_actual_load_status = " << t_carrier.m_actual_load_status << std::endl;
+		std::cout << " huli test :::: " << " m_actual_x = " << t_carrier.m_actual_x << std::endl;
+		std::cout << " huli test :::: " << " m_actual_y = " << t_carrier.m_actual_y << std::endl;
+		std::cout << " huli test :::: " << " m_actual_z = " << t_carrier.m_actual_z << std::endl;
+		std::cout << " huli test :::: " << " m_actual_y1 = " << t_carrier.m_actual_y1 << std::endl;
+		std::cout << " huli test :::: " << " m_actual_y2 = " << t_carrier.m_actual_y2 << std::endl;
+		std::cout << " huli test :::: " << " m_actual_clamp_motion1 = " << t_carrier.m_actual_clamp_motion1 << std::endl;
+		std::cout << " huli test :::: " << " m_actual_clamp_motion2 = " << t_carrier.m_actual_clamp_motion2 << std::endl;
+		std::cout << " huli test :::: " << " m_actual_small_sports_car_motion = " << t_carrier.m_actual_small_sports_car_motion << std::endl;
+		std::cout << " huli test :::: " << " m_actual_joint_motion_x1 = " << t_carrier.m_actual_joint_motion_x1 << std::endl;
+		std::cout << " huli test :::: " << " m_actual_joint_motion_x2 = " << t_carrier.m_actual_joint_motion_x2 << std::endl;
+		std::cout << " huli test :::: " << " m_actual_error_code = " <<  std::endl;
+		for (int i = 0; i < 50; ++i)
+		{
+			printf("0x%x ", t_carrier.m_actual_error_code[i]);
+		}
+		std::cout <<  std::endl;
+
+		std::cout << " huli test :::: " << " m_actual_warning_code = " <<  std::endl;
+		for (int i = 0; i < 50; ++i)
+		{
+			printf("0x%x ", t_carrier.m_actual_warning_code[i]);
+		}
+		std::cout <<  std::endl;
+		std::cout << " huli test :::: " << " m_actual_error_description = " << t_carrier.m_actual_error_description << std::endl;
+
+		std::cout << " huli test :::: " << " *********************************************** = " << std::endl;
+
+
+
+		std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+	}
+*/
+
+
 /*
 
 	Passageway t_passageway;
@@ -417,7 +607,10 @@ int main(int argc,char* argv[])
 
 
 
+	while (1)
+	{
 
+	}
 
 	char ch123 ;
 	std::cin >> ch123 ;