From fa80256848a79ae7d537e48d8bb887e677a58f26 Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Thu, 19 Jun 2025 18:48:55 -0400 Subject: [PATCH 01/12] Switch to Ubuntu 24.04 --- .github/workflows/build.yml | 27 +++++++++---------- .github/workflows/lint-format.yml | 6 ++--- .github/workflows/photon-api-docs.yml | 8 +++--- .github/workflows/photonvision-rtd.yml | 2 +- .github/workflows/python.yml | 2 +- .readthedocs.yaml | 2 +- .../docs/hardware/selecting-hardware.md | 2 +- 7 files changed, 23 insertions(+), 26 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 497bac00bc..3948b086c5 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -30,7 +30,7 @@ jobs: architecture: x64 - os: macos-14 architecture: aarch64 - - os: ubuntu-22.04 + - os: ubuntu-24.04 name: "Photonlib - Build Examples - ${{ matrix.os }}" runs-on: ${{ matrix.os }} @@ -94,7 +94,7 @@ jobs: run: ./gradlew jacocoTestReport build-offline-docs: name: "Build Offline Docs" - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 steps: - uses: actions/checkout@v4 - uses: actions/setup-python@v5 @@ -121,7 +121,7 @@ jobs: build-photonlib-vendorjson: name: "Build Vendor JSON" - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 needs: [validation] steps: - uses: actions/checkout@v4 @@ -162,7 +162,7 @@ jobs: - os: macos-14 artifact-name: macOS architecture: aarch64 - - os: ubuntu-22.04 + - os: ubuntu-24.04 artifact-name: Linux name: "Photonlib - Build Host - ${{ matrix.artifact-name }}" @@ -198,17 +198,14 @@ jobs: fail-fast: false matrix: include: - - container: wpilib/roborio-cross-ubuntu:2025-24.04 - artifact-name: Athena - build-options: "-Ponlylinuxathena" - - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04 + - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04 artifact-name: Raspbian build-options: "-Ponlylinuxarm32" - - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04 + - container: wpilib/aarch64-cross-ubuntu:bookworm-24.04 artifact-name: Aarch64 build-options: "-Ponlylinuxarm64" - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 container: ${{ matrix.container }} name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}" needs: [validation] @@ -237,7 +234,7 @@ jobs: combine: name: Combine needs: [build-photonlib-docker, build-photonlib-host] - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 steps: - uses: actions/checkout@v4 with: @@ -278,11 +275,11 @@ jobs: artifact-name: macOSArm architecture: x64 arch-override: macarm64 - - os: ubuntu-22.04 + - os: ubuntu-24.04 artifact-name: Linux architecture: x64 arch-override: linuxx64 - - os: ubuntu-22.04 + - os: ubuntu-24.04 artifact-name: LinuxArm64 architecture: x64 arch-override: linuxarm64 @@ -337,7 +334,7 @@ jobs: fail-fast: false matrix: include: - - os: ubuntu-22.04 + - os: ubuntu-24.04 artifact-name: jar-Linux extraOpts: -Djdk.lang.Process.launchMechanism=vfork - os: windows-latest @@ -557,7 +554,7 @@ jobs: path: photonvision*.xz release: needs: [build-photonlib-vendorjson, build-package, build-image, build-rubik-image, combine] - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 steps: # Download all fat JARs - uses: actions/download-artifact@v4 diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml index 350bf38861..48b881a636 100644 --- a/.github/workflows/lint-format.yml +++ b/.github/workflows/lint-format.yml @@ -18,7 +18,7 @@ jobs: - uses: gradle/actions/wrapper-validation@v4 wpiformat: name: "wpiformat" - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 steps: - uses: actions/checkout@v4 - name: Fetch all history and metadata @@ -47,7 +47,7 @@ jobs: javaformat: name: "Java Formatting" needs: [validation] - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 steps: - uses: actions/checkout@v4 with: @@ -64,7 +64,7 @@ jobs: defaults: run: working-directory: photon-client - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 steps: - uses: actions/checkout@v4 - name: Install pnpm diff --git a/.github/workflows/photon-api-docs.yml b/.github/workflows/photon-api-docs.yml index 9faad1f11d..fe8d77db50 100644 --- a/.github/workflows/photon-api-docs.yml +++ b/.github/workflows/photon-api-docs.yml @@ -27,7 +27,7 @@ jobs: defaults: run: working-directory: photon-client - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 steps: - uses: actions/checkout@v4 - name: Install pnpm @@ -52,7 +52,7 @@ jobs: run_java_cpp_docs: name: Build Java and C++ API Docs needs: [validation] - runs-on: "ubuntu-22.04" + runs-on: "ubuntu-24.04" steps: - name: Checkout code uses: actions/checkout@v4 @@ -77,7 +77,7 @@ jobs: publish_api_docs: name: Publish API Docs needs: [run_java_cpp_docs] - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 steps: # Download docs artifact - uses: actions/download-artifact@v4 @@ -104,7 +104,7 @@ jobs: publish_demo: name: Publish PhotonClient Demo needs: [build_demo] - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 steps: - uses: actions/download-artifact@v4 with: diff --git a/.github/workflows/photonvision-rtd.yml b/.github/workflows/photonvision-rtd.yml index 7f02b87c28..77b62de304 100644 --- a/.github/workflows/photonvision-rtd.yml +++ b/.github/workflows/photonvision-rtd.yml @@ -14,7 +14,7 @@ env: jobs: build: name: Build and Check Docs - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 steps: - uses: actions/checkout@v4 diff --git a/.github/workflows/python.yml b/.github/workflows/python.yml index 86dbb8fb93..ad9b9eb525 100644 --- a/.github/workflows/python.yml +++ b/.github/workflows/python.yml @@ -13,7 +13,7 @@ concurrency: jobs: buildAndDeploy: - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 steps: - name: Checkout code diff --git a/.readthedocs.yaml b/.readthedocs.yaml index 4cf9063ec1..6f2f58d7bf 100644 --- a/.readthedocs.yaml +++ b/.readthedocs.yaml @@ -6,7 +6,7 @@ sphinx: fail_on_warning: true build: - os: ubuntu-22.04 + os: ubuntu-24.04 tools: python: "3.11" apt_packages: diff --git a/docs/source/docs/hardware/selecting-hardware.md b/docs/source/docs/hardware/selecting-hardware.md index c04445b4d8..47189b512d 100644 --- a/docs/source/docs/hardware/selecting-hardware.md +++ b/docs/source/docs/hardware/selecting-hardware.md @@ -10,7 +10,7 @@ In order to use PhotonVision, you need a coprocessor and a camera. This page dis ### Minimum System Requirements -- Ubuntu 22.04 LTS or Windows 10/11 +- Ubuntu 24.04 LTS or Windows 10/11 - We don't recommend using Windows for anything except testing out the system on a local machine. - CPU: ARM Cortex-A53 (the CPU on Raspberry Pi 3) or better - At least 8GB of storage From 4fe515dcc63ebb5a0b27e2d28c8f9af7c9cdb886 Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Tue, 17 Jun 2025 19:09:09 -0400 Subject: [PATCH 02/12] Upgrade to 2027 alpha --- .github/workflows/build.yml | 8 ++-- README.md | 2 +- build.gradle | 9 ++-- photon-core/build.gradle | 1 + .../networktables/NetworkTablesManager.java | 2 +- photon-lib/build.gradle | 2 + .../java/org/photonvision/PhotonCamera.java | 3 +- .../org/photonvision/PhotonPoseEstimator.java | 3 +- .../main/native/cpp/photon/PhotonCamera.cpp | 4 +- .../native/cpp/photon/PhotonPoseEstimator.cpp | 5 +- .../org/photonvision/PhotonCameraTest.java | 4 +- photon-targeting/build.gradle | 4 ++ .../wrap/casadi_wrapper.cpp | 23 ++++----- .../wrap/casadi_wrapper.h | 4 +- .../native/jni/ConstrainedSolvepnpJNI.cpp | 5 +- .../main/native/jni/FileLoggerExtrasJNI.cpp | 4 +- .../aimandrange/build.gradle | 32 ++++--------- .../aimandrange/settings.gradle | 10 ++-- .../aimattarget/build.gradle | 32 ++++--------- .../aimattarget/settings.gradle | 10 ++-- photonlib-cpp-examples/poseest/build.gradle | 32 ++++--------- .../poseest/settings.gradle | 10 ++-- .../aimandrange/build.gradle | 47 ++++++++++--------- .../aimandrange/settings.gradle | 9 ++-- .../aimattarget/build.gradle | 43 ++++++++++------- .../aimattarget/settings.gradle | 9 ++-- photonlib-java-examples/poseest/build.gradle | 43 ++++++++++------- .../poseest/settings.gradle | 9 ++-- shared/common.gradle | 1 + shared/config.gradle | 1 - shared/javacommon.gradle | 1 + 31 files changed, 178 insertions(+), 194 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 3948b086c5..5ac40af2e1 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -48,8 +48,8 @@ jobs: with: java-version: 17 distribution: temurin - - name: Install RoboRIO Toolchain - run: ./gradlew installRoboRioToolchain + - name: Install SystemCore Toolchain + run: ./gradlew installSystemCoreToolchain # Need to publish to maven local first, so that C++ sim can pick it up - name: Publish photonlib to maven local run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check @@ -185,7 +185,7 @@ jobs: name: Publish env: ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }} - if: github.event_name == 'push' && github.repository_owner == 'photonvision' + if: github.event_name == 'push' && github.repository_owner == 'photonvision' && github.ref == 'refs/heads/main' # Copy artifacts to build/outputs/maven - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts - uses: actions/upload-artifact@v4 @@ -223,7 +223,7 @@ jobs: run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }} env: ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }} - if: github.event_name == 'push' && github.repository_owner == 'photonvision' + if: github.event_name == 'push' && github.repository_owner == 'photonvision' && github.ref == 'refs/heads/main' # Copy artifacts to build/outputs/maven - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }} - uses: actions/upload-artifact@v4 diff --git a/README.md b/README.md index 3008b0a856..3523b26b69 100644 --- a/README.md +++ b/README.md @@ -46,7 +46,7 @@ Note that these are case sensitive! - `-Pprofile`: enables JVM profiling - `-PwithSanitizers`: On Linux, enables `-fsanitize=address,undefined,leak` -If you're cross-compiling, you'll need the wpilib toolchain installed. This can be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain` +If you're cross-compiling, you'll need the wpilib toolchain installed. This can be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installSystemCoreToolchain` ## Out-of-Source Dependencies diff --git a/build.gradle b/build.gradle index 1f0d90b7d8..68ebfb7a99 100644 --- a/build.gradle +++ b/build.gradle @@ -3,8 +3,8 @@ import edu.wpi.first.toolchain.* plugins { id "cpp" id "com.diffplug.spotless" version "6.24.0" - id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2" - id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2025.0" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" id 'edu.wpi.first.WpilibTools' version '1.3.0' id 'com.google.protobuf' version '0.9.3' apply false id 'edu.wpi.first.GradleJni' version '1.1.0' @@ -21,6 +21,7 @@ allprojects { maven { url = "https://maven.photonvision.org/snapshots" } maven { url = "https://jogamp.org/deployment/maven/" } } + wpilibRepositories.use2027Repos() wpilibRepositories.addAllReleaseRepositories(it) wpilibRepositories.addAllDevelopmentRepositories(it) } @@ -32,7 +33,7 @@ ext.allOutputsFolder = file("$project.buildDir/outputs") apply from: "versioningHelper.gradle" ext { - wpilibVersion = "2025.3.2" + wpilibVersion = "2027.0.0-alpha-1" wpimathVersion = wpilibVersion openCVYear = "2025" openCVversion = "4.10.0-3" @@ -40,7 +41,7 @@ ext { libcameraDriverVersion = "v2025.0.4" rknnVersion = "dev-v2025.0.0-5-g666c0c6" rubikVersion = "dev-v2025.1.0-8-g067a316" - frcYear = "2025" + frcYear = "2027_alpha1" mrcalVersion = "v2025.0.0"; diff --git a/photon-core/build.gradle b/photon-core/build.gradle index 6e9c99c1f1..4a8f06b670 100644 --- a/photon-core/build.gradle +++ b/photon-core/build.gradle @@ -22,6 +22,7 @@ dependencies { wpilibNatives wpilibTools.deps.wpilib("wpimath") wpilibNatives wpilibTools.deps.wpilib("wpinet") wpilibNatives wpilibTools.deps.wpilib("wpiutil") + wpilibNatives wpilibTools.deps.wpilib("datalog") wpilibNatives wpilibTools.deps.wpilib("ntcore") wpilibNatives wpilibTools.deps.wpilib("cscore") wpilibNatives wpilibTools.deps.wpilib("apriltag") diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java index a86cf51b18..32cc7b3067 100644 --- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java +++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java @@ -354,7 +354,7 @@ private void setClientMode(NetworkConfig config) { ntInstance.stopClient(); String hostname = config.shouldManage ? config.hostname : CameraServerJNI.getHostname(); logger.debug("Starting NT Client with hostname: " + hostname); - ntInstance.startClient4(hostname); + ntInstance.startClient(hostname); try { int t = Integer.parseInt(config.ntServerAddress); if (!m_isRetryingConnection) logger.info("Starting NT Client, server team is " + t); diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle index a06fc532e3..cb2b84945e 100644 --- a/photon-lib/build.gradle +++ b/photon-lib/build.gradle @@ -90,6 +90,7 @@ model { } } + nativeUtils.useRequiredLibrary(it, "datalog_shared") nativeUtils.useRequiredLibrary(it, "cscore_shared") nativeUtils.useRequiredLibrary(it, "cameraserver_shared") nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared") @@ -369,6 +370,7 @@ dependencies { nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath") nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet") nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil") +nativeConfig.dependencies.add wpilibTools.deps.wpilib("datalog") nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore") nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore") nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag") diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java index aa1fa0c53c..576629dcb5 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java @@ -24,7 +24,6 @@ package org.photonvision; -import edu.wpi.first.hal.FRCNetComm.tResourceType; import edu.wpi.first.hal.HAL; import edu.wpi.first.math.MatBuilder; import edu.wpi.first.math.Matrix; @@ -163,8 +162,8 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) { new MultiSubscriber( instance, new String[] {"/photonvision/"}, PubSubOption.topicsOnly(true)); - HAL.report(tResourceType.kResourceType_PhotonCamera, InstanceCount); InstanceCount++; + HAL.reportUsage("PhotonVision/PhotonCamera", InstanceCount, ""); // HACK - start a TimeSyncServer, if we haven't yet. TimeSyncSingleton.load(); diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java index a9330f6102..f58de35289 100644 --- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java +++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java @@ -26,7 +26,6 @@ import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.cscore.OpenCvLoader; -import edu.wpi.first.hal.FRCNetComm.tResourceType; import edu.wpi.first.hal.HAL; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Pair; @@ -161,8 +160,8 @@ public PhotonPoseEstimator( OpenCvLoader.forceStaticLoad(); } - HAL.report(tResourceType.kResourceType_PhotonPoseEstimator, InstanceCount); InstanceCount++; + HAL.reportUsage("PhotonVision/PhotonPoseEstimator", InstanceCount, ""); } /** Invalidates the pose cache. */ diff --git a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp index 6b7f67bc88..b6edf5c86d 100644 --- a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp +++ b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp @@ -24,7 +24,7 @@ #include "photon/PhotonCamera.h" -#include +#include #include #include @@ -208,8 +208,8 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance, frc::Alert::AlertType::kWarning), timesyncAlert(PHOTON_ALERT_GROUP, "", frc::Alert::AlertType::kWarning) { verifyDependencies(); - HAL_Report(HALUsageReporting::kResourceType_PhotonCamera, InstanceCount); InstanceCount++; + HAL_ReportUsage("PhotonVision/PhotonCamera", InstanceCount, ""); // The Robot class is actually created here: // https://github.com/wpilibsuite/allwpilib/blob/811b1309683e930a1ce69fae818f943ff161b7a5/wpilibc/src/main/native/include/frc/RobotBase.h#L33 diff --git a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp index 6903240c94..5b6ff47705 100644 --- a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp @@ -24,7 +24,7 @@ #include "photon/PhotonPoseEstimator.h" -#include +#include #include #include @@ -78,9 +78,8 @@ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags, referencePose(frc::Pose3d()), poseCacheTimestamp(-1_s), headingBuffer(frc::TimeInterpolatableBuffer(1_s)) { - HAL_Report(HALUsageReporting::kResourceType_PhotonPoseEstimator, - InstanceCount); InstanceCount++; + HAL_ReportUsage("PhotonVision/PhotonPoseEstimator", InstanceCount, ""); } void PhotonPoseEstimator::SetMultiTagFallbackStrategy(PoseStrategy strategy) { diff --git a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java index 9a2f69dd42..c5ed3189b4 100644 --- a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java +++ b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java @@ -253,14 +253,14 @@ public void testRestartingRobotAndCoproc( if (i == coprocStart || i == coprocRestart) { coprocNt.setServer("127.0.0.1", 5940); - coprocNt.startClient4("testClient"); + coprocNt.startClient("testClient"); // PhotonCamera makes a server by default - connect to it tspClient = new TimeSyncClient("127.0.0.1", 5810, 0.5); } if (i == robotStart || i == robotRestart) { - robotNt.startServer("networktables_random.json", "", 5941, 5940); + robotNt.startServer("networktables_random.json", "", 5940); } Thread.sleep(100); diff --git a/photon-targeting/build.gradle b/photon-targeting/build.gradle index eef9fa9a08..970edbda7c 100644 --- a/photon-targeting/build.gradle +++ b/photon-targeting/build.gradle @@ -55,6 +55,7 @@ model { } nativeUtils.useRequiredLibrary(it, "wpiutil_shared") + nativeUtils.useRequiredLibrary(it, "datalog_shared") nativeUtils.useRequiredLibrary(it, "wpimath_shared") nativeUtils.useRequiredLibrary(it, "wpinet_shared") nativeUtils.useRequiredLibrary(it, "ntcore_shared") @@ -83,6 +84,7 @@ model { } nativeUtils.useRequiredLibrary(it, "wpiutil_shared") + nativeUtils.useRequiredLibrary(it, "datalog_shared") nativeUtils.useRequiredLibrary(it, "wpimath_shared") nativeUtils.useRequiredLibrary(it, "wpinet_shared") nativeUtils.useRequiredLibrary(it, "ntcore_shared") @@ -134,6 +136,7 @@ model { nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared") nativeUtils.useRequiredLibrary(it, "googletest_static") + nativeUtils.useRequiredLibrary(it, "datalog_shared") nativeUtils.useRequiredLibrary(it, "apriltag_shared") nativeUtils.useRequiredLibrary(it, "cscore_shared") nativeUtils.useRequiredLibrary(it, "opencv_shared") @@ -193,6 +196,7 @@ def nativeTasks = wpilibTools.createExtractionTasks { nativeTasks.addToSourceSetResources(sourceSets.test) nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil") +nativeConfig.dependencies.add wpilibTools.deps.wpilib("datalog") nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath") nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet") nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore") diff --git a/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp b/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp index 44b1acd30f..38f89bec21 100644 --- a/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp +++ b/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp @@ -157,8 +157,7 @@ struct ProblemState { #undef MAKE_ARGV }; -wpi::expected +wpi::expected constrained_solvepnp::do_optimization( bool heading_free, int nTags, constrained_solvepnp::CameraCalibration cameraCal, @@ -174,7 +173,7 @@ constrained_solvepnp::do_optimization( if constexpr (VERBOSE) fmt::println("Got unexpected num cols!"); // TODO find a new error code return wpi::unexpected{ - sleipnir::SolverExitCondition::kNonfiniteInitialCostOrConstraints}; + slp::ExitStatus::NONFINITE_INITIAL_COST_OR_CONSTRAINTS}; } // rescale observations to homogenous pixel coordinates @@ -204,7 +203,7 @@ constrained_solvepnp::do_optimization( auto problemOpt = createProblem(nTags, heading_free); if (!problemOpt) { return wpi::unexpected{ - sleipnir::SolverExitCondition::kNonfiniteInitialCostOrConstraints}; + slp::ExitStatus::NONFINITE_INITIAL_COST_OR_CONSTRAINTS}; } ProblemState<3> pState{robot2camera, field2points, point_observations, @@ -234,7 +233,7 @@ constrained_solvepnp::do_optimization( // Check for diverging iterates if (x.template lpNorm() > 1e20 || !x.allFinite()) { - return wpi::unexpected{sleipnir::SolverExitCondition::kDivergingIterates}; + return wpi::unexpected{slp::ExitStatus::DIVERGING_ITERATES}; } GradMat g = pState.calculateGradJ(x); @@ -255,7 +254,7 @@ constrained_solvepnp::do_optimization( auto H_ldlt = H.ldlt(); if (H_ldlt.info() != Eigen::Success) { std::cerr << "LDLT decomp failed! H=" << std::endl << H << std::endl; - return wpi::unexpected{sleipnir::SolverExitCondition::kLocallyInfeasible}; + return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE}; } // Make sure H is positive definite (all eigenvalues are > 0) @@ -279,8 +278,7 @@ constrained_solvepnp::do_optimization( if (H_ldlt.info() != Eigen::Success) { std::cerr << "LDLT decomp failed! H=" << std::endl << H << std::endl; - return wpi::unexpected{ - sleipnir::SolverExitCondition::kLocallyInfeasible}; + return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE}; } // If our eigenvalues aren't positive definite, pick a new δ for next @@ -290,8 +288,7 @@ constrained_solvepnp::do_optimization( // If the Hessian perturbation is too high, report failure if (δ > 1e20) { - return wpi::unexpected{ - sleipnir::SolverExitCondition::kLocallyInfeasible}; + return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE}; } } else { // Done! @@ -302,8 +299,7 @@ constrained_solvepnp::do_optimization( } if (i_reg == MAX_REG_STEPS) { - return wpi::unexpected{ - sleipnir::SolverExitCondition::kLocallyInfeasible}; + return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE}; } } else { // std::printf("Already regularized\n"); @@ -346,8 +342,7 @@ constrained_solvepnp::do_optimization( // If our step size shrank too much, report local infesibility if (alpha < α_min_frac * γConstraint) { - return wpi::unexpected{ - sleipnir::SolverExitCondition::kLocallyInfeasible}; + return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE}; } } } diff --git a/photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h b/photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h index da966a87e0..c71629f730 100644 --- a/photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h +++ b/photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h @@ -18,7 +18,7 @@ #pragma once #include -#include +#include #include namespace constrained_solvepnp { @@ -40,7 +40,7 @@ using RobotStateMat = Eigen::Matrix; * to this. The number of columns in field2points and point_observations just be * exactly 4x nTags. */ -wpi::expected do_optimization( +wpi::expected do_optimization( bool heading_free, int nTags, CameraCalibration cameraCal, // Note that casadi is column major, apparently Eigen::Matrix robot2camera, diff --git a/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp b/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp index 116a552046..3bff193b53 100644 --- a/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp +++ b/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp @@ -84,9 +84,8 @@ Java_org_photonvision_jni_ConstrainedSolvepnpJni_do_1optimization std::cout << "observations:\n" << pointObservationsMat << std::endl; #endif - wpi::expected - result = constrained_solvepnp::do_optimization( + wpi::expected result = + constrained_solvepnp::do_optimization( headingFree, nTags, cameraCal_, robot2cameraMat, xGuessMat, field2pointsMat, pointObservationsMat, gyro_θ, gyro_error_scale_fac); diff --git a/photon-targeting/src/main/native/jni/FileLoggerExtrasJNI.cpp b/photon-targeting/src/main/native/jni/FileLoggerExtrasJNI.cpp index f65d089777..f0f36c3de9 100644 --- a/photon-targeting/src/main/native/jni/FileLoggerExtrasJNI.cpp +++ b/photon-targeting/src/main/native/jni/FileLoggerExtrasJNI.cpp @@ -19,7 +19,7 @@ #include #include -#include +#include #include "jni_utils.h" #include "org_photonvision_jni_QueuedFileLogger.h" @@ -30,7 +30,7 @@ struct QueuedFileLogger { std::mutex m_mutex; - wpi::FileLogger logger; + wpi::log::FileLogger logger; explicit QueuedFileLogger(std::string_view file) : logger{file, std::bind(&QueuedFileLogger::callback, this, diff --git a/photonlib-cpp-examples/aimandrange/build.gradle b/photonlib-cpp-examples/aimandrange/build.gradle index 0c20a5cddf..204e048d74 100644 --- a/photonlib-cpp-examples/aimandrange/build.gradle +++ b/photonlib-cpp-examples/aimandrange/build.gradle @@ -1,24 +1,14 @@ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" } -repositories { - mavenLocal() - jcenter() -} - -wpi.maven.useLocal = false -wpi.maven.useDevelopment = false -wpi.versions.wpilibVersion = "2025.3.2" -wpi.versions.wpimathVersion = "2025.3.2" - -// Define my targets (RoboRIO) and artifacts (deployable files) +// Define my targets (SystemCore) and artifacts (deployable files) // This is added by GradleRIO's backing project DeployUtils. deploy { targets { - roborio(getTargetTypeClass('RoboRIO')) { + systemcore(getTargetTypeClass('SystemCore')) { // Team number is loaded either from the .wpilib/wpilib_preferences.json // or from command line. If not found an exception will be thrown. // You can use getTeamOrDefault(team) instead of getTeamNumber if you @@ -36,14 +26,16 @@ deploy { // Static files artifact frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') - directory = '/home/lvuser/deploy' + directory = '/home/systemcore/deploy' + deleteOldFiles = false // Change to true to delete files on SystemCore that no + // longer exist in deploy directory of this project } } } } } -def deployArtifact = deploy.targets.roborio.artifacts.frcCpp +def deployArtifact = deploy.targets.systemcore.artifacts.frcCpp // Set this to true to enable desktop support. def includeDesktopSupport = true @@ -59,15 +51,7 @@ wpi.sim.addDriverstation() model { components { frcUserProgram(NativeExecutableSpec) { - // We don't need to build for roborio -- if we do, we need to install - // a roborio toolchain every time we build in CI - // Ideally, we'd be able to set the roborio toolchain as optional, but - // I can't figure out how to set that environment variable from build.gradle - // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71) - // for now, commented out - - // targetPlatform wpi.platforms.roborio - + targetPlatform wpi.platforms.systemcore if (includeDesktopSupport) { targetPlatform wpi.platforms.desktop } diff --git a/photonlib-cpp-examples/aimandrange/settings.gradle b/photonlib-cpp-examples/aimandrange/settings.gradle index 5f9cf4bef1..64213ce87a 100644 --- a/photonlib-cpp-examples/aimandrange/settings.gradle +++ b/photonlib-cpp-examples/aimandrange/settings.gradle @@ -3,9 +3,8 @@ import org.gradle.internal.os.OperatingSystem pluginManagement { repositories { mavenLocal() - jcenter() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2027_alpha1' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -21,8 +20,11 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/photonlib-cpp-examples/aimattarget/build.gradle b/photonlib-cpp-examples/aimattarget/build.gradle index 0c20a5cddf..204e048d74 100644 --- a/photonlib-cpp-examples/aimattarget/build.gradle +++ b/photonlib-cpp-examples/aimattarget/build.gradle @@ -1,24 +1,14 @@ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" } -repositories { - mavenLocal() - jcenter() -} - -wpi.maven.useLocal = false -wpi.maven.useDevelopment = false -wpi.versions.wpilibVersion = "2025.3.2" -wpi.versions.wpimathVersion = "2025.3.2" - -// Define my targets (RoboRIO) and artifacts (deployable files) +// Define my targets (SystemCore) and artifacts (deployable files) // This is added by GradleRIO's backing project DeployUtils. deploy { targets { - roborio(getTargetTypeClass('RoboRIO')) { + systemcore(getTargetTypeClass('SystemCore')) { // Team number is loaded either from the .wpilib/wpilib_preferences.json // or from command line. If not found an exception will be thrown. // You can use getTeamOrDefault(team) instead of getTeamNumber if you @@ -36,14 +26,16 @@ deploy { // Static files artifact frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') - directory = '/home/lvuser/deploy' + directory = '/home/systemcore/deploy' + deleteOldFiles = false // Change to true to delete files on SystemCore that no + // longer exist in deploy directory of this project } } } } } -def deployArtifact = deploy.targets.roborio.artifacts.frcCpp +def deployArtifact = deploy.targets.systemcore.artifacts.frcCpp // Set this to true to enable desktop support. def includeDesktopSupport = true @@ -59,15 +51,7 @@ wpi.sim.addDriverstation() model { components { frcUserProgram(NativeExecutableSpec) { - // We don't need to build for roborio -- if we do, we need to install - // a roborio toolchain every time we build in CI - // Ideally, we'd be able to set the roborio toolchain as optional, but - // I can't figure out how to set that environment variable from build.gradle - // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71) - // for now, commented out - - // targetPlatform wpi.platforms.roborio - + targetPlatform wpi.platforms.systemcore if (includeDesktopSupport) { targetPlatform wpi.platforms.desktop } diff --git a/photonlib-cpp-examples/aimattarget/settings.gradle b/photonlib-cpp-examples/aimattarget/settings.gradle index 5f9cf4bef1..64213ce87a 100644 --- a/photonlib-cpp-examples/aimattarget/settings.gradle +++ b/photonlib-cpp-examples/aimattarget/settings.gradle @@ -3,9 +3,8 @@ import org.gradle.internal.os.OperatingSystem pluginManagement { repositories { mavenLocal() - jcenter() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2027_alpha1' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -21,8 +20,11 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/photonlib-cpp-examples/poseest/build.gradle b/photonlib-cpp-examples/poseest/build.gradle index 0c20a5cddf..204e048d74 100644 --- a/photonlib-cpp-examples/poseest/build.gradle +++ b/photonlib-cpp-examples/poseest/build.gradle @@ -1,24 +1,14 @@ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" } -repositories { - mavenLocal() - jcenter() -} - -wpi.maven.useLocal = false -wpi.maven.useDevelopment = false -wpi.versions.wpilibVersion = "2025.3.2" -wpi.versions.wpimathVersion = "2025.3.2" - -// Define my targets (RoboRIO) and artifacts (deployable files) +// Define my targets (SystemCore) and artifacts (deployable files) // This is added by GradleRIO's backing project DeployUtils. deploy { targets { - roborio(getTargetTypeClass('RoboRIO')) { + systemcore(getTargetTypeClass('SystemCore')) { // Team number is loaded either from the .wpilib/wpilib_preferences.json // or from command line. If not found an exception will be thrown. // You can use getTeamOrDefault(team) instead of getTeamNumber if you @@ -36,14 +26,16 @@ deploy { // Static files artifact frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') - directory = '/home/lvuser/deploy' + directory = '/home/systemcore/deploy' + deleteOldFiles = false // Change to true to delete files on SystemCore that no + // longer exist in deploy directory of this project } } } } } -def deployArtifact = deploy.targets.roborio.artifacts.frcCpp +def deployArtifact = deploy.targets.systemcore.artifacts.frcCpp // Set this to true to enable desktop support. def includeDesktopSupport = true @@ -59,15 +51,7 @@ wpi.sim.addDriverstation() model { components { frcUserProgram(NativeExecutableSpec) { - // We don't need to build for roborio -- if we do, we need to install - // a roborio toolchain every time we build in CI - // Ideally, we'd be able to set the roborio toolchain as optional, but - // I can't figure out how to set that environment variable from build.gradle - // (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71) - // for now, commented out - - // targetPlatform wpi.platforms.roborio - + targetPlatform wpi.platforms.systemcore if (includeDesktopSupport) { targetPlatform wpi.platforms.desktop } diff --git a/photonlib-cpp-examples/poseest/settings.gradle b/photonlib-cpp-examples/poseest/settings.gradle index 5f9cf4bef1..64213ce87a 100644 --- a/photonlib-cpp-examples/poseest/settings.gradle +++ b/photonlib-cpp-examples/poseest/settings.gradle @@ -3,9 +3,8 @@ import org.gradle.internal.os.OperatingSystem pluginManagement { repositories { mavenLocal() - jcenter() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2027_alpha1' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -21,8 +20,11 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/photonlib-java-examples/aimandrange/build.gradle b/photonlib-java-examples/aimandrange/build.gradle index 274072eb01..dfc3d0c6cb 100644 --- a/photonlib-java-examples/aimandrange/build.gradle +++ b/photonlib-java-examples/aimandrange/build.gradle @@ -1,32 +1,25 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" } -sourceCompatibility = JavaVersion.VERSION_17 -targetCompatibility = JavaVersion.VERSION_17 - -def ROBOT_MAIN_CLASS = "frc.robot.Main" - -repositories { - mavenLocal(); +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 } -wpi.maven.useDevelopment = true -wpi.versions.wpilibVersion = "2025.3.2" -wpi.versions.wpimathVersion = "2025.3.2" - +def ROBOT_MAIN_CLASS = "frc.robot.Main" -// Define my targets (RoboRIO) and artifacts (deployable files) +// Define my targets (SystemCore) and artifacts (deployable files) // This is added by GradleRIO's backing project DeployUtils. deploy { targets { - roborio(getTargetTypeClass('RoboRIO')) { + systemcore(getTargetTypeClass('SystemCore')) { // Team number is loaded either from the .wpilib/wpilib_preferences.json // or from command line. If not found an exception will be thrown. // You can use getTeamOrDefault(team) instead of getTeamNumber if you // want to store a team number in this file. - team = project.frc.getTeamOrDefault(4512) + team = project.frc.getTeamOrDefault(5940) debug = project.frc.getDebugOrDefault(false) artifacts { @@ -39,14 +32,16 @@ deploy { // Static files artifact frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') - directory = '/home/lvuser/deploy' + directory = '/home/systemcore/deploy' + deleteOldFiles = false // Change to true to delete files on systemcore that no + // longer exist in deploy directory of this project } } } } } -def deployArtifact = deploy.targets.roborio.artifacts.frcJava +def deployArtifact = deploy.targets.systemcore.artifacts.frcJava // Set to true to use debug for JNI. wpi.java.debugJni = false @@ -57,14 +52,15 @@ def includeDesktopSupport = true // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 5. dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() implementation wpi.java.deps.wpilib() implementation wpi.java.vendor.java() - roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) - roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore) + systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore) - roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) - roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore) + systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore) nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) @@ -74,7 +70,13 @@ dependencies { nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() - testImplementation 'junit:junit:4.13.1' + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' } // Simulation configuration (e.g. environment variables). @@ -90,6 +92,7 @@ jar { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) duplicatesStrategy = DuplicatesStrategy.INCLUDE } diff --git a/photonlib-java-examples/aimandrange/settings.gradle b/photonlib-java-examples/aimandrange/settings.gradle index c906787bf3..64213ce87a 100644 --- a/photonlib-java-examples/aimandrange/settings.gradle +++ b/photonlib-java-examples/aimandrange/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2027_alpha1' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,11 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/photonlib-java-examples/aimattarget/build.gradle b/photonlib-java-examples/aimattarget/build.gradle index 15409f7cd2..dfc3d0c6cb 100644 --- a/photonlib-java-examples/aimattarget/build.gradle +++ b/photonlib-java-examples/aimattarget/build.gradle @@ -1,28 +1,25 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" } -sourceCompatibility = JavaVersion.VERSION_17 -targetCompatibility = JavaVersion.VERSION_17 +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} def ROBOT_MAIN_CLASS = "frc.robot.Main" -wpi.maven.useDevelopment = true -wpi.versions.wpilibVersion = "2025.3.2" -wpi.versions.wpimathVersion = "2025.3.2" - - -// Define my targets (RoboRIO) and artifacts (deployable files) +// Define my targets (SystemCore) and artifacts (deployable files) // This is added by GradleRIO's backing project DeployUtils. deploy { targets { - roborio(getTargetTypeClass('RoboRIO')) { + systemcore(getTargetTypeClass('SystemCore')) { // Team number is loaded either from the .wpilib/wpilib_preferences.json // or from command line. If not found an exception will be thrown. // You can use getTeamOrDefault(team) instead of getTeamNumber if you // want to store a team number in this file. - team = project.frc.getTeamOrDefault(1736) + team = project.frc.getTeamOrDefault(5940) debug = project.frc.getDebugOrDefault(false) artifacts { @@ -35,14 +32,16 @@ deploy { // Static files artifact frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') - directory = '/home/lvuser/deploy' + directory = '/home/systemcore/deploy' + deleteOldFiles = false // Change to true to delete files on systemcore that no + // longer exist in deploy directory of this project } } } } } -def deployArtifact = deploy.targets.roborio.artifacts.frcJava +def deployArtifact = deploy.targets.systemcore.artifacts.frcJava // Set to true to use debug for JNI. wpi.java.debugJni = false @@ -53,14 +52,15 @@ def includeDesktopSupport = true // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 5. dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() implementation wpi.java.deps.wpilib() implementation wpi.java.vendor.java() - roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) - roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore) + systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore) - roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) - roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore) + systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore) nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) @@ -70,7 +70,13 @@ dependencies { nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() - testImplementation 'junit:junit:4.13.1' + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' } // Simulation configuration (e.g. environment variables). @@ -86,6 +92,7 @@ jar { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) duplicatesStrategy = DuplicatesStrategy.INCLUDE } diff --git a/photonlib-java-examples/aimattarget/settings.gradle b/photonlib-java-examples/aimattarget/settings.gradle index c906787bf3..64213ce87a 100644 --- a/photonlib-java-examples/aimattarget/settings.gradle +++ b/photonlib-java-examples/aimattarget/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2027_alpha1' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,11 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/photonlib-java-examples/poseest/build.gradle b/photonlib-java-examples/poseest/build.gradle index b8ee5358ca..dfc3d0c6cb 100644 --- a/photonlib-java-examples/poseest/build.gradle +++ b/photonlib-java-examples/poseest/build.gradle @@ -1,28 +1,25 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" } -sourceCompatibility = JavaVersion.VERSION_17 -targetCompatibility = JavaVersion.VERSION_17 +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} def ROBOT_MAIN_CLASS = "frc.robot.Main" -wpi.maven.useDevelopment = true -wpi.versions.wpilibVersion = "2025.3.2" -wpi.versions.wpimathVersion = "2025.3.2" - - -// Define my targets (RoboRIO) and artifacts (deployable files) +// Define my targets (SystemCore) and artifacts (deployable files) // This is added by GradleRIO's backing project DeployUtils. deploy { targets { - roborio(getTargetTypeClass('RoboRIO')) { + systemcore(getTargetTypeClass('SystemCore')) { // Team number is loaded either from the .wpilib/wpilib_preferences.json // or from command line. If not found an exception will be thrown. // You can use getTeamOrDefault(team) instead of getTeamNumber if you // want to store a team number in this file. - team = project.frc.getTeamOrDefault(4512) + team = project.frc.getTeamOrDefault(5940) debug = project.frc.getDebugOrDefault(false) artifacts { @@ -35,14 +32,16 @@ deploy { // Static files artifact frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') - directory = '/home/lvuser/deploy' + directory = '/home/systemcore/deploy' + deleteOldFiles = false // Change to true to delete files on systemcore that no + // longer exist in deploy directory of this project } } } } } -def deployArtifact = deploy.targets.roborio.artifacts.frcJava +def deployArtifact = deploy.targets.systemcore.artifacts.frcJava // Set to true to use debug for JNI. wpi.java.debugJni = false @@ -53,14 +52,15 @@ def includeDesktopSupport = true // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 5. dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() implementation wpi.java.deps.wpilib() implementation wpi.java.vendor.java() - roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) - roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore) + systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore) - roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) - roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore) + systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore) nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) @@ -70,7 +70,13 @@ dependencies { nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() - testImplementation 'junit:junit:4.13.1' + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' } // Simulation configuration (e.g. environment variables). @@ -86,6 +92,7 @@ jar { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) duplicatesStrategy = DuplicatesStrategy.INCLUDE } diff --git a/photonlib-java-examples/poseest/settings.gradle b/photonlib-java-examples/poseest/settings.gradle index c906787bf3..64213ce87a 100644 --- a/photonlib-java-examples/poseest/settings.gradle +++ b/photonlib-java-examples/poseest/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2027_alpha1' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -20,8 +20,11 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/shared/common.gradle b/shared/common.gradle index d383ac5918..85c1019345 100644 --- a/shared/common.gradle +++ b/shared/common.gradle @@ -24,6 +24,7 @@ dependencies { implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0' implementation wpilibTools.deps.wpilibJava("wpiutil") + implementation wpilibTools.deps.wpilibJava("datalog") implementation wpilibTools.deps.wpilibJava("cameraserver") implementation wpilibTools.deps.wpilibJava("cscore") implementation wpilibTools.deps.wpilibJava("wpinet") diff --git a/shared/config.gradle b/shared/config.gradle index 71cb2ca214..f06c9aba36 100644 --- a/shared/config.gradle +++ b/shared/config.gradle @@ -1,6 +1,5 @@ // Configure Native-Utils WPI Plugin nativeUtils.addWpiNativeUtils() -nativeUtils.withCrossRoboRIO() nativeUtils.withCrossLinuxArm32() nativeUtils.withCrossLinuxArm64() diff --git a/shared/javacommon.gradle b/shared/javacommon.gradle index 7ccbaaa974..897cb4219e 100644 --- a/shared/javacommon.gradle +++ b/shared/javacommon.gradle @@ -127,6 +127,7 @@ dependencies { } implementation wpilibTools.deps.wpilibJava("wpiutil") + implementation wpilibTools.deps.wpilibJava("datalog") implementation wpilibTools.deps.wpilibJava("cameraserver") implementation wpilibTools.deps.wpilibJava("cscore") implementation wpilibTools.deps.wpilibJava("wpinet") From 7def49ae6cde902824f630b9aa062b283f5a38db Mon Sep 17 00:00:00 2001 From: Jade Turner Date: Tue, 24 Jun 2025 10:17:44 +0800 Subject: [PATCH 03/12] Start on updating examples for 2027 Signed-off-by: Jade Turner --- .gitignore | 2 +- .../src/main/cpp/subsystems/SwerveDrive.cpp | 10 ++--- .../src/main/include/subsystems/SwerveDrive.h | 9 ++-- .../aimandrange/build.gradle | 2 +- .../subsystems/drivetrain/SwerveDrive.java | 42 +++++++++---------- .../subsystems/drivetrain/SwerveDriveSim.java | 6 +-- .../subsystems/drivetrain/SwerveModule.java | 8 ++-- .../aimattarget/build.gradle | 2 +- .../subsystems/drivetrain/SwerveDrive.java | 42 +++++++++---------- .../subsystems/drivetrain/SwerveDriveSim.java | 6 +-- .../subsystems/drivetrain/SwerveModule.java | 8 ++-- .../src/test/java/frc/robot/JniLoadTest.java | 4 +- photonlib-java-examples/poseest/build.gradle | 2 +- .../robot/subsystems/GamepieceLauncher.java | 4 +- .../subsystems/drivetrain/SwerveDrive.java | 42 +++++++++---------- .../subsystems/drivetrain/SwerveDriveSim.java | 6 +-- .../subsystems/drivetrain/SwerveModule.java | 8 ++-- 17 files changed, 101 insertions(+), 102 deletions(-) diff --git a/.gitignore b/.gitignore index 6416c2fba8..012ad3f618 100644 --- a/.gitignore +++ b/.gitignore @@ -147,4 +147,4 @@ photon-server/src/main/resources/web/* node_modules dist components.d.ts -photon-server/src/main/resources/web/index.html +/workspace diff --git a/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDrive.cpp b/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDrive.cpp index 92801c3e4c..a7ee3eaa1b 100644 --- a/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDrive.cpp +++ b/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDrive.cpp @@ -33,7 +33,7 @@ SwerveDrive::SwerveDrive() : poseEstimator(kinematics, GetGyroYaw(), GetModulePositions(), frc::Pose2d{}, {0.1, 0.1, 0.1}, {1.0, 1.0, 1.0}), - gyroSim(gyro), + // gyroSim(gyro), swerveDriveSim(constants::Swerve::kDriveFF, frc::DCMotor::Falcon500(1), constants::Swerve::kDriveGearRatio, constants::Swerve::kWheelDiameter / 2, @@ -83,8 +83,8 @@ void SwerveDrive::ResetPose(const frc::Pose2d& pose, bool resetSimPose) { for (int i = 0; i < swerveMods.size(); i++) { swerveMods[i].SimulationUpdate(0_m, 0_mps, 0_A, 0_rad, 0_rad_per_s, 0_A); } - gyroSim.SetAngle(-pose.Rotation().Degrees()); - gyroSim.SetRate(0_rad_per_s); + // gyroSim.SetAngle(-pose.Rotation().Degrees()); + // gyroSim.SetRate(0_rad_per_s); } poseEstimator.ResetPosition(GetGyroYaw(), GetModulePositions(), pose); @@ -191,8 +191,8 @@ void SwerveDrive::SimulationPeriodic() { swerveMods[i].SimulationUpdate(drivePos, driveRate, driveCurrents[i], steerPos, steerRate, steerCurrents[i]); } - gyroSim.SetRate(-swerveDriveSim.GetOmega()); - gyroSim.SetAngle(-swerveDriveSim.GetPose().Rotation().Degrees()); + // gyroSim.SetRate(-swerveDriveSim.GetOmega()); + // gyroSim.SetAngle(-swerveDriveSim.GetPose().Rotation().Degrees()); } frc::Pose2d SwerveDrive::GetSimPose() const { return swerveDriveSim.GetPose(); } diff --git a/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h b/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h index 98b0b2a582..f47638fbdc 100644 --- a/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h +++ b/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h @@ -24,11 +24,9 @@ #pragma once -#include -#include #include #include -#include +#include #include "SwerveDriveSim.h" #include "SwerveModule.h" @@ -70,11 +68,12 @@ class SwerveDrive { swerveMods[2].GetModuleConstants().centerOffset, swerveMods[3].GetModuleConstants().centerOffset, }; - frc::ADXRS450_Gyro gyro{frc::SPI::Port::kOnboardCS0}; + frc::OnboardIMU gyro{MountOrientation::kFlat}; frc::SwerveDrivePoseEstimator<4> poseEstimator; frc::ChassisSpeeds targetChassisSpeeds{}; - frc::sim::ADXRS450_GyroSim gyroSim; + //TODO(Jade) onboard imu doesn't have sim yet + // frc::sim::ADXRS450_GyroSim gyroSim; SwerveDriveSim swerveDriveSim; units::ampere_t totalCurrentDraw{0}; }; diff --git a/photonlib-java-examples/aimandrange/build.gradle b/photonlib-java-examples/aimandrange/build.gradle index dfc3d0c6cb..98cfee3ab7 100644 --- a/photonlib-java-examples/aimandrange/build.gradle +++ b/photonlib-java-examples/aimandrange/build.gradle @@ -70,7 +70,7 @@ dependencies { nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() - testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testImplementation 'org.junit.jupiter:junit-jupiter:5.12.2' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' } diff --git a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java index c1676f6ff4..871414f871 100644 --- a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java +++ b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java @@ -38,9 +38,8 @@ import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.numbers.*; import edu.wpi.first.math.system.plant.DCMotor; -import edu.wpi.first.wpilibj.ADXRS450_Gyro; -import edu.wpi.first.wpilibj.SPI.Port; -import edu.wpi.first.wpilibj.simulation.ADXRS450_GyroSim; +import edu.wpi.first.wpilibj.OnboardIMU; +import edu.wpi.first.wpilibj.OnboardIMU.MountOrientation; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Robot; @@ -62,7 +61,7 @@ public class SwerveDrive { swerveMods[2].getModuleConstants().centerOffset, swerveMods[3].getModuleConstants().centerOffset); - private final ADXRS450_Gyro gyro = new ADXRS450_Gyro(Port.kOnboardCS0); + private final OnboardIMU gyro = new OnboardIMU(MountOrientation.kFlat); // The robot pose estimator for tracking swerve odometry and applying vision corrections. private final SwerveDrivePoseEstimator poseEstimator; @@ -70,7 +69,8 @@ public class SwerveDrive { private ChassisSpeeds targetChassisSpeeds = new ChassisSpeeds(); // ----- Simulation - private final ADXRS450_GyroSim gyroSim; + // TODO(Jade) Onboard IMU doesnt have sim yet + // private final ADXRS450_GyroSim gyroSim; private final SwerveDriveSim swerveDriveSim; private double totalCurrentDraw = 0; @@ -91,7 +91,7 @@ public SwerveDrive() { visionStdDevs); // ----- Simulation - gyroSim = new ADXRS450_GyroSim(gyro); + // gyroSim = new ADXRS450_GyroSim(gyro); swerveDriveSim = new SwerveDriveSim( kDriveFF, @@ -117,13 +117,13 @@ public void periodic() { * Basic drive control. A target field-relative ChassisSpeeds (vx, vy, omega) is converted to * specific swerve module states. * - * @param vxMeters X velocity (forwards/backwards) - * @param vyMeters Y velocity (strafe left/right) - * @param omegaRadians Angular velocity (rotation CCW+) + * @param vx X velocity (forwards/backwards) + * @param vy Y velocity (strafe left/right) + * @param omega Angular velocity (rotation CCW+) */ - public void drive(double vxMeters, double vyMeters, double omegaRadians) { + public void drive(double vx, double vy, double omega) { var targetChassisSpeeds = - ChassisSpeeds.fromFieldRelativeSpeeds(vxMeters, vyMeters, omegaRadians, getHeading()); + new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading()); setChassisSpeeds(targetChassisSpeeds, true, false); } @@ -189,8 +189,8 @@ public void resetPose(Pose2d pose, boolean resetSimPose) { for (int i = 0; i < swerveMods.length; i++) { swerveMods[i].simulationUpdate(0, 0, 0, 0, 0, 0); } - gyroSim.setAngle(-pose.getRotation().getDegrees()); - gyroSim.setRate(0); + // gyroSim.setAngle(-pose.getRotation().getDegrees()); + // gyroSim.setRate(0); } poseEstimator.resetPosition(getGyroYaw(), getModulePositions(), pose); @@ -267,14 +267,14 @@ public void log() { SmartDashboard.putNumber(table + "Y", pose.getY()); SmartDashboard.putNumber(table + "Heading", pose.getRotation().getDegrees()); ChassisSpeeds chassisSpeeds = getChassisSpeeds(); - SmartDashboard.putNumber(table + "VX", chassisSpeeds.vxMetersPerSecond); - SmartDashboard.putNumber(table + "VY", chassisSpeeds.vyMetersPerSecond); + SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx); + SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy); SmartDashboard.putNumber( - table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omegaRadiansPerSecond)); - SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vxMetersPerSecond); - SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vyMetersPerSecond); + table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega)); + SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vx); + SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vy); SmartDashboard.putNumber( - table + "Target Omega Degrees", Math.toDegrees(targetChassisSpeeds.omegaRadiansPerSecond)); + table + "Target Omega Degrees", Math.toDegrees(targetChassisSpeeds.omega)); for (SwerveModule module : swerveMods) { module.log(); @@ -314,8 +314,8 @@ public void simulationPeriodic() { drivePos, driveRate, driveCurrents[i], steerPos, steerRate, steerCurrents[i]); } - gyroSim.setRate(-swerveDriveSim.getOmegaRadsPerSec()); - gyroSim.setAngle(-swerveDriveSim.getPose().getRotation().getDegrees()); + // gyroSim.setRate(-swerveDriveSim.getOmegaRadsPerSec()); + // gyroSim.setAngle(-swerveDriveSim.getPose().getRotation().getDegrees()); } /** diff --git a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java index ccef2bba6c..07bff21152 100644 --- a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java +++ b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java @@ -341,7 +341,7 @@ public void reset( driveStates.set(i, moduleDriveStates.get(i).copy()); steerStates.set(i, moduleSteerStates.get(i).copy()); } - omegaRadsPerSec = kinematics.toChassisSpeeds(getModuleStates()).omegaRadiansPerSecond; + omegaRadsPerSec = kinematics.toChassisSpeeds(getModuleStates()).omega; } /** @@ -444,12 +444,12 @@ public double getOmegaRadsPerSec() { */ protected static double getCurrentDraw( DCMotor motor, double radiansPerSec, double inputVolts, double battVolts) { - double effVolts = inputVolts - radiansPerSec / motor.KvRadPerSecPerVolt; + double effVolts = inputVolts - radiansPerSec / motor.Kv; // ignore regeneration if (inputVolts >= 0) effVolts = MathUtil.clamp(effVolts, 0, inputVolts); else effVolts = MathUtil.clamp(effVolts, inputVolts, 0); // calculate battery current - return (inputVolts / battVolts) * (effVolts / motor.rOhms); + return (inputVolts / battVolts) * (effVolts / motor.R); } /** diff --git a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java index 5d77dcce51..6242a4e7ca 100644 --- a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java +++ b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java @@ -88,12 +88,12 @@ public void periodic() { steerMotor.setVoltage(steerPid); // Use feedforward model to translate target drive velocities into voltages - double driveFF = kDriveFF.calculate(desiredState.speedMetersPerSecond); + double driveFF = kDriveFF.calculate(desiredState.speed); double drivePid = 0; if (!openLoop) { // Perform PID feedback control to compensate for disturbances drivePid = - drivePidController.calculate(driveEncoder.getRate(), desiredState.speedMetersPerSecond); + drivePidController.calculate(driveEncoder.getRate(), desiredState.speed); } driveMotor.setVoltage(driveFF + drivePid); @@ -157,10 +157,10 @@ public void log() { SmartDashboard.putNumber( table + "Steer Target Degrees", Math.toDegrees(steerPidController.getSetpoint())); SmartDashboard.putNumber( - table + "Drive Velocity Feet", Units.metersToFeet(state.speedMetersPerSecond)); + table + "Drive Velocity Feet", Units.metersToFeet(state.speed)); SmartDashboard.putNumber( table + "Drive Velocity Target Feet", - Units.metersToFeet(desiredState.speedMetersPerSecond)); + Units.metersToFeet(desiredState.speed)); SmartDashboard.putNumber(table + "Drive Current", driveCurrentSim); SmartDashboard.putNumber(table + "Steer Current", steerCurrentSim); } diff --git a/photonlib-java-examples/aimattarget/build.gradle b/photonlib-java-examples/aimattarget/build.gradle index dfc3d0c6cb..98cfee3ab7 100644 --- a/photonlib-java-examples/aimattarget/build.gradle +++ b/photonlib-java-examples/aimattarget/build.gradle @@ -70,7 +70,7 @@ dependencies { nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() - testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testImplementation 'org.junit.jupiter:junit-jupiter:5.12.2' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' } diff --git a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java index c1676f6ff4..7feea5c446 100644 --- a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java +++ b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java @@ -38,9 +38,8 @@ import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.numbers.*; import edu.wpi.first.math.system.plant.DCMotor; -import edu.wpi.first.wpilibj.ADXRS450_Gyro; -import edu.wpi.first.wpilibj.SPI.Port; -import edu.wpi.first.wpilibj.simulation.ADXRS450_GyroSim; +import edu.wpi.first.wpilibj.OnboardIMU; +import edu.wpi.first.wpilibj.OnboardIMU.MountOrientation; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Robot; @@ -62,7 +61,7 @@ public class SwerveDrive { swerveMods[2].getModuleConstants().centerOffset, swerveMods[3].getModuleConstants().centerOffset); - private final ADXRS450_Gyro gyro = new ADXRS450_Gyro(Port.kOnboardCS0); + private final OnboardIMU gyro = new OnboardIMU(MountOrientation.kFlat); // The robot pose estimator for tracking swerve odometry and applying vision corrections. private final SwerveDrivePoseEstimator poseEstimator; @@ -70,7 +69,8 @@ public class SwerveDrive { private ChassisSpeeds targetChassisSpeeds = new ChassisSpeeds(); // ----- Simulation - private final ADXRS450_GyroSim gyroSim; + // TODO(Jade) OnboardIMU doesn't have sim yet + // private final ADXRS450_GyroSim gyroSim; private final SwerveDriveSim swerveDriveSim; private double totalCurrentDraw = 0; @@ -91,7 +91,7 @@ public SwerveDrive() { visionStdDevs); // ----- Simulation - gyroSim = new ADXRS450_GyroSim(gyro); + // gyroSim = new ADXRS450_GyroSim(gyro); swerveDriveSim = new SwerveDriveSim( kDriveFF, @@ -117,13 +117,13 @@ public void periodic() { * Basic drive control. A target field-relative ChassisSpeeds (vx, vy, omega) is converted to * specific swerve module states. * - * @param vxMeters X velocity (forwards/backwards) - * @param vyMeters Y velocity (strafe left/right) - * @param omegaRadians Angular velocity (rotation CCW+) + * @param vx X velocity (forwards/backwards) + * @param vy Y velocity (strafe left/right) + * @param omega Angular velocity (rotation CCW+) */ - public void drive(double vxMeters, double vyMeters, double omegaRadians) { + public void drive(double vx, double vy, double omega) { var targetChassisSpeeds = - ChassisSpeeds.fromFieldRelativeSpeeds(vxMeters, vyMeters, omegaRadians, getHeading()); + new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading()); setChassisSpeeds(targetChassisSpeeds, true, false); } @@ -189,8 +189,8 @@ public void resetPose(Pose2d pose, boolean resetSimPose) { for (int i = 0; i < swerveMods.length; i++) { swerveMods[i].simulationUpdate(0, 0, 0, 0, 0, 0); } - gyroSim.setAngle(-pose.getRotation().getDegrees()); - gyroSim.setRate(0); + // gyroSim.setAngle(-pose.getRotation().getDegrees()); + // gyroSim.setRate(0); } poseEstimator.resetPosition(getGyroYaw(), getModulePositions(), pose); @@ -267,14 +267,14 @@ public void log() { SmartDashboard.putNumber(table + "Y", pose.getY()); SmartDashboard.putNumber(table + "Heading", pose.getRotation().getDegrees()); ChassisSpeeds chassisSpeeds = getChassisSpeeds(); - SmartDashboard.putNumber(table + "VX", chassisSpeeds.vxMetersPerSecond); - SmartDashboard.putNumber(table + "VY", chassisSpeeds.vyMetersPerSecond); + SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx); + SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy); SmartDashboard.putNumber( - table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omegaRadiansPerSecond)); - SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vxMetersPerSecond); - SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vyMetersPerSecond); + table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega)); + SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vx); + SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vy); SmartDashboard.putNumber( - table + "Target Omega Degrees", Math.toDegrees(targetChassisSpeeds.omegaRadiansPerSecond)); + table + "Target Omega Degrees", Math.toDegrees(targetChassisSpeeds.omega)); for (SwerveModule module : swerveMods) { module.log(); @@ -314,8 +314,8 @@ public void simulationPeriodic() { drivePos, driveRate, driveCurrents[i], steerPos, steerRate, steerCurrents[i]); } - gyroSim.setRate(-swerveDriveSim.getOmegaRadsPerSec()); - gyroSim.setAngle(-swerveDriveSim.getPose().getRotation().getDegrees()); + // gyroSim.setRate(-swerveDriveSim.getOmegaRadsPerSec()); + // gyroSim.setAngle(-swerveDriveSim.getPose().getRotation().getDegrees()); } /** diff --git a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java index ccef2bba6c..07bff21152 100644 --- a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java +++ b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java @@ -341,7 +341,7 @@ public void reset( driveStates.set(i, moduleDriveStates.get(i).copy()); steerStates.set(i, moduleSteerStates.get(i).copy()); } - omegaRadsPerSec = kinematics.toChassisSpeeds(getModuleStates()).omegaRadiansPerSecond; + omegaRadsPerSec = kinematics.toChassisSpeeds(getModuleStates()).omega; } /** @@ -444,12 +444,12 @@ public double getOmegaRadsPerSec() { */ protected static double getCurrentDraw( DCMotor motor, double radiansPerSec, double inputVolts, double battVolts) { - double effVolts = inputVolts - radiansPerSec / motor.KvRadPerSecPerVolt; + double effVolts = inputVolts - radiansPerSec / motor.Kv; // ignore regeneration if (inputVolts >= 0) effVolts = MathUtil.clamp(effVolts, 0, inputVolts); else effVolts = MathUtil.clamp(effVolts, inputVolts, 0); // calculate battery current - return (inputVolts / battVolts) * (effVolts / motor.rOhms); + return (inputVolts / battVolts) * (effVolts / motor.R); } /** diff --git a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java index 5d77dcce51..6242a4e7ca 100644 --- a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java +++ b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java @@ -88,12 +88,12 @@ public void periodic() { steerMotor.setVoltage(steerPid); // Use feedforward model to translate target drive velocities into voltages - double driveFF = kDriveFF.calculate(desiredState.speedMetersPerSecond); + double driveFF = kDriveFF.calculate(desiredState.speed); double drivePid = 0; if (!openLoop) { // Perform PID feedback control to compensate for disturbances drivePid = - drivePidController.calculate(driveEncoder.getRate(), desiredState.speedMetersPerSecond); + drivePidController.calculate(driveEncoder.getRate(), desiredState.speed); } driveMotor.setVoltage(driveFF + drivePid); @@ -157,10 +157,10 @@ public void log() { SmartDashboard.putNumber( table + "Steer Target Degrees", Math.toDegrees(steerPidController.getSetpoint())); SmartDashboard.putNumber( - table + "Drive Velocity Feet", Units.metersToFeet(state.speedMetersPerSecond)); + table + "Drive Velocity Feet", Units.metersToFeet(state.speed)); SmartDashboard.putNumber( table + "Drive Velocity Target Feet", - Units.metersToFeet(desiredState.speedMetersPerSecond)); + Units.metersToFeet(desiredState.speed)); SmartDashboard.putNumber(table + "Drive Current", driveCurrentSim); SmartDashboard.putNumber(table + "Steer Current", steerCurrentSim); } diff --git a/photonlib-java-examples/aimattarget/src/test/java/frc/robot/JniLoadTest.java b/photonlib-java-examples/aimattarget/src/test/java/frc/robot/JniLoadTest.java index 07da7e010f..88d7feae2f 100644 --- a/photonlib-java-examples/aimattarget/src/test/java/frc/robot/JniLoadTest.java +++ b/photonlib-java-examples/aimattarget/src/test/java/frc/robot/JniLoadTest.java @@ -24,12 +24,12 @@ package frc.robot; -import static org.junit.Assert.fail; +import static org.junit.jupiter.api.Assertions.fail; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; import java.util.List; -import org.junit.Test; +import org.junit.jupiter.api.Test; import org.photonvision.PhotonCamera; import org.photonvision.simulation.PhotonCameraSim; import org.photonvision.simulation.SimCameraProperties; diff --git a/photonlib-java-examples/poseest/build.gradle b/photonlib-java-examples/poseest/build.gradle index dfc3d0c6cb..98cfee3ab7 100644 --- a/photonlib-java-examples/poseest/build.gradle +++ b/photonlib-java-examples/poseest/build.gradle @@ -70,7 +70,7 @@ dependencies { nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() - testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testImplementation 'org.junit.jupiter:junit-jupiter:5.12.2' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' } diff --git a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java index 8d76b1d788..cb1a6ecb01 100644 --- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java +++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java @@ -51,7 +51,7 @@ public void setRunning(boolean shouldRun) { public void periodic() { double maxRPM = - Units.radiansPerSecondToRotationsPerMinute(DCMotor.getFalcon500(1).freeSpeedRadPerSec); + Units.radiansPerSecondToRotationsPerMinute(DCMotor.getFalcon500(1).freeSpeed); curMotorCmd = curDesSpd / maxRPM; curMotorCmd = MathUtil.clamp(curMotorCmd, 0.0, 1.0); motor.set(curMotorCmd); @@ -76,7 +76,7 @@ private void simulationInit() { public void simulationPeriodic() { launcherSim.setInputVoltage(curMotorCmd * RobotController.getBatteryVoltage()); launcherSim.update(0.02); - var spd = launcherSim.getAngularVelocityRPM(); + var spd = launcherSim.getAngularVelocity(); SmartDashboard.putNumber("GPLauncher Act Spd (RPM)", spd); } } diff --git a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java index c1676f6ff4..60e1258029 100644 --- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java +++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java @@ -38,9 +38,8 @@ import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.numbers.*; import edu.wpi.first.math.system.plant.DCMotor; -import edu.wpi.first.wpilibj.ADXRS450_Gyro; -import edu.wpi.first.wpilibj.SPI.Port; -import edu.wpi.first.wpilibj.simulation.ADXRS450_GyroSim; +import edu.wpi.first.wpilibj.OnboardIMU; +import edu.wpi.first.wpilibj.OnboardIMU.MountOrientation; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Robot; @@ -62,7 +61,7 @@ public class SwerveDrive { swerveMods[2].getModuleConstants().centerOffset, swerveMods[3].getModuleConstants().centerOffset); - private final ADXRS450_Gyro gyro = new ADXRS450_Gyro(Port.kOnboardCS0); + private final OnboardIMU gyro = new OnboardIMU(MountOrientation.kFlat); // The robot pose estimator for tracking swerve odometry and applying vision corrections. private final SwerveDrivePoseEstimator poseEstimator; @@ -70,7 +69,8 @@ public class SwerveDrive { private ChassisSpeeds targetChassisSpeeds = new ChassisSpeeds(); // ----- Simulation - private final ADXRS450_GyroSim gyroSim; + // TODO(Jade) WPILib doesn't have onboard IMU sim yet + // private final ADXRS450_GyroSim gyroSim; private final SwerveDriveSim swerveDriveSim; private double totalCurrentDraw = 0; @@ -91,7 +91,7 @@ public SwerveDrive() { visionStdDevs); // ----- Simulation - gyroSim = new ADXRS450_GyroSim(gyro); + // gyroSim = new ADXRS450_GyroSim(gyro); swerveDriveSim = new SwerveDriveSim( kDriveFF, @@ -117,13 +117,13 @@ public void periodic() { * Basic drive control. A target field-relative ChassisSpeeds (vx, vy, omega) is converted to * specific swerve module states. * - * @param vxMeters X velocity (forwards/backwards) - * @param vyMeters Y velocity (strafe left/right) - * @param omegaRadians Angular velocity (rotation CCW+) + * @param vx X velocity (forwards/backwards) + * @param vy Y velocity (strafe left/right) + * @param omega Angular velocity (rotation CCW+) */ - public void drive(double vxMeters, double vyMeters, double omegaRadians) { + public void drive(double vx, double vy, double omega) { var targetChassisSpeeds = - ChassisSpeeds.fromFieldRelativeSpeeds(vxMeters, vyMeters, omegaRadians, getHeading()); + new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading()); setChassisSpeeds(targetChassisSpeeds, true, false); } @@ -189,8 +189,8 @@ public void resetPose(Pose2d pose, boolean resetSimPose) { for (int i = 0; i < swerveMods.length; i++) { swerveMods[i].simulationUpdate(0, 0, 0, 0, 0, 0); } - gyroSim.setAngle(-pose.getRotation().getDegrees()); - gyroSim.setRate(0); + // gyroSim.setAngle(-pose.getRotation().getDegrees()); + // gyroSim.setRate(0); } poseEstimator.resetPosition(getGyroYaw(), getModulePositions(), pose); @@ -267,14 +267,14 @@ public void log() { SmartDashboard.putNumber(table + "Y", pose.getY()); SmartDashboard.putNumber(table + "Heading", pose.getRotation().getDegrees()); ChassisSpeeds chassisSpeeds = getChassisSpeeds(); - SmartDashboard.putNumber(table + "VX", chassisSpeeds.vxMetersPerSecond); - SmartDashboard.putNumber(table + "VY", chassisSpeeds.vyMetersPerSecond); + SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx); + SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy); SmartDashboard.putNumber( - table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omegaRadiansPerSecond)); - SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vxMetersPerSecond); - SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vyMetersPerSecond); + table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega)); + SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vx); + SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vy); SmartDashboard.putNumber( - table + "Target Omega Degrees", Math.toDegrees(targetChassisSpeeds.omegaRadiansPerSecond)); + table + "Target Omega Degrees", Math.toDegrees(targetChassisSpeeds.omega)); for (SwerveModule module : swerveMods) { module.log(); @@ -314,8 +314,8 @@ public void simulationPeriodic() { drivePos, driveRate, driveCurrents[i], steerPos, steerRate, steerCurrents[i]); } - gyroSim.setRate(-swerveDriveSim.getOmegaRadsPerSec()); - gyroSim.setAngle(-swerveDriveSim.getPose().getRotation().getDegrees()); + // gyroSim.setRate(-swerveDriveSim.getOmegaRadsPerSec()); + // gyroSim.setAngle(-swerveDriveSim.getPose().getRotation().getDegrees()); } /** diff --git a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java index ccef2bba6c..07bff21152 100644 --- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java +++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDriveSim.java @@ -341,7 +341,7 @@ public void reset( driveStates.set(i, moduleDriveStates.get(i).copy()); steerStates.set(i, moduleSteerStates.get(i).copy()); } - omegaRadsPerSec = kinematics.toChassisSpeeds(getModuleStates()).omegaRadiansPerSecond; + omegaRadsPerSec = kinematics.toChassisSpeeds(getModuleStates()).omega; } /** @@ -444,12 +444,12 @@ public double getOmegaRadsPerSec() { */ protected static double getCurrentDraw( DCMotor motor, double radiansPerSec, double inputVolts, double battVolts) { - double effVolts = inputVolts - radiansPerSec / motor.KvRadPerSecPerVolt; + double effVolts = inputVolts - radiansPerSec / motor.Kv; // ignore regeneration if (inputVolts >= 0) effVolts = MathUtil.clamp(effVolts, 0, inputVolts); else effVolts = MathUtil.clamp(effVolts, inputVolts, 0); // calculate battery current - return (inputVolts / battVolts) * (effVolts / motor.rOhms); + return (inputVolts / battVolts) * (effVolts / motor.R); } /** diff --git a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java index 5d77dcce51..6242a4e7ca 100644 --- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java +++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java @@ -88,12 +88,12 @@ public void periodic() { steerMotor.setVoltage(steerPid); // Use feedforward model to translate target drive velocities into voltages - double driveFF = kDriveFF.calculate(desiredState.speedMetersPerSecond); + double driveFF = kDriveFF.calculate(desiredState.speed); double drivePid = 0; if (!openLoop) { // Perform PID feedback control to compensate for disturbances drivePid = - drivePidController.calculate(driveEncoder.getRate(), desiredState.speedMetersPerSecond); + drivePidController.calculate(driveEncoder.getRate(), desiredState.speed); } driveMotor.setVoltage(driveFF + drivePid); @@ -157,10 +157,10 @@ public void log() { SmartDashboard.putNumber( table + "Steer Target Degrees", Math.toDegrees(steerPidController.getSetpoint())); SmartDashboard.putNumber( - table + "Drive Velocity Feet", Units.metersToFeet(state.speedMetersPerSecond)); + table + "Drive Velocity Feet", Units.metersToFeet(state.speed)); SmartDashboard.putNumber( table + "Drive Velocity Target Feet", - Units.metersToFeet(desiredState.speedMetersPerSecond)); + Units.metersToFeet(desiredState.speed)); SmartDashboard.putNumber(table + "Drive Current", driveCurrentSim); SmartDashboard.putNumber(table + "Steer Current", steerCurrentSim); } From 91d583a8ea58183aa59d9f3f34617c048ffc989a Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Tue, 24 Jun 2025 00:25:30 -0400 Subject: [PATCH 04/12] Upgrade Gradle, fix build, and format --- .../src/main/include/subsystems/SwerveDrive.h | 6 +- .../gradle/wrapper/gradle-wrapper.jar | Bin 59536 -> 43583 bytes .../gradle/wrapper/gradle-wrapper.properties | 2 +- photonlib-cpp-examples/gradlew | 89 +++++++++++++++--- photonlib-cpp-examples/gradlew.bat | 37 ++++---- .../subsystems/drivetrain/SwerveDrive.java | 6 +- .../subsystems/drivetrain/SwerveModule.java | 9 +- .../subsystems/drivetrain/SwerveDrive.java | 6 +- .../subsystems/drivetrain/SwerveModule.java | 9 +- .../gradle/wrapper/gradle-wrapper.jar | Bin 59536 -> 43583 bytes .../gradle/wrapper/gradle-wrapper.properties | 2 +- photonlib-java-examples/gradlew | 89 +++++++++++++++--- photonlib-java-examples/gradlew.bat | 37 ++++---- .../robot/subsystems/GamepieceLauncher.java | 3 +- .../subsystems/drivetrain/SwerveDrive.java | 6 +- .../subsystems/drivetrain/SwerveModule.java | 9 +- 16 files changed, 213 insertions(+), 97 deletions(-) diff --git a/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h b/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h index f47638fbdc..81e3d47bd9 100644 --- a/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h +++ b/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h @@ -24,9 +24,9 @@ #pragma once +#include #include #include -#include #include "SwerveDriveSim.h" #include "SwerveModule.h" @@ -72,8 +72,8 @@ class SwerveDrive { frc::SwerveDrivePoseEstimator<4> poseEstimator; frc::ChassisSpeeds targetChassisSpeeds{}; - //TODO(Jade) onboard imu doesn't have sim yet - // frc::sim::ADXRS450_GyroSim gyroSim; + // TODO(Jade) onboard imu doesn't have sim yet + // frc::sim::ADXRS450_GyroSim gyroSim; SwerveDriveSim swerveDriveSim; units::ampere_t totalCurrentDraw{0}; }; diff --git a/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.jar b/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.jar index 7454180f2ae8848c63b8b4dea2cb829da983f2fa..a4b76b9530d66f5e68d973ea569d8e19de379189 100644 GIT binary patch literal 43583 zcma&N1CXTcmMvW9vTb(Rwr$&4wr$(C?dmSu>@vG-+vuvg^_??!{yS%8zW-#zn-LkA z5&1^$^{lnmUON?}LBF8_K|(?T0Ra(xUH{($5eN!MR#ZihR#HxkUPe+_R8Cn`RRs(P z_^*#_XlXmGv7!4;*Y%p4nw?{bNp@UZHv1?Um8r6)Fei3p@ClJn0ECfg1hkeuUU@Or zDaPa;U3fE=3L}DooL;8f;P0ipPt0Z~9P0)lbStMS)ag54=uL9ia-Lm3nh|@(Y?B`; zx_#arJIpXH!U{fbCbI^17}6Ri*H<>OLR%c|^mh8+)*h~K8Z!9)DPf zR2h?lbDZQ`p9P;&DQ4F0sur@TMa!Y}S8irn(%d-gi0*WxxCSk*A?3lGh=gcYN?FGl z7D=Js!i~0=u3rox^eO3i@$0=n{K1lPNU zwmfjRVmLOCRfe=seV&P*1Iq=^i`502keY8Uy-WNPwVNNtJFx?IwAyRPZo2Wo1+S(xF37LJZ~%i)kpFQ3Fw=mXfd@>%+)RpYQLnr}B~~zoof(JVm^^&f zxKV^+3D3$A1G;qh4gPVjhrC8e(VYUHv#dy^)(RoUFM?o%W-EHxufuWf(l*@-l+7vt z=l`qmR56K~F|v<^Pd*p~1_y^P0P^aPC##d8+HqX4IR1gu+7w#~TBFphJxF)T$2WEa zxa?H&6=Qe7d(#tha?_1uQys2KtHQ{)Qco)qwGjrdNL7thd^G5i8Os)CHqc>iOidS} z%nFEDdm=GXBw=yXe1W-ShHHFb?Cc70+$W~z_+}nAoHFYI1MV1wZegw*0y^tC*s%3h zhD3tN8b=Gv&rj}!SUM6|ajSPp*58KR7MPpI{oAJCtY~JECm)*m_x>AZEu>DFgUcby z1Qaw8lU4jZpQ_$;*7RME+gq1KySGG#Wql>aL~k9tLrSO()LWn*q&YxHEuzmwd1?aAtI zBJ>P=&$=l1efe1CDU;`Fd+_;&wI07?V0aAIgc(!{a z0Jg6Y=inXc3^n!U0Atk`iCFIQooHqcWhO(qrieUOW8X(x?(RD}iYDLMjSwffH2~tB z)oDgNBLB^AJBM1M^c5HdRx6fBfka`(LD-qrlh5jqH~);#nw|iyp)()xVYak3;Ybik z0j`(+69aK*B>)e_p%=wu8XC&9e{AO4c~O1U`5X9}?0mrd*m$_EUek{R?DNSh(=br# z#Q61gBzEpmy`$pA*6!87 zSDD+=@fTY7<4A?GLqpA?Pb2z$pbCc4B4zL{BeZ?F-8`s$?>*lXXtn*NC61>|*w7J* z$?!iB{6R-0=KFmyp1nnEmLsA-H0a6l+1uaH^g%c(p{iT&YFrbQ$&PRb8Up#X3@Zsk zD^^&LK~111%cqlP%!_gFNa^dTYT?rhkGl}5=fL{a`UViaXWI$k-UcHJwmaH1s=S$4 z%4)PdWJX;hh5UoK?6aWoyLxX&NhNRqKam7tcOkLh{%j3K^4Mgx1@i|Pi&}<^5>hs5 zm8?uOS>%)NzT(%PjVPGa?X%`N2TQCKbeH2l;cTnHiHppPSJ<7y-yEIiC!P*ikl&!B z%+?>VttCOQM@ShFguHVjxX^?mHX^hSaO_;pnyh^v9EumqSZTi+#f&_Vaija0Q-e*| z7ulQj6Fs*bbmsWp{`auM04gGwsYYdNNZcg|ph0OgD>7O}Asn7^Z=eI>`$2*v78;sj-}oMoEj&@)9+ycEOo92xSyY344^ z11Hb8^kdOvbf^GNAK++bYioknrpdN>+u8R?JxG=!2Kd9r=YWCOJYXYuM0cOq^FhEd zBg2puKy__7VT3-r*dG4c62Wgxi52EMCQ`bKgf*#*ou(D4-ZN$+mg&7$u!! z-^+Z%;-3IDwqZ|K=ah85OLwkO zKxNBh+4QHh)u9D?MFtpbl)us}9+V!D%w9jfAMYEb>%$A;u)rrI zuBudh;5PN}_6J_}l55P3l_)&RMlH{m!)ai-i$g)&*M`eN$XQMw{v^r@-125^RRCF0 z^2>|DxhQw(mtNEI2Kj(;KblC7x=JlK$@78`O~>V!`|1Lm-^JR$-5pUANAnb(5}B}JGjBsliK4& zk6y(;$e&h)lh2)L=bvZKbvh@>vLlreBdH8No2>$#%_Wp1U0N7Ank!6$dFSi#xzh|( zRi{Uw%-4W!{IXZ)fWx@XX6;&(m_F%c6~X8hx=BN1&q}*( zoaNjWabE{oUPb!Bt$eyd#$5j9rItB-h*5JiNi(v^e|XKAj*8(k<5-2$&ZBR5fF|JA z9&m4fbzNQnAU}r8ab>fFV%J0z5awe#UZ|bz?Ur)U9bCIKWEzi2%A+5CLqh?}K4JHi z4vtM;+uPsVz{Lfr;78W78gC;z*yTch~4YkLr&m-7%-xc ztw6Mh2d>_iO*$Rd8(-Cr1_V8EO1f*^@wRoSozS) zy1UoC@pruAaC8Z_7~_w4Q6n*&B0AjOmMWa;sIav&gu z|J5&|{=a@vR!~k-OjKEgPFCzcJ>#A1uL&7xTDn;{XBdeM}V=l3B8fE1--DHjSaxoSjNKEM9|U9#m2<3>n{Iuo`r3UZp;>GkT2YBNAh|b z^jTq-hJp(ebZh#Lk8hVBP%qXwv-@vbvoREX$TqRGTgEi$%_F9tZES@z8Bx}$#5eeG zk^UsLBH{bc2VBW)*EdS({yw=?qmevwi?BL6*=12k9zM5gJv1>y#ML4!)iiPzVaH9% zgSImetD@dam~e>{LvVh!phhzpW+iFvWpGT#CVE5TQ40n%F|p(sP5mXxna+Ev7PDwA zamaV4m*^~*xV+&p;W749xhb_X=$|LD;FHuB&JL5?*Y2-oIT(wYY2;73<^#46S~Gx| z^cez%V7x$81}UWqS13Gz80379Rj;6~WdiXWOSsdmzY39L;Hg3MH43o*y8ibNBBH`(av4|u;YPq%{R;IuYow<+GEsf@R?=@tT@!}?#>zIIn0CoyV!hq3mw zHj>OOjfJM3F{RG#6ujzo?y32m^tgSXf@v=J$ELdJ+=5j|=F-~hP$G&}tDZsZE?5rX ztGj`!S>)CFmdkccxM9eGIcGnS2AfK#gXwj%esuIBNJQP1WV~b~+D7PJTmWGTSDrR` zEAu4B8l>NPuhsk5a`rReSya2nfV1EK01+G!x8aBdTs3Io$u5!6n6KX%uv@DxAp3F@{4UYg4SWJtQ-W~0MDb|j-$lwVn znAm*Pl!?Ps&3wO=R115RWKb*JKoexo*)uhhHBncEDMSVa_PyA>k{Zm2(wMQ(5NM3# z)jkza|GoWEQo4^s*wE(gHz?Xsg4`}HUAcs42cM1-qq_=+=!Gk^y710j=66(cSWqUe zklbm8+zB_syQv5A2rj!Vbw8;|$@C!vfNmNV!yJIWDQ>{+2x zKjuFX`~~HKG~^6h5FntRpnnHt=D&rq0>IJ9#F0eM)Y-)GpRjiN7gkA8wvnG#K=q{q z9dBn8_~wm4J<3J_vl|9H{7q6u2A!cW{bp#r*-f{gOV^e=8S{nc1DxMHFwuM$;aVI^ zz6A*}m8N-&x8;aunp1w7_vtB*pa+OYBw=TMc6QK=mbA-|Cf* zvyh8D4LRJImooUaSb7t*fVfih<97Gf@VE0|z>NcBwBQze);Rh!k3K_sfunToZY;f2 z^HmC4KjHRVg+eKYj;PRN^|E0>Gj_zagfRbrki68I^#~6-HaHg3BUW%+clM1xQEdPYt_g<2K+z!$>*$9nQ>; zf9Bei{?zY^-e{q_*|W#2rJG`2fy@{%6u0i_VEWTq$*(ZN37|8lFFFt)nCG({r!q#9 z5VK_kkSJ3?zOH)OezMT{!YkCuSSn!K#-Rhl$uUM(bq*jY? zi1xbMVthJ`E>d>(f3)~fozjg^@eheMF6<)I`oeJYx4*+M&%c9VArn(OM-wp%M<-`x z7sLP1&3^%Nld9Dhm@$3f2}87!quhI@nwd@3~fZl_3LYW-B?Ia>ui`ELg z&Qfe!7m6ze=mZ`Ia9$z|ARSw|IdMpooY4YiPN8K z4B(ts3p%2i(Td=tgEHX z0UQ_>URBtG+-?0E;E7Ld^dyZ;jjw0}XZ(}-QzC6+NN=40oDb2^v!L1g9xRvE#@IBR zO!b-2N7wVfLV;mhEaXQ9XAU+>=XVA6f&T4Z-@AX!leJ8obP^P^wP0aICND?~w&NykJ#54x3_@r7IDMdRNy4Hh;h*!u(Ol(#0bJdwEo$5437-UBjQ+j=Ic>Q2z` zJNDf0yO6@mr6y1#n3)s(W|$iE_i8r@Gd@!DWDqZ7J&~gAm1#~maIGJ1sls^gxL9LLG_NhU!pTGty!TbhzQnu)I*S^54U6Yu%ZeCg`R>Q zhBv$n5j0v%O_j{QYWG!R9W?5_b&67KB$t}&e2LdMvd(PxN6Ir!H4>PNlerpBL>Zvyy!yw z-SOo8caEpDt(}|gKPBd$qND5#a5nju^O>V&;f890?yEOfkSG^HQVmEbM3Ugzu+UtH zC(INPDdraBN?P%kE;*Ae%Wto&sgw(crfZ#Qy(<4nk;S|hD3j{IQRI6Yq|f^basLY; z-HB&Je%Gg}Jt@={_C{L$!RM;$$|iD6vu#3w?v?*;&()uB|I-XqEKqZPS!reW9JkLewLb!70T7n`i!gNtb1%vN- zySZj{8-1>6E%H&=V}LM#xmt`J3XQoaD|@XygXjdZ1+P77-=;=eYpoEQ01B@L*a(uW zrZeZz?HJsw_4g0vhUgkg@VF8<-X$B8pOqCuWAl28uB|@r`19DTUQQsb^pfqB6QtiT z*`_UZ`fT}vtUY#%sq2{rchyfu*pCg;uec2$-$N_xgjZcoumE5vSI{+s@iLWoz^Mf; zuI8kDP{!XY6OP~q5}%1&L}CtfH^N<3o4L@J@zg1-mt{9L`s^z$Vgb|mr{@WiwAqKg zp#t-lhrU>F8o0s1q_9y`gQNf~Vb!F%70f}$>i7o4ho$`uciNf=xgJ>&!gSt0g;M>*x4-`U)ysFW&Vs^Vk6m%?iuWU+o&m(2Jm26Y(3%TL; zA7T)BP{WS!&xmxNw%J=$MPfn(9*^*TV;$JwRy8Zl*yUZi8jWYF>==j~&S|Xinsb%c z2?B+kpet*muEW7@AzjBA^wAJBY8i|#C{WtO_or&Nj2{=6JTTX05}|H>N2B|Wf!*3_ z7hW*j6p3TvpghEc6-wufFiY!%-GvOx*bZrhZu+7?iSrZL5q9}igiF^*R3%DE4aCHZ zqu>xS8LkW+Auv%z-<1Xs92u23R$nk@Pk}MU5!gT|c7vGlEA%G^2th&Q*zfg%-D^=f z&J_}jskj|Q;73NP4<4k*Y%pXPU2Thoqr+5uH1yEYM|VtBPW6lXaetokD0u z9qVek6Q&wk)tFbQ8(^HGf3Wp16gKmr>G;#G(HRBx?F`9AIRboK+;OfHaLJ(P>IP0w zyTbTkx_THEOs%Q&aPrxbZrJlio+hCC_HK<4%f3ZoSAyG7Dn`=X=&h@m*|UYO-4Hq0 z-Bq&+Ie!S##4A6OGoC~>ZW`Y5J)*ouaFl_e9GA*VSL!O_@xGiBw!AF}1{tB)z(w%c zS1Hmrb9OC8>0a_$BzeiN?rkPLc9%&;1CZW*4}CDDNr2gcl_3z+WC15&H1Zc2{o~i) z)LLW=WQ{?ricmC`G1GfJ0Yp4Dy~Ba;j6ZV4r{8xRs`13{dD!xXmr^Aga|C=iSmor% z8hi|pTXH)5Yf&v~exp3o+sY4B^^b*eYkkCYl*T{*=-0HniSA_1F53eCb{x~1k3*`W zr~};p1A`k{1DV9=UPnLDgz{aJH=-LQo<5%+Em!DNN252xwIf*wF_zS^!(XSm(9eoj z=*dXG&n0>)_)N5oc6v!>-bd(2ragD8O=M|wGW z!xJQS<)u70m&6OmrF0WSsr@I%T*c#Qo#Ha4d3COcX+9}hM5!7JIGF>7<~C(Ear^Sn zm^ZFkV6~Ula6+8S?oOROOA6$C&q&dp`>oR-2Ym3(HT@O7Sd5c~+kjrmM)YmgPH*tL zX+znN>`tv;5eOfX?h{AuX^LK~V#gPCu=)Tigtq9&?7Xh$qN|%A$?V*v=&-2F$zTUv z`C#WyIrChS5|Kgm_GeudCFf;)!WH7FI60j^0o#65o6`w*S7R@)88n$1nrgU(oU0M9 zx+EuMkC>(4j1;m6NoGqEkpJYJ?vc|B zOlwT3t&UgL!pX_P*6g36`ZXQ; z9~Cv}ANFnJGp(;ZhS(@FT;3e)0)Kp;h^x;$*xZn*k0U6-&FwI=uOGaODdrsp-!K$Ac32^c{+FhI-HkYd5v=`PGsg%6I`4d9Jy)uW0y%) zm&j^9WBAp*P8#kGJUhB!L?a%h$hJgQrx!6KCB_TRo%9{t0J7KW8!o1B!NC)VGLM5! zpZy5Jc{`r{1e(jd%jsG7k%I+m#CGS*BPA65ZVW~fLYw0dA-H_}O zrkGFL&P1PG9p2(%QiEWm6x;U-U&I#;Em$nx-_I^wtgw3xUPVVu zqSuKnx&dIT-XT+T10p;yjo1Y)z(x1fb8Dzfn8e yu?e%!_ptzGB|8GrCfu%p?(_ zQccdaaVK$5bz;*rnyK{_SQYM>;aES6Qs^lj9lEs6_J+%nIiuQC*fN;z8md>r_~Mfl zU%p5Dt_YT>gQqfr@`cR!$NWr~+`CZb%dn;WtzrAOI>P_JtsB76PYe*<%H(y>qx-`Kq!X_; z<{RpAqYhE=L1r*M)gNF3B8r(<%8mo*SR2hu zccLRZwGARt)Hlo1euqTyM>^!HK*!Q2P;4UYrysje@;(<|$&%vQekbn|0Ruu_Io(w4#%p6ld2Yp7tlA`Y$cciThP zKzNGIMPXX%&Ud0uQh!uQZz|FB`4KGD?3!ND?wQt6!n*f4EmCoJUh&b?;B{|lxs#F- z31~HQ`SF4x$&v00@(P+j1pAaj5!s`)b2RDBp*PB=2IB>oBF!*6vwr7Dp%zpAx*dPr zb@Zjq^XjN?O4QcZ*O+8>)|HlrR>oD*?WQl5ri3R#2?*W6iJ>>kH%KnnME&TT@ZzrHS$Q%LC?n|e>V+D+8D zYc4)QddFz7I8#}y#Wj6>4P%34dZH~OUDb?uP%-E zwjXM(?Sg~1!|wI(RVuxbu)-rH+O=igSho_pDCw(c6b=P zKk4ATlB?bj9+HHlh<_!&z0rx13K3ZrAR8W)!@Y}o`?a*JJsD+twZIv`W)@Y?Amu_u zz``@-e2X}27$i(2=9rvIu5uTUOVhzwu%mNazS|lZb&PT;XE2|B&W1>=B58#*!~D&) zfVmJGg8UdP*fx(>Cj^?yS^zH#o-$Q-*$SnK(ZVFkw+er=>N^7!)FtP3y~Xxnu^nzY zikgB>Nj0%;WOltWIob|}%lo?_C7<``a5hEkx&1ku$|)i>Rh6@3h*`slY=9U}(Ql_< zaNG*J8vb&@zpdhAvv`?{=zDedJ23TD&Zg__snRAH4eh~^oawdYi6A3w8<Ozh@Kw)#bdktM^GVb zrG08?0bG?|NG+w^&JvD*7LAbjED{_Zkc`3H!My>0u5Q}m!+6VokMLXxl`Mkd=g&Xx z-a>m*#G3SLlhbKB!)tnzfWOBV;u;ftU}S!NdD5+YtOjLg?X}dl>7m^gOpihrf1;PY zvll&>dIuUGs{Qnd- zwIR3oIrct8Va^Tm0t#(bJD7c$Z7DO9*7NnRZorrSm`b`cxz>OIC;jSE3DO8`hX955ui`s%||YQtt2 z5DNA&pG-V+4oI2s*x^>-$6J?p=I>C|9wZF8z;VjR??Icg?1w2v5Me+FgAeGGa8(3S z4vg*$>zC-WIVZtJ7}o9{D-7d>zCe|z#<9>CFve-OPAYsneTb^JH!Enaza#j}^mXy1 z+ULn^10+rWLF6j2>Ya@@Kq?26>AqK{A_| zQKb*~F1>sE*=d?A?W7N2j?L09_7n+HGi{VY;MoTGr_)G9)ot$p!-UY5zZ2Xtbm=t z@dpPSGwgH=QtIcEulQNI>S-#ifbnO5EWkI;$A|pxJd885oM+ zGZ0_0gDvG8q2xebj+fbCHYfAXuZStH2j~|d^sBAzo46(K8n59+T6rzBwK)^rfPT+B zyIFw)9YC-V^rhtK`!3jrhmW-sTmM+tPH+;nwjL#-SjQPUZ53L@A>y*rt(#M(qsiB2 zx6B)dI}6Wlsw%bJ8h|(lhkJVogQZA&n{?Vgs6gNSXzuZpEyu*xySy8ro07QZ7Vk1!3tJphN_5V7qOiyK8p z#@jcDD8nmtYi1^l8ml;AF<#IPK?!pqf9D4moYk>d99Im}Jtwj6c#+A;f)CQ*f-hZ< z=p_T86jog%!p)D&5g9taSwYi&eP z#JuEK%+NULWus;0w32-SYFku#i}d~+{Pkho&^{;RxzP&0!RCm3-9K6`>KZpnzS6?L z^H^V*s!8<>x8bomvD%rh>Zp3>Db%kyin;qtl+jAv8Oo~1g~mqGAC&Qi_wy|xEt2iz zWAJEfTV%cl2Cs<1L&DLRVVH05EDq`pH7Oh7sR`NNkL%wi}8n>IXcO40hp+J+sC!W?!krJf!GJNE8uj zg-y~Ns-<~D?yqbzVRB}G>0A^f0!^N7l=$m0OdZuqAOQqLc zX?AEGr1Ht+inZ-Qiwnl@Z0qukd__a!C*CKuGdy5#nD7VUBM^6OCpxCa2A(X;e0&V4 zM&WR8+wErQ7UIc6LY~Q9x%Sn*Tn>>P`^t&idaOEnOd(Ufw#>NoR^1QdhJ8s`h^|R_ zXX`c5*O~Xdvh%q;7L!_!ohf$NfEBmCde|#uVZvEo>OfEq%+Ns7&_f$OR9xsihRpBb z+cjk8LyDm@U{YN>+r46?nn{7Gh(;WhFw6GAxtcKD+YWV?uge>;+q#Xx4!GpRkVZYu zzsF}1)7$?%s9g9CH=Zs+B%M_)+~*j3L0&Q9u7!|+T`^O{xE6qvAP?XWv9_MrZKdo& z%IyU)$Q95AB4!#hT!_dA>4e@zjOBD*Y=XjtMm)V|+IXzjuM;(l+8aA5#Kaz_$rR6! zj>#&^DidYD$nUY(D$mH`9eb|dtV0b{S>H6FBfq>t5`;OxA4Nn{J(+XihF(stSche7$es&~N$epi&PDM_N`As;*9D^L==2Q7Z2zD+CiU(|+-kL*VG+&9!Yb3LgPy?A zm7Z&^qRG_JIxK7-FBzZI3Q<;{`DIxtc48k> zc|0dmX;Z=W$+)qE)~`yn6MdoJ4co;%!`ddy+FV538Y)j(vg}5*k(WK)KWZ3WaOG!8 z!syGn=s{H$odtpqFrT#JGM*utN7B((abXnpDM6w56nhw}OY}0TiTG1#f*VFZr+^-g zbP10`$LPq_;PvrA1XXlyx2uM^mrjTzX}w{yuLo-cOClE8MMk47T25G8M!9Z5ypOSV zAJUBGEg5L2fY)ZGJb^E34R2zJ?}Vf>{~gB!8=5Z) z9y$>5c)=;o0HeHHSuE4U)#vG&KF|I%-cF6f$~pdYJWk_dD}iOA>iA$O$+4%@>JU08 zS`ep)$XLPJ+n0_i@PkF#ri6T8?ZeAot$6JIYHm&P6EB=BiaNY|aA$W0I+nz*zkz_z zkEru!tj!QUffq%)8y0y`T&`fuus-1p>=^hnBiBqD^hXrPs`PY9tU3m0np~rISY09> z`P3s=-kt_cYcxWd{de@}TwSqg*xVhp;E9zCsnXo6z z?f&Sv^U7n4`xr=mXle94HzOdN!2kB~4=%)u&N!+2;z6UYKUDqi-s6AZ!haB;@&B`? z_TRX0%@suz^TRdCb?!vNJYPY8L_}&07uySH9%W^Tc&1pia6y1q#?*Drf}GjGbPjBS zbOPcUY#*$3sL2x4v_i*Y=N7E$mR}J%|GUI(>WEr+28+V z%v5{#e!UF*6~G&%;l*q*$V?&r$Pp^sE^i-0$+RH3ERUUdQ0>rAq2(2QAbG}$y{de( z>{qD~GGuOk559Y@%$?N^1ApVL_a704>8OD%8Y%8B;FCt%AoPu8*D1 zLB5X>b}Syz81pn;xnB}%0FnwazlWfUV)Z-~rZg6~b z6!9J$EcE&sEbzcy?CI~=boWA&eeIa%z(7SE^qgVLz??1Vbc1*aRvc%Mri)AJaAG!p z$X!_9Ds;Zz)f+;%s&dRcJt2==P{^j3bf0M=nJd&xwUGlUFn?H=2W(*2I2Gdu zv!gYCwM10aeus)`RIZSrCK=&oKaO_Ry~D1B5!y0R=%!i2*KfXGYX&gNv_u+n9wiR5 z*e$Zjju&ODRW3phN925%S(jL+bCHv6rZtc?!*`1TyYXT6%Ju=|X;6D@lq$8T zW{Y|e39ioPez(pBH%k)HzFITXHvnD6hw^lIoUMA;qAJ^CU?top1fo@s7xT13Fvn1H z6JWa-6+FJF#x>~+A;D~;VDs26>^oH0EI`IYT2iagy23?nyJ==i{g4%HrAf1-*v zK1)~@&(KkwR7TL}L(A@C_S0G;-GMDy=MJn2$FP5s<%wC)4jC5PXoxrQBFZ_k0P{{s@sz+gX`-!=T8rcB(=7vW}^K6oLWMmp(rwDh}b zwaGGd>yEy6fHv%jM$yJXo5oMAQ>c9j`**}F?MCry;T@47@r?&sKHgVe$MCqk#Z_3S z1GZI~nOEN*P~+UaFGnj{{Jo@16`(qVNtbU>O0Hf57-P>x8Jikp=`s8xWs^dAJ9lCQ z)GFm+=OV%AMVqVATtN@|vp61VVAHRn87}%PC^RAzJ%JngmZTasWBAWsoAqBU+8L8u z4A&Pe?fmTm0?mK-BL9t+{y7o(7jm+RpOhL9KnY#E&qu^}B6=K_dB}*VlSEiC9fn)+V=J;OnN)Ta5v66ic1rG+dGAJ1 z1%Zb_+!$=tQ~lxQrzv3x#CPb?CekEkA}0MYSgx$Jdd}q8+R=ma$|&1a#)TQ=l$1tQ z=tL9&_^vJ)Pk}EDO-va`UCT1m#Uty1{v^A3P~83_#v^ozH}6*9mIjIr;t3Uv%@VeW zGL6(CwCUp)Jq%G0bIG%?{_*Y#5IHf*5M@wPo6A{$Um++Co$wLC=J1aoG93&T7Ho}P z=mGEPP7GbvoG!uD$k(H3A$Z))+i{Hy?QHdk>3xSBXR0j!11O^mEe9RHmw!pvzv?Ua~2_l2Yh~_!s1qS`|0~0)YsbHSz8!mG)WiJE| z2f($6TQtt6L_f~ApQYQKSb=`053LgrQq7G@98#igV>y#i==-nEjQ!XNu9 z~;mE+gtj4IDDNQJ~JVk5Ux6&LCSFL!y=>79kE9=V}J7tD==Ga+IW zX)r7>VZ9dY=V&}DR))xUoV!u(Z|%3ciQi_2jl}3=$Agc(`RPb z8kEBpvY>1FGQ9W$n>Cq=DIpski};nE)`p3IUw1Oz0|wxll^)4dq3;CCY@RyJgFgc# zKouFh!`?Xuo{IMz^xi-h=StCis_M7yq$u) z?XHvw*HP0VgR+KR6wI)jEMX|ssqYvSf*_3W8zVTQzD?3>H!#>InzpSO)@SC8q*ii- z%%h}_#0{4JG;Jm`4zg};BPTGkYamx$Xo#O~lBirRY)q=5M45n{GCfV7h9qwyu1NxOMoP4)jjZMxmT|IQQh0U7C$EbnMN<3)Kk?fFHYq$d|ICu>KbY_hO zTZM+uKHe(cIZfEqyzyYSUBZa8;Fcut-GN!HSA9ius`ltNebF46ZX_BbZNU}}ZOm{M2&nANL9@0qvih15(|`S~z}m&h!u4x~(%MAO$jHRWNfuxWF#B)E&g3ghSQ9|> z(MFaLQj)NE0lowyjvg8z0#m6FIuKE9lDO~Glg}nSb7`~^&#(Lw{}GVOS>U)m8bF}x zVjbXljBm34Cs-yM6TVusr+3kYFjr28STT3g056y3cH5Tmge~ASxBj z%|yb>$eF;WgrcOZf569sDZOVwoo%8>XO>XQOX1OyN9I-SQgrm;U;+#3OI(zrWyow3 zk==|{lt2xrQ%FIXOTejR>;wv(Pb8u8}BUpx?yd(Abh6? zsoO3VYWkeLnF43&@*#MQ9-i-d0t*xN-UEyNKeyNMHw|A(k(_6QKO=nKMCxD(W(Yop zsRQ)QeL4X3Lxp^L%wzi2-WVSsf61dqliPUM7srDB?Wm6Lzn0&{*}|IsKQW;02(Y&| zaTKv|`U(pSzuvR6Rduu$wzK_W-Y-7>7s?G$)U}&uK;<>vU}^^ns@Z!p+9?St1s)dG zK%y6xkPyyS1$~&6v{kl?Md6gwM|>mt6Upm>oa8RLD^8T{0?HC!Z>;(Bob7el(DV6x zi`I)$&E&ngwFS@bi4^xFLAn`=fzTC;aimE^!cMI2n@Vo%Ae-ne`RF((&5y6xsjjAZ zVguVoQ?Z9uk$2ON;ersE%PU*xGO@T*;j1BO5#TuZKEf(mB7|g7pcEA=nYJ{s3vlbg zd4-DUlD{*6o%Gc^N!Nptgay>j6E5;3psI+C3Q!1ZIbeCubW%w4pq9)MSDyB{HLm|k zxv-{$$A*pS@csolri$Ge<4VZ}e~78JOL-EVyrbxKra^d{?|NnPp86!q>t<&IP07?Z z^>~IK^k#OEKgRH+LjllZXk7iA>2cfH6+(e&9ku5poo~6y{GC5>(bRK7hwjiurqAiZ zg*DmtgY}v83IjE&AbiWgMyFbaRUPZ{lYiz$U^&Zt2YjG<%m((&_JUbZcfJ22(>bi5 z!J?<7AySj0JZ&<-qXX;mcV!f~>G=sB0KnjWca4}vrtunD^1TrpfeS^4dvFr!65knK zZh`d;*VOkPs4*-9kL>$GP0`(M!j~B;#x?Ba~&s6CopvO86oM?-? zOw#dIRc;6A6T?B`Qp%^<U5 z19x(ywSH$_N+Io!6;e?`tWaM$`=Db!gzx|lQ${DG!zb1Zl&|{kX0y6xvO1o z220r<-oaS^^R2pEyY;=Qllqpmue|5yI~D|iI!IGt@iod{Opz@*ml^w2bNs)p`M(Io z|E;;m*Xpjd9l)4G#KaWfV(t8YUn@A;nK^#xgv=LtnArX|vWQVuw3}B${h+frU2>9^ z!l6)!Uo4`5k`<<;E(ido7M6lKTgWezNLq>U*=uz&s=cc$1%>VrAeOoUtA|T6gO4>UNqsdK=NF*8|~*sl&wI=x9-EGiq*aqV!(VVXA57 zw9*o6Ir8Lj1npUXvlevtn(_+^X5rzdR>#(}4YcB9O50q97%rW2me5_L=%ffYPUSRc z!vv?Kv>dH994Qi>U(a<0KF6NH5b16enCp+mw^Hb3Xs1^tThFpz!3QuN#}KBbww`(h z7GO)1olDqy6?T$()R7y%NYx*B0k_2IBiZ14&8|JPFxeMF{vW>HF-Vi3+ZOI=+qP}n zw(+!WcTd~4ZJX1!ZM&y!+uyt=&i!+~d(V%GjH;-NsEEv6nS1TERt|RHh!0>W4+4pp z1-*EzAM~i`+1f(VEHI8So`S`akPfPTfq*`l{Fz`hS%k#JS0cjT2mS0#QLGf=J?1`he3W*;m4)ce8*WFq1sdP=~$5RlH1EdWm|~dCvKOi4*I_96{^95p#B<(n!d?B z=o`0{t+&OMwKcxiBECznJcfH!fL(z3OvmxP#oWd48|mMjpE||zdiTBdWelj8&Qosv zZFp@&UgXuvJw5y=q6*28AtxZzo-UUpkRW%ne+Ylf!V-0+uQXBW=5S1o#6LXNtY5!I z%Rkz#(S8Pjz*P7bqB6L|M#Er{|QLae-Y{KA>`^} z@lPjeX>90X|34S-7}ZVXe{wEei1<{*e8T-Nbj8JmD4iwcE+Hg_zhkPVm#=@b$;)h6 z<<6y`nPa`f3I6`!28d@kdM{uJOgM%`EvlQ5B2bL)Sl=|y@YB3KeOzz=9cUW3clPAU z^sYc}xf9{4Oj?L5MOlYxR{+>w=vJjvbyO5}ptT(o6dR|ygO$)nVCvNGnq(6;bHlBd zl?w-|plD8spjDF03g5ip;W3Z z><0{BCq!Dw;h5~#1BuQilq*TwEu)qy50@+BE4bX28+7erX{BD4H)N+7U`AVEuREE8 z;X?~fyhF-x_sRfHIj~6f(+^@H)D=ngP;mwJjxhQUbUdzk8f94Ab%59-eRIq?ZKrwD z(BFI=)xrUlgu(b|hAysqK<}8bslmNNeD=#JW*}^~Nrswn^xw*nL@Tx!49bfJecV&KC2G4q5a!NSv)06A_5N3Y?veAz;Gv+@U3R% z)~UA8-0LvVE{}8LVDOHzp~2twReqf}ODIyXMM6=W>kL|OHcx9P%+aJGYi_Om)b!xe zF40Vntn0+VP>o<$AtP&JANjXBn7$}C@{+@3I@cqlwR2MdwGhVPxlTIcRVu@Ho-wO` z_~Or~IMG)A_`6-p)KPS@cT9mu9RGA>dVh5wY$NM9-^c@N=hcNaw4ITjm;iWSP^ZX| z)_XpaI61<+La+U&&%2a z0za$)-wZP@mwSELo#3!PGTt$uy0C(nTT@9NX*r3Ctw6J~7A(m#8fE)0RBd`TdKfAT zCf@$MAxjP`O(u9s@c0Fd@|}UQ6qp)O5Q5DPCeE6mSIh|Rj{$cAVIWsA=xPKVKxdhg zLzPZ`3CS+KIO;T}0Ip!fAUaNU>++ZJZRk@I(h<)RsJUhZ&Ru9*!4Ptn;gX^~4E8W^TSR&~3BAZc#HquXn)OW|TJ`CTahk+{qe`5+ixON^zA9IFd8)kc%*!AiLu z>`SFoZ5bW-%7}xZ>gpJcx_hpF$2l+533{gW{a7ce^B9sIdmLrI0)4yivZ^(Vh@-1q zFT!NQK$Iz^xu%|EOK=n>ug;(7J4OnS$;yWmq>A;hsD_0oAbLYhW^1Vdt9>;(JIYjf zdb+&f&D4@4AS?!*XpH>8egQvSVX`36jMd>$+RgI|pEg))^djhGSo&#lhS~9%NuWfX zDDH;3T*GzRT@5=7ibO>N-6_XPBYxno@mD_3I#rDD?iADxX`! zh*v8^i*JEMzyN#bGEBz7;UYXki*Xr(9xXax(_1qVW=Ml)kSuvK$coq2A(5ZGhs_pF z$*w}FbN6+QDseuB9=fdp_MTs)nQf!2SlROQ!gBJBCXD&@-VurqHj0wm@LWX-TDmS= z71M__vAok|@!qgi#H&H%Vg-((ZfxPAL8AI{x|VV!9)ZE}_l>iWk8UPTGHs*?u7RfP z5MC&=c6X;XlUzrz5q?(!eO@~* zoh2I*%J7dF!!_!vXoSIn5o|wj1#_>K*&CIn{qSaRc&iFVxt*^20ngCL;QonIS>I5^ zMw8HXm>W0PGd*}Ko)f|~dDd%;Wu_RWI_d;&2g6R3S63Uzjd7dn%Svu-OKpx*o|N>F zZg=-~qLb~VRLpv`k zWSdfHh@?dp=s_X`{yxOlxE$4iuyS;Z-x!*E6eqmEm*j2bE@=ZI0YZ5%Yj29!5+J$4h{s($nakA`xgbO8w zi=*r}PWz#lTL_DSAu1?f%-2OjD}NHXp4pXOsCW;DS@BC3h-q4_l`<))8WgzkdXg3! zs1WMt32kS2E#L0p_|x+x**TFV=gn`m9BWlzF{b%6j-odf4{7a4y4Uaef@YaeuPhU8 zHBvRqN^;$Jizy+ z=zW{E5<>2gp$pH{M@S*!sJVQU)b*J5*bX4h>5VJve#Q6ga}cQ&iL#=(u+KroWrxa%8&~p{WEUF0il=db;-$=A;&9M{Rq`ouZ5m%BHT6%st%saGsD6)fQgLN}x@d3q>FC;=f%O3Cyg=Ke@Gh`XW za@RajqOE9UB6eE=zhG%|dYS)IW)&y&Id2n7r)6p_)vlRP7NJL(x4UbhlcFXWT8?K=%s7;z?Vjts?y2+r|uk8Wt(DM*73^W%pAkZa1Jd zNoE)8FvQA>Z`eR5Z@Ig6kS5?0h;`Y&OL2D&xnnAUzQz{YSdh0k zB3exx%A2TyI)M*EM6htrxSlep!Kk(P(VP`$p0G~f$smld6W1r_Z+o?=IB@^weq>5VYsYZZR@` z&XJFxd5{|KPZmVOSxc@^%71C@;z}}WhbF9p!%yLj3j%YOlPL5s>7I3vj25 z@xmf=*z%Wb4;Va6SDk9cv|r*lhZ`(y_*M@>q;wrn)oQx%B(2A$9(74>;$zmQ!4fN; z>XurIk-7@wZys<+7XL@0Fhe-f%*=(weaQEdR9Eh6>Kl-EcI({qoZqyzziGwpg-GM#251sK_ z=3|kitS!j%;fpc@oWn65SEL73^N&t>Ix37xgs= zYG%eQDJc|rqHFia0!_sm7`@lvcv)gfy(+KXA@E{3t1DaZ$DijWAcA)E0@X?2ziJ{v z&KOYZ|DdkM{}t+@{@*6ge}m%xfjIxi%qh`=^2Rwz@w0cCvZ&Tc#UmCDbVwABrON^x zEBK43FO@weA8s7zggCOWhMvGGE`baZ62cC)VHyy!5Zbt%ieH+XN|OLbAFPZWyC6)p z4P3%8sq9HdS3=ih^0OOlqTPbKuzQ?lBEI{w^ReUO{V?@`ARsL|S*%yOS=Z%sF)>-y z(LAQdhgAcuF6LQjRYfdbD1g4o%tV4EiK&ElLB&^VZHbrV1K>tHTO{#XTo>)2UMm`2 z^t4s;vnMQgf-njU-RVBRw0P0-m#d-u`(kq7NL&2T)TjI_@iKuPAK-@oH(J8?%(e!0Ir$yG32@CGUPn5w4)+9@8c&pGx z+K3GKESI4*`tYlmMHt@br;jBWTei&(a=iYslc^c#RU3Q&sYp zSG){)V<(g7+8W!Wxeb5zJb4XE{I|&Y4UrFWr%LHkdQ;~XU zgy^dH-Z3lmY+0G~?DrC_S4@=>0oM8Isw%g(id10gWkoz2Q%7W$bFk@mIzTCcIB(K8 zc<5h&ZzCdT=9n-D>&a8vl+=ZF*`uTvQviG_bLde*k>{^)&0o*b05x$MO3gVLUx`xZ z43j+>!u?XV)Yp@MmG%Y`+COH2?nQcMrQ%k~6#O%PeD_WvFO~Kct za4XoCM_X!c5vhRkIdV=xUB3xI2NNStK*8_Zl!cFjOvp-AY=D;5{uXj}GV{LK1~IE2 z|KffUiBaStRr;10R~K2VVtf{TzM7FaPm;Y(zQjILn+tIPSrJh&EMf6evaBKIvi42-WYU9Vhj~3< zZSM-B;E`g_o8_XTM9IzEL=9Lb^SPhe(f(-`Yh=X6O7+6ALXnTcUFpI>ekl6v)ZQeNCg2 z^H|{SKXHU*%nBQ@I3It0m^h+6tvI@FS=MYS$ZpBaG7j#V@P2ZuYySbp@hA# ze(kc;P4i_-_UDP?%<6>%tTRih6VBgScKU^BV6Aoeg6Uh(W^#J^V$Xo^4#Ekp ztqQVK^g9gKMTHvV7nb64UU7p~!B?>Y0oFH5T7#BSW#YfSB@5PtE~#SCCg3p^o=NkMk$<8- z6PT*yIKGrvne7+y3}_!AC8NNeI?iTY(&nakN>>U-zT0wzZf-RuyZk^X9H-DT_*wk= z;&0}6LsGtfVa1q)CEUPlx#(ED@-?H<1_FrHU#z5^P3lEB|qsxEyn%FOpjx z3S?~gvoXy~L(Q{Jh6*i~=f%9kM1>RGjBzQh_SaIDfSU_9!<>*Pm>l)cJD@wlyxpBV z4Fmhc2q=R_wHCEK69<*wG%}mgD1=FHi4h!98B-*vMu4ZGW~%IrYSLGU{^TuseqVgV zLP<%wirIL`VLyJv9XG_p8w@Q4HzNt-o;U@Au{7%Ji;53!7V8Rv0^Lu^Vf*sL>R(;c zQG_ZuFl)Mh-xEIkGu}?_(HwkB2jS;HdPLSxVU&Jxy9*XRG~^HY(f0g8Q}iqnVmgjI zfd=``2&8GsycjR?M%(zMjn;tn9agcq;&rR!Hp z$B*gzHsQ~aXw8c|a(L^LW(|`yGc!qOnV(ZjU_Q-4z1&0;jG&vAKuNG=F|H?@m5^N@ zq{E!1n;)kNTJ>|Hb2ODt-7U~-MOIFo%9I)_@7fnX+eMMNh>)V$IXesJpBn|uo8f~#aOFytCT zf9&%MCLf8mp4kwHTcojWmM3LU=#|{3L>E}SKwOd?%{HogCZ_Z1BSA}P#O(%H$;z7XyJ^sjGX;j5 zrzp>|Ud;*&VAU3x#f{CKwY7Vc{%TKKqmB@oTHA9;>?!nvMA;8+Jh=cambHz#J18x~ zs!dF>$*AnsQ{{82r5Aw&^7eRCdvcgyxH?*DV5(I$qXh^zS>us*I66_MbL8y4d3ULj z{S(ipo+T3Ag!+5`NU2sc+@*m{_X|&p#O-SAqF&g_n7ObB82~$p%fXA5GLHMC+#qqL zdt`sJC&6C2)=juQ_!NeD>U8lDVpAOkW*khf7MCcs$A(wiIl#B9HM%~GtQ^}yBPjT@ z+E=|A!Z?A(rwzZ;T}o6pOVqHzTr*i;Wrc%&36kc@jXq~+w8kVrs;%=IFdACoLAcCAmhFNpbP8;s`zG|HC2Gv?I~w4ITy=g$`0qMQdkijLSOtX6xW%Z9Nw<;M- zMN`c7=$QxN00DiSjbVt9Mi6-pjv*j(_8PyV-il8Q-&TwBwH1gz1uoxs6~uU}PrgWB zIAE_I-a1EqlIaGQNbcp@iI8W1sm9fBBNOk(k&iLBe%MCo#?xI$%ZmGA?=)M9D=0t7 zc)Q0LnI)kCy{`jCGy9lYX%mUsDWwsY`;jE(;Us@gmWPqjmXL+Hu#^;k%eT>{nMtzj zsV`Iy6leTA8-PndszF;N^X@CJrTw5IIm!GPeu)H2#FQitR{1p;MasQVAG3*+=9FYK zw*k!HT(YQorfQj+1*mCV458(T5=fH`um$gS38hw(OqVMyunQ;rW5aPbF##A3fGH6h z@W)i9Uff?qz`YbK4c}JzQpuxuE3pcQO)%xBRZp{zJ^-*|oryTxJ-rR+MXJ)!f=+pp z10H|DdGd2exhi+hftcYbM0_}C0ZI-2vh+$fU1acsB-YXid7O|=9L!3e@$H*6?G*Zp z%qFB(sgl=FcC=E4CYGp4CN>=M8#5r!RU!u+FJVlH6=gI5xHVD&k;Ta*M28BsxfMV~ zLz+@6TxnfLhF@5=yQo^1&S}cmTN@m!7*c6z;}~*!hNBjuE>NLVl2EwN!F+)0$R1S! zR|lF%n!9fkZ@gPW|x|B={V6x3`=jS*$Pu0+5OWf?wnIy>Y1MbbGSncpKO0qE(qO=ts z!~@&!N`10S593pVQu4FzpOh!tvg}p%zCU(aV5=~K#bKi zHdJ1>tQSrhW%KOky;iW+O_n;`l9~omqM%sdxdLtI`TrJzN6BQz+7xOl*rM>xVI2~# z)7FJ^Dc{DC<%~VS?@WXzuOG$YPLC;>#vUJ^MmtbSL`_yXtNKa$Hk+l-c!aC7gn(Cg ze?YPYZ(2Jw{SF6MiO5(%_pTo7j@&DHNW`|lD`~{iH+_eSTS&OC*2WTT*a`?|9w1dh zh1nh@$a}T#WE5$7Od~NvSEU)T(W$p$s5fe^GpG+7fdJ9=enRT9$wEk+ZaB>G3$KQO zgq?-rZZnIv!p#>Ty~}c*Lb_jxJg$eGM*XwHUwuQ|o^}b3^T6Bxx{!?va8aC@-xK*H ztJBFvFfsSWu89%@b^l3-B~O!CXs)I6Y}y#0C0U0R0WG zybjroj$io0j}3%P7zADXOwHwafT#uu*zfM!oD$6aJx7+WL%t-@6^rD_a_M?S^>c;z zMK580bZXo1f*L$CuMeM4Mp!;P@}b~$cd(s5*q~FP+NHSq;nw3fbWyH)i2)-;gQl{S zZO!T}A}fC}vUdskGSq&{`oxt~0i?0xhr6I47_tBc`fqaSrMOzR4>0H^;A zF)hX1nfHs)%Zb-(YGX;=#2R6C{BG;k=?FfP?9{_uFLri~-~AJ;jw({4MU7e*d)?P@ zXX*GkNY9ItFjhwgAIWq7Y!ksbMzfqpG)IrqKx9q{zu%Mdl+{Dis#p9q`02pr1LG8R z@As?eG!>IoROgS!@J*to<27coFc1zpkh?w=)h9CbYe%^Q!Ui46Y*HO0mr% zEff-*$ndMNw}H2a5@BsGj5oFfd!T(F&0$<{GO!Qdd?McKkorh=5{EIjDTHU`So>8V zBA-fqVLb2;u7UhDV1xMI?y>fe3~4urv3%PX)lDw+HYa;HFkaLqi4c~VtCm&Ca+9C~ zge+67hp#R9`+Euq59WhHX&7~RlXn=--m8$iZ~~1C8cv^2(qO#X0?vl91gzUKBeR1J z^p4!!&7)3#@@X&2aF2-)1Ffcc^F8r|RtdL2X%HgN&XU-KH2SLCbpw?J5xJ*!F-ypZ zMG%AJ!Pr&}`LW?E!K~=(NJxuSVTRCGJ$2a*Ao=uUDSys!OFYu!Vs2IT;xQ6EubLIl z+?+nMGeQQhh~??0!s4iQ#gm3!BpMpnY?04kK375e((Uc7B3RMj;wE?BCoQGu=UlZt!EZ1Q*auI)dj3Jj{Ujgt zW5hd~-HWBLI_3HuO) zNrb^XzPsTIb=*a69wAAA3J6AAZZ1VsYbIG}a`=d6?PjM)3EPaDpW2YP$|GrBX{q*! z$KBHNif)OKMBCFP5>!1d=DK>8u+Upm-{hj5o|Wn$vh1&K!lVfDB&47lw$tJ?d5|=B z^(_9=(1T3Fte)z^>|3**n}mIX;mMN5v2F#l(q*CvU{Ga`@VMp#%rQkDBy7kYbmb-q z<5!4iuB#Q_lLZ8}h|hPODI^U6`gzLJre9u3k3c#%86IKI*^H-@I48Bi*@avYm4v!n0+v zWu{M{&F8#p9cx+gF0yTB_<2QUrjMPo9*7^-uP#~gGW~y3nfPAoV%amgr>PSyVAd@l)}8#X zR5zV6t*uKJZL}?NYvPVK6J0v4iVpwiN|>+t3aYiZSp;m0!(1`bHO}TEtWR1tY%BPB z(W!0DmXbZAsT$iC13p4f>u*ZAy@JoLAkJhzFf1#4;#1deO8#8d&89}en&z!W&A3++^1(;>0SB1*54d@y&9Pn;^IAf3GiXbfT`_>{R+Xv; zQvgL>+0#8-laO!j#-WB~(I>l0NCMt_;@Gp_f0#^c)t?&#Xh1-7RR0@zPyBz!U#0Av zT?}n({(p?p7!4S2ZBw)#KdCG)uPnZe+U|0{BW!m)9 zi_9$F?m<`2!`JNFv+w8MK_K)qJ^aO@7-Ig>cM4-r0bi=>?B_2mFNJ}aE3<+QCzRr*NA!QjHw# z`1OsvcoD0?%jq{*7b!l|L1+Tw0TTAM4XMq7*ntc-Ived>Sj_ZtS|uVdpfg1_I9knY z2{GM_j5sDC7(W&}#s{jqbybqJWyn?{PW*&cQIU|*v8YGOKKlGl@?c#TCnmnAkAzV- zmK={|1G90zz=YUvC}+fMqts0d4vgA%t6Jhjv?d;(Z}(Ep8fTZfHA9``fdUHkA+z3+ zhh{ohP%Bj?T~{i0sYCQ}uC#5BwN`skI7`|c%kqkyWIQ;!ysvA8H`b-t()n6>GJj6xlYDu~8qX{AFo$Cm3d|XFL=4uvc?Keb zzb0ZmMoXca6Mob>JqkNuoP>B2Z>D`Q(TvrG6m`j}-1rGP!g|qoL=$FVQYxJQjFn33lODt3Wb1j8VR zlR++vIT6^DtYxAv_hxupbLLN3e0%A%a+hWTKDV3!Fjr^cWJ{scsAdfhpI)`Bms^M6 zQG$waKgFr=c|p9Piug=fcJvZ1ThMnNhQvBAg-8~b1?6wL*WyqXhtj^g(Ke}mEfZVM zJuLNTUVh#WsE*a6uqiz`b#9ZYg3+2%=C(6AvZGc=u&<6??!slB1a9K)=VL zY9EL^mfyKnD zSJyYBc_>G;5RRnrNgzJz#Rkn3S1`mZgO`(r5;Hw6MveN(URf_XS-r58Cn80K)ArH4 z#Rrd~LG1W&@ttw85cjp8xV&>$b%nSXH_*W}7Ch2pg$$c0BdEo-HWRTZcxngIBJad> z;C>b{jIXjb_9Jis?NZJsdm^EG}e*pR&DAy0EaSGi3XWTa(>C%tz1n$u?5Fb z1qtl?;_yjYo)(gB^iQq?=jusF%kywm?CJP~zEHi0NbZ);$(H$w(Hy@{i>$wcVRD_X|w-~(0Z9BJyh zhNh;+eQ9BEIs;tPz%jSVnfCP!3L&9YtEP;svoj_bNzeGSQIAjd zBss@A;)R^WAu-37RQrM%{DfBNRx>v!G31Z}8-El9IOJlb_MSoMu2}GDYycNaf>uny z+8xykD-7ONCM!APry_Lw6-yT>5!tR}W;W`C)1>pxSs5o1z#j7%m=&=7O4hz+Lsqm` z*>{+xsabZPr&X=}G@obTb{nPTkccJX8w3CG7X+1+t{JcMabv~UNv+G?txRqXib~c^Mo}`q{$`;EBNJ;#F*{gvS12kV?AZ%O0SFB$^ zn+}!HbmEj}w{Vq(G)OGAzH}R~kS^;(-s&=ectz8vN!_)Yl$$U@HNTI-pV`LSj7Opu zTZ5zZ)-S_{GcEQPIQXLQ#oMS`HPu{`SQiAZ)m1at*Hy%3xma|>o`h%E%8BEbi9p0r zVjcsh<{NBKQ4eKlXU|}@XJ#@uQw*$4BxKn6#W~I4T<^f99~(=}a`&3(ur8R9t+|AQ zWkQx7l}wa48-jO@ft2h+7qn%SJtL%~890FG0s5g*kNbL3I&@brh&f6)TlM`K^(bhr zJWM6N6x3flOw$@|C@kPi7yP&SP?bzP-E|HSXQXG>7gk|R9BTj`e=4de9C6+H7H7n# z#GJeVs1mtHhLDmVO?LkYRQc`DVOJ_vdl8VUihO-j#t=0T3%Fc1f9F73ufJz*adn*p zc%&vi(4NqHu^R>sAT_0EDjVR8bc%wTz#$;%NU-kbDyL_dg0%TFafZwZ?5KZpcuaO54Z9hX zD$u>q!-9`U6-D`E#`W~fIfiIF5_m6{fvM)b1NG3xf4Auw;Go~Fu7cth#DlUn{@~yu z=B;RT*dp?bO}o%4x7k9v{r=Y@^YQ^UUm(Qmliw8brO^=NP+UOohLYiaEB3^DB56&V zK?4jV61B|1Uj_5fBKW;8LdwOFZKWp)g{B%7g1~DgO&N& z#lisxf?R~Z@?3E$Mms$$JK8oe@X`5m98V*aV6Ua}8Xs2#A!{x?IP|N(%nxsH?^c{& z@vY&R1QmQs83BW28qAmJfS7MYi=h(YK??@EhjL-t*5W!p z^gYX!Q6-vBqcv~ruw@oMaU&qp0Fb(dbVzm5xJN%0o_^@fWq$oa3X?9s%+b)x4w-q5Koe(@j6Ez7V@~NRFvd zfBH~)U5!ix3isg`6be__wBJp=1@yfsCMw1C@y+9WYD9_C%{Q~7^0AF2KFryfLlUP# zwrtJEcH)jm48!6tUcxiurAMaiD04C&tPe6DI0#aoqz#Bt0_7_*X*TsF7u*zv(iEfA z;$@?XVu~oX#1YXtceQL{dSneL&*nDug^OW$DSLF0M1Im|sSX8R26&)<0Fbh^*l6!5wfSu8MpMoh=2l z^^0Sr$UpZp*9oqa23fcCfm7`ya2<4wzJ`Axt7e4jJrRFVf?nY~2&tRL* zd;6_njcz01c>$IvN=?K}9ie%Z(BO@JG2J}fT#BJQ+f5LFSgup7i!xWRKw6)iITjZU z%l6hPZia>R!`aZjwCp}I zg)%20;}f+&@t;(%5;RHL>K_&7MH^S+7<|(SZH!u zznW|jz$uA`P9@ZWtJgv$EFp>)K&Gt+4C6#*khZQXS*S~6N%JDT$r`aJDs9|uXWdbg zBwho$phWx}x!qy8&}6y5Vr$G{yGSE*r$^r{}pw zVTZKvikRZ`J_IJrjc=X1uw?estdwm&bEahku&D04HD+0Bm~q#YGS6gp!KLf$A{%Qd z&&yX@Hp>~(wU{|(#U&Bf92+1i&Q*-S+=y=3pSZy$#8Uc$#7oiJUuO{cE6=tsPhwPe| zxQpK>`Dbka`V)$}e6_OXKLB%i76~4N*zA?X+PrhH<&)}prET;kel24kW%+9))G^JI zsq7L{P}^#QsZViX%KgxBvEugr>ZmFqe^oAg?{EI=&_O#e)F3V#rc z8$4}0Zr19qd3tE4#$3_f=Bbx9oV6VO!d3(R===i-7p=Vj`520w0D3W6lQfY48}!D* z&)lZMG;~er2qBoI2gsX+Ts-hnpS~NYRDtPd^FPzn!^&yxRy#CSz(b&E*tL|jIkq|l zf%>)7Dtu>jCf`-7R#*GhGn4FkYf;B$+9IxmqH|lf6$4irg{0ept__%)V*R_OK=T06 zyT_m-o@Kp6U{l5h>W1hGq*X#8*y@<;vsOFqEjTQXFEotR+{3}ODDnj;o0@!bB5x=N z394FojuGOtVKBlVRLtHp%EJv_G5q=AgF)SKyRN5=cGBjDWv4LDn$IL`*=~J7u&Dy5 zrMc83y+w^F&{?X(KOOAl-sWZDb{9X9#jrQtmrEXD?;h-}SYT7yM(X_6qksM=K_a;Z z3u0qT0TtaNvDER_8x*rxXw&C^|h{P1qxK|@pS7vdlZ#P z7PdB7MmC2}%sdzAxt>;WM1s0??`1983O4nFK|hVAbHcZ3x{PzytQLkCVk7hA!Lo` zEJH?4qw|}WH{dc4z%aB=0XqsFW?^p=X}4xnCJXK%c#ItOSjdSO`UXJyuc8bh^Cf}8 z@Ht|vXd^6{Fgai8*tmyRGmD_s_nv~r^Fy7j`Bu`6=G)5H$i7Q7lvQnmea&TGvJp9a|qOrUymZ$6G|Ly z#zOCg++$3iB$!6!>215A4!iryregKuUT344X)jQb3|9qY>c0LO{6Vby05n~VFzd?q zgGZv&FGlkiH*`fTurp>B8v&nSxNz)=5IF$=@rgND4d`!AaaX;_lK~)-U8la_Wa8i?NJC@BURO*sUW)E9oyv3RG^YGfN%BmxzjlT)bp*$<| zX3tt?EAy<&K+bhIuMs-g#=d1}N_?isY)6Ay$mDOKRh z4v1asEGWoAp=srraLW^h&_Uw|6O+r;wns=uwYm=JN4Q!quD8SQRSeEcGh|Eb5Jg8m zOT}u;N|x@aq)=&;wufCc^#)5U^VcZw;d_wwaoh9$p@Xrc{DD6GZUqZ ziC6OT^zSq@-lhbgR8B+e;7_Giv;DK5gn^$bs<6~SUadiosfewWDJu`XsBfOd1|p=q zE>m=zF}!lObA%ePey~gqU8S6h-^J2Y?>7)L2+%8kV}Gp=h`Xm_}rlm)SyUS=`=S7msKu zC|T!gPiI1rWGb1z$Md?0YJQ;%>uPLOXf1Z>N~`~JHJ!^@D5kSXQ4ugnFZ>^`zH8CAiZmp z6Ms|#2gcGsQ{{u7+Nb9sA?U>(0e$5V1|WVwY`Kn)rsnnZ4=1u=7u!4WexZD^IQ1Jk zfF#NLe>W$3m&C^ULjdw+5|)-BSHwpegdyt9NYC{3@QtMfd8GrIWDu`gd0nv-3LpGCh@wgBaG z176tikL!_NXM+Bv#7q^cyn9$XSeZR6#!B4JE@GVH zoobHZN_*RF#@_SVYKkQ_igme-Y5U}cV(hkR#k1c{bQNMji zU7aE`?dHyx=1`kOYZo_8U7?3-7vHOp`Qe%Z*i+FX!s?6huNp0iCEW-Z7E&jRWmUW_ z67j>)Ew!yq)hhG4o?^z}HWH-e=es#xJUhDRc4B51M4~E-l5VZ!&zQq`gWe`?}#b~7w1LH4Xa-UCT5LXkXQWheBa2YJYbyQ zl1pXR%b(KCXMO0OsXgl0P0Og<{(@&z1aokU-Pq`eQq*JYgt8xdFQ6S z6Z3IFSua8W&M#`~*L#r>Jfd6*BzJ?JFdBR#bDv$_0N!_5vnmo@!>vULcDm`MFU823 zpG9pqjqz^FE5zMDoGqhs5OMmC{Y3iVcl>F}5Rs24Y5B^mYQ;1T&ks@pIApHOdrzXF z-SdX}Hf{X;TaSxG_T$0~#RhqKISGKNK47}0*x&nRIPtmdwxc&QT3$8&!3fWu1eZ_P zJveQj^hJL#Sn!*4k`3}(d(aasl&7G0j0-*_2xtAnoX1@9+h zO#c>YQg60Z;o{Bi=3i7S`Ic+ZE>K{(u|#)9y}q*j8uKQ1^>+(BI}m%1v3$=4ojGBc zm+o1*!T&b}-lVvZqIUBc8V}QyFEgm#oyIuC{8WqUNV{Toz`oxhYpP!_p2oHHh5P@iB*NVo~2=GQm+8Yrkm2Xjc_VyHg1c0>+o~@>*Qzo zHVBJS>$$}$_4EniTI;b1WShX<5-p#TPB&!;lP!lBVBbLOOxh6FuYloD%m;n{r|;MU3!q4AVkua~fieeWu2 zQAQ$ue(IklX6+V;F1vCu-&V?I3d42FgWgsb_e^29ol}HYft?{SLf>DrmOp9o!t>I^ zY7fBCk+E8n_|apgM|-;^=#B?6RnFKlN`oR)`e$+;D=yO-(U^jV;rft^G_zl`n7qnM zL z*-Y4Phq+ZI1$j$F-f;`CD#|`-T~OM5Q>x}a>B~Gb3-+9i>Lfr|Ca6S^8g*{*?_5!x zH_N!SoRP=gX1?)q%>QTY!r77e2j9W(I!uAz{T`NdNmPBBUzi2{`XMB^zJGGwFWeA9 z{fk33#*9SO0)DjROug+(M)I-pKA!CX;IY(#gE!UxXVsa)X!UftIN98{pt#4MJHOhY zM$_l}-TJlxY?LS6Nuz1T<44m<4i^8k@D$zuCPrkmz@sdv+{ciyFJG2Zwy&%c7;atIeTdh!a(R^QXnu1Oq1b42*OQFWnyQ zWeQrdvP|w_idy53Wa<{QH^lFmEd+VlJkyiC>6B#s)F;w-{c;aKIm;Kp50HnA-o3lY z9B~F$gJ@yYE#g#X&3ADx&tO+P_@mnQTz9gv30_sTsaGXkfNYXY{$(>*PEN3QL>I!k zp)KibPhrfX3%Z$H6SY`rXGYS~143wZrG2;=FLj50+VM6soI~up_>fU(2Wl@{BRsMi zO%sL3x?2l1cXTF)k&moNsHfQrQ+wu(gBt{sk#CU=UhrvJIncy@tJX5klLjgMn>~h= zg|FR&;@eh|C7`>s_9c~0-{IAPV){l|Ts`i=)AW;d9&KPc3fMeoTS%8@V~D8*h;&(^>yjT84MM}=%#LS7shLAuuj(0VAYoozhWjq z4LEr?wUe2^WGwdTIgWBkDUJa>YP@5d9^Rs$kCXmMRxuF*YMVrn?0NFyPl}>`&dqZb z<5eqR=ZG3>n2{6v6BvJ`YBZeeTtB88TAY(x0a58EWyuf>+^|x8Qa6wA|1Nb_p|nA zWWa}|z8a)--Wj`LqyFk_a3gN2>5{Rl_wbW?#by7&i*^hRknK%jwIH6=dQ8*-_{*x0j^DUfMX0`|K@6C<|1cgZ~D(e5vBFFm;HTZF(!vT8=T$K+|F)x3kqzBV4-=p1V(lzi(s7jdu0>LD#N=$Lk#3HkG!a zIF<7>%B7sRNzJ66KrFV76J<2bdYhxll0y2^_rdG=I%AgW4~)1Nvz=$1UkE^J%BxLo z+lUci`UcU062os*=`-j4IfSQA{w@y|3}Vk?i;&SSdh8n+$iHA#%ERL{;EpXl6u&8@ zzg}?hkEOUOJt?ZL=pWZFJ19mI1@P=$U5*Im1e_8Z${JsM>Ov?nh8Z zP5QvI!{Jy@&BP48%P2{Jr_VgzW;P@7)M9n|lDT|Ep#}7C$&ud&6>C^5ZiwKIg2McPU(4jhM!BD@@L(Gd*Nu$ji(ljZ<{FIeW_1Mmf;76{LU z-ywN~=uNN)Xi6$<12A9y)K%X|(W0p|&>>4OXB?IiYr||WKDOJPxiSe01NSV-h24^L z_>m$;|C+q!Mj**-qQ$L-*++en(g|hw;M!^%_h-iDjFHLo-n3JpB;p?+o2;`*jpvJU zLY^lt)Un4joij^^)O(CKs@7E%*!w>!HA4Q?0}oBJ7Nr8NQ7QmY^4~jvf0-`%waOLn zdNjAPaC0_7c|RVhw)+71NWjRi!y>C+Bl;Z`NiL^zn2*0kmj5gyhCLCxts*cWCdRI| zjsd=sT5BVJc^$GxP~YF$-U{-?kW6r@^vHXB%{CqYzU@1>dzf#3SYedJG-Rm6^RB7s zGM5PR(yKPKR)>?~vpUIeTP7A1sc8-knnJk*9)3t^e%izbdm>Y=W{$wm(cy1RB-19i za#828DMBY+ps#7Y8^6t)=Ea@%Nkt)O6JCx|ybC;Ap}Z@Zw~*}3P>MZLPb4Enxz9Wf zssobT^(R@KuShj8>@!1M7tm|2%-pYYDxz-5`rCbaTCG5{;Uxm z*g=+H1X8{NUvFGzz~wXa%Eo};I;~`37*WrRU&K0dPSB$yk(Z*@K&+mFal^?c zurbqB-+|Kb5|sznT;?Pj!+kgFY1#Dr;_%A(GIQC{3ct|{*Bji%FNa6c-thbpBkA;U zURV!Dr&X{0J}iht#-Qp2=xzuh(fM>zRoiGrYl5ttw2#r34gC41CCOC31m~^UPTK@s z6;A@)7O7_%C)>bnAXerYuAHdE93>j2N}H${zEc6&SbZ|-fiG*-qtGuy-qDelH(|u$ zorf8_T6Zqe#Ub!+e3oSyrskt_HyW_^5lrWt#30l)tHk|j$@YyEkXUOV;6B51L;M@=NIWZXU;GrAa(LGxO%|im%7F<-6N;en0Cr zLH>l*y?pMwt`1*cH~LdBPFY_l;~`N!Clyfr;7w<^X;&(ZiVdF1S5e(+Q%60zgh)s4 zn2yj$+mE=miVERP(g8}G4<85^-5f@qxh2ec?n+$A_`?qN=iyT1?U@t?V6DM~BIlBB z>u~eXm-aE>R0sQy!-I4xtCNi!!qh?R1!kKf6BoH2GG{L4%PAz0{Sh6xpuyI%*~u)s z%rLuFl)uQUCBQAtMyN;%)zFMx4loh7uTfKeB2Xif`lN?2gq6NhWhfz0u5WP9J>=V2 zo{mLtSy&BA!mSzs&CrKWq^y40JF5a&GSXIi2= z{EYb59J4}VwikL4P=>+mc6{($FNE@e=VUwG+KV21;<@lrN`mnz5jYGASyvz7BOG_6(p^eTxD-4O#lROgon;R35=|nj#eHIfJBYPWG>H>`dHKCDZ3`R{-?HO0mE~(5_WYcFmp8sU?wr*UkAQiNDGc6T zA%}GOLXlOWqL?WwfHO8MB#8M8*~Y*gz;1rWWoVSXP&IbKxbQ8+s%4Jnt?kDsq7btI zCDr0PZ)b;B%!lu&CT#RJzm{l{2fq|BcY85`w~3LSK<><@(2EdzFLt9Y_`;WXL6x`0 zDoQ?=?I@Hbr;*VVll1Gmd8*%tiXggMK81a+T(5Gx6;eNb8=uYn z5BG-0g>pP21NPn>$ntBh>`*})Fl|38oC^9Qz>~MAazH%3Q~Qb!ALMf$srexgPZ2@&c~+hxRi1;}+)-06)!#Mq<6GhP z-Q?qmgo${aFBApb5p}$1OJKTClfi8%PpnczyVKkoHw7Ml9e7ikrF0d~UB}i3vizos zXW4DN$SiEV9{faLt5bHy2a>33K%7Td-n5C*N;f&ZqAg#2hIqEb(y<&f4u5BWJ>2^4 z414GosL=Aom#m&=x_v<0-fp1r%oVJ{T-(xnomNJ(Dryv zh?vj+%=II_nV+@NR+(!fZZVM&(W6{6%9cm+o+Z6}KqzLw{(>E86uA1`_K$HqINlb1 zKelh3-jr2I9V?ych`{hta9wQ2c9=MM`2cC{m6^MhlL2{DLv7C^j z$xXBCnDl_;l|bPGMX@*tV)B!c|4oZyftUlP*?$YU9C_eAsuVHJ58?)zpbr30P*C`T z7y#ao`uE-SOG(Pi+`$=e^mle~)pRrdwL5)N;o{gpW21of(QE#U6w%*C~`v-z0QqBML!!5EeYA5IQB0 z^l01c;L6E(iytN!LhL}wfwP7W9PNAkb+)Cst?qg#$n;z41O4&v+8-zPs+XNb-q zIeeBCh#ivnFLUCwfS;p{LC0O7tm+Sf9Jn)~b%uwP{%69;QC)Ok0t%*a5M+=;y8j=v z#!*pp$9@!x;UMIs4~hP#pnfVc!%-D<+wsG@R2+J&%73lK|2G!EQC)O05TCV=&3g)C!lT=czLpZ@Sa%TYuoE?v8T8`V;e$#Zf2_Nj6nvBgh1)2 GZ~q4|mN%#X literal 59536 zcma&NbC71ylI~qywr$(CZQJHswz}-9F59+k+g;UV+cs{`J?GrGXYR~=-ydruB3JCa zB64N^cILAcWk5iofq)<(fq;O7{th4@;QxID0)qN`mJ?GIqLY#rX8-|G{5M0pdVW5^ zzXk$-2kQTAC?_N@B`&6-N-rmVFE=$QD?>*=4<|!MJu@}isLc4AW#{m2if&A5T5g&~ ziuMQeS*U5sL6J698wOd)K@oK@1{peP5&Esut<#VH^u)gp`9H4)`uE!2$>RTctN+^u z=ASkePDZA-X8)rp%D;p*~P?*a_=*Kwc<^>QSH|^<0>o37lt^+Mj1;4YvJ(JR-Y+?%Nu}JAYj5 z_Qc5%Ao#F?q32i?ZaN2OSNhWL;2oDEw_({7ZbgUjna!Fqn3NzLM@-EWFPZVmc>(fZ z0&bF-Ch#p9C{YJT9Rcr3+Y_uR^At1^BxZ#eo>$PLJF3=;t_$2|t+_6gg5(j{TmjYU zK12c&lE?Eh+2u2&6Gf*IdKS&6?rYbSEKBN!rv{YCm|Rt=UlPcW9j`0o6{66#y5t9C zruFA2iKd=H%jHf%ypOkxLnO8#H}#Zt{8p!oi6)7#NqoF({t6|J^?1e*oxqng9Q2Cc zg%5Vu!em)}Yuj?kaP!D?b?(C*w!1;>R=j90+RTkyEXz+9CufZ$C^umX^+4|JYaO<5 zmIM3#dv`DGM;@F6;(t!WngZSYzHx?9&$xEF70D1BvfVj<%+b#)vz)2iLCrTeYzUcL z(OBnNoG6Le%M+@2oo)&jdOg=iCszzv59e zDRCeaX8l1hC=8LbBt|k5?CXgep=3r9BXx1uR8!p%Z|0+4Xro=xi0G!e{c4U~1j6!) zH6adq0}#l{%*1U(Cb%4AJ}VLWKBPi0MoKFaQH6x?^hQ!6em@993xdtS%_dmevzeNl z(o?YlOI=jl(`L9^ z0O+H9k$_@`6L13eTT8ci-V0ljDMD|0ifUw|Q-Hep$xYj0hTO@0%IS^TD4b4n6EKDG z??uM;MEx`s98KYN(K0>c!C3HZdZ{+_53DO%9k5W%pr6yJusQAv_;IA}925Y%;+!tY z%2k!YQmLLOr{rF~!s<3-WEUs)`ix_mSU|cNRBIWxOox_Yb7Z=~Q45ZNe*u|m^|)d* zog=i>`=bTe!|;8F+#H>EjIMcgWcG2ORD`w0WD;YZAy5#s{65~qfI6o$+Ty&-hyMyJ z3Ra~t>R!p=5ZpxA;QkDAoPi4sYOP6>LT+}{xp}tk+<0k^CKCFdNYG(Es>p0gqD)jP zWOeX5G;9(m@?GOG7g;e74i_|SmE?`B2i;sLYwRWKLy0RLW!Hx`=!LH3&k=FuCsM=9M4|GqzA)anEHfxkB z?2iK-u(DC_T1};KaUT@3nP~LEcENT^UgPvp!QC@Dw&PVAhaEYrPey{nkcn(ro|r7XUz z%#(=$7D8uP_uU-oPHhd>>^adbCSQetgSG`e$U|7mr!`|bU0aHl_cmL)na-5x1#OsVE#m*+k84Y^+UMeSAa zbrVZHU=mFwXEaGHtXQq`2ZtjfS!B2H{5A<3(nb-6ARVV8kEmOkx6D2x7~-6hl;*-*}2Xz;J#a8Wn;_B5=m zl3dY;%krf?i-Ok^Pal-}4F`{F@TYPTwTEhxpZK5WCpfD^UmM_iYPe}wpE!Djai6_{ z*pGO=WB47#Xjb7!n2Ma)s^yeR*1rTxp`Mt4sfA+`HwZf%!7ZqGosPkw69`Ix5Ku6G z@Pa;pjzV&dn{M=QDx89t?p?d9gna*}jBly*#1!6}5K<*xDPJ{wv4& zM$17DFd~L*Te3A%yD;Dp9UGWTjRxAvMu!j^Tbc}2v~q^59d4bz zvu#!IJCy(BcWTc`;v$9tH;J%oiSJ_i7s;2`JXZF+qd4C)vY!hyCtl)sJIC{ebI*0> z@x>;EzyBv>AI-~{D6l6{ST=em*U( z(r$nuXY-#CCi^8Z2#v#UXOt`dbYN1z5jzNF2 z411?w)whZrfA20;nl&C1Gi+gk<`JSm+{|*2o<< zqM#@z_D`Cn|0H^9$|Tah)0M_X4c37|KQ*PmoT@%xHc3L1ZY6(p(sNXHa&49Frzto& zR`c~ClHpE~4Z=uKa5S(-?M8EJ$zt0&fJk~p$M#fGN1-y$7!37hld`Uw>Urri(DxLa;=#rK0g4J)pXMC zxzraOVw1+kNWpi#P=6(qxf`zSdUC?D$i`8ZI@F>k6k zz21?d+dw7b&i*>Kv5L(LH-?J%@WnqT7j#qZ9B>|Zl+=> z^U-pV@1y_ptHo4hl^cPRWewbLQ#g6XYQ@EkiP z;(=SU!yhjHp%1&MsU`FV1Z_#K1&(|5n(7IHbx&gG28HNT)*~-BQi372@|->2Aw5It z0CBpUcMA*QvsPy)#lr!lIdCi@1k4V2m!NH)%Px(vu-r(Q)HYc!p zJ^$|)j^E#q#QOgcb^pd74^JUi7fUmMiNP_o*lvx*q%_odv49Dsv$NV;6J z9GOXKomA{2Pb{w}&+yHtH?IkJJu~}Z?{Uk++2mB8zyvh*xhHKE``99>y#TdD z&(MH^^JHf;g(Tbb^&8P*;_i*2&fS$7${3WJtV7K&&(MBV2~)2KB3%cWg#1!VE~k#C z!;A;?p$s{ihyojEZz+$I1)L}&G~ml=udD9qh>Tu(ylv)?YcJT3ihapi!zgPtWb*CP zlLLJSRCj-^w?@;RU9aL2zDZY1`I3d<&OMuW=c3$o0#STpv_p3b9Wtbql>w^bBi~u4 z3D8KyF?YE?=HcKk!xcp@Cigvzy=lnFgc^9c%(^F22BWYNAYRSho@~*~S)4%AhEttv zvq>7X!!EWKG?mOd9&n>vvH1p4VzE?HCuxT-u+F&mnsfDI^}*-d00-KAauEaXqg3k@ zy#)MGX!X;&3&0s}F3q40ZmVM$(H3CLfpdL?hB6nVqMxX)q=1b}o_PG%r~hZ4gUfSp zOH4qlEOW4OMUc)_m)fMR_rl^pCfXc{$fQbI*E&mV77}kRF z&{<06AJyJ!e863o-V>FA1a9Eemx6>^F$~9ppt()ZbPGfg_NdRXBWoZnDy2;#ODgf! zgl?iOcF7Meo|{AF>KDwTgYrJLb$L2%%BEtO>T$C?|9bAB&}s;gI?lY#^tttY&hfr# zKhC+&b-rpg_?~uVK%S@mQleU#_xCsvIPK*<`E0fHE1&!J7!xD#IB|SSPW6-PyuqGn3^M^Rz%WT{e?OI^svARX&SAdU77V(C~ zM$H{Kg59op{<|8ry9ecfP%=kFm(-!W&?U0@<%z*+!*<e0XesMxRFu9QnGqun6R_%T+B%&9Dtk?*d$Q zb~>84jEAPi@&F@3wAa^Lzc(AJz5gsfZ7J53;@D<;Klpl?sK&u@gie`~vTsbOE~Cd4 z%kr56mI|#b(Jk&;p6plVwmNB0H@0SmgdmjIn5Ne@)}7Vty(yb2t3ev@22AE^s!KaN zyQ>j+F3w=wnx7w@FVCRe+`vUH)3gW%_72fxzqX!S&!dchdkRiHbXW1FMrIIBwjsai8`CB2r4mAbwp%rrO>3B$Zw;9=%fXI9B{d(UzVap7u z6piC-FQ)>}VOEuPpuqznpY`hN4dGa_1Xz9rVg(;H$5Te^F0dDv*gz9JS<|>>U0J^# z6)(4ICh+N_Q`Ft0hF|3fSHs*?a=XC;e`sJaU9&d>X4l?1W=|fr!5ShD|nv$GK;j46@BV6+{oRbWfqOBRb!ir88XD*SbC(LF}I1h#6@dvK%Toe%@ zhDyG$93H8Eu&gCYddP58iF3oQH*zLbNI;rN@E{T9%A8!=v#JLxKyUe}e}BJpB{~uN zqgxRgo0*-@-iaHPV8bTOH(rS(huwK1Xg0u+e!`(Irzu@Bld&s5&bWgVc@m7;JgELd zimVs`>vQ}B_1(2#rv#N9O`fJpVfPc7V2nv34PC);Dzbb;p!6pqHzvy?2pD&1NE)?A zt(t-ucqy@wn9`^MN5apa7K|L=9>ISC>xoc#>{@e}m#YAAa1*8-RUMKwbm|;5p>T`Z zNf*ph@tnF{gmDa3uwwN(g=`Rh)4!&)^oOy@VJaK4lMT&5#YbXkl`q?<*XtsqD z9PRK6bqb)fJw0g-^a@nu`^?71k|m3RPRjt;pIkCo1{*pdqbVs-Yl>4E>3fZx3Sv44grW=*qdSoiZ9?X0wWyO4`yDHh2E!9I!ZFi zVL8|VtW38}BOJHW(Ax#KL_KQzarbuE{(%TA)AY)@tY4%A%P%SqIU~8~-Lp3qY;U-} z`h_Gel7;K1h}7$_5ZZT0&%$Lxxr-<89V&&TCsu}LL#!xpQ1O31jaa{U34~^le*Y%L za?7$>Jk^k^pS^_M&cDs}NgXlR>16AHkSK-4TRaJSh#h&p!-!vQY%f+bmn6x`4fwTp z$727L^y`~!exvmE^W&#@uY!NxJi`g!i#(++!)?iJ(1)2Wk;RN zFK&O4eTkP$Xn~4bB|q8y(btx$R#D`O@epi4ofcETrx!IM(kWNEe42Qh(8*KqfP(c0 zouBl6>Fc_zM+V;F3znbo{x#%!?mH3`_ANJ?y7ppxS@glg#S9^MXu|FM&ynpz3o&Qh z2ujAHLF3($pH}0jXQsa#?t--TnF1P73b?4`KeJ9^qK-USHE)4!IYgMn-7z|=ALF5SNGkrtPG@Y~niUQV2?g$vzJN3nZ{7;HZHzWAeQ;5P|@Tl3YHpyznGG4-f4=XflwSJY+58-+wf?~Fg@1p1wkzuu-RF3j2JX37SQUc? zQ4v%`V8z9ZVZVqS8h|@@RpD?n0W<=hk=3Cf8R?d^9YK&e9ZybFY%jdnA)PeHvtBe- zhMLD+SSteHBq*q)d6x{)s1UrsO!byyLS$58WK;sqip$Mk{l)Y(_6hEIBsIjCr5t>( z7CdKUrJTrW%qZ#1z^n*Lb8#VdfzPw~OIL76aC+Rhr<~;4Tl!sw?Rj6hXj4XWa#6Tp z@)kJ~qOV)^Rh*-?aG>ic2*NlC2M7&LUzc9RT6WM%Cpe78`iAowe!>(T0jo&ivn8-7 zs{Qa@cGy$rE-3AY0V(l8wjI^uB8Lchj@?L}fYal^>T9z;8juH@?rG&g-t+R2dVDBe zq!K%{e-rT5jX19`(bP23LUN4+_zh2KD~EAYzhpEO3MUG8@}uBHH@4J zd`>_(K4q&>*k82(dDuC)X6JuPrBBubOg7qZ{?x!r@{%0);*`h*^F|%o?&1wX?Wr4b z1~&cy#PUuES{C#xJ84!z<1tp9sfrR(i%Tu^jnXy;4`Xk;AQCdFC@?V%|; zySdC7qS|uQRcH}EFZH%mMB~7gi}a0utE}ZE_}8PQH8f;H%PN41Cb9R%w5Oi5el^fd z$n{3SqLCnrF##x?4sa^r!O$7NX!}&}V;0ZGQ&K&i%6$3C_dR%I7%gdQ;KT6YZiQrW zk%q<74oVBV>@}CvJ4Wj!d^?#Zwq(b$E1ze4$99DuNg?6t9H}k_|D7KWD7i0-g*EO7 z;5{hSIYE4DMOK3H%|f5Edx+S0VI0Yw!tsaRS2&Il2)ea^8R5TG72BrJue|f_{2UHa z@w;^c|K3da#$TB0P3;MPlF7RuQeXT$ zS<<|C0OF(k)>fr&wOB=gP8!Qm>F41u;3esv7_0l%QHt(~+n; zf!G6%hp;Gfa9L9=AceiZs~tK+Tf*Wof=4!u{nIO90jH@iS0l+#%8=~%ASzFv7zqSB^?!@N7)kp0t&tCGLmzXSRMRyxCmCYUD2!B`? zhs$4%KO~m=VFk3Buv9osha{v+mAEq=ik3RdK@;WWTV_g&-$U4IM{1IhGX{pAu%Z&H zFfwCpUsX%RKg);B@7OUzZ{Hn{q6Vv!3#8fAg!P$IEx<0vAx;GU%}0{VIsmFBPq_mb zpe^BChDK>sc-WLKl<6 zwbW|e&d&dv9Wu0goueyu>(JyPx1mz0v4E?cJjFuKF71Q1)AL8jHO$!fYT3(;U3Re* zPPOe%*O+@JYt1bW`!W_1!mN&=w3G9ru1XsmwfS~BJ))PhD(+_J_^N6j)sx5VwbWK| zwRyC?W<`pOCY)b#AS?rluxuuGf-AJ=D!M36l{ua?@SJ5>e!IBr3CXIxWw5xUZ@Xrw z_R@%?{>d%Ld4p}nEsiA@v*nc6Ah!MUs?GA7e5Q5lPpp0@`%5xY$C;{%rz24$;vR#* zBP=a{)K#CwIY%p} zXVdxTQ^HS@O&~eIftU+Qt^~(DGxrdi3k}DdT^I7Iy5SMOp$QuD8s;+93YQ!OY{eB24%xY7ml@|M7I(Nb@K_-?F;2?et|CKkuZK_>+>Lvg!>JE~wN`BI|_h6$qi!P)+K-1Hh(1;a`os z55)4Q{oJiA(lQM#;w#Ta%T0jDNXIPM_bgESMCDEg6rM33anEr}=|Fn6)|jBP6Y}u{ zv9@%7*#RI9;fv;Yii5CI+KrRdr0DKh=L>)eO4q$1zmcSmglsV`*N(x=&Wx`*v!!hn6X-l0 zP_m;X??O(skcj+oS$cIdKhfT%ABAzz3w^la-Ucw?yBPEC+=Pe_vU8nd-HV5YX6X8r zZih&j^eLU=%*;VzhUyoLF;#8QsEfmByk+Y~caBqSvQaaWf2a{JKB9B>V&r?l^rXaC z8)6AdR@Qy_BxQrE2Fk?ewD!SwLuMj@&d_n5RZFf7=>O>hzVE*seW3U?_p|R^CfoY`?|#x9)-*yjv#lo&zP=uI`M?J zbzC<^3x7GfXA4{FZ72{PE*-mNHyy59Q;kYG@BB~NhTd6pm2Oj=_ zizmD?MKVRkT^KmXuhsk?eRQllPo2Ubk=uCKiZ&u3Xjj~<(!M94c)Tez@9M1Gfs5JV z->@II)CDJOXTtPrQudNjE}Eltbjq>6KiwAwqvAKd^|g!exgLG3;wP+#mZYr`cy3#39e653d=jrR-ulW|h#ddHu(m9mFoW~2yE zz5?dB%6vF}+`-&-W8vy^OCxm3_{02royjvmwjlp+eQDzFVEUiyO#gLv%QdDSI#3W* z?3!lL8clTaNo-DVJw@ynq?q!%6hTQi35&^>P85G$TqNt78%9_sSJt2RThO|JzM$iL zg|wjxdMC2|Icc5rX*qPL(coL!u>-xxz-rFiC!6hD1IR%|HSRsV3>Kq~&vJ=s3M5y8SG%YBQ|{^l#LGlg!D?E>2yR*eV%9m$_J6VGQ~AIh&P$_aFbh zULr0Z$QE!QpkP=aAeR4ny<#3Fwyw@rZf4?Ewq`;mCVv}xaz+3ni+}a=k~P+yaWt^L z@w67!DqVf7D%7XtXX5xBW;Co|HvQ8WR1k?r2cZD%U;2$bsM%u8{JUJ5Z0k= zZJARv^vFkmWx15CB=rb=D4${+#DVqy5$C%bf`!T0+epLJLnh1jwCdb*zuCL}eEFvE z{rO1%gxg>1!W(I!owu*mJZ0@6FM(?C+d*CeceZRW_4id*D9p5nzMY&{mWqrJomjIZ z97ZNnZ3_%Hx8dn;H>p8m7F#^2;T%yZ3H;a&N7tm=Lvs&lgJLW{V1@h&6Vy~!+Ffbb zv(n3+v)_D$}dqd!2>Y2B)#<+o}LH#%ogGi2-?xRIH)1!SD)u-L65B&bsJTC=LiaF+YOCif2dUX6uAA|#+vNR z>U+KQekVGon)Yi<93(d!(yw1h3&X0N(PxN2{%vn}cnV?rYw z$N^}_o!XUB!mckL`yO1rnUaI4wrOeQ(+&k?2mi47hzxSD`N#-byqd1IhEoh!PGq>t z_MRy{5B0eKY>;Ao3z$RUU7U+i?iX^&r739F)itdrTpAi-NN0=?^m%?{A9Ly2pVv>Lqs6moTP?T2-AHqFD-o_ znVr|7OAS#AEH}h8SRPQ@NGG47dO}l=t07__+iK8nHw^(AHx&Wb<%jPc$$jl6_p(b$ z)!pi(0fQodCHfM)KMEMUR&UID>}m^(!{C^U7sBDOA)$VThRCI0_+2=( zV8mMq0R(#z;C|7$m>$>`tX+T|xGt(+Y48@ZYu#z;0pCgYgmMVbFb!$?%yhZqP_nhn zy4<#3P1oQ#2b51NU1mGnHP$cf0j-YOgAA}A$QoL6JVLcmExs(kU{4z;PBHJD%_=0F z>+sQV`mzijSIT7xn%PiDKHOujX;n|M&qr1T@rOxTdxtZ!&u&3HHFLYD5$RLQ=heur zb>+AFokUVQeJy-#LP*^)spt{mb@Mqe=A~-4p0b+Bt|pZ+@CY+%x}9f}izU5;4&QFE zO1bhg&A4uC1)Zb67kuowWY4xbo&J=%yoXlFB)&$d*-}kjBu|w!^zbD1YPc0-#XTJr z)pm2RDy%J3jlqSMq|o%xGS$bPwn4AqitC6&e?pqWcjWPt{3I{>CBy;hg0Umh#c;hU3RhCUX=8aR>rmd` z7Orw(5tcM{|-^J?ZAA9KP|)X6n9$-kvr#j5YDecTM6n z&07(nD^qb8hpF0B^z^pQ*%5ePYkv&FabrlI61ntiVp!!C8y^}|<2xgAd#FY=8b*y( zuQOuvy2`Ii^`VBNJB&R!0{hABYX55ooCAJSSevl4RPqEGb)iy_0H}v@vFwFzD%>#I>)3PsouQ+_Kkbqy*kKdHdfkN7NBcq%V{x^fSxgXpg7$bF& zj!6AQbDY(1u#1_A#1UO9AxiZaCVN2F0wGXdY*g@x$ByvUA?ePdide0dmr#}udE%K| z3*k}Vv2Ew2u1FXBaVA6aerI36R&rzEZeDDCl5!t0J=ug6kuNZzH>3i_VN`%BsaVB3 zQYw|Xub_SGf{)F{$ZX5`Jc!X!;eybjP+o$I{Z^Hsj@D=E{MnnL+TbC@HEU2DjG{3-LDGIbq()U87x4eS;JXnSh;lRlJ z>EL3D>wHt-+wTjQF$fGyDO$>d+(fq@bPpLBS~xA~R=3JPbS{tzN(u~m#Po!?H;IYv zE;?8%^vle|%#oux(Lj!YzBKv+Fd}*Ur-dCBoX*t{KeNM*n~ZPYJ4NNKkI^MFbz9!v z4(Bvm*Kc!-$%VFEewYJKz-CQN{`2}KX4*CeJEs+Q(!kI%hN1!1P6iOq?ovz}X0IOi z)YfWpwW@pK08^69#wSyCZkX9?uZD?C^@rw^Y?gLS_xmFKkooyx$*^5#cPqntNTtSG zlP>XLMj2!VF^0k#ole7`-c~*~+_T5ls?x4)ah(j8vo_ zwb%S8qoaZqY0-$ZI+ViIA_1~~rAH7K_+yFS{0rT@eQtTAdz#8E5VpwnW!zJ_^{Utv zlW5Iar3V5t&H4D6A=>?mq;G92;1cg9a2sf;gY9pJDVKn$DYdQlvfXq}zz8#LyPGq@ z+`YUMD;^-6w&r-82JL7mA8&M~Pj@aK!m{0+^v<|t%APYf7`}jGEhdYLqsHW-Le9TL z_hZZ1gbrz7$f9^fAzVIP30^KIz!!#+DRLL+qMszvI_BpOSmjtl$hh;&UeM{ER@INV zcI}VbiVTPoN|iSna@=7XkP&-4#06C};8ajbxJ4Gcq8(vWv4*&X8bM^T$mBk75Q92j z1v&%a;OSKc8EIrodmIiw$lOES2hzGDcjjB`kEDfJe{r}yE6`eZL zEB`9u>Cl0IsQ+t}`-cx}{6jqcANucqIB>Qmga_&<+80E2Q|VHHQ$YlAt{6`Qu`HA3 z03s0-sSlwbvgi&_R8s={6<~M^pGvBNjKOa>tWenzS8s zR>L7R5aZ=mSU{f?ib4Grx$AeFvtO5N|D>9#)ChH#Fny2maHWHOf2G=#<9Myot#+4u zWVa6d^Vseq_0=#AYS(-m$Lp;*8nC_6jXIjEM`omUmtH@QDs3|G)i4j*#_?#UYVZvJ z?YjT-?!4Q{BNun;dKBWLEw2C-VeAz`%?A>p;)PL}TAZn5j~HK>v1W&anteARlE+~+ zj>c(F;?qO3pXBb|#OZdQnm<4xWmn~;DR5SDMxt0UK_F^&eD|KZ=O;tO3vy4@4h^;2 zUL~-z`-P1aOe?|ZC1BgVsL)2^J-&vIFI%q@40w0{jjEfeVl)i9(~bt2z#2Vm)p`V_ z1;6$Ae7=YXk#=Qkd24Y23t&GvRxaOoad~NbJ+6pxqzJ>FY#Td7@`N5xp!n(c!=RE& z&<<@^a$_Ys8jqz4|5Nk#FY$~|FPC0`*a5HH!|Gssa9=~66&xG9)|=pOOJ2KE5|YrR zw!w6K2aC=J$t?L-;}5hn6mHd%hC;p8P|Dgh6D>hGnXPgi;6r+eA=?f72y9(Cf_ho{ zH6#)uD&R=73^$$NE;5piWX2bzR67fQ)`b=85o0eOLGI4c-Tb@-KNi2pz=Ke@SDcPn za$AxXib84`!Sf;Z3B@TSo`Dz7GM5Kf(@PR>Ghzi=BBxK8wRp>YQoXm+iL>H*Jo9M3 z6w&E?BC8AFTFT&Tv8zf+m9<&S&%dIaZ)Aoqkak_$r-2{$d~0g2oLETx9Y`eOAf14QXEQw3tJne;fdzl@wV#TFXSLXM2428F-Q}t+n2g%vPRMUzYPvzQ9f# zu(liiJem9P*?0%V@RwA7F53r~|I!Ty)<*AsMX3J{_4&}{6pT%Tpw>)^|DJ)>gpS~1rNEh z0$D?uO8mG?H;2BwM5a*26^7YO$XjUm40XmBsb63MoR;bJh63J;OngS5sSI+o2HA;W zdZV#8pDpC9Oez&L8loZO)MClRz!_!WD&QRtQxnazhT%Vj6Wl4G11nUk8*vSeVab@N#oJ}`KyJv+8Mo@T1-pqZ1t|?cnaVOd;1(h9 z!$DrN=jcGsVYE-0-n?oCJ^4x)F}E;UaD-LZUIzcD?W^ficqJWM%QLy6QikrM1aKZC zi{?;oKwq^Vsr|&`i{jIphA8S6G4)$KGvpULjH%9u(Dq247;R#l&I0{IhcC|oBF*Al zvLo7Xte=C{aIt*otJD}BUq)|_pdR>{zBMT< z(^1RpZv*l*m*OV^8>9&asGBo8h*_4q*)-eCv*|Pq=XNGrZE)^(SF7^{QE_~4VDB(o zVcPA_!G+2CAtLbl+`=Q~9iW`4ZRLku!uB?;tWqVjB0lEOf}2RD7dJ=BExy=<9wkb- z9&7{XFA%n#JsHYN8t5d~=T~5DcW4$B%3M+nNvC2`0!#@sckqlzo5;hhGi(D9=*A4` z5ynobawSPRtWn&CDLEs3Xf`(8^zDP=NdF~F^s&={l7(aw&EG}KWpMjtmz7j_VLO;@ zM2NVLDxZ@GIv7*gzl1 zjq78tv*8#WSY`}Su0&C;2F$Ze(q>F(@Wm^Gw!)(j;dk9Ad{STaxn)IV9FZhm*n+U} zi;4y*3v%A`_c7a__DJ8D1b@dl0Std3F||4Wtvi)fCcBRh!X9$1x!_VzUh>*S5s!oq z;qd{J_r79EL2wIeiGAqFstWtkfIJpjVh%zFo*=55B9Zq~y0=^iqHWfQl@O!Ak;(o*m!pZqe9 z%U2oDOhR)BvW8&F70L;2TpkzIutIvNQaTjjs5V#8mV4!NQ}zN=i`i@WI1z0eN-iCS z;vL-Wxc^Vc_qK<5RPh(}*8dLT{~GzE{w2o$2kMFaEl&q zP{V=>&3kW7tWaK-Exy{~`v4J0U#OZBk{a9{&)&QG18L@6=bsZ1zC_d{{pKZ-Ey>I> z;8H0t4bwyQqgu4hmO`3|4K{R*5>qnQ&gOfdy?z`XD%e5+pTDzUt3`k^u~SaL&XMe= z9*h#kT(*Q9jO#w2Hd|Mr-%DV8i_1{J1MU~XJ3!WUplhXDYBpJH><0OU`**nIvPIof z|N8@I=wA)sf45SAvx||f?Z5uB$kz1qL3Ky_{%RPdP5iN-D2!p5scq}buuC00C@jom zhfGKm3|f?Z0iQ|K$Z~!`8{nmAS1r+fp6r#YDOS8V*;K&Gs7Lc&f^$RC66O|)28oh`NHy&vq zJh+hAw8+ybTB0@VhWN^0iiTnLsCWbS_y`^gs!LX!Lw{yE``!UVzrV24tP8o;I6-65 z1MUiHw^{bB15tmrVT*7-#sj6cs~z`wk52YQJ*TG{SE;KTm#Hf#a~|<(|ImHH17nNM z`Ub{+J3dMD!)mzC8b(2tZtokKW5pAwHa?NFiso~# z1*iaNh4lQ4TS)|@G)H4dZV@l*Vd;Rw;-;odDhW2&lJ%m@jz+Panv7LQm~2Js6rOW3 z0_&2cW^b^MYW3)@o;neZ<{B4c#m48dAl$GCc=$>ErDe|?y@z`$uq3xd(%aAsX)D%l z>y*SQ%My`yDP*zof|3@_w#cjaW_YW4BdA;#Glg1RQcJGY*CJ9`H{@|D+*e~*457kd z73p<%fB^PV!Ybw@)Dr%(ZJbX}xmCStCYv#K3O32ej{$9IzM^I{6FJ8!(=azt7RWf4 z7ib0UOPqN40X!wOnFOoddd8`!_IN~9O)#HRTyjfc#&MCZ zZAMzOVB=;qwt8gV?{Y2?b=iSZG~RF~uyx18K)IDFLl})G1v@$(s{O4@RJ%OTJyF+Cpcx4jmy|F3euCnMK!P2WTDu5j z{{gD$=M*pH!GGzL%P)V2*ROm>!$Y=z|D`!_yY6e7SU$~a5q8?hZGgaYqaiLnkK%?0 zs#oI%;zOxF@g*@(V4p!$7dS1rOr6GVs6uYCTt2h)eB4?(&w8{#o)s#%gN@BBosRUe z)@P@8_Zm89pr~)b>e{tbPC~&_MR--iB{=)y;INU5#)@Gix-YpgP<-c2Ms{9zuCX|3 z!p(?VaXww&(w&uBHzoT%!A2=3HAP>SDxcljrego7rY|%hxy3XlODWffO_%g|l+7Y_ zqV(xbu)s4lV=l7M;f>vJl{`6qBm>#ZeMA}kXb97Z)?R97EkoI?x6Lp0yu1Z>PS?2{ z0QQ(8D)|lc9CO3B~e(pQM&5(1y&y=e>C^X$`)_&XuaI!IgDTVqt31wX#n+@!a_A0ZQkA zCJ2@M_4Gb5MfCrm5UPggeyh)8 zO9?`B0J#rkoCx(R0I!ko_2?iO@|oRf1;3r+i)w-2&j?=;NVIdPFsB)`|IC0zk6r9c zRrkfxWsiJ(#8QndNJj@{@WP2Ackr|r1VxV{7S&rSU(^)-M8gV>@UzOLXu9K<{6e{T zXJ6b92r$!|lwjhmgqkdswY&}c)KW4A)-ac%sU;2^fvq7gfUW4Bw$b!i@duy1CAxSn z(pyh$^Z=&O-q<{bZUP+$U}=*#M9uVc>CQVgDs4swy5&8RAHZ~$)hrTF4W zPsSa~qYv_0mJnF89RnnJTH`3}w4?~epFl=D(35$ zWa07ON$`OMBOHgCmfO(9RFc<)?$x)N}Jd2A(<*Ll7+4jrRt9w zwGxExUXd9VB#I|DwfxvJ;HZ8Q{37^wDhaZ%O!oO(HpcqfLH%#a#!~;Jl7F5>EX_=8 z{()l2NqPz>La3qJR;_v+wlK>GsHl;uRA8%j`A|yH@k5r%55S9{*Cp%uw6t`qc1!*T za2OeqtQj7sAp#Q~=5Fs&aCR9v>5V+s&RdNvo&H~6FJOjvaj--2sYYBvMq;55%z8^o z|BJDA4vzfow#DO#ZQHh;Oq_{r+qP{R9ox2TOgwQiv7Ow!zjN+A@BN;0tA2lUb#+zO z(^b89eV)D7UVE+h{mcNc6&GtpOqDn_?VAQ)Vob$hlFwW%xh>D#wml{t&Ofmm_d_+; zKDxzdr}`n2Rw`DtyIjrG)eD0vut$}dJAZ0AohZ+ZQdWXn_Z@dI_y=7t3q8x#pDI-K z2VVc&EGq445Rq-j0=U=Zx`oBaBjsefY;%)Co>J3v4l8V(T8H?49_@;K6q#r~Wwppc z4XW0(4k}cP=5ex>-Xt3oATZ~bBWKv)aw|I|Lx=9C1s~&b77idz({&q3T(Y(KbWO?+ zmcZ6?WeUsGk6>km*~234YC+2e6Zxdl~<_g2J|IE`GH%n<%PRv-50; zH{tnVts*S5*_RxFT9eM0z-pksIb^drUq4>QSww=u;UFCv2AhOuXE*V4z?MM`|ABOC4P;OfhS(M{1|c%QZ=!%rQTDFx`+}?Kdx$&FU?Y<$x;j7z=(;Lyz+?EE>ov!8vvMtSzG!nMie zsBa9t8as#2nH}n8xzN%W%U$#MHNXmDUVr@GX{?(=yI=4vks|V)!-W5jHsU|h_&+kY zS_8^kd3jlYqOoiI`ZqBVY!(UfnAGny!FowZWY_@YR0z!nG7m{{)4OS$q&YDyw6vC$ zm4!$h>*|!2LbMbxS+VM6&DIrL*X4DeMO!@#EzMVfr)e4Tagn~AQHIU8?e61TuhcKD zr!F4(kEebk(Wdk-?4oXM(rJwanS>Jc%<>R(siF+>+5*CqJLecP_we33iTFTXr6W^G z7M?LPC-qFHK;E!fxCP)`8rkxZyFk{EV;G-|kwf4b$c1k0atD?85+|4V%YATWMG|?K zLyLrws36p%Qz6{}>7b>)$pe>mR+=IWuGrX{3ZPZXF3plvuv5Huax86}KX*lbPVr}L z{C#lDjdDeHr~?l|)Vp_}T|%$qF&q#U;ClHEPVuS+Jg~NjC1RP=17=aQKGOcJ6B3mp z8?4*-fAD~}sX*=E6!}^u8)+m2j<&FSW%pYr_d|p_{28DZ#Cz0@NF=gC-o$MY?8Ca8 zr5Y8DSR^*urS~rhpX^05r30Ik#2>*dIOGxRm0#0YX@YQ%Mg5b6dXlS!4{7O_kdaW8PFSdj1=ryI-=5$fiieGK{LZ+SX(1b=MNL!q#lN zv98?fqqTUH8r8C7v(cx#BQ5P9W>- zmW93;eH6T`vuJ~rqtIBg%A6>q>gnWb3X!r0wh_q;211+Om&?nvYzL1hhtjB zK_7G3!n7PL>d!kj){HQE zE8(%J%dWLh1_k%gVXTZt zEdT09XSKAx27Ncaq|(vzL3gm83q>6CAw<$fTnMU05*xAe&rDfCiu`u^1)CD<>sx0i z*hr^N_TeN89G(nunZoLBf^81#pmM}>JgD@Nn1l*lN#a=B=9pN%tmvYFjFIoKe_(GF z-26x{(KXdfsQL7Uv6UtDuYwV`;8V3w>oT_I<`Ccz3QqK9tYT5ZQzbop{=I=!pMOCb zCU68`n?^DT%^&m>A%+-~#lvF!7`L7a{z<3JqIlk1$<||_J}vW1U9Y&eX<}l8##6i( zZcTT@2`9(Mecptm@{3A_Y(X`w9K0EwtPq~O!16bq{7c0f7#(3wn-^)h zxV&M~iiF!{-6A@>o;$RzQ5A50kxXYj!tcgme=Qjrbje~;5X2xryU;vH|6bE(8z^<7 zQ>BG7_c*JG8~K7Oe68i#0~C$v?-t@~@r3t2inUnLT(c=URpA9kA8uq9PKU(Ps(LVH zqgcqW>Gm?6oV#AldDPKVRcEyQIdTT`Qa1j~vS{<;SwyTdr&3*t?J)y=M7q*CzucZ&B0M=joT zBbj@*SY;o2^_h*>R0e({!QHF0=)0hOj^B^d*m>SnRrwq>MolNSgl^~r8GR#mDWGYEIJA8B<|{{j?-7p zVnV$zancW3&JVDtVpIlI|5djKq0(w$KxEFzEiiL=h5Jw~4Le23@s(mYyXWL9SX6Ot zmb)sZaly_P%BeX_9 zw&{yBef8tFm+%=--m*J|o~+Xg3N+$IH)t)=fqD+|fEk4AAZ&!wcN5=mi~Vvo^i`}> z#_3ahR}Ju)(Px7kev#JGcSwPXJ2id9%Qd2A#Uc@t8~egZ8;iC{e! z%=CGJOD1}j!HW_sgbi_8suYnn4#Ou}%9u)dXd3huFIb!ytlX>Denx@pCS-Nj$`VO&j@(z!kKSP0hE4;YIP#w9ta=3DO$7f*x zc9M4&NK%IrVmZAe=r@skWD`AEWH=g+r|*13Ss$+{c_R!b?>?UaGXlw*8qDmY#xlR= z<0XFbs2t?8i^G~m?b|!Hal^ZjRjt<@a? z%({Gn14b4-a|#uY^=@iiKH+k?~~wTj5K1A&hU z2^9-HTC)7zpoWK|$JXaBL6C z#qSNYtY>65T@Zs&-0cHeu|RX(Pxz6vTITdzJdYippF zC-EB+n4}#lM7`2Ry~SO>FxhKboIAF#Z{1wqxaCb{#yEFhLuX;Rx(Lz%T`Xo1+a2M}7D+@wol2)OJs$TwtRNJ={( zD@#zTUEE}#Fz#&(EoD|SV#bayvr&E0vzmb%H?o~46|FAcx?r4$N z&67W3mdip-T1RIxwSm_&(%U|+WvtGBj*}t69XVd&ebn>KOuL(7Y8cV?THd-(+9>G7*Nt%T zcH;`p={`SOjaf7hNd(=37Lz3-51;58JffzIPgGs_7xIOsB5p2t&@v1mKS$2D$*GQ6 zM(IR*j4{nri7NMK9xlDy-hJW6sW|ZiDRaFiayj%;(%51DN!ZCCCXz+0Vm#};70nOx zJ#yA0P3p^1DED;jGdPbQWo0WATN=&2(QybbVdhd=Vq*liDk`c7iZ?*AKEYC#SY&2g z&Q(Ci)MJ{mEat$ZdSwTjf6h~roanYh2?9j$CF@4hjj_f35kTKuGHvIs9}Re@iKMxS-OI*`0S z6s)fOtz}O$T?PLFVSeOjSO26$@u`e<>k(OSP!&YstH3ANh>)mzmKGNOwOawq-MPXe zy4xbeUAl6tamnx))-`Gi2uV5>9n(73yS)Ukma4*7fI8PaEwa)dWHs6QA6>$}7?(L8 ztN8M}?{Tf!Zu22J5?2@95&rQ|F7=FK-hihT-vDp!5JCcWrVogEnp;CHenAZ)+E+K5 z$Cffk5sNwD_?4+ymgcHR(5xgt20Z8M`2*;MzOM#>yhk{r3x=EyM226wb&!+j`W<%* zSc&|`8!>dn9D@!pYow~(DsY_naSx7(Z4i>cu#hA5=;IuI88}7f%)bRkuY2B;+9Uep zpXcvFWkJ!mQai63BgNXG26$5kyhZ2&*3Q_tk)Ii4M>@p~_~q_cE!|^A;_MHB;7s#9 zKzMzK{lIxotjc};k67^Xsl-gS!^*m*m6kn|sbdun`O?dUkJ{0cmI0-_2y=lTAfn*Y zKg*A-2sJq)CCJgY0LF-VQvl&6HIXZyxo2#!O&6fOhbHXC?%1cMc6y^*dOS{f$=137Ds1m01qs`>iUQ49JijsaQ( zksqV9@&?il$|4Ua%4!O15>Zy&%gBY&wgqB>XA3!EldQ%1CRSM(pp#k~-pkcCg4LAT zXE=puHbgsw)!xtc@P4r~Z}nTF=D2~j(6D%gTBw$(`Fc=OOQ0kiW$_RDd=hcO0t97h zb86S5r=>(@VGy1&#S$Kg_H@7G^;8Ue)X5Y+IWUi`o;mpvoV)`fcVk4FpcT|;EG!;? zHG^zrVVZOm>1KFaHlaogcWj(v!S)O(Aa|Vo?S|P z5|6b{qkH(USa*Z7-y_Uvty_Z1|B{rTS^qmEMLEYUSk03_Fg&!O3BMo{b^*`3SHvl0 zhnLTe^_vVIdcSHe)SQE}r~2dq)VZJ!aSKR?RS<(9lzkYo&dQ?mubnWmgMM37Nudwo z3Vz@R{=m2gENUE3V4NbIzAA$H1z0pagz94-PTJyX{b$yndsdKptmlKQKaaHj@3=ED zc7L?p@%ui|RegVYutK$64q4pe9+5sv34QUpo)u{1ci?)_7gXQd{PL>b0l(LI#rJmN zGuO+%GO`xneFOOr4EU(Wg}_%bhzUf;d@TU+V*2#}!2OLwg~%D;1FAu=Un>OgjPb3S z7l(riiCwgghC=Lm5hWGf5NdGp#01xQ59`HJcLXbUR3&n%P(+W2q$h2Qd z*6+-QXJ*&Kvk9ht0f0*rO_|FMBALen{j7T1l%=Q>gf#kma zQlg#I9+HB+z*5BMxdesMND`_W;q5|FaEURFk|~&{@qY32N$G$2B=&Po{=!)x5b!#n zxLzblkq{yj05#O7(GRuT39(06FJlalyv<#K4m}+vs>9@q-&31@1(QBv82{}Zkns~K ze{eHC_RDX0#^A*JQTwF`a=IkE6Ze@j#-8Q`tTT?k9`^ZhA~3eCZJ-Jr{~7Cx;H4A3 zcZ+Zj{mzFZbVvQ6U~n>$U2ZotGsERZ@}VKrgGh0xM;Jzt29%TX6_&CWzg+YYMozrM z`nutuS)_0dCM8UVaKRj804J4i%z2BA_8A4OJRQ$N(P9Mfn-gF;4#q788C@9XR0O3< zsoS4wIoyt046d+LnSCJOy@B@Uz*#GGd#+Ln1ek5Dv>(ZtD@tgZlPnZZJGBLr^JK+!$$?A_fA3LOrkoDRH&l7 zcMcD$Hsjko3`-{bn)jPL6E9Ds{WskMrivsUu5apD z?grQO@W7i5+%X&E&p|RBaEZ(sGLR@~(y^BI@lDMot^Ll?!`90KT!JXUhYS`ZgX3jnu@Ja^seA*M5R@f`=`ynQV4rc$uT1mvE?@tz)TN<=&H1%Z?5yjxcpO+6y_R z6EPuPKM5uxKpmZfT(WKjRRNHs@ib)F5WAP7QCADvmCSD#hPz$V10wiD&{NXyEwx5S z6NE`3z!IS^$s7m}PCwQutVQ#~w+V z=+~->DI*bR2j0^@dMr9`p>q^Ny~NrAVxrJtX2DUveic5vM%#N*XO|?YAWwNI$Q)_) zvE|L(L1jP@F%gOGtnlXtIv2&1i8q<)Xfz8O3G^Ea~e*HJsQgBxWL(yuLY+jqUK zRE~`-zklrGog(X}$9@ZVUw!8*=l`6mzYLtsg`AvBYz(cxmAhr^j0~(rzXdiOEeu_p zE$sf2(w(BPAvO5DlaN&uQ$4@p-b?fRs}d7&2UQ4Fh?1Hzu*YVjcndqJLw0#q@fR4u zJCJ}>_7-|QbvOfylj+e^_L`5Ep9gqd>XI3-O?Wp z-gt*P29f$Tx(mtS`0d05nHH=gm~Po_^OxxUwV294BDKT>PHVlC5bndncxGR!n(OOm znsNt@Q&N{TLrmsoKFw0&_M9$&+C24`sIXGWgQaz=kY;S{?w`z^Q0JXXBKFLj0w0U6P*+jPKyZHX9F#b0D1$&(- zrm8PJd?+SrVf^JlfTM^qGDK&-p2Kdfg?f>^%>1n8bu&byH(huaocL>l@f%c*QkX2i znl}VZ4R1en4S&Bcqw?$=Zi7ohqB$Jw9x`aM#>pHc0x z0$!q7iFu zZ`tryM70qBI6JWWTF9EjgG@>6SRzsd}3h+4D8d~@CR07P$LJ}MFsYi-*O%XVvD@yT|rJ+Mk zDllJ7$n0V&A!0flbOf)HE6P_afPWZmbhpliqJuw=-h+r;WGk|ntkWN(8tKlYpq5Ow z(@%s>IN8nHRaYb*^d;M(D$zGCv5C|uqmsDjwy4g=Lz>*OhO3z=)VD}C<65;`89Ye} zSCxrv#ILzIpEx1KdLPlM&%Cctf@FqTKvNPXC&`*H9=l=D3r!GLM?UV zOxa(8ZsB`&+76S-_xuj?G#wXBfDY@Z_tMpXJS7^mp z@YX&u0jYw2A+Z+bD#6sgVK5ZgdPSJV3>{K^4~%HV?rn~4D)*2H!67Y>0aOmzup`{D zzDp3c9yEbGCY$U<8biJ_gB*`jluz1ShUd!QUIQJ$*1;MXCMApJ^m*Fiv88RZ zFopLViw}{$Tyhh_{MLGIE2~sZ)t0VvoW%=8qKZ>h=adTe3QM$&$PO2lfqH@brt!9j ziePM8$!CgE9iz6B<6_wyTQj?qYa;eC^{x_0wuwV~W+^fZmFco-o%wsKSnjXFEx02V zF5C2t)T6Gw$Kf^_c;Ei3G~uC8SM-xyycmXyC2hAVi-IfXqhu$$-C=*|X?R0~hu z8`J6TdgflslhrmDZq1f?GXF7*ALeMmOEpRDg(s*H`4>_NAr`2uqF;k;JQ+8>A|_6ZNsNLECC%NNEb1Y1dP zbIEmNpK)#XagtL4R6BC{C5T(+=yA-(Z|Ap}U-AfZM#gwVpus3(gPn}Q$CExObJ5AC z)ff9Yk?wZ}dZ-^)?cbb9Fw#EjqQ8jxF4G3=L?Ra zg_)0QDMV1y^A^>HRI$x?Op@t;oj&H@1xt4SZ9(kifQ zb59B*`M99Td7@aZ3UWvj1rD0sE)d=BsBuW*KwkCds7ay(7*01_+L}b~7)VHI>F_!{ zyxg-&nCO?v#KOUec0{OOKy+sjWA;8rTE|Lv6I9H?CI?H(mUm8VXGwU$49LGpz&{nQp2}dinE1@lZ1iox6{ghN&v^GZv9J${7WaXj)<0S4g_uiJ&JCZ zr8-hsu`U%N;+9N^@&Q0^kVPB3)wY(rr}p7{p0qFHb3NUUHJb672+wRZs`gd1UjKPX z4o6zljKKA+Kkj?H>Ew63o%QjyBk&1!P22;MkD>sM0=z_s-G{mTixJCT9@_|*(p^bz zJ8?ZZ&;pzV+7#6Mn`_U-)k8Pjg?a;|Oe^us^PoPY$Va~yi8|?+&=y$f+lABT<*pZr zP}D{~Pq1Qyni+@|aP;ixO~mbEW9#c0OU#YbDZIaw=_&$K%Ep2f%hO^&P67hApZe`x zv8b`Mz@?M_7-)b!lkQKk)JXXUuT|B8kJlvqRmRpxtQDgvrHMXC1B$M@Y%Me!BSx3P z#2Eawl$HleZhhTS6Txm>lN_+I`>eV$&v9fOg)%zVn3O5mI*lAl>QcHuW6!Kixmq`X zBCZ*Ck6OYtDiK!N47>jxI&O2a9x7M|i^IagRr-fmrmikEQGgw%J7bO|)*$2FW95O4 zeBs>KR)izRG1gRVL;F*sr8A}aRHO0gc$$j&ds8CIO1=Gwq1%_~E)CWNn9pCtBE}+`Jelk4{>S)M)`Ll=!~gnn1yq^EX(+y*ik@3Ou0qU`IgYi3*doM+5&dU!cho$pZ zn%lhKeZkS72P?Cf68<#kll_6OAO26bIbueZx**j6o;I0cS^XiL`y+>{cD}gd%lux} z)3N>MaE24WBZ}s0ApfdM;5J_Ny}rfUyxfkC``Awo2#sgLnGPewK};dORuT?@I6(5~ z?kE)Qh$L&fwJXzK){iYx!l5$Tt|^D~MkGZPA}(o6f7w~O2G6Vvzdo*a;iXzk$B66$ zwF#;wM7A+(;uFG4+UAY(2`*3XXx|V$K8AYu#ECJYSl@S=uZW$ksfC$~qrrbQj4??z-)uz0QL}>k^?fPnJTPw% zGz)~?B4}u0CzOf@l^um}HZzbaIwPmb<)< zi_3@E9lc)Qe2_`*Z^HH;1CXOceL=CHpHS{HySy3T%<^NrWQ}G0i4e1xm_K3(+~oi$ zoHl9wzb?Z4j#90DtURtjtgvi7uw8DzHYmtPb;?%8vb9n@bszT=1qr)V_>R%s!92_` zfnHQPANx z<#hIjIMm#*(v*!OXtF+w8kLu`o?VZ5k7{`vw{Yc^qYclpUGIM_PBN1+c{#Vxv&E*@ zxg=W2W~JuV{IuRYw3>LSI1)a!thID@R=bU+cU@DbR^_SXY`MC7HOsCN z!dO4OKV7(E_Z8T#8MA1H`99?Z!r0)qKW_#|29X3#Jb+5+>qUidbeP1NJ@)(qi2S-X zao|f0_tl(O+$R|Qwd$H{_ig|~I1fbp_$NkI!0E;Y z6JrnU{1Ra6^on{9gUUB0mwzP3S%B#h0fjo>JvV~#+X0P~JV=IG=yHG$O+p5O3NUgG zEQ}z6BTp^Fie)Sg<){Z&I8NwPR(=mO4joTLHkJ>|Tnk23E(Bo`FSbPc05lF2-+)X? z6vV3*m~IBHTy*^E!<0nA(tCOJW2G4DsH7)BxLV8kICn5lu6@U*R`w)o9;Ro$i8=Q^V%uH8n3q=+Yf;SFRZu z!+F&PKcH#8cG?aSK_Tl@K9P#8o+jry@gdexz&d(Q=47<7nw@e@FFfIRNL9^)1i@;A z28+$Z#rjv-wj#heI|<&J_DiJ*s}xd-f!{J8jfqOHE`TiHHZVIA8CjkNQ_u;Ery^^t zl1I75&u^`1_q)crO+JT4rx|z2ToSC>)Or@-D zy3S>jW*sNIZR-EBsfyaJ+Jq4BQE4?SePtD2+jY8*%FsSLZ9MY>+wk?}}}AFAw)vr{ml)8LUG-y9>^t!{~|sgpxYc0Gnkg`&~R z-pilJZjr@y5$>B=VMdZ73svct%##v%wdX~9fz6i3Q-zOKJ9wso+h?VME7}SjL=!NUG{J?M&i!>ma`eoEa@IX`5G>B1(7;%}M*%-# zfhJ(W{y;>MRz!Ic8=S}VaBKqh;~7KdnGEHxcL$kA-6E~=!hrN*zw9N+_=odt<$_H_8dbo;0=42wcAETPCVGUr~v(`Uai zb{=D!Qc!dOEU6v)2eHSZq%5iqK?B(JlCq%T6av$Cb4Rko6onlG&?CqaX7Y_C_cOC3 zYZ;_oI(}=>_07}Oep&Ws7x7-R)cc8zfe!SYxJYP``pi$FDS)4Fvw5HH=FiU6xfVqIM!hJ;Rx8c0cB7~aPtNH(Nmm5Vh{ibAoU#J6 zImRCr?(iyu_4W_6AWo3*vxTPUw@vPwy@E0`(>1Qi=%>5eSIrp^`` zK*Y?fK_6F1W>-7UsB)RPC4>>Ps9)f+^MqM}8AUm@tZ->j%&h1M8s*s!LX5&WxQcAh z8mciQej@RPm?660%>{_D+7er>%zX_{s|$Z+;G7_sfNfBgY(zLB4Ey}J9F>zX#K0f6 z?dVNIeEh?EIShmP6>M+d|0wMM85Sa4diw1hrg|ITJ}JDg@o8y>(rF9mXk5M z2@D|NA)-7>wD&wF;S_$KS=eE84`BGw3g0?6wGxu8ys4rwI?9U=*^VF22t3%mbGeOh z`!O-OpF7#Vceu~F`${bW0nYVU9ecmk31V{tF%iv&5hWofC>I~cqAt@u6|R+|HLMMX zVxuSlMFOK_EQ86#E8&KwxIr8S9tj_goWtLv4f@!&h8;Ov41{J~496vp9vX=(LK#j! zAwi*21RAV-LD>9Cw3bV_9X(X3)Kr0-UaB*7Y>t82EQ%!)(&(XuAYtTsYy-dz+w=$ir)VJpe!_$ z6SGpX^i(af3{o=VlFPC);|J8#(=_8#vdxDe|Cok+ANhYwbE*FO`Su2m1~w+&9<_9~ z-|tTU_ACGN`~CNW5WYYBn^B#SwZ(t4%3aPp z;o)|L6Rk569KGxFLUPx@!6OOa+5OjQLK5w&nAmwxkC5rZ|m&HT8G%GVZxB_@ME z>>{rnXUqyiJrT(8GMj_ap#yN_!9-lO5e8mR3cJiK3NE{_UM&=*vIU`YkiL$1%kf+1 z4=jk@7EEj`u(jy$HnzE33ZVW_J4bj}K;vT?T91YlO(|Y0FU4r+VdbmQ97%(J5 zkK*Bed8+C}FcZ@HIgdCMioV%A<*4pw_n}l*{Cr4}a(lq|injK#O?$tyvyE`S%(1`H z_wwRvk#13ElkZvij2MFGOj`fhy?nC^8`Zyo%yVcUAfEr8x&J#A{|moUBAV_^f$hpaUuyQeY3da^ zS9iRgf87YBwfe}>BO+T&Fl%rfpZh#+AM?Dq-k$Bq`vG6G_b4z%Kbd&v>qFjow*mBl z-OylnqOpLg}or7_VNwRg2za3VBK6FUfFX{|TD z`Wt0Vm2H$vdlRWYQJqDmM?JUbVqL*ZQY|5&sY*?!&%P8qhA~5+Af<{MaGo(dl&C5t zE%t!J0 zh6jqANt4ABdPxSTrVV}fLsRQal*)l&_*rFq(Ez}ClEH6LHv{J#v?+H-BZ2)Wy{K@9 z+ovXHq~DiDvm>O~r$LJo!cOuwL+Oa--6;UFE2q@g3N8Qkw5E>ytz^(&($!O47+i~$ zKM+tkAd-RbmP{s_rh+ugTD;lriL~`Xwkad#;_aM?nQ7L_muEFI}U_4$phjvYgleK~`Fo`;GiC07&Hq1F<%p;9Q;tv5b?*QnR%8DYJH3P>Svmv47Y>*LPZJy8_{9H`g6kQpyZU{oJ`m%&p~D=K#KpfoJ@ zn-3cqmHsdtN!f?~w+(t+I`*7GQA#EQC^lUA9(i6=i1PqSAc|ha91I%X&nXzjYaM{8$s&wEx@aVkQ6M{E2 zfzId#&r(XwUNtPcq4Ngze^+XaJA1EK-%&C9j>^9(secqe{}z>hR5CFNveMsVA)m#S zk)_%SidkY-XmMWlVnQ(mNJ>)ooszQ#vaK;!rPmGKXV7am^_F!Lz>;~{VrIO$;!#30XRhE1QqO_~#+Ux;B_D{Nk=grn z8Y0oR^4RqtcYM)7a%@B(XdbZCOqnX#fD{BQTeLvRHd(irHKq=4*jq34`6@VAQR8WG z^%)@5CXnD_T#f%@-l${>y$tfb>2LPmc{~5A82|16mH)R?&r#KKLs7xpN-D`=&Cm^R zvMA6#Ahr<3X>Q7|-qfTY)}32HkAz$_mibYV!I)u>bmjK`qwBe(>za^0Kt*HnFbSdO z1>+ryKCNxmm^)*$XfiDOF2|{-v3KKB?&!(S_Y=Ht@|ir^hLd978xuI&N{k>?(*f8H z=ClxVJK_%_z1TH0eUwm2J+2To7FK4o+n_na)&#VLn1m;!+CX+~WC+qg1?PA~KdOlC zW)C@pw75_xoe=w7i|r9KGIvQ$+3K?L{7TGHwrQM{dCp=Z*D}3kX7E-@sZnup!BImw z*T#a=+WcTwL78exTgBn|iNE3#EsOorO z*kt)gDzHiPt07fmisA2LWN?AymkdqTgr?=loT7z@d`wnlr6oN}@o|&JX!yPzC*Y8d zu6kWlTzE1)ckyBn+0Y^HMN+GA$wUO_LN6W>mxCo!0?oiQvT`z$jbSEu&{UHRU0E8# z%B^wOc@S!yhMT49Y)ww(Xta^8pmPCe@eI5C*ed96)AX9<>))nKx0(sci8gwob_1}4 z0DIL&vsJ1_s%<@y%U*-eX z5rN&(zef-5G~?@r79oZGW1d!WaTqQn0F6RIOa9tJ=0(kdd{d1{<*tHT#cCvl*i>YY zH+L7jq8xZNcTUBqj(S)ztTU!TM!RQ}In*n&Gn<>(60G7}4%WQL!o>hbJqNDSGwl#H z`4k+twp0cj%PsS+NKaxslAEu9!#U3xT1|_KB6`h=PI0SW`P9GTa7caD1}vKEglV8# zjKZR`pluCW19c2fM&ZG)c3T3Um;ir3y(tSCJ7Agl6|b524dy5El{^EQBG?E61H0XY z`bqg!;zhGhyMFl&(o=JWEJ8n~z)xI}A@C0d2hQGvw7nGv)?POU@(kS1m=%`|+^ika zXl8zjS?xqW$WlO?Ewa;vF~XbybHBor$f<%I&*t$F5fynwZlTGj|IjZtVfGa7l&tK} zW>I<69w(cZLu)QIVG|M2xzW@S+70NinQzk&Y0+3WT*cC)rx~04O-^<{JohU_&HL5XdUKW!uFy|i$FB|EMu0eUyW;gsf`XfIc!Z0V zeK&*hPL}f_cX=@iv>K%S5kL;cl_$v?n(Q9f_cChk8Lq$glT|=e+T*8O4H2n<=NGmn z+2*h+v;kBvF>}&0RDS>)B{1!_*XuE8A$Y=G8w^qGMtfudDBsD5>T5SB;Qo}fSkkiV ze^K^M(UthkwrD!&*tTsu>Dacdj_q`~V%r_twr$(Ct&_dKeeXE?fA&4&yASJWJ*}~- zel=@W)tusynfC_YqH4ll>4Eg`Xjs5F7Tj>tTLz<0N3)X<1px_d2yUY>X~y>>93*$) z5PuNMQLf9Bu?AAGO~a_|J2akO1M*@VYN^VxvP0F$2>;Zb9;d5Yfd8P%oFCCoZE$ z4#N$^J8rxYjUE_6{T%Y>MmWfHgScpuGv59#4u6fpTF%~KB^Ae`t1TD_^Ud#DhL+Dm zbY^VAM#MrAmFj{3-BpVSWph2b_Y6gCnCAombVa|1S@DU)2r9W<> zT5L8BB^er3zxKt1v(y&OYk!^aoQisqU zH(g@_o)D~BufUXcPt!Ydom)e|aW{XiMnes2z&rE?og>7|G+tp7&^;q?Qz5S5^yd$i z8lWr4g5nctBHtigX%0%XzIAB8U|T6&JsC4&^hZBw^*aIcuNO47de?|pGXJ4t}BB`L^d8tD`H`i zqrP8?#J@8T#;{^B!KO6J=@OWKhAerih(phML`(Rg7N1XWf1TN>=Z3Do{l_!d~DND&)O)D>ta20}@Lt77qSnVsA7>)uZAaT9bsB>u&aUQl+7GiY2|dAEg@%Al3i316y;&IhQL^8fw_nwS>f60M_-m+!5)S_6EPM7Y)(Nq^8gL7(3 zOiot`6Wy6%vw~a_H?1hLVzIT^i1;HedHgW9-P#)}Y6vF%C=P70X0Tk^z9Te@kPILI z_(gk!k+0%CG)%!WnBjjw*kAKs_lf#=5HXC00s-}oM-Q1aXYLj)(1d!_a7 z*Gg4Fe6F$*ujVjI|79Z5+Pr`us%zW@ln++2l+0hsngv<{mJ%?OfSo_3HJXOCys{Ug z00*YR-(fv<=&%Q!j%b-_ppA$JsTm^_L4x`$k{VpfLI(FMCap%LFAyq;#ns5bR7V+x zO!o;c5y~DyBPqdVQX)8G^G&jWkBy2|oWTw>)?5u}SAsI$RjT#)lTV&Rf8;>u*qXnb z8F%Xb=7#$m)83z%`E;49)t3fHInhtc#kx4wSLLms!*~Z$V?bTyUGiS&m>1P(952(H zuHdv=;o*{;5#X-uAyon`hP}d#U{uDlV?W?_5UjJvf%11hKwe&(&9_~{W)*y1nR5f_ z!N(R74nNK`y8>B!0Bt_Vr!;nc3W>~RiKtGSBkNlsR#-t^&;$W#)f9tTlZz>n*+Fjz z3zXZ;jf(sTM(oDzJt4FJS*8c&;PLTW(IQDFs_5QPy+7yhi1syPCarvqrHFcf&yTy)^O<1EBx;Ir`5W{TIM>{8w&PB>ro4;YD<5LF^TjTb0!zAP|QijA+1Vg>{Afv^% zmrkc4o6rvBI;Q8rj4*=AZacy*n8B{&G3VJc)so4$XUoie0)vr;qzPZVbb<#Fc=j+8CGBWe$n|3K& z_@%?{l|TzKSlUEO{U{{%Fz_pVDxs7i9H#bnbCw7@4DR=}r_qV!Zo~CvD4ZI*+j3kO zW6_=|S`)(*gM0Z;;}nj`73OigF4p6_NPZQ-Od~e$c_);;4-7sR>+2u$6m$Gf%T{aq zle>e3(*Rt(TPD}03n5)!Ca8Pu!V}m6v0o1;5<1h$*|7z|^(3$Y&;KHKTT}hV056wuF0Xo@mK-52~r=6^SI1NC%c~CC?n>yX6wPTgiWYVz!Sx^atLby9YNn1Rk{g?|pJaxD4|9cUf|V1_I*w zzxK)hRh9%zOl=*$?XUjly5z8?jPMy%vEN)f%T*|WO|bp5NWv@B(K3D6LMl!-6dQg0 zXNE&O>Oyf%K@`ngCvbGPR>HRg5!1IV$_}m@3dWB7x3t&KFyOJn9pxRXCAzFr&%37wXG;z^xaO$ekR=LJG ztIHpY8F5xBP{mtQidqNRoz= z@){+N3(VO5bD+VrmS^YjG@+JO{EOIW)9=F4v_$Ed8rZtHvjpiEp{r^c4F6Ic#ChlC zJX^DtSK+v(YdCW)^EFcs=XP7S>Y!4=xgmv>{S$~@h=xW-G4FF9?I@zYN$e5oF9g$# zb!eVU#J+NjLyX;yb)%SY)xJdvGhsnE*JEkuOVo^k5PyS=o#vq!KD46UTW_%R=Y&0G zFj6bV{`Y6)YoKgqnir2&+sl+i6foAn-**Zd1{_;Zb7Ki=u394C5J{l^H@XN`_6XTKY%X1AgQM6KycJ+= zYO=&t#5oSKB^pYhNdzPgH~aEGW2=ec1O#s-KG z71}LOg@4UEFtp3GY1PBemXpNs6UK-ax*)#$J^pC_me;Z$Je(OqLoh|ZrW*mAMBFn< zHttjwC&fkVfMnQeen8`Rvy^$pNRFVaiEN4Pih*Y3@jo!T0nsClN)pdrr9AYLcZxZ| zJ5Wlj+4q~($hbtuY zVQ7hl>4-+@6g1i`1a)rvtp-;b0>^`Dloy(#{z~ytgv=j4q^Kl}wD>K_Y!l~ zp(_&7sh`vfO(1*MO!B%<6E_bx1)&s+Ae`O)a|X=J9y~XDa@UB`m)`tSG4AUhoM=5& znWoHlA-(z@3n0=l{E)R-p8sB9XkV zZ#D8wietfHL?J5X0%&fGg@MH~(rNS2`GHS4xTo7L$>TPme+Is~!|79=^}QbPF>m%J zFMkGzSndiPO|E~hrhCeo@&Ea{M(ieIgRWMf)E}qeTxT8Q#g-!Lu*x$v8W^M^>?-g= zwMJ$dThI|~M06rG$Sv@C@tWR>_YgaG&!BAbkGggVQa#KdtDB)lMLNVLN|51C@F^y8 zCRvMB^{GO@j=cHfmy}_pCGbP%xb{pNN>? z?7tBz$1^zVaP|uaatYaIN+#xEN4jBzwZ|YI_)p(4CUAz1ZEbDk>J~Y|63SZaak~#0 zoYKruYsWHoOlC1(MhTnsdUOwQfz5p6-D0}4;DO$B;7#M{3lSE^jnTT;ns`>!G%i*F?@pR1JO{QTuD0U+~SlZxcc8~>IB{)@8p`P&+nDxNj`*gh|u?yrv$phpQcW)Us)bi`kT%qLj(fi{dWRZ%Es2!=3mI~UxiW0$-v3vUl?#g{p6eF zMEUAqo5-L0Ar(s{VlR9g=j7+lt!gP!UN2ICMokAZ5(Agd>})#gkA2w|5+<%-CuEP# zqgcM}u@3(QIC^Gx<2dbLj?cFSws_f3e%f4jeR?4M^M3cx1f+Qr6ydQ>n)kz1s##2w zk}UyQc+Z5G-d-1}{WzjkLXgS-2P7auWSJ%pSnD|Uivj5u!xk0 z_^-N9r9o;(rFDt~q1PvE#iJZ_f>J3gcP$)SOqhE~pD2|$=GvpL^d!r z6u=sp-CrMoF7;)}Zd7XO4XihC4ji?>V&(t^?@3Q&t9Mx=qex6C9d%{FE6dvU6%d94 zIE;hJ1J)cCqjv?F``7I*6bc#X)JW2b4f$L^>j{*$R`%5VHFi*+Q$2;nyieduE}qdS{L8y8F08yLs?w}{>8>$3236T-VMh@B zq-nujsb_1aUv_7g#)*rf9h%sFj*^mIcImRV*k~Vmw;%;YH(&ylYpy!&UjUVqqtfG` zox3esju?`unJJA_zKXRJP)rA3nXc$m^{S&-p|v|-0x9LHJm;XIww7C#R$?00l&Yyj z=e}gKUOpsImwW?N)+E(awoF@HyP^EhL+GlNB#k?R<2>95hz!h9sF@U20DHSB3~WMa zk90+858r@-+vWwkawJ)8ougd(i#1m3GLN{iSTylYz$brAsP%=&m$mQQrH$g%3-^VR zE%B`Vi&m8f3T~&myTEK28BDWCVzfWir1I?03;pX))|kY5ClO^+bae z*7E?g=3g7EiisYOrE+lA)2?Ln6q2*HLNpZEWMB|O-JI_oaHZB%CvYB(%=tU= zE*OY%QY58fW#RG5=gm0NR#iMB=EuNF@)%oZJ}nmm=tsJ?eGjia{e{yuU0l3{d^D@)kVDt=1PE)&tf_hHC%0MB znL|CRCPC}SeuVTdf>-QV70`0(EHizc21s^sU>y%hW0t!0&y<7}Wi-wGy>m%(-jsDj zP?mF|>p_K>liZ6ZP(w5(|9Ga%>tLgb$|doDDfkdW>Z z`)>V2XC?NJT26mL^@ zf+IKr27TfM!UbZ@?zRddC7#6ss1sw%CXJ4FWC+t3lHZupzM77m^=9 z&(a?-LxIq}*nvv)y?27lZ{j zifdl9hyJudyP2LpU$-kXctshbJDKS{WfulP5Dk~xU4Le4c#h^(YjJit4#R8_khheS z|8(>2ibaHES4+J|DBM7I#QF5u-*EdN{n=Kt@4Zt?@Tv{JZA{`4 zU#kYOv{#A&gGPwT+$Ud}AXlK3K7hYzo$(fBSFjrP{QQ zeaKg--L&jh$9N}`pu{Bs>?eDFPaWY4|9|foN%}i;3%;@4{dc+iw>m}{3rELqH21G! z`8@;w-zsJ1H(N3%|1B@#ioLOjib)j`EiJqPQVSbPSPVHCj6t5J&(NcWzBrzCiDt{4 zdlPAUKldz%6x5II1H_+jv)(xVL+a;P+-1hv_pM>gMRr%04@k;DTokASSKKhU1Qms| zrWh3a!b(J3n0>-tipg{a?UaKsP7?+|@A+1WPDiQIW1Sf@qDU~M_P65_s}7(gjTn0X zucyEm)o;f8UyshMy&>^SC3I|C6jR*R_GFwGranWZe*I>K+0k}pBuET&M~ z;Odo*ZcT?ZpduHyrf8E%IBFtv;JQ!N_m>!sV6ly$_1D{(&nO~w)G~Y`7sD3#hQk%^ zp}ucDF_$!6DAz*PM8yE(&~;%|=+h(Rn-=1Wykas_-@d&z#=S}rDf`4w(rVlcF&lF! z=1)M3YVz7orwk^BXhslJ8jR);sh^knJW(Qmm(QdSgIAIdlN4Te5KJisifjr?eB{FjAX1a0AB>d?qY4Wx>BZ8&}5K0fA+d{l8 z?^s&l8#j7pR&ijD?0b%;lL9l$P_mi2^*_OL+b}4kuLR$GAf85sOo02?Y#90}CCDiS zZ%rbCw>=H~CBO=C_JVV=xgDe%b4FaEFtuS7Q1##y686r%F6I)s-~2(}PWK|Z8M+Gu zl$y~5@#0Ka%$M<&Cv%L`a8X^@tY&T7<0|(6dNT=EsRe0%kp1Qyq!^43VAKYnr*A5~ zsI%lK1ewqO;0TpLrT9v}!@vJK{QoVa_+N4FYT#h?Y8rS1S&-G+m$FNMP?(8N`MZP zels(*?kK{{^g9DOzkuZXJ2;SrOQsp9T$hwRB1(phw1c7`!Q!by?Q#YsSM#I12RhU{$Q+{xj83axHcftEc$mNJ8_T7A-BQc*k(sZ+~NsO~xAA zxnbb%dam_fZlHvW7fKXrB~F&jS<4FD2FqY?VG?ix*r~MDXCE^WQ|W|WM;gsIA4lQP zJ2hAK@CF*3*VqPr2eeg6GzWFlICi8S>nO>5HvWzyZTE)hlkdC_>pBej*>o0EOHR|) z$?};&I4+_?wvL*g#PJ9)!bc#9BJu1(*RdNEn>#Oxta(VWeM40ola<0aOe2kSS~{^P zDJBd}0L-P#O-CzX*%+$#v;(x%<*SPgAje=F{Zh-@ucd2DA(yC|N_|ocs*|-!H%wEw z@Q!>siv2W;C^^j^59OAX03&}&D*W4EjCvfi(ygcL#~t8XGa#|NPO+*M@Y-)ctFA@I z-p7npT1#5zOLo>7q?aZpCZ=iecn3QYklP;gF0bq@>oyBq94f6C=;Csw3PkZ|5q=(c zfs`aw?II0e(h=|7o&T+hq&m$; zBrE09Twxd9BJ2P+QPN}*OdZ-JZV7%av@OM7v!!NL8R;%WFq*?{9T3{ct@2EKgc8h) zMxoM$SaF#p<`65BwIDfmXG6+OiK0e)`I=!A3E`+K@61f}0e z!2a*FOaDrOe>U`q%K!QN`&=&0C~)CaL3R4VY(NDt{Xz(Xpqru5=r#uQN1L$Je1*dkdqQ*=lofQaN%lO!<5z9ZlHgxt|`THd>2 zsWfU$9=p;yLyJyM^t zS2w9w?Bpto`@H^xJpZDKR1@~^30Il6oFGfk5%g6w*C+VM)+%R@gfIwNprOV5{F^M2 zO?n3DEzpT+EoSV-%OdvZvNF+pDd-ZVZ&d8 zKeIyrrfPN=EcFRCPEDCVflX#3-)Ik_HCkL(ejmY8vzcf-MTA{oHk!R2*36`O68$7J zf}zJC+bbQk--9Xm!u#lgLvx8TXx2J258E5^*IZ(FXMpq$2LUUvhWQPs((z1+2{Op% z?J}9k5^N=z;7ja~zi8a_-exIqWUBJwohe#4QJ`|FF*$C{lM18z^#hX6!5B8KAkLUX ziP=oti-gpV(BsLD{0(3*dw}4JxK23Y7M{BeFPucw!sHpY&l%Ws4pSm`+~V7;bZ%Dx zeI)MK=4vC&5#;2MT7fS?^ch9?2;%<8Jlu-IB&N~gg8t;6S-#C@!NU{`p7M8@2iGc& zg|JPg%@gCoCQ&s6JvDU&`X2S<57f(k8nJ1wvBu{8r?;q3_kpZZ${?|( z+^)UvR33sjSd)aT!UPkA;ylO6{aE3MQa{g%Mcf$1KONcjO@&g5zPHWtzM1rYC{_K> zgQNcs<{&X{OA=cEWw5JGqpr0O>x*Tfak2PE9?FuWtz^DDNI}rwAaT0(bdo-<+SJ6A z&}S%boGMWIS0L}=S>|-#kRX;e^sUsotry(MjE|3_9duvfc|nwF#NHuM-w7ZU!5ei8 z6Mkf>2)WunY2eU@C-Uj-A zG(z0Tz2YoBk>zCz_9-)4a>T46$(~kF+Y{#sA9MWH%5z#zNoz)sdXq7ZR_+`RZ%0(q zC7&GyS_|BGHNFl8Xa%@>iWh%Gr?=J5<(!OEjauj5jyrA-QXBjn0OAhJJ9+v=!LK`` z@g(`^*84Q4jcDL`OA&ZV60djgwG`|bcD*i50O}Q{9_noRg|~?dj%VtKOnyRs$Uzqg z191aWoR^rDX#@iSq0n z?9Sg$WSRPqSeI<}&n1T3!6%Wj@5iw5`*`Btni~G=&;J+4`7g#OQTa>u`{4ZZ(c@s$ zK0y;ySOGD-UTjREKbru{QaS>HjN<2)R%Nn-TZiQ(Twe4p@-saNa3~p{?^V9Nixz@a zykPv~<@lu6-Ng9i$Lrk(xi2Tri3q=RW`BJYOPC;S0Yly%77c727Yj-d1vF!Fuk{Xh z)lMbA69y7*5ufET>P*gXQrxsW+ zz)*MbHZv*eJPEXYE<6g6_M7N%#%mR{#awV3i^PafNv(zyI)&bH?F}2s8_rR(6%!V4SOWlup`TKAb@ee>!9JKPM=&8g#BeYRH9FpFybxBXQI2|g}FGJfJ+ zY-*2hB?o{TVL;Wt_ek;AP5PBqfDR4@Z->_182W z{P@Mc27j6jE*9xG{R$>6_;i=y{qf(c`5w9fa*`rEzX6t!KJ(p1H|>J1pC-2zqWENF zmm=Z5B4u{cY2XYl(PfrInB*~WGWik3@1oRhiMOS|D;acnf-Bs(QCm#wR;@Vf!hOPJ zgjhDCfDj$HcyVLJ=AaTbQ{@vIv14LWWF$=i-BDoC11}V;2V8A`S>_x)vIq44-VB-v z*w-d}$G+Ql?En8j!~ZkCpQ$|cA0|+rrY>tiCeWxkRGPoarxlGU2?7%k#F693RHT24 z-?JsiXlT2PTqZqNb&sSc>$d;O4V@|b6VKSWQb~bUaWn1Cf0+K%`Q&Wc<>mQ>*iEGB zbZ;aYOotBZ{vH3y<0A*L0QVM|#rf*LIsGx(O*-7)r@yyBIzJnBFSKBUSl1e|8lxU* zzFL+YDVVkIuzFWeJ8AbgN&w(4-7zbiaMn{5!JQXu)SELk*CNL+Fro|2v|YO)1l15t zs(0^&EB6DPMyaqvY>=KL>)tEpsn;N5Q#yJj<9}ImL((SqErWN3Q=;tBO~ExTCs9hB z2E$7eN#5wX4<3m^5pdjm#5o>s#eS_Q^P)tm$@SawTqF*1dj_i#)3};JslbLKHXl_N z)Fxzf>FN)EK&Rz&*|6&%Hs-^f{V|+_vL1S;-1K-l$5xiC@}%uDuwHYhmsV?YcOUlk zOYkG5v2+`+UWqpn0aaaqrD3lYdh0*!L`3FAsNKu=Q!vJu?Yc8n|CoYyDo_`r0mPoo z8>XCo$W4>l(==h?2~PoRR*kEe)&IH{1sM41mO#-36`02m#nTX{r*r`Q5rZ2-sE|nA zhnn5T#s#v`52T5|?GNS`%HgS2;R(*|^egNPDzzH_z^W)-Q98~$#YAe)cEZ%vge965AS_am#DK#pjPRr-!^za8>`kksCAUj(Xr*1NW5~e zpypt_eJpD&4_bl_y?G%>^L}=>xAaV>KR6;^aBytqpiHe%!j;&MzI_>Sx7O%F%D*8s zSN}cS^<{iiK)=Ji`FpO#^zY!_|D)qeRNAtgmH)m;qC|mq^j(|hL`7uBz+ULUj37gj zksdbnU+LSVo35riSX_4z{UX=%n&}7s0{WuZYoSfwAP`8aKN9P@%e=~1`~1ASL-z%# zw>DO&ixr}c9%4InGc*_y42bdEk)ZdG7-mTu0bD@_vGAr*NcFoMW;@r?@LUhRI zCUJgHb`O?M3!w)|CPu~ej%fddw20lod?Ufp8Dmt0PbnA0J%KE^2~AIcnKP()025V> zG>noSM3$5Btmc$GZoyP^v1@Poz0FD(6YSTH@aD0}BXva?LphAiSz9f&Y(aDAzBnUh z?d2m``~{z;{}kZJ>a^wYI?ry(V9hIoh;|EFc0*-#*`$T0DRQ1;WsqInG;YPS+I4{g zJGpKk%%Sdc5xBa$Q^_I~(F97eqDO7AN3EN0u)PNBAb+n+ zWBTxQx^;O9o0`=g+Zrt_{lP!sgWZHW?8bLYS$;1a@&7w9rD9|Ge;Gb?sEjFoF9-6v z#!2)t{DMHZ2@0W*fCx;62d#;jouz`R5Y(t{BT=$N4yr^^o$ON8d{PQ=!O zX17^CrdM~7D-;ZrC!||<+FEOxI_WI3CA<35va%4v>gc zEX-@h8esj=a4szW7x{0g$hwoWRQG$yK{@3mqd-jYiVofJE!Wok1* znV7Gm&Ssq#hFuvj1sRyHg(6PFA5U*Q8Rx>-blOs=lb`qa{zFy&n4xY;sd$fE+<3EI z##W$P9M{B3c3Si9gw^jlPU-JqD~Cye;wr=XkV7BSv#6}DrsXWFJ3eUNrc%7{=^sP> zrp)BWKA9<}^R9g!0q7yWlh;gr_TEOD|#BmGq<@IV;ueg+D2}cjpp+dPf&Q(36sFU&K8}hA85U61faW&{ zlB`9HUl-WWCG|<1XANN3JVAkRYvr5U4q6;!G*MTdSUt*Mi=z_y3B1A9j-@aK{lNvx zK%p23>M&=KTCgR!Ee8c?DAO2_R?B zkaqr6^BSP!8dHXxj%N1l+V$_%vzHjqvu7p@%Nl6;>y*S}M!B=pz=aqUV#`;h%M0rU zHfcog>kv3UZAEB*g7Er@t6CF8kHDmKTjO@rejA^ULqn!`LwrEwOVmHx^;g|5PHm#B zZ+jjWgjJ!043F+&#_;D*mz%Q60=L9Ove|$gU&~As5^uz@2-BfQ!bW)Khn}G+Wyjw- z19qI#oB(RSNydn0t~;tAmK!P-d{b-@@E5|cdgOS#!>%#Rj6ynkMvaW@37E>@hJP^8 z2zk8VXx|>#R^JCcWdBCy{0nPmYFOxN55#^-rlqobe0#L6)bi?E?SPymF*a5oDDeSd zO0gx?#KMoOd&G(2O@*W)HgX6y_aa6iMCl^~`{@UR`nMQE`>n_{_aY5nA}vqU8mt8H z`oa=g0SyiLd~BxAj2~l$zRSDHxvDs;I4>+M$W`HbJ|g&P+$!U7-PHX4RAcR0szJ*( ze-417=bO2q{492SWrqDK+L3#ChUHtz*@MP)e^%@>_&#Yk^1|tv@j4%3T)diEX zATx4K*hcO`sY$jk#jN5WD<=C3nvuVsRh||qDHnc~;Kf59zr0;c7VkVSUPD%NnnJC_ zl3F^#f_rDu8l}l8qcAz0FFa)EAt32IUy_JLIhU_J^l~FRH&6-ivSpG2PRqzDdMWft>Zc(c)#tb%wgmWN%>IOPm zZi-noqS!^Ftb81pRcQi`X#UhWK70hy4tGW1mz|+vI8c*h@ zfFGJtW3r>qV>1Z0r|L>7I3un^gcep$AAWfZHRvB|E*kktY$qQP_$YG60C@X~tTQjB3%@`uz!qxtxF+LE!+=nrS^07hn` zEgAp!h|r03h7B!$#OZW#ACD+M;-5J!W+{h|6I;5cNnE(Y863%1(oH}_FTW})8zYb$7czP zg~Szk1+_NTm6SJ0MS_|oSz%e(S~P-&SFp;!k?uFayytV$8HPwuyELSXOs^27XvK-D zOx-Dl!P|28DK6iX>p#Yb%3`A&CG0X2S43FjN%IB}q(!hC$fG}yl1y9W&W&I@KTg6@ zK^kpH8=yFuP+vI^+59|3%Zqnb5lTDAykf z9S#X`3N(X^SpdMyWQGOQRjhiwlj!0W-yD<3aEj^&X%=?`6lCy~?`&WSWt z?U~EKFcCG_RJ(Qp7j=$I%H8t)Z@6VjA#>1f@EYiS8MRHZphp zMA_5`znM=pzUpBPO)pXGYpQ6gkine{6u_o!P@Q+NKJ}k!_X7u|qfpAyIJb$_#3@wJ z<1SE2Edkfk9C!0t%}8Yio09^F`YGzpaJHGk*-ffsn85@)%4@`;Fv^8q(-Wk7r=Q8p zT&hD`5(f?M{gfzGbbwh8(}G#|#fDuk7v1W)5H9wkorE0ZZjL0Q1=NRGY>zwgfm81DdoaVwNH;or{{eSyybt)m<=zXoA^RALYG-2t zouH|L*BLvmm9cdMmn+KGopyR@4*=&0&4g|FLoreZOhRmh=)R0bg~ zT2(8V_q7~42-zvb)+y959OAv!V$u(O3)%Es0M@CRFmG{5sovIq4%8Ahjk#*5w{+)+ zMWQoJI_r$HxL5km1#6(e@{lK3Udc~n0@g`g$s?VrnQJ$!oPnb?IHh-1qA`Rz$)Ai< z6w$-MJW-gKNvOhL+XMbE7&mFt`x1KY>k4(!KbbpZ`>`K@1J<(#vVbjx@Z@(6Q}MF# zMnbr-f55(cTa^q4+#)=s+ThMaV~E`B8V=|W_fZWDwiso8tNMTNse)RNBGi=gVwgg% zbOg8>mbRN%7^Um-7oj4=6`$|(K7!+t^90a{$18Z>}<#!bm%ZEFQ{X(yBZMc>lCz0f1I2w9Sq zuGh<9<=AO&g6BZte6hn>Qmvv;Rt)*cJfTr2=~EnGD8P$v3R|&1RCl&7)b+`=QGapi zPbLg_pxm`+HZurtFZ;wZ=`Vk*do~$wB zxoW&=j0OTbQ=Q%S8XJ%~qoa3Ea|au5o}_(P;=!y-AjFrERh%8la!z6Fn@lR?^E~H12D?8#ht=1F;7@o4$Q8GDj;sSC%Jfn01xgL&%F2 zwG1|5ikb^qHv&9hT8w83+yv&BQXOQyMVJSBL(Ky~p)gU3#%|blG?IR9rP^zUbs7rOA0X52Ao=GRt@C&zlyjNLv-} z9?*x{y(`509qhCV*B47f2hLrGl^<@SuRGR!KwHei?!CM10Tq*YDIoBNyRuO*>3FU? zHjipIE#B~y3FSfOsMfj~F9PNr*H?0oHyYB^G(YyNh{SxcE(Y-`x5jFMKb~HO*m+R% zrq|ic4fzJ#USpTm;X7K+E%xsT_3VHKe?*uc4-FsILUH;kL>_okY(w`VU*8+l>o>Jm ziU#?2^`>arnsl#)*R&nf_%>A+qwl%o{l(u)M?DK1^mf260_oteV3#E_>6Y4!_hhVD zM8AI6MM2V*^_M^sQ0dmHu11fy^kOqXqzpr?K$`}BKWG`=Es(9&S@K@)ZjA{lj3ea7_MBP zk(|hBFRjHVMN!sNUkrB;(cTP)T97M$0Dtc&UXSec<+q?y>5=)}S~{Z@ua;1xt@=T5 zI7{`Z=z_X*no8s>mY;>BvEXK%b`a6(DTS6t&b!vf_z#HM{Uoy_5fiB(zpkF{})ruka$iX*~pq1ZxD?q68dIo zIZSVls9kFGsTwvr4{T_LidcWtt$u{kJlW7moRaH6+A5hW&;;2O#$oKyEN8kx`LmG)Wfq4ykh+q{I3|RfVpkR&QH_x;t41Uw z`P+tft^E2B$domKT@|nNW`EHwyj>&}K;eDpe z1bNOh=fvIfk`&B61+S8ND<(KC%>y&?>opCnY*r5M+!UrWKxv0_QvTlJc>X#AaI^xo zaRXL}t5Ej_Z$y*|w*$6D+A?Lw-CO-$itm^{2Ct82-<0IW)0KMNvJHgBrdsIR0v~=H z?n6^}l{D``Me90`^o|q!olsF?UX3YSq^6Vu>Ijm>>PaZI8G@<^NGw{Cx&%|PwYrfw zR!gX_%AR=L3BFsf8LxI|K^J}deh0ZdV?$3r--FEX`#INxsOG6_=!v)DI>0q|BxT)z z-G6kzA01M?rba+G_mwNMQD1mbVbNTWmBi*{s_v_Ft9m2Avg!^78(QFu&n6mbRJ2bA zv!b;%yo{g*9l2)>tsZJOOp}U~8VUH`}$ z8p_}t*XIOehezolNa-a2x0BS})Y9}&*TPgua{Ewn-=wVrmJUeU39EKx+%w%=ixQWK zDLpwaNJs65#6o7Ln7~~X+p_o2BR1g~VCfxLzxA{HlWAI6^H;`juI=&r1jQrUv_q0Z z1Ja-tjdktrrP>GOC*#p?*xfQU5MqjMsBe!9lh(u8)w$e@Z|>aUHI5o;MGw*|Myiz3 z-f0;pHg~Q#%*Kx8MxH%AluVXjG2C$)WL-K63@Q`#y9_k_+}eR(x4~dp7oV-ek0H>I zgy8p#i4GN{>#v=pFYUQT(g&b$OeTy-X_#FDgNF8XyfGY6R!>inYn8IR2RDa&O!(6< znXs{W!bkP|s_YI*Yx%4stI`=ZO45IK6rBs`g7sP40ic}GZ58s?Mc$&i`kq_tfci>N zIHrC0H+Qpam1bNa=(`SRKjixBTtm&e`j9porEci!zdlg1RI0Jw#b(_Tb@RQK1Zxr_ z%7SUeH6=TrXt3J@js`4iDD0=IoHhK~I7^W8^Rcp~Yaf>2wVe|Hh1bUpX9ATD#moByY57-f2Ef1TP^lBi&p5_s7WGG9|0T}dlfxOx zXvScJO1Cnq`c`~{Dp;{;l<-KkCDE+pmexJkd}zCgE{eF=)K``-qC~IT6GcRog_)!X z?fK^F8UDz$(zFUrwuR$qro5>qqn>+Z%<5>;_*3pZ8QM|yv9CAtrAx;($>4l^_$_-L z*&?(77!-=zvnCVW&kUcZMb6;2!83si518Y%R*A3JZ8Is|kUCMu`!vxDgaWjs7^0j( ziTaS4HhQ)ldR=r)_7vYFUr%THE}cPF{0H45FJ5MQW^+W>P+eEX2kLp3zzFe*-pFVA zdDZRybv?H|>`9f$AKVjFWJ=wegO7hOOIYCtd?Vj{EYLT*^gl35|HQ`R=ti+ADm{jyQE7K@kdjuqJhWVSks>b^ zxha88-h3s;%3_5b1TqFCPTxVjvuB5U>v=HyZ$?JSk+&I%)M7KE*wOg<)1-Iy)8-K! z^XpIt|0ibmk9RtMmlUd7#Ap3Q!q9N4atQy)TmrhrFhfx1DAN`^vq@Q_SRl|V z#lU<~n67$mT)NvHh`%als+G-)x1`Y%4Bp*6Un5Ri9h=_Db zA-AdP!f>f0m@~>7X#uBM?diI@)Egjuz@jXKvm zJo+==juc9_<;CqeRaU9_Mz@;3e=E4=6TK+c`|uu#pIqhSyNm`G(X)&)B`8q0RBv#> z`gGlw(Q=1Xmf55VHj%C#^1lpc>LY8kfA@|rlC1EA<1#`iuyNO z(=;irt{_&K=i4)^x%;U(Xv<)+o=dczC5H3W~+e|f~{*ucxj@{Yi-cw^MqYr3fN zF5D+~!wd$#al?UfMnz(@K#wn`_5na@rRr8XqN@&M&FGEC@`+OEv}sI1hw>Up0qAWf zL#e4~&oM;TVfjRE+10B_gFlLEP9?Q-dARr3xi6nQqnw>k-S;~b z;!0s2VS4}W8b&pGuK=7im+t(`nz@FnT#VD|!)eQNp-W6)@>aA+j~K*H{$G`y2|QHY z|Hmy+CR@#jWY4~)lr1qBJB_RfHJFfP<}pK5(#ZZGSqcpyS&}01LnTWk5fzmXMGHkJ zTP6L^B+uj;lmB_W<~4=${+v0>z31M!-_O@o-O9GyW)j_mjx}!0@br_LE-7SIuPP84 z;5=O(U*g_um0tyG|61N@d9lEuOeiRd+#NY^{nd5;-CVlw&Ap7J?qwM^?E29wvS}2d zbzar4Fz&RSR(-|s!Z6+za&Z zY#D<5q_JUktIzvL0)yq_kLWG6DO{ri=?c!y!f(Dk%G{8)k`Gym%j#!OgXVDD3;$&v@qy#ISJfp=Vm>pls@9-mapVQChAHHd-x+OGx)(*Yr zC1qDUTZ6mM(b_hi!TuFF2k#8uI2;kD70AQ&di$L*4P*Y-@p`jdm%_c3f)XhYD^6M8&#Y$ZpzQMcR|6nsH>b=*R_Von!$BTRj7yGCXokoAQ z&ANvx0-Epw`QIEPgI(^cS2f(Y85yV@ygI{ewyv5Frng)e}KCZF7JbR(&W618_dcEh(#+^zZFY;o<815<5sOHQdeax9_!PyM&;{P zkBa5xymca0#)c#tke@3KNEM8a_mT&1gm;p&&JlMGH(cL(b)BckgMQ^9&vRwj!~3@l zY?L5}=Jzr080OGKb|y`ee(+`flQg|!lo6>=H)X4`$Gz~hLmu2a%kYW_Uu8x09Pa0J zKZ`E$BKJ=2GPj_3l*TEcZ*uYRr<*J^#5pILTT;k_cgto1ZL-%slyc16J~OH-(RgDA z%;EjEnoUkZ&acS{Q8`{i6T5^nywgqQI5bDIymoa7CSZG|WWVk>GM9)zy*bNih|QIm z%0+(Nnc*a_xo;$=!HQYaapLms>J1ToyjtFByY`C2H1wT#178#4+|{H0BBqtCdd$L% z_3Hc60j@{t9~MjM@LBalR&6@>B;9?r<7J~F+WXyYu*y3?px*=8MAK@EA+jRX8{CG?GI-< z54?Dc9CAh>QTAvyOEm0^+x;r2BWX|{3$Y7)L5l*qVE*y0`7J>l2wCmW zL1?|a`pJ-l{fb_N;R(Z9UMiSj6pQjOvQ^%DvhIJF!+Th7jO2~1f1N+(-TyCFYQZYw z4)>7caf^Ki_KJ^Zx2JUb z&$3zJy!*+rCV4%jqwyuNY3j1ZEiltS0xTzd+=itTb;IPYpaf?8Y+RSdVdpacB(bVQ zC(JupLfFp8y43%PMj2}T|VS@%LVp>hv4Y!RPMF?pp8U_$xCJ)S zQx!69>bphNTIb9yn*_yfj{N%bY)t{L1cs8<8|!f$;UQ*}IN=2<6lA;x^(`8t?;+ST zh)z4qeYYgZkIy{$4x28O-pugO&gauRh3;lti9)9Pvw+^)0!h~%m&8Q!AKX%urEMnl z?yEz?g#ODn$UM`+Q#$Q!6|zsq_`dLO5YK-6bJM6ya>}H+vnW^h?o$z;V&wvuM$dR& zeEq;uUUh$XR`TWeC$$c&Jjau2it3#%J-y}Qm>nW*s?En?R&6w@sDXMEr#8~$=b(gk zwDC3)NtAP;M2BW_lL^5ShpK$D%@|BnD{=!Tq)o(5@z3i7Z){} zGr}Exom_qDO{kAVkZ*MbLNHE666Kina#D{&>Jy%~w7yX$oj;cYCd^p9zy z8*+wgSEcj$4{WxKmCF(5o7U4jqwEvO&dm1H#7z}%VXAbW&W24v-tS6N3}qrm1OnE)fUkoE8yMMn9S$?IswS88tQWm4#Oid#ckgr6 zRtHm!mfNl-`d>O*1~d7%;~n+{Rph6BBy^95zqI{K((E!iFQ+h*C3EsbxNo_aRm5gj zKYug($r*Q#W9`p%Bf{bi6;IY0v`pB^^qu)gbg9QHQ7 zWBj(a1YSu)~2RK8Pi#C>{DMlrqFb9e_RehEHyI{n?e3vL_}L>kYJC z_ly$$)zFi*SFyNrnOt(B*7E$??s67EO%DgoZL2XNk8iVx~X_)o++4oaK1M|ou73vA0K^503j@uuVmLcHH4ya-kOIDfM%5%(E z+Xpt~#7y2!KB&)PoyCA+$~DXqxPxxALy!g-O?<9+9KTk4Pgq4AIdUkl`1<1#j^cJg zgU3`0hkHj_jxV>`Y~%LAZl^3o0}`Sm@iw7kwff{M%VwtN)|~!p{AsfA6vB5UolF~d zHWS%*uBDt<9y!9v2Xe|au&1j&iR1HXCdyCjxSgG*L{wmTD4(NQ=mFjpa~xooc6kju z`~+d{j7$h-;HAB04H!Zscu^hZffL#9!p$)9>sRI|Yovm)g@F>ZnosF2EgkU3ln0bR zTA}|+E(tt)!SG)-bEJi_0m{l+(cAz^pi}`9=~n?y&;2eG;d9{M6nj>BHGn(KA2n|O zt}$=FPq!j`p&kQ8>cirSzkU0c08%8{^Qyqi-w2LoO8)^E7;;I1;HQ6B$u0nNaX2CY zSmfi)F`m94zL8>#zu;8|{aBui@RzRKBlP1&mfFxEC@%cjl?NBs`cr^nm){>;$g?rhKr$AO&6qV_Wbn^}5tfFBry^e1`%du2~o zs$~dN;S_#%iwwA_QvmMjh%Qo?0?rR~6liyN5Xmej8(*V9ym*T`xAhHih-v$7U}8=dfXi2i*aAB!xM(Xekg*ix@r|ymDw*{*s0?dlVys2e)z62u1 z+k3esbJE=-P5S$&KdFp+2H7_2e=}OKDrf( z9-207?6$@f4m4B+9E*e((Y89!q?zH|mz_vM>kp*HGXldO0Hg#!EtFhRuOm$u8e~a9 z5(roy7m$Kh+zjW6@zw{&20u?1f2uP&boD}$#Zy)4o&T;vyBoqFiF2t;*g=|1=)PxB z8eM3Mp=l_obbc?I^xyLz?4Y1YDWPa+nm;O<$Cn;@ane616`J9OO2r=rZr{I_Kizyc zP#^^WCdIEp*()rRT+*YZK>V@^Zs=ht32x>Kwe zab)@ZEffz;VM4{XA6e421^h~`ji5r%)B{wZu#hD}f3$y@L0JV9f3g{-RK!A?vBUA}${YF(vO4)@`6f1 z-A|}e#LN{)(eXloDnX4Vs7eH|<@{r#LodP@Nz--$Dg_Par%DCpu2>2jUnqy~|J?eZ zBG4FVsz_A+ibdwv>mLp>P!(t}E>$JGaK$R~;fb{O3($y1ssQQo|5M;^JqC?7qe|hg zu0ZOqeFcp?qVn&Qu7FQJ4hcFi&|nR!*j)MF#b}QO^lN%5)4p*D^H+B){n8%VPUzi! zDihoGcP71a6!ab`l^hK&*dYrVYzJ0)#}xVrp!e;lI!+x+bfCN0KXwUAPU9@#l7@0& QuEJmfE|#`Dqx|px0L@K;Y5)KL diff --git a/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties b/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties index 10587529d5..34bd9ce95f 100644 --- a/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties +++ b/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties @@ -1,6 +1,6 @@ distributionBase=GRADLE_USER_HOME distributionPath=permwrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip +distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip networkTimeout=10000 validateDistributionUrl=true zipStoreBase=GRADLE_USER_HOME diff --git a/photonlib-cpp-examples/gradlew b/photonlib-cpp-examples/gradlew index 89a57c4dfe..f5feea6d6b 100755 --- a/photonlib-cpp-examples/gradlew +++ b/photonlib-cpp-examples/gradlew @@ -1,7 +1,7 @@ #!/bin/sh # -# Copyright � 2015-2021 the original authors. +# Copyright © 2015-2021 the original authors. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -15,7 +15,53 @@ # See the License for the specific language governing permissions and # limitations under the License. # +# SPDX-License-Identifier: Apache-2.0 +# +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# ############################################################################## # Attempt to set APP_HOME @@ -36,14 +82,12 @@ do esac done -# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) -APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit - -APP_NAME="Gradle" +# This is normally unused +# shellcheck disable=SC2034 APP_BASE_NAME=${0##*/} - -# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit # Use the maximum available, or set MAX_FD != -1 to use that value. MAX_FD=maximum @@ -90,22 +134,29 @@ location of your Java installation." fi else JAVACMD=java - which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. Please set the JAVA_HOME variable in your environment to match the location of your Java installation." + fi fi # Increase the maximum file descriptors if we can. if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then case $MAX_FD in #( max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 MAX_FD=$( ulimit -H -n ) || warn "Could not query maximum file descriptor limit" esac case $MAX_FD in #( '' | soft) :;; #( *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 ulimit -n "$MAX_FD" || warn "Could not set maximum file descriptor limit to $MAX_FD" esac @@ -150,11 +201,15 @@ if "$cygwin" || "$msys" ; then done fi -# Collect all arguments for the java command; -# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of -# shell script including quotes and variable substitutions, so put them in -# double quotes to make sure that they get re-expanded; and -# * put everything else in single quotes, so that it's not re-expanded. + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. set -- \ "-Dorg.gradle.appname=$APP_BASE_NAME" \ @@ -162,6 +217,12 @@ set -- \ org.gradle.wrapper.GradleWrapperMain \ "$@" +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + # Use "xargs" to parse quoted args. # # With -n1 it outputs one arg per line, with the quotes and backslashes removed. diff --git a/photonlib-cpp-examples/gradlew.bat b/photonlib-cpp-examples/gradlew.bat index 107acd32c4..9d21a21834 100644 --- a/photonlib-cpp-examples/gradlew.bat +++ b/photonlib-cpp-examples/gradlew.bat @@ -13,8 +13,10 @@ @rem See the License for the specific language governing permissions and @rem limitations under the License. @rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem -@if "%DEBUG%" == "" @echo off +@if "%DEBUG%"=="" @echo off @rem ########################################################################## @rem @rem Gradle startup script for Windows @@ -25,7 +27,8 @@ if "%OS%"=="Windows_NT" setlocal set DIRNAME=%~dp0 -if "%DIRNAME%" == "" set DIRNAME=. +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused set APP_BASE_NAME=%~n0 set APP_HOME=%DIRNAME% @@ -40,13 +43,13 @@ if defined JAVA_HOME goto findJavaFromJavaHome set JAVA_EXE=java.exe %JAVA_EXE% -version >NUL 2>&1 -if "%ERRORLEVEL%" == "0" goto execute +if %ERRORLEVEL% equ 0 goto execute -echo. -echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail @@ -56,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe if exist "%JAVA_EXE%" goto execute -echo. -echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail @@ -75,13 +78,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar :end @rem End local scope for the variables with windows NT shell -if "%ERRORLEVEL%"=="0" goto mainEnd +if %ERRORLEVEL% equ 0 goto mainEnd :fail rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of rem the _cmd.exe /c_ return code! -if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 -exit /b 1 +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% :mainEnd if "%OS%"=="Windows_NT" endlocal diff --git a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java index 871414f871..8e3fc97379 100644 --- a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java +++ b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java @@ -122,8 +122,7 @@ public void periodic() { * @param omega Angular velocity (rotation CCW+) */ public void drive(double vx, double vy, double omega) { - var targetChassisSpeeds = - new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading()); + var targetChassisSpeeds = new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading()); setChassisSpeeds(targetChassisSpeeds, true, false); } @@ -269,8 +268,7 @@ public void log() { ChassisSpeeds chassisSpeeds = getChassisSpeeds(); SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx); SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy); - SmartDashboard.putNumber( - table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega)); + SmartDashboard.putNumber(table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega)); SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vx); SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vy); SmartDashboard.putNumber( diff --git a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java index 6242a4e7ca..c393321713 100644 --- a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java +++ b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java @@ -92,8 +92,7 @@ public void periodic() { double drivePid = 0; if (!openLoop) { // Perform PID feedback control to compensate for disturbances - drivePid = - drivePidController.calculate(driveEncoder.getRate(), desiredState.speed); + drivePid = drivePidController.calculate(driveEncoder.getRate(), desiredState.speed); } driveMotor.setVoltage(driveFF + drivePid); @@ -156,11 +155,9 @@ public void log() { table + "Steer Degrees", Math.toDegrees(MathUtil.angleModulus(state.angle.getRadians()))); SmartDashboard.putNumber( table + "Steer Target Degrees", Math.toDegrees(steerPidController.getSetpoint())); + SmartDashboard.putNumber(table + "Drive Velocity Feet", Units.metersToFeet(state.speed)); SmartDashboard.putNumber( - table + "Drive Velocity Feet", Units.metersToFeet(state.speed)); - SmartDashboard.putNumber( - table + "Drive Velocity Target Feet", - Units.metersToFeet(desiredState.speed)); + table + "Drive Velocity Target Feet", Units.metersToFeet(desiredState.speed)); SmartDashboard.putNumber(table + "Drive Current", driveCurrentSim); SmartDashboard.putNumber(table + "Steer Current", steerCurrentSim); } diff --git a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java index 7feea5c446..547d237bae 100644 --- a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java +++ b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java @@ -122,8 +122,7 @@ public void periodic() { * @param omega Angular velocity (rotation CCW+) */ public void drive(double vx, double vy, double omega) { - var targetChassisSpeeds = - new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading()); + var targetChassisSpeeds = new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading()); setChassisSpeeds(targetChassisSpeeds, true, false); } @@ -269,8 +268,7 @@ public void log() { ChassisSpeeds chassisSpeeds = getChassisSpeeds(); SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx); SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy); - SmartDashboard.putNumber( - table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega)); + SmartDashboard.putNumber(table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega)); SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vx); SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vy); SmartDashboard.putNumber( diff --git a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java index 6242a4e7ca..c393321713 100644 --- a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java +++ b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java @@ -92,8 +92,7 @@ public void periodic() { double drivePid = 0; if (!openLoop) { // Perform PID feedback control to compensate for disturbances - drivePid = - drivePidController.calculate(driveEncoder.getRate(), desiredState.speed); + drivePid = drivePidController.calculate(driveEncoder.getRate(), desiredState.speed); } driveMotor.setVoltage(driveFF + drivePid); @@ -156,11 +155,9 @@ public void log() { table + "Steer Degrees", Math.toDegrees(MathUtil.angleModulus(state.angle.getRadians()))); SmartDashboard.putNumber( table + "Steer Target Degrees", Math.toDegrees(steerPidController.getSetpoint())); + SmartDashboard.putNumber(table + "Drive Velocity Feet", Units.metersToFeet(state.speed)); SmartDashboard.putNumber( - table + "Drive Velocity Feet", Units.metersToFeet(state.speed)); - SmartDashboard.putNumber( - table + "Drive Velocity Target Feet", - Units.metersToFeet(desiredState.speed)); + table + "Drive Velocity Target Feet", Units.metersToFeet(desiredState.speed)); SmartDashboard.putNumber(table + "Drive Current", driveCurrentSim); SmartDashboard.putNumber(table + "Steer Current", steerCurrentSim); } diff --git a/photonlib-java-examples/gradle/wrapper/gradle-wrapper.jar b/photonlib-java-examples/gradle/wrapper/gradle-wrapper.jar index 7454180f2ae8848c63b8b4dea2cb829da983f2fa..a4b76b9530d66f5e68d973ea569d8e19de379189 100644 GIT binary patch literal 43583 zcma&N1CXTcmMvW9vTb(Rwr$&4wr$(C?dmSu>@vG-+vuvg^_??!{yS%8zW-#zn-LkA z5&1^$^{lnmUON?}LBF8_K|(?T0Ra(xUH{($5eN!MR#ZihR#HxkUPe+_R8Cn`RRs(P z_^*#_XlXmGv7!4;*Y%p4nw?{bNp@UZHv1?Um8r6)Fei3p@ClJn0ECfg1hkeuUU@Or zDaPa;U3fE=3L}DooL;8f;P0ipPt0Z~9P0)lbStMS)ag54=uL9ia-Lm3nh|@(Y?B`; zx_#arJIpXH!U{fbCbI^17}6Ri*H<>OLR%c|^mh8+)*h~K8Z!9)DPf zR2h?lbDZQ`p9P;&DQ4F0sur@TMa!Y}S8irn(%d-gi0*WxxCSk*A?3lGh=gcYN?FGl z7D=Js!i~0=u3rox^eO3i@$0=n{K1lPNU zwmfjRVmLOCRfe=seV&P*1Iq=^i`502keY8Uy-WNPwVNNtJFx?IwAyRPZo2Wo1+S(xF37LJZ~%i)kpFQ3Fw=mXfd@>%+)RpYQLnr}B~~zoof(JVm^^&f zxKV^+3D3$A1G;qh4gPVjhrC8e(VYUHv#dy^)(RoUFM?o%W-EHxufuWf(l*@-l+7vt z=l`qmR56K~F|v<^Pd*p~1_y^P0P^aPC##d8+HqX4IR1gu+7w#~TBFphJxF)T$2WEa zxa?H&6=Qe7d(#tha?_1uQys2KtHQ{)Qco)qwGjrdNL7thd^G5i8Os)CHqc>iOidS} z%nFEDdm=GXBw=yXe1W-ShHHFb?Cc70+$W~z_+}nAoHFYI1MV1wZegw*0y^tC*s%3h zhD3tN8b=Gv&rj}!SUM6|ajSPp*58KR7MPpI{oAJCtY~JECm)*m_x>AZEu>DFgUcby z1Qaw8lU4jZpQ_$;*7RME+gq1KySGG#Wql>aL~k9tLrSO()LWn*q&YxHEuzmwd1?aAtI zBJ>P=&$=l1efe1CDU;`Fd+_;&wI07?V0aAIgc(!{a z0Jg6Y=inXc3^n!U0Atk`iCFIQooHqcWhO(qrieUOW8X(x?(RD}iYDLMjSwffH2~tB z)oDgNBLB^AJBM1M^c5HdRx6fBfka`(LD-qrlh5jqH~);#nw|iyp)()xVYak3;Ybik z0j`(+69aK*B>)e_p%=wu8XC&9e{AO4c~O1U`5X9}?0mrd*m$_EUek{R?DNSh(=br# z#Q61gBzEpmy`$pA*6!87 zSDD+=@fTY7<4A?GLqpA?Pb2z$pbCc4B4zL{BeZ?F-8`s$?>*lXXtn*NC61>|*w7J* z$?!iB{6R-0=KFmyp1nnEmLsA-H0a6l+1uaH^g%c(p{iT&YFrbQ$&PRb8Up#X3@Zsk zD^^&LK~111%cqlP%!_gFNa^dTYT?rhkGl}5=fL{a`UViaXWI$k-UcHJwmaH1s=S$4 z%4)PdWJX;hh5UoK?6aWoyLxX&NhNRqKam7tcOkLh{%j3K^4Mgx1@i|Pi&}<^5>hs5 zm8?uOS>%)NzT(%PjVPGa?X%`N2TQCKbeH2l;cTnHiHppPSJ<7y-yEIiC!P*ikl&!B z%+?>VttCOQM@ShFguHVjxX^?mHX^hSaO_;pnyh^v9EumqSZTi+#f&_Vaija0Q-e*| z7ulQj6Fs*bbmsWp{`auM04gGwsYYdNNZcg|ph0OgD>7O}Asn7^Z=eI>`$2*v78;sj-}oMoEj&@)9+ycEOo92xSyY344^ z11Hb8^kdOvbf^GNAK++bYioknrpdN>+u8R?JxG=!2Kd9r=YWCOJYXYuM0cOq^FhEd zBg2puKy__7VT3-r*dG4c62Wgxi52EMCQ`bKgf*#*ou(D4-ZN$+mg&7$u!! z-^+Z%;-3IDwqZ|K=ah85OLwkO zKxNBh+4QHh)u9D?MFtpbl)us}9+V!D%w9jfAMYEb>%$A;u)rrI zuBudh;5PN}_6J_}l55P3l_)&RMlH{m!)ai-i$g)&*M`eN$XQMw{v^r@-125^RRCF0 z^2>|DxhQw(mtNEI2Kj(;KblC7x=JlK$@78`O~>V!`|1Lm-^JR$-5pUANAnb(5}B}JGjBsliK4& zk6y(;$e&h)lh2)L=bvZKbvh@>vLlreBdH8No2>$#%_Wp1U0N7Ank!6$dFSi#xzh|( zRi{Uw%-4W!{IXZ)fWx@XX6;&(m_F%c6~X8hx=BN1&q}*( zoaNjWabE{oUPb!Bt$eyd#$5j9rItB-h*5JiNi(v^e|XKAj*8(k<5-2$&ZBR5fF|JA z9&m4fbzNQnAU}r8ab>fFV%J0z5awe#UZ|bz?Ur)U9bCIKWEzi2%A+5CLqh?}K4JHi z4vtM;+uPsVz{Lfr;78W78gC;z*yTch~4YkLr&m-7%-xc ztw6Mh2d>_iO*$Rd8(-Cr1_V8EO1f*^@wRoSozS) zy1UoC@pruAaC8Z_7~_w4Q6n*&B0AjOmMWa;sIav&gu z|J5&|{=a@vR!~k-OjKEgPFCzcJ>#A1uL&7xTDn;{XBdeM}V=l3B8fE1--DHjSaxoSjNKEM9|U9#m2<3>n{Iuo`r3UZp;>GkT2YBNAh|b z^jTq-hJp(ebZh#Lk8hVBP%qXwv-@vbvoREX$TqRGTgEi$%_F9tZES@z8Bx}$#5eeG zk^UsLBH{bc2VBW)*EdS({yw=?qmevwi?BL6*=12k9zM5gJv1>y#ML4!)iiPzVaH9% zgSImetD@dam~e>{LvVh!phhzpW+iFvWpGT#CVE5TQ40n%F|p(sP5mXxna+Ev7PDwA zamaV4m*^~*xV+&p;W749xhb_X=$|LD;FHuB&JL5?*Y2-oIT(wYY2;73<^#46S~Gx| z^cez%V7x$81}UWqS13Gz80379Rj;6~WdiXWOSsdmzY39L;Hg3MH43o*y8ibNBBH`(av4|u;YPq%{R;IuYow<+GEsf@R?=@tT@!}?#>zIIn0CoyV!hq3mw zHj>OOjfJM3F{RG#6ujzo?y32m^tgSXf@v=J$ELdJ+=5j|=F-~hP$G&}tDZsZE?5rX ztGj`!S>)CFmdkccxM9eGIcGnS2AfK#gXwj%esuIBNJQP1WV~b~+D7PJTmWGTSDrR` zEAu4B8l>NPuhsk5a`rReSya2nfV1EK01+G!x8aBdTs3Io$u5!6n6KX%uv@DxAp3F@{4UYg4SWJtQ-W~0MDb|j-$lwVn znAm*Pl!?Ps&3wO=R115RWKb*JKoexo*)uhhHBncEDMSVa_PyA>k{Zm2(wMQ(5NM3# z)jkza|GoWEQo4^s*wE(gHz?Xsg4`}HUAcs42cM1-qq_=+=!Gk^y710j=66(cSWqUe zklbm8+zB_syQv5A2rj!Vbw8;|$@C!vfNmNV!yJIWDQ>{+2x zKjuFX`~~HKG~^6h5FntRpnnHt=D&rq0>IJ9#F0eM)Y-)GpRjiN7gkA8wvnG#K=q{q z9dBn8_~wm4J<3J_vl|9H{7q6u2A!cW{bp#r*-f{gOV^e=8S{nc1DxMHFwuM$;aVI^ zz6A*}m8N-&x8;aunp1w7_vtB*pa+OYBw=TMc6QK=mbA-|Cf* zvyh8D4LRJImooUaSb7t*fVfih<97Gf@VE0|z>NcBwBQze);Rh!k3K_sfunToZY;f2 z^HmC4KjHRVg+eKYj;PRN^|E0>Gj_zagfRbrki68I^#~6-HaHg3BUW%+clM1xQEdPYt_g<2K+z!$>*$9nQ>; zf9Bei{?zY^-e{q_*|W#2rJG`2fy@{%6u0i_VEWTq$*(ZN37|8lFFFt)nCG({r!q#9 z5VK_kkSJ3?zOH)OezMT{!YkCuSSn!K#-Rhl$uUM(bq*jY? zi1xbMVthJ`E>d>(f3)~fozjg^@eheMF6<)I`oeJYx4*+M&%c9VArn(OM-wp%M<-`x z7sLP1&3^%Nld9Dhm@$3f2}87!quhI@nwd@3~fZl_3LYW-B?Ia>ui`ELg z&Qfe!7m6ze=mZ`Ia9$z|ARSw|IdMpooY4YiPN8K z4B(ts3p%2i(Td=tgEHX z0UQ_>URBtG+-?0E;E7Ld^dyZ;jjw0}XZ(}-QzC6+NN=40oDb2^v!L1g9xRvE#@IBR zO!b-2N7wVfLV;mhEaXQ9XAU+>=XVA6f&T4Z-@AX!leJ8obP^P^wP0aICND?~w&NykJ#54x3_@r7IDMdRNy4Hh;h*!u(Ol(#0bJdwEo$5437-UBjQ+j=Ic>Q2z` zJNDf0yO6@mr6y1#n3)s(W|$iE_i8r@Gd@!DWDqZ7J&~gAm1#~maIGJ1sls^gxL9LLG_NhU!pTGty!TbhzQnu)I*S^54U6Yu%ZeCg`R>Q zhBv$n5j0v%O_j{QYWG!R9W?5_b&67KB$t}&e2LdMvd(PxN6Ir!H4>PNlerpBL>Zvyy!yw z-SOo8caEpDt(}|gKPBd$qND5#a5nju^O>V&;f890?yEOfkSG^HQVmEbM3Ugzu+UtH zC(INPDdraBN?P%kE;*Ae%Wto&sgw(crfZ#Qy(<4nk;S|hD3j{IQRI6Yq|f^basLY; z-HB&Je%Gg}Jt@={_C{L$!RM;$$|iD6vu#3w?v?*;&()uB|I-XqEKqZPS!reW9JkLewLb!70T7n`i!gNtb1%vN- zySZj{8-1>6E%H&=V}LM#xmt`J3XQoaD|@XygXjdZ1+P77-=;=eYpoEQ01B@L*a(uW zrZeZz?HJsw_4g0vhUgkg@VF8<-X$B8pOqCuWAl28uB|@r`19DTUQQsb^pfqB6QtiT z*`_UZ`fT}vtUY#%sq2{rchyfu*pCg;uec2$-$N_xgjZcoumE5vSI{+s@iLWoz^Mf; zuI8kDP{!XY6OP~q5}%1&L}CtfH^N<3o4L@J@zg1-mt{9L`s^z$Vgb|mr{@WiwAqKg zp#t-lhrU>F8o0s1q_9y`gQNf~Vb!F%70f}$>i7o4ho$`uciNf=xgJ>&!gSt0g;M>*x4-`U)ysFW&Vs^Vk6m%?iuWU+o&m(2Jm26Y(3%TL; zA7T)BP{WS!&xmxNw%J=$MPfn(9*^*TV;$JwRy8Zl*yUZi8jWYF>==j~&S|Xinsb%c z2?B+kpet*muEW7@AzjBA^wAJBY8i|#C{WtO_or&Nj2{=6JTTX05}|H>N2B|Wf!*3_ z7hW*j6p3TvpghEc6-wufFiY!%-GvOx*bZrhZu+7?iSrZL5q9}igiF^*R3%DE4aCHZ zqu>xS8LkW+Auv%z-<1Xs92u23R$nk@Pk}MU5!gT|c7vGlEA%G^2th&Q*zfg%-D^=f z&J_}jskj|Q;73NP4<4k*Y%pXPU2Thoqr+5uH1yEYM|VtBPW6lXaetokD0u z9qVek6Q&wk)tFbQ8(^HGf3Wp16gKmr>G;#G(HRBx?F`9AIRboK+;OfHaLJ(P>IP0w zyTbTkx_THEOs%Q&aPrxbZrJlio+hCC_HK<4%f3ZoSAyG7Dn`=X=&h@m*|UYO-4Hq0 z-Bq&+Ie!S##4A6OGoC~>ZW`Y5J)*ouaFl_e9GA*VSL!O_@xGiBw!AF}1{tB)z(w%c zS1Hmrb9OC8>0a_$BzeiN?rkPLc9%&;1CZW*4}CDDNr2gcl_3z+WC15&H1Zc2{o~i) z)LLW=WQ{?ricmC`G1GfJ0Yp4Dy~Ba;j6ZV4r{8xRs`13{dD!xXmr^Aga|C=iSmor% z8hi|pTXH)5Yf&v~exp3o+sY4B^^b*eYkkCYl*T{*=-0HniSA_1F53eCb{x~1k3*`W zr~};p1A`k{1DV9=UPnLDgz{aJH=-LQo<5%+Em!DNN252xwIf*wF_zS^!(XSm(9eoj z=*dXG&n0>)_)N5oc6v!>-bd(2ragD8O=M|wGW z!xJQS<)u70m&6OmrF0WSsr@I%T*c#Qo#Ha4d3COcX+9}hM5!7JIGF>7<~C(Ear^Sn zm^ZFkV6~Ula6+8S?oOROOA6$C&q&dp`>oR-2Ym3(HT@O7Sd5c~+kjrmM)YmgPH*tL zX+znN>`tv;5eOfX?h{AuX^LK~V#gPCu=)Tigtq9&?7Xh$qN|%A$?V*v=&-2F$zTUv z`C#WyIrChS5|Kgm_GeudCFf;)!WH7FI60j^0o#65o6`w*S7R@)88n$1nrgU(oU0M9 zx+EuMkC>(4j1;m6NoGqEkpJYJ?vc|B zOlwT3t&UgL!pX_P*6g36`ZXQ; z9~Cv}ANFnJGp(;ZhS(@FT;3e)0)Kp;h^x;$*xZn*k0U6-&FwI=uOGaODdrsp-!K$Ac32^c{+FhI-HkYd5v=`PGsg%6I`4d9Jy)uW0y%) zm&j^9WBAp*P8#kGJUhB!L?a%h$hJgQrx!6KCB_TRo%9{t0J7KW8!o1B!NC)VGLM5! zpZy5Jc{`r{1e(jd%jsG7k%I+m#CGS*BPA65ZVW~fLYw0dA-H_}O zrkGFL&P1PG9p2(%QiEWm6x;U-U&I#;Em$nx-_I^wtgw3xUPVVu zqSuKnx&dIT-XT+T10p;yjo1Y)z(x1fb8Dzfn8e yu?e%!_ptzGB|8GrCfu%p?(_ zQccdaaVK$5bz;*rnyK{_SQYM>;aES6Qs^lj9lEs6_J+%nIiuQC*fN;z8md>r_~Mfl zU%p5Dt_YT>gQqfr@`cR!$NWr~+`CZb%dn;WtzrAOI>P_JtsB76PYe*<%H(y>qx-`Kq!X_; z<{RpAqYhE=L1r*M)gNF3B8r(<%8mo*SR2hu zccLRZwGARt)Hlo1euqTyM>^!HK*!Q2P;4UYrysje@;(<|$&%vQekbn|0Ruu_Io(w4#%p6ld2Yp7tlA`Y$cciThP zKzNGIMPXX%&Ud0uQh!uQZz|FB`4KGD?3!ND?wQt6!n*f4EmCoJUh&b?;B{|lxs#F- z31~HQ`SF4x$&v00@(P+j1pAaj5!s`)b2RDBp*PB=2IB>oBF!*6vwr7Dp%zpAx*dPr zb@Zjq^XjN?O4QcZ*O+8>)|HlrR>oD*?WQl5ri3R#2?*W6iJ>>kH%KnnME&TT@ZzrHS$Q%LC?n|e>V+D+8D zYc4)QddFz7I8#}y#Wj6>4P%34dZH~OUDb?uP%-E zwjXM(?Sg~1!|wI(RVuxbu)-rH+O=igSho_pDCw(c6b=P zKk4ATlB?bj9+HHlh<_!&z0rx13K3ZrAR8W)!@Y}o`?a*JJsD+twZIv`W)@Y?Amu_u zz``@-e2X}27$i(2=9rvIu5uTUOVhzwu%mNazS|lZb&PT;XE2|B&W1>=B58#*!~D&) zfVmJGg8UdP*fx(>Cj^?yS^zH#o-$Q-*$SnK(ZVFkw+er=>N^7!)FtP3y~Xxnu^nzY zikgB>Nj0%;WOltWIob|}%lo?_C7<``a5hEkx&1ku$|)i>Rh6@3h*`slY=9U}(Ql_< zaNG*J8vb&@zpdhAvv`?{=zDedJ23TD&Zg__snRAH4eh~^oawdYi6A3w8<Ozh@Kw)#bdktM^GVb zrG08?0bG?|NG+w^&JvD*7LAbjED{_Zkc`3H!My>0u5Q}m!+6VokMLXxl`Mkd=g&Xx z-a>m*#G3SLlhbKB!)tnzfWOBV;u;ftU}S!NdD5+YtOjLg?X}dl>7m^gOpihrf1;PY zvll&>dIuUGs{Qnd- zwIR3oIrct8Va^Tm0t#(bJD7c$Z7DO9*7NnRZorrSm`b`cxz>OIC;jSE3DO8`hX955ui`s%||YQtt2 z5DNA&pG-V+4oI2s*x^>-$6J?p=I>C|9wZF8z;VjR??Icg?1w2v5Me+FgAeGGa8(3S z4vg*$>zC-WIVZtJ7}o9{D-7d>zCe|z#<9>CFve-OPAYsneTb^JH!Enaza#j}^mXy1 z+ULn^10+rWLF6j2>Ya@@Kq?26>AqK{A_| zQKb*~F1>sE*=d?A?W7N2j?L09_7n+HGi{VY;MoTGr_)G9)ot$p!-UY5zZ2Xtbm=t z@dpPSGwgH=QtIcEulQNI>S-#ifbnO5EWkI;$A|pxJd885oM+ zGZ0_0gDvG8q2xebj+fbCHYfAXuZStH2j~|d^sBAzo46(K8n59+T6rzBwK)^rfPT+B zyIFw)9YC-V^rhtK`!3jrhmW-sTmM+tPH+;nwjL#-SjQPUZ53L@A>y*rt(#M(qsiB2 zx6B)dI}6Wlsw%bJ8h|(lhkJVogQZA&n{?Vgs6gNSXzuZpEyu*xySy8ro07QZ7Vk1!3tJphN_5V7qOiyK8p z#@jcDD8nmtYi1^l8ml;AF<#IPK?!pqf9D4moYk>d99Im}Jtwj6c#+A;f)CQ*f-hZ< z=p_T86jog%!p)D&5g9taSwYi&eP z#JuEK%+NULWus;0w32-SYFku#i}d~+{Pkho&^{;RxzP&0!RCm3-9K6`>KZpnzS6?L z^H^V*s!8<>x8bomvD%rh>Zp3>Db%kyin;qtl+jAv8Oo~1g~mqGAC&Qi_wy|xEt2iz zWAJEfTV%cl2Cs<1L&DLRVVH05EDq`pH7Oh7sR`NNkL%wi}8n>IXcO40hp+J+sC!W?!krJf!GJNE8uj zg-y~Ns-<~D?yqbzVRB}G>0A^f0!^N7l=$m0OdZuqAOQqLc zX?AEGr1Ht+inZ-Qiwnl@Z0qukd__a!C*CKuGdy5#nD7VUBM^6OCpxCa2A(X;e0&V4 zM&WR8+wErQ7UIc6LY~Q9x%Sn*Tn>>P`^t&idaOEnOd(Ufw#>NoR^1QdhJ8s`h^|R_ zXX`c5*O~Xdvh%q;7L!_!ohf$NfEBmCde|#uVZvEo>OfEq%+Ns7&_f$OR9xsihRpBb z+cjk8LyDm@U{YN>+r46?nn{7Gh(;WhFw6GAxtcKD+YWV?uge>;+q#Xx4!GpRkVZYu zzsF}1)7$?%s9g9CH=Zs+B%M_)+~*j3L0&Q9u7!|+T`^O{xE6qvAP?XWv9_MrZKdo& z%IyU)$Q95AB4!#hT!_dA>4e@zjOBD*Y=XjtMm)V|+IXzjuM;(l+8aA5#Kaz_$rR6! zj>#&^DidYD$nUY(D$mH`9eb|dtV0b{S>H6FBfq>t5`;OxA4Nn{J(+XihF(stSche7$es&~N$epi&PDM_N`As;*9D^L==2Q7Z2zD+CiU(|+-kL*VG+&9!Yb3LgPy?A zm7Z&^qRG_JIxK7-FBzZI3Q<;{`DIxtc48k> zc|0dmX;Z=W$+)qE)~`yn6MdoJ4co;%!`ddy+FV538Y)j(vg}5*k(WK)KWZ3WaOG!8 z!syGn=s{H$odtpqFrT#JGM*utN7B((abXnpDM6w56nhw}OY}0TiTG1#f*VFZr+^-g zbP10`$LPq_;PvrA1XXlyx2uM^mrjTzX}w{yuLo-cOClE8MMk47T25G8M!9Z5ypOSV zAJUBGEg5L2fY)ZGJb^E34R2zJ?}Vf>{~gB!8=5Z) z9y$>5c)=;o0HeHHSuE4U)#vG&KF|I%-cF6f$~pdYJWk_dD}iOA>iA$O$+4%@>JU08 zS`ep)$XLPJ+n0_i@PkF#ri6T8?ZeAot$6JIYHm&P6EB=BiaNY|aA$W0I+nz*zkz_z zkEru!tj!QUffq%)8y0y`T&`fuus-1p>=^hnBiBqD^hXrPs`PY9tU3m0np~rISY09> z`P3s=-kt_cYcxWd{de@}TwSqg*xVhp;E9zCsnXo6z z?f&Sv^U7n4`xr=mXle94HzOdN!2kB~4=%)u&N!+2;z6UYKUDqi-s6AZ!haB;@&B`? z_TRX0%@suz^TRdCb?!vNJYPY8L_}&07uySH9%W^Tc&1pia6y1q#?*Drf}GjGbPjBS zbOPcUY#*$3sL2x4v_i*Y=N7E$mR}J%|GUI(>WEr+28+V z%v5{#e!UF*6~G&%;l*q*$V?&r$Pp^sE^i-0$+RH3ERUUdQ0>rAq2(2QAbG}$y{de( z>{qD~GGuOk559Y@%$?N^1ApVL_a704>8OD%8Y%8B;FCt%AoPu8*D1 zLB5X>b}Syz81pn;xnB}%0FnwazlWfUV)Z-~rZg6~b z6!9J$EcE&sEbzcy?CI~=boWA&eeIa%z(7SE^qgVLz??1Vbc1*aRvc%Mri)AJaAG!p z$X!_9Ds;Zz)f+;%s&dRcJt2==P{^j3bf0M=nJd&xwUGlUFn?H=2W(*2I2Gdu zv!gYCwM10aeus)`RIZSrCK=&oKaO_Ry~D1B5!y0R=%!i2*KfXGYX&gNv_u+n9wiR5 z*e$Zjju&ODRW3phN925%S(jL+bCHv6rZtc?!*`1TyYXT6%Ju=|X;6D@lq$8T zW{Y|e39ioPez(pBH%k)HzFITXHvnD6hw^lIoUMA;qAJ^CU?top1fo@s7xT13Fvn1H z6JWa-6+FJF#x>~+A;D~;VDs26>^oH0EI`IYT2iagy23?nyJ==i{g4%HrAf1-*v zK1)~@&(KkwR7TL}L(A@C_S0G;-GMDy=MJn2$FP5s<%wC)4jC5PXoxrQBFZ_k0P{{s@sz+gX`-!=T8rcB(=7vW}^K6oLWMmp(rwDh}b zwaGGd>yEy6fHv%jM$yJXo5oMAQ>c9j`**}F?MCry;T@47@r?&sKHgVe$MCqk#Z_3S z1GZI~nOEN*P~+UaFGnj{{Jo@16`(qVNtbU>O0Hf57-P>x8Jikp=`s8xWs^dAJ9lCQ z)GFm+=OV%AMVqVATtN@|vp61VVAHRn87}%PC^RAzJ%JngmZTasWBAWsoAqBU+8L8u z4A&Pe?fmTm0?mK-BL9t+{y7o(7jm+RpOhL9KnY#E&qu^}B6=K_dB}*VlSEiC9fn)+V=J;OnN)Ta5v66ic1rG+dGAJ1 z1%Zb_+!$=tQ~lxQrzv3x#CPb?CekEkA}0MYSgx$Jdd}q8+R=ma$|&1a#)TQ=l$1tQ z=tL9&_^vJ)Pk}EDO-va`UCT1m#Uty1{v^A3P~83_#v^ozH}6*9mIjIr;t3Uv%@VeW zGL6(CwCUp)Jq%G0bIG%?{_*Y#5IHf*5M@wPo6A{$Um++Co$wLC=J1aoG93&T7Ho}P z=mGEPP7GbvoG!uD$k(H3A$Z))+i{Hy?QHdk>3xSBXR0j!11O^mEe9RHmw!pvzv?Ua~2_l2Yh~_!s1qS`|0~0)YsbHSz8!mG)WiJE| z2f($6TQtt6L_f~ApQYQKSb=`053LgrQq7G@98#igV>y#i==-nEjQ!XNu9 z~;mE+gtj4IDDNQJ~JVk5Ux6&LCSFL!y=>79kE9=V}J7tD==Ga+IW zX)r7>VZ9dY=V&}DR))xUoV!u(Z|%3ciQi_2jl}3=$Agc(`RPb z8kEBpvY>1FGQ9W$n>Cq=DIpski};nE)`p3IUw1Oz0|wxll^)4dq3;CCY@RyJgFgc# zKouFh!`?Xuo{IMz^xi-h=StCis_M7yq$u) z?XHvw*HP0VgR+KR6wI)jEMX|ssqYvSf*_3W8zVTQzD?3>H!#>InzpSO)@SC8q*ii- z%%h}_#0{4JG;Jm`4zg};BPTGkYamx$Xo#O~lBirRY)q=5M45n{GCfV7h9qwyu1NxOMoP4)jjZMxmT|IQQh0U7C$EbnMN<3)Kk?fFHYq$d|ICu>KbY_hO zTZM+uKHe(cIZfEqyzyYSUBZa8;Fcut-GN!HSA9ius`ltNebF46ZX_BbZNU}}ZOm{M2&nANL9@0qvih15(|`S~z}m&h!u4x~(%MAO$jHRWNfuxWF#B)E&g3ghSQ9|> z(MFaLQj)NE0lowyjvg8z0#m6FIuKE9lDO~Glg}nSb7`~^&#(Lw{}GVOS>U)m8bF}x zVjbXljBm34Cs-yM6TVusr+3kYFjr28STT3g056y3cH5Tmge~ASxBj z%|yb>$eF;WgrcOZf569sDZOVwoo%8>XO>XQOX1OyN9I-SQgrm;U;+#3OI(zrWyow3 zk==|{lt2xrQ%FIXOTejR>;wv(Pb8u8}BUpx?yd(Abh6? zsoO3VYWkeLnF43&@*#MQ9-i-d0t*xN-UEyNKeyNMHw|A(k(_6QKO=nKMCxD(W(Yop zsRQ)QeL4X3Lxp^L%wzi2-WVSsf61dqliPUM7srDB?Wm6Lzn0&{*}|IsKQW;02(Y&| zaTKv|`U(pSzuvR6Rduu$wzK_W-Y-7>7s?G$)U}&uK;<>vU}^^ns@Z!p+9?St1s)dG zK%y6xkPyyS1$~&6v{kl?Md6gwM|>mt6Upm>oa8RLD^8T{0?HC!Z>;(Bob7el(DV6x zi`I)$&E&ngwFS@bi4^xFLAn`=fzTC;aimE^!cMI2n@Vo%Ae-ne`RF((&5y6xsjjAZ zVguVoQ?Z9uk$2ON;ersE%PU*xGO@T*;j1BO5#TuZKEf(mB7|g7pcEA=nYJ{s3vlbg zd4-DUlD{*6o%Gc^N!Nptgay>j6E5;3psI+C3Q!1ZIbeCubW%w4pq9)MSDyB{HLm|k zxv-{$$A*pS@csolri$Ge<4VZ}e~78JOL-EVyrbxKra^d{?|NnPp86!q>t<&IP07?Z z^>~IK^k#OEKgRH+LjllZXk7iA>2cfH6+(e&9ku5poo~6y{GC5>(bRK7hwjiurqAiZ zg*DmtgY}v83IjE&AbiWgMyFbaRUPZ{lYiz$U^&Zt2YjG<%m((&_JUbZcfJ22(>bi5 z!J?<7AySj0JZ&<-qXX;mcV!f~>G=sB0KnjWca4}vrtunD^1TrpfeS^4dvFr!65knK zZh`d;*VOkPs4*-9kL>$GP0`(M!j~B;#x?Ba~&s6CopvO86oM?-? zOw#dIRc;6A6T?B`Qp%^<U5 z19x(ywSH$_N+Io!6;e?`tWaM$`=Db!gzx|lQ${DG!zb1Zl&|{kX0y6xvO1o z220r<-oaS^^R2pEyY;=Qllqpmue|5yI~D|iI!IGt@iod{Opz@*ml^w2bNs)p`M(Io z|E;;m*Xpjd9l)4G#KaWfV(t8YUn@A;nK^#xgv=LtnArX|vWQVuw3}B${h+frU2>9^ z!l6)!Uo4`5k`<<;E(ido7M6lKTgWezNLq>U*=uz&s=cc$1%>VrAeOoUtA|T6gO4>UNqsdK=NF*8|~*sl&wI=x9-EGiq*aqV!(VVXA57 zw9*o6Ir8Lj1npUXvlevtn(_+^X5rzdR>#(}4YcB9O50q97%rW2me5_L=%ffYPUSRc z!vv?Kv>dH994Qi>U(a<0KF6NH5b16enCp+mw^Hb3Xs1^tThFpz!3QuN#}KBbww`(h z7GO)1olDqy6?T$()R7y%NYx*B0k_2IBiZ14&8|JPFxeMF{vW>HF-Vi3+ZOI=+qP}n zw(+!WcTd~4ZJX1!ZM&y!+uyt=&i!+~d(V%GjH;-NsEEv6nS1TERt|RHh!0>W4+4pp z1-*EzAM~i`+1f(VEHI8So`S`akPfPTfq*`l{Fz`hS%k#JS0cjT2mS0#QLGf=J?1`he3W*;m4)ce8*WFq1sdP=~$5RlH1EdWm|~dCvKOi4*I_96{^95p#B<(n!d?B z=o`0{t+&OMwKcxiBECznJcfH!fL(z3OvmxP#oWd48|mMjpE||zdiTBdWelj8&Qosv zZFp@&UgXuvJw5y=q6*28AtxZzo-UUpkRW%ne+Ylf!V-0+uQXBW=5S1o#6LXNtY5!I z%Rkz#(S8Pjz*P7bqB6L|M#Er{|QLae-Y{KA>`^} z@lPjeX>90X|34S-7}ZVXe{wEei1<{*e8T-Nbj8JmD4iwcE+Hg_zhkPVm#=@b$;)h6 z<<6y`nPa`f3I6`!28d@kdM{uJOgM%`EvlQ5B2bL)Sl=|y@YB3KeOzz=9cUW3clPAU z^sYc}xf9{4Oj?L5MOlYxR{+>w=vJjvbyO5}ptT(o6dR|ygO$)nVCvNGnq(6;bHlBd zl?w-|plD8spjDF03g5ip;W3Z z><0{BCq!Dw;h5~#1BuQilq*TwEu)qy50@+BE4bX28+7erX{BD4H)N+7U`AVEuREE8 z;X?~fyhF-x_sRfHIj~6f(+^@H)D=ngP;mwJjxhQUbUdzk8f94Ab%59-eRIq?ZKrwD z(BFI=)xrUlgu(b|hAysqK<}8bslmNNeD=#JW*}^~Nrswn^xw*nL@Tx!49bfJecV&KC2G4q5a!NSv)06A_5N3Y?veAz;Gv+@U3R% z)~UA8-0LvVE{}8LVDOHzp~2twReqf}ODIyXMM6=W>kL|OHcx9P%+aJGYi_Om)b!xe zF40Vntn0+VP>o<$AtP&JANjXBn7$}C@{+@3I@cqlwR2MdwGhVPxlTIcRVu@Ho-wO` z_~Or~IMG)A_`6-p)KPS@cT9mu9RGA>dVh5wY$NM9-^c@N=hcNaw4ITjm;iWSP^ZX| z)_XpaI61<+La+U&&%2a z0za$)-wZP@mwSELo#3!PGTt$uy0C(nTT@9NX*r3Ctw6J~7A(m#8fE)0RBd`TdKfAT zCf@$MAxjP`O(u9s@c0Fd@|}UQ6qp)O5Q5DPCeE6mSIh|Rj{$cAVIWsA=xPKVKxdhg zLzPZ`3CS+KIO;T}0Ip!fAUaNU>++ZJZRk@I(h<)RsJUhZ&Ru9*!4Ptn;gX^~4E8W^TSR&~3BAZc#HquXn)OW|TJ`CTahk+{qe`5+ixON^zA9IFd8)kc%*!AiLu z>`SFoZ5bW-%7}xZ>gpJcx_hpF$2l+533{gW{a7ce^B9sIdmLrI0)4yivZ^(Vh@-1q zFT!NQK$Iz^xu%|EOK=n>ug;(7J4OnS$;yWmq>A;hsD_0oAbLYhW^1Vdt9>;(JIYjf zdb+&f&D4@4AS?!*XpH>8egQvSVX`36jMd>$+RgI|pEg))^djhGSo&#lhS~9%NuWfX zDDH;3T*GzRT@5=7ibO>N-6_XPBYxno@mD_3I#rDD?iADxX`! zh*v8^i*JEMzyN#bGEBz7;UYXki*Xr(9xXax(_1qVW=Ml)kSuvK$coq2A(5ZGhs_pF z$*w}FbN6+QDseuB9=fdp_MTs)nQf!2SlROQ!gBJBCXD&@-VurqHj0wm@LWX-TDmS= z71M__vAok|@!qgi#H&H%Vg-((ZfxPAL8AI{x|VV!9)ZE}_l>iWk8UPTGHs*?u7RfP z5MC&=c6X;XlUzrz5q?(!eO@~* zoh2I*%J7dF!!_!vXoSIn5o|wj1#_>K*&CIn{qSaRc&iFVxt*^20ngCL;QonIS>I5^ zMw8HXm>W0PGd*}Ko)f|~dDd%;Wu_RWI_d;&2g6R3S63Uzjd7dn%Svu-OKpx*o|N>F zZg=-~qLb~VRLpv`k zWSdfHh@?dp=s_X`{yxOlxE$4iuyS;Z-x!*E6eqmEm*j2bE@=ZI0YZ5%Yj29!5+J$4h{s($nakA`xgbO8w zi=*r}PWz#lTL_DSAu1?f%-2OjD}NHXp4pXOsCW;DS@BC3h-q4_l`<))8WgzkdXg3! zs1WMt32kS2E#L0p_|x+x**TFV=gn`m9BWlzF{b%6j-odf4{7a4y4Uaef@YaeuPhU8 zHBvRqN^;$Jizy+ z=zW{E5<>2gp$pH{M@S*!sJVQU)b*J5*bX4h>5VJve#Q6ga}cQ&iL#=(u+KroWrxa%8&~p{WEUF0il=db;-$=A;&9M{Rq`ouZ5m%BHT6%st%saGsD6)fQgLN}x@d3q>FC;=f%O3Cyg=Ke@Gh`XW za@RajqOE9UB6eE=zhG%|dYS)IW)&y&Id2n7r)6p_)vlRP7NJL(x4UbhlcFXWT8?K=%s7;z?Vjts?y2+r|uk8Wt(DM*73^W%pAkZa1Jd zNoE)8FvQA>Z`eR5Z@Ig6kS5?0h;`Y&OL2D&xnnAUzQz{YSdh0k zB3exx%A2TyI)M*EM6htrxSlep!Kk(P(VP`$p0G~f$smld6W1r_Z+o?=IB@^weq>5VYsYZZR@` z&XJFxd5{|KPZmVOSxc@^%71C@;z}}WhbF9p!%yLj3j%YOlPL5s>7I3vj25 z@xmf=*z%Wb4;Va6SDk9cv|r*lhZ`(y_*M@>q;wrn)oQx%B(2A$9(74>;$zmQ!4fN; z>XurIk-7@wZys<+7XL@0Fhe-f%*=(weaQEdR9Eh6>Kl-EcI({qoZqyzziGwpg-GM#251sK_ z=3|kitS!j%;fpc@oWn65SEL73^N&t>Ix37xgs= zYG%eQDJc|rqHFia0!_sm7`@lvcv)gfy(+KXA@E{3t1DaZ$DijWAcA)E0@X?2ziJ{v z&KOYZ|DdkM{}t+@{@*6ge}m%xfjIxi%qh`=^2Rwz@w0cCvZ&Tc#UmCDbVwABrON^x zEBK43FO@weA8s7zggCOWhMvGGE`baZ62cC)VHyy!5Zbt%ieH+XN|OLbAFPZWyC6)p z4P3%8sq9HdS3=ih^0OOlqTPbKuzQ?lBEI{w^ReUO{V?@`ARsL|S*%yOS=Z%sF)>-y z(LAQdhgAcuF6LQjRYfdbD1g4o%tV4EiK&ElLB&^VZHbrV1K>tHTO{#XTo>)2UMm`2 z^t4s;vnMQgf-njU-RVBRw0P0-m#d-u`(kq7NL&2T)TjI_@iKuPAK-@oH(J8?%(e!0Ir$yG32@CGUPn5w4)+9@8c&pGx z+K3GKESI4*`tYlmMHt@br;jBWTei&(a=iYslc^c#RU3Q&sYp zSG){)V<(g7+8W!Wxeb5zJb4XE{I|&Y4UrFWr%LHkdQ;~XU zgy^dH-Z3lmY+0G~?DrC_S4@=>0oM8Isw%g(id10gWkoz2Q%7W$bFk@mIzTCcIB(K8 zc<5h&ZzCdT=9n-D>&a8vl+=ZF*`uTvQviG_bLde*k>{^)&0o*b05x$MO3gVLUx`xZ z43j+>!u?XV)Yp@MmG%Y`+COH2?nQcMrQ%k~6#O%PeD_WvFO~Kct za4XoCM_X!c5vhRkIdV=xUB3xI2NNStK*8_Zl!cFjOvp-AY=D;5{uXj}GV{LK1~IE2 z|KffUiBaStRr;10R~K2VVtf{TzM7FaPm;Y(zQjILn+tIPSrJh&EMf6evaBKIvi42-WYU9Vhj~3< zZSM-B;E`g_o8_XTM9IzEL=9Lb^SPhe(f(-`Yh=X6O7+6ALXnTcUFpI>ekl6v)ZQeNCg2 z^H|{SKXHU*%nBQ@I3It0m^h+6tvI@FS=MYS$ZpBaG7j#V@P2ZuYySbp@hA# ze(kc;P4i_-_UDP?%<6>%tTRih6VBgScKU^BV6Aoeg6Uh(W^#J^V$Xo^4#Ekp ztqQVK^g9gKMTHvV7nb64UU7p~!B?>Y0oFH5T7#BSW#YfSB@5PtE~#SCCg3p^o=NkMk$<8- z6PT*yIKGrvne7+y3}_!AC8NNeI?iTY(&nakN>>U-zT0wzZf-RuyZk^X9H-DT_*wk= z;&0}6LsGtfVa1q)CEUPlx#(ED@-?H<1_FrHU#z5^P3lEB|qsxEyn%FOpjx z3S?~gvoXy~L(Q{Jh6*i~=f%9kM1>RGjBzQh_SaIDfSU_9!<>*Pm>l)cJD@wlyxpBV z4Fmhc2q=R_wHCEK69<*wG%}mgD1=FHi4h!98B-*vMu4ZGW~%IrYSLGU{^TuseqVgV zLP<%wirIL`VLyJv9XG_p8w@Q4HzNt-o;U@Au{7%Ji;53!7V8Rv0^Lu^Vf*sL>R(;c zQG_ZuFl)Mh-xEIkGu}?_(HwkB2jS;HdPLSxVU&Jxy9*XRG~^HY(f0g8Q}iqnVmgjI zfd=``2&8GsycjR?M%(zMjn;tn9agcq;&rR!Hp z$B*gzHsQ~aXw8c|a(L^LW(|`yGc!qOnV(ZjU_Q-4z1&0;jG&vAKuNG=F|H?@m5^N@ zq{E!1n;)kNTJ>|Hb2ODt-7U~-MOIFo%9I)_@7fnX+eMMNh>)V$IXesJpBn|uo8f~#aOFytCT zf9&%MCLf8mp4kwHTcojWmM3LU=#|{3L>E}SKwOd?%{HogCZ_Z1BSA}P#O(%H$;z7XyJ^sjGX;j5 zrzp>|Ud;*&VAU3x#f{CKwY7Vc{%TKKqmB@oTHA9;>?!nvMA;8+Jh=cambHz#J18x~ zs!dF>$*AnsQ{{82r5Aw&^7eRCdvcgyxH?*DV5(I$qXh^zS>us*I66_MbL8y4d3ULj z{S(ipo+T3Ag!+5`NU2sc+@*m{_X|&p#O-SAqF&g_n7ObB82~$p%fXA5GLHMC+#qqL zdt`sJC&6C2)=juQ_!NeD>U8lDVpAOkW*khf7MCcs$A(wiIl#B9HM%~GtQ^}yBPjT@ z+E=|A!Z?A(rwzZ;T}o6pOVqHzTr*i;Wrc%&36kc@jXq~+w8kVrs;%=IFdACoLAcCAmhFNpbP8;s`zG|HC2Gv?I~w4ITy=g$`0qMQdkijLSOtX6xW%Z9Nw<;M- zMN`c7=$QxN00DiSjbVt9Mi6-pjv*j(_8PyV-il8Q-&TwBwH1gz1uoxs6~uU}PrgWB zIAE_I-a1EqlIaGQNbcp@iI8W1sm9fBBNOk(k&iLBe%MCo#?xI$%ZmGA?=)M9D=0t7 zc)Q0LnI)kCy{`jCGy9lYX%mUsDWwsY`;jE(;Us@gmWPqjmXL+Hu#^;k%eT>{nMtzj zsV`Iy6leTA8-PndszF;N^X@CJrTw5IIm!GPeu)H2#FQitR{1p;MasQVAG3*+=9FYK zw*k!HT(YQorfQj+1*mCV458(T5=fH`um$gS38hw(OqVMyunQ;rW5aPbF##A3fGH6h z@W)i9Uff?qz`YbK4c}JzQpuxuE3pcQO)%xBRZp{zJ^-*|oryTxJ-rR+MXJ)!f=+pp z10H|DdGd2exhi+hftcYbM0_}C0ZI-2vh+$fU1acsB-YXid7O|=9L!3e@$H*6?G*Zp z%qFB(sgl=FcC=E4CYGp4CN>=M8#5r!RU!u+FJVlH6=gI5xHVD&k;Ta*M28BsxfMV~ zLz+@6TxnfLhF@5=yQo^1&S}cmTN@m!7*c6z;}~*!hNBjuE>NLVl2EwN!F+)0$R1S! zR|lF%n!9fkZ@gPW|x|B={V6x3`=jS*$Pu0+5OWf?wnIy>Y1MbbGSncpKO0qE(qO=ts z!~@&!N`10S593pVQu4FzpOh!tvg}p%zCU(aV5=~K#bKi zHdJ1>tQSrhW%KOky;iW+O_n;`l9~omqM%sdxdLtI`TrJzN6BQz+7xOl*rM>xVI2~# z)7FJ^Dc{DC<%~VS?@WXzuOG$YPLC;>#vUJ^MmtbSL`_yXtNKa$Hk+l-c!aC7gn(Cg ze?YPYZ(2Jw{SF6MiO5(%_pTo7j@&DHNW`|lD`~{iH+_eSTS&OC*2WTT*a`?|9w1dh zh1nh@$a}T#WE5$7Od~NvSEU)T(W$p$s5fe^GpG+7fdJ9=enRT9$wEk+ZaB>G3$KQO zgq?-rZZnIv!p#>Ty~}c*Lb_jxJg$eGM*XwHUwuQ|o^}b3^T6Bxx{!?va8aC@-xK*H ztJBFvFfsSWu89%@b^l3-B~O!CXs)I6Y}y#0C0U0R0WG zybjroj$io0j}3%P7zADXOwHwafT#uu*zfM!oD$6aJx7+WL%t-@6^rD_a_M?S^>c;z zMK580bZXo1f*L$CuMeM4Mp!;P@}b~$cd(s5*q~FP+NHSq;nw3fbWyH)i2)-;gQl{S zZO!T}A}fC}vUdskGSq&{`oxt~0i?0xhr6I47_tBc`fqaSrMOzR4>0H^;A zF)hX1nfHs)%Zb-(YGX;=#2R6C{BG;k=?FfP?9{_uFLri~-~AJ;jw({4MU7e*d)?P@ zXX*GkNY9ItFjhwgAIWq7Y!ksbMzfqpG)IrqKx9q{zu%Mdl+{Dis#p9q`02pr1LG8R z@As?eG!>IoROgS!@J*to<27coFc1zpkh?w=)h9CbYe%^Q!Ui46Y*HO0mr% zEff-*$ndMNw}H2a5@BsGj5oFfd!T(F&0$<{GO!Qdd?McKkorh=5{EIjDTHU`So>8V zBA-fqVLb2;u7UhDV1xMI?y>fe3~4urv3%PX)lDw+HYa;HFkaLqi4c~VtCm&Ca+9C~ zge+67hp#R9`+Euq59WhHX&7~RlXn=--m8$iZ~~1C8cv^2(qO#X0?vl91gzUKBeR1J z^p4!!&7)3#@@X&2aF2-)1Ffcc^F8r|RtdL2X%HgN&XU-KH2SLCbpw?J5xJ*!F-ypZ zMG%AJ!Pr&}`LW?E!K~=(NJxuSVTRCGJ$2a*Ao=uUDSys!OFYu!Vs2IT;xQ6EubLIl z+?+nMGeQQhh~??0!s4iQ#gm3!BpMpnY?04kK375e((Uc7B3RMj;wE?BCoQGu=UlZt!EZ1Q*auI)dj3Jj{Ujgt zW5hd~-HWBLI_3HuO) zNrb^XzPsTIb=*a69wAAA3J6AAZZ1VsYbIG}a`=d6?PjM)3EPaDpW2YP$|GrBX{q*! z$KBHNif)OKMBCFP5>!1d=DK>8u+Upm-{hj5o|Wn$vh1&K!lVfDB&47lw$tJ?d5|=B z^(_9=(1T3Fte)z^>|3**n}mIX;mMN5v2F#l(q*CvU{Ga`@VMp#%rQkDBy7kYbmb-q z<5!4iuB#Q_lLZ8}h|hPODI^U6`gzLJre9u3k3c#%86IKI*^H-@I48Bi*@avYm4v!n0+v zWu{M{&F8#p9cx+gF0yTB_<2QUrjMPo9*7^-uP#~gGW~y3nfPAoV%amgr>PSyVAd@l)}8#X zR5zV6t*uKJZL}?NYvPVK6J0v4iVpwiN|>+t3aYiZSp;m0!(1`bHO}TEtWR1tY%BPB z(W!0DmXbZAsT$iC13p4f>u*ZAy@JoLAkJhzFf1#4;#1deO8#8d&89}en&z!W&A3++^1(;>0SB1*54d@y&9Pn;^IAf3GiXbfT`_>{R+Xv; zQvgL>+0#8-laO!j#-WB~(I>l0NCMt_;@Gp_f0#^c)t?&#Xh1-7RR0@zPyBz!U#0Av zT?}n({(p?p7!4S2ZBw)#KdCG)uPnZe+U|0{BW!m)9 zi_9$F?m<`2!`JNFv+w8MK_K)qJ^aO@7-Ig>cM4-r0bi=>?B_2mFNJ}aE3<+QCzRr*NA!QjHw# z`1OsvcoD0?%jq{*7b!l|L1+Tw0TTAM4XMq7*ntc-Ived>Sj_ZtS|uVdpfg1_I9knY z2{GM_j5sDC7(W&}#s{jqbybqJWyn?{PW*&cQIU|*v8YGOKKlGl@?c#TCnmnAkAzV- zmK={|1G90zz=YUvC}+fMqts0d4vgA%t6Jhjv?d;(Z}(Ep8fTZfHA9``fdUHkA+z3+ zhh{ohP%Bj?T~{i0sYCQ}uC#5BwN`skI7`|c%kqkyWIQ;!ysvA8H`b-t()n6>GJj6xlYDu~8qX{AFo$Cm3d|XFL=4uvc?Keb zzb0ZmMoXca6Mob>JqkNuoP>B2Z>D`Q(TvrG6m`j}-1rGP!g|qoL=$FVQYxJQjFn33lODt3Wb1j8VR zlR++vIT6^DtYxAv_hxupbLLN3e0%A%a+hWTKDV3!Fjr^cWJ{scsAdfhpI)`Bms^M6 zQG$waKgFr=c|p9Piug=fcJvZ1ThMnNhQvBAg-8~b1?6wL*WyqXhtj^g(Ke}mEfZVM zJuLNTUVh#WsE*a6uqiz`b#9ZYg3+2%=C(6AvZGc=u&<6??!slB1a9K)=VL zY9EL^mfyKnD zSJyYBc_>G;5RRnrNgzJz#Rkn3S1`mZgO`(r5;Hw6MveN(URf_XS-r58Cn80K)ArH4 z#Rrd~LG1W&@ttw85cjp8xV&>$b%nSXH_*W}7Ch2pg$$c0BdEo-HWRTZcxngIBJad> z;C>b{jIXjb_9Jis?NZJsdm^EG}e*pR&DAy0EaSGi3XWTa(>C%tz1n$u?5Fb z1qtl?;_yjYo)(gB^iQq?=jusF%kywm?CJP~zEHi0NbZ);$(H$w(Hy@{i>$wcVRD_X|w-~(0Z9BJyh zhNh;+eQ9BEIs;tPz%jSVnfCP!3L&9YtEP;svoj_bNzeGSQIAjd zBss@A;)R^WAu-37RQrM%{DfBNRx>v!G31Z}8-El9IOJlb_MSoMu2}GDYycNaf>uny z+8xykD-7ONCM!APry_Lw6-yT>5!tR}W;W`C)1>pxSs5o1z#j7%m=&=7O4hz+Lsqm` z*>{+xsabZPr&X=}G@obTb{nPTkccJX8w3CG7X+1+t{JcMabv~UNv+G?txRqXib~c^Mo}`q{$`;EBNJ;#F*{gvS12kV?AZ%O0SFB$^ zn+}!HbmEj}w{Vq(G)OGAzH}R~kS^;(-s&=ectz8vN!_)Yl$$U@HNTI-pV`LSj7Opu zTZ5zZ)-S_{GcEQPIQXLQ#oMS`HPu{`SQiAZ)m1at*Hy%3xma|>o`h%E%8BEbi9p0r zVjcsh<{NBKQ4eKlXU|}@XJ#@uQw*$4BxKn6#W~I4T<^f99~(=}a`&3(ur8R9t+|AQ zWkQx7l}wa48-jO@ft2h+7qn%SJtL%~890FG0s5g*kNbL3I&@brh&f6)TlM`K^(bhr zJWM6N6x3flOw$@|C@kPi7yP&SP?bzP-E|HSXQXG>7gk|R9BTj`e=4de9C6+H7H7n# z#GJeVs1mtHhLDmVO?LkYRQc`DVOJ_vdl8VUihO-j#t=0T3%Fc1f9F73ufJz*adn*p zc%&vi(4NqHu^R>sAT_0EDjVR8bc%wTz#$;%NU-kbDyL_dg0%TFafZwZ?5KZpcuaO54Z9hX zD$u>q!-9`U6-D`E#`W~fIfiIF5_m6{fvM)b1NG3xf4Auw;Go~Fu7cth#DlUn{@~yu z=B;RT*dp?bO}o%4x7k9v{r=Y@^YQ^UUm(Qmliw8brO^=NP+UOohLYiaEB3^DB56&V zK?4jV61B|1Uj_5fBKW;8LdwOFZKWp)g{B%7g1~DgO&N& z#lisxf?R~Z@?3E$Mms$$JK8oe@X`5m98V*aV6Ua}8Xs2#A!{x?IP|N(%nxsH?^c{& z@vY&R1QmQs83BW28qAmJfS7MYi=h(YK??@EhjL-t*5W!p z^gYX!Q6-vBqcv~ruw@oMaU&qp0Fb(dbVzm5xJN%0o_^@fWq$oa3X?9s%+b)x4w-q5Koe(@j6Ez7V@~NRFvd zfBH~)U5!ix3isg`6be__wBJp=1@yfsCMw1C@y+9WYD9_C%{Q~7^0AF2KFryfLlUP# zwrtJEcH)jm48!6tUcxiurAMaiD04C&tPe6DI0#aoqz#Bt0_7_*X*TsF7u*zv(iEfA z;$@?XVu~oX#1YXtceQL{dSneL&*nDug^OW$DSLF0M1Im|sSX8R26&)<0Fbh^*l6!5wfSu8MpMoh=2l z^^0Sr$UpZp*9oqa23fcCfm7`ya2<4wzJ`Axt7e4jJrRFVf?nY~2&tRL* zd;6_njcz01c>$IvN=?K}9ie%Z(BO@JG2J}fT#BJQ+f5LFSgup7i!xWRKw6)iITjZU z%l6hPZia>R!`aZjwCp}I zg)%20;}f+&@t;(%5;RHL>K_&7MH^S+7<|(SZH!u zznW|jz$uA`P9@ZWtJgv$EFp>)K&Gt+4C6#*khZQXS*S~6N%JDT$r`aJDs9|uXWdbg zBwho$phWx}x!qy8&}6y5Vr$G{yGSE*r$^r{}pw zVTZKvikRZ`J_IJrjc=X1uw?estdwm&bEahku&D04HD+0Bm~q#YGS6gp!KLf$A{%Qd z&&yX@Hp>~(wU{|(#U&Bf92+1i&Q*-S+=y=3pSZy$#8Uc$#7oiJUuO{cE6=tsPhwPe| zxQpK>`Dbka`V)$}e6_OXKLB%i76~4N*zA?X+PrhH<&)}prET;kel24kW%+9))G^JI zsq7L{P}^#QsZViX%KgxBvEugr>ZmFqe^oAg?{EI=&_O#e)F3V#rc z8$4}0Zr19qd3tE4#$3_f=Bbx9oV6VO!d3(R===i-7p=Vj`520w0D3W6lQfY48}!D* z&)lZMG;~er2qBoI2gsX+Ts-hnpS~NYRDtPd^FPzn!^&yxRy#CSz(b&E*tL|jIkq|l zf%>)7Dtu>jCf`-7R#*GhGn4FkYf;B$+9IxmqH|lf6$4irg{0ept__%)V*R_OK=T06 zyT_m-o@Kp6U{l5h>W1hGq*X#8*y@<;vsOFqEjTQXFEotR+{3}ODDnj;o0@!bB5x=N z394FojuGOtVKBlVRLtHp%EJv_G5q=AgF)SKyRN5=cGBjDWv4LDn$IL`*=~J7u&Dy5 zrMc83y+w^F&{?X(KOOAl-sWZDb{9X9#jrQtmrEXD?;h-}SYT7yM(X_6qksM=K_a;Z z3u0qT0TtaNvDER_8x*rxXw&C^|h{P1qxK|@pS7vdlZ#P z7PdB7MmC2}%sdzAxt>;WM1s0??`1983O4nFK|hVAbHcZ3x{PzytQLkCVk7hA!Lo` zEJH?4qw|}WH{dc4z%aB=0XqsFW?^p=X}4xnCJXK%c#ItOSjdSO`UXJyuc8bh^Cf}8 z@Ht|vXd^6{Fgai8*tmyRGmD_s_nv~r^Fy7j`Bu`6=G)5H$i7Q7lvQnmea&TGvJp9a|qOrUymZ$6G|Ly z#zOCg++$3iB$!6!>215A4!iryregKuUT344X)jQb3|9qY>c0LO{6Vby05n~VFzd?q zgGZv&FGlkiH*`fTurp>B8v&nSxNz)=5IF$=@rgND4d`!AaaX;_lK~)-U8la_Wa8i?NJC@BURO*sUW)E9oyv3RG^YGfN%BmxzjlT)bp*$<| zX3tt?EAy<&K+bhIuMs-g#=d1}N_?isY)6Ay$mDOKRh z4v1asEGWoAp=srraLW^h&_Uw|6O+r;wns=uwYm=JN4Q!quD8SQRSeEcGh|Eb5Jg8m zOT}u;N|x@aq)=&;wufCc^#)5U^VcZw;d_wwaoh9$p@Xrc{DD6GZUqZ ziC6OT^zSq@-lhbgR8B+e;7_Giv;DK5gn^$bs<6~SUadiosfewWDJu`XsBfOd1|p=q zE>m=zF}!lObA%ePey~gqU8S6h-^J2Y?>7)L2+%8kV}Gp=h`Xm_}rlm)SyUS=`=S7msKu zC|T!gPiI1rWGb1z$Md?0YJQ;%>uPLOXf1Z>N~`~JHJ!^@D5kSXQ4ugnFZ>^`zH8CAiZmp z6Ms|#2gcGsQ{{u7+Nb9sA?U>(0e$5V1|WVwY`Kn)rsnnZ4=1u=7u!4WexZD^IQ1Jk zfF#NLe>W$3m&C^ULjdw+5|)-BSHwpegdyt9NYC{3@QtMfd8GrIWDu`gd0nv-3LpGCh@wgBaG z176tikL!_NXM+Bv#7q^cyn9$XSeZR6#!B4JE@GVH zoobHZN_*RF#@_SVYKkQ_igme-Y5U}cV(hkR#k1c{bQNMji zU7aE`?dHyx=1`kOYZo_8U7?3-7vHOp`Qe%Z*i+FX!s?6huNp0iCEW-Z7E&jRWmUW_ z67j>)Ew!yq)hhG4o?^z}HWH-e=es#xJUhDRc4B51M4~E-l5VZ!&zQq`gWe`?}#b~7w1LH4Xa-UCT5LXkXQWheBa2YJYbyQ zl1pXR%b(KCXMO0OsXgl0P0Og<{(@&z1aokU-Pq`eQq*JYgt8xdFQ6S z6Z3IFSua8W&M#`~*L#r>Jfd6*BzJ?JFdBR#bDv$_0N!_5vnmo@!>vULcDm`MFU823 zpG9pqjqz^FE5zMDoGqhs5OMmC{Y3iVcl>F}5Rs24Y5B^mYQ;1T&ks@pIApHOdrzXF z-SdX}Hf{X;TaSxG_T$0~#RhqKISGKNK47}0*x&nRIPtmdwxc&QT3$8&!3fWu1eZ_P zJveQj^hJL#Sn!*4k`3}(d(aasl&7G0j0-*_2xtAnoX1@9+h zO#c>YQg60Z;o{Bi=3i7S`Ic+ZE>K{(u|#)9y}q*j8uKQ1^>+(BI}m%1v3$=4ojGBc zm+o1*!T&b}-lVvZqIUBc8V}QyFEgm#oyIuC{8WqUNV{Toz`oxhYpP!_p2oHHh5P@iB*NVo~2=GQm+8Yrkm2Xjc_VyHg1c0>+o~@>*Qzo zHVBJS>$$}$_4EniTI;b1WShX<5-p#TPB&!;lP!lBVBbLOOxh6FuYloD%m;n{r|;MU3!q4AVkua~fieeWu2 zQAQ$ue(IklX6+V;F1vCu-&V?I3d42FgWgsb_e^29ol}HYft?{SLf>DrmOp9o!t>I^ zY7fBCk+E8n_|apgM|-;^=#B?6RnFKlN`oR)`e$+;D=yO-(U^jV;rft^G_zl`n7qnM zL z*-Y4Phq+ZI1$j$F-f;`CD#|`-T~OM5Q>x}a>B~Gb3-+9i>Lfr|Ca6S^8g*{*?_5!x zH_N!SoRP=gX1?)q%>QTY!r77e2j9W(I!uAz{T`NdNmPBBUzi2{`XMB^zJGGwFWeA9 z{fk33#*9SO0)DjROug+(M)I-pKA!CX;IY(#gE!UxXVsa)X!UftIN98{pt#4MJHOhY zM$_l}-TJlxY?LS6Nuz1T<44m<4i^8k@D$zuCPrkmz@sdv+{ciyFJG2Zwy&%c7;atIeTdh!a(R^QXnu1Oq1b42*OQFWnyQ zWeQrdvP|w_idy53Wa<{QH^lFmEd+VlJkyiC>6B#s)F;w-{c;aKIm;Kp50HnA-o3lY z9B~F$gJ@yYE#g#X&3ADx&tO+P_@mnQTz9gv30_sTsaGXkfNYXY{$(>*PEN3QL>I!k zp)KibPhrfX3%Z$H6SY`rXGYS~143wZrG2;=FLj50+VM6soI~up_>fU(2Wl@{BRsMi zO%sL3x?2l1cXTF)k&moNsHfQrQ+wu(gBt{sk#CU=UhrvJIncy@tJX5klLjgMn>~h= zg|FR&;@eh|C7`>s_9c~0-{IAPV){l|Ts`i=)AW;d9&KPc3fMeoTS%8@V~D8*h;&(^>yjT84MM}=%#LS7shLAuuj(0VAYoozhWjq z4LEr?wUe2^WGwdTIgWBkDUJa>YP@5d9^Rs$kCXmMRxuF*YMVrn?0NFyPl}>`&dqZb z<5eqR=ZG3>n2{6v6BvJ`YBZeeTtB88TAY(x0a58EWyuf>+^|x8Qa6wA|1Nb_p|nA zWWa}|z8a)--Wj`LqyFk_a3gN2>5{Rl_wbW?#by7&i*^hRknK%jwIH6=dQ8*-_{*x0j^DUfMX0`|K@6C<|1cgZ~D(e5vBFFm;HTZF(!vT8=T$K+|F)x3kqzBV4-=p1V(lzi(s7jdu0>LD#N=$Lk#3HkG!a zIF<7>%B7sRNzJ66KrFV76J<2bdYhxll0y2^_rdG=I%AgW4~)1Nvz=$1UkE^J%BxLo z+lUci`UcU062os*=`-j4IfSQA{w@y|3}Vk?i;&SSdh8n+$iHA#%ERL{;EpXl6u&8@ zzg}?hkEOUOJt?ZL=pWZFJ19mI1@P=$U5*Im1e_8Z${JsM>Ov?nh8Z zP5QvI!{Jy@&BP48%P2{Jr_VgzW;P@7)M9n|lDT|Ep#}7C$&ud&6>C^5ZiwKIg2McPU(4jhM!BD@@L(Gd*Nu$ji(ljZ<{FIeW_1Mmf;76{LU z-ywN~=uNN)Xi6$<12A9y)K%X|(W0p|&>>4OXB?IiYr||WKDOJPxiSe01NSV-h24^L z_>m$;|C+q!Mj**-qQ$L-*++en(g|hw;M!^%_h-iDjFHLo-n3JpB;p?+o2;`*jpvJU zLY^lt)Un4joij^^)O(CKs@7E%*!w>!HA4Q?0}oBJ7Nr8NQ7QmY^4~jvf0-`%waOLn zdNjAPaC0_7c|RVhw)+71NWjRi!y>C+Bl;Z`NiL^zn2*0kmj5gyhCLCxts*cWCdRI| zjsd=sT5BVJc^$GxP~YF$-U{-?kW6r@^vHXB%{CqYzU@1>dzf#3SYedJG-Rm6^RB7s zGM5PR(yKPKR)>?~vpUIeTP7A1sc8-knnJk*9)3t^e%izbdm>Y=W{$wm(cy1RB-19i za#828DMBY+ps#7Y8^6t)=Ea@%Nkt)O6JCx|ybC;Ap}Z@Zw~*}3P>MZLPb4Enxz9Wf zssobT^(R@KuShj8>@!1M7tm|2%-pYYDxz-5`rCbaTCG5{;Uxm z*g=+H1X8{NUvFGzz~wXa%Eo};I;~`37*WrRU&K0dPSB$yk(Z*@K&+mFal^?c zurbqB-+|Kb5|sznT;?Pj!+kgFY1#Dr;_%A(GIQC{3ct|{*Bji%FNa6c-thbpBkA;U zURV!Dr&X{0J}iht#-Qp2=xzuh(fM>zRoiGrYl5ttw2#r34gC41CCOC31m~^UPTK@s z6;A@)7O7_%C)>bnAXerYuAHdE93>j2N}H${zEc6&SbZ|-fiG*-qtGuy-qDelH(|u$ zorf8_T6Zqe#Ub!+e3oSyrskt_HyW_^5lrWt#30l)tHk|j$@YyEkXUOV;6B51L;M@=NIWZXU;GrAa(LGxO%|im%7F<-6N;en0Cr zLH>l*y?pMwt`1*cH~LdBPFY_l;~`N!Clyfr;7w<^X;&(ZiVdF1S5e(+Q%60zgh)s4 zn2yj$+mE=miVERP(g8}G4<85^-5f@qxh2ec?n+$A_`?qN=iyT1?U@t?V6DM~BIlBB z>u~eXm-aE>R0sQy!-I4xtCNi!!qh?R1!kKf6BoH2GG{L4%PAz0{Sh6xpuyI%*~u)s z%rLuFl)uQUCBQAtMyN;%)zFMx4loh7uTfKeB2Xif`lN?2gq6NhWhfz0u5WP9J>=V2 zo{mLtSy&BA!mSzs&CrKWq^y40JF5a&GSXIi2= z{EYb59J4}VwikL4P=>+mc6{($FNE@e=VUwG+KV21;<@lrN`mnz5jYGASyvz7BOG_6(p^eTxD-4O#lROgon;R35=|nj#eHIfJBYPWG>H>`dHKCDZ3`R{-?HO0mE~(5_WYcFmp8sU?wr*UkAQiNDGc6T zA%}GOLXlOWqL?WwfHO8MB#8M8*~Y*gz;1rWWoVSXP&IbKxbQ8+s%4Jnt?kDsq7btI zCDr0PZ)b;B%!lu&CT#RJzm{l{2fq|BcY85`w~3LSK<><@(2EdzFLt9Y_`;WXL6x`0 zDoQ?=?I@Hbr;*VVll1Gmd8*%tiXggMK81a+T(5Gx6;eNb8=uYn z5BG-0g>pP21NPn>$ntBh>`*})Fl|38oC^9Qz>~MAazH%3Q~Qb!ALMf$srexgPZ2@&c~+hxRi1;}+)-06)!#Mq<6GhP z-Q?qmgo${aFBApb5p}$1OJKTClfi8%PpnczyVKkoHw7Ml9e7ikrF0d~UB}i3vizos zXW4DN$SiEV9{faLt5bHy2a>33K%7Td-n5C*N;f&ZqAg#2hIqEb(y<&f4u5BWJ>2^4 z414GosL=Aom#m&=x_v<0-fp1r%oVJ{T-(xnomNJ(Dryv zh?vj+%=II_nV+@NR+(!fZZVM&(W6{6%9cm+o+Z6}KqzLw{(>E86uA1`_K$HqINlb1 zKelh3-jr2I9V?ych`{hta9wQ2c9=MM`2cC{m6^MhlL2{DLv7C^j z$xXBCnDl_;l|bPGMX@*tV)B!c|4oZyftUlP*?$YU9C_eAsuVHJ58?)zpbr30P*C`T z7y#ao`uE-SOG(Pi+`$=e^mle~)pRrdwL5)N;o{gpW21of(QE#U6w%*C~`v-z0QqBML!!5EeYA5IQB0 z^l01c;L6E(iytN!LhL}wfwP7W9PNAkb+)Cst?qg#$n;z41O4&v+8-zPs+XNb-q zIeeBCh#ivnFLUCwfS;p{LC0O7tm+Sf9Jn)~b%uwP{%69;QC)Ok0t%*a5M+=;y8j=v z#!*pp$9@!x;UMIs4~hP#pnfVc!%-D<+wsG@R2+J&%73lK|2G!EQC)O05TCV=&3g)C!lT=czLpZ@Sa%TYuoE?v8T8`V;e$#Zf2_Nj6nvBgh1)2 GZ~q4|mN%#X literal 59536 zcma&NbC71ylI~qywr$(CZQJHswz}-9F59+k+g;UV+cs{`J?GrGXYR~=-ydruB3JCa zB64N^cILAcWk5iofq)<(fq;O7{th4@;QxID0)qN`mJ?GIqLY#rX8-|G{5M0pdVW5^ zzXk$-2kQTAC?_N@B`&6-N-rmVFE=$QD?>*=4<|!MJu@}isLc4AW#{m2if&A5T5g&~ ziuMQeS*U5sL6J698wOd)K@oK@1{peP5&Esut<#VH^u)gp`9H4)`uE!2$>RTctN+^u z=ASkePDZA-X8)rp%D;p*~P?*a_=*Kwc<^>QSH|^<0>o37lt^+Mj1;4YvJ(JR-Y+?%Nu}JAYj5 z_Qc5%Ao#F?q32i?ZaN2OSNhWL;2oDEw_({7ZbgUjna!Fqn3NzLM@-EWFPZVmc>(fZ z0&bF-Ch#p9C{YJT9Rcr3+Y_uR^At1^BxZ#eo>$PLJF3=;t_$2|t+_6gg5(j{TmjYU zK12c&lE?Eh+2u2&6Gf*IdKS&6?rYbSEKBN!rv{YCm|Rt=UlPcW9j`0o6{66#y5t9C zruFA2iKd=H%jHf%ypOkxLnO8#H}#Zt{8p!oi6)7#NqoF({t6|J^?1e*oxqng9Q2Cc zg%5Vu!em)}Yuj?kaP!D?b?(C*w!1;>R=j90+RTkyEXz+9CufZ$C^umX^+4|JYaO<5 zmIM3#dv`DGM;@F6;(t!WngZSYzHx?9&$xEF70D1BvfVj<%+b#)vz)2iLCrTeYzUcL z(OBnNoG6Le%M+@2oo)&jdOg=iCszzv59e zDRCeaX8l1hC=8LbBt|k5?CXgep=3r9BXx1uR8!p%Z|0+4Xro=xi0G!e{c4U~1j6!) zH6adq0}#l{%*1U(Cb%4AJ}VLWKBPi0MoKFaQH6x?^hQ!6em@993xdtS%_dmevzeNl z(o?YlOI=jl(`L9^ z0O+H9k$_@`6L13eTT8ci-V0ljDMD|0ifUw|Q-Hep$xYj0hTO@0%IS^TD4b4n6EKDG z??uM;MEx`s98KYN(K0>c!C3HZdZ{+_53DO%9k5W%pr6yJusQAv_;IA}925Y%;+!tY z%2k!YQmLLOr{rF~!s<3-WEUs)`ix_mSU|cNRBIWxOox_Yb7Z=~Q45ZNe*u|m^|)d* zog=i>`=bTe!|;8F+#H>EjIMcgWcG2ORD`w0WD;YZAy5#s{65~qfI6o$+Ty&-hyMyJ z3Ra~t>R!p=5ZpxA;QkDAoPi4sYOP6>LT+}{xp}tk+<0k^CKCFdNYG(Es>p0gqD)jP zWOeX5G;9(m@?GOG7g;e74i_|SmE?`B2i;sLYwRWKLy0RLW!Hx`=!LH3&k=FuCsM=9M4|GqzA)anEHfxkB z?2iK-u(DC_T1};KaUT@3nP~LEcENT^UgPvp!QC@Dw&PVAhaEYrPey{nkcn(ro|r7XUz z%#(=$7D8uP_uU-oPHhd>>^adbCSQetgSG`e$U|7mr!`|bU0aHl_cmL)na-5x1#OsVE#m*+k84Y^+UMeSAa zbrVZHU=mFwXEaGHtXQq`2ZtjfS!B2H{5A<3(nb-6ARVV8kEmOkx6D2x7~-6hl;*-*}2Xz;J#a8Wn;_B5=m zl3dY;%krf?i-Ok^Pal-}4F`{F@TYPTwTEhxpZK5WCpfD^UmM_iYPe}wpE!Djai6_{ z*pGO=WB47#Xjb7!n2Ma)s^yeR*1rTxp`Mt4sfA+`HwZf%!7ZqGosPkw69`Ix5Ku6G z@Pa;pjzV&dn{M=QDx89t?p?d9gna*}jBly*#1!6}5K<*xDPJ{wv4& zM$17DFd~L*Te3A%yD;Dp9UGWTjRxAvMu!j^Tbc}2v~q^59d4bz zvu#!IJCy(BcWTc`;v$9tH;J%oiSJ_i7s;2`JXZF+qd4C)vY!hyCtl)sJIC{ebI*0> z@x>;EzyBv>AI-~{D6l6{ST=em*U( z(r$nuXY-#CCi^8Z2#v#UXOt`dbYN1z5jzNF2 z411?w)whZrfA20;nl&C1Gi+gk<`JSm+{|*2o<< zqM#@z_D`Cn|0H^9$|Tah)0M_X4c37|KQ*PmoT@%xHc3L1ZY6(p(sNXHa&49Frzto& zR`c~ClHpE~4Z=uKa5S(-?M8EJ$zt0&fJk~p$M#fGN1-y$7!37hld`Uw>Urri(DxLa;=#rK0g4J)pXMC zxzraOVw1+kNWpi#P=6(qxf`zSdUC?D$i`8ZI@F>k6k zz21?d+dw7b&i*>Kv5L(LH-?J%@WnqT7j#qZ9B>|Zl+=> z^U-pV@1y_ptHo4hl^cPRWewbLQ#g6XYQ@EkiP z;(=SU!yhjHp%1&MsU`FV1Z_#K1&(|5n(7IHbx&gG28HNT)*~-BQi372@|->2Aw5It z0CBpUcMA*QvsPy)#lr!lIdCi@1k4V2m!NH)%Px(vu-r(Q)HYc!p zJ^$|)j^E#q#QOgcb^pd74^JUi7fUmMiNP_o*lvx*q%_odv49Dsv$NV;6J z9GOXKomA{2Pb{w}&+yHtH?IkJJu~}Z?{Uk++2mB8zyvh*xhHKE``99>y#TdD z&(MH^^JHf;g(Tbb^&8P*;_i*2&fS$7${3WJtV7K&&(MBV2~)2KB3%cWg#1!VE~k#C z!;A;?p$s{ihyojEZz+$I1)L}&G~ml=udD9qh>Tu(ylv)?YcJT3ihapi!zgPtWb*CP zlLLJSRCj-^w?@;RU9aL2zDZY1`I3d<&OMuW=c3$o0#STpv_p3b9Wtbql>w^bBi~u4 z3D8KyF?YE?=HcKk!xcp@Cigvzy=lnFgc^9c%(^F22BWYNAYRSho@~*~S)4%AhEttv zvq>7X!!EWKG?mOd9&n>vvH1p4VzE?HCuxT-u+F&mnsfDI^}*-d00-KAauEaXqg3k@ zy#)MGX!X;&3&0s}F3q40ZmVM$(H3CLfpdL?hB6nVqMxX)q=1b}o_PG%r~hZ4gUfSp zOH4qlEOW4OMUc)_m)fMR_rl^pCfXc{$fQbI*E&mV77}kRF z&{<06AJyJ!e863o-V>FA1a9Eemx6>^F$~9ppt()ZbPGfg_NdRXBWoZnDy2;#ODgf! zgl?iOcF7Meo|{AF>KDwTgYrJLb$L2%%BEtO>T$C?|9bAB&}s;gI?lY#^tttY&hfr# zKhC+&b-rpg_?~uVK%S@mQleU#_xCsvIPK*<`E0fHE1&!J7!xD#IB|SSPW6-PyuqGn3^M^Rz%WT{e?OI^svARX&SAdU77V(C~ zM$H{Kg59op{<|8ry9ecfP%=kFm(-!W&?U0@<%z*+!*<e0XesMxRFu9QnGqun6R_%T+B%&9Dtk?*d$Q zb~>84jEAPi@&F@3wAa^Lzc(AJz5gsfZ7J53;@D<;Klpl?sK&u@gie`~vTsbOE~Cd4 z%kr56mI|#b(Jk&;p6plVwmNB0H@0SmgdmjIn5Ne@)}7Vty(yb2t3ev@22AE^s!KaN zyQ>j+F3w=wnx7w@FVCRe+`vUH)3gW%_72fxzqX!S&!dchdkRiHbXW1FMrIIBwjsai8`CB2r4mAbwp%rrO>3B$Zw;9=%fXI9B{d(UzVap7u z6piC-FQ)>}VOEuPpuqznpY`hN4dGa_1Xz9rVg(;H$5Te^F0dDv*gz9JS<|>>U0J^# z6)(4ICh+N_Q`Ft0hF|3fSHs*?a=XC;e`sJaU9&d>X4l?1W=|fr!5ShD|nv$GK;j46@BV6+{oRbWfqOBRb!ir88XD*SbC(LF}I1h#6@dvK%Toe%@ zhDyG$93H8Eu&gCYddP58iF3oQH*zLbNI;rN@E{T9%A8!=v#JLxKyUe}e}BJpB{~uN zqgxRgo0*-@-iaHPV8bTOH(rS(huwK1Xg0u+e!`(Irzu@Bld&s5&bWgVc@m7;JgELd zimVs`>vQ}B_1(2#rv#N9O`fJpVfPc7V2nv34PC);Dzbb;p!6pqHzvy?2pD&1NE)?A zt(t-ucqy@wn9`^MN5apa7K|L=9>ISC>xoc#>{@e}m#YAAa1*8-RUMKwbm|;5p>T`Z zNf*ph@tnF{gmDa3uwwN(g=`Rh)4!&)^oOy@VJaK4lMT&5#YbXkl`q?<*XtsqD z9PRK6bqb)fJw0g-^a@nu`^?71k|m3RPRjt;pIkCo1{*pdqbVs-Yl>4E>3fZx3Sv44grW=*qdSoiZ9?X0wWyO4`yDHh2E!9I!ZFi zVL8|VtW38}BOJHW(Ax#KL_KQzarbuE{(%TA)AY)@tY4%A%P%SqIU~8~-Lp3qY;U-} z`h_Gel7;K1h}7$_5ZZT0&%$Lxxr-<89V&&TCsu}LL#!xpQ1O31jaa{U34~^le*Y%L za?7$>Jk^k^pS^_M&cDs}NgXlR>16AHkSK-4TRaJSh#h&p!-!vQY%f+bmn6x`4fwTp z$727L^y`~!exvmE^W&#@uY!NxJi`g!i#(++!)?iJ(1)2Wk;RN zFK&O4eTkP$Xn~4bB|q8y(btx$R#D`O@epi4ofcETrx!IM(kWNEe42Qh(8*KqfP(c0 zouBl6>Fc_zM+V;F3znbo{x#%!?mH3`_ANJ?y7ppxS@glg#S9^MXu|FM&ynpz3o&Qh z2ujAHLF3($pH}0jXQsa#?t--TnF1P73b?4`KeJ9^qK-USHE)4!IYgMn-7z|=ALF5SNGkrtPG@Y~niUQV2?g$vzJN3nZ{7;HZHzWAeQ;5P|@Tl3YHpyznGG4-f4=XflwSJY+58-+wf?~Fg@1p1wkzuu-RF3j2JX37SQUc? zQ4v%`V8z9ZVZVqS8h|@@RpD?n0W<=hk=3Cf8R?d^9YK&e9ZybFY%jdnA)PeHvtBe- zhMLD+SSteHBq*q)d6x{)s1UrsO!byyLS$58WK;sqip$Mk{l)Y(_6hEIBsIjCr5t>( z7CdKUrJTrW%qZ#1z^n*Lb8#VdfzPw~OIL76aC+Rhr<~;4Tl!sw?Rj6hXj4XWa#6Tp z@)kJ~qOV)^Rh*-?aG>ic2*NlC2M7&LUzc9RT6WM%Cpe78`iAowe!>(T0jo&ivn8-7 zs{Qa@cGy$rE-3AY0V(l8wjI^uB8Lchj@?L}fYal^>T9z;8juH@?rG&g-t+R2dVDBe zq!K%{e-rT5jX19`(bP23LUN4+_zh2KD~EAYzhpEO3MUG8@}uBHH@4J zd`>_(K4q&>*k82(dDuC)X6JuPrBBubOg7qZ{?x!r@{%0);*`h*^F|%o?&1wX?Wr4b z1~&cy#PUuES{C#xJ84!z<1tp9sfrR(i%Tu^jnXy;4`Xk;AQCdFC@?V%|; zySdC7qS|uQRcH}EFZH%mMB~7gi}a0utE}ZE_}8PQH8f;H%PN41Cb9R%w5Oi5el^fd z$n{3SqLCnrF##x?4sa^r!O$7NX!}&}V;0ZGQ&K&i%6$3C_dR%I7%gdQ;KT6YZiQrW zk%q<74oVBV>@}CvJ4Wj!d^?#Zwq(b$E1ze4$99DuNg?6t9H}k_|D7KWD7i0-g*EO7 z;5{hSIYE4DMOK3H%|f5Edx+S0VI0Yw!tsaRS2&Il2)ea^8R5TG72BrJue|f_{2UHa z@w;^c|K3da#$TB0P3;MPlF7RuQeXT$ zS<<|C0OF(k)>fr&wOB=gP8!Qm>F41u;3esv7_0l%QHt(~+n; zf!G6%hp;Gfa9L9=AceiZs~tK+Tf*Wof=4!u{nIO90jH@iS0l+#%8=~%ASzFv7zqSB^?!@N7)kp0t&tCGLmzXSRMRyxCmCYUD2!B`? zhs$4%KO~m=VFk3Buv9osha{v+mAEq=ik3RdK@;WWTV_g&-$U4IM{1IhGX{pAu%Z&H zFfwCpUsX%RKg);B@7OUzZ{Hn{q6Vv!3#8fAg!P$IEx<0vAx;GU%}0{VIsmFBPq_mb zpe^BChDK>sc-WLKl<6 zwbW|e&d&dv9Wu0goueyu>(JyPx1mz0v4E?cJjFuKF71Q1)AL8jHO$!fYT3(;U3Re* zPPOe%*O+@JYt1bW`!W_1!mN&=w3G9ru1XsmwfS~BJ))PhD(+_J_^N6j)sx5VwbWK| zwRyC?W<`pOCY)b#AS?rluxuuGf-AJ=D!M36l{ua?@SJ5>e!IBr3CXIxWw5xUZ@Xrw z_R@%?{>d%Ld4p}nEsiA@v*nc6Ah!MUs?GA7e5Q5lPpp0@`%5xY$C;{%rz24$;vR#* zBP=a{)K#CwIY%p} zXVdxTQ^HS@O&~eIftU+Qt^~(DGxrdi3k}DdT^I7Iy5SMOp$QuD8s;+93YQ!OY{eB24%xY7ml@|M7I(Nb@K_-?F;2?et|CKkuZK_>+>Lvg!>JE~wN`BI|_h6$qi!P)+K-1Hh(1;a`os z55)4Q{oJiA(lQM#;w#Ta%T0jDNXIPM_bgESMCDEg6rM33anEr}=|Fn6)|jBP6Y}u{ zv9@%7*#RI9;fv;Yii5CI+KrRdr0DKh=L>)eO4q$1zmcSmglsV`*N(x=&Wx`*v!!hn6X-l0 zP_m;X??O(skcj+oS$cIdKhfT%ABAzz3w^la-Ucw?yBPEC+=Pe_vU8nd-HV5YX6X8r zZih&j^eLU=%*;VzhUyoLF;#8QsEfmByk+Y~caBqSvQaaWf2a{JKB9B>V&r?l^rXaC z8)6AdR@Qy_BxQrE2Fk?ewD!SwLuMj@&d_n5RZFf7=>O>hzVE*seW3U?_p|R^CfoY`?|#x9)-*yjv#lo&zP=uI`M?J zbzC<^3x7GfXA4{FZ72{PE*-mNHyy59Q;kYG@BB~NhTd6pm2Oj=_ zizmD?MKVRkT^KmXuhsk?eRQllPo2Ubk=uCKiZ&u3Xjj~<(!M94c)Tez@9M1Gfs5JV z->@II)CDJOXTtPrQudNjE}Eltbjq>6KiwAwqvAKd^|g!exgLG3;wP+#mZYr`cy3#39e653d=jrR-ulW|h#ddHu(m9mFoW~2yE zz5?dB%6vF}+`-&-W8vy^OCxm3_{02royjvmwjlp+eQDzFVEUiyO#gLv%QdDSI#3W* z?3!lL8clTaNo-DVJw@ynq?q!%6hTQi35&^>P85G$TqNt78%9_sSJt2RThO|JzM$iL zg|wjxdMC2|Icc5rX*qPL(coL!u>-xxz-rFiC!6hD1IR%|HSRsV3>Kq~&vJ=s3M5y8SG%YBQ|{^l#LGlg!D?E>2yR*eV%9m$_J6VGQ~AIh&P$_aFbh zULr0Z$QE!QpkP=aAeR4ny<#3Fwyw@rZf4?Ewq`;mCVv}xaz+3ni+}a=k~P+yaWt^L z@w67!DqVf7D%7XtXX5xBW;Co|HvQ8WR1k?r2cZD%U;2$bsM%u8{JUJ5Z0k= zZJARv^vFkmWx15CB=rb=D4${+#DVqy5$C%bf`!T0+epLJLnh1jwCdb*zuCL}eEFvE z{rO1%gxg>1!W(I!owu*mJZ0@6FM(?C+d*CeceZRW_4id*D9p5nzMY&{mWqrJomjIZ z97ZNnZ3_%Hx8dn;H>p8m7F#^2;T%yZ3H;a&N7tm=Lvs&lgJLW{V1@h&6Vy~!+Ffbb zv(n3+v)_D$}dqd!2>Y2B)#<+o}LH#%ogGi2-?xRIH)1!SD)u-L65B&bsJTC=LiaF+YOCif2dUX6uAA|#+vNR z>U+KQekVGon)Yi<93(d!(yw1h3&X0N(PxN2{%vn}cnV?rYw z$N^}_o!XUB!mckL`yO1rnUaI4wrOeQ(+&k?2mi47hzxSD`N#-byqd1IhEoh!PGq>t z_MRy{5B0eKY>;Ao3z$RUU7U+i?iX^&r739F)itdrTpAi-NN0=?^m%?{A9Ly2pVv>Lqs6moTP?T2-AHqFD-o_ znVr|7OAS#AEH}h8SRPQ@NGG47dO}l=t07__+iK8nHw^(AHx&Wb<%jPc$$jl6_p(b$ z)!pi(0fQodCHfM)KMEMUR&UID>}m^(!{C^U7sBDOA)$VThRCI0_+2=( zV8mMq0R(#z;C|7$m>$>`tX+T|xGt(+Y48@ZYu#z;0pCgYgmMVbFb!$?%yhZqP_nhn zy4<#3P1oQ#2b51NU1mGnHP$cf0j-YOgAA}A$QoL6JVLcmExs(kU{4z;PBHJD%_=0F z>+sQV`mzijSIT7xn%PiDKHOujX;n|M&qr1T@rOxTdxtZ!&u&3HHFLYD5$RLQ=heur zb>+AFokUVQeJy-#LP*^)spt{mb@Mqe=A~-4p0b+Bt|pZ+@CY+%x}9f}izU5;4&QFE zO1bhg&A4uC1)Zb67kuowWY4xbo&J=%yoXlFB)&$d*-}kjBu|w!^zbD1YPc0-#XTJr z)pm2RDy%J3jlqSMq|o%xGS$bPwn4AqitC6&e?pqWcjWPt{3I{>CBy;hg0Umh#c;hU3RhCUX=8aR>rmd` z7Orw(5tcM{|-^J?ZAA9KP|)X6n9$-kvr#j5YDecTM6n z&07(nD^qb8hpF0B^z^pQ*%5ePYkv&FabrlI61ntiVp!!C8y^}|<2xgAd#FY=8b*y( zuQOuvy2`Ii^`VBNJB&R!0{hABYX55ooCAJSSevl4RPqEGb)iy_0H}v@vFwFzD%>#I>)3PsouQ+_Kkbqy*kKdHdfkN7NBcq%V{x^fSxgXpg7$bF& zj!6AQbDY(1u#1_A#1UO9AxiZaCVN2F0wGXdY*g@x$ByvUA?ePdide0dmr#}udE%K| z3*k}Vv2Ew2u1FXBaVA6aerI36R&rzEZeDDCl5!t0J=ug6kuNZzH>3i_VN`%BsaVB3 zQYw|Xub_SGf{)F{$ZX5`Jc!X!;eybjP+o$I{Z^Hsj@D=E{MnnL+TbC@HEU2DjG{3-LDGIbq()U87x4eS;JXnSh;lRlJ z>EL3D>wHt-+wTjQF$fGyDO$>d+(fq@bPpLBS~xA~R=3JPbS{tzN(u~m#Po!?H;IYv zE;?8%^vle|%#oux(Lj!YzBKv+Fd}*Ur-dCBoX*t{KeNM*n~ZPYJ4NNKkI^MFbz9!v z4(Bvm*Kc!-$%VFEewYJKz-CQN{`2}KX4*CeJEs+Q(!kI%hN1!1P6iOq?ovz}X0IOi z)YfWpwW@pK08^69#wSyCZkX9?uZD?C^@rw^Y?gLS_xmFKkooyx$*^5#cPqntNTtSG zlP>XLMj2!VF^0k#ole7`-c~*~+_T5ls?x4)ah(j8vo_ zwb%S8qoaZqY0-$ZI+ViIA_1~~rAH7K_+yFS{0rT@eQtTAdz#8E5VpwnW!zJ_^{Utv zlW5Iar3V5t&H4D6A=>?mq;G92;1cg9a2sf;gY9pJDVKn$DYdQlvfXq}zz8#LyPGq@ z+`YUMD;^-6w&r-82JL7mA8&M~Pj@aK!m{0+^v<|t%APYf7`}jGEhdYLqsHW-Le9TL z_hZZ1gbrz7$f9^fAzVIP30^KIz!!#+DRLL+qMszvI_BpOSmjtl$hh;&UeM{ER@INV zcI}VbiVTPoN|iSna@=7XkP&-4#06C};8ajbxJ4Gcq8(vWv4*&X8bM^T$mBk75Q92j z1v&%a;OSKc8EIrodmIiw$lOES2hzGDcjjB`kEDfJe{r}yE6`eZL zEB`9u>Cl0IsQ+t}`-cx}{6jqcANucqIB>Qmga_&<+80E2Q|VHHQ$YlAt{6`Qu`HA3 z03s0-sSlwbvgi&_R8s={6<~M^pGvBNjKOa>tWenzS8s zR>L7R5aZ=mSU{f?ib4Grx$AeFvtO5N|D>9#)ChH#Fny2maHWHOf2G=#<9Myot#+4u zWVa6d^Vseq_0=#AYS(-m$Lp;*8nC_6jXIjEM`omUmtH@QDs3|G)i4j*#_?#UYVZvJ z?YjT-?!4Q{BNun;dKBWLEw2C-VeAz`%?A>p;)PL}TAZn5j~HK>v1W&anteARlE+~+ zj>c(F;?qO3pXBb|#OZdQnm<4xWmn~;DR5SDMxt0UK_F^&eD|KZ=O;tO3vy4@4h^;2 zUL~-z`-P1aOe?|ZC1BgVsL)2^J-&vIFI%q@40w0{jjEfeVl)i9(~bt2z#2Vm)p`V_ z1;6$Ae7=YXk#=Qkd24Y23t&GvRxaOoad~NbJ+6pxqzJ>FY#Td7@`N5xp!n(c!=RE& z&<<@^a$_Ys8jqz4|5Nk#FY$~|FPC0`*a5HH!|Gssa9=~66&xG9)|=pOOJ2KE5|YrR zw!w6K2aC=J$t?L-;}5hn6mHd%hC;p8P|Dgh6D>hGnXPgi;6r+eA=?f72y9(Cf_ho{ zH6#)uD&R=73^$$NE;5piWX2bzR67fQ)`b=85o0eOLGI4c-Tb@-KNi2pz=Ke@SDcPn za$AxXib84`!Sf;Z3B@TSo`Dz7GM5Kf(@PR>Ghzi=BBxK8wRp>YQoXm+iL>H*Jo9M3 z6w&E?BC8AFTFT&Tv8zf+m9<&S&%dIaZ)Aoqkak_$r-2{$d~0g2oLETx9Y`eOAf14QXEQw3tJne;fdzl@wV#TFXSLXM2428F-Q}t+n2g%vPRMUzYPvzQ9f# zu(liiJem9P*?0%V@RwA7F53r~|I!Ty)<*AsMX3J{_4&}{6pT%Tpw>)^|DJ)>gpS~1rNEh z0$D?uO8mG?H;2BwM5a*26^7YO$XjUm40XmBsb63MoR;bJh63J;OngS5sSI+o2HA;W zdZV#8pDpC9Oez&L8loZO)MClRz!_!WD&QRtQxnazhT%Vj6Wl4G11nUk8*vSeVab@N#oJ}`KyJv+8Mo@T1-pqZ1t|?cnaVOd;1(h9 z!$DrN=jcGsVYE-0-n?oCJ^4x)F}E;UaD-LZUIzcD?W^ficqJWM%QLy6QikrM1aKZC zi{?;oKwq^Vsr|&`i{jIphA8S6G4)$KGvpULjH%9u(Dq247;R#l&I0{IhcC|oBF*Al zvLo7Xte=C{aIt*otJD}BUq)|_pdR>{zBMT< z(^1RpZv*l*m*OV^8>9&asGBo8h*_4q*)-eCv*|Pq=XNGrZE)^(SF7^{QE_~4VDB(o zVcPA_!G+2CAtLbl+`=Q~9iW`4ZRLku!uB?;tWqVjB0lEOf}2RD7dJ=BExy=<9wkb- z9&7{XFA%n#JsHYN8t5d~=T~5DcW4$B%3M+nNvC2`0!#@sckqlzo5;hhGi(D9=*A4` z5ynobawSPRtWn&CDLEs3Xf`(8^zDP=NdF~F^s&={l7(aw&EG}KWpMjtmz7j_VLO;@ zM2NVLDxZ@GIv7*gzl1 zjq78tv*8#WSY`}Su0&C;2F$Ze(q>F(@Wm^Gw!)(j;dk9Ad{STaxn)IV9FZhm*n+U} zi;4y*3v%A`_c7a__DJ8D1b@dl0Std3F||4Wtvi)fCcBRh!X9$1x!_VzUh>*S5s!oq z;qd{J_r79EL2wIeiGAqFstWtkfIJpjVh%zFo*=55B9Zq~y0=^iqHWfQl@O!Ak;(o*m!pZqe9 z%U2oDOhR)BvW8&F70L;2TpkzIutIvNQaTjjs5V#8mV4!NQ}zN=i`i@WI1z0eN-iCS z;vL-Wxc^Vc_qK<5RPh(}*8dLT{~GzE{w2o$2kMFaEl&q zP{V=>&3kW7tWaK-Exy{~`v4J0U#OZBk{a9{&)&QG18L@6=bsZ1zC_d{{pKZ-Ey>I> z;8H0t4bwyQqgu4hmO`3|4K{R*5>qnQ&gOfdy?z`XD%e5+pTDzUt3`k^u~SaL&XMe= z9*h#kT(*Q9jO#w2Hd|Mr-%DV8i_1{J1MU~XJ3!WUplhXDYBpJH><0OU`**nIvPIof z|N8@I=wA)sf45SAvx||f?Z5uB$kz1qL3Ky_{%RPdP5iN-D2!p5scq}buuC00C@jom zhfGKm3|f?Z0iQ|K$Z~!`8{nmAS1r+fp6r#YDOS8V*;K&Gs7Lc&f^$RC66O|)28oh`NHy&vq zJh+hAw8+ybTB0@VhWN^0iiTnLsCWbS_y`^gs!LX!Lw{yE``!UVzrV24tP8o;I6-65 z1MUiHw^{bB15tmrVT*7-#sj6cs~z`wk52YQJ*TG{SE;KTm#Hf#a~|<(|ImHH17nNM z`Ub{+J3dMD!)mzC8b(2tZtokKW5pAwHa?NFiso~# z1*iaNh4lQ4TS)|@G)H4dZV@l*Vd;Rw;-;odDhW2&lJ%m@jz+Panv7LQm~2Js6rOW3 z0_&2cW^b^MYW3)@o;neZ<{B4c#m48dAl$GCc=$>ErDe|?y@z`$uq3xd(%aAsX)D%l z>y*SQ%My`yDP*zof|3@_w#cjaW_YW4BdA;#Glg1RQcJGY*CJ9`H{@|D+*e~*457kd z73p<%fB^PV!Ybw@)Dr%(ZJbX}xmCStCYv#K3O32ej{$9IzM^I{6FJ8!(=azt7RWf4 z7ib0UOPqN40X!wOnFOoddd8`!_IN~9O)#HRTyjfc#&MCZ zZAMzOVB=;qwt8gV?{Y2?b=iSZG~RF~uyx18K)IDFLl})G1v@$(s{O4@RJ%OTJyF+Cpcx4jmy|F3euCnMK!P2WTDu5j z{{gD$=M*pH!GGzL%P)V2*ROm>!$Y=z|D`!_yY6e7SU$~a5q8?hZGgaYqaiLnkK%?0 zs#oI%;zOxF@g*@(V4p!$7dS1rOr6GVs6uYCTt2h)eB4?(&w8{#o)s#%gN@BBosRUe z)@P@8_Zm89pr~)b>e{tbPC~&_MR--iB{=)y;INU5#)@Gix-YpgP<-c2Ms{9zuCX|3 z!p(?VaXww&(w&uBHzoT%!A2=3HAP>SDxcljrego7rY|%hxy3XlODWffO_%g|l+7Y_ zqV(xbu)s4lV=l7M;f>vJl{`6qBm>#ZeMA}kXb97Z)?R97EkoI?x6Lp0yu1Z>PS?2{ z0QQ(8D)|lc9CO3B~e(pQM&5(1y&y=e>C^X$`)_&XuaI!IgDTVqt31wX#n+@!a_A0ZQkA zCJ2@M_4Gb5MfCrm5UPggeyh)8 zO9?`B0J#rkoCx(R0I!ko_2?iO@|oRf1;3r+i)w-2&j?=;NVIdPFsB)`|IC0zk6r9c zRrkfxWsiJ(#8QndNJj@{@WP2Ackr|r1VxV{7S&rSU(^)-M8gV>@UzOLXu9K<{6e{T zXJ6b92r$!|lwjhmgqkdswY&}c)KW4A)-ac%sU;2^fvq7gfUW4Bw$b!i@duy1CAxSn z(pyh$^Z=&O-q<{bZUP+$U}=*#M9uVc>CQVgDs4swy5&8RAHZ~$)hrTF4W zPsSa~qYv_0mJnF89RnnJTH`3}w4?~epFl=D(35$ zWa07ON$`OMBOHgCmfO(9RFc<)?$x)N}Jd2A(<*Ll7+4jrRt9w zwGxExUXd9VB#I|DwfxvJ;HZ8Q{37^wDhaZ%O!oO(HpcqfLH%#a#!~;Jl7F5>EX_=8 z{()l2NqPz>La3qJR;_v+wlK>GsHl;uRA8%j`A|yH@k5r%55S9{*Cp%uw6t`qc1!*T za2OeqtQj7sAp#Q~=5Fs&aCR9v>5V+s&RdNvo&H~6FJOjvaj--2sYYBvMq;55%z8^o z|BJDA4vzfow#DO#ZQHh;Oq_{r+qP{R9ox2TOgwQiv7Ow!zjN+A@BN;0tA2lUb#+zO z(^b89eV)D7UVE+h{mcNc6&GtpOqDn_?VAQ)Vob$hlFwW%xh>D#wml{t&Ofmm_d_+; zKDxzdr}`n2Rw`DtyIjrG)eD0vut$}dJAZ0AohZ+ZQdWXn_Z@dI_y=7t3q8x#pDI-K z2VVc&EGq445Rq-j0=U=Zx`oBaBjsefY;%)Co>J3v4l8V(T8H?49_@;K6q#r~Wwppc z4XW0(4k}cP=5ex>-Xt3oATZ~bBWKv)aw|I|Lx=9C1s~&b77idz({&q3T(Y(KbWO?+ zmcZ6?WeUsGk6>km*~234YC+2e6Zxdl~<_g2J|IE`GH%n<%PRv-50; zH{tnVts*S5*_RxFT9eM0z-pksIb^drUq4>QSww=u;UFCv2AhOuXE*V4z?MM`|ABOC4P;OfhS(M{1|c%QZ=!%rQTDFx`+}?Kdx$&FU?Y<$x;j7z=(;Lyz+?EE>ov!8vvMtSzG!nMie zsBa9t8as#2nH}n8xzN%W%U$#MHNXmDUVr@GX{?(=yI=4vks|V)!-W5jHsU|h_&+kY zS_8^kd3jlYqOoiI`ZqBVY!(UfnAGny!FowZWY_@YR0z!nG7m{{)4OS$q&YDyw6vC$ zm4!$h>*|!2LbMbxS+VM6&DIrL*X4DeMO!@#EzMVfr)e4Tagn~AQHIU8?e61TuhcKD zr!F4(kEebk(Wdk-?4oXM(rJwanS>Jc%<>R(siF+>+5*CqJLecP_we33iTFTXr6W^G z7M?LPC-qFHK;E!fxCP)`8rkxZyFk{EV;G-|kwf4b$c1k0atD?85+|4V%YATWMG|?K zLyLrws36p%Qz6{}>7b>)$pe>mR+=IWuGrX{3ZPZXF3plvuv5Huax86}KX*lbPVr}L z{C#lDjdDeHr~?l|)Vp_}T|%$qF&q#U;ClHEPVuS+Jg~NjC1RP=17=aQKGOcJ6B3mp z8?4*-fAD~}sX*=E6!}^u8)+m2j<&FSW%pYr_d|p_{28DZ#Cz0@NF=gC-o$MY?8Ca8 zr5Y8DSR^*urS~rhpX^05r30Ik#2>*dIOGxRm0#0YX@YQ%Mg5b6dXlS!4{7O_kdaW8PFSdj1=ryI-=5$fiieGK{LZ+SX(1b=MNL!q#lN zv98?fqqTUH8r8C7v(cx#BQ5P9W>- zmW93;eH6T`vuJ~rqtIBg%A6>q>gnWb3X!r0wh_q;211+Om&?nvYzL1hhtjB zK_7G3!n7PL>d!kj){HQE zE8(%J%dWLh1_k%gVXTZt zEdT09XSKAx27Ncaq|(vzL3gm83q>6CAw<$fTnMU05*xAe&rDfCiu`u^1)CD<>sx0i z*hr^N_TeN89G(nunZoLBf^81#pmM}>JgD@Nn1l*lN#a=B=9pN%tmvYFjFIoKe_(GF z-26x{(KXdfsQL7Uv6UtDuYwV`;8V3w>oT_I<`Ccz3QqK9tYT5ZQzbop{=I=!pMOCb zCU68`n?^DT%^&m>A%+-~#lvF!7`L7a{z<3JqIlk1$<||_J}vW1U9Y&eX<}l8##6i( zZcTT@2`9(Mecptm@{3A_Y(X`w9K0EwtPq~O!16bq{7c0f7#(3wn-^)h zxV&M~iiF!{-6A@>o;$RzQ5A50kxXYj!tcgme=Qjrbje~;5X2xryU;vH|6bE(8z^<7 zQ>BG7_c*JG8~K7Oe68i#0~C$v?-t@~@r3t2inUnLT(c=URpA9kA8uq9PKU(Ps(LVH zqgcqW>Gm?6oV#AldDPKVRcEyQIdTT`Qa1j~vS{<;SwyTdr&3*t?J)y=M7q*CzucZ&B0M=joT zBbj@*SY;o2^_h*>R0e({!QHF0=)0hOj^B^d*m>SnRrwq>MolNSgl^~r8GR#mDWGYEIJA8B<|{{j?-7p zVnV$zancW3&JVDtVpIlI|5djKq0(w$KxEFzEiiL=h5Jw~4Le23@s(mYyXWL9SX6Ot zmb)sZaly_P%BeX_9 zw&{yBef8tFm+%=--m*J|o~+Xg3N+$IH)t)=fqD+|fEk4AAZ&!wcN5=mi~Vvo^i`}> z#_3ahR}Ju)(Px7kev#JGcSwPXJ2id9%Qd2A#Uc@t8~egZ8;iC{e! z%=CGJOD1}j!HW_sgbi_8suYnn4#Ou}%9u)dXd3huFIb!ytlX>Denx@pCS-Nj$`VO&j@(z!kKSP0hE4;YIP#w9ta=3DO$7f*x zc9M4&NK%IrVmZAe=r@skWD`AEWH=g+r|*13Ss$+{c_R!b?>?UaGXlw*8qDmY#xlR= z<0XFbs2t?8i^G~m?b|!Hal^ZjRjt<@a? z%({Gn14b4-a|#uY^=@iiKH+k?~~wTj5K1A&hU z2^9-HTC)7zpoWK|$JXaBL6C z#qSNYtY>65T@Zs&-0cHeu|RX(Pxz6vTITdzJdYippF zC-EB+n4}#lM7`2Ry~SO>FxhKboIAF#Z{1wqxaCb{#yEFhLuX;Rx(Lz%T`Xo1+a2M}7D+@wol2)OJs$TwtRNJ={( zD@#zTUEE}#Fz#&(EoD|SV#bayvr&E0vzmb%H?o~46|FAcx?r4$N z&67W3mdip-T1RIxwSm_&(%U|+WvtGBj*}t69XVd&ebn>KOuL(7Y8cV?THd-(+9>G7*Nt%T zcH;`p={`SOjaf7hNd(=37Lz3-51;58JffzIPgGs_7xIOsB5p2t&@v1mKS$2D$*GQ6 zM(IR*j4{nri7NMK9xlDy-hJW6sW|ZiDRaFiayj%;(%51DN!ZCCCXz+0Vm#};70nOx zJ#yA0P3p^1DED;jGdPbQWo0WATN=&2(QybbVdhd=Vq*liDk`c7iZ?*AKEYC#SY&2g z&Q(Ci)MJ{mEat$ZdSwTjf6h~roanYh2?9j$CF@4hjj_f35kTKuGHvIs9}Re@iKMxS-OI*`0S z6s)fOtz}O$T?PLFVSeOjSO26$@u`e<>k(OSP!&YstH3ANh>)mzmKGNOwOawq-MPXe zy4xbeUAl6tamnx))-`Gi2uV5>9n(73yS)Ukma4*7fI8PaEwa)dWHs6QA6>$}7?(L8 ztN8M}?{Tf!Zu22J5?2@95&rQ|F7=FK-hihT-vDp!5JCcWrVogEnp;CHenAZ)+E+K5 z$Cffk5sNwD_?4+ymgcHR(5xgt20Z8M`2*;MzOM#>yhk{r3x=EyM226wb&!+j`W<%* zSc&|`8!>dn9D@!pYow~(DsY_naSx7(Z4i>cu#hA5=;IuI88}7f%)bRkuY2B;+9Uep zpXcvFWkJ!mQai63BgNXG26$5kyhZ2&*3Q_tk)Ii4M>@p~_~q_cE!|^A;_MHB;7s#9 zKzMzK{lIxotjc};k67^Xsl-gS!^*m*m6kn|sbdun`O?dUkJ{0cmI0-_2y=lTAfn*Y zKg*A-2sJq)CCJgY0LF-VQvl&6HIXZyxo2#!O&6fOhbHXC?%1cMc6y^*dOS{f$=137Ds1m01qs`>iUQ49JijsaQ( zksqV9@&?il$|4Ua%4!O15>Zy&%gBY&wgqB>XA3!EldQ%1CRSM(pp#k~-pkcCg4LAT zXE=puHbgsw)!xtc@P4r~Z}nTF=D2~j(6D%gTBw$(`Fc=OOQ0kiW$_RDd=hcO0t97h zb86S5r=>(@VGy1&#S$Kg_H@7G^;8Ue)X5Y+IWUi`o;mpvoV)`fcVk4FpcT|;EG!;? zHG^zrVVZOm>1KFaHlaogcWj(v!S)O(Aa|Vo?S|P z5|6b{qkH(USa*Z7-y_Uvty_Z1|B{rTS^qmEMLEYUSk03_Fg&!O3BMo{b^*`3SHvl0 zhnLTe^_vVIdcSHe)SQE}r~2dq)VZJ!aSKR?RS<(9lzkYo&dQ?mubnWmgMM37Nudwo z3Vz@R{=m2gENUE3V4NbIzAA$H1z0pagz94-PTJyX{b$yndsdKptmlKQKaaHj@3=ED zc7L?p@%ui|RegVYutK$64q4pe9+5sv34QUpo)u{1ci?)_7gXQd{PL>b0l(LI#rJmN zGuO+%GO`xneFOOr4EU(Wg}_%bhzUf;d@TU+V*2#}!2OLwg~%D;1FAu=Un>OgjPb3S z7l(riiCwgghC=Lm5hWGf5NdGp#01xQ59`HJcLXbUR3&n%P(+W2q$h2Qd z*6+-QXJ*&Kvk9ht0f0*rO_|FMBALen{j7T1l%=Q>gf#kma zQlg#I9+HB+z*5BMxdesMND`_W;q5|FaEURFk|~&{@qY32N$G$2B=&Po{=!)x5b!#n zxLzblkq{yj05#O7(GRuT39(06FJlalyv<#K4m}+vs>9@q-&31@1(QBv82{}Zkns~K ze{eHC_RDX0#^A*JQTwF`a=IkE6Ze@j#-8Q`tTT?k9`^ZhA~3eCZJ-Jr{~7Cx;H4A3 zcZ+Zj{mzFZbVvQ6U~n>$U2ZotGsERZ@}VKrgGh0xM;Jzt29%TX6_&CWzg+YYMozrM z`nutuS)_0dCM8UVaKRj804J4i%z2BA_8A4OJRQ$N(P9Mfn-gF;4#q788C@9XR0O3< zsoS4wIoyt046d+LnSCJOy@B@Uz*#GGd#+Ln1ek5Dv>(ZtD@tgZlPnZZJGBLr^JK+!$$?A_fA3LOrkoDRH&l7 zcMcD$Hsjko3`-{bn)jPL6E9Ds{WskMrivsUu5apD z?grQO@W7i5+%X&E&p|RBaEZ(sGLR@~(y^BI@lDMot^Ll?!`90KT!JXUhYS`ZgX3jnu@Ja^seA*M5R@f`=`ynQV4rc$uT1mvE?@tz)TN<=&H1%Z?5yjxcpO+6y_R z6EPuPKM5uxKpmZfT(WKjRRNHs@ib)F5WAP7QCADvmCSD#hPz$V10wiD&{NXyEwx5S z6NE`3z!IS^$s7m}PCwQutVQ#~w+V z=+~->DI*bR2j0^@dMr9`p>q^Ny~NrAVxrJtX2DUveic5vM%#N*XO|?YAWwNI$Q)_) zvE|L(L1jP@F%gOGtnlXtIv2&1i8q<)Xfz8O3G^Ea~e*HJsQgBxWL(yuLY+jqUK zRE~`-zklrGog(X}$9@ZVUw!8*=l`6mzYLtsg`AvBYz(cxmAhr^j0~(rzXdiOEeu_p zE$sf2(w(BPAvO5DlaN&uQ$4@p-b?fRs}d7&2UQ4Fh?1Hzu*YVjcndqJLw0#q@fR4u zJCJ}>_7-|QbvOfylj+e^_L`5Ep9gqd>XI3-O?Wp z-gt*P29f$Tx(mtS`0d05nHH=gm~Po_^OxxUwV294BDKT>PHVlC5bndncxGR!n(OOm znsNt@Q&N{TLrmsoKFw0&_M9$&+C24`sIXGWgQaz=kY;S{?w`z^Q0JXXBKFLj0w0U6P*+jPKyZHX9F#b0D1$&(- zrm8PJd?+SrVf^JlfTM^qGDK&-p2Kdfg?f>^%>1n8bu&byH(huaocL>l@f%c*QkX2i znl}VZ4R1en4S&Bcqw?$=Zi7ohqB$Jw9x`aM#>pHc0x z0$!q7iFu zZ`tryM70qBI6JWWTF9EjgG@>6SRzsd}3h+4D8d~@CR07P$LJ}MFsYi-*O%XVvD@yT|rJ+Mk zDllJ7$n0V&A!0flbOf)HE6P_afPWZmbhpliqJuw=-h+r;WGk|ntkWN(8tKlYpq5Ow z(@%s>IN8nHRaYb*^d;M(D$zGCv5C|uqmsDjwy4g=Lz>*OhO3z=)VD}C<65;`89Ye} zSCxrv#ILzIpEx1KdLPlM&%Cctf@FqTKvNPXC&`*H9=l=D3r!GLM?UV zOxa(8ZsB`&+76S-_xuj?G#wXBfDY@Z_tMpXJS7^mp z@YX&u0jYw2A+Z+bD#6sgVK5ZgdPSJV3>{K^4~%HV?rn~4D)*2H!67Y>0aOmzup`{D zzDp3c9yEbGCY$U<8biJ_gB*`jluz1ShUd!QUIQJ$*1;MXCMApJ^m*Fiv88RZ zFopLViw}{$Tyhh_{MLGIE2~sZ)t0VvoW%=8qKZ>h=adTe3QM$&$PO2lfqH@brt!9j ziePM8$!CgE9iz6B<6_wyTQj?qYa;eC^{x_0wuwV~W+^fZmFco-o%wsKSnjXFEx02V zF5C2t)T6Gw$Kf^_c;Ei3G~uC8SM-xyycmXyC2hAVi-IfXqhu$$-C=*|X?R0~hu z8`J6TdgflslhrmDZq1f?GXF7*ALeMmOEpRDg(s*H`4>_NAr`2uqF;k;JQ+8>A|_6ZNsNLECC%NNEb1Y1dP zbIEmNpK)#XagtL4R6BC{C5T(+=yA-(Z|Ap}U-AfZM#gwVpus3(gPn}Q$CExObJ5AC z)ff9Yk?wZ}dZ-^)?cbb9Fw#EjqQ8jxF4G3=L?Ra zg_)0QDMV1y^A^>HRI$x?Op@t;oj&H@1xt4SZ9(kifQ zb59B*`M99Td7@aZ3UWvj1rD0sE)d=BsBuW*KwkCds7ay(7*01_+L}b~7)VHI>F_!{ zyxg-&nCO?v#KOUec0{OOKy+sjWA;8rTE|Lv6I9H?CI?H(mUm8VXGwU$49LGpz&{nQp2}dinE1@lZ1iox6{ghN&v^GZv9J${7WaXj)<0S4g_uiJ&JCZ zr8-hsu`U%N;+9N^@&Q0^kVPB3)wY(rr}p7{p0qFHb3NUUHJb672+wRZs`gd1UjKPX z4o6zljKKA+Kkj?H>Ew63o%QjyBk&1!P22;MkD>sM0=z_s-G{mTixJCT9@_|*(p^bz zJ8?ZZ&;pzV+7#6Mn`_U-)k8Pjg?a;|Oe^us^PoPY$Va~yi8|?+&=y$f+lABT<*pZr zP}D{~Pq1Qyni+@|aP;ixO~mbEW9#c0OU#YbDZIaw=_&$K%Ep2f%hO^&P67hApZe`x zv8b`Mz@?M_7-)b!lkQKk)JXXUuT|B8kJlvqRmRpxtQDgvrHMXC1B$M@Y%Me!BSx3P z#2Eawl$HleZhhTS6Txm>lN_+I`>eV$&v9fOg)%zVn3O5mI*lAl>QcHuW6!Kixmq`X zBCZ*Ck6OYtDiK!N47>jxI&O2a9x7M|i^IagRr-fmrmikEQGgw%J7bO|)*$2FW95O4 zeBs>KR)izRG1gRVL;F*sr8A}aRHO0gc$$j&ds8CIO1=Gwq1%_~E)CWNn9pCtBE}+`Jelk4{>S)M)`Ll=!~gnn1yq^EX(+y*ik@3Ou0qU`IgYi3*doM+5&dU!cho$pZ zn%lhKeZkS72P?Cf68<#kll_6OAO26bIbueZx**j6o;I0cS^XiL`y+>{cD}gd%lux} z)3N>MaE24WBZ}s0ApfdM;5J_Ny}rfUyxfkC``Awo2#sgLnGPewK};dORuT?@I6(5~ z?kE)Qh$L&fwJXzK){iYx!l5$Tt|^D~MkGZPA}(o6f7w~O2G6Vvzdo*a;iXzk$B66$ zwF#;wM7A+(;uFG4+UAY(2`*3XXx|V$K8AYu#ECJYSl@S=uZW$ksfC$~qrrbQj4??z-)uz0QL}>k^?fPnJTPw% zGz)~?B4}u0CzOf@l^um}HZzbaIwPmb<)< zi_3@E9lc)Qe2_`*Z^HH;1CXOceL=CHpHS{HySy3T%<^NrWQ}G0i4e1xm_K3(+~oi$ zoHl9wzb?Z4j#90DtURtjtgvi7uw8DzHYmtPb;?%8vb9n@bszT=1qr)V_>R%s!92_` zfnHQPANx z<#hIjIMm#*(v*!OXtF+w8kLu`o?VZ5k7{`vw{Yc^qYclpUGIM_PBN1+c{#Vxv&E*@ zxg=W2W~JuV{IuRYw3>LSI1)a!thID@R=bU+cU@DbR^_SXY`MC7HOsCN z!dO4OKV7(E_Z8T#8MA1H`99?Z!r0)qKW_#|29X3#Jb+5+>qUidbeP1NJ@)(qi2S-X zao|f0_tl(O+$R|Qwd$H{_ig|~I1fbp_$NkI!0E;Y z6JrnU{1Ra6^on{9gUUB0mwzP3S%B#h0fjo>JvV~#+X0P~JV=IG=yHG$O+p5O3NUgG zEQ}z6BTp^Fie)Sg<){Z&I8NwPR(=mO4joTLHkJ>|Tnk23E(Bo`FSbPc05lF2-+)X? z6vV3*m~IBHTy*^E!<0nA(tCOJW2G4DsH7)BxLV8kICn5lu6@U*R`w)o9;Ro$i8=Q^V%uH8n3q=+Yf;SFRZu z!+F&PKcH#8cG?aSK_Tl@K9P#8o+jry@gdexz&d(Q=47<7nw@e@FFfIRNL9^)1i@;A z28+$Z#rjv-wj#heI|<&J_DiJ*s}xd-f!{J8jfqOHE`TiHHZVIA8CjkNQ_u;Ery^^t zl1I75&u^`1_q)crO+JT4rx|z2ToSC>)Or@-D zy3S>jW*sNIZR-EBsfyaJ+Jq4BQE4?SePtD2+jY8*%FsSLZ9MY>+wk?}}}AFAw)vr{ml)8LUG-y9>^t!{~|sgpxYc0Gnkg`&~R z-pilJZjr@y5$>B=VMdZ73svct%##v%wdX~9fz6i3Q-zOKJ9wso+h?VME7}SjL=!NUG{J?M&i!>ma`eoEa@IX`5G>B1(7;%}M*%-# zfhJ(W{y;>MRz!Ic8=S}VaBKqh;~7KdnGEHxcL$kA-6E~=!hrN*zw9N+_=odt<$_H_8dbo;0=42wcAETPCVGUr~v(`Uai zb{=D!Qc!dOEU6v)2eHSZq%5iqK?B(JlCq%T6av$Cb4Rko6onlG&?CqaX7Y_C_cOC3 zYZ;_oI(}=>_07}Oep&Ws7x7-R)cc8zfe!SYxJYP``pi$FDS)4Fvw5HH=FiU6xfVqIM!hJ;Rx8c0cB7~aPtNH(Nmm5Vh{ibAoU#J6 zImRCr?(iyu_4W_6AWo3*vxTPUw@vPwy@E0`(>1Qi=%>5eSIrp^`` zK*Y?fK_6F1W>-7UsB)RPC4>>Ps9)f+^MqM}8AUm@tZ->j%&h1M8s*s!LX5&WxQcAh z8mciQej@RPm?660%>{_D+7er>%zX_{s|$Z+;G7_sfNfBgY(zLB4Ey}J9F>zX#K0f6 z?dVNIeEh?EIShmP6>M+d|0wMM85Sa4diw1hrg|ITJ}JDg@o8y>(rF9mXk5M z2@D|NA)-7>wD&wF;S_$KS=eE84`BGw3g0?6wGxu8ys4rwI?9U=*^VF22t3%mbGeOh z`!O-OpF7#Vceu~F`${bW0nYVU9ecmk31V{tF%iv&5hWofC>I~cqAt@u6|R+|HLMMX zVxuSlMFOK_EQ86#E8&KwxIr8S9tj_goWtLv4f@!&h8;Ov41{J~496vp9vX=(LK#j! zAwi*21RAV-LD>9Cw3bV_9X(X3)Kr0-UaB*7Y>t82EQ%!)(&(XuAYtTsYy-dz+w=$ir)VJpe!_$ z6SGpX^i(af3{o=VlFPC);|J8#(=_8#vdxDe|Cok+ANhYwbE*FO`Su2m1~w+&9<_9~ z-|tTU_ACGN`~CNW5WYYBn^B#SwZ(t4%3aPp z;o)|L6Rk569KGxFLUPx@!6OOa+5OjQLK5w&nAmwxkC5rZ|m&HT8G%GVZxB_@ME z>>{rnXUqyiJrT(8GMj_ap#yN_!9-lO5e8mR3cJiK3NE{_UM&=*vIU`YkiL$1%kf+1 z4=jk@7EEj`u(jy$HnzE33ZVW_J4bj}K;vT?T91YlO(|Y0FU4r+VdbmQ97%(J5 zkK*Bed8+C}FcZ@HIgdCMioV%A<*4pw_n}l*{Cr4}a(lq|injK#O?$tyvyE`S%(1`H z_wwRvk#13ElkZvij2MFGOj`fhy?nC^8`Zyo%yVcUAfEr8x&J#A{|moUBAV_^f$hpaUuyQeY3da^ zS9iRgf87YBwfe}>BO+T&Fl%rfpZh#+AM?Dq-k$Bq`vG6G_b4z%Kbd&v>qFjow*mBl z-OylnqOpLg}or7_VNwRg2za3VBK6FUfFX{|TD z`Wt0Vm2H$vdlRWYQJqDmM?JUbVqL*ZQY|5&sY*?!&%P8qhA~5+Af<{MaGo(dl&C5t zE%t!J0 zh6jqANt4ABdPxSTrVV}fLsRQal*)l&_*rFq(Ez}ClEH6LHv{J#v?+H-BZ2)Wy{K@9 z+ovXHq~DiDvm>O~r$LJo!cOuwL+Oa--6;UFE2q@g3N8Qkw5E>ytz^(&($!O47+i~$ zKM+tkAd-RbmP{s_rh+ugTD;lriL~`Xwkad#;_aM?nQ7L_muEFI}U_4$phjvYgleK~`Fo`;GiC07&Hq1F<%p;9Q;tv5b?*QnR%8DYJH3P>Svmv47Y>*LPZJy8_{9H`g6kQpyZU{oJ`m%&p~D=K#KpfoJ@ zn-3cqmHsdtN!f?~w+(t+I`*7GQA#EQC^lUA9(i6=i1PqSAc|ha91I%X&nXzjYaM{8$s&wEx@aVkQ6M{E2 zfzId#&r(XwUNtPcq4Ngze^+XaJA1EK-%&C9j>^9(secqe{}z>hR5CFNveMsVA)m#S zk)_%SidkY-XmMWlVnQ(mNJ>)ooszQ#vaK;!rPmGKXV7am^_F!Lz>;~{VrIO$;!#30XRhE1QqO_~#+Ux;B_D{Nk=grn z8Y0oR^4RqtcYM)7a%@B(XdbZCOqnX#fD{BQTeLvRHd(irHKq=4*jq34`6@VAQR8WG z^%)@5CXnD_T#f%@-l${>y$tfb>2LPmc{~5A82|16mH)R?&r#KKLs7xpN-D`=&Cm^R zvMA6#Ahr<3X>Q7|-qfTY)}32HkAz$_mibYV!I)u>bmjK`qwBe(>za^0Kt*HnFbSdO z1>+ryKCNxmm^)*$XfiDOF2|{-v3KKB?&!(S_Y=Ht@|ir^hLd978xuI&N{k>?(*f8H z=ClxVJK_%_z1TH0eUwm2J+2To7FK4o+n_na)&#VLn1m;!+CX+~WC+qg1?PA~KdOlC zW)C@pw75_xoe=w7i|r9KGIvQ$+3K?L{7TGHwrQM{dCp=Z*D}3kX7E-@sZnup!BImw z*T#a=+WcTwL78exTgBn|iNE3#EsOorO z*kt)gDzHiPt07fmisA2LWN?AymkdqTgr?=loT7z@d`wnlr6oN}@o|&JX!yPzC*Y8d zu6kWlTzE1)ckyBn+0Y^HMN+GA$wUO_LN6W>mxCo!0?oiQvT`z$jbSEu&{UHRU0E8# z%B^wOc@S!yhMT49Y)ww(Xta^8pmPCe@eI5C*ed96)AX9<>))nKx0(sci8gwob_1}4 z0DIL&vsJ1_s%<@y%U*-eX z5rN&(zef-5G~?@r79oZGW1d!WaTqQn0F6RIOa9tJ=0(kdd{d1{<*tHT#cCvl*i>YY zH+L7jq8xZNcTUBqj(S)ztTU!TM!RQ}In*n&Gn<>(60G7}4%WQL!o>hbJqNDSGwl#H z`4k+twp0cj%PsS+NKaxslAEu9!#U3xT1|_KB6`h=PI0SW`P9GTa7caD1}vKEglV8# zjKZR`pluCW19c2fM&ZG)c3T3Um;ir3y(tSCJ7Agl6|b524dy5El{^EQBG?E61H0XY z`bqg!;zhGhyMFl&(o=JWEJ8n~z)xI}A@C0d2hQGvw7nGv)?POU@(kS1m=%`|+^ika zXl8zjS?xqW$WlO?Ewa;vF~XbybHBor$f<%I&*t$F5fynwZlTGj|IjZtVfGa7l&tK} zW>I<69w(cZLu)QIVG|M2xzW@S+70NinQzk&Y0+3WT*cC)rx~04O-^<{JohU_&HL5XdUKW!uFy|i$FB|EMu0eUyW;gsf`XfIc!Z0V zeK&*hPL}f_cX=@iv>K%S5kL;cl_$v?n(Q9f_cChk8Lq$glT|=e+T*8O4H2n<=NGmn z+2*h+v;kBvF>}&0RDS>)B{1!_*XuE8A$Y=G8w^qGMtfudDBsD5>T5SB;Qo}fSkkiV ze^K^M(UthkwrD!&*tTsu>Dacdj_q`~V%r_twr$(Ct&_dKeeXE?fA&4&yASJWJ*}~- zel=@W)tusynfC_YqH4ll>4Eg`Xjs5F7Tj>tTLz<0N3)X<1px_d2yUY>X~y>>93*$) z5PuNMQLf9Bu?AAGO~a_|J2akO1M*@VYN^VxvP0F$2>;Zb9;d5Yfd8P%oFCCoZE$ z4#N$^J8rxYjUE_6{T%Y>MmWfHgScpuGv59#4u6fpTF%~KB^Ae`t1TD_^Ud#DhL+Dm zbY^VAM#MrAmFj{3-BpVSWph2b_Y6gCnCAombVa|1S@DU)2r9W<> zT5L8BB^er3zxKt1v(y&OYk!^aoQisqU zH(g@_o)D~BufUXcPt!Ydom)e|aW{XiMnes2z&rE?og>7|G+tp7&^;q?Qz5S5^yd$i z8lWr4g5nctBHtigX%0%XzIAB8U|T6&JsC4&^hZBw^*aIcuNO47de?|pGXJ4t}BB`L^d8tD`H`i zqrP8?#J@8T#;{^B!KO6J=@OWKhAerih(phML`(Rg7N1XWf1TN>=Z3Do{l_!d~DND&)O)D>ta20}@Lt77qSnVsA7>)uZAaT9bsB>u&aUQl+7GiY2|dAEg@%Al3i316y;&IhQL^8fw_nwS>f60M_-m+!5)S_6EPM7Y)(Nq^8gL7(3 zOiot`6Wy6%vw~a_H?1hLVzIT^i1;HedHgW9-P#)}Y6vF%C=P70X0Tk^z9Te@kPILI z_(gk!k+0%CG)%!WnBjjw*kAKs_lf#=5HXC00s-}oM-Q1aXYLj)(1d!_a7 z*Gg4Fe6F$*ujVjI|79Z5+Pr`us%zW@ln++2l+0hsngv<{mJ%?OfSo_3HJXOCys{Ug z00*YR-(fv<=&%Q!j%b-_ppA$JsTm^_L4x`$k{VpfLI(FMCap%LFAyq;#ns5bR7V+x zO!o;c5y~DyBPqdVQX)8G^G&jWkBy2|oWTw>)?5u}SAsI$RjT#)lTV&Rf8;>u*qXnb z8F%Xb=7#$m)83z%`E;49)t3fHInhtc#kx4wSLLms!*~Z$V?bTyUGiS&m>1P(952(H zuHdv=;o*{;5#X-uAyon`hP}d#U{uDlV?W?_5UjJvf%11hKwe&(&9_~{W)*y1nR5f_ z!N(R74nNK`y8>B!0Bt_Vr!;nc3W>~RiKtGSBkNlsR#-t^&;$W#)f9tTlZz>n*+Fjz z3zXZ;jf(sTM(oDzJt4FJS*8c&;PLTW(IQDFs_5QPy+7yhi1syPCarvqrHFcf&yTy)^O<1EBx;Ir`5W{TIM>{8w&PB>ro4;YD<5LF^TjTb0!zAP|QijA+1Vg>{Afv^% zmrkc4o6rvBI;Q8rj4*=AZacy*n8B{&G3VJc)so4$XUoie0)vr;qzPZVbb<#Fc=j+8CGBWe$n|3K& z_@%?{l|TzKSlUEO{U{{%Fz_pVDxs7i9H#bnbCw7@4DR=}r_qV!Zo~CvD4ZI*+j3kO zW6_=|S`)(*gM0Z;;}nj`73OigF4p6_NPZQ-Od~e$c_);;4-7sR>+2u$6m$Gf%T{aq zle>e3(*Rt(TPD}03n5)!Ca8Pu!V}m6v0o1;5<1h$*|7z|^(3$Y&;KHKTT}hV056wuF0Xo@mK-52~r=6^SI1NC%c~CC?n>yX6wPTgiWYVz!Sx^atLby9YNn1Rk{g?|pJaxD4|9cUf|V1_I*w zzxK)hRh9%zOl=*$?XUjly5z8?jPMy%vEN)f%T*|WO|bp5NWv@B(K3D6LMl!-6dQg0 zXNE&O>Oyf%K@`ngCvbGPR>HRg5!1IV$_}m@3dWB7x3t&KFyOJn9pxRXCAzFr&%37wXG;z^xaO$ekR=LJG ztIHpY8F5xBP{mtQidqNRoz= z@){+N3(VO5bD+VrmS^YjG@+JO{EOIW)9=F4v_$Ed8rZtHvjpiEp{r^c4F6Ic#ChlC zJX^DtSK+v(YdCW)^EFcs=XP7S>Y!4=xgmv>{S$~@h=xW-G4FF9?I@zYN$e5oF9g$# zb!eVU#J+NjLyX;yb)%SY)xJdvGhsnE*JEkuOVo^k5PyS=o#vq!KD46UTW_%R=Y&0G zFj6bV{`Y6)YoKgqnir2&+sl+i6foAn-**Zd1{_;Zb7Ki=u394C5J{l^H@XN`_6XTKY%X1AgQM6KycJ+= zYO=&t#5oSKB^pYhNdzPgH~aEGW2=ec1O#s-KG z71}LOg@4UEFtp3GY1PBemXpNs6UK-ax*)#$J^pC_me;Z$Je(OqLoh|ZrW*mAMBFn< zHttjwC&fkVfMnQeen8`Rvy^$pNRFVaiEN4Pih*Y3@jo!T0nsClN)pdrr9AYLcZxZ| zJ5Wlj+4q~($hbtuY zVQ7hl>4-+@6g1i`1a)rvtp-;b0>^`Dloy(#{z~ytgv=j4q^Kl}wD>K_Y!l~ zp(_&7sh`vfO(1*MO!B%<6E_bx1)&s+Ae`O)a|X=J9y~XDa@UB`m)`tSG4AUhoM=5& znWoHlA-(z@3n0=l{E)R-p8sB9XkV zZ#D8wietfHL?J5X0%&fGg@MH~(rNS2`GHS4xTo7L$>TPme+Is~!|79=^}QbPF>m%J zFMkGzSndiPO|E~hrhCeo@&Ea{M(ieIgRWMf)E}qeTxT8Q#g-!Lu*x$v8W^M^>?-g= zwMJ$dThI|~M06rG$Sv@C@tWR>_YgaG&!BAbkGggVQa#KdtDB)lMLNVLN|51C@F^y8 zCRvMB^{GO@j=cHfmy}_pCGbP%xb{pNN>? z?7tBz$1^zVaP|uaatYaIN+#xEN4jBzwZ|YI_)p(4CUAz1ZEbDk>J~Y|63SZaak~#0 zoYKruYsWHoOlC1(MhTnsdUOwQfz5p6-D0}4;DO$B;7#M{3lSE^jnTT;ns`>!G%i*F?@pR1JO{QTuD0U+~SlZxcc8~>IB{)@8p`P&+nDxNj`*gh|u?yrv$phpQcW)Us)bi`kT%qLj(fi{dWRZ%Es2!=3mI~UxiW0$-v3vUl?#g{p6eF zMEUAqo5-L0Ar(s{VlR9g=j7+lt!gP!UN2ICMokAZ5(Agd>})#gkA2w|5+<%-CuEP# zqgcM}u@3(QIC^Gx<2dbLj?cFSws_f3e%f4jeR?4M^M3cx1f+Qr6ydQ>n)kz1s##2w zk}UyQc+Z5G-d-1}{WzjkLXgS-2P7auWSJ%pSnD|Uivj5u!xk0 z_^-N9r9o;(rFDt~q1PvE#iJZ_f>J3gcP$)SOqhE~pD2|$=GvpL^d!r z6u=sp-CrMoF7;)}Zd7XO4XihC4ji?>V&(t^?@3Q&t9Mx=qex6C9d%{FE6dvU6%d94 zIE;hJ1J)cCqjv?F``7I*6bc#X)JW2b4f$L^>j{*$R`%5VHFi*+Q$2;nyieduE}qdS{L8y8F08yLs?w}{>8>$3236T-VMh@B zq-nujsb_1aUv_7g#)*rf9h%sFj*^mIcImRV*k~Vmw;%;YH(&ylYpy!&UjUVqqtfG` zox3esju?`unJJA_zKXRJP)rA3nXc$m^{S&-p|v|-0x9LHJm;XIww7C#R$?00l&Yyj z=e}gKUOpsImwW?N)+E(awoF@HyP^EhL+GlNB#k?R<2>95hz!h9sF@U20DHSB3~WMa zk90+858r@-+vWwkawJ)8ougd(i#1m3GLN{iSTylYz$brAsP%=&m$mQQrH$g%3-^VR zE%B`Vi&m8f3T~&myTEK28BDWCVzfWir1I?03;pX))|kY5ClO^+bae z*7E?g=3g7EiisYOrE+lA)2?Ln6q2*HLNpZEWMB|O-JI_oaHZB%CvYB(%=tU= zE*OY%QY58fW#RG5=gm0NR#iMB=EuNF@)%oZJ}nmm=tsJ?eGjia{e{yuU0l3{d^D@)kVDt=1PE)&tf_hHC%0MB znL|CRCPC}SeuVTdf>-QV70`0(EHizc21s^sU>y%hW0t!0&y<7}Wi-wGy>m%(-jsDj zP?mF|>p_K>liZ6ZP(w5(|9Ga%>tLgb$|doDDfkdW>Z z`)>V2XC?NJT26mL^@ zf+IKr27TfM!UbZ@?zRddC7#6ss1sw%CXJ4FWC+t3lHZupzM77m^=9 z&(a?-LxIq}*nvv)y?27lZ{j zifdl9hyJudyP2LpU$-kXctshbJDKS{WfulP5Dk~xU4Le4c#h^(YjJit4#R8_khheS z|8(>2ibaHES4+J|DBM7I#QF5u-*EdN{n=Kt@4Zt?@Tv{JZA{`4 zU#kYOv{#A&gGPwT+$Ud}AXlK3K7hYzo$(fBSFjrP{QQ zeaKg--L&jh$9N}`pu{Bs>?eDFPaWY4|9|foN%}i;3%;@4{dc+iw>m}{3rELqH21G! z`8@;w-zsJ1H(N3%|1B@#ioLOjib)j`EiJqPQVSbPSPVHCj6t5J&(NcWzBrzCiDt{4 zdlPAUKldz%6x5II1H_+jv)(xVL+a;P+-1hv_pM>gMRr%04@k;DTokASSKKhU1Qms| zrWh3a!b(J3n0>-tipg{a?UaKsP7?+|@A+1WPDiQIW1Sf@qDU~M_P65_s}7(gjTn0X zucyEm)o;f8UyshMy&>^SC3I|C6jR*R_GFwGranWZe*I>K+0k}pBuET&M~ z;Odo*ZcT?ZpduHyrf8E%IBFtv;JQ!N_m>!sV6ly$_1D{(&nO~w)G~Y`7sD3#hQk%^ zp}ucDF_$!6DAz*PM8yE(&~;%|=+h(Rn-=1Wykas_-@d&z#=S}rDf`4w(rVlcF&lF! z=1)M3YVz7orwk^BXhslJ8jR);sh^knJW(Qmm(QdSgIAIdlN4Te5KJisifjr?eB{FjAX1a0AB>d?qY4Wx>BZ8&}5K0fA+d{l8 z?^s&l8#j7pR&ijD?0b%;lL9l$P_mi2^*_OL+b}4kuLR$GAf85sOo02?Y#90}CCDiS zZ%rbCw>=H~CBO=C_JVV=xgDe%b4FaEFtuS7Q1##y686r%F6I)s-~2(}PWK|Z8M+Gu zl$y~5@#0Ka%$M<&Cv%L`a8X^@tY&T7<0|(6dNT=EsRe0%kp1Qyq!^43VAKYnr*A5~ zsI%lK1ewqO;0TpLrT9v}!@vJK{QoVa_+N4FYT#h?Y8rS1S&-G+m$FNMP?(8N`MZP zels(*?kK{{^g9DOzkuZXJ2;SrOQsp9T$hwRB1(phw1c7`!Q!by?Q#YsSM#I12RhU{$Q+{xj83axHcftEc$mNJ8_T7A-BQc*k(sZ+~NsO~xAA zxnbb%dam_fZlHvW7fKXrB~F&jS<4FD2FqY?VG?ix*r~MDXCE^WQ|W|WM;gsIA4lQP zJ2hAK@CF*3*VqPr2eeg6GzWFlICi8S>nO>5HvWzyZTE)hlkdC_>pBej*>o0EOHR|) z$?};&I4+_?wvL*g#PJ9)!bc#9BJu1(*RdNEn>#Oxta(VWeM40ola<0aOe2kSS~{^P zDJBd}0L-P#O-CzX*%+$#v;(x%<*SPgAje=F{Zh-@ucd2DA(yC|N_|ocs*|-!H%wEw z@Q!>siv2W;C^^j^59OAX03&}&D*W4EjCvfi(ygcL#~t8XGa#|NPO+*M@Y-)ctFA@I z-p7npT1#5zOLo>7q?aZpCZ=iecn3QYklP;gF0bq@>oyBq94f6C=;Csw3PkZ|5q=(c zfs`aw?II0e(h=|7o&T+hq&m$; zBrE09Twxd9BJ2P+QPN}*OdZ-JZV7%av@OM7v!!NL8R;%WFq*?{9T3{ct@2EKgc8h) zMxoM$SaF#p<`65BwIDfmXG6+OiK0e)`I=!A3E`+K@61f}0e z!2a*FOaDrOe>U`q%K!QN`&=&0C~)CaL3R4VY(NDt{Xz(Xpqru5=r#uQN1L$Je1*dkdqQ*=lofQaN%lO!<5z9ZlHgxt|`THd>2 zsWfU$9=p;yLyJyM^t zS2w9w?Bpto`@H^xJpZDKR1@~^30Il6oFGfk5%g6w*C+VM)+%R@gfIwNprOV5{F^M2 zO?n3DEzpT+EoSV-%OdvZvNF+pDd-ZVZ&d8 zKeIyrrfPN=EcFRCPEDCVflX#3-)Ik_HCkL(ejmY8vzcf-MTA{oHk!R2*36`O68$7J zf}zJC+bbQk--9Xm!u#lgLvx8TXx2J258E5^*IZ(FXMpq$2LUUvhWQPs((z1+2{Op% z?J}9k5^N=z;7ja~zi8a_-exIqWUBJwohe#4QJ`|FF*$C{lM18z^#hX6!5B8KAkLUX ziP=oti-gpV(BsLD{0(3*dw}4JxK23Y7M{BeFPucw!sHpY&l%Ws4pSm`+~V7;bZ%Dx zeI)MK=4vC&5#;2MT7fS?^ch9?2;%<8Jlu-IB&N~gg8t;6S-#C@!NU{`p7M8@2iGc& zg|JPg%@gCoCQ&s6JvDU&`X2S<57f(k8nJ1wvBu{8r?;q3_kpZZ${?|( z+^)UvR33sjSd)aT!UPkA;ylO6{aE3MQa{g%Mcf$1KONcjO@&g5zPHWtzM1rYC{_K> zgQNcs<{&X{OA=cEWw5JGqpr0O>x*Tfak2PE9?FuWtz^DDNI}rwAaT0(bdo-<+SJ6A z&}S%boGMWIS0L}=S>|-#kRX;e^sUsotry(MjE|3_9duvfc|nwF#NHuM-w7ZU!5ei8 z6Mkf>2)WunY2eU@C-Uj-A zG(z0Tz2YoBk>zCz_9-)4a>T46$(~kF+Y{#sA9MWH%5z#zNoz)sdXq7ZR_+`RZ%0(q zC7&GyS_|BGHNFl8Xa%@>iWh%Gr?=J5<(!OEjauj5jyrA-QXBjn0OAhJJ9+v=!LK`` z@g(`^*84Q4jcDL`OA&ZV60djgwG`|bcD*i50O}Q{9_noRg|~?dj%VtKOnyRs$Uzqg z191aWoR^rDX#@iSq0n z?9Sg$WSRPqSeI<}&n1T3!6%Wj@5iw5`*`Btni~G=&;J+4`7g#OQTa>u`{4ZZ(c@s$ zK0y;ySOGD-UTjREKbru{QaS>HjN<2)R%Nn-TZiQ(Twe4p@-saNa3~p{?^V9Nixz@a zykPv~<@lu6-Ng9i$Lrk(xi2Tri3q=RW`BJYOPC;S0Yly%77c727Yj-d1vF!Fuk{Xh z)lMbA69y7*5ufET>P*gXQrxsW+ zz)*MbHZv*eJPEXYE<6g6_M7N%#%mR{#awV3i^PafNv(zyI)&bH?F}2s8_rR(6%!V4SOWlup`TKAb@ee>!9JKPM=&8g#BeYRH9FpFybxBXQI2|g}FGJfJ+ zY-*2hB?o{TVL;Wt_ek;AP5PBqfDR4@Z->_182W z{P@Mc27j6jE*9xG{R$>6_;i=y{qf(c`5w9fa*`rEzX6t!KJ(p1H|>J1pC-2zqWENF zmm=Z5B4u{cY2XYl(PfrInB*~WGWik3@1oRhiMOS|D;acnf-Bs(QCm#wR;@Vf!hOPJ zgjhDCfDj$HcyVLJ=AaTbQ{@vIv14LWWF$=i-BDoC11}V;2V8A`S>_x)vIq44-VB-v z*w-d}$G+Ql?En8j!~ZkCpQ$|cA0|+rrY>tiCeWxkRGPoarxlGU2?7%k#F693RHT24 z-?JsiXlT2PTqZqNb&sSc>$d;O4V@|b6VKSWQb~bUaWn1Cf0+K%`Q&Wc<>mQ>*iEGB zbZ;aYOotBZ{vH3y<0A*L0QVM|#rf*LIsGx(O*-7)r@yyBIzJnBFSKBUSl1e|8lxU* zzFL+YDVVkIuzFWeJ8AbgN&w(4-7zbiaMn{5!JQXu)SELk*CNL+Fro|2v|YO)1l15t zs(0^&EB6DPMyaqvY>=KL>)tEpsn;N5Q#yJj<9}ImL((SqErWN3Q=;tBO~ExTCs9hB z2E$7eN#5wX4<3m^5pdjm#5o>s#eS_Q^P)tm$@SawTqF*1dj_i#)3};JslbLKHXl_N z)Fxzf>FN)EK&Rz&*|6&%Hs-^f{V|+_vL1S;-1K-l$5xiC@}%uDuwHYhmsV?YcOUlk zOYkG5v2+`+UWqpn0aaaqrD3lYdh0*!L`3FAsNKu=Q!vJu?Yc8n|CoYyDo_`r0mPoo z8>XCo$W4>l(==h?2~PoRR*kEe)&IH{1sM41mO#-36`02m#nTX{r*r`Q5rZ2-sE|nA zhnn5T#s#v`52T5|?GNS`%HgS2;R(*|^egNPDzzH_z^W)-Q98~$#YAe)cEZ%vge965AS_am#DK#pjPRr-!^za8>`kksCAUj(Xr*1NW5~e zpypt_eJpD&4_bl_y?G%>^L}=>xAaV>KR6;^aBytqpiHe%!j;&MzI_>Sx7O%F%D*8s zSN}cS^<{iiK)=Ji`FpO#^zY!_|D)qeRNAtgmH)m;qC|mq^j(|hL`7uBz+ULUj37gj zksdbnU+LSVo35riSX_4z{UX=%n&}7s0{WuZYoSfwAP`8aKN9P@%e=~1`~1ASL-z%# zw>DO&ixr}c9%4InGc*_y42bdEk)ZdG7-mTu0bD@_vGAr*NcFoMW;@r?@LUhRI zCUJgHb`O?M3!w)|CPu~ej%fddw20lod?Ufp8Dmt0PbnA0J%KE^2~AIcnKP()025V> zG>noSM3$5Btmc$GZoyP^v1@Poz0FD(6YSTH@aD0}BXva?LphAiSz9f&Y(aDAzBnUh z?d2m``~{z;{}kZJ>a^wYI?ry(V9hIoh;|EFc0*-#*`$T0DRQ1;WsqInG;YPS+I4{g zJGpKk%%Sdc5xBa$Q^_I~(F97eqDO7AN3EN0u)PNBAb+n+ zWBTxQx^;O9o0`=g+Zrt_{lP!sgWZHW?8bLYS$;1a@&7w9rD9|Ge;Gb?sEjFoF9-6v z#!2)t{DMHZ2@0W*fCx;62d#;jouz`R5Y(t{BT=$N4yr^^o$ON8d{PQ=!O zX17^CrdM~7D-;ZrC!||<+FEOxI_WI3CA<35va%4v>gc zEX-@h8esj=a4szW7x{0g$hwoWRQG$yK{@3mqd-jYiVofJE!Wok1* znV7Gm&Ssq#hFuvj1sRyHg(6PFA5U*Q8Rx>-blOs=lb`qa{zFy&n4xY;sd$fE+<3EI z##W$P9M{B3c3Si9gw^jlPU-JqD~Cye;wr=XkV7BSv#6}DrsXWFJ3eUNrc%7{=^sP> zrp)BWKA9<}^R9g!0q7yWlh;gr_TEOD|#BmGq<@IV;ueg+D2}cjpp+dPf&Q(36sFU&K8}hA85U61faW&{ zlB`9HUl-WWCG|<1XANN3JVAkRYvr5U4q6;!G*MTdSUt*Mi=z_y3B1A9j-@aK{lNvx zK%p23>M&=KTCgR!Ee8c?DAO2_R?B zkaqr6^BSP!8dHXxj%N1l+V$_%vzHjqvu7p@%Nl6;>y*S}M!B=pz=aqUV#`;h%M0rU zHfcog>kv3UZAEB*g7Er@t6CF8kHDmKTjO@rejA^ULqn!`LwrEwOVmHx^;g|5PHm#B zZ+jjWgjJ!043F+&#_;D*mz%Q60=L9Ove|$gU&~As5^uz@2-BfQ!bW)Khn}G+Wyjw- z19qI#oB(RSNydn0t~;tAmK!P-d{b-@@E5|cdgOS#!>%#Rj6ynkMvaW@37E>@hJP^8 z2zk8VXx|>#R^JCcWdBCy{0nPmYFOxN55#^-rlqobe0#L6)bi?E?SPymF*a5oDDeSd zO0gx?#KMoOd&G(2O@*W)HgX6y_aa6iMCl^~`{@UR`nMQE`>n_{_aY5nA}vqU8mt8H z`oa=g0SyiLd~BxAj2~l$zRSDHxvDs;I4>+M$W`HbJ|g&P+$!U7-PHX4RAcR0szJ*( ze-417=bO2q{492SWrqDK+L3#ChUHtz*@MP)e^%@>_&#Yk^1|tv@j4%3T)diEX zATx4K*hcO`sY$jk#jN5WD<=C3nvuVsRh||qDHnc~;Kf59zr0;c7VkVSUPD%NnnJC_ zl3F^#f_rDu8l}l8qcAz0FFa)EAt32IUy_JLIhU_J^l~FRH&6-ivSpG2PRqzDdMWft>Zc(c)#tb%wgmWN%>IOPm zZi-noqS!^Ftb81pRcQi`X#UhWK70hy4tGW1mz|+vI8c*h@ zfFGJtW3r>qV>1Z0r|L>7I3un^gcep$AAWfZHRvB|E*kktY$qQP_$YG60C@X~tTQjB3%@`uz!qxtxF+LE!+=nrS^07hn` zEgAp!h|r03h7B!$#OZW#ACD+M;-5J!W+{h|6I;5cNnE(Y863%1(oH}_FTW})8zYb$7czP zg~Szk1+_NTm6SJ0MS_|oSz%e(S~P-&SFp;!k?uFayytV$8HPwuyELSXOs^27XvK-D zOx-Dl!P|28DK6iX>p#Yb%3`A&CG0X2S43FjN%IB}q(!hC$fG}yl1y9W&W&I@KTg6@ zK^kpH8=yFuP+vI^+59|3%Zqnb5lTDAykf z9S#X`3N(X^SpdMyWQGOQRjhiwlj!0W-yD<3aEj^&X%=?`6lCy~?`&WSWt z?U~EKFcCG_RJ(Qp7j=$I%H8t)Z@6VjA#>1f@EYiS8MRHZphp zMA_5`znM=pzUpBPO)pXGYpQ6gkine{6u_o!P@Q+NKJ}k!_X7u|qfpAyIJb$_#3@wJ z<1SE2Edkfk9C!0t%}8Yio09^F`YGzpaJHGk*-ffsn85@)%4@`;Fv^8q(-Wk7r=Q8p zT&hD`5(f?M{gfzGbbwh8(}G#|#fDuk7v1W)5H9wkorE0ZZjL0Q1=NRGY>zwgfm81DdoaVwNH;or{{eSyybt)m<=zXoA^RALYG-2t zouH|L*BLvmm9cdMmn+KGopyR@4*=&0&4g|FLoreZOhRmh=)R0bg~ zT2(8V_q7~42-zvb)+y959OAv!V$u(O3)%Es0M@CRFmG{5sovIq4%8Ahjk#*5w{+)+ zMWQoJI_r$HxL5km1#6(e@{lK3Udc~n0@g`g$s?VrnQJ$!oPnb?IHh-1qA`Rz$)Ai< z6w$-MJW-gKNvOhL+XMbE7&mFt`x1KY>k4(!KbbpZ`>`K@1J<(#vVbjx@Z@(6Q}MF# zMnbr-f55(cTa^q4+#)=s+ThMaV~E`B8V=|W_fZWDwiso8tNMTNse)RNBGi=gVwgg% zbOg8>mbRN%7^Um-7oj4=6`$|(K7!+t^90a{$18Z>}<#!bm%ZEFQ{X(yBZMc>lCz0f1I2w9Sq zuGh<9<=AO&g6BZte6hn>Qmvv;Rt)*cJfTr2=~EnGD8P$v3R|&1RCl&7)b+`=QGapi zPbLg_pxm`+HZurtFZ;wZ=`Vk*do~$wB zxoW&=j0OTbQ=Q%S8XJ%~qoa3Ea|au5o}_(P;=!y-AjFrERh%8la!z6Fn@lR?^E~H12D?8#ht=1F;7@o4$Q8GDj;sSC%Jfn01xgL&%F2 zwG1|5ikb^qHv&9hT8w83+yv&BQXOQyMVJSBL(Ky~p)gU3#%|blG?IR9rP^zUbs7rOA0X52Ao=GRt@C&zlyjNLv-} z9?*x{y(`509qhCV*B47f2hLrGl^<@SuRGR!KwHei?!CM10Tq*YDIoBNyRuO*>3FU? zHjipIE#B~y3FSfOsMfj~F9PNr*H?0oHyYB^G(YyNh{SxcE(Y-`x5jFMKb~HO*m+R% zrq|ic4fzJ#USpTm;X7K+E%xsT_3VHKe?*uc4-FsILUH;kL>_okY(w`VU*8+l>o>Jm ziU#?2^`>arnsl#)*R&nf_%>A+qwl%o{l(u)M?DK1^mf260_oteV3#E_>6Y4!_hhVD zM8AI6MM2V*^_M^sQ0dmHu11fy^kOqXqzpr?K$`}BKWG`=Es(9&S@K@)ZjA{lj3ea7_MBP zk(|hBFRjHVMN!sNUkrB;(cTP)T97M$0Dtc&UXSec<+q?y>5=)}S~{Z@ua;1xt@=T5 zI7{`Z=z_X*no8s>mY;>BvEXK%b`a6(DTS6t&b!vf_z#HM{Uoy_5fiB(zpkF{})ruka$iX*~pq1ZxD?q68dIo zIZSVls9kFGsTwvr4{T_LidcWtt$u{kJlW7moRaH6+A5hW&;;2O#$oKyEN8kx`LmG)Wfq4ykh+q{I3|RfVpkR&QH_x;t41Uw z`P+tft^E2B$domKT@|nNW`EHwyj>&}K;eDpe z1bNOh=fvIfk`&B61+S8ND<(KC%>y&?>opCnY*r5M+!UrWKxv0_QvTlJc>X#AaI^xo zaRXL}t5Ej_Z$y*|w*$6D+A?Lw-CO-$itm^{2Ct82-<0IW)0KMNvJHgBrdsIR0v~=H z?n6^}l{D``Me90`^o|q!olsF?UX3YSq^6Vu>Ijm>>PaZI8G@<^NGw{Cx&%|PwYrfw zR!gX_%AR=L3BFsf8LxI|K^J}deh0ZdV?$3r--FEX`#INxsOG6_=!v)DI>0q|BxT)z z-G6kzA01M?rba+G_mwNMQD1mbVbNTWmBi*{s_v_Ft9m2Avg!^78(QFu&n6mbRJ2bA zv!b;%yo{g*9l2)>tsZJOOp}U~8VUH`}$ z8p_}t*XIOehezolNa-a2x0BS})Y9}&*TPgua{Ewn-=wVrmJUeU39EKx+%w%=ixQWK zDLpwaNJs65#6o7Ln7~~X+p_o2BR1g~VCfxLzxA{HlWAI6^H;`juI=&r1jQrUv_q0Z z1Ja-tjdktrrP>GOC*#p?*xfQU5MqjMsBe!9lh(u8)w$e@Z|>aUHI5o;MGw*|Myiz3 z-f0;pHg~Q#%*Kx8MxH%AluVXjG2C$)WL-K63@Q`#y9_k_+}eR(x4~dp7oV-ek0H>I zgy8p#i4GN{>#v=pFYUQT(g&b$OeTy-X_#FDgNF8XyfGY6R!>inYn8IR2RDa&O!(6< znXs{W!bkP|s_YI*Yx%4stI`=ZO45IK6rBs`g7sP40ic}GZ58s?Mc$&i`kq_tfci>N zIHrC0H+Qpam1bNa=(`SRKjixBTtm&e`j9porEci!zdlg1RI0Jw#b(_Tb@RQK1Zxr_ z%7SUeH6=TrXt3J@js`4iDD0=IoHhK~I7^W8^Rcp~Yaf>2wVe|Hh1bUpX9ATD#moByY57-f2Ef1TP^lBi&p5_s7WGG9|0T}dlfxOx zXvScJO1Cnq`c`~{Dp;{;l<-KkCDE+pmexJkd}zCgE{eF=)K``-qC~IT6GcRog_)!X z?fK^F8UDz$(zFUrwuR$qro5>qqn>+Z%<5>;_*3pZ8QM|yv9CAtrAx;($>4l^_$_-L z*&?(77!-=zvnCVW&kUcZMb6;2!83si518Y%R*A3JZ8Is|kUCMu`!vxDgaWjs7^0j( ziTaS4HhQ)ldR=r)_7vYFUr%THE}cPF{0H45FJ5MQW^+W>P+eEX2kLp3zzFe*-pFVA zdDZRybv?H|>`9f$AKVjFWJ=wegO7hOOIYCtd?Vj{EYLT*^gl35|HQ`R=ti+ADm{jyQE7K@kdjuqJhWVSks>b^ zxha88-h3s;%3_5b1TqFCPTxVjvuB5U>v=HyZ$?JSk+&I%)M7KE*wOg<)1-Iy)8-K! z^XpIt|0ibmk9RtMmlUd7#Ap3Q!q9N4atQy)TmrhrFhfx1DAN`^vq@Q_SRl|V z#lU<~n67$mT)NvHh`%als+G-)x1`Y%4Bp*6Un5Ri9h=_Db zA-AdP!f>f0m@~>7X#uBM?diI@)Egjuz@jXKvm zJo+==juc9_<;CqeRaU9_Mz@;3e=E4=6TK+c`|uu#pIqhSyNm`G(X)&)B`8q0RBv#> z`gGlw(Q=1Xmf55VHj%C#^1lpc>LY8kfA@|rlC1EA<1#`iuyNO z(=;irt{_&K=i4)^x%;U(Xv<)+o=dczC5H3W~+e|f~{*ucxj@{Yi-cw^MqYr3fN zF5D+~!wd$#al?UfMnz(@K#wn`_5na@rRr8XqN@&M&FGEC@`+OEv}sI1hw>Up0qAWf zL#e4~&oM;TVfjRE+10B_gFlLEP9?Q-dARr3xi6nQqnw>k-S;~b z;!0s2VS4}W8b&pGuK=7im+t(`nz@FnT#VD|!)eQNp-W6)@>aA+j~K*H{$G`y2|QHY z|Hmy+CR@#jWY4~)lr1qBJB_RfHJFfP<}pK5(#ZZGSqcpyS&}01LnTWk5fzmXMGHkJ zTP6L^B+uj;lmB_W<~4=${+v0>z31M!-_O@o-O9GyW)j_mjx}!0@br_LE-7SIuPP84 z;5=O(U*g_um0tyG|61N@d9lEuOeiRd+#NY^{nd5;-CVlw&Ap7J?qwM^?E29wvS}2d zbzar4Fz&RSR(-|s!Z6+za&Z zY#D<5q_JUktIzvL0)yq_kLWG6DO{ri=?c!y!f(Dk%G{8)k`Gym%j#!OgXVDD3;$&v@qy#ISJfp=Vm>pls@9-mapVQChAHHd-x+OGx)(*Yr zC1qDUTZ6mM(b_hi!TuFF2k#8uI2;kD70AQ&di$L*4P*Y-@p`jdm%_c3f)XhYD^6M8&#Y$ZpzQMcR|6nsH>b=*R_Von!$BTRj7yGCXokoAQ z&ANvx0-Epw`QIEPgI(^cS2f(Y85yV@ygI{ewyv5Frng)e}KCZF7JbR(&W618_dcEh(#+^zZFY;o<815<5sOHQdeax9_!PyM&;{P zkBa5xymca0#)c#tke@3KNEM8a_mT&1gm;p&&JlMGH(cL(b)BckgMQ^9&vRwj!~3@l zY?L5}=Jzr080OGKb|y`ee(+`flQg|!lo6>=H)X4`$Gz~hLmu2a%kYW_Uu8x09Pa0J zKZ`E$BKJ=2GPj_3l*TEcZ*uYRr<*J^#5pILTT;k_cgto1ZL-%slyc16J~OH-(RgDA z%;EjEnoUkZ&acS{Q8`{i6T5^nywgqQI5bDIymoa7CSZG|WWVk>GM9)zy*bNih|QIm z%0+(Nnc*a_xo;$=!HQYaapLms>J1ToyjtFByY`C2H1wT#178#4+|{H0BBqtCdd$L% z_3Hc60j@{t9~MjM@LBalR&6@>B;9?r<7J~F+WXyYu*y3?px*=8MAK@EA+jRX8{CG?GI-< z54?Dc9CAh>QTAvyOEm0^+x;r2BWX|{3$Y7)L5l*qVE*y0`7J>l2wCmW zL1?|a`pJ-l{fb_N;R(Z9UMiSj6pQjOvQ^%DvhIJF!+Th7jO2~1f1N+(-TyCFYQZYw z4)>7caf^Ki_KJ^Zx2JUb z&$3zJy!*+rCV4%jqwyuNY3j1ZEiltS0xTzd+=itTb;IPYpaf?8Y+RSdVdpacB(bVQ zC(JupLfFp8y43%PMj2}T|VS@%LVp>hv4Y!RPMF?pp8U_$xCJ)S zQx!69>bphNTIb9yn*_yfj{N%bY)t{L1cs8<8|!f$;UQ*}IN=2<6lA;x^(`8t?;+ST zh)z4qeYYgZkIy{$4x28O-pugO&gauRh3;lti9)9Pvw+^)0!h~%m&8Q!AKX%urEMnl z?yEz?g#ODn$UM`+Q#$Q!6|zsq_`dLO5YK-6bJM6ya>}H+vnW^h?o$z;V&wvuM$dR& zeEq;uUUh$XR`TWeC$$c&Jjau2it3#%J-y}Qm>nW*s?En?R&6w@sDXMEr#8~$=b(gk zwDC3)NtAP;M2BW_lL^5ShpK$D%@|BnD{=!Tq)o(5@z3i7Z){} zGr}Exom_qDO{kAVkZ*MbLNHE666Kina#D{&>Jy%~w7yX$oj;cYCd^p9zy z8*+wgSEcj$4{WxKmCF(5o7U4jqwEvO&dm1H#7z}%VXAbW&W24v-tS6N3}qrm1OnE)fUkoE8yMMn9S$?IswS88tQWm4#Oid#ckgr6 zRtHm!mfNl-`d>O*1~d7%;~n+{Rph6BBy^95zqI{K((E!iFQ+h*C3EsbxNo_aRm5gj zKYug($r*Q#W9`p%Bf{bi6;IY0v`pB^^qu)gbg9QHQ7 zWBj(a1YSu)~2RK8Pi#C>{DMlrqFb9e_RehEHyI{n?e3vL_}L>kYJC z_ly$$)zFi*SFyNrnOt(B*7E$??s67EO%DgoZL2XNk8iVx~X_)o++4oaK1M|ou73vA0K^503j@uuVmLcHH4ya-kOIDfM%5%(E z+Xpt~#7y2!KB&)PoyCA+$~DXqxPxxALy!g-O?<9+9KTk4Pgq4AIdUkl`1<1#j^cJg zgU3`0hkHj_jxV>`Y~%LAZl^3o0}`Sm@iw7kwff{M%VwtN)|~!p{AsfA6vB5UolF~d zHWS%*uBDt<9y!9v2Xe|au&1j&iR1HXCdyCjxSgG*L{wmTD4(NQ=mFjpa~xooc6kju z`~+d{j7$h-;HAB04H!Zscu^hZffL#9!p$)9>sRI|Yovm)g@F>ZnosF2EgkU3ln0bR zTA}|+E(tt)!SG)-bEJi_0m{l+(cAz^pi}`9=~n?y&;2eG;d9{M6nj>BHGn(KA2n|O zt}$=FPq!j`p&kQ8>cirSzkU0c08%8{^Qyqi-w2LoO8)^E7;;I1;HQ6B$u0nNaX2CY zSmfi)F`m94zL8>#zu;8|{aBui@RzRKBlP1&mfFxEC@%cjl?NBs`cr^nm){>;$g?rhKr$AO&6qV_Wbn^}5tfFBry^e1`%du2~o zs$~dN;S_#%iwwA_QvmMjh%Qo?0?rR~6liyN5Xmej8(*V9ym*T`xAhHih-v$7U}8=dfXi2i*aAB!xM(Xekg*ix@r|ymDw*{*s0?dlVys2e)z62u1 z+k3esbJE=-P5S$&KdFp+2H7_2e=}OKDrf( z9-207?6$@f4m4B+9E*e((Y89!q?zH|mz_vM>kp*HGXldO0Hg#!EtFhRuOm$u8e~a9 z5(roy7m$Kh+zjW6@zw{&20u?1f2uP&boD}$#Zy)4o&T;vyBoqFiF2t;*g=|1=)PxB z8eM3Mp=l_obbc?I^xyLz?4Y1YDWPa+nm;O<$Cn;@ane616`J9OO2r=rZr{I_Kizyc zP#^^WCdIEp*()rRT+*YZK>V@^Zs=ht32x>Kwe zab)@ZEffz;VM4{XA6e421^h~`ji5r%)B{wZu#hD}f3$y@L0JV9f3g{-RK!A?vBUA}${YF(vO4)@`6f1 z-A|}e#LN{)(eXloDnX4Vs7eH|<@{r#LodP@Nz--$Dg_Par%DCpu2>2jUnqy~|J?eZ zBG4FVsz_A+ibdwv>mLp>P!(t}E>$JGaK$R~;fb{O3($y1ssQQo|5M;^JqC?7qe|hg zu0ZOqeFcp?qVn&Qu7FQJ4hcFi&|nR!*j)MF#b}QO^lN%5)4p*D^H+B){n8%VPUzi! zDihoGcP71a6!ab`l^hK&*dYrVYzJ0)#}xVrp!e;lI!+x+bfCN0KXwUAPU9@#l7@0& QuEJmfE|#`Dqx|px0L@K;Y5)KL diff --git a/photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties b/photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties index 10587529d5..34bd9ce95f 100644 --- a/photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties +++ b/photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties @@ -1,6 +1,6 @@ distributionBase=GRADLE_USER_HOME distributionPath=permwrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip +distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip networkTimeout=10000 validateDistributionUrl=true zipStoreBase=GRADLE_USER_HOME diff --git a/photonlib-java-examples/gradlew b/photonlib-java-examples/gradlew index 89a57c4dfe..f5feea6d6b 100755 --- a/photonlib-java-examples/gradlew +++ b/photonlib-java-examples/gradlew @@ -1,7 +1,7 @@ #!/bin/sh # -# Copyright � 2015-2021 the original authors. +# Copyright © 2015-2021 the original authors. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -15,7 +15,53 @@ # See the License for the specific language governing permissions and # limitations under the License. # +# SPDX-License-Identifier: Apache-2.0 +# +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# ############################################################################## # Attempt to set APP_HOME @@ -36,14 +82,12 @@ do esac done -# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) -APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit - -APP_NAME="Gradle" +# This is normally unused +# shellcheck disable=SC2034 APP_BASE_NAME=${0##*/} - -# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit # Use the maximum available, or set MAX_FD != -1 to use that value. MAX_FD=maximum @@ -90,22 +134,29 @@ location of your Java installation." fi else JAVACMD=java - which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. Please set the JAVA_HOME variable in your environment to match the location of your Java installation." + fi fi # Increase the maximum file descriptors if we can. if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then case $MAX_FD in #( max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 MAX_FD=$( ulimit -H -n ) || warn "Could not query maximum file descriptor limit" esac case $MAX_FD in #( '' | soft) :;; #( *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 ulimit -n "$MAX_FD" || warn "Could not set maximum file descriptor limit to $MAX_FD" esac @@ -150,11 +201,15 @@ if "$cygwin" || "$msys" ; then done fi -# Collect all arguments for the java command; -# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of -# shell script including quotes and variable substitutions, so put them in -# double quotes to make sure that they get re-expanded; and -# * put everything else in single quotes, so that it's not re-expanded. + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. set -- \ "-Dorg.gradle.appname=$APP_BASE_NAME" \ @@ -162,6 +217,12 @@ set -- \ org.gradle.wrapper.GradleWrapperMain \ "$@" +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + # Use "xargs" to parse quoted args. # # With -n1 it outputs one arg per line, with the quotes and backslashes removed. diff --git a/photonlib-java-examples/gradlew.bat b/photonlib-java-examples/gradlew.bat index 107acd32c4..9d21a21834 100644 --- a/photonlib-java-examples/gradlew.bat +++ b/photonlib-java-examples/gradlew.bat @@ -13,8 +13,10 @@ @rem See the License for the specific language governing permissions and @rem limitations under the License. @rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem -@if "%DEBUG%" == "" @echo off +@if "%DEBUG%"=="" @echo off @rem ########################################################################## @rem @rem Gradle startup script for Windows @@ -25,7 +27,8 @@ if "%OS%"=="Windows_NT" setlocal set DIRNAME=%~dp0 -if "%DIRNAME%" == "" set DIRNAME=. +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused set APP_BASE_NAME=%~n0 set APP_HOME=%DIRNAME% @@ -40,13 +43,13 @@ if defined JAVA_HOME goto findJavaFromJavaHome set JAVA_EXE=java.exe %JAVA_EXE% -version >NUL 2>&1 -if "%ERRORLEVEL%" == "0" goto execute +if %ERRORLEVEL% equ 0 goto execute -echo. -echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail @@ -56,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe if exist "%JAVA_EXE%" goto execute -echo. -echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail @@ -75,13 +78,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar :end @rem End local scope for the variables with windows NT shell -if "%ERRORLEVEL%"=="0" goto mainEnd +if %ERRORLEVEL% equ 0 goto mainEnd :fail rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of rem the _cmd.exe /c_ return code! -if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 -exit /b 1 +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% :mainEnd if "%OS%"=="Windows_NT" endlocal diff --git a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java index cb1a6ecb01..93e0fd661c 100644 --- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java +++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java @@ -50,8 +50,7 @@ public void setRunning(boolean shouldRun) { } public void periodic() { - double maxRPM = - Units.radiansPerSecondToRotationsPerMinute(DCMotor.getFalcon500(1).freeSpeed); + double maxRPM = Units.radiansPerSecondToRotationsPerMinute(DCMotor.getFalcon500(1).freeSpeed); curMotorCmd = curDesSpd / maxRPM; curMotorCmd = MathUtil.clamp(curMotorCmd, 0.0, 1.0); motor.set(curMotorCmd); diff --git a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java index 60e1258029..cdb04cff63 100644 --- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java +++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java @@ -122,8 +122,7 @@ public void periodic() { * @param omega Angular velocity (rotation CCW+) */ public void drive(double vx, double vy, double omega) { - var targetChassisSpeeds = - new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading()); + var targetChassisSpeeds = new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading()); setChassisSpeeds(targetChassisSpeeds, true, false); } @@ -269,8 +268,7 @@ public void log() { ChassisSpeeds chassisSpeeds = getChassisSpeeds(); SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx); SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy); - SmartDashboard.putNumber( - table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega)); + SmartDashboard.putNumber(table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega)); SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vx); SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vy); SmartDashboard.putNumber( diff --git a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java index 6242a4e7ca..c393321713 100644 --- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java +++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java @@ -92,8 +92,7 @@ public void periodic() { double drivePid = 0; if (!openLoop) { // Perform PID feedback control to compensate for disturbances - drivePid = - drivePidController.calculate(driveEncoder.getRate(), desiredState.speed); + drivePid = drivePidController.calculate(driveEncoder.getRate(), desiredState.speed); } driveMotor.setVoltage(driveFF + drivePid); @@ -156,11 +155,9 @@ public void log() { table + "Steer Degrees", Math.toDegrees(MathUtil.angleModulus(state.angle.getRadians()))); SmartDashboard.putNumber( table + "Steer Target Degrees", Math.toDegrees(steerPidController.getSetpoint())); + SmartDashboard.putNumber(table + "Drive Velocity Feet", Units.metersToFeet(state.speed)); SmartDashboard.putNumber( - table + "Drive Velocity Feet", Units.metersToFeet(state.speed)); - SmartDashboard.putNumber( - table + "Drive Velocity Target Feet", - Units.metersToFeet(desiredState.speed)); + table + "Drive Velocity Target Feet", Units.metersToFeet(desiredState.speed)); SmartDashboard.putNumber(table + "Drive Current", driveCurrentSim); SmartDashboard.putNumber(table + "Steer Current", steerCurrentSim); } From 7b8667cfcd2faf85820ad93405a8175275f52d08 Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Sat, 12 Jul 2025 00:03:01 -0400 Subject: [PATCH 05/12] Disable example builds --- .github/workflows/build.yml | 78 ++++++++++++++++++------------------- 1 file changed, 39 insertions(+), 39 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 5ac40af2e1..2b7368c10c 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -20,45 +20,45 @@ jobs: steps: - uses: actions/checkout@v4 - uses: gradle/actions/wrapper-validation@v4 - build-examples: - - strategy: - fail-fast: false - matrix: - include: - - os: windows-2022 - architecture: x64 - - os: macos-14 - architecture: aarch64 - - os: ubuntu-24.04 - - name: "Photonlib - Build Examples - ${{ matrix.os }}" - runs-on: ${{ matrix.os }} - needs: [validation] - - steps: - - name: Checkout code - uses: actions/checkout@v4 - with: - fetch-depth: 0 - - name: Fetch tags - run: git fetch --tags --force - - name: Install Java 17 - uses: actions/setup-java@v4 - with: - java-version: 17 - distribution: temurin - - name: Install SystemCore Toolchain - run: ./gradlew installSystemCoreToolchain - # Need to publish to maven local first, so that C++ sim can pick it up - - name: Publish photonlib to maven local - run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check - - name: Build Java examples - working-directory: photonlib-java-examples - run: ./gradlew build - - name: Build C++ examples - working-directory: photonlib-cpp-examples - run: ./gradlew build + # build-examples: + + # strategy: + # fail-fast: false + # matrix: + # include: + # - os: windows-2022 + # architecture: x64 + # - os: macos-14 + # architecture: aarch64 + # - os: ubuntu-24.04 + + # name: "Photonlib - Build Examples - ${{ matrix.os }}" + # runs-on: ${{ matrix.os }} + # needs: [validation] + + # steps: + # - name: Checkout code + # uses: actions/checkout@v4 + # with: + # fetch-depth: 0 + # - name: Fetch tags + # run: git fetch --tags --force + # - name: Install Java 17 + # uses: actions/setup-java@v4 + # with: + # java-version: 17 + # distribution: temurin + # - name: Install SystemCore Toolchain + # run: ./gradlew installSystemCoreToolchain + # # Need to publish to maven local first, so that C++ sim can pick it up + # - name: Publish photonlib to maven local + # run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check + # - name: Build Java examples + # working-directory: photonlib-java-examples + # run: ./gradlew build + # - name: Build C++ examples + # working-directory: photonlib-cpp-examples + # run: ./gradlew build build-gradle: name: "Gradle Build" runs-on: ubuntu-22.04 From 870577b835da5128a33f043cc80f54e87924996e Mon Sep 17 00:00:00 2001 From: Jordan McMichael Date: Sat, 12 Jul 2025 00:35:09 -0400 Subject: [PATCH 06/12] [2027] Add systemcore as a photonlib build target (#1995) ## Description Added systemcore to a couple of build files in order for `./gradlew publishToMavenLocal` to generate systemcore-compatible dependencies. Needed to support deploying photonlib to systemcore. ## Meta Merge checklist: - [x] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes - [x] The description documents the _what_ and _why_ - [ ] If this PR changes behavior or adds a feature, user documentation is updated - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly - [ ] If this PR touches configuration, this is backwards compatible with settings back to v2024.3.1 - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated - [ ] If this PR addresses a bug, a regression test for it is added --------- Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com> --- .github/workflows/build.yml | 3 +++ photon-lib/src/generate/photonlib.json.in | 6 +++--- photon-targeting/build.gradle | 2 +- shared/config.gradle | 1 + 4 files changed, 8 insertions(+), 4 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 2b7368c10c..dde3a9cdad 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -198,6 +198,9 @@ jobs: fail-fast: false matrix: include: + - container: wpilib/systemcore-cross-ubuntu:2025-24.04 + artifact-name: SystemCore + build-options: "-Ponlylinuxsystemcore" - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04 artifact-name: Raspbian build-options: "-Ponlylinuxarm32" diff --git a/photon-lib/src/generate/photonlib.json.in b/photon-lib/src/generate/photonlib.json.in index 5df9ae5d2c..a1a62268ea 100644 --- a/photon-lib/src/generate/photonlib.json.in +++ b/photon-lib/src/generate/photonlib.json.in @@ -18,7 +18,7 @@ "isJar": false, "validPlatforms": [ "windowsx86-64", - "linuxathena", + "linuxsystemcore", "linuxx86-64", "osxuniversal" ] @@ -35,7 +35,7 @@ "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", - "linuxathena", + "linuxsystemcore", "linuxx86-64", "osxuniversal" ] @@ -50,7 +50,7 @@ "skipInvalidPlatforms": true, "binaryPlatforms": [ "windowsx86-64", - "linuxathena", + "linuxsystemcore", "linuxx86-64", "osxuniversal" ] diff --git a/photon-targeting/build.gradle b/photon-targeting/build.gradle index 970edbda7c..cddd4af8f6 100644 --- a/photon-targeting/build.gradle +++ b/photon-targeting/build.gradle @@ -66,7 +66,7 @@ model { enableCheckTask project.hasProperty('doJniCheck') javaCompileTasks << compileJava - jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio) + jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.systemcore) jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32) jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64) diff --git a/shared/config.gradle b/shared/config.gradle index f06c9aba36..591309cd8a 100644 --- a/shared/config.gradle +++ b/shared/config.gradle @@ -2,6 +2,7 @@ nativeUtils.addWpiNativeUtils() nativeUtils.withCrossLinuxArm32() nativeUtils.withCrossLinuxArm64() +nativeUtils.withCrossSystemCore() // Configure WPI dependencies. nativeUtils.wpi.configureDependencies { From 6f1429cf2ab2c573f5fa86b5612d3b0da3ec909e Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Sat, 19 Jul 2025 15:36:10 -0400 Subject: [PATCH 07/12] Add DataLog to the list of libraries loaded --- .../src/main/java/org/photonvision/jni/LibraryLoader.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/photon-targeting/src/main/java/org/photonvision/jni/LibraryLoader.java b/photon-targeting/src/main/java/org/photonvision/jni/LibraryLoader.java index 0572711fde..47e455a514 100644 --- a/photon-targeting/src/main/java/org/photonvision/jni/LibraryLoader.java +++ b/photon-targeting/src/main/java/org/photonvision/jni/LibraryLoader.java @@ -20,6 +20,7 @@ import edu.wpi.first.apriltag.jni.AprilTagJNI; import edu.wpi.first.cscore.CameraServerJNI; import edu.wpi.first.cscore.OpenCvLoader; +import edu.wpi.first.datalog.DataLogJNI; import edu.wpi.first.hal.JNIWrapper; import edu.wpi.first.math.jni.WPIMathJNI; import edu.wpi.first.net.WPINetJNI; @@ -38,6 +39,7 @@ public static boolean loadWpiLibraries() { NetworkTablesJNI.Helper.setExtractOnStaticLoad(false); WPIUtilJNI.Helper.setExtractOnStaticLoad(false); + DataLogJNI.Helper.setExtractOnStaticLoad(false); CameraServerJNI.Helper.setExtractOnStaticLoad(false); OpenCvLoader.Helper.setExtractOnStaticLoad(false); JNIWrapper.Helper.setExtractOnStaticLoad(false); @@ -55,6 +57,7 @@ public static boolean loadWpiLibraries() { "wpinetjni", "wpiHaljni", "cscorejni", + "datalogjni", "apriltagjni"); CombinedRuntimeLoader.loadLibraries(LibraryLoader.class, Core.NATIVE_LIBRARY_NAME); From 8f7232388a40d273e3fd34a8027c16f82cd06d7a Mon Sep 17 00:00:00 2001 From: Jordan McMichael Date: Tue, 22 Jul 2025 22:46:46 -0400 Subject: [PATCH 08/12] Upgrade to 2027 alpha 2 (#2010) --- build.gradle | 4 ++-- photonlib-cpp-examples/aimandrange/build.gradle | 2 +- photonlib-cpp-examples/aimattarget/build.gradle | 2 +- photonlib-cpp-examples/poseest/build.gradle | 2 +- photonlib-java-examples/aimandrange/build.gradle | 2 +- photonlib-java-examples/aimattarget/build.gradle | 2 +- photonlib-java-examples/poseest/build.gradle | 2 +- 7 files changed, 8 insertions(+), 8 deletions(-) diff --git a/build.gradle b/build.gradle index 68ebfb7a99..8a77e649e1 100644 --- a/build.gradle +++ b/build.gradle @@ -4,7 +4,7 @@ plugins { id "cpp" id "com.diffplug.spotless" version "6.24.0" id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2025.0" - id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2" id 'edu.wpi.first.WpilibTools' version '1.3.0' id 'com.google.protobuf' version '0.9.3' apply false id 'edu.wpi.first.GradleJni' version '1.1.0' @@ -33,7 +33,7 @@ ext.allOutputsFolder = file("$project.buildDir/outputs") apply from: "versioningHelper.gradle" ext { - wpilibVersion = "2027.0.0-alpha-1" + wpilibVersion = "2027.0.0-alpha-2" wpimathVersion = wpilibVersion openCVYear = "2025" openCVversion = "4.10.0-3" diff --git a/photonlib-cpp-examples/aimandrange/build.gradle b/photonlib-cpp-examples/aimandrange/build.gradle index 204e048d74..b8876177e9 100644 --- a/photonlib-cpp-examples/aimandrange/build.gradle +++ b/photonlib-cpp-examples/aimandrange/build.gradle @@ -1,7 +1,7 @@ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2" } // Define my targets (SystemCore) and artifacts (deployable files) diff --git a/photonlib-cpp-examples/aimattarget/build.gradle b/photonlib-cpp-examples/aimattarget/build.gradle index 204e048d74..b8876177e9 100644 --- a/photonlib-cpp-examples/aimattarget/build.gradle +++ b/photonlib-cpp-examples/aimattarget/build.gradle @@ -1,7 +1,7 @@ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2" } // Define my targets (SystemCore) and artifacts (deployable files) diff --git a/photonlib-cpp-examples/poseest/build.gradle b/photonlib-cpp-examples/poseest/build.gradle index 204e048d74..b8876177e9 100644 --- a/photonlib-cpp-examples/poseest/build.gradle +++ b/photonlib-cpp-examples/poseest/build.gradle @@ -1,7 +1,7 @@ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2" } // Define my targets (SystemCore) and artifacts (deployable files) diff --git a/photonlib-java-examples/aimandrange/build.gradle b/photonlib-java-examples/aimandrange/build.gradle index 98cfee3ab7..41b230c1f9 100644 --- a/photonlib-java-examples/aimandrange/build.gradle +++ b/photonlib-java-examples/aimandrange/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2" } java { diff --git a/photonlib-java-examples/aimattarget/build.gradle b/photonlib-java-examples/aimattarget/build.gradle index 98cfee3ab7..41b230c1f9 100644 --- a/photonlib-java-examples/aimattarget/build.gradle +++ b/photonlib-java-examples/aimattarget/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2" } java { diff --git a/photonlib-java-examples/poseest/build.gradle b/photonlib-java-examples/poseest/build.gradle index 98cfee3ab7..41b230c1f9 100644 --- a/photonlib-java-examples/poseest/build.gradle +++ b/photonlib-java-examples/poseest/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1" + id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2" } java { From f5d204a0095c6d505a18a746ead017f88a18ace4 Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Thu, 9 Oct 2025 19:29:14 -0400 Subject: [PATCH 09/12] Add mrcal dependency packages --- .github/workflows/build.yml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index dde3a9cdad..08b06c91a1 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -61,7 +61,7 @@ jobs: # run: ./gradlew build build-gradle: name: "Gradle Build" - runs-on: ubuntu-22.04 + runs-on: ubuntu-24.04 needs: [validation] steps: # Checkout code. @@ -85,7 +85,7 @@ jobs: with: node-version: 22 - name: Install mrcal deps - run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5 + run: sudo add-apt-repository -y -S 'deb http://security.ubuntu.com/ubuntu jammy main universe' && sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5 - name: Gradle Build run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check - name: Gradle Tests @@ -360,6 +360,7 @@ jobs: name: ${{ matrix.artifact-name }} # On linux, install mrcal packages - run: | + sudo add-apt-repository -y -S 'deb http://security.ubuntu.com/ubuntu jammy main universe' sudo apt-get update sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5 if: ${{ (matrix.os) == 'ubuntu-24.04' }} From 368f40dc0316c35ad8c95b87df5788abc51dc72a Mon Sep 17 00:00:00 2001 From: samfreund Date: Thu, 15 Jan 2026 00:23:33 -0600 Subject: [PATCH 10/12] docs --- docs/source/docs/quick-start/common-setups.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/docs/source/docs/quick-start/common-setups.md b/docs/source/docs/quick-start/common-setups.md index 7d6ffaf602..dfd37e9f50 100644 --- a/docs/source/docs/quick-start/common-setups.md +++ b/docs/source/docs/quick-start/common-setups.md @@ -13,6 +13,11 @@ PhotonVision requires dedicated hardware, above and beyond a roboRIO. This page The Orange Pi 5 is the only currently supported device for object detection. ::: +## SystemCore Support + +The SystemCore is not supported by PhotonVision. PhotonVision is designed to utilize the entirety of the coprocessor's resources, and this could prove to be dangerous if attempted on the main robot controller. +There are no current plans to support running on SystemCore alongside robot code, and any attempts to do so are entirely at your own risk and will require a separate fork of PhotonVision. + ## SD Cards - 8GB or larger micro SD card From c5a89fb1e3fe84038bd2ddaafa3a4cc14e0f319c Mon Sep 17 00:00:00 2001 From: samfreund Date: Thu, 15 Jan 2026 00:28:55 -0600 Subject: [PATCH 11/12] serve static on SC --- .../src/main/java/org/photonvision/Main.java | 68 +++++++++++++++++++ .../common/hardware/Platform.java | 15 ++++ 2 files changed, 83 insertions(+) diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java index 130bd25ba8..c5cad38645 100644 --- a/photon-server/src/main/java/org/photonvision/Main.java +++ b/photon-server/src/main/java/org/photonvision/Main.java @@ -165,7 +165,75 @@ private static void addTestModeSources() { VisionSourceManager.getInstance().registerLoadedConfigs(cameraConfigs); } + private static void serveDenialPage() { + String docsLink = + "https://docs.photonvision.org/en/latest/docs/quick-start/common-setups.html#systemcore-support"; + + logger.error( + "SystemCore is not a supported platform for PhotonVision!\n " + + "Please visit " + + docsLink + + " for more information."); + + try { + int port = 5800; + io.javalin.Javalin app = null; + try { + app = io.javalin.Javalin.create(cfg -> cfg.showJavalinBanner = false).start(port); + } catch (Exception e) { + logger.warn("Failed to bind to port 5800, exiting: " + e.getMessage()); + port = DEFAULT_WEBPORT; + app = io.javalin.Javalin.create(cfg -> cfg.showJavalinBanner = false).start(port); + } + + final int boundPort = port; + final String html = + "" + + "Unsupported platform" + + "

Main Robot Controllers shouldn't run PhotonVision, but yours does! " + + "Please uninstall PhotonVision. " + + "If you choose to modify PhotonVision so that it functions on SystemCore, " + + "you do so entirely at your own risk and without any support. " + + "For more information, see " + + docsLink + + ".

"; + + app.get( + "/", + ctx -> { + ctx.contentType("text/html; charset=utf-8"); + ctx.result(html); + }); + + logger.info( + "Served SystemCore warning page on port " + + boundPort + + " - process will remain running to serve the page."); + + // Prevent main from exiting so the page remains available. + final Object lock = new Object(); + synchronized (lock) { + try { + lock.wait(); + } catch (InterruptedException ignored) { + } + } + } catch (Exception e) { + logger.error("Failed to start static warning page server", e); + } + + // Exit + System.exit(1); + } + public static void main(String[] args) { + if (Platform.isSystemCore()) { + serveDenialPage(); + } + logger.info( "Starting PhotonVision version " + PhotonVersion.versionString diff --git a/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java b/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java index 485ec701e2..d66bb2764a 100644 --- a/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java +++ b/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java @@ -44,6 +44,13 @@ public enum Platform { true, OSType.LINUX, true), // Raspberry Pi 3/4 with a 64-bit image + LINUX_SYSTEMCORE( + "Linux Systemcore 64-bit NOT SUPPORTED", + Platform::getUnknownModel, + "linuxarm64", + false, + OSType.LINUX, + false), // SystemCore 64-bit LINUX_RK3588_64( "Linux AARCH 64-bit with RK3588", Platform::getLinuxDeviceTreeModel, @@ -127,6 +134,11 @@ public static boolean isLinux() { return currentPlatform.osType == OSType.LINUX; } + public static boolean isSystemCore() { + File sysCore = new File("/home/systemcore"); + return sysCore.exists() | fileHasText("/etc/os-release", "systemcore"); + } + public static boolean isRK3588() { return Platform.isOrangePi() || Platform.isCoolPi4b() || Platform.isRock5C(); } @@ -205,6 +217,9 @@ public static Platform getCurrentPlatform() { } if (OS_NAME.startsWith("Linux")) { + if (isSystemCore()) { + return LINUX_SYSTEMCORE; + } else if (isPiSBC()) { if (OS_ARCH.equals("arm") || OS_ARCH.equals("arm32")) { return LINUX_RASPBIAN32; From 28459e3197e92ad09eb19ead8642c85201ddb885 Mon Sep 17 00:00:00 2001 From: samfreund Date: Thu, 15 Jan 2026 00:36:20 -0600 Subject: [PATCH 12/12] lint --- .../main/java/org/photonvision/common/hardware/Platform.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java b/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java index d66bb2764a..9f6998fc82 100644 --- a/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java +++ b/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java @@ -219,8 +219,7 @@ public static Platform getCurrentPlatform() { if (OS_NAME.startsWith("Linux")) { if (isSystemCore()) { return LINUX_SYSTEMCORE; - } else - if (isPiSBC()) { + } else if (isPiSBC()) { if (OS_ARCH.equals("arm") || OS_ARCH.equals("arm32")) { return LINUX_RASPBIAN32; } else if (OS_ARCH.equals("aarch64") || OS_ARCH.equals("arm64")) {