462 lines
22 KiB
Python
462 lines
22 KiB
Python
import os
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import json
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import threading
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import paho.mqtt.enums
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import paho.mqtt.client as mqtt
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from configparser import ConfigParser
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def on_send_connect(client, userdata, flags, rc, p):
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if rc == 'Success':
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print("mqtt：发送客户端连接成功")
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# 当客户端连接到 MQTT Broker 时调用的回调函数
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def on_receive_connect(client, userdata, flags, rc, p):
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if rc == 'Success':
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print("mqtt：接收客户端连接成功")
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# 主线体-plc
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client.subscribe('linuoruite/220202020240301008/XT/up/system')
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# 边框上料-机器人
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client.subscribe('linuoruite/220202020240301008/BKSLroboot/up/system')
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# 边框上料-边框上料工站
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client.subscribe('linuoruite/220202020240301008/BKSLstation/up/system')
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# 边框上料-标签粘贴打印机
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client.subscribe('linuoruite/220202020240301008/BKSLprinter/up/system')
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# 板芯安装-板芯安装机器人
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client.subscribe('linuoruite/220202020240301008/BXAZroboot/up/system')
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# 板芯安装-板芯红环检测，此板块不进行任何对接
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# 板芯安装-撕膜机
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client.subscribe('linuoruite/220202020240301008/BXAZsmj/up/system')
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# 板芯安装-板芯安装工站
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client.subscribe('linuoruite/220202020240301008/BXAZstation/up/system')
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# 护丝帽安装-护丝帽工站
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client.subscribe('linuoruite/220202020240301008/MFQAZstation/up/system')
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# 护丝帽安装-护丝帽安装机器人
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client.subscribe('linuoruite/220202020240301008/MFQAZroboot/up/system')
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# 卡子安装-卡子工站
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client.subscribe('linuoruite/220202020240301008/KZAZstation/up/system')
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# 卡子安装-卡子安装机器人
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client.subscribe('linuoruite/220202020240301008/KZAZroboot/up/system')
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# 自动涂胶-涂胶机
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client.subscribe('linuoruite/220202020240301008/TJtjj/up/system')
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# 自动涂胶-自动涂胶机器人
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client.subscribe('linuoruite/220202020240301008/TJrobot/up/system')
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# 玻璃安装-玻璃安装机器人
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client.subscribe('linuoruite/220202020240301008/BLAZrobot/up/system')
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# 玻璃安装-玻璃安装工站
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client.subscribe('linuoruite/220202020240301008/BLAZstation/up/system')
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# 压条安装-压条专机
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client.subscribe('linuoruite/220202020240301008/YTAZstation/up/system')
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# LOGO喷印工站-LOGO喷印机
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client.subscribe('linuoruite/220202020240301008/PYTMstation/up/system')
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# AI外观检测-相机
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client.subscribe('linuoruite/220202020240301008/WGJCstation/up/system')
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# 自动贴膜-自动贴膜工站
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client.subscribe('linuoruite/220202020240301008/ZDTMstation/up/system')
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# 自动包装-包装机
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client.subscribe('linuoruite/220202020240301008/ZDBZpacking/up/system')
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# 自动包装-打包机
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client.subscribe('linuoruite/220202020240301008/ZDBZbundler/up/system')
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# 码垛入库-机器人
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client.subscribe('linuoruite/220202020240301008/MDRKrobot/up/system')
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# 码垛入库-码垛入库工站
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client.subscribe('linuoruite/220202020240301008/MDRKstation/up/system')
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# 码垛入库-打印机
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client.subscribe('linuoruite/220202020240301008/MDRKprinter/up/system')
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print("mqtt：接收客户端订阅成功")
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# 当收到消息时调用的回调函数
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def on_receive_message(client, userdata, msg):
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topic = msg.topic
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receive_payload = json.loads(msg.payload.decode())
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print('receive_topic:', topic, 'receive_payload:', receive_payload)
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receive_data = receive_payload['RTValue']
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timestamp = receive_data[0]['timestamp']
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# 对接的json格式
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data_str = '''
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{
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"state": {
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"reported": {
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"code": 0,
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"pStatus": "3"
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}
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},
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"clientToken": "324A7798",
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"timeStamp": 21692590
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}
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'''
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send_data = json.loads(data_str)
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send_data['timeStamp'] = timestamp
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p_status = '3'
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if topic == 'linuoruite/220202020240301008/XT/up/system':
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if receive_data[0]['XT_breakdown'] == 1:
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p_status = '4'
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elif receive_data[1]['XT_pause'] == 1:
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p_status = '5'
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elif receive_data[2]['XT_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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XT_upph = receive_data[3]['XT_upph']
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send_data['state']['reported']['XT_upph'] = XT_upph
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XT_xiaohao = receive_data[4]['XT_xiaohao']
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send_data['state']['reported']['XT_xiaohao'] = XT_xiaohao
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elif topic == 'linuoruite/220202020240301008/BKSLroboot/up/system':
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if receive_data[0]['BKSL_robot_breakdown'] == 1:
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p_status = '4'
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elif receive_data[1]['BKSL_robot_pause'] == 1:
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p_status = '5'
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elif receive_data[2]['BKSL_robot_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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elif topic == 'linuoruite/220202020240301008/BKSLstation/up/system':
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if receive_data[3]['BKSL_station_breakdown'] == 1:
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p_status = '4'
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elif receive_data[4]['BKSL_station_pause'] == 1:
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p_status = '5'
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elif receive_data[5]['BKSL_station_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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BKSL_beat = receive_data[0]['BKSL_beat']
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send_data['state']['reported']['BKSL_beat'] = BKSL_beat
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BKSL_count = receive_data[1]['BKSL_count']
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send_data['state']['reported']['BKSL_count'] = BKSL_count
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BKSL_encoding = receive_data[2]['BKSL_encoding']
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send_data['state']['reported']['BKSL_encoding'] = BKSL_encoding
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elif topic == 'linuoruite/220202020240301008/BKSLprinter/up/system':
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if receive_data[0]['BKSL_printer_breakdown'] == 1:
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p_status = '4'
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elif receive_data[1]['BKSL_printer_pause'] == 1:
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p_status = '5'
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elif receive_data[3]['BKSL_printer_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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BKSL_printer_qlyj = receive_data[2]['BKSL_printer_qlyj']
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send_data['state']['reported']['BKSL_printer_qlyj'] = BKSL_printer_qlyj
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elif topic == 'linuoruite/220202020240301008/BXAZroboot/up/system':
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if receive_data[1]['BXAZ_robot_breakdown'] == 1:
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p_status = '4'
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elif receive_data[2]['BXAZ_robot_pause'] == 1:
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p_status = '5'
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elif receive_data[3]['BXAZ_robot_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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BXAZ_robot_beat = receive_data[0]['BXAZ_robot_beat']
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send_data['state']['reported']['BXAZ_robot_beat'] = BXAZ_robot_beat
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BXAZ_time = receive_data[4]['BXAZ_time']
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send_data['state']['reported']['BXAZ_time'] = BXAZ_time
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elif topic == 'linuoruite/220202020240301008/BXAZsmj/up/system':
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if receive_data[1]['BXAZ_smj_breakdown'] == 1:
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p_status = '4'
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elif receive_data[2]['BXAZ_smj_pause'] == 1:
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p_status = '5'
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elif receive_data[4]['BXAZ_smj_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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BXAZ_smj_beat = receive_data[0]['BXAZ_smj_beat']
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send_data['state']['reported']['BXAZ_smj_beat'] = BXAZ_smj_beat
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BXAZ_smj_result = receive_data[3]['BXAZ_smj_result']
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send_data['state']['reported']['BXAZ_smj_result'] = BXAZ_smj_result
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elif topic == 'linuoruite/220202020240301008/BXAZstation/up/system':
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if receive_data[1]['BXAZ_station_breakdown'] == 1:
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p_status = '4'
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elif receive_data[2]['BXAZ_station_pause'] == 1:
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p_status = '5'
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elif receive_data[3]['BXAZ_station_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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BXAZ_beat = receive_data[0]['BXAZ_beat']
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send_data['state']['reported']['BXAZ_beat'] = BXAZ_beat
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elif topic == 'linuoruite/220202020240301008/MFQAZstation/up/system':
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if receive_data[1]['MFQAN_station_breakdown'] == 1:
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p_status = '4'
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elif receive_data[2]['MFQAN_station_pause'] == 1:
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p_status = '5'
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elif receive_data[3]['MFQAN_station_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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MFQAN_beat = receive_data[0]['MFQAN_beat']
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send_data['state']['reported']['MFQAN_beat'] = MFQAN_beat
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MFQAN_time = receive_data[4]['MFQAN_time']
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send_data['state']['reported']['MFQAN_time'] = MFQAN_time
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elif topic == 'linuoruite/220202020240301008/MFQAZroboot/up/system':
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if receive_data[0]['MFQAN_robot_breakdown'] == 1:
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p_status = '4'
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elif receive_data[1]['MFQAN_robot_pause'] == 1:
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p_status = '5'
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elif receive_data[2]['MFQAZ_robot_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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elif topic == 'linuoruite/220202020240301008/KZAZstation/up/system':
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if receive_data[1]['KZAZ_station_breakdown'] == 1:
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p_status = '4'
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elif receive_data[2]['KZAZ_station_pause'] == 1:
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p_status = '5'
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elif receive_data[3]['KZAZ_station_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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KZAZ_station_beat = receive_data[0]['KZAZ_station_beat']
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send_data['state']['reported']['KZAZ_station_beat'] = KZAZ_station_beat
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KZAZ_station_time = receive_data[4]['KZAZ_station_time']
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send_data['state']['reported']['KZAZ_station_time'] = KZAZ_station_time
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elif topic == 'linuoruite/220202020240301008/KZAZroboot/up/system':
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if receive_data[0]['KZAZ_robot_breakdown'] == 1:
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p_status = '4'
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elif receive_data[1]['KZAZ_robot_pause'] == 1:
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p_status = '5'
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elif receive_data[2]['KZAZ_robot_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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elif topic == 'linuoruite/220202020240301008/TJtjj/up/system':
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if receive_data[1]['TJ_tjj_breakdown'] == 1:
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p_status = '4'
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elif receive_data[3]['TJ_tjj_pause'] == 1:
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p_status = '5'
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elif receive_data[7]['TJ_tjj_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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TJ_tjj_beat = receive_data[0]['TJ_tjj_beat']
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send_data['state']['reported']['TJ_tjj_beat'] = TJ_tjj_beat
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TJ_tjj_glue = receive_data[2]['TJ_tjj_glue']
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send_data['state']['reported']['TJ_tjj_glue'] = TJ_tjj_glue
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TJ_tjj_product = receive_data[4]['TJ_tjj_product']
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send_data['state']['reported']['TJ_tjj_product'] = TJ_tjj_product
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TJ_tjj_refill = receive_data[5]['TJ_tjj_refill']
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send_data['state']['reported']['TJ_tjj_refill'] = TJ_tjj_refill
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TJ_tjj_remain = receive_data[6]['TJ_tjj_remain']
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send_data['state']['reported']['TJ_tjj_remain'] = TJ_tjj_remain
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TJ_tjj_stress = receive_data[8]['TJ_tjj_stress']
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send_data['state']['reported']['TJ_tjj_stress'] = TJ_tjj_stress
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elif topic == 'linuoruite/220202020240301008/TJrobot/up/system':
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if receive_data[1]['TJ_robot_breakdown'] == 1:
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p_status = '4'
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elif receive_data[2]['TJ_robot_pause'] == 1:
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p_status = '5'
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elif receive_data[3]['TJ_robot_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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TJ_beat = receive_data[0]['TJ_beat']
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send_data['state']['reported']['TJ_beat'] = TJ_beat
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TJ_time = receive_data[4]['TJ_time']
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send_data['state']['reported']['TJ_time'] = TJ_time
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elif topic == 'linuoruite/220202020240301008/BLAZrobot/up/system':
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if receive_data[0]['BLAZ_robot_breakdown'] == 1:
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p_status = '4'
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elif receive_data[1]['BLAZ_robot_pause'] == 1:
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p_status = '5'
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elif receive_data[2]['BLAZ_robot_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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elif topic == 'linuoruite/220202020240301008/BLAZstation/up/system':
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if receive_data[2]['BLAZ_station_breakdown'] == 1:
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p_status = '4'
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elif receive_data[3]['BLAZ_station_pause'] == 1:
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p_status = '5'
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elif receive_data[4]['BLAZ_station_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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BLAZ_quantity = receive_data[0]['BLAZ_quantity']
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send_data['state']['reported']['BLAZ_quantity'] = BLAZ_quantity
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BLAZ_station_beat = receive_data[1]['BLAZ_station_beat']
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send_data['state']['reported']['BLAZ_station_beat'] = BLAZ_station_beat
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BLAZ_time = receive_data[5]['BLAZ_time']
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send_data['state']['reported']['BLAZ_time'] = BLAZ_time
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elif topic == 'linuoruite/220202020240301008/YTAZstation/up/system':
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if receive_data[1]['YTAZ_breakdown'] == 1:
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p_status = '4'
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elif receive_data[2]['YTAZ_pause'] == 1:
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p_status = '5'
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elif receive_data[4]['YTAZ_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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YTAZ_beat = receive_data[0]['YTAZ_beat']
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send_data['state']['reported']['YTAZ_beat'] = YTAZ_beat
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YTAZ_quantity = receive_data[3]['YTAZ_quantity']
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send_data['state']['reported']['YTAZ_quantity'] = YTAZ_quantity
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YTAZ_time = receive_data[5]['YTAZ_time']
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send_data['state']['reported']['YTAZ_time'] = YTAZ_time
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YTAZ_yj = receive_data[6]['YTAZ_yj']
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send_data['state']['reported']['YTAZ_yj'] = YTAZ_yj
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elif topic == 'linuoruite/220202020240301008/PYTMstation/up/system':
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if receive_data[0]['PYTM_inkjet_breakdown'] == 1:
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p_status = '4'
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elif receive_data[2]['PYTM_inkjet_pause'] == 1:
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p_status = '5'
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elif receive_data[3]['PYTM_inkjet_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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PYTM_inkjet_qlyj = receive_data[1]['PYTM_inkjet_qlyj']
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send_data['state']['reported']['PYTM_inkjet_qlyj'] = PYTM_inkjet_qlyj
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PYTM_beat = receive_data[4]['PYTM_beat']
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send_data['state']['reported']['PYTM_beat'] = PYTM_beat
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elif topic == 'linuoruite/220202020240301008/WGJCstation/up/system':
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if receive_data[4]['WGJC_breakdown'] == 1:
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p_status = '4'
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elif receive_data[8]['WGJC_pause'] == 1:
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p_status = '5'
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elif receive_data[11]['WGJC_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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WGJC_beat = receive_data[0]['WGJC_beat']
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send_data['state']['reported']['WGJC_beat'] = WGJC_beat
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WGJC_bkhh = receive_data[1]['WGJC_bkhh']
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send_data['state']['reported']['WGJC_bkhh'] = WGJC_bkhh
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WGJC_blhh = receive_data[2]['WGJC_blhh']
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send_data['state']['reported']['WGJC_blhh'] = WGJC_blhh
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WGJC_bq = receive_data[3]['WGJC_bq']
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send_data['state']['reported']['WGJC_bq'] = WGJC_bq
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WGJC_cpm = receive_data[5]['WGJC_cpm']
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send_data['state']['reported']['WGJC_cpm'] = WGJC_cpm
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WGJC_jcjg = receive_data[6]['WGJC_jcjg']
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send_data['state']['reported']['WGJC_jcjg'] = WGJC_jcjg
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WGJC_jcqx = receive_data[7]['WGJC_jcqx']
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send_data['state']['reported']['WGJC_jcqx'] = WGJC_jcqx
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WGJC_peijian = receive_data[9]['WGJC_peijian']
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send_data['state']['reported']['WGJC_peijian'] = WGJC_peijian
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WGJC_pycs = receive_data[10]['WGJC_pycs']
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send_data['state']['reported']['WGJC_pycs'] = WGJC_pycs
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WGJC_yj = receive_data[12]['WGJC_yj']
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send_data['state']['reported']['WGJC_yj'] = WGJC_yj
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WGJC_ytfx = receive_data[13]['WGJC_ytfx']
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send_data['state']['reported']['WGJC_ytfx'] = WGJC_ytfx
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elif topic == 'linuoruite/220202020240301008/ZDTMstation/up/system':
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if receive_data[1]['ZDTM_breakdown'] == 1:
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p_status = '4'
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elif receive_data[2]['ZDTM_pause'] == 1:
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p_status = '5'
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elif receive_data[3]['ZDTM_run'] == 1:
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p_status = '3'
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send_data['state']['reported']['pStatus'] = p_status
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ZDTM_beat = receive_data[0]['ZDTM_beat']
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send_data['state']['reported']['ZDTM_beat'] = ZDTM_beat
|
||
elif topic == 'linuoruite/220202020240301008/ZDBZpacking/up/system':
|
||
if receive_data[1]['ZDBZ_packing_breakdown'] == 1:
|
||
p_status = '4'
|
||
elif receive_data[2]['ZDBZ_packing_pause'] == 1:
|
||
p_status = '5'
|
||
elif receive_data[4]['ZDBZ_packing_run'] == 1:
|
||
p_status = '3'
|
||
send_data['state']['reported']['pStatus'] = p_status
|
||
ZDBZ_packing_beat = receive_data[0]['ZDBZ_packing_beat']
|
||
send_data['state']['reported']['ZDBZ_packing_beat'] = ZDBZ_packing_beat
|
||
ZDBZ_packing_qlyj = receive_data[3]['ZDBZ_packing_qlyj']
|
||
send_data['state']['reported']['ZDBZ_packing_qlyj'] = ZDBZ_packing_qlyj
|
||
elif topic == 'linuoruite/220202020240301008/ZDBZbundler/up/system':
|
||
if receive_data[1]['ZDBZ_bundler_breakdown'] == 1:
|
||
p_status = '4'
|
||
elif receive_data[2]['ZDBZ_bundler_pause'] == 1:
|
||
p_status = '5'
|
||
elif receive_data[4]['ZDBZ_bundler_run'] == 1:
|
||
p_status = '3'
|
||
send_data['state']['reported']['pStatus'] = p_status
|
||
ZDBZ_bundler_beat = receive_data[0]['ZDBZ_bundler_beat']
|
||
send_data['state']['reported']['ZDBZ_bundler_beat'] = ZDBZ_bundler_beat
|
||
ZDBZ_bundler_qlyj = receive_data[3]['ZDBZ_bundler_qlyj']
|
||
send_data['state']['reported']['ZDBZ_bundler_qlyj'] = ZDBZ_bundler_qlyj
|
||
elif topic == 'linuoruite/220202020240301008/MDRKrobot/up/system':
|
||
if receive_data[0]['MDRK_robot_breakdown'] == 1:
|
||
p_status = '4'
|
||
elif receive_data[1]['MDRK_robot_puase'] == 1:
|
||
p_status = '5'
|
||
elif receive_data[2]['MDRK_robot_run'] == 1:
|
||
p_status = '3'
|
||
send_data['state']['reported']['pStatus'] = p_status
|
||
elif topic == 'linuoruite/220202020240301008/MDRKstation/up/system':
|
||
if receive_data[4]['MDRK_station_breatdown'] == 1:
|
||
p_status = '4'
|
||
elif receive_data[5]['MDRK_station_puase'] == 1:
|
||
p_status = '5'
|
||
elif receive_data[6]['MDRK_station_run'] == 1:
|
||
p_status = '3'
|
||
send_data['state']['reported']['pStatus'] = p_status
|
||
MDRK_beat = receive_data[0]['MDRK_beat']
|
||
send_data['state']['reported']['MDRK_beat'] = MDRK_beat
|
||
MDRK_cpm = receive_data[1]['MDRK_cpm']
|
||
send_data['state']['reported']['MDRK_cpm'] = MDRK_cpm
|
||
MDRK_quantity = receive_data[2]['MDRK_quantity']
|
||
send_data['state']['reported']['MDRK_quantity'] = MDRK_quantity
|
||
MDRK_signal = receive_data[3]['MDRK_signal']
|
||
send_data['state']['reported']['MDRK_signal'] = MDRK_signal
|
||
MDRK_tpm = receive_data[7]['MDRK_tpm']
|
||
send_data['state']['reported']['MDRK_tpm'] = MDRK_tpm
|
||
elif topic == 'linuoruite/220202020240301008/MDRKprinter/up/system':
|
||
if receive_data[1]['ZDBZ_printer_breakdown'] == 1:
|
||
p_status = '4'
|
||
elif receive_data[2]['ZDBZ_printer_pause'] == 1:
|
||
p_status = '5'
|
||
elif receive_data[4]['ZDBZ_printer_run'] == 1:
|
||
p_status = '3'
|
||
send_data['state']['reported']['pStatus'] = p_status
|
||
ZDBZ_printer_beat = receive_data[0]['ZDBZ_printer_beat']
|
||
send_data['state']['reported']['ZDBZ_printer_beat'] = ZDBZ_printer_beat
|
||
ZDBZ_printer_qlyj = receive_data[3]['ZDBZ_printer_qlyj']
|
||
send_data['state']['reported']['ZDBZ_printer_qlyj'] = ZDBZ_printer_qlyj
|
||
send_client.publish(topic=topic, payload=json.dumps(send_data))
|
||
|
||
|
||
def run_client_loop(client):
|
||
client.loop_forever()
|
||
|
||
|
||
# 获取mqtt的配置连接
|
||
current_dir = os.path.dirname(os.path.abspath(__file__))
|
||
config_path = os.path.join(current_dir, 'config.ini')
|
||
config = ConfigParser()
|
||
config.read(config_path)
|
||
|
||
# 读取mom端的mqtt配置信息
|
||
send_address = config.get('mqtt', 'send_address')
|
||
send_port = int(config.get('mqtt', 'send_port'))
|
||
send_client_id = config.get('mqtt', 'send_client_id')
|
||
send_username = config.get('mqtt', 'send_username')
|
||
send_password = config.get('mqtt', 'send_password')
|
||
|
||
# 读取plc端的mqtt配置信息
|
||
receive_address = config.get('mqtt', 'receive_address')
|
||
receive_port = int(config.get('mqtt', 'receive_port'))
|
||
receive_client_id = config.get('mqtt', 'receive_client_id')
|
||
receive_username = config.get('mqtt', 'receive_username')
|
||
receive_password = config.get('mqtt', 'receive_password')
|
||
|
||
|
||
# 创建一个发送的MQTT和接收的MQTT客户端实例
|
||
receive_client = mqtt.Client(paho.mqtt.enums.CallbackAPIVersion.VERSION2, receive_client_id)
|
||
send_client = mqtt.Client(paho.mqtt.enums.CallbackAPIVersion.VERSION2, send_client_id)
|
||
|
||
|
||
def start_loop():
|
||
# 设置回调函数
|
||
receive_client.on_connect = on_receive_connect
|
||
receive_client.on_message = on_receive_message
|
||
send_client.on_connect = on_send_connect
|
||
|
||
# 设置用户名和密码
|
||
if send_username:
|
||
send_client.username_pw_set(send_username, send_password)
|
||
|
||
if receive_username:
|
||
receive_client.username_pw_set(receive_username, receive_password)
|
||
|
||
# 开始连接
|
||
receive_client.connect(receive_address, receive_port)
|
||
send_client.connect(send_address, send_port)
|
||
|
||
# 启动线程分别运行两个客户端
|
||
threading.Thread(target=run_client_loop, args=(receive_client,), daemon=True).start()
|
||
threading.Thread(target=run_client_loop, args=(send_client,), daemon=True).start()
|
||
|
||
# 主线程保持运行
|
||
try:
|
||
while True:
|
||
pass
|
||
except KeyboardInterrupt:
|
||
print("正在关闭...")
|
||
receive_client.disconnect()
|
||
send_client.disconnect()
|
||
|
||
|
||
if __name__ == '__main__':
|
||
# pyinstaller main.py --add-data config.ini:.
|
||
start_loop()
|