From 8b056be44cd2be06e3b66f23a52672ced70ec9d4 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Fri, 31 Jan 2025 18:00:15 -0700 Subject: [PATCH 1/2] dev: Clerify calling SITL with direct path or using PATH Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- .../docs/using-sitl-for-ardupilot-testing.rst | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/dev/source/docs/using-sitl-for-ardupilot-testing.rst b/dev/source/docs/using-sitl-for-ardupilot-testing.rst index a75d141213..1ba7f52305 100644 --- a/dev/source/docs/using-sitl-for-ardupilot-testing.rst +++ b/dev/source/docs/using-sitl-for-ardupilot-testing.rst @@ -8,7 +8,7 @@ This article describes how :ref:`SITL ` can SITL can be run under Linux using a tool named ``sim_vehicle.py`` from a Linux or WSL2 command line, or through :ref:`Mission Planner's Simulation feature `. It can also be run in conjunction with a graphics visualization and/or physics modeling program like :ref:`Realflight`. -In addition to running the simulation, a ground control station program will need to be run concurrently in order to control the simultion. With ``sim_vehicle.py``, `MAVProxy `__ is automatically started. When using Mission Planner's simulation feature, it is used. You can also have more than one GCS attached, see :ref:`connect to different GCSs `. +In addition to running the simulation, a ground control station program will need to be run concurrently in order to control the simulation. With ``sim_vehicle.py``, `MAVProxy `__ is automatically started. When using Mission Planner's simulation feature, it is used. You can also have more than one GCS attached, see :ref:`connect to different GCSs `. .. note:: @@ -37,10 +37,21 @@ Using sim_vehicle.py A startup script, ```sim_vehicle.py`` is provided to automatically build the SITL firmware version for the current code branch, load the simulation models, start the simulator, setup environment and vehicle parameters, and start the MAVProxy GCS. Many script start-up parameters can be specified, type this for a full list: +Generally, you can run SITL from the root of your ArduPilot clone. + +:: + + cd /path/to/ardupilot + ./Tools/autotest/sim_vehicle.py --help + + +Alternatively, when you initially configured your environment, if you elected to install ``Tools/autotest`` onto your path, you can run SITL from any directory like so: + :: sim_vehicle.py --help +If you work with multiple clones of ArduPilot in different workspaces, it's recommend to call SITL directly to avoid accidentally running the wrong simulator. Selecting a vehicle/frame type ------------------------------ From 484815d6aa5f0c09bd722f4eb885fae7517138bf Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Fri, 31 Jan 2025 18:00:39 -0700 Subject: [PATCH 2/2] common: Use hello world to demonstrate initial LUA tutorial Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- .../docs/common-scripting-step-by-step.rst | 29 +++++++++++++----- images/LuaHelloWorld.png | Bin 0 -> 27222 bytes 2 files changed, 22 insertions(+), 7 deletions(-) create mode 100644 images/LuaHelloWorld.png diff --git a/common/source/docs/common-scripting-step-by-step.rst b/common/source/docs/common-scripting-step-by-step.rst index 65666dd458..f22467237c 100644 --- a/common/source/docs/common-scripting-step-by-step.rst +++ b/common/source/docs/common-scripting-step-by-step.rst @@ -5,21 +5,36 @@ Script Setup and Use Examples ============================= -Testing a Script in SITL +Running a Script in SITL ======================== In Linux: -#. Assuming you have setup the build and simulation environment, run the simulation. See :ref:`using-sitl-for-ardupilot-testing`. For example: +#. Assuming you have setup the build and SITL environment, run SITL. See :ref:`using-sitl-for-ardupilot-testing`. For example: -.. code:: +.. code-block:: bash - sim_vehicle.py -v plane -f quadplane + cd /path/to/ardupilot + ./Tools/autotest/sim_vehicle.py -v plane --console Mavproxy ground control station will automatically be started. You can also start QGC (using the QGroundControl.AppImage) and/or Mission Planner (using WISE to run under Linux). Any or all three can be used simultaneously. -#. From your GCS, enable scripting by setting the :ref:`SCR_ENABLE` parameter to "1". Restart the simulation. -#. A "scripts" sub-directory will be created in the directory you started the simulation, if it did not already exist. Place the script you downloaded into this directory. Again, restart the simulation. -#. If you get a "Scripting: out of memory" GCS message then you will need to increase :ref:`SCR_HEAP_SIZE` parameter and try to restart the simulation. +#. From your GCS, enable scripting by setting the :ref:`SCR_ENABLE` parameter to "1". Restart the simulation, or in MAVProxy, type ``reboot``. +#. A "scripts" sub-directory will be created in the directory you started the simulation, if it did not already exist. You should expect to see a line similar to the following: ``Lua: State memory usage: 4824 + 9263``. This shows that scripting is now enabled. +#. Now, create your first script in the ``scripts`` folder. If it's your first time, try the hello world script + + .. code-block:: bash + + cp libraries/AP_Scripting/examples/hello_world.lua scripts/ + +#. Again, restart the simulation. +#. You should now observe the following in console. + + .. image:: ../../../images/LuaHelloWorld.png + :target: ../_images/LuaHelloWorld.png + +#. Now, you can try changing the script to say something else and saving the Lua script. +#. In MAVProxy, once you you save changes to your Lua script, you can just restart the scripting engine with ``scripting restart``. This allows to you keep SITL running and quickly change your script. +#. If you get a "Scripting: out of memory" GCS message then you will need to increase :ref:`SCR_HEAP_SIZE` parameter and try to restart the simulation. The hello world script has enough memory. In Mission Planner (Windows): diff --git a/images/LuaHelloWorld.png b/images/LuaHelloWorld.png new file mode 100644 index 0000000000000000000000000000000000000000..e9d2da2e9d91733f7bb302ef2c4d8dde6d531b3b GIT binary patch literal 27222 zcmcF~byQnV*Dh|sCAhahAz1O?PFu8CpcE|xm*NhgxV5EFyhx!q1c&0<7Kb9mr4$Jg zT!P&6_rCXgzi-{U*8S`Lk(HdxIeTXBnZ3`m_dFA;tF2B##6X0BfkE;_L*+RJ2BtCk zBTs;b{^vL?Oc4Er>G@n;38QM1X$O6Q169;g#K3?j18%Hv(bt6T8YZ3?7{G^rKbTLR zKR{w&I3S*=C>r>g@8{sBQ>#)%#j{Cmv0=S`5D~_vA%xA#mKXL)6~;q{LC8@+z(c1% zK~62i_Eh&h8;6D(4k6`(lN8TUhx_XQy92u|JKw+ypX9HF%YhwRK6ZiJr^5!u(WTn! zRvP3uiUfR5M($y31WI%i8@vQCa?HMFA{d(rhHw@7PYQ*Ea&!|8`Tw)&ywkYqYm8h!{#Lh^jJjjd&oRZdr&B;HmcBe9a& zZ!0l77u$aIx1F{L$yElgriJAK;Mv~z&$hw`#4BXreDr|XA=WyRO-L!^3UUjPFgeOu zt1zn=oPIAC3TLP#s(q`z4>`)|uVAkztmEHvA%n3dLX@W+zyLGzTcOyL!vC)?Es5{tm7A_AH41K;Pe zfX;bk_hkJA;FsaLh+6n$?b|;hz>cPn7b%e^wQh$mfGe7ML!&2Ab~WxdK@p|4D1RkS zlQ|zFBe2oKnQ9OsP=otE@2FxD#H1f$L_1@WCY$*3+b5+8qekyE^H(1G%A1J|2Y3i! zU{VB0j`7{LqZr_-+q@KUkv11`LhV~&y2=TK^JA46Y{Tl4vLgY1{Ng){fc zzTTv0xHd9gXY7m?SoV%*=e$NY(l2sz0Al0`d@4TbRiu#H^>{`b$jENku#O-0r!HF) zy2hqwC_kd~MEY&ydz$GMk_r?g*kmn?6$AIFr-W{BPYb^le2rZ^(;yjlY*st(29-UX z7qa>Q-u?U2c8rvxw3|00roeY=YneA8p1YDe|T4WvU!c_KrPlZA{xz^0F09* zTht@$`Vcbsbi_25HtjosC1Qi`C*^RpdNGzB10zfmxWA!@|sHOvX4{ zvZcCYQH_pPTvCIo7N?m=-mk$Sl2CL1I%i zF!9{4j&$j-Dt+f8G2Xvo^(S4Jk-`-u-a?kTFgp@De`}Z7STVU-^&`z3%J-|{HYqhR zGxWM$rmP}NLSZj}?ePJKU)%nbO`kpay-$cPD2=@fI|lu27|kTrD?O>I3||g{Enb^L zzb?ucF9l9(-JRP$`XJhD{PxqiXa?jF1nF!HU)`?_KXX@HJ=@Fw^Jas^rIPAqeaf?a z@W$<31TNVlCYN{i_$m%pZKjXApjGdwQ0!=Fi=H#VGAZCLd$7Niqvw7S&3b0d4kccRX% z;ss5Ry5sEl?xfq6zsu^6Rg`e|SGV8RT71#%Y8kOHxgusK^R6m#HMcStd=7L}4g);j z%!jX?4m|{dSF^Xxp`qK$Zyx7pUDKPJLThHtJ1%26*s|wi-5i^prwowIE2-_? zF1%W^N)yx_QJGIRDG6C?@`LE!Hf{*sS8SyB_FPFCCT@~>Ip5&WTbSlj<-pi+$ zeQgkqWyz!4wHkCAt~6$Hi`zQ;i&avNeA|5bmvQrCbGQ<{7N$@((A_a?NvQA%MkK|t zCP9ME1_P*BNGK`1izNE_kr+^*9vi;umajFD8-19co zklxh|PpA>wszVQ7ebg=v)}ZL@B^_?sMAXaW8#1?L$^`gm!_N^uKf_8Bp)wx#@lgUd zadH~SsLxOLm(ZM(slN(bV&PKBgrMx1>Rqs%2eB@w6~4mB(`)FBWpH@Jthy|J26+># z<@ZOb3=$_~zC?EDYJKWI#wES<21X@743&tPyK4lbli_xC6b+Z8Yc<;Ty5G#20xkUAG-8h0|On1-;cMeZY ztZSoTynWPO31&>%y?XB)5@ppy;1%+ZH(9Xphv0v~zlwh+FKI3*H5Y}eX3_R4h+6b* z38cq`tZXW|wy`eA`_=M6*LZ;uEYrb2o?w8OKn_l;33Gn|TlV(C+JF8G#z?mV`$G)H zuUln2GQ(9QAUQI-<;eX9*l55c2#3f1!k={VF+*}3cB~i=8XUzK3~Tg_Pt>J5aAs&kN$dS;iD+*y0(-bW0Cq+;l;~MOTp?OP z1zGEwUk-Nsp2ZB>!(OTGi(|XWwq-7Vd13;zsAI9(v@Ehog$DN@_rIQDuK4Zvh#_Zx z@fFD{8rvefO)D|zzOBjjX9^s49~J*9Kg(J0DRAh!*h%Q;@89Rqc;-6XJN8TxK|S={ zx1zS9til7bhSk^RQ{ZZP%61j$% zsqa%iO-FjC+1|HnGkjT0f>HpYrNa-C4wIb9+GN!)+ad=W*~k=@T!ZSw&;W zFOx%f%{~nXA^kFVz`A$;I!7LEbt>~4;u~>BSI!zwlJ~<2b>aHjb?eFCV^LV-$ya9q zd`(UQrHTnh&zw=Ep2~_Tkobo(@M7W_my-x!nXIhN#RLd;@RA&;m6@de6B=(@ky8OR zAu-W#s(!y<)%%pnWNVsoLez-Yh`Hf6iHx$r;m5Lv_t~%VcQ^omRC3$tIH6U0oHhZG)SJ#DwvikTw{W9y^z<45i#Brng8z_tP;0OmB+2Cbv( zWi`+W7v@tkK&SNZ`xB8i zxhj^xW`?o&`G?a5dK$HwbF_3|V_yA?K>2$ zkyZ5^<(1tE0?_XhKH{5u$hp^EQQ4oU{zmUmxTO&3+{~{;gpd&~FmR1`DFk>PZd1!R zJGV^_BraO;O@Zw32hK$#nGWU_f-TO|3TJR1SGg{PbJabrQ-h1wgxKbr6blSF3J|9M zT`Jh+1qsQW;y-uH0Jggk~Oy;6D*GzlBexHrNUp-{| zpN<5i+tM(siB};_;j+})=VzQIa~ET1+;jZRpXG@QV%hH36l$LIL-JXf4f7~q!PM?Q zYr*?@On)xfZ9&@N#1krFXSUdO&2`>(tTc>I7B=}`7OIv(Rb^8oX(^hZ`mxvEx$`!v zI1182YTR=R(JQvz&=E_qE+R&b$>z9F#B~y!i395Jr(fjyP)O0 zyyHGyQy^+E6=cB#V3GsDHKBnha3``6z;O(FEVFPyw_Rm@N(&YNMkc^03f!!LM;3#g z@B5>^osgEx0Y-2}MbpaQj#;1fN3dL9I{|CTcAq&T7T@IC(%nTmg6DJo=rDq|p8-XCx0SIF-IikJN<$TRW+6*3KXP@a+GJ^h=~P9S(>)d;E-B+@ZOv zyin-W1GCsm@pmxYX{X6y9n!S)1<0^3*yU9a@vbk7ZLvdz-nb8|d60TpkhM<99hdhjM%dE-$BgL1QM>Sg3a$!YNO~NuqA~JTF%7pk z$3G|1cmF8qP6Xt)D9IYy#b!*yZ@nDeQbWIPA8YR`jnXQ#;c`nExHX07XDxx3idF6+^vvg+1}Ezh*^*_+=$$Ng)~jDW~S_6#3vJbECnk}uTXA+o_(zk9;(!j z>e-djcd_xv)hI`>G1T0J0Os>26&xUyH%dHRn4r8AF39RbbO%X*T)v*e+fgj!`!!*X zJ~kO6It5W%oL%bP!=##uZ~DNQ+9i?PAGK{WmLY$ICmLs!)AW#@@R2~f`QE4#kUu*k zE{`&e!^`C;u2VZR;nu3j%jhBPIke(+G3dU?__Uv+)z!iTvMx{=G7I$LL?;6v%0n<^JJN2(Z zGSHze1lo=`>_3{XvFhS`AXeY>)Mhx+m_atnAqI)wlNerJFD2v#i1q|!0sDDA1wf!TKr?V4uW!$w;EBO8UD!^M%lUMS8Yy;<`gkL#J0NO9p!`a?`OelRm{v=A=)ay;~ zP>+XAVEWlA2p|HGOmxayA%wB<%<&n%yG~4w5-Q{^KyaGM7R+#xym6?+uQ{%JUq@6c zXX!yBTOyj?KvReF%F-${-JJ~aqApiRUfH#d&63FR=1+D@Q0f^2A0WP6UB?Ew zcr2}P6`S`7=l(FPbU%pPFtMk+WCe`Sr&Ci<(GEoMg4&R1mnA16T=rb*4@hdrh;+yo zZUk;PF4Vdb{sk^w8Z~?FoPR-*+TVH+VKUBY--Ao>zu4(A=D#3ROt{FY%>!tR0_1z~ zz#!y=3sB9yflG;Vs@PA_dt94^Ab-bS_3oFLt3^SAQ^~~H#ToOK3 z5k@uK+oRl;T7(@E`sGM?!g`GJEBT#p74!`OK0!?cL@=@lwF^IccCS}OPw^xZZ5_T z6I^dp^BxYa6R+W_k+hKshFmUxT)*~B>##i1LinfmlNlr&9u3e33gz-wj8xErI_7e* zKqy9N$D5Un5x%BFN*Hn`b0OfXd(usf{|vZ3c~cV+`jkyr`Pq4ipBm)qV7iQU?Ws`z&9eg$p?B}n|e zo&&lFBBX_-KtCH*u|A`i)zjaF_(P9xBS1y>K0%zynH92TGbF zmZ-lqn^s@;KsX;Xfv00VVxaHVhf=$Nfy?>G*U|z6c=7T)k$i5qr9cGxLhXS_Y~Z~xF!0?E zxW{t2PVL@8q*{%8(#H|ooM2qd6b#)FtbDcEWW);Q4baV2c4!@-5Tsv*!56+7UqB$H zk-(foPw!=?G5#b%L39aXuhSP#na+W4_;~9XB|&mbd~9*@6evW9Gip?r{W)DGeHt31 z<;^FZ+($$bII5eFKyDNqgkvLRRDO%y3{YkgB8lo65_WARPpCwE@?_6KfG}p4S8K}( zuOuaY)Xr(B6Kc`Wm|V(Ybz|pj^uEa`NkUC+fI?TL6hy)!|EiLfgY~H{xMsqrI;U={ zRDl>e>AaAfNCs45g%Dpj87(t-^r%9c%>;#(Lg z>t4@V_Utj+(z$B``+b=sg*D90p7iF)=mrf)^`t0b&%9am^wBI^Jb|>WXTVV!@rre{;-pT9(TI!CNB!#g_t3d?zha_YfTK?3{4QBuuTIz}(M7vmZ1irggY4=uA|Ji>zD zUV;GR2oSeeiOf%!xyv)0){+*?c9S2d88Z@=@p`D_;k~7jre7+sAL9J#12>&^PtGU0 z$gl|vWJz;b1=pWfy~Vgnp4P1#Uh|gH3Ky4eB_!oSdAnY3s2f3NaEu;SjAIOjZQ<*$ zb0$T1<{|y$^lZZLM)sOye9kb->>5lJ!}mzyC=;f3XVKu8+x2A zq!yzZZ*C<$hhOH%2od^GvMf6s$3H`|j=)-&m7Z!|GP|2}C#*{EeXiQ5eEywNKkGgM zv%P&gu>lZ1d`mGb90`!%gfgoOsc^`9=oByzZ^UttpZ4L$eU8e#)`9Ts?N8C|u&n3; z4;VvVGv%OZjh;mN)w)HT5Hg^y+(OPLxnT0 z=$D1M7JWv0#!VY@b#k`k4HhV?EemOE=6WSS7QI4yaYHK}1IO}(vZGf^=D?3LEFF)g zYdgjDnb$5{dq3nkfrurZ^!B)?xPUs|845~7-9Z)N#Y|iSzf`Nr>#hOl{K5=DSXDV~wqJquNVMy_FYe0BfVZATrM?>`b~JMq_e= zp_iqa_#VAuZ_eqoZtPe;$%&`wUmxQ>#^=*?8I3-Y`PMKpwkA}i)scg+4m3BY5D zBDjjm7n-^7a52kQ80<4=x)+J!H9;)CVn#`Ws))+=Jq#yLXx3U6j_)kY)H>i1+Tu# zf1rwJjHaoP_1|}v))$+#Geu+Ha}T2Q(fBKt*4E4-_{{L>`v-(ezAM3wMLEpUKDv{i zpG;ry8FNsp-(U;|ZRJdy;6k>L!y;qpP6dy2^Dxf#V!OidX57X;$ybL^X`HV}O8Fiz z*?xN)j($>^TYI%g%Pr`3wCC!!Kc04HziFkoKsEmP?$6RkPBRq-rOzJ*9LnMZin!n5 z4M}R}c;e3uu69S1Dn$}~kP8kddS3KYZ!n2@XC>5IIT?*nlX=F(prhIKR=s$pUwtZD z23CgzJ3oItXdN<(TlxGnHLh4QL+M!>NO<-VACF?o$zhl-;qk-kJJezO3NTd^n1)S}whTfjh-d-cBe{3_$Y$u>L6AxNGfxY7nI`2bl z%^1ZTRi=uy3RUBQ6KFBz3C`t4P1cX86*YoX=w~%E9_wukBs!dKZ@(oot~M_^+8EUT z>O%ngGcuATv2%N|@&$$qcpgXnX#3#nVKJHf4f$bF#-kY5#b!mfjw>$PvD}==qGw-Z z$~Ojc*d=4QG}9Gqe|*rx!^$<9t$LZNP6xU=*)rZj&O256Ge--qzWc~$EbufEKx>3p z6Puq!+59Zg``PI7;^FU?&UhB9P4f3Qb;l}j+22n#f28h2(wgVJ<2;HBck>!+54Y;R5cA2k_<<-c3@GNck<^h3{GxBlObh+`DpsV9Y z*nrj8ZYOU!cVvQYWza^V#P-$Jr!O3;ak{AU{nSAz%dn$6GMR;ZDH?{fEo#FT|$03ip1NrX1V7`xH*#b%44!`~sjAC^gnPzXe{dLs|O!wHRS+bbUfq+v5snH$@-K3(zgkm)rbD z+zQ|~Dwj6j`RY*diCP$ffLNsvDjnA5J zd^ui<+bix<;c5P6RpBmG(8AomvSfWMOG1anOa3nA3HWB?a8Zv>k((uxbZ?cRH%m3J ziH%^5J<3CM5I9eMf4MzZzx!Y&J?$GtIS#q7-Y7QF?(}?D*zf^l?)MR zu|>#LzZsR>sz+f9R<2od_?mhOAvoDR#K$U>&fAiPX$|8F$1CeeP>wX1Wx^|5`-iR* zE{tuPqPH2#fNVkvdu*D-&xnrqbV8l=5gF+;MD$^v2%@rS`MJY5)jitJ%g+rEifZa4 zQ357i3y77@&c|w(%ma`DDeLRg9XJc+o7>Qvqd~{eXfkQ&Ml3V(!Nj{rE^5CZAFH{a z;n?{0GZiLwjs;G$RsBLe2r)abw#* zYqzJqBr~uW6g{O8+h)#rIf}Vo-F6(uz>X0SIe|mNXJk-FYKdVzq)aBOq9c3u!RUpp zP#z~htp*}ItiMYl<0DEoC*7FDB3o8=rQJgEOt}(szY!@kah~8a%Ov%>1Xk*Iv~E|{ zbqT%znbejX)isBtaO)IbpCQWE%wM*8#a@#tPoQh_%#<|G{#NRn1OBoMl=l7yIU(%9 zX_Dp%2Z53w@|4Qcn*Cp8{{P$pw+@Op5=FFZ({g1G>F4Gsr7-9`{WbIx^33SycXIp`((2%)xk8yq5dnvHT9znqFTmWUlRd^$d;1s!Pl$4mj#GEDtgYSd(-kT48NMCIS{m(_r+`hV> zaD#u|zxX~EIxzW#PhRY!5+~EFAk!c_0la&t*{5Re-9ROy`o>IBAt?=5m-5c@_3a<; z>%+^?`prvVW{V4#ch+no(JNjBn%Blc|MY6=X-{%?T}YeL=JlTUPpN$|TR_|R#wj#Q ze#b9)!>ejm%JgiVw@iOd+E1cw>-(5yF&WEM7-?Hbm_WOC?DK~@s!viL6v<7ac#;ns zSIX{QCet$qhF{B9au0)Zxx_O|h~lIA87KdYW~Cb61`e$}atk;lu&Nwt zEGEejAKz>en94Q27_XV{{cu6HDl0Cyl)Xz^&bpby8Onci3%mq#O91!G6=XvW6{+rX zG-#_{3eE0L)M`F6U9hSICsE02kGt`Q6z)0HmLGZ@FUMB%Zod#)E>L!3DtHzwFtN8~ zH(#3Gk2*T@MT82{-UAXt98qvAyH=MB>hp)h9E1aKkK^h z_+WBq#R2C}nVc(x+JnQF-E2RajfRX9iEJOK$h%y}7Q1Aq{hG4-qJ9w4cQYd~)9WmI z*#MX|qTLAp%Az~e+V#S}@ps(^DQ`Q|M&FE1X0H`p0Yb{@3Ko<)y#Gm@ezCR zh^Kaf4#h$xp*q2>J1tN8{y`3M zjhRZP2g}rP(Kb9WEb<^p@UNdAu~%QYN6BiffOFoTZVkpno?wKBIIa0;ui7V08-XgOs7&b;T(3PtyU;k3o&)Xbd&vdPBT{pP$taSy73XU;X*j z?&f3T1C49wXSGwo6Th`mc5bFmymqc1X4ZSWH+I;>lbHz-LrrAxK|gE}YFo%@g)(2p zkD5!Br`?8A(iO3K6&=!CcdT9fL?ti(;B4$7iMI*=(stHowA)$I>DXxhyeu}O$8sej zxXd(RBU)h$KVVXwPp+VPHbiSd$MuWgY|xY5JBH#m9_cRvp9&f~>x)83Z#i!J3AKLgut)EeEv|h>( zECIW!JjtGm7V3 zK2?TYUeaF=EGxDVY+D)?Gebqcn`ozP%$ZZe29oIxCItHTt#B4pePs+k7ETYw4`em9 zl)nX@>qlZ`=Zw}#PqnukdV43W?=I75Ze;RniBFHl#=C`&oyASZ>pg@iw%wh3KQ!=s zT{NVc7~=f7>;ywXAr)?D-}{cl@fWMTC%;5l_VdUInv$VxfuBuk7P|)UlnfY;Z|h>& z{E<#{sQot(Tw`e4;mceJgxc?HQc{UB_sW_r`v|A!$$H4s=j3U;2gURv|^ z>ZM{1J?r{~?X|jy=^X^bA7eH!WHp!~vJ)t24Bt&Lbb+}i zT+w|;jbn{v&K_P$NV*2znf6V$^Q8|oxU@8Wcx>|2bk5G|!Y~U7-B0E`Ft!Zkhl5I;fYVCaGtk(I)cQDa~oT8{mX$Vw%x-L$Sgzh3fpMCu?%{n%)U0OavZD*f z4z4|>@;;dtbN{XoaI{QY_?V`Pt!GGqhHP2=fdYy@iSOAis4U>*pul%$Og41#VCt)3 zteL3Os$XG=T|rBMUHG=tSBx}|#ptnU7KOmA(ws7)=yR#i)$W@4C6HGrqk~VbXwt?} zPjZ%1TddZybm`kKFk>iF)Im4)yw~uBN=z%tcgTjDqMa7&x6OkKm++g0z*_s1D2e^F z&e*kOEuIIeS=#x-k@ly%6F=<>e?-Fd7JkzVmlGFqMPgg4y0NV z9C`k;;kEH}F_2NWD=!g%I~Ep=SK`^PoSYQtmU}m#X)EK0Y>R{PRb`r6TB21VE=~Dj zbcK(mP*BNz95I>Eq@eP%7c$!h?VKqHdM7-r{h0TWxBYWj8T@-7x8xxq30Fz5!4Lf> ziTNs8n-@8qS&ys>zJ@l*_)vZiWY?8bd%XfgK7ZFaCzz?_&U*D@<(lh%^8te2gL697z69e(}Too7P)n!zsnOsrAPA)Cp&y((uPJ9pg)# z)&D5nZ6OEKIACN8T_fhVZw~`Dn0(GWxY=|I`io`$qBBY%x(y=EWv{3Do+FjG%x19g zK)&|BdkB30-uH6=q7j_4MxBD_|Bd*7hHHI9P<#2UTAHVVRqwV@6aRu{d{|1~G;!8A zs|s4=E$;j?R~+S-_d^W&G5Y~Hf*(S=Z^T{SWe`x}Kc-ULJ9=D&{<`U3k!s*wh%?%I zk>4{teOJ{OK+F0r9_C*sV1^b2vs|?`I}-Y#i9_hdg@pq>_*zpPhe?#Y->_n?k9VFy zIfj0{bBa*-tpFZVg%7Kc3lt=j539Uww&UnJQ=onniW8S7C_;gjl)wBHHqwk16bt3T zs_*6?W={G=JL7?FL673W!OL#Zzr$J2h|PQQolCUffWYzA)9D(uy7Ff}{a-ibp~hm- zJuv-f<{15q{z1}lLW{}rP%_3%gd(pveAlF|bYwd^Q9j*i39V!Sdv4hO=%XdeP+6p{2~itaKJq@`c9J(2nD62Eh%*#|u|$RXYv>OlqN{N14(C z#D!8tsKce5%l-|$I!epV4gzXL3p@2-aB-Do_8S@``^$?$0I)-$qzm29i%^6qpuEa+TU9I7-Cg@c!)OzD z4$_kW6pQ>wX&&7^pBx@U_$1pnNfKE#$vVWn%}-vM9N;6E$I^L`7kjUrK%`U^Kg>fO zys|2(l%dzPBK!N0&iih zdrDs_@^LJ^Q>aU8Ptf|S_6P4A(HL-YI!TO9{CENZ`R#JVVa7@nYldE4Xa$ryjC<#h z<=8i&^$IbZl{RI1y=WKIHuh#U=5bY%H5W|xoG@DtL6Jb0S!a_(#0K9wWuY1Fp@+^` z^!fN6dAmUc6;&-P%f% zaP1pJX%ev5n(3v+ATkJGzrIkZV8HM#!+D-<%qAMUbe@=w>QAfrL9}mFoo8cft5Wc$ ze-l3v8GqmY>?atYlADb4xKP2*j(WU3dU0G;6pDfyHDDS1v5=K z%SKu>*qjkuu?@_#WxSu6Ln#*4_%TBDX1phn+^GXn8LO#`*C_zJ2(*z&ve-`aks?GG zIf36umQFl}7$w#>g1K)!H#Ac$gY>z@ieqBYJ>-_$ zfiK=J2oH#dDkomDW}!4=82{Y^_)8pAP&?&QPDRw8VOO~q-u7)m8@M8oig_{n;J=!; zb^Z>{to4tJTTc>~^lHpAmL~77rHRi}#UPuSx{#@qtKPBn0$wZGQO5)ugrcpnPiK?W z36H&G-3{jIBWcny040dLfyW9`Ea0+F=22-jdtbUP(V};MmHyeERl<2|`3v?|S^E1t=XDkj}W<|r!PhnyhWX4 zf7z{)?aM-i70%|vYhFi=QfVwMf61-oDD=_i4e5k z_l344@R>^`qN7@~s{0^nmSB&Phe*1hw-->4ZIkrvzy~WwKhG{qVdCgk6@C$Un+`lM z(Kx)hN&|MJ?(VKF>{OqlP2a$*t}L2L%k z2E&gE4CKMOH5V2X$G7h+0d0aN&tv>H{iW^8ZcDPKA@wLdnsIDlrOMTBNO5e{a{Tau z-w2g@^#tAQEZLi7*USGOYb(!L|$0*44e z6u+;z_}n$rJr1Z0aivKmLk~Iaa1LbF_M{LEhon;=GV>x@vYB{%of~}9rEMD7=lw} znFy7CtgNXLNaz1k+O(gwCDWKpRmEHi3%bV~&TSP#= zV(`R~H^)8-TOVcYkNs1RZbfFxf$Wy}%DmWr&f82?tVAO@jWS zmj9fIQPNl>trPxN$@j>E3u})GdtqsA!WKU<;BkP^S67@+obHf|ZeNE5zJ=}QpPqRY z3=&?W`a4VA5&{Dyt6E-Vy#f@k7`RWe(TUw{O-Ony*QGgnFS=9No(U(-Kt`G_aiX-Szrt_CyIR=@Q@I$Kb;-k3jV4DN|NWA3} zb?QeLZjBl<90m@W53k*SMf0W;nPW%g2ix~3i&`z=q>{1;V3GAKA~L~Ip&vlp$3kMR_Z_SkAh zJc~Z*hnp(&u9NH>pACsZQA`a?1UV)Itp*257Ss1nUq&1k{?M;HYOtSaG*R1DAEBov zM>2Wf=ki}wv)1V^{p2O9|rVRl_eKsV#I#?Bn?^hB}ELc!>U^A1Tm%G-dMrC*kDkrKAWVx%! zlqA=X{`rSgWlBk!uZOS)`)>DB^{^Wjl|2ylRb-`dzF=!V`%9V)b^=e*7%!4s6V=yG zb&5E*n65n-CWO6(=njZ=jH$Tq{}G!O-}w++D+l01igozLuex<7i&y?TW9AQaEd>`? zGJ&cEnDUf~*lNUxu>Ab)))!mDeXpLq5>&L1If{I2fIrGC)Jdq>WkP^8TtH5o{s#{? zW3%1*aqppc(3dLw@tl9GP57D%X6demyuc-9BQQRr#@idgU;caxy(qVO#zUa18hv!M zS(KkRN0`a2+aB7y+UvNk{L;&gT>-;w*beEpHaH?CJdvY_89DvtjOv44q;G=H%kn1} z+r!!DO~_arDJn%FNzO~`1mS*n9^w=jg#y`ia$=}K6b`eH!j=rkGDygu)!>oN!%hD} zD2urb!opPDe-2%B%ugU5Xs`w!WL`Oy?HG<1x8|K;IlioFc)Im@qax`;u*P`_ZzCzV zjy!K4I6#|Y+Rn0FWcMWO% z7ur2@%VLgcftUW8wqlh;QIaDL!qLD+bB$^v|5Q8IoSk_pG9e`l*#ji0_e4%4hVmqM zWcM@i&9yed;mN|oQ-g^w1!X7Q!+FR~k$e5EczBCX^)$!$-&s#blkt_>FwsfgTSyE` z-~;qK{te0hI6bJb-pzxi7r(hwp&Kw?aqRQ_KNVxmeu~WdG)HSraM;@;`~bLK zv~|tlgi}t75CocE_n}PjO_Y8&+uhMFDjLk&ftoakl_9q#&CsLC!;1>iYYR!ctWAmk+M z^Z+n0kA;iJ!LMU;`yIwUAna@PkU_{akB_f5VH2J$E32RK}SD*!;^Yf-17e(#mjyX0<>@*Gf6vZ z&tiaQ*2ukr53WBMTF3A83>Ql^%ubE!f7k()AG%vmKmoiLBp}$3Jz>8&)DiWo;4Y=R z`KG1x>4-=dZkt3a_In+8h1Xl}_N)90Q@4+!!L@G;6H{{|Js*AV@rSG+7S)YSoCypV zoUyl%Qh-4>9oioarw@N`*;Isp#6Jt4pFKdZ4}yKjFIoNP=KLy~;uG}~R&eJ(CLyJN z7cTg^_Q-j#N`3m;1d%eCbwOmm&h2FbR*euYfSJ85;h5rSRG3yLW_l!HzOiqAmYe9* z?83$2Al*s!Z%fY`ev@{nrxF$AP_T=0rT@k;6!60hV*gN~f%A_gt}u&SD3oWDYvB*wpRC7FWkF*+__)H}V7YsQ1s>ZUpbkN>OJvS!cHPkgaE<8}2Cnr*NOAO^! z8?{n4Zt{besM@rhai8X>i&jF?qQ7J{wO(+_pXQo@ z1iF6K3c9@qhe2u%>md{7`+1`nKqSrE|}qxf`F9>TOJ6gB{=C z0=g)EaIt%};K3}@LyD2h!xgK(kB^u*j}Ii6onWD4W?#^Y=nnX)6k^w3 z)WqUYpHTjS<5eEB!G#bzk-+0JuWzC|BGxIP7!$CB*piVzWGgyX7cuX#PFsuW%#qNZhmYAiVpi9YC(>TMA?W%h zFIv>~%~T5)xP7B|(nkjJGBw#g7$VtY>}+~7`e@kK*&-UTLqV{9a|SmQA9Z?)>uunOr;j&qeCm3UkzwG!DpmEyj}w$NEXrChUmZ zgvbTqtBGsjeZ4d9X<`&EVsR75=9R5(0%|Iv&9|=C7KJF9JfG8j#RNc?dtOBQx=1`1 zGDH4G(&sWNBz9j3nGBs{;VI{|*4fo$_hNcqY~oe%5vM*h+o(_S9vF5A?>@028M%Ss zZuovQeT?)a#Sr5fMp&^1!+hMroOS`!zjRn(z?g`Q3?5Rd`<|parccf6L z_wqt=F$6G%p{z5mcnSmz#+;}|>+l&h$Ns)srLfc(R|omU*;|LxMvj8^p5YrTt%a|$ z!=RLsul!a~I5`}W0(45lI8oZf#J$}SWL{OQt`On{MJRKEd?to2&EO41nnd|OYa8sf zheuRP#2plMgs)SltC1I%aAW>WsS+^o84Ix5JYf>~C&C$opsyohTMAYsl5rC%=4sYd z4gG-28S4!UAH`&QAe&h<4vJ{&7gIAgurnEv*bcf)iVR+p>poe|GWa4nmwUWauGt#bVh{wUIGsnp;x5Luy5+AToh9@xiNcD7!k*Q_w#0 zOC+?s+bfDLGa7AIU_O+gw<%lDf`BkxWwj*^eG-!Wj{R>g`~a4vM~=>h|5saQ!53A# z_H8La8UZN*0VPGch9M;c=~7xmx}}B=rKChax_giTq`MR(1{gXA5MhSyu4i%Id++Do z@B4g$S#$l?TG#bI&*M1P>ObuqLo1^q6{b|dUZZfFgPsMMSTAq0>aJmx2@ii5plXt54NW6efx6&8>km!?h3=W4M@vO z)vJBQGz}TC3}YTLahjwTzf;O3rVm$6VoeoKVviQMpHF(<^ASTFz!TCtEzeZ4AnIL0 z--yQ7M>)$09k$(s*V;3sip3WjisWMAgmb=j(!fO7j(=I7x89 zOCl^A8a2q~+6YZ(D@CU*FNwrE3e4ThpzYR;Ns%c2)K~l#%#FYA*F2bA8|!6{>PuiU zsOg)6J;K`~ufiE$KHCHVtWu??H@r*0*?tF>>gL;-E(#HS1ce%lT{`4uHY;)(X zk!FkiTr%3OS=BLk=xF`tw?Y)$PLN2tczd-^eyo@bq2$_Kn#dIa)!~Eg2feNvY^tM! zW9?!i{0%FzHQ@{!$={Y4JD$4C(JD09}UC?Msj&pi-by({YGrW3vq_ zjuIXod<{$26bjK)(4F9C?+CW7rKeU8tW~b&3kJDI2`d+UWxD_F&S&D+v+lp`T6ml@ z{b#6Pm9dxUzs`dPa7>x_yT>F=0_#o&IqrgUbav~wcVn0 zE|qDNu-lzbs?3R1xEz}=97TQCWBW0{jur|@;wW%Msvi5cEhk7!y8 zL9Fa5B`PcxIdJ^h4_9XNs=*zQivArsiMS5adxx;R{P*39WDnFmR z=l5o->o=a|9X!<#z<_QCTq}(g5+Q_Y);u62a#3vS$MEUFNa}cS5b#zKB%;&D5>vN*oqkAi3h)@$Pw5F6=$am#>t> z^qi37VJIz9n2t%g3A#q!U|pxy)Zsc7JD;+jOW0VCVO_Jq^e~@OkmlJyxAAPGI4mgC~Ck z1A}fz%l~DLKi>1@$t)!u@=|luWLo-f^6Ynwivu{SxP<$~L|Gx6J(n#km7wwuoH6{p z2ea}>I(oEWweODT3FF{$C3#=v&%3DWVUd%4NbV+mw7WT(sVwPzYLo7xIg4CE9?}Av zmu|nC8%DZI7idMq6RL4EGY3O4=DdHYWOsNW!)k~EJ`ouB%8V_VyLN<@A1%Gz3y^zm zNv`Ubh#sTPRkNH+k_Kx;p~(aq&GPY%reuFQ1hm1-Kb*7O?3jJC3*q|}{J9+IHgHJ+r}=QBb5%&P3ifBoQWEa?hdMQ6>?+!z3n2gZUw zJMYqRYt&L{zVe4?v$ATa;2UP;1n=0qlj;x^U-qt?=q`7`0>cP@Du#1#bt^3DnvN4~S+KTFHp zm^->$bgp3_@fJ-!;X#;+hZnlkxafIyje1!GpB3~T3i&eovKoec$FR(c=v?Ybk;6Lc z*uD_-nP&WsC{Y}9!bemrL@h-5#T9!Ab-i%L$iv23w`-xx8e&=RUT8a`Kv*Jin|D@b zBW7ZR$?JL7D7#);sZzE0Q3Gd_=&PqovbI80!s-bk_+_dWaK^iL7{q5xcTfgBjWYJq z4Z?e70=ZF}XZqMPVddroD`1)I+dpXi%T+Gqy#i098RdOu&2INUzPVOY6@|+eqC%6M zsYrD}PU++ciJqy06iaYBB|hy2zYAsgd$U}^lIWGGVB4jSF`=&vml>8ZZZe2q8NT`v zNGl%v9^#;m%QtNu3?m0Z5ug4r+unR$N+da*K9#JUtG9uid`P41rp|N~I<8pKRX4VP z40r6>Q?d+2qMmSmO^eoep68{|Q-!s=ZU$Zo`TcsaW`bMs&{;_UgS<~tRzlrPS^k_B zPu5p~W^#G6Ky3+k<;=h~1C!(jA#9%!YysmHYwzzhq~-jD{A1={KTH!B(n6vULbTC$ zEoZUK|JD3u!(}s%q3Cqe)aTq~II`PtT}_hA@ZhIEEVy&HoqD!Je-2$N?lxmYM&RMv z5$urT)qy1QbYfh-pf@7GyZcak(kW_T;f&uWiifOh#)jez=-rU?SYasQ`fBRUGkbr& znXavm-(xj~1fIcy9{sQaEML@kqMgEQk%ee!>vOk^(o}OQsGBA*R%U#V=<*ID%9aWG z+hd1)E_-V%X8f*w79~z*Eqy83G}6Srr)NDoP!V_aFdWu8gR}FDI`iS%>O}v!;L@!t z(O6vCQ1rUHK+xS~5NVlLRZozDL-^nWU?CHTv)&#$g-kB~gM8Nqc&+;c-OCY)i z1nfZjMvUnCj=j!9eKi{pz z&^RGm_gXi>l6mp%v3wXA=sO5(Pp#TCd=_LGsJ}Y!1eATS7Ie*5n(uP2xxnNo3h4k@ znI$3j>&5w1(IDp};lTR#jp$;pgV-CvXd}y=`2}xrYbbgloPZIzZ5SVY5RxN{GANC+ zWL6zki?+Q=Kib@LF$<%`^1eE888@Jc652juL44Zk7BcJ)rC{N6rU$zIct>FO@}NhL z^=^rvtyJ`)b8rl^8w7iO>bvWD@a-PvQ1@kfv!>%fA}oZko&3LP;s%@`t)U%NJ9dEMo^_4R?W3?QOg4QZe`Ky?dX51apgQ zoc=E*4d5BKAa!*EegvJmRKw4ZdPVR*C!zfCSq8OsKvIv=x9A74l}EKy*Uo2Un)_*c zL=UDLz$?=nf+c&8T{*7F7Y+?9gr%kNZ-eyH62)XOIItXS>TnH1f`+$b8x zIOU|wT58pK%@<1-V(Kt?lJ3~f;8m;Ft*`yDVjabe^_9jok&;eA0`K%MMY*`!-hp2w z+jP7-P(E2j(L4_M0Oy?A#_x~ocX`@VjT)EWoc|j?9!T0zHAr$$r2{!+_d6Nut%Z&= z6gJz52aP;_`9+0(p>n%tta1@jRnTkczmbO1M5PhC;4}OqfNdnij%uLB``_KOm^Har z@glz( zCPu!tqi754UDBYL5WCVatnO!|Ionm&5=U!=C|1ggW@-!CbS1w~rq`8DIEi$+G5-c( zT3E!Ems%iO%#;i!$?r+vs*{c;+Pa$k*=@cH{ep*;Ifor1B*j0%?~nP~xXnD=&-pb?kh(Q)?U^ zJW;p(VK

$r5cK@d+AWoWbd@A7|;5rYevM&;By~A(B$R?uD_gw%2J|Sjp;XY66P` zarq_Ipq=Z=d1By&lSm%D-_6d6px=g@@<>))x2!iQ|aG^6!)AoVCaG+Sws^{U1yDin0 zSWB4y{598A<*fMcft-V|;)PECz6*t%VJ{D>Mv;@2zU;0GFMvfKbM;q0$~G78KjzLm z7MRt}`yI`0HIr^&^MzGOc^>Ma-Mt7fW5t31MwqkUdF99;52=i?IW_IF86J^=D(vkb z0@kW@vq}zdcpHBi`qup$f)2F-An0?Gr2a`BZJ?_)x@w-5h+)T976PrDB9KGXm`Mr# zx$5b;e1L5XY&Dcnmx%7eqnYw?<-l8lIPVsWwlVX2Sn= zvTUyH3pA=smM+F#qrdeQ1rlbMFK%XuG^dJ10DVl|*`4OE2gT|~l6_t8gUuV4A~G3{ z+Z(Xl4m&kD6Z0r22aGh_i*r8N>Z;}hfG+b!9t>)|<|2aj(r8&`Kk-Q_c7G6ge44B# z@^vob%&{+>Qvg0IHe^H|KezV26e<|w`VTT$XNj87ju@tScLFnX|3?8i=grgf$-5sL zZ%&gJg0my}VGjK@1qr=cBb~wod4#Bas;{NC7EM0zhH};6oDir8)O1>Mpb#3MMxq(^ z=6DU;1QuUAI(y4SC&bCb|CoufD^aXrSgpJ3NdJ`M3(Y8X`%6ss)^c)Pp&9~)cs1JV z{E=*sJ*tmrXT>@02jS6<%x68u?B0BpLH@&Yr}9#$7;FI`i9dl(oPT>b$j%4&4mimS zKjCm3B&HM}X5*656lpQWN+Qgs+VSICXT>en>Jpb3CpCG=j@_hgtU=Gv=v(YfEoF3^ zv;L?`n@Js~T$9N9;KO9y+7#=Imn~aHqwgo$xzYAZVOEgMamIX6s$Aa+rxlEkJ*%|& zjH7uIZ1Zq*Ib{ArzNJ!zypUgW6WaLPbttR);?QxWj0#Ts2P{aqKV)l&OC5|mbpH%R zFn?v*;vxi%o?@0cbw(D)y+Z19Vh$RdukqTxOdE?qj7P#z)^&=g>i0A!eUSIHylxS|~|13#0| zjvH(}>e&B_?6pXL<2%e6qgM2Mo)|HaR0nl$yQI1d^!vkT`_#Hmf6k+lKlS+1^||Lw z-egpvs-j2VEPvu&sKVoX_F z++#C4Unw5C^9p8U18X_@v6?)TA+AWn|1Mk5W@I>moX>QrruOQe;_vjR5i``dNmyb( z+$UL%g82h(&%*&&)s6VhVT=G5o@^&`pDR2?fX!j5B4`3;YzN~z-S6jFgEegf_7_zS z!vSC!D_Zn_Er9Blj?}v#Tx7QXSK);y8sg)EE~o&)joiXW0H}Kb@@OF}GtRu<$^79`7^AnmRin%D-IlY}v;+ws59Oq1 z8T;6=j8cyNbnuV&$cq7Iw=cUxU~{IXbblL@Y?IG0idN{;Oszxd$Aw0s4*Z8OJq zN42$3dkIbH39t@Qj);ad!IU$=3|f5~ z_`x7-*MT?F-z}up5U+FK3q6~b6L&B@izq1>#TRr^sw42Up_+Us%UH%hA&hgePSFCG$AOa%Ix^21!&Y9_0LW8z=$IIW^{L-0Qs_MksXWE_8`Tz%pMx zvKhtE`5v%BIeuxtmMh&ClILhvbbffX3#X~SkT9E%y`>w2Bndxu^}l(lIw zBZfwRwQov1h%Ks+B;Qr58RBxj({}Tg`gJuOmM_WMs@uQ$=yKSn(PL|!L+=~4Bqva+ z_#@`AnT%S6r`e_uG0$lXeWK(VLoqmtw?fDHeC&Mi&(K@0j=TgDV5^tpMfvRg+PZe<6syDi=fj6VQ zf$J(71Rg>E-9JNF3)(OvF%q8wPUDJ;p*WT>5N;97xT$aiVEo!#gkWmB8sgDhKKhv$ zSa;c3I>!ywJA!c}7=3qT5?ru&vF97z4=O}9mY|I&z~en4d?-2$DAm+?%88sD%jv*~ z0CnJzk+?cP5@>U0n=*%)wzcwmv=#&RFz|MmS+6R0m@Ivz?f}Sd7=)IF^GK$cH++Gv_vl;zafMyRchEh7}c9s%0)A4@~r@ZxCgR_-* zweLp!b8H$gy8B)@$B)4c!Heq zKpBrH!;VHN^{cJ&Q+7(1(ANwv?j*%;WY?fgA45=(*J}tHj}4z zd;;>$`3)>Yz=q2P(2SvjN1&qWy@F`L^^9TOwDXBwVi$D&dt{$rS+C&CynEfu^_2I$3;LVClb;KDXNAHw?O2O}r|qFOOW&o8 zCGFYCivv0)iq^l9pU#f%E~;Nj9RQq)^5$bl&X6b@hp?JMS+AWyc~xcM97>*V+3`-9 z`9N$cq&M~$z94B)=ZN>}xqtw;YBg*blxVqNcTpTrcAX#?(X^l|WUAXZagthEiI`U7 zy--F&GIS&Pxvj63j;ehZ-rE`?B{J9lJ5qk&4+d;p-EMAb{-VBb&%jX|W8B&$OR+?^ zk>T*Tvu);i{~0}{ zU=1v5^s7a?yvJFUhiiT6@Pc1jf_9o9_q7CmbP-QhA(sd&c>!Co{$SA~TX$No`t1U~ z?Zrz&=#{aqjH`AfKaO3Koh>#bhq5mE@`;qAUf9yX$GI-<4k{u-B7ia$P-4q|xslFMjg! zOOzudN}4t3I5N^bX9&mQ^@8DLW(qSzBNrxFpE?8Im52Z)BPTHoIDLFzqHCv#$ciYRV$K^u{eNiML0%nfck6eal~^BYDo$-|b(F z3AH=zwcCRmH7OsbXj$X}p%~)8sA~+yR#)@Y;$9XJaYSZw_tddFu|4l2jo0EhbVjZ;?DrbILwa?09m@sn>)!g@-XN#8;BFc=*m}6Wi%%h62%?LAOFlzPJ z_j5uG2?vZcc5R@?8xX3*r$pOXI#{_ZF=F?glrPGhiF=4*+lj*pLYk5G)Sg&Oa{i@0=jGP0Y7) z?rLgsw%#c~?T%Fu6-tUH-s%HS6cRN07lE9cH@O`U{hqK_hN_&#B`QwDHFYS5^5WI- zSt-h9m*qptHc`eFfL}xm)(|GNNux}H=V?xNrH{Vl14zF2g9lemao=S`O~)MFBle9- zS4tH^zEk98317*L)~Wz{bk!(}XOnuf6{@p_U|otqS)<9>!Tk=&+)!(4%bRxKC*(2J&pN;Dc^riCrRWwVd!)8gBLgOYa`K=EKR%FVujXB0ZlD z$;S6JkfwqlXX=-Z-<91ISk5CTKG?-TjYK|z>PKAcu0BJ5EUuq}A{q)jo z>%h7HgEP6k2@dF3J4szLzE`!_D`ge>2$N+!MuTLDV07Lb&+wf}q9#q>y6LN;Po{eL z)3cUbsO)#gU)Fsn(EqZYB{-!%@O`^8go!UA@(<*jb?p^n7bqQkQ!e;-;Q&hQNbyT2@O*qz(F&HHBNR4K>|V@p?Y_tZ@>%(2;ITYN=m{m1 zS9*sk^)@Z3efYAKzuTd$EWl9}M}SHvgX_laGz?I-Zc*d4ifR-(J^m+9MbL@3XC8`~ zeXu#`=Ctk8f)DkxIxgWP+o#2}W;nC{sdyXVZ7zDZ4p&lnbh&>6#h{WM?#20<>jEJM z$y$Bm(+8sl8XJjckT`9Q7v|9CetmSU8^d~aqXD#SRwpI-sQbKNg+PTQJ6F+-vArnG%Q7j+D-#jqWe)AW4(GN&vPtd6-#X=VYoqgadAUwc4E9+Ep`@B3#5t zvGuxNFP?UvpmwpLWT*ra5i#fiP*#!Bll%|QBF#7TYUunb4zbS7mPw$NLhsH<&;2HM zEI%!3e8tse(P?tg)?ajOd3*FW-3@u@l^4Yb3i_A$EXT%^p|eo_&yt1X>HfoEq=BQ3 z*t%$G9;eM#M?Kb-=X9%u&N~QMqtk$&pe3AIIf1g(Fn34~iS7nO9dg#jH3rt!)ac|wp~PlT`;Ln}uk(fJf_hjJec{DEvgl#RRPZVdWZ0SaTJp56Vd4&46;ils zlwG(7;QTeSqMD0KV$T%~(@baBdzdKP@CT)BFpc}2|L|;M2&RdpiMWt_4CaRw-|xJ` zZC}N^&T0(!(#n~F4YmQ_Kg2vSdRjm5S6Re8U^510iLL+)SY3AyLi3X%34} zuxhK9wj(Joh$~gp>d!J9xiu7^`%C-8Zq5K-=H5qad)MQe?2lK0->1CYTT@?aXc>y0 znDI=x-CG5xdo2=(U_}K_Vk*GKs0wniNx&4rVjiL_^`3F%jVu_BLqJ-|8&K{vh6XDblWCP?AKNEN(X{^ z%y%Mc|1i72A!}j8bc|Z+RCat@(Dsx5HCJKHkQvQ13cAgI``6MQOA3B~eceLbZu>ga zC*}(ag+^*;h?6#qh;mSC%4j1?zQ2)TZ+0OO;Tl)*LlGQeW!vCwC8F8oMhON9^0+q_8v>u_ z_0I||6f(sU=Xgtv<(XcO(sd^CdnvmEfSkwYY+oO-y?n{0F`Y z!abwrtVN9zxWvrv;!?F1oatYkl+8wQw@hsbbZEZJ zI4*oy!&s=6X|P4rX=TLj`z)>MTZ-&W`W?p^K*rXH*nFZ>gH6Khn7-h7?pW8+@HW4T z?xZcpmJHaDa*ioyv?u$Fbq!1C=iW^D@7ez>(aKbY_C2t^xR$nwVFFqIQXJLjP{CPS zxiHb2oJ*oYMZOt)p5!HtDyfW{_@H$KTj#UYZvA^nGfdFQGQg}L9z=rBc?rTl1H0Ol zu?Z5jPEnFaNJq%-J&Sm3ZiVX2=)36L>%^OijvzlY$PGCNV4b#O0 zlb?m6uq2k+9B+i6q_Szu`^N{3S)~_E7Aap36~;xzB!Xt1%yeaVbZ}bl(%dD$o{4d! zH9c+m+IU8XHtDPiWMzaLPaMgyiS6@J+;)<>$cIChu)jWZa0&v|Zr+xhj8zViXIKse zi9I@cG}kJwsoYdVC_0+RIFeQevsseru-Cl(xckj=DORwOk*d7+G~q zcW%4&ijxNs6KW=ob{=M$YQ}fl++D>53rZi|%kCn0l*Nmrz-cJ2^#fO<83VCgif5T- z&iD0d2G<;7OaxMe>F4FRX3O%;=VLj_r>G!{z+6HXyZN@^0hDDb$5d&Xw+vt(H8^@9cJoOI>+d{v};D-nDL$ zw_=64u)omx#``w9=lPC{EG`l!N-2bgE7=bCV3JLGsq;m!B@;x+`u?vhJ}GzTlu}Ji zS3EF3Nf6N6p|&A~Sw|TYrR%&PQO%>DqUwNm`8*W|2y%k=3iWTls3eNFig6#?^zW+J d6w|pB``(fS5oTKk@GYo2O7d!QFxfZ3{{yDA@>~D_ literal 0 HcmV?d00001