diff --git a/rocolib/builders/boat/BoatWithDCMountBuilder.py b/rocolib/builders/boat/BoatWithDCMountBuilder.py
index ed7e4223e6c04bf6db5130ace14ee7ead84642dd..d1f15499b8c308b1281ebc6cefef3fc365416343 100644
--- a/rocolib/builders/boat/BoatWithDCMountBuilder.py
+++ b/rocolib/builders/boat/BoatWithDCMountBuilder.py
@@ -26,4 +26,9 @@ c.addConnection(("boat", "staredge"), ("split1", "topedge0"))
c.addConnection(("dcMount","rightArmInterface"), ("split0", "botedge1"), angle=-180)
c.addConnection(("dcMount","rightArmInterface"), ("split1", "botedge1"), tabWidth=5)
+c.inheritInterface("topPort", ("split0", "botedge0"))
+c.inheritInterface("botPort", ("split0", "botedge2"))
+c.inheritInterface("topStar", ("split1", "botedge2"))
+c.inheritInterface("botStar", ("split1", "botedge0"))
+
c.toLibrary("BoatWithDCMount")
diff --git a/rocolib/builders/boat/BoatWithServoMountAndStack.py b/rocolib/builders/boat/BoatWithServoMountAndStack.py
new file mode 100644
index 0000000000000000000000000000000000000000..2cc10da7a6c9fd46f82895d6a03e61e2a383a9fe
--- /dev/null
+++ b/rocolib/builders/boat/BoatWithServoMountAndStack.py
@@ -0,0 +1,23 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+c = Component()
+
+c.addSubcomponent("boatwithservo", "BoatWithServoMount", inherit=True, prefix=None)
+c.inheritAllInterfaces("boatwithservo")
+c.addSubcomponent("espStack", "StackMount", inherit=True)
+c.inheritAllInterfaces("espStack")
+
+c.addSubcomponent("topPortSplit", "SplitEdge")
+c.addSubcomponent("topStarSplit", "SplitEdge")
+#
+# c.addConstraint(("topPortSplit", "toplength"), ("topDistance"), "(x,)")
+# c.addConstraint(("topPortSplit", "botlength"), ("topDistance", "botDistance", "rServoMount.depth"), "(x[1], x[2], x[0])") #but the value of the new component's boat.length parameter is completely disconnected from the value of the boat component's boat.length parameter
+#
+# c.addConnection(("topStarSplit", "botedge1"), ("lServoMount", "rightInterface"), angle=180) #both face the same direction
+# c.addConnection(("rsplit", "botedge1"), ("rServoMount", "leftInterface"), angle=180)
+#
+#c.addConnection(("espStack", "leftArmInterface"), ("boatwithservo", "topPort"))
+
+
+c.toLibrary("BoatWithServoMountAndStack")
diff --git a/rocolib/builders/boat/BoatWithServoMountBuilder.py b/rocolib/builders/boat/BoatWithServoMountBuilder.py
index 6e14ce823e3b34b3308c774700e6a83ee7c1ebe3..cf26d2cd793603e72b271925cd624efd1e04c544 100644
--- a/rocolib/builders/boat/BoatWithServoMountBuilder.py
+++ b/rocolib/builders/boat/BoatWithServoMountBuilder.py
@@ -26,4 +26,9 @@ c.addConnection(("rsplit", "botedge1"), ("rServoMount", "leftInterface"), angle=
c.addConnection(("boat", "portedge"), ("lsplit", "topedge0"))
c.addConnection(("boat", "staredge"), ("rsplit", "topedge0"))
+c.inheritInterface("topPort", ("lsplit", "botedge0"))
+c.inheritInterface("botPort", ("lsplit", "botedge2"))
+c.inheritInterface("topStar", ("rsplit", "botedge2"))
+c.inheritInterface("botStar", ("rsplit", "botedge0"))
+
c.toLibrary("BoatWithServoMount")
diff --git a/rocolib/builders/boat/Boat_StackMountBuilder.py b/rocolib/builders/boat/StackMountBuilder.py
similarity index 57%
rename from rocolib/builders/boat/Boat_StackMountBuilder.py
rename to rocolib/builders/boat/StackMountBuilder.py
index 89cd346640748fd9d2e894bb5c5e232a065fb081..905ad5a16a6c4f300e2aabc7bbb25f1e70ef7992 100644
--- a/rocolib/builders/boat/Boat_StackMountBuilder.py
+++ b/rocolib/builders/boat/StackMountBuilder.py
@@ -4,18 +4,18 @@ from rocolib.api.Function import Function
c = Component()
-c.addSubcomponent("stack", "SubESP32Stack", inherit=True, prefix=None)
+c.addSubcomponent("stack", "SubESP32Stack", inherit=True)
c.addParameter("depth", 70, paramType="length") #must set to boat depth
-c.addParameter("width", 70, paramType="length") #must set to boat depth
+c.addParameter("width", 70, paramType="length")#must set to boat width
c.addSubcomponent("topCover", "Rectangle")
-c.addConstraint(("topCover", "w"), "brains", "getDim(x, 'width')")
-c.addConstraint(("topCover", "l"), "depth", "60") #the support is as long as the boat is wide
+c.addConstraint(("topCover", "w"), "stack.brains", "getDim(x, 'width')")
+c.addConstraint(("topCover", "l"), "stack.length") #length is 61, from SubESP32Stack
c.addSubcomponent("botCover", "Rectangle")
-c.addConstraint(("botCover", "w"), "brains", "getDim(x, 'width')")
-c.addConstraint(("botCover", "l"), "depth", "60") #the support is as long as the boat is wide
+c.addConstraint(("botCover", "w"), "stack.brains", "getDim(x, 'width')")
+c.addConstraint(("botCover", "l"), "stack.length")
c.addConnection(("botCover", "l"), ("stack", "topedge0"), angle=90, tabWidth=10)
c.addConnection(("topCover", "r"), ("stack", "botedge0"), angle=90, tabWidth=7)
@@ -30,27 +30,30 @@ c.addConnection(("topCover", "l"), ("stack", "botedge2"), angle=90, tabWidth=7)
c.addConnection(("topCover", "b"), ("stack", "topedge3"), angle=90, tabWidth=7)
c.addSubcomponent("servoPins", "Cutout")
-c.addConstraint(("servoPins", "dx"), "depth", "11")
-c.addConstraint(("servoPins", "dy"), "depth", "13")
+c.addConstConstraint(("servoPins", "dx"), 11)
+c.addConstConstraint(("servoPins", "dy"), 13)
c.addConnection(("botCover", "face"),
("servoPins", "decoration"),
mode="hole",offset=Function(params=("depth"), fnstring="(-7, 0)"))#offset=Function(params=("dy1"), fnstring="(10, 0)")
c.addSubcomponent("microUSB", "Cutout")
-c.addConstraint(("microUSB", "dx"), "depth", "6")
-c.addConstraint(("microUSB", "dy"), "depth", "10")
+c.addConstConstraint(("microUSB", "dx"), 6)
+c.addConstConstraint(("microUSB", "dy"), 10)
c.addConnection(("botCover", "face"),
("microUSB", "decoration"),
mode="hole",offset=Function(params=("depth"), fnstring="(22, 0)"))#offset=Function(params=("dy1"), fnstring="(10, 0)")
c.addSubcomponent("lArm", "Rectangle", inherit=True)
-c.addConstraint(("lArm", "w"), ("depth", "width"), "((0.5 * x[0]) ** 2 + (60 - x[1]) ** 2) ** 0.5") #c.addConstraint(("split0", "botlength"), "length", "(1/3*x-10, 10, 2/3*x)")
-c.addConstraint(("lArm", "l"), "depth", "60") #the support is as long as the boat is wide
+c.addConstraint(("lArm", "w"), ("depth", "width", "stack.length"), "((0.5 * x[0]) ** 2 + (x[2] - x[1]) ** 2) ** 0.5") #c.addConstraint(("split0", "botlength"), "length", "(1/3*x-10, 10, 2/3*x)")
+c.addConstraint(("lArm", "l"), "stack.length") #the support is as long as the boat is wide
c.addConnection(("lArm", "b"), ("botCover", "t"), angle=45)
c.addSubcomponent("rArm", "Rectangle", inherit=True)
-c.addConstraint(("rArm", "w"), ("depth", "width"), "((0.5 * x[0]) ** 2 + (60 - x[1]) ** 2) ** 0.5")
-c.addConstraint(("rArm", "l"), "depth", "60") #the support is as long as the boat is wide
+c.addConstraint(("rArm", "w"), ("depth", "width", "stack.length"), "((0.5 * x[0]) ** 2 + (x[2] - x[1]) ** 2) ** 0.5")
+c.addConstraint(("rArm", "l"), "stack.length") #the support is as long as the boat is wide
c.addConnection(("rArm", "b"), ("botCover", "b"), angle=45)
-c.toLibrary("Boat_StackMount")
+c.inheritInterface("leftArmInterface", ("lArm", "t"))
+c.inheritInterface("rightArmInterface", ("rArm", "t"))
+
+c.toLibrary("StackMount")
diff --git a/rocolib/library/BoatWithServoMountAndStack.yaml b/rocolib/library/BoatWithServoMountAndStack.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d15583b6589e10be434b87b0ff15245694fc2430
--- /dev/null
+++ b/rocolib/library/BoatWithServoMountAndStack.yaml
@@ -0,0 +1,247 @@
+connections: {}
+interfaces:
+ espStack.leftArmInterface:
+ interface: leftArmInterface
+ subcomponent: espStack
+ espStack.rightArmInterface:
+ interface: rightArmInterface
+ subcomponent: espStack
+parameters:
+ boat.depth:
+ defaultValue: 20
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ boat.length:
+ defaultValue: 100
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ boat.width:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ botDistance:
+ defaultValue: 100
+ spec:
+ minValue: 73
+ units: mm
+ valueType: (float, int)
+ bow.point:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ espStack.brains:
+ defaultValue: esp32stack
+ spec:
+ valueType: str
+ espStack.depth:
+ defaultValue: 70
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ espStack.dy1:
+ defaultValue: 18
+ spec:
+ parameterType: length
+ espStack.lArm._dx:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ espStack.lArm._dy:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ espStack.lArm._dz:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ espStack.lArm._q_a:
+ defaultValue: 1
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ espStack.lArm._q_i:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ espStack.lArm._q_j:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ espStack.lArm._q_k:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ espStack.length:
+ defaultValue: 61
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ espStack.rArm._dx:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ espStack.rArm._dy:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ espStack.rArm._dz:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ espStack.rArm._q_a:
+ defaultValue: 1
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ espStack.rArm._q_i:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ espStack.rArm._q_j:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ espStack.rArm._q_k:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ espStack.width:
+ defaultValue: 70
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ lServoMount.depth:
+ defaultValue: 24
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ rServoMount.depth:
+ defaultValue: 24
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ stern.point:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ topDistance:
+ defaultValue: 150
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+source: ../builders/boat/BoatWithServoMountAndStack.py
+subcomponents:
+ boatwithservo:
+ classname: BoatWithServoMount
+ kwargs: {}
+ parameters:
+ boat.depth:
+ parameter: boat.depth
+ boat.length:
+ parameter: boat.length
+ boat.width:
+ parameter: boat.width
+ botDistance:
+ parameter: botDistance
+ bow.point:
+ parameter: bow.point
+ lServoMount.depth:
+ parameter: lServoMount.depth
+ rServoMount.depth:
+ parameter: rServoMount.depth
+ stern.point:
+ parameter: stern.point
+ topDistance:
+ parameter: topDistance
+ espStack:
+ classname: StackMount
+ kwargs: {}
+ parameters:
+ brains:
+ parameter: espStack.brains
+ depth:
+ parameter: espStack.depth
+ dy1:
+ parameter: espStack.dy1
+ lArm._dx:
+ parameter: espStack.lArm._dx
+ lArm._dy:
+ parameter: espStack.lArm._dy
+ lArm._dz:
+ parameter: espStack.lArm._dz
+ lArm._q_a:
+ parameter: espStack.lArm._q_a
+ lArm._q_i:
+ parameter: espStack.lArm._q_i
+ lArm._q_j:
+ parameter: espStack.lArm._q_j
+ lArm._q_k:
+ parameter: espStack.lArm._q_k
+ length:
+ parameter: espStack.length
+ rArm._dx:
+ parameter: espStack.rArm._dx
+ rArm._dy:
+ parameter: espStack.rArm._dy
+ rArm._dz:
+ parameter: espStack.rArm._dz
+ rArm._q_a:
+ parameter: espStack.rArm._q_a
+ rArm._q_i:
+ parameter: espStack.rArm._q_i
+ rArm._q_j:
+ parameter: espStack.rArm._q_j
+ rArm._q_k:
+ parameter: espStack.rArm._q_k
+ width:
+ parameter: espStack.width
+ topPortSplit:
+ classname: SplitEdge
+ kwargs: {}
+ parameters: {}
+ topStarSplit:
+ classname: SplitEdge
+ kwargs: {}
+ parameters: {}
diff --git a/rocolib/library/StackMount.yaml b/rocolib/library/StackMount.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a72551f52325657bed84e7ef576ad98a20d4247f
--- /dev/null
+++ b/rocolib/library/StackMount.yaml
@@ -0,0 +1,281 @@
+connections:
+ connection0:
+ - - botCover
+ - l
+ - - stack
+ - topedge0
+ - angle: 90
+ tabWidth: 10
+ connection1:
+ - - topCover
+ - r
+ - - stack
+ - botedge0
+ - angle: 90
+ tabWidth: 7
+ connection2:
+ - - topCover
+ - t
+ - - stack
+ - topedge1
+ - angle: 90
+ connection3:
+ - - botCover
+ - r
+ - - stack
+ - topedge2
+ - angle: 90
+ tabWidth: 10
+ connection4:
+ - - topCover
+ - l
+ - - stack
+ - botedge2
+ - angle: 90
+ tabWidth: 7
+ connection5:
+ - - topCover
+ - b
+ - - stack
+ - topedge3
+ - angle: 90
+ tabWidth: 7
+ connection6:
+ - &id001
+ - botCover
+ - face
+ - - servoPins
+ - decoration
+ - mode: hole
+ offset:
+ function: (-7, 0)
+ parameter: depth
+ connection7:
+ - *id001
+ - - microUSB
+ - decoration
+ - mode: hole
+ offset:
+ function: (22, 0)
+ parameter: depth
+ connection8:
+ - - lArm
+ - b
+ - - botCover
+ - t
+ - angle: 45
+ connection9:
+ - - rArm
+ - b
+ - - botCover
+ - b
+ - angle: 45
+interfaces:
+ leftArmInterface:
+ interface: t
+ subcomponent: lArm
+ rightArmInterface:
+ interface: t
+ subcomponent: rArm
+parameters:
+ depth:
+ defaultValue: 70
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ lArm._dx:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ lArm._dy:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ lArm._dz:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ lArm._q_a:
+ defaultValue: 1
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ lArm._q_i:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ lArm._q_j:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ lArm._q_k:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ rArm._dx:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ rArm._dy:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ rArm._dz:
+ defaultValue: 0
+ spec:
+ minValue: null
+ units: mm
+ valueType: (float, int)
+ rArm._q_a:
+ defaultValue: 1
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ rArm._q_i:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ rArm._q_j:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ rArm._q_k:
+ defaultValue: 0
+ spec:
+ maxValue: 1
+ minValue: -1
+ valueType: (int, float)
+ stack.brains:
+ defaultValue: esp32stack
+ spec:
+ valueType: str
+ stack.dy1:
+ defaultValue: 18
+ spec:
+ parameterType: length
+ stack.length:
+ defaultValue: 61
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ width:
+ defaultValue: 70
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+source: ../builders/boat/StackMountBuilder.py
+subcomponents:
+ botCover:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: stack.length
+ w:
+ function: getDim(x, 'width')
+ parameter: stack.brains
+ lArm:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ _dx:
+ parameter: lArm._dx
+ _dy:
+ parameter: lArm._dy
+ _dz:
+ parameter: lArm._dz
+ _q_a:
+ parameter: lArm._q_a
+ _q_i:
+ parameter: lArm._q_i
+ _q_j:
+ parameter: lArm._q_j
+ _q_k:
+ parameter: lArm._q_k
+ l:
+ parameter: stack.length
+ w:
+ function: ((0.5 * x[0]) ** 2 + (x[2] - x[1]) ** 2) ** 0.5
+ parameter: &id002
+ - depth
+ - width
+ - stack.length
+ microUSB:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx: 6
+ dy: 10
+ rArm:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ _dx:
+ parameter: rArm._dx
+ _dy:
+ parameter: rArm._dy
+ _dz:
+ parameter: rArm._dz
+ _q_a:
+ parameter: rArm._q_a
+ _q_i:
+ parameter: rArm._q_i
+ _q_j:
+ parameter: rArm._q_j
+ _q_k:
+ parameter: rArm._q_k
+ l:
+ parameter: stack.length
+ w:
+ function: ((0.5 * x[0]) ** 2 + (x[2] - x[1]) ** 2) ** 0.5
+ parameter: *id002
+ servoPins:
+ classname: Cutout
+ kwargs: {}
+ parameters:
+ dx: 11
+ dy: 13
+ stack:
+ classname: SubESP32Stack
+ kwargs: {}
+ parameters:
+ brains:
+ parameter: stack.brains
+ dy1:
+ parameter: stack.dy1
+ length:
+ parameter: stack.length
+ topCover:
+ classname: Rectangle
+ kwargs: {}
+ parameters:
+ l:
+ parameter: stack.length
+ w:
+ function: getDim(x, 'width')
+ parameter: stack.brains
diff --git a/rocolib/output/BoatWithServoMountAndStack/graph-anim.svg b/rocolib/output/BoatWithServoMountAndStack/graph-anim.svg
new file mode 100644
index 0000000000000000000000000000000000000000..e514e385b39a4db175201bb9a3150cccf91849de
--- /dev/null
+++ b/rocolib/output/BoatWithServoMountAndStack/graph-anim.svg
@@ -0,0 +1,554 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:ev="http://www.w3.org/2001/xml-events" xmlns:xlink="http://www.w3.org/1999/xlink" baseProfile="full" height="381.703296mm" version="1.1" viewBox="0.000000 0.000000 656.000000 381.703296" width="656.000000mm">
+ <defs/>
+ <line stroke="#000000" x1="100.0" x2="0.0" y1="190.851648" y2="190.851648"/>
+ <line stroke="#000000" x1="100.0" x2="100.0" y1="190.851648" y2="190.851648"/>
+ <line stroke="#000000" x1="50.0" x2="100.0" y1="190.851648" y2="190.851648"/>
+ <line stroke="#000000" x1="0.0" x2="50.0" y1="190.851648" y2="190.851648"/>
+ <line stroke="#000000" x1="0.0" x2="0.0" y1="190.851648" y2="190.851648"/>
+ <line stroke="#000000" x1="210.00000000000003" x2="110.00000000000001" y1="190.851648" y2="190.851648"/>
+ <line stroke="#000000" x1="210.00000000000003" x2="210.00000000000003" y1="190.851648" y2="190.851648"/>
+ <line stroke="#000000" x1="160.00000000000003" x2="210.00000000000003" y1="190.851648" y2="190.851648"/>
+ <line stroke="#000000" x1="110.00000000000001" x2="160.00000000000003" y1="190.851648" y2="190.851648"/>
+ <line stroke="#000000" x1="110.00000000000001" x2="110.00000000000001" y1="190.851648" y2="190.851648"/>
+ <line opacity="0.5" stroke="#0000ff" x1="323.99999999999994" x2="323.99999999999994" y1="53.85164800000002" y2="327.851648"/>
+ <line opacity="0.5" stroke="#0000ff" x1="273.99999999999994" x2="273.99999999999994" y1="53.85164800000002" y2="327.851648"/>
+ <line opacity="0.12111894159084342" stroke="#0000ff" x1="299.0" x2="273.99999999999994" y1="53.85164800000002" y2="53.85164800000002"/>
+ <line opacity="0.12111894159084342" stroke="#0000ff" x1="323.99999999999994" x2="299.0" y1="53.85164800000002" y2="53.85164800000002"/>
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