驱动更新

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/inspect_site/modbus_inspect_site/ItemProtocol.java

@@ -12,14 +12,9 @@ import java.util.List;
 public class ItemProtocol {
 
     public static String item_heartbeat = "heartbeat";
-    public static String item_mode = "mode";
     public static String item_move = "move";
     public static String item_action = "action";
-    public static String item_error = "error";
-    public static String item_task = "task";
     public static String item_to_command = "to_command";
-    public static String item_to_target = "to_target";
-    public static String item_to_task = "to_task";
 
     private ModbusInspectSiteDeviceDriver driver;
 
@@ -31,10 +26,6 @@ public class ItemProtocol {
         return this.getOpcIntegerValue(item_heartbeat);
     }
 
-    public int getMode() {
-        return this.getOpcIntegerValue(item_mode);
-    }
-
     public int getMove() {
         return this.getOpcIntegerValue(item_move);
     }
@@ -43,26 +34,10 @@ public class ItemProtocol {
         return this.getOpcIntegerValue(item_action);
     }
 
-    public int getError() {
-        return this.getOpcIntegerValue(item_error);
-    }
-
-    public int getTask() {
-        return this.getOpcIntegerValue(item_task);
-    }
-
     public int getToCommand() {
         return this.getOpcIntegerValue(item_to_command);
     }
 
-    public int getToTarget() {
-        return this.getOpcIntegerValue(item_to_target);
-    }
-
-    public int getToTask() {
-        return this.getOpcIntegerValue(item_to_task);
-    }
-
     //是否有货
     public int hasGoods(int move) {
         return move;
@@ -85,20 +60,15 @@ public class ItemProtocol {
 
     public static List<ItemDto> getReadableItemDtos() {
         ArrayList<ItemDto> list = new ArrayList<>();
-        list.add(new ItemDto(item_heartbeat, "心跳", "30002"));
+        list.add(new ItemDto(item_heartbeat, "心跳", "40004"));
-        list.add(new ItemDto(item_mode, "工作状态", "30004", Boolean.TRUE));
+        list.add(new ItemDto(item_move, "光电开关信号", "40002"));
-        list.add(new ItemDto(item_move, "光电开关信号", "30006"));
+        list.add(new ItemDto(item_action, "取放信号", "40001"));
-        list.add(new ItemDto(item_action, "取放信号", "30008"));
-        list.add(new ItemDto(item_error, "报警信号", "30010"));
-        list.add(new ItemDto(item_task, "任务号", "30012"));
         return list;
     }
 
     public static List<ItemDto> getWriteableItemDtos() {
         ArrayList<ItemDto> list = new ArrayList<>();
-        list.add(new ItemDto(item_to_command, "作业命令", "40002", Boolean.TRUE));
+        list.add(new ItemDto(item_to_command, "作业命令", "40006", Boolean.TRUE));
-        list.add(new ItemDto(item_to_target, "目标站", "40004"));
-        list.add(new ItemDto(item_to_task, "任务号", "40008"));
         return list;
     }
 

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/inspect_site/modbus_inspect_site/ModbusInspectSiteDefination.java

@@ -57,12 +57,9 @@ public class ModbusInspectSiteDefination implements OpcDeviceDriverDefination {
 
     public static List<ItemDto> getReadableItemDtos2() {
         ArrayList<ItemDto> list = new ArrayList<>();
-        list.add(new ItemDto(ItemProtocol.item_heartbeat, "心跳", "30002"));
+        list.add(new ItemDto(ItemProtocol.item_heartbeat, "心跳", "40004"));
-        list.add(new ItemDto(ItemProtocol.item_mode, "工作状态", "30004", Boolean.TRUE));
+        list.add(new ItemDto(ItemProtocol.item_move, "光电开关信号", "40002"));
-        list.add(new ItemDto(ItemProtocol.item_move, "光电开关信号", "30006"));
+        list.add(new ItemDto(ItemProtocol.item_action, "取放信号", "40001"));
-        list.add(new ItemDto(ItemProtocol.item_action, "取放信号", "30008"));
-        list.add(new ItemDto(ItemProtocol.item_error, "报警信号", "30010"));
-        list.add(new ItemDto(ItemProtocol.item_task, "任务号", "30014"));
         return list;
     }
 

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/inspect_site/modbus_inspect_site/ModbusInspectSiteDeviceDriver.java

@@ -14,11 +14,8 @@ import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
 import org.nl.acs.instruction.service.InstructionService;
-import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.opc.Device;
-import org.nl.acs.opc.DeviceAppService;
-import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.opc.WcsConfig;
 import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.route.service.dto.RouteLineDto;
@@ -28,11 +25,9 @@ import org.nl.modules.system.util.CodeUtil;
 import org.nl.utils.SpringContextHolder;
 import org.nl.wql.core.bean.WQLObject;
 import org.openscada.opc.lib.da.Server;
-import org.springframework.beans.factory.annotation.Autowired;
 
 import java.util.Date;
 import java.util.HashMap;
-import java.util.List;
 import java.util.Map;
 
 /**
@@ -43,80 +38,23 @@ import java.util.Map;
 @RequiredArgsConstructor
 public class ModbusInspectSiteDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
     protected ItemProtocol itemProtocol = new ItemProtocol(this);
-    @Autowired
+
     InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
-    @Autowired
     DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl");
-    @Autowired
     RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
-    @Autowired
     TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
-    @Autowired
     DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
 
-    String container;
-    String container_type_desc;
-    String last_container_type_desc;
-    String last_container;
-    //放货准备锁
-    String putReadyLock = null;
-    //有货标记
-    protected boolean has_goods_tag = false;
-
-    int mode = 0;
-    int error = 0;
     int move = 0;
-    int task = 0;
-    int last_mode = 0;
-    int last_error = 0;
     int last_move = 0;
-    int last_task = 0;
+    int heartbeat = 0;
+    int last_heartbeat = 0;
+    int action = 0;
+    int last_action = 0;
+
     Boolean isonline = true;
-    int hasGoods = 0;
-    String message = null;
     Boolean iserror = false;
 
-
-    boolean hasVehicle = false;
-    boolean isReady = false;
-    protected int instruction_num = 0;
-    protected int instruction_num_truth = 0;
-    boolean isFold = false;
-    private String assemble_check_tag;
-
-    protected String current_stage_instruction_message;
-    protected String last_stage_instruction_message;
-    Integer heartbeat_tag;
-    private Date instruction_require_time = new Date();
-    private Date instruction_finished_time = new Date();
-
-    private int instruction_require_time_out;
-    boolean requireSucess = false;
-
-    private int instruction_finished_time_out;
-
-    int branchProtocol = 0;
-    //备注
-    String remark;
-    //数量
-    String qty;
-    //物料
-    String material;
-    //批次
-    String batch;
-    //当前指令
-    Instruction inst = null;
-    //上次指令
-    Instruction last_inst = null;
-
-    //触摸屏手动触发任务
-    private Boolean is_has_task = false;
-
-    //申请搬运任务
-    private Boolean apply_handling = false;
-    //申请物料
-    private Boolean apply_material = false;
-
     //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
     int flag;
 
@@ -130,79 +68,24 @@ public class ModbusInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imple
 
     @Override
     public void execute() {
-        String message = null;
         try {
             device_code = this.getDeviceCode();
-            mode = this.itemProtocol.getMode();
-            error = this.itemProtocol.getError();
-            move = this.itemProtocol.getMove();
-            task = this.itemProtocol.getTask();
-            hasGoods = this.itemProtocol.getMove();
 
-            if (mode != last_mode) {
+            heartbeat = this.itemProtocol.getHeartbeat();
-                this.setRequireSucess(false);
+            move = this.itemProtocol.getMove();
-                logServer.deviceItemValue(this.device_code,"mode" ,String.valueOf(mode));
+            action = this.itemProtocol.getAction();
-                logServer.deviceExecuteLog(this.device_code,"","","信号mode：" + last_mode + "->" + mode);
+
+            if (heartbeat != last_heartbeat) {
+                logServer.deviceItemValue(this.device_code, "move", String.valueOf(heartbeat));
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_heartbeat + "->" + heartbeat);
             }
             if (move != last_move) {
-                logServer.deviceItemValue(this.device_code,"move" ,String.valueOf(move));
+                logServer.deviceItemValue(this.device_code, "move", String.valueOf(move));
-                logServer.deviceExecuteLog(this.device_code,"","","信号move：" + last_move + "->" + move);
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move);
             }
-            if (error != last_error) {
+            if (action != last_action) {
-                logServer.deviceItemValue(this.device_code,"error" ,String.valueOf(error));
+                logServer.deviceItemValue(this.device_code, "move", String.valueOf(action));
-                logServer.deviceExecuteLog(this.device_code,"","","信号error：" + last_error + "->" + error);
+                logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_action + "->" + action);
-            }
-            if (task != last_task) {
-                logServer.deviceItemValue(this.device_code,"task",String.valueOf(task));
-                logServer.deviceExecuteLog(this.device_code,"","","信号task：" + last_task + "->" + task);
-            }
-
-            if (this.getApply_handling()) {
-                String link_device_code = this.getDevice().getExtraValue().get("link_device_code").toString();
-                DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
-                Device link_device = appService.findDeviceByCode(link_device_code);
-                ModbusInspectSiteDeviceDriver standardInspectSiteDevicedriver;
-                if (link_device.getDeviceDriver() instanceof ModbusInspectSiteDeviceDriver) {
-                    standardInspectSiteDevicedriver = (ModbusInspectSiteDeviceDriver) link_device.getDeviceDriver();
-//                            if(standardInspectSiteDevicedriver.getMode() != 2){
-//                                log.debug("设备未待机");
-//                                return;
-//                            }
-//                            if(standardInspectSiteDevicedriver.getMove() != 0){
-//                                log.debug("设备不满足放货条件");
-//                                return;
-//                            }
-
-                    //如果目标设备申请叫料 则允许生成任务
-                    if (standardInspectSiteDevicedriver.getApply_material()) {
-                        TaskDto dto = new TaskDto();
-                        String now = DateUtil.now();
-                        dto.setTask_id(IdUtil.simpleUUID());
-                        dto.setCreate_by(this.getDevice().getDevice_code());
-                        dto.setUpdate_by(this.getDevice().getDevice_code());
-                        dto.setStart_point_code(this.getDevice().getDevice_code());
-
-                        String taskcode = CodeUtil.getNewCode("TASK_NO");
-                        dto.setTask_code("-" + taskcode);
-                        dto.setTask_status("0");
-                        dto.setPriority("101");
-//                        RouteLineDto jo = routelineserver.findByCode(this.getDevice().getDevice_code());
-//                        String next_device_codecode = jo.getNext_device_code();
-//                                if(StrUtil.isEmpty(next_device_codecode)){
-//                                    throw new RuntimeException("该设备未找到对应路由");
-//                                }
-                        dto.setNext_point_code(this.getDeviceCode());
-                        dto.setUpdate_time(now);
-                        dto.setCreate_time(now);
-
-                        WQLObject wo = WQLObject.getWQLObject("acs_task");
-                         JSONObject json = (JSONObject) JSONObject.toJSON(dto);
-
-                        wo.insert(json);
-                        standardInspectSiteDevicedriver.setApply_material(false);
-                    }
-                }
-                this.setApply_handling(false);
             }
 
         } catch (Exception var17) {
@@ -212,161 +95,14 @@ public class ModbusInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imple
         if (!this.itemProtocol.getIsonline()) {
             this.setIsonline(false);
             this.setIserror(true);
-            message = "信号量同步异常";
-            //未联机
-        } else if (mode == 0) {
-            this.setIsonline(false);
-            this.setIserror(true);
-            message = "未联机";
-            //有报警
-        } else if (error != 0) {
-            this.setIsonline(false);
-            this.setIserror(true);
-            message = "有报警";
-            //无报警
         } else {
             this.setIsonline(true);
             this.setIserror(false);
-            message = "";
-            Instruction instruction = null;
-            List toInstructions;
-            switch (mode) {
-                case 1:
-                    log.debug("设备运转模式:等待工作");
-                    return;
-                case 2:
-                    //申请任务
-//                    if (this.getApply_handling()) {
-//                        String link_device_code = this.getDevice().getExtraValue().get("link_device_code").toString();
-//                        DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
-//                        Device link_device =  appService.findDeviceByCode(link_device_code);
-//                        StandardInspectSiteDeviceDriver standardInspectSiteDevicedriver;
-//                        if(link_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-//                            standardInspectSiteDevicedriver = (StandardInspectSiteDeviceDriver) link_device.getDeviceDriver();
-//                            if(standardInspectSiteDevicedriver.getMode() != 2){
-//                                log.debug("设备未待机");
-//                                return;
-//                            }
-//                            if(standardInspectSiteDevicedriver.getMove() != 0){
-//                                log.debug("设备不满足放货条件");
-//                                return;
-//                            }
-//
-//                            //如果目标设备申请叫料 则允许生成任务
-//                            if(standardInspectSiteDevicedriver.getApply_material()){
-//                                TaskDto dto = new TaskDto();
-//                                String now = DateUtil.now();
-//                                dto.setTask_id(IdUtil.simpleUUID());
-//                                dto.setCreate_by(this.getDevice().getDevice_code());
-//                                dto.setUpdate_by(this.getDevice().getDevice_code());
-//                                dto.setStart_point_code(this.getDevice().getDevice_code());
-//
-//                                String taskcode = CodeGenerateUtil.getNewCode("TASK_NO");
-//                                dto.setTask_code("-"+taskcode);
-//                                dto.setTask_status("0");
-//                                dto.setPriority("101");
-//                                RouteLineDto jo = routelineserver.findByCode(this.getDevice().getDevice_code());
-//                                String next_device_codecode = jo.getNext_device_code();
-//                                if(StrUtil.isEmpty(next_device_codecode)){
-//                                    throw new RuntimeException("该设备未找到对应路由");
-//                                }
-//                                dto.setNext_point_code(next_device_codecode);
-//                                dto.setUpdate_time(now);
-//                                dto.setCreate_time(now);
-//
-//                                WQLObject wo = WQLObject.getWQLObject("acs_task");
-//                                 JSONObject json = (JSONObject) JSONObject.toJSON(dto);
-
-//                                wo.insert(json);
-//                                standardInspectSiteDevicedriver.setApply_material(false);
-//                            }
-//                        }
-//                        this.setApply_handling(false);
-//                    }
-
-                    if (material.length() > 0 && qty.length() > 0 && !requireSucess) {
-                        this.instruction_require(container);
-                    }
-            }
-
-            switch (flag) {
-                //取货完成
-                case 1:
-                    writing(2);
-                    return;
-                //放货完成
-                case 2:
-                    writing(3);
-                    return;
-
-            }
-
         }
-        last_mode = mode;
+
-        last_error = error;
+        last_heartbeat = heartbeat;
         last_move = move;
-        last_task = task;
+        last_action = action;
-
-    }
-
-
-    public boolean exe_error() {
-        if (this.error == 0) {
-            return true;
-        } else {
-            log.debug("设备报警");
-            return false;
-        }
-    }
-
-    protected void thingToNothing() {
-        log.debug("从有货到无货 清理数据");
-        this.set_last_container(container, container_type_desc);
-    }
-
-    public void set_last_container(String barcode, String type_desc) {
-        this.set_last_container(barcode);
-        this.set_last_container_type_desc(type_desc);
-    }
-
-    public void set_last_container(String barcode) {
-    }
-
-    public void set_last_container_type_desc(String type) {
-    }
-
-    public boolean exe_business() {
-        return true;
-    }
-
-    protected void executing(Instruction instruction) {
-        this.executing(1, instruction, "");
-    }
-
-    public void executing(int command, Instruction instruction, String appendMessage) {
-        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_command;
-        String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_target;
-        String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_task;
-        if (appendMessage == null) {
-            appendMessage = "";
-        }
-        if (instruction != null) {
-            instruction_num = Integer.parseInt(instruction.getInstruction_code());
-        }
-        String opcservcerid = this.getDevice().getOpc_server_id();
-        Server server = ReadUtil.getServer(opcservcerid);
-        Map<String, Object> itemMap = new HashMap<String, Object>();
-        itemMap.put(to_command, 1);
-        itemMap.put(to_task, instruction_num);
-        ReadUtil.write(itemMap, server);
-
-    }
-
-    public void executing(Server server, Map<String, Object> itemMap) {
-        ReadUtil.write(itemMap, server);
     }
 
     public void writing(int command) {
@@ -375,81 +111,9 @@ public class ModbusInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imple
 
         String opcservcerid = this.getDevice().getOpc_server_id();
         Server server = ReadUtil.getServer(opcservcerid);
-        Map<String, Object> itemMap = new HashMap<String, Object>();
+        Map<String, Object> itemMap = new HashMap<>();
         itemMap.put(to_command, command);
         ReadUtil.write(itemMap, server);
 
     }
-
-    public void writing(int type, int command) {
-        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_command;
-        String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_target;
-        String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_task;
-        String opcservcerid = this.getDevice().getOpc_server_id();
-        Server server = ReadUtil.getServer(opcservcerid);
-        Map<String, Object> itemMap = new HashMap<String, Object>();
-        if (type == 1) {
-            itemMap.put(to_command, command);
-        } else if (type == 2) {
-            itemMap.put(to_target, command);
-
-        } else if (type == 3) {
-            itemMap.put(to_task, command);
-        }
-        ReadUtil.write(itemMap, server);
-
-    }
-
-    public boolean instruction_require(String container_code) {
-        return instruction_require(container_code, WcsConfig.task_container_type_default_desc);
-    }
-
-    /**
-     * 请求指令
-     *
-     * @param container_code
-     * @param container_type
-     */
-    public synchronized boolean instruction_require(String container_code, String container_type) {
-        Date date = new Date();
-        if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
-            log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
-            return false;
-        } else {
-            this.instruction_require_time = date;
-            TaskDto dto = new TaskDto();
-            String now = DateUtil.now();
-            dto.setTask_id(IdUtil.simpleUUID());
-            dto.setCreate_by(this.getDevice().getDevice_code());
-            dto.setUpdate_by(this.getDevice().getDevice_code());
-            dto.setStart_point_code(this.getDevice().getDevice_code());
-            dto.setVehicle_code(container_code);
-            dto.setVehicle_type(container_type);
-
-            String taskcode = CodeUtil.getNewCode("TASK_NO");
-            dto.setTask_code("-" + taskcode);
-            dto.setTask_status("0");
-            dto.setPriority("101");
-            RouteLineDto jo = routelineserver.findByCode(this.getDevice().getDevice_code());
-            String next_device_codecode = jo.getNext_device_code();
-            if (StrUtil.isEmpty(next_device_codecode)) {
-                throw new RuntimeException("该设备未找到对应路由");
-            }
-            dto.setNext_point_code(next_device_codecode);
-            dto.setUpdate_time(now);
-            dto.setCreate_time(now);
-
-            WQLObject wo = WQLObject.getWQLObject("acs_task");
-             JSONObject json = (JSONObject) JSONObject.toJSON(dto);
-
-            wo.insert(json);
-            requireSucess = false;
-            return true;
-        }
-    }
-
-
 }

acs/qd/src/views/acs/device/driver/modbus_inspect_site.vue

@@ -346,7 +346,6 @@ export default {
     finishReadEdit(data) {
       // 编辑的是code列,并且值包含mode
       if (data.code.indexOf('mode') !== -1) {
-        debugger
         const dbValue = data.db
         // .之前的字符串
         const beforeStr = dbValue.match(/(\S*)\./)[1]

lms/hd/nladmin-system/src/main/java/org/nl/wms/sch/tasks/P2PTask.java

@@ -10,9 +10,7 @@ import org.nl.utils.SpringContextHolder;
 import org.nl.wms.sch.manage.AbstractAcsTask;
 import org.nl.wql.core.bean.WQLObject;
 import org.springframework.stereotype.Service;
-
+import org.springframework.transaction.annotation.Transactional;
-import java.util.List;
-import java.util.stream.Collectors;
 
 /**
  * @author zhangjiangwei
@@ -38,6 +36,14 @@ public class P2PTask extends AbstractAcsTask {
 
     }
 
+    /**
+     * 创建任务
+     *
+     * @param param String start_point_code 起点编码
+     *              String next_point_code 终点编码
+     * @return 任务id
+     */
+    @Transactional(rollbackFor = Exception.class)
     @Override
     public String createTask(JSONObject param) {
         // 起点
@@ -81,16 +87,16 @@ public class P2PTask extends AbstractAcsTask {
         }
 
         // 判断终点是否可以存放起点的物料
-        List<String> nextPointMaterial = WQLObject
+//        List<String> nextPointMaterial = WQLObject
-                .getWQLObject("sch_base_point_material")
+//                .getWQLObject("sch_base_point_material")
-                .query("point_id = " + nextPoint.getString("point_id"))
+//                .query("point_id = " + nextPoint.getString("point_id"))
-                .getResultJSONArray(0)
+//                .getResultJSONArray(0)
-                .stream()
+//                .stream()
-                .map(o -> ((JSONObject) o).getString("material"))
+//                .map(o -> ((JSONObject) o).getString("material"))
-                .collect(Collectors.toList());
+//                .collect(Collectors.toList());
-        if (!nextPointMaterial.contains(startPoint.getString("current_material_type"))) {
+//        if (!nextPointMaterial.contains(startPoint.getString("current_material_type"))) {
-            throw new BadRequestException("终点不能存放起点的物料");
+//            throw new BadRequestException("终点不能存放起点的物料");
-        }
+//        }
 
         return SpringContextHolder.getBean(SendTask.class).createTaskRelated(
                 startPoint,