From c1ec85004ad655eeacfc41edca33d860c3faa8fc Mon Sep 17 00:00:00 2001
From: Alireza Sadraii Rad <sadraiiali@gmail.com>
Date: Mon, 22 Apr 2024 23:41:17 +0200
Subject: [PATCH 01/11] add ci/cd build docker image

---
 .github/workflows/main.yml             |  95 ++++++++++
 utils/appimage/Dockerfile.builder-1804 |  36 ++++
 utils/appimage/Dockerfile.builder-2004 |  30 ++++
 utils/appimage/Dockerfile.builder-2404 |  24 +++
 utils/appimage/build_appimage.sh       |  39 ++++
 utils/appimage/build_code.sh           |   8 +
 utils/appimage/rcssserver.desktop      |  14 ++
 utils/appimage/rcssserver.png          | Bin 0 -> 25317 bytes
 utils/docker/Dockerfile                |  59 ++++++
 utils/docker/README.md                 |  43 +++++
 utils/docker/docker-entrypoint.sh      | 237 +++++++++++++++++++++++++
 11 files changed, 585 insertions(+)
 create mode 100644 .github/workflows/main.yml
 create mode 100644 utils/appimage/Dockerfile.builder-1804
 create mode 100644 utils/appimage/Dockerfile.builder-2004
 create mode 100644 utils/appimage/Dockerfile.builder-2404
 create mode 100755 utils/appimage/build_appimage.sh
 create mode 100755 utils/appimage/build_code.sh
 create mode 100644 utils/appimage/rcssserver.desktop
 create mode 100644 utils/appimage/rcssserver.png
 create mode 100644 utils/docker/Dockerfile
 create mode 100644 utils/docker/README.md
 create mode 100755 utils/docker/docker-entrypoint.sh

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
new file mode 100644
index 00000000..081b8581
--- /dev/null
+++ b/.github/workflows/main.yml
@@ -0,0 +1,95 @@
+name: ci
+
+on:
+  push:
+    branches:
+      - "master"
+    tags:
+      - "*"
+
+env:
+  BASE_IMAGE: crosslanguagesoccerframework/rcssserver
+  BASE_TAG: latest
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    name: Build & Push Docker
+    if: startsWith(github.ref, 'refs/tags/')
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      
+      - name: Find CMakeLists.txt version
+        id: cmake_version
+        run: |
+          cmake_version=$(grep -oP 'project\(.* VERSION \K[0-9]+\.[0-9]+\.[0-9]+' CMakeLists.txt)
+          echo "::set-output name=version::${cmake_version}"
+        
+      
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Build and push RCSSServer
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: ./utils/docker/Dockerfile
+          push: true
+          tags: "${{ env.BASE_IMAGE }}:latest,${{ env.BASE_IMAGE }}:ubuntu-24-${{ github.ref_name }}-${{ steps.cmake_version.outputs.version }}"
+
+      - name: Docker Hub Description
+        uses: peter-evans/dockerhub-description@v4
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+          repository: ${{ env.BASE_IMAGE }}
+          readme-filepath: utils/docker/README.md
+          short-description: "RoboCup Soccer Simulator Server"
+
+  app-image:
+    runs-on: ubuntu-latest
+    name: Build AppImage
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Create release folder
+        run: |
+          mkdir -p ${{ github.workspace }}/artifact
+
+      # ------------------------------------------- Ubuntu 20.04 AppImage
+      - name: Prepare builder image for 20.04
+        run: |
+          docker build -t builder-image:2004 -f ./utils/appimage/Dockerfile.builder-2004 .
+
+      - name: Build app image on 20.04
+        run: |
+          docker run --privileged --name builder-2004 \
+            builder-image:2004 /rcssserver/utils/appimage/build_appimage.sh
+          docker cp builder-2004:/rcssserver-x86_64.AppImage ${{ github.workspace }}/artifact/rcssserver-x86_64-2004.AppImage
+
+      # ------------------------------------------- Artifact
+      - name: Upload Artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: rcssserver-x86_64
+          path: ${{ github.workspace }}/artifact/*
+          retention-days: 5
+
+      # ------------------------------------------- Release
+      - uses: ncipollo/release-action@v1
+        if: startsWith(github.ref, 'refs/tags/')
+        with:
+          artifacts: "${{ github.workspace }}/artifact/*"
+          token: ${{ secrets.GITHUB_TOKEN }}
+          # tag text is like "v1.2.3" so we need to remove the "v" from the tag
+          tag: "${{ github.ref_name }}"
diff --git a/utils/appimage/Dockerfile.builder-1804 b/utils/appimage/Dockerfile.builder-1804
new file mode 100644
index 00000000..c34733fc
--- /dev/null
+++ b/utils/appimage/Dockerfile.builder-1804
@@ -0,0 +1,36 @@
+FROM ubuntu:18.04
+
+COPY . /rcssserver
+
+RUN apt-get clean && apt-get update --allow-insecure-repositories && \
+    DEBIAN_FRONTEND="noninteractive" apt-get -y install \
+    tzdata \
+    gcc \
+    g++ \
+    wget \
+    libfl-dev \
+    flex \
+    bison \
+    libboost-all-dev \
+    automake \
+    make \
+    cmake \
+    iputils-ping \
+    build-essential \
+    libtool \
+    fuse \
+    libfuse-dev \
+    zlib1g-dev
+
+RUN cd /rcssserver && \
+    find . -type f -name "*.cpp" -exec sed -i 's/#include <filesystem>/#include <experimental\/filesystem>/g' {} \; && \
+    find . -type f -name "*.h" -exec sed -i 's/#include <filesystem>/#include <experimental\/filesystem>/g' {} \; && \
+    find . -type f -name "*.hpp" -exec sed -i 's/#include <filesystem>/#include <experimental\/filesystem>/g' {} \; && \
+    find . -type f -name "*.cpp" -exec sed -i 's/std::filesystem/std::experimental::filesystem/g' {} \; && \
+    find . -type f -name "*.h" -exec sed -i 's/std::filesystem/std::experimental::filesystem/g' {} \; && \
+    find . -type f -name "*.hpp" -exec sed -i 's/std::filesystem/std::experimental::filesystem/g' {} \; && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make && \
+    cd ..
\ No newline at end of file
diff --git a/utils/appimage/Dockerfile.builder-2004 b/utils/appimage/Dockerfile.builder-2004
new file mode 100644
index 00000000..91035f26
--- /dev/null
+++ b/utils/appimage/Dockerfile.builder-2004
@@ -0,0 +1,30 @@
+FROM ubuntu:20.04
+
+COPY . /rcssserver
+
+RUN apt-get clean && apt-get update --allow-insecure-repositories && \
+    DEBIAN_FRONTEND="noninteractive" apt-get -y install \
+    tzdata \
+    gcc \
+    g++ \
+    wget \
+    libfl-dev \
+    flex \
+    bison \
+    libboost-all-dev \
+    automake \
+    make \
+    cmake \
+    iputils-ping \
+    build-essential \
+    libtool \
+    fuse \
+    libfuse-dev \
+    zlib1g-dev
+
+RUN cd /rcssserver && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make && \
+    cd ..
diff --git a/utils/appimage/Dockerfile.builder-2404 b/utils/appimage/Dockerfile.builder-2404
new file mode 100644
index 00000000..73de5c1d
--- /dev/null
+++ b/utils/appimage/Dockerfile.builder-2404
@@ -0,0 +1,24 @@
+FROM ubuntu:24.04
+
+COPY . /rcssserver
+
+RUN apt-get clean && apt-get update --allow-insecure-repositories && \
+    DEBIAN_FRONTEND="noninteractive" apt-get -y install \
+    tzdata \
+    gcc \
+    g++ \
+    wget \
+    libfl-dev \
+    flex \
+    bison \
+    libboost-all-dev \
+    automake \
+    make \
+    cmake \
+    iputils-ping \
+    build-essential \
+    libtool \
+    fuse \
+    libfuse-dev
+
+RUN cd /rcssserver && ./utils/appimage/build_code.sh
\ No newline at end of file
diff --git a/utils/appimage/build_appimage.sh b/utils/appimage/build_appimage.sh
new file mode 100755
index 00000000..6bd2b776
--- /dev/null
+++ b/utils/appimage/build_appimage.sh
@@ -0,0 +1,39 @@
+#!/bin/bash
+set -e
+
+wget -c "https://github.com/linuxdeploy/linuxdeploy/releases/download/continuous/linuxdeploy-x86_64.AppImage" -O linuxdeploy-x86_64.AppImage
+chmod +x linuxdeploy-x86_64.AppImage
+mkdir rcssserver-x86_64
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+BUILD_PWD="${SCRIPT_DIR}/../../build"
+APP_IMAGE_DIR="${SCRIPT_DIR}"
+
+
+# find libc and libstdc++ libz dependencies
+LIBSTDCPP_PATH=$(ldd $BUILD_PWD/rcssserver | grep libstdc++ | awk '{ print $3 }')
+LIBZ_PATH=$(ldd $BUILD_PWD/rcssserver | grep libz.so | awk '{ print $3 }')
+LIBRCSSCLANGPARSER_PATH=$(ldd $BUILD_PWD/rcssserver | grep librcssclangparser.so | awk '{ print $3 }')
+LIBRCSSCONFPARSER_PATH=$(ldd $BUILD_PWD/rcssserver | grep librcssconfparser.so | awk '{ print $3 }')
+LIBRCSSGZ_PATH=$(ldd $BUILD_PWD/rcssserver | grep librcssgz.so | awk '{ print $3 }')
+LIBRCSSNET_PATH=$(ldd $BUILD_PWD/rcssserver | grep librcssnet.so | awk '{ print $3 }')
+
+echo "LIBSTDCPP_PATH=" $LIBSTDCPP_PATH
+echo "LIBZ_PATH=" $LIBZ_PATH
+echo "LIBRCSSCLANGPARSER_PATH=" $LIBRCSSCLANGPARSER_PATH
+echo "LIBRCSSCONFPARSER_PATH=" $LIBRCSSCONFPARSER_PATH
+echo "LIBRCSSGZ_PATH=" $LIBRCSSGZ_PATH
+echo "LIBRCSSNET_PATH=" $LIBRCSSNET_PATH
+
+./linuxdeploy-x86_64.AppImage --appdir ./rcssserver-x86_64 \
+                                -e $BUILD_PWD/rcssserver \
+                                -l $LIBRCSSCLANGPARSER_PATH \
+                                -l $LIBRCSSCONFPARSER_PATH \
+                                -l $LIBRCSSGZ_PATH \
+                                -l $LIBRCSSNET_PATH \
+                                -l $LIBSTDCPP_PATH \
+                                -l $LIBZ_PATH \
+                                -d $APP_IMAGE_DIR/rcssserver.desktop \
+                                -i $APP_IMAGE_DIR/rcssserver.png \
+                                --output appimage 
+echo "App Image Created."
diff --git a/utils/appimage/build_code.sh b/utils/appimage/build_code.sh
new file mode 100755
index 00000000..01236968
--- /dev/null
+++ b/utils/appimage/build_code.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+set -e
+
+mkdir build
+cd build
+cmake -DCMAKE_CXX_STANDARD=17 ..
+make
+cd ..
\ No newline at end of file
diff --git a/utils/appimage/rcssserver.desktop b/utils/appimage/rcssserver.desktop
new file mode 100644
index 00000000..5d011484
--- /dev/null
+++ b/utils/appimage/rcssserver.desktop
@@ -0,0 +1,14 @@
+[Desktop Entry]
+Version=1.0
+Type=Application
+Name=rcssserver
+Comment=Robocup 2D Soccer Simulation Server
+TryExec=rcssserver
+Exec=rcssserver
+Icon=rcssserver
+MimeType=image/x-foo;
+Categories=Development;
+X-KDE-Library=librcssserver
+X-KDE-FactoryName=rcssserverfactory
+X-KDE-ServiceType=RcssserverService
+
diff --git a/utils/appimage/rcssserver.png b/utils/appimage/rcssserver.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c29a89633552a123f3d7ce9005955acf698c498
GIT binary patch
literal 25317
zcmeFYWl&tf(=WUP*(6v9?j%46?z%__9xS+9a28+K4W2-NKyZg3!C?u$z_PfzySuwP
z-29)aTXn16s`q`L=kx6|)gR8x>F%28nKRSBo~P-jWx%UXvI?>QG&BGJ?cW1<ngd7y
z(4Rf~Px(g}{|e@FOiT<6%$GnQ)^nVfI5^lZv9WRSUcbV{Bf!JPens+%fRKoom>372
zl#GOk>@^WF(SL-Xq5t~^1M>wY<_jWRY+R!MHa#^12%bL!JOiMky#+iYKtm@$duj*J
z{KrTj+JEf*-}KKyEa3AOXwP2$t5<miKto4=hK_}Sj)?)pLVxkE{j+~92(aD&Uvobv
zd@HGD_JYUdJJH8zVtVy2nXdljEhLP*QW`NMqzruK6(?DvD`e6#nvj6_*5iNjDF10f
z|EKQ%(1-RPd04=Im8=B+-aq><LVE`MFMH6Q5um?$&5a?6sYYnVgGEIA_M^-9%$28E
z01o=Uwgl(|013cu%3Hd(Z=d~N_J8}}f9MCt`$YDhzqXP+@iZgV2+#<K><LJd)y1Tx
zF{D5I&zZ5M=eJ+2%OX*P^g@G=KQV&*RX;RJwY9YLUL2w|c%HZH7S@0tP;G$p9TR1z
z;O_D6N$U&d;!HIRb5OR0?cmE+{rsxI?`7TF1#nh(OeqB?Mif4fOQ;2M<EIuMUP@hA
zI^i!n!<Qz;tJ=rdnK?+mKN9E>Sa3S#Al=Woj&Wu#)D?5ffj+hWa)dR}*7yBXBJErp
z^fKeh4WWh<yz6Q&X1*?M|J1WIP{R3I?55xCh#U7IMe7L=TC_z?juE?=EdB(@+M*JC
zaC#5UpVa@J{zpgg37{pR3a@fU!~3PXOBFe|dqahPr7$BAntel!3;nRII^r=nyy@?(
z`T_AeIE+dGL8_?yw}kL~w&eMSO;<U~GUBp$)u?#i-5If{zr?)Cx3Of?Nn{Kn+@h=-
z*w;vP*!G?*p7wGaEnj7q$%XHvdk#1{M`vXJ)KgS|My^~|Czp-dkukFjeFFdX3ikO`
zCIKJn?8sBE$a>E=+Qs%(e%-#j&iS$~i8k|G%{9}ypnemuMlb#|VElhFmd3=pCo`Sh
zWY6p8&As6yMUx3>1Xc+<Ud5J}RMu3d?k=ZbgNY@JqaE5SZ3`jT$Nh5~Y}&m=f$c*o
zl)U5A*E}TOYxZ&Lh5{EFnQt4WH1yE03D4QAyrukXXez?mE(l3cnBBP^dulyaLINyK
zkk5%nyq05^T1aNKaI|u{8kE1?a&HthaZelC<&8ibm=w8_g6v%+v)OY9u0zxH;D%zb
zKDjaS1ydhMxH(FzG3&@g&8Hx~y;1SUVU(YHF$nYd4!kaIz-{7w{emiIL*`eoWBdVb
zoak0QlT4#fzYkCKk}Y&k#O~{__k~nj=73ipG*RI??s4fhray1^>byNyjHQBV3e7o!
zLf=V`)Y4-_YT-@&@w)r<rP%AwPsh_viwsmnx!s)d<LN5K>htnMp^h?|E^4hFN&A8v
zTyGu)31;+$79i^zNz3f2AStIHU)iI<t7k86-(S34met+KWH3z#3VQ;`82zoFHE_;{
zu};$*L7N`oL{pz?$?1*Ibs^*Uw?!#le6dkGXwhxn@tBvuPxAJRZNnIP<^${<{oQfj
zcq;;_-TK3-O;tSOVXCHX=2+xtSGLXSyn0tHP9~O=vT<McmZR%S(#k!7VFm7*Zu}>)
ztZ$O21M-@k#s3t}{t~3G7)HB%nXF|Cah4LKei_N`$xnR1Tv8Q@XNQ6EQqxkC*}^Fy
z=Bk^nngRH5X~Txas?pr|QVvJ1Nn?BNj3*L1@r$yBoo~<eE7|#u6KgY18rrZvd){&W
z1jEfS<Edih!XN~zt+|~h;KMFezKGJYJ+KXO=dOW$^=H~fZkz=0rhe8Zg4kQggTu)7
z_duVbVaJ@p!e;rrL0txRfbPAo4#IzQY^!1xkLa>5uc$Dzr(MKK_mC5!N4%Kow_wHe
z$Yi{o;S*WWxmK$DPW{e7g!wDnKm!Bv;Zm6>9N!|$naxYSn=YbOElGh%3|Nshl=I)6
z5GHS$ACaFir-e*7VanA*F~WDt<_z{_FpBHlJ8H%A#rPCqPT;eWdORz2!GY}VZaL*+
z(c@C?>K%i)Uy-5ru2si-4+fuFpyR4k{h8*+)4{PD&O@v|s0_y<4gSbiEJr#^U5iEG
zi>G6E$OXhJzgzol;%65H)K2`L4K{paycUggblz;nCS3@NsXT}<V;e<gFKpC+A{3qg
z@a?2)o?4Hr@jj!1h0v(6=THOmAamf-btDRTK%p&379%TM9t8wNKxw4rX0+WdLP_`|
zi;lUo*~k`pSG;I-?#i%Doq9*s5pxoX?g<6+<Wy|*aa*Y#MWrgXw|0(txzQU-ZGjXC
zW4)7A*|=v~^6c$67AvynaiBjIYYD=Jlw)z2%9e%2wt%P?J?NP_IBvL|2MaO|WMcZ+
zUIuCozoeCDo;Slz@QS+TQdf`+`0kKLpktEByI>Z)gd&HHTE=7(x4#KNI>O;(OhWWo
zwMI^#7aY5H;$~+*!w-$lIYV`)J??K{FXsv>Wtaq^$Ni7$3r!}BUVZkqdo;Try*@xc
zSnp=r=#JU$*P)#}!s9i}y+jaf-`TU{m*`c;ndN4wfWO+at*SdOv^kDV5ec_$nxO+i
zqY^VK*?;s@3_cGYbXCNr^iqwjd`6h<_AwmOd{vy@OpVw-O}(S#gjcv@p5_g~_(p5<
zm{-B=PLBF77^uANiUZ)~{LK&?z6+u4f1Y5kl9g39-uSu;Rw>Dlb54($eVfH*R8MnY
z>ATFXVVh^4m`3uP(7@6IQuuohJ@Q|N5B|y$<yh@ZSv^b&eFEej;v&^P0YyC?_VMXn
zbyc3GI-%Bnz#O$x>>915p;+Qg>Ul`74r;At2Y1y%zO=6)8*3*-$!}At0Wgc@{gLez
zBr7Y0oI~;(FO;eIP=R>p+qQ+@cM3bcBeM!MAl`7?(Zm+#%5f@XrNiW|&9L+cJvWtB
z`OSHpw0IKf|Hi-G*z%QUCh04qu-NFS9%*`35|_TvtzZG&g5n%iIEVMh+%oha%-1$!
zd-5pkLP+D?Vf1<R^+jj?G()VCZEv33R|s&esAtxnzUIdhphG-e%Ka~?U7{M-TtQo!
z5gli8?GSWqQjT`jHN7z7(v47w$z99RAocOqEK&aK?33i_=Ac+yU}J=5LL*jvT|JCn
zDcv=C%zY+8oV(9)H_fJ^D#qVvNnYg4*D~h(GSad-PJ4chgYHXu#{KwV@|dQlBbrM|
zOO)Tr4l4Gr=xfRjt5p<L#)!&*Z`>@%t%9JRM`372huI-*N&7-$9D!@<WOxIQ(<}y=
z!Vlb1`GhF>Rb*r#r|@twd;zYPMe6#gM~sRwUjnGnLuiPptGj4>OW+0{Ji4G#U3X0;
z?lR-I36UxvHhBpr64qq}*M}Z^)2+i51;$s!wT|{<B;IQ)3I%%RM)j~ojq{~`r#t?>
zbD`DeMD||dUVVC3ZHtk)`!*`ShlbzKA%4`&?iQLJeE@jna^u}vyz`)ze}PV6!@3HI
z{Gdu7IbG!M`JpqJYKCSE3GI?_&K|l2uXdiz^x-oHN8R2QlCv|s_8^gjhgW>x6uXb-
zKgSW)II2`60V^=AtGmup-@klFm|v1%606Pck$jgxG#Ps@F{01|77{1+8FI2cWsx;-
zUP6D_+6G6Y?_UEymZ{p*8Dx&eRbn0Bw*2t(aym6oW~_^!*$bb1c0ez+a6FpX^)Rs-
zmQj})Iy;V?t!U*!Nd@=Xu>X6=LecXkx+OQpyY$>vVnWMtpuOZ4&i-NgL5odab2Dt}
zHui_eYOuELr=?b-?e$q5<f*pY$gtAVwW&u*6V&B^FyBkwM*e8>tu1(G{gn~hS=77C
z0#MY+RNQhxdIar9AlV+3SB+)n03ZfG>5Nv(#TgtfcsN)upF4qaFG<JyFc(<W)#9Ex
z6e{QetSMk}35+?bfkx}y3$9W}{t^)wDB_#=ik#v2{9<RFl4KnpBS6?bT-erjrzxwB
z&c)j_Ep3xGm6pr@?f=iC7e3xzm;G3y*vQ}p^@~gF)<gRU!<zAPH5q)(-C1_xyrNQ=
z-fvt+dhA8fp8LNvIjNXAiD`No@WUx~Rj;(Ap9Otk)HqyQE!aN1)mlfhun?e*-O#yy
zgq*T%MepQ97kSqzt7`91w(JwY@Glc2L4WRnAO4JqXo!%M_Nt<;0CpP5IM)@CH$Stn
z7_XaEQa3T6e(8H&n>j#lGb<Muu+3G$AJajd5Tm<9mJ~(%eIn<a?$(R>&M_uv#6CY5
z&&!m0eKaFQ>FD7_*D%XrS|+jEN6#SPFg$VkiM7-3k6>lrnem2v)gHrZxSi$0q(Jlo
zu<T_el~S{X!-jPfDEi8{_j0_ayYp0fG3-=hToc*p{3*|flU8%QwwYQEUNkz_S0+C+
zBJ-!_nd?E14kj_7Ug}Er__^WLyXn>M3Q~Pxf=nZtncx4?q4lqv1rnDL2Jtu2R|6AK
z<yD(Vfl1VYy`Pw3qlYe(rVliyQtnmEf9{6sj)^>*l%Q|yRFuo=B4}YWUt$|{iy>Tv
zpf;30&!zF+?FJ;{-CXn*2><rZM9w+!dxR!3GM|UH09^5%_!Wu~a__w9Jp2WOb#TIg
z@TdY@j0=4Qty8^;%Vg8v4Hgkca&p0r`Ng8D6BIJ@aTgKrz<jKiL094E!`4|DMPLt?
zt;0fMZvOR+V)4Qphgi2Q8%0L1WX!|(Ne{yh_a*~)-Z$SCnk-}gc$2==)>0e7G~(^l
z;}`Xpt@o*MTCijENfE8>r^=lf+>)?Vsa$eOAt^l}F^G$k$w8Jk(KjI$Bkqd8IUc(;
zT+K6RHsYMukxr~16MWv&|Iz*R@iMD=9u&%MfbHOp-pZkNojEr!AhBL4l)$oU=NYPy
ztfs7vo|&A%+Oqv|@ZzB4GJ8UuKVU?|Izr&$tBqD~D6{462Xzg-Z0M<@7*V@crP1e3
z9+i)V9;&^(>t&pF&y5FPFXj_;cdyl|iCvrdLDAD{AG8O%6jhZj6J$sACCO>*65X@%
z3-Y}+)HNnG5^5{d$7{GXtp`=b>dSKFSW8EK?io_J4m$O%qHlXoyv$5zBCPXHm~!c>
z2t&NmGC3!FSD5!J#jc2Q&^m&*)=hV&pGIo)0$VFD963i9W6*o>)A>Gs_(4-ED^|kz
z+wwY#rRE1jB}3U(t4eQ?+6o=g74n)gqhIcG;RKU=fbMijb6WoTvI*hak;L7u8p++z
zN?N`jSOy%NT@3B%;fYiwr#-f(EqirTk3S-OjhZQ+HHl8KxaeVoeZ_}D2G{&mV<RMZ
z<uRLNCZ7Po88$ax*IK??H%>NY>)G<mV*eN;Sk#gUYg3zIVrzEk>c@wNhZl#{4q)uN
zAg@g9s9b@y&3uurS<D}P{(S!P+y57P(=X6{(=6I#$jbWbUNSOBgrxD(!$cd9pB1?E
z>{IYMmv7xe{NY&`P2IV^*X)&n$U_OczIMXrT?3^rS%ukWs_zD#0C6}^01pH54Yv{<
z4SOjIp0Tk$=QxyIwH%{VUgBng991&yeOuP=<-i}4yGdX;&q*RJ?Iu&!cekw|e-R;9
zi@(27PNnZDi-v;ZiYqIU+Z+##UDwt{I6tbS8XP3-zE_IlAh)q`*@8mZ&(-5e30U=1
z0UO@~nt?I!CHUK%s)S0a61titdWp>f=&i%=-NKEkbxnu!+WCNZ$efKqP%4WLDlrRn
zaITAHmabg>TP`~r5YVe7hXTtn+qTfRZTgUoa|I=AnF22~8#D?{N1-8b8jsy8g04*+
zzB)Isn#?L5(kd;V&sn&nG&(iE4r(}ZeyY1UW)tI)ruJE}ZHSwx@b<kM--X~^So}qP
z@{nkA^aJq(E~_4;6ts0xR^Whnp1=4Q@%@l1_njl!+{;P^8o~fnzGky_h3!kWoPc4t
zyHtpamVVGH6)k}*(btHu-9*h#c}g&rLLKs+mx-U}g$hRnqLYC5T2jdNDgNb}FGUqN
z&k8P{0IbnC?tei@n~jC~aEz6K-J1MB?oe?en@v}-js)Z)8l}I&d@=Sa+rt3HV?Wa^
zN07}dZOe8zKh}*y#q-BTswY57S9Hnq2{v!*SYh_*3@znC{LW8*#|0T4G=Gdh1mQm$
z)aJ)xa&xQ&Bwyw;kTZT#M6-+66zNsb>0+1QeHT7s3%+sn0p{0&h)Yua_9x`pNi-ME
zC-{g&8df^><>lB&sn2>RA9Xxvjf<@Ee>i3E%hnDH$fuJ{iC7ELpa;8doo3KyY?pe;
zp06K_Mu2^cjQEw*)h9nbZsxs6(%%%$UvJroG~t(pJJR+-p~B?{d*=pAv#j6BPbd<+
zHd2HN-2<t}V`RhRAc1wYNl$>EBaNQ%Syg|zUg+B9`pdqa>fmadJ@)-r)<<04XU8we
zHaMflRFOf+xPLZ_tzs9f`P?2xu4mQIxfUc6qXS@YIpyxwzrW=RjIa}Z3=MHMw`1P&
z{|pMzz1|S&0b{HF^a}7N5wNY!$nqrR(KU}@mL9JC*8VRbB9>#nA0FYkq0DY{?d}3s
z;ktCFka8~MrwCT8yCm*L9<EX9Z(H1wrM6t)of}B!F-uFUM-#jv_!kiSe_^C;8NJJ*
zk=K8|yCEfQYP57FKr!hFq(k&ifWUBD4v9akzxx|hi>n-lK97@%==ZEg4@GS>69z@*
zzsGjD)3HmmUBq70Bgzs!#ES^2TTZBL?u$GGvh$V&sm%!p;U(fentku}>u_^1zif+v
zpUX_l7Iu+^&bE@_tH5v|`0i2mZpwK%8}z^9uo_CXSG7v5^1<_0K|#sSIi1g1>#~xr
zEDr#wQRM5YsNJ5S1D6hWpD~h~iZjJX!kSI8Y1YsQ<t3>lSF9Q#^brH?P^&g<3VqNi
zg#P|)=e)JyAUoxqAXV`>HpQsSml?%G-1sTE=jdcFW9{<EU#^6T68FWso1s1b3K5`-
z-2E%gv7>O9uziT&fGo(4zWYW~OlR5b8O9bwwrGeJoCt(i-!j8Jtr|K?%nhf|qdZM7
zXx&qbA?Gb3Dqr^wqED;B!O+M!vq2h17^?Q|zsLw5;l*cUv}4{1R_cU)OL@&PNw1ui
z0F!slIvVY8>=b<br}!I@=n?5F8xSka=EeYV>^|h12+Qexx;X1Q_lXk;%2Qv%novjC
zrN-~|$SuGv4%|n%VZQE_TnR~0#!qM-9iPo_a;UT1YTn$%OTtFFlpwh;M)+0`3TOS<
zo>QMoGF{c~W8a0VV_FfD6Z>4F=ad$NJAv{=xwwPccmXvz#CSF(EA!z_IwBD@Ob7jb
zU6!z&!7(a{$+PO;C#SZ3Kaz0r>Uh~1&Z*ZutS<~s?gw#>YVbK%eNFIhR#EVzkGbQr
zf<ok4ML)Sw0#OoQ7p;V-0**3dqzYn_ET|BrvKyk-zdHM<U~6I>;+aW~y&=YjQp2>L
zwZ3?iwMEAi@1-usMtwMYqo>eR{eBgc@wu~kY&DMTF}DlNZE!*H8tj02#`PvIFtzc+
z&)M4O0_I&#{n0MRZ-inpqv^@v7aU(V9(2^10upotLD!JTw-i_sS)1#ZOE0Q8bj#+c
zd*kl~xwRDLVzxX}S3Fb!5R^qKK<u<&?vriR*|W`WDgt=jwC-nW`FV~Ir9;U#JYTy4
zb8ucAai{L*T};ArSDNtM#fyu;5--fFCJYS~I;FX5*L`l}vCn#RI>o%a3)8C|+~F%e
z78OdDzvmCYwW)?&!%#AbyZ5IfMyGJZI9ZFAzJ;ym=DTm5-*;cku>|XnElMO8n=$>4
z&PJ;}HB?+tUNSk+3At63AKh!v&|$yaP*!Png48t|CBMM9K+A=m9#Iipyw(^EdVEd0
z(5mkdVmkeLtuAB_H5bV#AS{#Ym4)XVn><4D>V#Fm&BCc4zhD<}R%QJnxrd_>@e$O$
zNa>Rkm?WCN4!3z^+e&&M+125aNCoA+?9#7Je+MBqbC7;r*2c$4L;lveEy*Wh?#9f`
z@&~eZQ`=&b(a<uB%dm?__9}I)fF?9pAK>CVIJY%@SbE4|tBV8|IYIR-z=efW4EbqW
zSn{-Wcvy?IU0D_TDd5k0@N!jCgqERH2p%_AkRVOY4W|T~{VvEmuX=VUFqp_F+e_Mz
z&*Es~&qVc>I9pGUFH1&>ioFN2yrapK)X*GK`@2cq<GXOnDVhr`K$HY^92??EYp?|W
ztt^&uqO3MAi6lt;P6vs&W}jYxhQ6RLuyB<<zFq`%MhQ5B{PR19tS*zJWnTPS{zyZ~
z5<%u2JE?2ae?l9L(#ju&bgjc0%C04vzid}U)cnar0$dz&H;dp59%QR{>=Luh`muj~
zd1pCN<aiafu`hPQ7+(JV5v^XnMoEGY9_$*&G>QmMG<W^b3Jhp;t>rg5$(z*DBCmGt
z9HPQl$*MrXL^BQ%n8McAW4r3y?kig8HJ!E`jy6w#HM_KyiL&J0Et<sZ;qAmLm)!_j
zI}mUBesaNjXqG_D_?d8i=^t@LXD^A%%we%Sd#x)YbeF<fNvG&&tqu)2M$xE-wm12y
zSh3$!f5c7q{mks(wSwHpzsW&7$Y~MC|37iGpvT&CVKpMb`{~PGT)Bf8Z?_8(mFBkI
zLp`vCDbRV@d~eKQ5;yeK^}#XkhB+G3c4_0ZPX4^mjjEHck{g1cdF0^_gT!rouv0hK
zf=M)-j^mJ{+||{~_)=8l9e;x%5Alv|4sC@@%RwK_;X%OCgl_fD^Mbq_N^v<Xd{o~Q
zO6Wjf&iyZrh(LtB-z&;u-d%_E_W}j?xP$8+w?(T%s%v0F?rNxZd<4hw=`Bvt<&a{?
zP002<8}C%a0$B;Ak5D8f%U_3uPwIj_s+~*xU0&|ye0S#Fx?0caZFljNHa>lvN3sOC
zb`QPBxUrt<(b1Q=V%2_pJByh4iiztl?7_lMJV+r}<DG<M^5%}D^1^T_3RW7sVZ(um
z9QsgQvnu#^VCxqOrqrouT0TdseQ9m2puW=U+e&|1tZu@6gL8jl@gSl81W>*ATf44|
zc>+x6<iGd|Dim5PU@fL_KvZasYP{@u0ua)L{QX&9MwJ$_33O}(vnfxb|8f~U)6n=A
z<QK$=sOQUQbgs~88&jq5;V$MUOakrhg$Z06g{{5=T%ld{E*P-7PObx&&+J`#fhS(H
zoLNWLPXORAap45xMbdQ%;i0xu*R|Ek(!D1@i7?m)y+FvikcCYoeM}6#gRXzYV-1vJ
zH5x8&v&EW=E<4i%b`WN{`OFzlIZAe;&t(4*4|FtX&%3iOX|!QgvbRr(h+#=dUf;y}
z<mrJeY#vM7t}j1yoS~Js;4C^7fBLm4II#<RY|oGKv~=LQGWIvk9B9VNaLSIAcurMk
zLZl+EdmGN2^Bbn1vI>M`Z0P;ERH~>+LK4(+ijy3AI&EzPhJY})?TV$mCrM+0V#Itd
zpFchURtq?`=$CMW^|BErHiJ}`>Q$}o41;xc@E{mM#BqjKf=C7bhza-*XW+dhyaZS-
zg<p#%(vb7`n%zWDaoyDV(dLAV#=k~jbuJr!aP;HJH~Q+~wh<>1V}*6W=?I*@DaKz7
zZqNR8yQrUpSWhUS)X(!{HA8d^sBhBbj@7-HIi(W>t(b}_bS%K&ruL+1-~tZ5{wSmz
zKjd4_u7|9!Z@#b*?6-;PYcuhM_hX_$wK^wT(vS`YvzipUR+p8Hkd+yxe8~|v0jO)k
znmK*yDjA-ktZK~toNWWR0Fk!Inii{W#IAMTl@?D#tWJ)0hYb6B*1Ghwl;+w%4M0(g
zst(NNMA!+nuM7;TvIWF1XB;?eSJd8UCk@f6tfB-JD|HpW^^ncu`^k`m{|OQm!lDkS
zoa&>W!UW4%G|r1iRmJhnu4efrO`dbV$Q_%|2verrEXacbg@8pOHT1%}P|rC2LHmf~
z;IJAe^zxgoJh_<aCxEiRcxh-Nf#0xr_f(yhn3O5f&aT%>+JR%?<Sc}7<D!pD@^Qpa
zt>t?&*Z$<S;m}(EF69HMlsNaiDrpI`jW6w(>WiQ*$Cv}%kxAiv#xUE*J$<>$)~%E_
zj@@{qA2uE}wZW`wk@|qVRrbiFUI}|tP3vr}yoEB;9}aLX{T-vby)8VM4mXtky}2is
zckS-{P4ojP-5oEqDStnsm0dwKr#P(sgi_lu<y`@?-4D|)ClDEUO*wc)+O3G@#DN7F
zUZbJAEL{T<XXqX%w}Zw{G|z;``P`{HKn7_kWX-|`+al4M)ol_lMyo#^h^=<%e4??)
z^P&K7FxUeNFE4cGbU#X<3q$V%L<i>0r*;mJ8+k&>e-Z9Zt86JH7q+qJo}acZKo*Iw
z0T(m&LzrGZ#!IYxN5m}29*7Crwo3K(#ZM_Zep}05<gd_8#fyB!Z5yYpgN+0Nq>m}(
zT&%T3?%?c4$RR1kd7iiT+y}ca9tS1hbtP)E=kuJ|<#VQ)fyquV4DUbq>i?o!?jFaA
zN{YmdyQ)EY0<@|RKed$gz@zgVqcCdoVkf>!Y+@3!TX;l8!ve(;&k<eo3s`}HVR@pJ
z&>RS?ojaNsu4#4DHb<GXMx=b)xfb^9g%QpQd#hp%&UuICk3^I|-4;Rktgz}ehxEy>
zRT(`s6E&GuA7&Y=Y6RJwPd!(Uj=E@iH%eNx`GgH0df?HyH}1Ay>!R_Qte}gY{!emQ
z1@FcwK*S@pL`6kaP*!N?me%C$2OrsWN3JIRXcudP>W4eql(o;ldSKjeQfAP+k4O1s
zYd1=+x{HR7x?5{bC=HsNd*Ft+f>oC=@p;$Z4}b{ng+PDnv!D+^SisV`v49nbssw}P
zherwIQun&t;9}zP*QXQL1*tra3ss`?*@&Re>_buaSysqRfOo2)?A>WZ8m_;j&~en|
zE1rk?4`FA|L;}`7Cad4p8WrrH6BAcWaI1}sm5&anfdc45!pS)x5zT13wZJ*1Rfyke
zxR!6^3S+B-ShixCqM9FA$^DAAQJTRCNB3-IOH58C-j|a)d$*X6L<M&SOp9F-?K?g$
z3nXb6&s;+051l2{w)@e0hZxqJ00G0zmk2=y*A7DJn_yJlzhPq?-D)hq;Aym;6ipqX
zPu*eg0Bv-+`t@k>rN@kmN;h=bj9!A$^XeqbWbE?X6{md^0I9SZWi5K(3Vh4CNV`L(
zI@LD)JF8>_m$tFv$?_u!TNF8sXAcu|8wxEoyynpQxe#x*5M!?C*zCIw1+$uu-0#0<
zj`rW<Q^mMLBHFj6?3rVIyU701;^K{@#QfB%k(RQz|Ax2Ocz}aXtG)F`)B0K;8s;xZ
zVr!roOpUpl`~(>3L#kEQ0VL>se<b3MU$C%7!jLvyg;1jF_9hY0&--&7D!?wj+pZ6b
z_UE|AJrIj`S#eRmj^~!yz`i$7$jU>D(;eA<L+*Q4<}kscH6veC#IeGns*tTM2c-ky
z7qX$x+8yH^#L_&Hy!zKULXdYS{0C=b!Wir#*QqX#Pk`o<m%3&nI?0I3(s9zS%ee(P
z8=J4BM=d)g0ZwEfk357RdxUu^ZU0o5sgQ@IPqkJ3N<IVCE78WrUuU<6i`0MmX7xJy
zW_}_Q{JVMd*7vWxaEg)FRxV3nqOi4#R$PO2#q>X8+6MG{EQKtT<UyXnwSP@9!)Q6V
zVH0quNJ=9^e0e0nEk5tLiSjhgp*F@rOD9DH7SwV|Bx}Kd9d$lyCg)I?zX4e(ObU{{
ze<j-<JAAIrJM?v)x^uxNs&{yP>#^wU(#!oa$cdM_qi@l}z<;vMe+}7kctx$<3VnV+
z-DNCvSulF*_1T5u!gZ`nQp>e=v}b`oMuy4>OyQv`z(aO+p_OP}_GbB;r}dQOp*HZK
zw8O3u7izqUS6FRmQDtmf@Ea4?NC+>6qR@DHjh-%|ltwW;y9Q=sI=S@=_Qyk3lIx=L
z32^wJnRyHJ?vLDrVmYhkPmOrKGf&mWlb@s6ixvyN`)a4mOG@BgLm?FJJe~mJZ%hxJ
z$(uKKm+7p|>^L~orI=5sW_q^z!Nzxw!ewj~(rL_Y$imE~Lv{_zPhX|asuZr&s*Rw0
zVaHv))Jhpp{-S(d^dOZJyIE+#*J1a1rv1}{B<7*x8#}vS0~{FqUpC$(Cv8*oA6@hg
zP*Gg}a;Xdu{BYyWTGik$7{H$KxvmkCqGHtZzAfo~%RWl%Wh6sgTR(4DSSi^FUH48Z
zo7v1<B+42QiG48Jr6~W!|D)O8KdGB`6yMOidA!2HZ(m7bGszyBjdg#m4=uZsmc~3@
ziD{f_>-77aVFL+3SSl19uof^vj~pzNeoc3&H2eM0v;&2yjgB`_LP*v|4$st(TkrjB
z!c|mOY7}&RgWg2$7Ke(2;EJs!`ERe=o0>0usdGNx>O&3G3*_+MPR?*Y0j#CSldn(3
zC?6Ru*;Q26m^)#=N_-~8R$ie^2}Vae40qz6BB%nRs_-mJwm@f5syD0~o;qZyWv$!u
zleDY7JtVz;3zge{e~Et4qxWcbp<@en{DlMT$LvcRAM^f_sZ4`KG)K|+#<7>rLAZ6R
zB!uu4VnwCAkpw5YUlYM5+!a%eZ2Q}VC!_<f;&wKxnqw+7|2arQxk7fvu)?W(qi*gx
z$-7XZ=5nSRLFZCuV6x`trO4m=$qx1eAmY9@m&oTSM{5Dz6Jh(x(1S)5y1uTe9CG&9
z-ub1#ck0-U^T$cRj8yjgQz8ZLSNl+?k7!VdII4%l4%fM!0ejzxwg_6%0NmT?*smtD
zeumCoiet79g1BjM+zqF(YM*EnT$p?wCOn@2bHBq#z07Tv>-7GXLiKk;v7HImMk1JS
zB`kd=?)fheYM^6Ob&F`Yhxq&4u!E5%4j$D~rDEd=5#y6Ae*VEWpRAbB14-csc=8cu
zd0N@#E0`@A-OUEf)$;T!chbgqDP_PT`PmH*a)te$vYqpk0KJ7>usmw1gg@p?Q%hw_
zOO<!%Buey+<svy$bZYjog#6H1P*!(?o?pkF+!$?MdRSp+jP<o`xP$M?M%QIfdc(vV
zQ*ajp-)Mr|=OKZHY-@b@j-a&x`<n3%HVq<S2fc7_g{Qn6Sv%mz4Gyke4rBMF1=5P&
zAMU&Qns1yviulnI#dyxfcZBQYfv_%hN|3tmn_fE{5M3s*P+^yll1Gp;)cJ2#btQds
zr5MG!HWZzpNIxpBQXbQ^W0`T%xkHpBz)K*>3~~1}=ja;%Q&)sNO5!AOoHI9Xg(KR=
z&24@nQLx_a2wlI^H`#BuHfyn1sO|gaUfNW{Bd^*`qld9lO}vtULp<zvF(ceRc_NXb
z7M;0p?Is7NB6VN49%)%O58N+q(|26OHL<VV`#l#4(^6Hj$j$kY)<-s3=5H|e8|1Db
z@tlTC&90Gq??A!1X3TKTw6X(}!QHF^OZD@k>GG6As`SagMuz(o*awI26_=E<vOEBn
z-NNh#i1PeOzk}g{k5$i`N64fjooZY{b{c-|2d4|%^v~(vVcv|dWe<gdw#d<WOsQVO
zI`J7<w^<xu6sVV%&x;DIeHf+mA$<%^5cvm5le|h0c`}2SIT($@YY>3G2|7og@C6G6
zxJ7<;A=EX>+_>j&z0%OY=lnMvw<KHw4I7BjWx!rdIQ;IBI=Xfl3ci)&0u>2=(1L2~
zYV*g1YcXhQyHXw~j?c75Pw=H|!_^ds;?5KAEcr)SJXAc)3w|mrWH?hdjrfAMobSb?
z<`rI#HLNrMKa0<;JpoRP)+)gAUulnT%6C~%$>u)4gU4N~<;u=NLzu~?FLxz8H^V%v
zXJkoTI6hwXu1c;>*+tOX$<JEm#jM)ASLnphEPf?OGwA){VUirO8Yv_;uY^&xblkQ1
zSS!g;*>%^G#;7cXQ(3$5=ZrLwaIaigNGB2#!6vG)MiMyc{<=I4);Gae4dY71N*2`<
zgY}l8f(D?<*RDp$qdeQHgz5(6Y&Qo}^Mmo|kBp_Ye9KqaLWis3Y}9A#+_iJmTE{WV
z7gx&id=qDy(~kGkL0cLI*GbdIT-ek40!-+1k(P+1fKZBPWd&7YM&kGOMCWCQ=d0o0
zun=hL5(CECp|C4e4`)ti96Vn<RYRxo8+@4&mvQMjUpHh%+wZ04LV*Q*;<*;i#`{`d
z$X9=CG70zN*_Ws1i2ac8wm+(<TI}qhOj^b^<PI!<0uU%mN*3IKPd>sI_;@wi*oo0M
z!tT%7<gghX7ZeTu?K51>z|le&>EB-Kh^3wT?99;yMPx&3_7n5LhnC?fBmBy6&)~YZ
zx__KET*L=lmS!NT)kAil4#!0GiVO0J6U1q!^J5ZPK8{KojlBTx$pbx%on;{_LZ`y>
zC4*I@>7?HD7vYD=c|p|`5j!Tbu<lSj49Pa}8N=ehv~dEtp+)Y@60#fW@8w-1w(%&{
z{6(+os-aEr$s&J8Bbz(NV-F?LE2<`Y<q0rN($$5cNHc2}ffxKOQwYTs`|x=9sbHZt
zMGvjdd=Ox|*SI$H$*rTX=0VG{TIp<I%8<_g<Eo1O)^g1@WCU7SCMLmH^OG$yAtgC}
zyu7s&fz?hn6=uGlwAMIWH0jOn1)3aDmgb}S4C(4wl+<Fius-9Tndys5L)398&X|Pr
zQ$S<veg!2V+c^Y8X7hs;u3Zv(D7$yJm#Uq40OH^#_P7fdz#0SJJ`lBT(rNH{Ztv^V
zpTFm4u&U}lM(L_3xf_hp2&KDpb=3l;oPX$yy-Sk5<=amm{d{V|M`F)vZtAD(8%YeE
zN>-<=(XHzzUiJ-!mkLOMQk7!WgZRf!L7*+n{wKg?BB6zsE@M<!_ayGOT`3sA!@`rJ
z=$>R>3sEnzT0AK~v|{HpejeTH2U-aqjIy3q8k*3-Oc9>T)-b%#0Ut7t8(MAo5HDO#
z&#X_Ip+!aBNa}uMs*U})nF@g1+E=PNgo_#EgA7irC<8&uZc{tpl&u(0uSdO0^aX}v
zS*(Za@Un+w+c%-(SXA+4=z&hFU$Ew^Tm@s^IR!4XsHCV?OJbm<0)>Tt^JVBNVYBl&
z2hdN+ll|kh0r<CX;XXLqhM5Jldxt4wRMPnTm>MG}OCh;mG#EyY=Y8ruxgg0EU%xMG
zUIX-b0^G7^UPk;{ODe@l|K~N^)#<O%LqGvr=Z5~*T_-OUm#Fzv!b4V$ZSUxdHUamQ
zn%(+x_tDaR^{8_SY$@tx{O*lGABcaGICX_k&>-_=-l|IGk6zm*+mx5k!C|WDW$+ht
z^o1V}6P)s9o&M6vJ*Hx4oqfe7SS2();N`*6N%vO?Pk<a9?XeGs4*h)n>`aGOP3MMD
zh4E#Q3?;VC=2QS`9$75kb=rytOepJ0zc<@{Q5!3cJ=p3YoY-9|=n2qR_ynj|$T*Uh
zn~@a{ayOj09z3Bw*XIrP#7nUvHDcYY(`vi<p?UC(_xzpQ6QCO<dPC)rGWAM+rj3%y
zn)2pB2d|OITP<(Z8eG&MM%0=Wpg6ZOcG3`mnRe~9k%-~`X0$ec0ePxZlL;r^f*l(4
zPbu_w(w;mxqfCxXS9)Uh+8caW+xjSpgV+R%LJ0dM&o^-lhadsE#@ye!MCHcV!3v!^
zZjBV)pxEHF@N-c}2bKF2GPgnOz=;`R9fjgB-}K6+$fL*bwz!UZFXWZUhsm!N;nm??
zWB0Qh>7SMk@GbRSnla3W)b_wm9IKaBliPK`jZ-ys_O379BXX+~MzE7dVntsDr=eCx
zh4Ura0t*H?H<-||$Y}@hH_;uMw8)Lmi#VWG`#nW>>L*yrpgd5@OMRg^_Q5-CDzlo_
z{exaCs;lMGNKxwM9%{}}+ULGF`fO!m#vG`W8@B+l4R5Wc02=l_X=Mz)S3WAer`N{L
zn=@H;^gDBZU&%V^C+Im=P2d2;tw|HgK<L@}^H}HP;<*mL&-z_@uduEqVTLyumL9KH
zRh>9mmG?9Gi_~_Ca%zl#?u9<A<az{dlfC}fzbR7%yo^V_o%ufpxiP7ghnGiwsUtY?
z8$aixPIS1mwYFY6BAqo?AhQ15K){ERI=7*}z>ee;_KHO18PWWnIrdzob_hn$6pRdH
zkTghr@v&ZsRP7j(Z|=IY5*)}djFg!!DDV3|>~UMdaZk^8pXfNL1IlnUA^xqTDcU{i
z%n&1=GVEIn>6&9jaD_>?^qZ{E&~Mdf<($X;gBr0{+Wnz}D?SCTucy$5(KfRW@T^Z3
z{4*jwXAW&)x9thh>x$2+mLXs2lxgm(2tu&syMD6$nguJV;@gO+yhX1oh<W*Kt1ixR
zxYBG7RlS3Ba{v3+-{v=ZMeBSrwD+*>-aLcTzN-}p`el@o^>Kt+$|5RtYYfc-yWcv6
z>BcpZ)6!-eESgX(=9rZhW`91=y)I0CuG26LE334p!sH7bObg}4W{9%JoAa}bDn0<G
zV9Wg|dfOsvgz+JuFXBrn$Yb5y17;nwweApF(r-SZB-<~n(7V>lJ)xp8I7Lh6Lke=p
ze?#{5>hYJhIK6)V^fjZTd8ibz%;OFbgSE9J`DPrgq5lM8!0!!U-z1E~>t4n&(MY*t
zK-e_5MqBIiOfg5{k?Hp#({va~bab_px!GOdz^N<p#7K;@%Pf+quZ^lCTP?MD3hRO(
z;wW*NplPYcI-(6FGh2t~2+I3pvyoFire&D3Wh=Hg7}7X{4{<ry)k|?bs!TIS{ew%s
z%Rgr4KWHD`3kdn}V^-?#qHbAI>{51CYsONN`oD&RZAN|b40!hhuw1_9pgP@5WF9+u
z0&t%Rom|7HcoG&HYScx1zjg_B>!X=R$Q2I#LpIh<XhyhazSiXNOLGUc`Be8PtLr}B
zj7dFvt*VqD_RY`IP4<Ow=gUd_pHTlqO=tC>JsCwYBcGTpq87x-8B+4iMxxoqxA_Os
zy3?|=RpidG#Lul%T3)KF2~^V!#4>jv_zS3eE^1lCA39XcgTg+Zn#@{jTTskd5PH|+
zaxVi?AV0Kr0+op@i$-7Qlai#PVutM#1%VPpwzNokc51QEX_^+;ue|UB0!0N4+mfIK
zziL&d1U=^Y=`}Bf<Vcs(9vkb4zSe6Uad98L37@6S)0M4j4~4i|m4}j{Fca+EBSZd?
zl-r=NA)1upn1nTYS0%Tzs?13GYw2)6#+G3sE*oXSE0MZ-+Rwh}d*=-Wd<QkUJAHvc
zS5B6_Ly)|Ln39OxT8nZ~l7<MHAFt62e;n{1mri-}q9%;5jfiHq6dHBN4x$A~Kaus!
za^ZO`&u6@9X{Pij&8u|kOUfvN*}^&cyuk$xOMg;)XnnIu>T=ExAmM`HB@tHN&s<NJ
z*Sv+++^7HH>?Jsh_9I5jLWS9Ba;#EGw?*w-NVIz;uYlh*1-nh+It#+kkt^Z%N7WQ}
zjNlg*(b^gcM5#?lu2GUK5tk#vT?uqp-W>J}B$3XNz;kJlhPmIXsyR8sHI1~+5eFpM
z4GXq8nI+>yOV^($bP&~QL_Z=<<@noyyk=7jfxTs&V-+NPB;0@5!$eJcc0Xu94cMpD
z$9*YAEQ*m@RgYxFaZX>^FE-Gf3VUbMf%m*ZEgdY^ELE5d^PFS*n6cUm+3)fbOAiYx
z2VxsH+T2O>ji-w$g01)RZGHKs5k8or8Re@9B6|m5y_MW7^Y6|s437V@IwEqAG~d>8
zGDsWWR4QCrS8mU~FwYUmJHlkmv<^s!L0e4a!;h2imKAZV#;%;Q9w47d{Fug@y}fa`
zn`>TF!gCEjButMHTZ%89=THBT;p$O*qA@vT%mR(Ij2N>(&a>-_1R~fAa`U{y65#fV
z%#PD--fT=0KUl$^ZP_ZgM}^zT%$bDQ@xC%yJ9_`z&PP0)?&LXL&TUl4uhh+g-@w23
zJF^oL)Uja*!d`P%!uGZsmvXE493TsMC5O&5Bor@1?)Fh)?IuB`x8^gkLGcuN2<=Da
z>A%JI?v!)$avrZ^=|YZ%{GpI^IhtC!eKZFv!CCU6K)=`Gz>{Y!sxIRx-&1JSlJxh&
z;f<t8GhAeTkoRO>t~{bwx@QRM4w$??--KmwfO6vJ-A@H3WK9zvuHPRtM;KpZUPI=2
zqiZ;1Z?<cLi?6*3kuDH{0n0qc6yFL?e3)w{ds}cng*;u&&V<28Zx6k*n`_eib2l|a
zP(6AX03TJ=`xvQE2xs9SCe$1fov0#IV5m?zw(yZIVH}KWD&%Ci5MI#aD~Up#0M+LB
zCKBHDK~aOuX11{J$@Cl$6xR3D3`T>IRJut~nG{}|u__Iz72Bfty!427_;1g~cB_m0
zMJ2{WUyPF^<)PFkb`8=rY#C8~)!5}p%htc;KKk*ba@877)Y^{p9bq287JG^7-&FLT
ze0X5Ld;9&t(1^<TnfK`y?oh?D{kglqY_g3bfr6re9Q_VURy@*ML)OEH_WdrTx({{b
zNKY-Hp{z<3#Jpw=m7=a=aD47JM(taqR;PEVQVIRmq_x*bJ29f?K45d?D1fRBcwh2E
z5K9(BTNk(X4|KY-G!PeiXNlZmuU^rzsr_uo9L%W9D8*uKAK++3V@l=6JeO${w@*1M
z7^oloap90jX9n?byQf3BTTJ@v2j2v4baAKtln~^Z0v&?5yV$IC0o>-<)cP+b=T_Os
zBW0u}zs0?F9Rh@T-Li_CE2|5HoIZ24NMRCQzqS11a4@xCT}McLx@PU<`|{YhMNLQJ
zZ?PwQFY%?<yWd3-)p@o6(PBU7Dm^*brY~?RYZXQ=R9=AG=m0&U#!V~EU>Qkc?GR!H
zT&nWc`J>*+Z^9@l>jB;BUF*r->Eg+q-3@U9Ony+>o5y1tp-a7~K(Sz<iB2Z<F7sg+
zwsM8+RT#=d--bC`4ATE-Ex%++WHeruhKuR5SnVG)B_-CmWuigN&&bbbC8wowg;gQc
z3`}m1;u8CKboAvB@b8ddzkipH2$V8+KRz?$#0ye^HdcQCHB)c(qEkL}{JNv^7CCRS
zvO~HnpXPw^-Xug*H+S?XI`(-h=bLS-$n#JiJEOw}mnxWKPgQ&O0ThdAp0^KLIirRX
z*HutG<gO6Ax6K$Ie(~Qb$!ltvf7u=Bw=R#JIf9uueE|)rL+@gQ9eXGq4_ao-t6!rf
z#O`F!Uzp_G6w<@<y<fM^yonB?r~11IPJyyJgI;<1Oo@P0?-|)q=_Pe)$G*#bn61{y
zd80Kr*lziwK!oqswnuQC1~WoC0BU?7RaD0Uo++JmYcp~DYZG*kzo%fYRla47<Jd!)
zf!$c!Eo7v;lHURTuHPF(YFu)G;@Dtr+jc}mLg-J2JUbIIrt$;~b5?0B2icFKPyKQY
zMaPMvq_6m^+~PL#k{`XqYUg}wbxU$rg(<0(UcW$-K&1em4gI0NP@AWIC^$Hqxl9*_
zbQp=B^z~!7Q?=ij;uR6^mHv`=#@9h~SgE~G<zP-BAGF{YBarI;u%20bcSuS!J#8_>
z2+DEZUTQ(CKO~h>Gq<GqwKFS=ClAB!7Bp79KIBw&zunjXA@+GMmB$ZmpY88;^ayRW
zEO3`>A}G<C<oKnvuRbxlsf8GKzTO8Ym`g>pmCD@gP4V#ygnPklz<oKTdG%T?YRo;}
zqahjnr(<=Hy)nyMx@Cbd3T%H7pb7=)T!usWNDDjf<JVjQ!Fu3Q#%~GtA*Y{Hrnpi*
zQ=~Mk&a)HzhoB5LRDkM;U<zC~2pwKHmq9B;^A0W5AGRr4>GiY3N=w=zR3Apdf9Qyf
z^Ub>7wJviWb5eYuiMWwuPRJzRUi717mx>*$7z*3_RAabD15-Zad$^ad@Gn;Y1HqKI
zVw~2n=1h(|e``#Ze{l(0N=jDpKD)Cxfj<wPNZ{u&PrJKf4lV<G3g3U5S+5jI1xY!E
z$V~<`B&AdM#Jd%0h6Cmk=b8n+hQYp;A|r1>mI9A=6Qnj?(K3|ZZN1fSkUeAZU1sGi
zr<;noF?x*uk~lR)E6CSV<RBsnMzvm%$-+YmZlslhZ9FH+|E@mS7`o(p3sAC)Ccbym
z^c8_0$|nBYeSTxmKMyl!Tu*Bj65&<LyfAW*p5Wg8eF1uxpg@TuQ0qaDdHAMyD2fc=
z#cDLI#WC<DR&&u|@{?8V1nd*i<`0f7$5xDNO<x~o-+8!<g58P}{&H^QD?P+SZaIQF
zfO%)7`GI0+8yP;$`r|hAX!a~<b0zOEj*sNFYd$ZfG4P}lL#@8XmAkI?!&U1pX*(pO
z(z&nvvgvPb;j5|n)u0|Fi2oXBwnuIX#Y<aZKCT%2Z`JE*r}l#L8%dYMfDZ=YC^^wo
zgovDQ@@2~gt;|O+vd(m?gnGoc?ixC@t)0|^-3B+KDUiNYG7ZJBNNq6yzj4Ok&GGee
zLv}=3{(&~NjN?Og-a#Bc>8D${m`NqF;pvoBk#9GWlwr$omEGc>*U-zyk^48p+{Z&9
z@vbx52Nx>t>DOPp%LIh+c?&l;$j!_{<_{Vlc%Vln_X<e#O!n7Wa>dIN#PyL}pQkh3
zl`25wINemmx5)30*eOPEUz+-l`&S-tIKqI{y$Rm}vZUaW^|Mcm!F1y<Jp7MqbibU0
zoO#~{Md6!>7thnf#_GRO%`o>nnqA`B3@w<rvrWvFR^dJYs^o~M3lGa4J1d4eZP^k?
z>Ivmke80%fkBT0youiwQkVg*$M!G;LX@o1d_Gx|y7QS2^L7{8A;2jXxDA*RIXBYcY
zbbkIUii{oO5CfvNP0X7DjVx-geJj`Om4jZwsy&sd@qZ44xBP{D81|H&-x`?iQ-V3!
zSaAjlTBkgc9y@N8aK=@r8&~x$r@YSvh*P>L!&ZjM{XnU5nP%d16C_lNE;nV)e_B)~
zdE;ajx_ZgG1#r>-*wB0u^*DjJ4`q#w4k4sJn7p=TKXZgVkj@4j8=eZb*x_;>gxHfj
zvd`|#a#K4Lm-y9(MMXZ)u|iZeSA{Bk4QVH=@a9B(E-1{E7gv9hs!fWd*aA+lKDCZC
z{ek|wckF*IW4*dvn7Wn-GX;qkGjNoE{v{aWY}q&1EkrkHvn(xkj^a5NQaBu>zZwY9
zq6llzSfKu{Q)Aa%=TOx?+}2asR(6zC@8D`BkU@{s-JN2NjI&r9F@|~$+RV1PdWPMw
z?dc-(lKi={DsqdVA7j1d=&`QFGo`|o(b6Ub_~K3SiwF^1wSlF_Bv|QRe2aEP5<gyX
z34QezrX#G07PpJ1is8cY_kg56%a-*p2*V27LZ2E??}(Q&U}AnN8|G1G_V^N4+0>0w
zbf7>O6G<tT_Fas3;$vVl(kT#6Z$Md5FJ>A4C(RG9f~2v&9reIGf#uZb@koABYtcx&
zgA=D(8YyZbED&%;_VqLFv{*&(`FXPJ{Z`UZPcLtz%qjOf8Vh`g>W|t#!i|lJQ@slz
zEp+SFJ>ICI`GQeF4LoPlg-@zl3-v-~0oQ3|5?R5Fa=h{kg}h9xAs7MsrElxJjOl7+
zui<}!s?!$Ci_A@E#8crjB80M?k5;xuJX6+;ts~@1^K19<tv9e9&~2ghgpg1=%zBE&
zeYU!>aKoX502k+#THEkT-QR@3Im}O5nkbDS)>Mfo!m!)Y5KFZ74TS-r3w<Ru@N8(=
zK9Fo4*x%)kUk(mVQYWIQ$O<h#kI@P~y)U5?j(oH~-4a)vfqQ&7c_k;c6K`V&zf!N@
zMo)dm!^g!Ho~ptd__xi6x7OBuv5IfF;eKM@+;A*acI^B4hIa1IPcA7?n&_cLWP6P4
zSz@E)DUx7py9yYxP*(bSffHIMn~_tHU870C;uWZ+G;p*us$x3gk6wAp#_w~0UCObt
zFZc<pWMSInl!s6LICrHs$zrsz(|{@pA5l=CXQ2-*c`NU&^FHYk=>-W7UI0fR4}e*J
ztDJ}u9ze>v!-{k@`bj$xcSoleXT1}OhySacvkGc64BIr67TRK^6b%q44ut~6Eu|DF
z#oeKhLU0RGg0*OIiiF}W3GN{{w73U%cX#iyJ3Bi&vj_YCyEA*V$M3;6^Bz3ky!Ufo
zS3#ZetkU?Ii6hf$O;$!--MPIZUfGnv$*dm069u->Tc_rErdg+wn<uoF;F=Gt#w~nV
z5hG}TFvR~jM)qW+>`J6O=)2GbCxJ<c(QeSgfI)6=1NyGg4i-fEL1M(Rcbe?m3+%li
zGns=j%1DpZH;<3u$MDDim^V2^%w9vA5Fm)=3t~B#@O42^0jPE_efv5_w1FrFh`b5b
z)zlajWzd)tTYIhgN%)v@vpVYgb?daoPhL#d@-%0TMWk%PH<5C9LzEG^=-7CP;pm0e
z#kSXkwunMl0=tF6etJj(rP=;NNY9WD_?^>g0jQ%-+1RW#s8o)qG7)CY+t=}yuqrAn
z1#i<bRgs7v*L6}c!LaHEwP<2mOn>BJ`aBD!=W_=ppNtOxtx#1#!DW+KmNsmbS>MYD
z2!g`*&U$)(`3T6)e65{IGOHa@8~QHzDq4`??oldU3Y{AYe0k)5&9<{DJ2bC4+`AP4
zS6bjDfZEHm4(3mN{I7uXi?j_Q+pjAQM9=P#$xw`7@&soIIr8~2A5`aa_tU{qGHouR
z$1k2r7U1GOdd^j^FlC#@=?$Oz;2R2$|FyD@r6t}4JdtR*Iu3tA^Ihd5J&7MS-A|mX
zV8#?+(645Mn%WcctvoxSEwF3Pu$1w6INtb3g^qW{^W>abjKSio(-(hba6oe!vXj%2
zEv711cv1meM3nR-`+mA#l~7=Lnuet*H}RUb@Rr3P{NAV%EEB_s$Gbv1wOXfs1d*$=
z&35O)t@mLG%~bcV-TRkHiI>2%AxxtJ+zztG{siEILDqz<ZJIhFQ!23)oLk?&PCB&{
zgs9RE`!V#umE}?svb1uziBqY`(r%<l#4IqSG)4$_v3dk53=3w<R&3>(bv2T^<T>mg
zo%Re7y|%y;tUv<@2_m-{f8@!RZv?xS`*u}5x%+)N{B%Q{b?lE2^d1rS59?0H+7tIM
z(g)v7cUTY**m&MMT83VO`k4mTWI<j^H~$v;m4CxgLFn(a`q)oa*|}g0{h`|xd8_0d
zGp3=w7hb7Wp##5$lB6N)USKzRM19z`*BQ2Cd`!R@qH7u&!?u_o5jQMk@fRRXjaP=P
z_^S_#PGN|LM-YGXzZp56EK!}boxRW%cN@vqJxo`h0TT(}#*e)Sis)ToSR^jxmfVr!
zCsV^U{xVMFwg}7<yzxVe@vdS2u@wTzWKa*vgM!618+B8EJa!Ox)zG;f^uZ8w_80}8
zvg`DT>){jpjo3H0xWXGVrhwUB$7#MRz;Pt!FW1JyrL$}6M#GA$N9}VxYuy!3_3tX8
z!i*HYM)-^UXd>&C2EAqcL0>4c>zY@$=kwTnavhJ6V<`vm7A($001=*2uS!d3;0s{@
z+=q?#c?3BkYPO>n0e#O-H7dS*-N!>)0aR)VP}uPTGyyBFGNBe%FLw!+>f^~KV3sKz
zNx$2p)>vIt$k5t3>FDrunInkDuamx|W)P=bEwcQqlw?nzuUpTh$<V6k9Q|#MX-puB
zfba_ycc(g8dwW0FYFwWjQ&3brG;4c7ZL0CaP!8fh1e9|?9k;4MMn7-6WagWt9%&x2
z3wHyq*@9FY3rnYO6cfEig*34@bJJOHH%?UzcjKwG-ZA|hn89BfY}rA7H^*@hz?F|*
z<&uFrxU#=#bT@g~my?%XLbj@58QZ`10F>JbA+KVbQpY6ovL(nXa|O>~>Cf;0_GN>V
z)hVK|30JhF6yTu*tK136X~=z8_8q~CvQ2bmrI->o`Jn4noz;0od{&_f(o9G5Hd3Aj
z|FG7wXJZcru-a;iY{ce9t>?UZAVU~Y_XbTxS~YfJ;RCwm4LgkUr)y4FUT!BnDkXgx
zw3vV3n!0;JW12Zze9iHy!oH5LB*h|oU7l~RMY0Ef0QNSao~abOg_A6ud!hgH=o7vb
zzubIw@8@4*BvW^jSjm;}XXqJw<NUNIX9^A6Ylp}GtozO*l7(?Hm>@tI#7PzWGoB8A
z?b&t>AV6!cbZIQJn97CaGnBDL7<@PjyM$gCIB9#OC1NU@9tyz9-<GnuT61IwKcSWS
z_y`<d9AkEudC(zrz@Ei@+g1PV=a{Az>ZhU-D#aV&s9v^eRf&~549^vf1fL<UZ(Ja%
z$O><b5GRj#n^bJtG3n>ep9QG@g`|@NQu+{mlHik|=%pth#2#pO!%6NPmiY)2_aFU-
z)u)q^`~?+%{!`p?4eO;!opILxq|UjF#^do{=dBnYm_W1g!;Q>w-ZA3`KCvmkU+Zi+
zuoX^;t=ajykXnYAxS=J_t<;{j=Y6)h^Tk`d2$UE_$)GHxV_E5xJq;^v#3=h}`ApiI
zQSeT6>`)F`77bI}G^N!;sl&V)Tb%%!JO_Zz0-Wb-)#G)6nSY>B$#jMJwh}Hq@voCM
za3;5?0KNDP>hQYx7BJAOSPHZ7f{V*U&4Bc@sUY7~{2(Cdn;s|Anv=cM23?r>as!E7
ziJK!sRzdW^=HI@Oms>3^t|fO&kouSsYyGI(CXbvok8|L9dC&G%(dn#iz2_EXida2S
zDYqE-@XbH04K2MJCv_hhfKT`+nZ3kgR2V3eQ!mvtkLv4}D&8OdH{cVWfWn)PTEk*@
z2I`lH?bp*uPD4>L0IgWaUP1wq%}7T+14z<IPc|VZ3y2L*;a}5(?NpUgGNFfOwrq;2
zou8vZh;wsaejbutXb@)I3Dic6U`G3uIZTw4>>_3RHp(8caEXurZ4WMVEA>nm#=P{_
zvg5jGvnV=6a0qP!2>4-vuM>^T5u*tVPNTJ=cPd6yYqqr<{@lPF01;lvU)w0KGV8nG
z+Rv#ZP=u|%8M?HgdX(gcwC4FseK{$bd@m32?`8NVT?3HnlmRQ~G%PkXzB_X>yI#sC
zGH0OUo;E7(gCjUL#Z2}le>#?XjxQ+x_i+RHCqbx+s@H>KBXmojSgV9K{ToID!RYpT
zlr(q;z|SK1xj)$@SB&r5Kde-L?A_BR^EP7YhKY>&BZnJ5g0Y}I-tX3n?`lFTbMf+=
zo5cD&5OSjgyP86pk3<o_07~70*c`^6i=sZ{0>zp`6uMRMG-8UEa}f!BPGg^y)Ow!7
z;RWe&OY%w@;W4{6oS%^VXCkc6Kjh_n&(PEgk5@qy(SNO{q|%wN-5XUC7&{%BHXLsV
z$#IN`pevbzo<va>C)_g`1~A<d4Zo;uZIbfUi@II1)1f*$)dqOmb;#p6Iple@)?MXa
znE_2m?#TU&IP$)NntdR@29mOYNs!AFEfMF@ky+h?YHlQ$De57)RDaq0#Jfp-w}81f
zbPk;cVQYA6!o1RlyjBiQp+V@)3##S(#!Vq(c=J6CDO9zEeXzlbFY4x*hitF{O}V@|
z;7oVCW#Vd;6fuI^-DN#IB`m5-*PU8u_Hg=2etL1C7>tZG1gjh0Z|+r*;eIBeZ;dJF
zF!;4i-AQ`Z)<mJDAh-#7#!n;uZfPx8Nh(}bJ?OLCdSYji9OOo(=SX$g5h_b0H49YD
z;xuk0A^8u$`NRp~;q*B8BYeNR+6X=NRNCdawXN+;ZNLkT)t$5BK?F_uimUZ>_Ez@+
z*KhF5(1N*TbSDr0$@bL)ndYdxm%(^J5~U8D)9b6kFffKnpSL5Dvb(k4gpuKEu#yqo
z78|Q2lN5`ysbqi$EaDD6X?&&!k;L?&ByG$)Sa~SA9SW?#%$BWd^aQknQ&w^ocSd;v
z5;27zG<!iSCBHPwT4zztL5)*T6U=YBA7=(oNF85ZNoqbJ%~FhW%C0Qvy7=ktK3i3~
zC40gCnA4E_6Q#D8XE|<+e05V_xNige*Rx}h;92u4c22J93k4(Jw|k=Wuj5zNTzuh~
zX~i9#v)RmRv3RBvdD|!TqJw{qBxIB7Mzpr^-_0o+kydoZ{==G^^$l2Dy#8L4NU68%
zY4i+SpP232|2VzvAC}Z@kDrdl9QTJ-li68hMnu^sX<cW$U_2^aw}oQ%Vx^F(!Nf7S
zIEqioDkr2H7kX|bj0Q4HA`F!Rr_F*`@$IIkvouBc1yy(EHJpK(zew%!Vh_(^`OT~L
zkJsI!-G8051uPFxi)qOfR-L*orH&~WZgOPYQ$$AI6eYKvcV8B!{N1-9;QccJvwt>N
zTC!vKjaK_a%j<hj=bv-I3|uk##V<5><HMF{Q;U&4BobFpDKX8%OA)6l3WTgW4HE<3
zvpT)rGH>pbKu%~_G|WKA_}wX4Y_90$!af1v?{T54j@nCZusss{6&5&|RB^2}HA$~q
z)iIpXWP=lXuFt)6%-V$PEzI~Vw|^YIL})nrw{JCI>CXzN;d$%Nxl8GSVhRJTW4~DS
zmM7ALZ|+XN(UU%2^lFa_Cw^0qpi`5yldp#;OjhrFu?`gil<i8L%5!*l9g|}(3RxEF
zQ0~g={-{}C2i%ucHs2K)S5#h3DvP@G^u3q`@Yr~Cev>~Wtvjd7ANAl)akW?hxK0;x
zX{ad0RmF?Bs`HHzGen_dlL`({I5!Hi?rf<^`O$k#n&D%13wER77c8}f!P|&x3Ryqj
zZ^IigYYt>?>B!>NNmEsa3Adr)QDvhbS$y;v<z_B7b!bv*?uhdEN*B$V**&Avqp-t6
z^_l|NZYX0KZ8W33LWl+|^up$mThzD%>aT6N;D?EEv7@ty8Oy0ETgjA`^kJLEkpdO<
z4V)jV3-4jXwKC2-66$*jzUX;6CtAZF(T{fFfBJsjPqJ<oAyT|p8O2sN+&x#i9U%$v
zZcCBb6T)8#WP01y4mX^Ov|$^j@8Mq_9qYNNJA**x2HM_DzP=T3uVf0yZbOVx$R_UU
z*~}nat~P&KY~eVC`*7Pirk%k1OiRr{j6UqLOcLVDHpdGuv`=t&bSdGqLWioJL9nx=
z1<C*Aq#SP87dty9#6qRh3vJgIw(Zjyd^61`y0)GkPqL=OA&8(nFqSp`_wa%nvaLQS
z$Af%UrnIv5*3x=^t&rLlCuN@>_ic+!nTGD@9~SusoD?7bF*{EzLdwmW@%RL=F10)k
zmC2`2^8XE0{6Cmuvhq?F=E|Sb+RZ9+uR#Gws+U3=p;Gn6nAJr`-~6PyQO4j^f-h;s
zXU`UfHt5PQwP~c*Jz<2q;wp+qYD${pOYv1plP`&l?oCH&uI#J8Ray}>_QKZM)e(_t
zyW@sSUqLKPluW?oUS;0>djF0{QvJ)i+<#cu`bTmm*avLfPPG?t6{oB>+;lG`Bzu3|
zm0yBkBkSMixQ;Ok{Cm;}R(p`U#GCXt<-oqyx<Le|f>-%oTv8*G7`@K0s-bJ+n;49m
z=r?xO(3iV-Kd1NIzuwzj==rf18ERFFUghs(ujeO@X4NJ8b4qdBOgjzqNAAdO<wKvv
zQ2eIBb6f5fQJD6EyY9CBF_4U|*$y+G*M8rLJInqt>LK?%=cz;i`($^h^mV&xx!#&M
zxa4J}N4pzzwJ6#T-1eVzA8UqM%UdC5bO=l%Nq(;S*YU}zFUV8M(s&cYwRT$P+3Q1K
z#uaFJJrx6K)oYI+IVNeEJ<#!sg#sOkWHnV|+dcG9m+zCVD_TZ<8t|$li?{5%i|2i3
z+LGZ*foS*=vw>|m<{a%mpTq%yQq8T)A5$&R_1u+?!e_k40j_qMBwCt(dr8fOzYat2
z0H$iC)Xnw7&}{|jL>(aOw~q9Ip+!u(QiwK)Y~Rh>Ad8(_RkMPDU_YQj&bgQT@1H2U
zxC1pSav(+39Cy;FfXZ*)s(7i{eMo?q13opbJ0lJ!<yNRZAh&6T*~!CqIq3?CEwPf)
z`EtGfrXhPbb99Gd!4)8FjwsCcGV1#PPJ<Bsz!|jVya~GHX>j5wSyKQ922tzYT&0<G
z`>*0OWt7;SJk+W6@#oqk8EBPE3rcfPm>zS#ig021$4Zk#+EJuJt$1U02TyK{)plS=
zZy}$2x8$+oy1q!BHuinyY^F*OW26v7@u~=KYIy-sbwFO275bxGM_Ni;;8pco=719+
zoD{E|72D$AC3tj&&AiY9^d<1l42dc0r#YX>u*ZneqrdD88dfjJ&=_7^iIb$$mCd|S
zDJfANV9Oi)y}F6O>;U$p=jIH|=~FAld=~`zYku9$SY^JYb)M^~<+w~$Z1Y6v_R;$5
zl^L(r`J|a)V(N9qP(iAqptqzjgpQRG#96$AD=fY1?0KWcUxe8|EQ=P2E3!uDa=f>K
z@pyj^F`Re3c+z+BY{ZwW?PPYNfM_$*5XGBo<WLm4p}!Sq$ijM|EZ%2R;|R?2*`7z)
zAiHOwVoiTlt<S{wDP0CZ>gi(=ZWBa&hb(*TNr~Hb>OPYrd+z(WAq^ufgDfc5DN~GQ
zXLuR$`(>|>p4VKf|FAyOP0mp{a=Cfb1x?<Y!J^EAE@N9cS@OJU3B}E-#~Wt{f<OeM
zVsvRHTJ7C`eNu&;?Mf{Q3AqP@g}YR95Ug2AqxxnCIqR!+!@sEo`TpMjxmi;W2>9;I
z<2AwDv9i}tFY{}a2x2RtNpdrLd{E=lyLR&Y+Z>~zJ`~+h1;Q_xp0`{tzzrI0qk$x}
zGevfIfF<RC$-DVfRr=YRdyI|~6rZ+=8;T;L`o>0xXIpTuoQwdwYE#;NTV#aSH36;J
z#qqNGY!D0PdTk#oU|N|!MhrOds-)*GK6{zdDmNy6yoqkO>thMjiMjvY*6MV?BXylZ
zma7J>AoGe}Q%w*alf=^cSWPIt{J|WYeQIC?9!aXnGoiBTvXE*KZ~C^CZcfc@zt?cN
z(HTa|*Hl?S6b9PMKRqLP<@X;HFFiWs7s|ldZ2b5l*Yd69DiI(UG7L5rK4euonvffv
zayWdN>!lo;wt^$)Nd&{*es|?{2Um14{gW2iArh>)pIq0m(T}&WQ}xzj4l)&{pDc;Y
zaH%3wfpXPe>MPN9@HkU;y4YsCP*C2X`ubUymxizIA6EUZ{KVY(y0eSzW|<VZrL@H5
zfhd%fx1N>X8MwrrIk$icD>Bk*dx9t<oUHqP3`j6%(8jA*AndpuVU_KFb78PbKg$-J
z*!2&~dLiREobc;XEh)FSAhKRCCN*~02%$vg%Gl82^jh|2V-Q(?DbvZa#k#HFeXD4j
zz(z9}K|ddpJwX=$<|LG7b>du1Pohdpv*^P7CUUnYHZeio@YViyPFuTe#CN7m%Ri_n
z*`+d3Iht?kRDxAkL_Xhn;$nt70%~V+-jKKfB{(GH?EtL_WegBI=J31^y2}dmrfW9P
zoxsoQ;^6?IUDJkaO8jN3v>q#IY}V-LK~@^ObhJTL$B3Ij$%y`e!rY~&Z?)`Aqjd8t
z4$5(VCWg$+!!Epc_)j;9E+1&h{K89|c0jR2(_v4~ora_N8)z9hN{Whk-~F&T?z>ZD
zXx-HCEgyy&7JCOo1YQTBlNhx0)IHYtNS6ciyYL`i3cWL3{wilJMGVKi@fw3uXX<vm
zqup5sfmr4wbQ03suUNSI9Mi<C$$ZHi#<zbGrX9Q?4pr9Hlo()9f6Da|*dN2&1PdG)
zpwODN{N^r$5TJeILLGVZsoVN@i^#GY776NX)&V_i-+fEvPU<?FkQ~63prpq_vn+eu
zt|RF@ew<cpFGPnj$SoGoU_tO7$@h$t4lG@DQBvL5Qq&(^THF@)udme~1<v1E6nIvS
zspg~WnIP9lW|`3j`<$E-rgRFeg<9_TkbQ^FK3^>b1gdU|YG)sDMs}O=^*%IS&2gOx
zrx_iQq?KFJDi-)~4$0*BpdSqCmu6*_L5wiP<JxX8(Pf;frp#Vlf$6#eY*z-Tot7R$
zeqVcX?0zW756VkD9F=)>x^G1kX@Mt%SJIi)35)$vV^f)~W&^ij)<E;Nr#+L93}ZU+
zDkZcrxFw2)nycs)>2N8){D!S+HH}KN9zV^@agdZ4gyW?vau}MQV`z#_|4a+{)$Ba^
z=$dd{u(OkW^!Kr6D}JNVt=_3Y_7tWf(1A3N`C)UVu4FYrvNU9X@4;Mp(g9+Un=pet
zs+hpKp&Z&`-+Fs}fI=Hj<1E&eJ>cHg0`0&CE=h0lkqYu-%C27778lA>O2Z3w(TLR>
z1inlYd{F6OrL088OhfW>DTp42a)`I5MMAs>Y3lW}#h2%_Lp))+$F08at=fNlK>YVX
za(JpbLqfFR6#mlvK9qxgJaXtRP}sARrPr990dxJ+zuQ2LG9t=NaKjRaFq~U4`9kZ|
zW<6yT+$|MMxxLaCSMLzL$oFi9p@n-|B>OEbbak)IUqi761td7CuuL17kUc-CUg;xG
zjhYjcK1ujC1dCOvE-kH9nuD~fQEo&$L}P~Oqfg$)WOP=wqkP_V)3*mtxkvqMjN~Ur
z#lQ-^`O&g#JmQ#Xo^j!8G~?nOPqj&i3Gtl9`z;Q3+jBdJlK;)Nt&}d{_U|OqKP)i&
z(p$&52%6p2oJ6E>Az@pVZ|e;It;LqO61~7d=Nli-@P`-`b$VUmccgD!q~)YN*2()*
z5=2Tz+}G)U<-T1OzfgH6L|o$Bl-2Ju94|4G8P_$1!y(Iu%?$`oL#~au_Kn1~7)((y
zwlO`ntGz60p6;tm{F>bFl*-p|R?|egm2Fe2A+4k#9+i58xebqzPPnUhRBqAie%!S;
zyWvYwnv^*<rlO<1wQX#~c(KmfJ50F<d(<c|AV8zNzo+TlQYYoDCy7*PxG<&wy0Xc{
zK*XNw9SrD{aMLfo#M5|al@|;qAeoH68&yiNVxE&A0%+WexbI&qs%(}TF}L=6l+Jfd
z@mCKN=lmE{ClnBat{dJyBI6qQT01g;70okZbjyf57ZgRhX<+a)RT$Q69jhAG=6_^B
zK<3rcq-9*=i2j0cm><Wda`=c|;>~<ByJrnhwZ<mci)6UrO>Vf=&0{sqDw=UkpX=hO
ze^~u)E4v>Cj^(#<R+{Yummp?$rlquGJ~@sf+B(?1uZDxidO+nVSl(TnE|=iey?1S5
z3Y%4HHKIE5_w$I2G?<?#MZ>}QCfR&P^o7W9bqO@ca3F^$QPSGn)VaE<Lq#R>gVX|*
zi4r9s<)&0kLqYt+IE(%N$kA=W6zyiB(8o4nBEo9E!9Iw-X;EYsj4rGmo?YV6!Dx(s
zkiVN#G<y%--7T^zsOLJY)o9Wg+j_3M@vSu`{vf1%7B?D{)vJp?pcZbbh}JPU9~YbW
zl8UcGFSygVJ@QHTON@v<UK!N4U+)4KTyDj(P`tX3zq|!~XyOOfWo8gyrDPB5L*m52
zpH$k{Z`O(nK=-05_pTSj?eqJFVteKv@shK$qJ{6m4r?8--f9dKu2BE5zl0e`2k&uN
zIsPU99}WrfNx)WtD4oXGvIYFTl8~{}3H;rn1%YZ^qM1Hf>KY)nh+I}!JmM&fRq@c_
zqvhol7q$A-C*DZ+_jCtiQyfQ8kLa<izDz#7#>!f;rN?r?)^Xnxy%UEhXWUU_l&Z<b
eynY@1pHQOyXLZ8=cXsvv|F!?;_b2sl>c0S=4=yhN

literal 0
HcmV?d00001

diff --git a/utils/docker/Dockerfile b/utils/docker/Dockerfile
new file mode 100644
index 00000000..385d748b
--- /dev/null
+++ b/utils/docker/Dockerfile
@@ -0,0 +1,59 @@
+#------------------------------------------------------
+# build stage
+#------------------------------------------------------
+
+FROM ubuntu:24.04 AS BUILD
+
+WORKDIR /rcssserver
+
+# set environment variables
+ENV config_file=server.conf \
+    DATE_FORMAT="%Y%m%d%H%M%S" \
+    VERSION=18.1.3
+
+
+# install dependencies
+RUN apt-get clean && apt-get update --allow-insecure-repositories && \
+    DEBIAN_FRONTEND="noninteractive" apt-get -y install \
+    tzdata \
+    sudo \
+    gcc \
+    g++ \
+    wget \
+    flex \
+    bison \
+    libboost-all-dev \
+    automake \
+    make \
+    cmake \
+    iputils-ping
+
+# copy rcssserver source code
+COPY . /rcssserver
+
+# make and install rcssserver
+RUN cd /rcssserver/ \
+    && ./bootstrap \
+    && ./configure --prefix=`pwd`/server-bin \
+    && make \
+    && make install \
+    && ldconfig
+
+
+
+
+#------------------------------------------------------
+# run stage
+#------------------------------------------------------
+FROM ubuntu:24.04 AS RUN
+
+ENV LD_LIBRARY_PATH=/app/server-bin/lib:/usr/local/lib:/usr/lib:/lib \
+    PATH=/app/server-bin/bin:$PATH 
+
+WORKDIR /app
+
+COPY --from=BUILD /rcssserver/server-bin /app/server-bin
+
+COPY utils/docker/docker-entrypoint.sh /app/docker-entrypoint.sh
+
+CMD [ "bash", "/app/docker-entrypoint.sh" ]
\ No newline at end of file
diff --git a/utils/docker/README.md b/utils/docker/README.md
new file mode 100644
index 00000000..567ad942
--- /dev/null
+++ b/utils/docker/README.md
@@ -0,0 +1,43 @@
+# RoboCup Soccer Simulator Server
+This image contains the RoboCup Soccer Simulator Server (rcssserver) installed and ready to use.
+
+## Tags
+- latest
+
+## How to use this image
+
+Run the following command to start the server:
+```bash
+docker run --name rcssserver --network host -it rcssserver:latest
+```
+Now you can connect to the server using the monitor or a client.
+
+## How to use custom configuration files
+1. You can mount a volume with your custom configuration files, like:
+```bash
+docker run --name rcssserver --network host -v /path/to/your/configs:/root/.rcssserver -it rcssserver:latest
+```
+2. You can add your custom configuration as environment variables, like:
+```bash
+docker run --name rcssserver --network host -e 'synch_mode=true' -it rcssserver:latest
+``` 
+3. You can run server with custom command line arguments, like:
+```bash
+docker run --name rcssserver --network host -it rcssserver:latest rcssserver server::synch_mode=true
+
+```
+
+
+**Note**: You can either use one of the above methods at a time. 
+It means:
+* if there is a server configuration file environment variable will be ignored. 
+* if you use third method, the second method will be ignored.
+
+
+
+## :incoming_envelope: Contributing
+
+For bug reports, feature requests and latest updates, please goto
+https://github.com/rcsoccersim/rcssserver and open an issue or a pull request.
+
+> The RoboCup Soccer Server Maintainance Group
diff --git a/utils/docker/docker-entrypoint.sh b/utils/docker/docker-entrypoint.sh
new file mode 100755
index 00000000..f6955e3a
--- /dev/null
+++ b/utils/docker/docker-entrypoint.sh
@@ -0,0 +1,237 @@
+#!/bin/env bash
+
+SERVER_CONFIG_FOLDER='/root/.rcssserver'
+LOGS_FOLDER='/root/rcssserver-logs'
+
+mkdir -p ${LOGS_FOLDER}
+
+SERVER_OPTIONS=(
+    'catch_ban_cycle' ''
+    'clang_advice_win' ''
+    'clang_define_win' ''
+    'clang_del_win' ''
+    'clang_info_win' ''
+    'clang_mess_delay' ''
+    'clang_mess_per_cycle' ''
+    'clang_meta_win' ''
+    'clang_rule_win' ''
+    'clang_win_size' ''
+    'coach_port' ''
+    'connect_wait' ''
+    'drop_ball_time' ''
+    'extra_half_time' ''
+    'foul_cycles' ''
+    'freeform_send_period' ''
+    'freeform_wait_period' ''
+    'game_log_compression' ''
+    'game_log_version' ''
+    'game_over_wait' ''
+    'goalie_max_moves' ''
+    'half_time' ''
+    'hear_decay' ''
+    'hear_inc' ''
+    'hear_max' ''
+    'illegal_defense_duration' ''
+    'illegal_defense_number' ''
+    'keepaway_start' ''
+    'kick_off_wait' ''
+    'max_goal_kicks' ''
+    'max_monitors' ''
+    'nr_extra_halfs' ''
+    'nr_normal_halfs' ''
+    'olcoach_port' ''
+    'pen_before_setup_wait' ''
+    'pen_max_extra_kicks' ''
+    'pen_nr_kicks' ''
+    'pen_ready_wait' ''
+    'pen_setup_wait' ''
+    'pen_taken_wait' ''
+    'point_to_ban' ''
+    'point_to_duration' ''
+    'port' ''
+    'recv_step' ''
+    'say_coach_cnt_max' ''
+    'say_coach_msg_size' ''
+    'say_msg_size' ''
+    'send_step' ''
+    'send_vi_step' ''
+    'sense_body_step' ''
+    'simulator_step' ''
+    'slow_down_factor' ''
+    'start_goal_l' ''
+    'start_goal_r' ''
+    'synch_micro_sleep' ''
+    'synch_offset' ''
+    'synch_see_offset' ''
+    'tackle_cycles' ''
+    'text_log_compression' ''
+    'auto_mode' ''
+    'back_passes' ''
+    'coach' ''
+    'coach_w_referee' ''
+    'forbid_kick_off_offside' ''
+    'free_kick_faults' ''
+    'fullstate_l' ''
+    'fullstate_r' ''
+    'game_log_dated' ''
+    'game_log_fixed' ''
+    'game_logging' ''
+    'golden_goal' ''
+    'keepaway' ''
+    'keepaway_log_dated' ''
+    'keepaway_log_fixed' ''
+    'keepaway_logging' ''
+    'log_times' ''
+    'old_coach_hear' ''
+    'pen_allow_mult_kicks' ''
+    'pen_coach_moves_players' ''
+    'pen_random_winner' ''
+    'penalty_shoot_outs' ''
+    'profile' ''
+    'proper_goal_kicks' ''
+    'record_messages' ''
+    'send_comms' ''
+    'synch_mode' ''
+    'team_actuator_noise' ''
+    'text_log_dated' ''
+    'text_log_fixed' ''
+    'text_logging' ''
+    'use_offside' ''
+    'verbose' ''
+    'wind_none' ''
+    'wind_random' ''
+    'audio_cut_dist' ''
+    'back_dash_rate' ''
+    'ball_accel_max' ''
+    'ball_decay' ''
+    'ball_rand' ''
+    'ball_size' ''
+    'ball_speed_max' ''
+    'ball_stuck_area' ''
+    'ball_weight' ''
+    'catch_probability' ''
+    'catchable_area_l' ''
+    'catchable_area_w' ''
+    'ckick_margin' ''
+    'control_radius' ''
+    'dash_angle_step' ''
+    'dash_power_rate' ''
+    'effort_dec' ''
+    'effort_dec_thr' ''
+    'effort_inc' ''
+    'effort_inc_thr' ''
+    'effort_init' ''
+    'effort_min' ''
+    'extra_stamina' ''
+    'foul_detect_probability' ''
+    'foul_exponent' ''
+    'goal_width' ''
+    'illegal_defense_dist_x' ''
+    'illegal_defense_width' ''
+    'inertia_moment' ''
+    'keepaway_length' ''
+    'keepaway_width' ''
+    'kick_power_rate' ''
+    'kick_rand' ''
+    'kick_rand_factor_l' ''
+    'kick_rand_factor_r' ''
+    'kickable_margin' ''
+    'max_back_tackle_power' ''
+    'max_catch_angle' ''
+    'max_dash_angle' ''
+    'max_dash_power' ''
+    'max_tackle_power' ''
+    'maxmoment' ''
+    'maxneckang' ''
+    'maxneckmoment' ''
+    'maxpower' ''
+    'min_catch_angle' ''
+    'min_dash_angle' ''
+    'min_dash_power' ''
+    'minmoment' ''
+    'minneckang' ''
+    'minneckmoment' ''
+    'minpower' ''
+    'offside_active_area_size' ''
+    'offside_kick_margin' ''
+    'pen_dist_x' ''
+    'pen_max_goalie_dist_x' ''
+    'player_accel_max' ''
+    'player_decay' ''
+    'player_rand' ''
+    'player_size' ''
+    'player_speed_max' ''
+    'player_speed_max_min' ''
+    'player_weight' ''
+    'prand_factor_l' ''
+    'prand_factor_r' ''
+    'quantize_step' ''
+    'quantize_step_l' ''
+    'recover_dec' ''
+    'recover_dec_thr' ''
+    'recover_init' ''
+    'recover_min' ''
+    'red_card_probability' ''
+    'side_dash_rate' ''
+    'slowness_on_top_for_left_team' ''
+    'slowness_on_top_for_right_team' ''
+    'stamina_capacity' ''
+    'stamina_inc_max' ''
+    'stamina_max' ''
+    'stopped_ball_vel' ''
+    'tackle_back_dist' ''
+    'tackle_dist' ''
+    'tackle_exponent' ''
+    'tackle_power_rate' ''
+    'tackle_rand_factor' ''
+    'tackle_width' ''
+    'visible_angle' ''
+    'visible_distance' ''
+    'wind_ang' ''
+    'wind_dir' ''
+    'wind_force' ''
+    'wind_rand' ''
+    'coach_msg_file' ''
+    'fixed_teamname_l' ''
+    'fixed_teamname_r' ''
+    'game_log_dir' "${LOGS_FOLDER}"
+    'game_log_fixed_name' ''
+    'keepaway_log_dir' "${LOGS_FOLDER}"
+    'keepaway_log_fixed_name' ''
+    'landmark_file' ''
+    'log_date_format' ''
+    'team_l_start' ''
+    'team_r_start' ''
+    'text_log_dir' "${LOGS_FOLDER}"
+    'text_log_fixed_name' ''
+)
+
+# First Config Priority : Server Config files
+# if server config does exist then run with it
+if [ -f "${SERVER_CONFIG_FOLDER}/server.conf" ]; then
+    rcssserver 
+    exit 0
+fi
+
+# Second Config Priority : Environment Variables
+# if environment variables are set then run with them
+# loop through the default values if they are in the environment variable change the array value
+for ((i=0; i<${#SERVER_OPTIONS[@]}; i+=2)); do
+    if [ -n "${!SERVER_OPTIONS[i]}" ]; then
+        SERVER_OPTIONS[i+1]="${!SERVER_OPTIONS[i]}"
+        echo "ENV Loaded ${SERVER_OPTIONS[i]}=${SERVER_OPTIONS[i+1]}"
+    fi
+done
+
+# run server with options
+opt=""
+for ((i=0; i<${#SERVER_OPTIONS[@]}; i+=2)); do
+    if [ -n "${SERVER_OPTIONS[i+1]}" ]; then
+        opt="${opt} server::${SERVER_OPTIONS[i]}=${SERVER_OPTIONS[i+1]}"
+    fi
+done
+
+echo "Running server with options: ${opt}"
+rcssserver ${opt}
+
+

From e057fde5b5f15c00fa0e0a6811e8928b2bdae920 Mon Sep 17 00:00:00 2001
From: Alireza Sadraii Rad <sadraiiali@gmail.com>
Date: Tue, 23 Apr 2024 00:05:21 +0200
Subject: [PATCH 02/11] add artifact

---
 .github/workflows/main.yml | 16 +++++++++++++---
 1 file changed, 13 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 081b8581..8e9d0801 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -85,11 +85,21 @@ jobs:
           path: ${{ github.workspace }}/artifact/*
           retention-days: 5
 
+      - name: Check if there is no release with the same tag
+        id: check_release
+        run: |
+          curl -s -o /dev/null -w "%{http_code}" https://api.github.com/repos/${{ github.repository }}/releases/tags/${{ github.ref_name }} -u ${{ secrets.GITHUB_TOKEN }}:
+          echo "::set-output name=release_exists::${{ steps.check_release.outputs.stdout }}"
       # ------------------------------------------- Release
-      - uses: ncipollo/release-action@v1
-        if: startsWith(github.ref, 'refs/tags/')
+      - name: Create Release
+        id: create_release
+        uses: ncipollo/release-action@v1
+        if: steps.check_release.outputs.release_exists == '404'
         with:
           artifacts: "${{ github.workspace }}/artifact/*"
           token: ${{ secrets.GITHUB_TOKEN }}
-          # tag text is like "v1.2.3" so we need to remove the "v" from the tag
           tag: "${{ github.ref_name }}"
+          release_name: "${{ github.ref_name }}"
+          release_body: "RoboCup Soccer Simulator Server"
+          draft: false
+          prerelease: false

From 32aaebda4a640d8e86018f15c0547693d1ce0a34 Mon Sep 17 00:00:00 2001
From: Alireza Sadraii Rad <sadraiiali@gmail.com>
Date: Tue, 23 Apr 2024 00:23:11 +0200
Subject: [PATCH 03/11] test dockerfile

---
 utils/docker/Dockerfile | 1 +
 1 file changed, 1 insertion(+)

diff --git a/utils/docker/Dockerfile b/utils/docker/Dockerfile
index 385d748b..62b9dd11 100644
--- a/utils/docker/Dockerfile
+++ b/utils/docker/Dockerfile
@@ -52,6 +52,7 @@ ENV LD_LIBRARY_PATH=/app/server-bin/lib:/usr/local/lib:/usr/lib:/lib \
 
 WORKDIR /app
 
+
 COPY --from=BUILD /rcssserver/server-bin /app/server-bin
 
 COPY utils/docker/docker-entrypoint.sh /app/docker-entrypoint.sh

From b5a75630f997ede8a4177676dc47736eef9d0485 Mon Sep 17 00:00:00 2001
From: Alireza Sadraii Rad <sadraiiali@gmail.com>
Date: Tue, 23 Apr 2024 00:46:25 +0200
Subject: [PATCH 04/11] update pipeline

---
 .github/workflows/main.yml | 23 ++++++++++++++++++++---
 1 file changed, 20 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 8e9d0801..a55d71b8 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -15,7 +15,6 @@ jobs:
   docker:
     runs-on: ubuntu-latest
     name: Build & Push Docker
-    if: startsWith(github.ref, 'refs/tags/')
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -32,6 +31,17 @@ jobs:
           cmake_version=$(grep -oP 'project\(.* VERSION \K[0-9]+\.[0-9]+\.[0-9]+' CMakeLists.txt)
           echo "::set-output name=version::${cmake_version}"
         
+      - name: Check if the version tag exist git then skip
+        id: check_tag
+        run: |
+          git tag -l | grep -q "${{ steps.cmake_version.outputs.version }}" && echo "Tag already exists" && exit 1 || echo "Tag does not exist"
+        continue-on-error: true
+      
+      - name: tag the version
+        if: steps.check_tag.outcome == 'success'
+        run: |
+          git tag -a "${{ steps.cmake_version.outputs.version }}" -m "Version ${{ steps.cmake_version.outputs.version }}"
+          git push origin "${{ steps.cmake_version.outputs.version }}"
       
       - name: Login to Docker Hub
         uses: docker/login-action@v3
@@ -45,7 +55,7 @@ jobs:
           context: .
           file: ./utils/docker/Dockerfile
           push: true
-          tags: "${{ env.BASE_IMAGE }}:latest,${{ env.BASE_IMAGE }}:ubuntu-24-${{ github.ref_name }}-${{ steps.cmake_version.outputs.version }}"
+          tags: "${{ env.BASE_IMAGE }}:latest,${{ env.BASE_IMAGE }}:ubuntu-24-${{ steps.cmake_version.outputs.version }}"
 
       - name: Docker Hub Description
         uses: peter-evans/dockerhub-description@v4
@@ -66,6 +76,12 @@ jobs:
         run: |
           mkdir -p ${{ github.workspace }}/artifact
 
+      - name: Find CMakeLists.txt version
+        id: cmake_version
+        run: |
+          cmake_version=$(grep -oP 'project\(.* VERSION \K[0-9]+\.[0-9]+\.[0-9]+' CMakeLists.txt)
+          echo "::set-output name=version::${cmake_version}"
+
       # ------------------------------------------- Ubuntu 20.04 AppImage
       - name: Prepare builder image for 20.04
         run: |
@@ -75,7 +91,7 @@ jobs:
         run: |
           docker run --privileged --name builder-2004 \
             builder-image:2004 /rcssserver/utils/appimage/build_appimage.sh
-          docker cp builder-2004:/rcssserver-x86_64.AppImage ${{ github.workspace }}/artifact/rcssserver-x86_64-2004.AppImage
+          docker cp builder-2004:/rcssserver-x86_64.AppImage ${{ github.workspace }}/artifact/rcssserver-x86_64-${{ steps.cmake_version.outputs.version }}.AppImage
 
       # ------------------------------------------- Artifact
       - name: Upload Artifact
@@ -90,6 +106,7 @@ jobs:
         run: |
           curl -s -o /dev/null -w "%{http_code}" https://api.github.com/repos/${{ github.repository }}/releases/tags/${{ github.ref_name }} -u ${{ secrets.GITHUB_TOKEN }}:
           echo "::set-output name=release_exists::${{ steps.check_release.outputs.stdout }}"
+          
       # ------------------------------------------- Release
       - name: Create Release
         id: create_release

From 8db68e5bb0adf4f116a9f090fac19d2d02771260 Mon Sep 17 00:00:00 2001
From: Alireza Sadraii Rad <sadraiiali@gmail.com>
Date: Tue, 23 Apr 2024 00:51:36 +0200
Subject: [PATCH 05/11] add git name to build

---
 .github/workflows/main.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index a55d71b8..a4b94bcb 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -40,6 +40,8 @@ jobs:
       - name: tag the version
         if: steps.check_tag.outcome == 'success'
         run: |
+          git config --global user.email "action@github.com"
+          git config --global user.name "GitHub Action"
           git tag -a "${{ steps.cmake_version.outputs.version }}" -m "Version ${{ steps.cmake_version.outputs.version }}"
           git push origin "${{ steps.cmake_version.outputs.version }}"
       
@@ -106,7 +108,7 @@ jobs:
         run: |
           curl -s -o /dev/null -w "%{http_code}" https://api.github.com/repos/${{ github.repository }}/releases/tags/${{ github.ref_name }} -u ${{ secrets.GITHUB_TOKEN }}:
           echo "::set-output name=release_exists::${{ steps.check_release.outputs.stdout }}"
-          
+
       # ------------------------------------------- Release
       - name: Create Release
         id: create_release

From 0822a0ac7e5f2c598dec6d9e2c46d24d90094091 Mon Sep 17 00:00:00 2001
From: Nader Zare <nader.zare88@gmail.com>
Date: Mon, 22 Apr 2024 22:32:16 -0300
Subject: [PATCH 06/11] Update main.yml

---
 .github/workflows/main.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index a4b94bcb..5b6cf362 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -1,11 +1,13 @@
 name: ci
 
 on:
+  workflow_dispatch:
   push:
     branches:
       - "master"
     tags:
       - "*"
+    
 
 env:
   BASE_IMAGE: crosslanguagesoccerframework/rcssserver

From 842d7cb02042a1acd9bb0917ecbaf2b21c22ed8b Mon Sep 17 00:00:00 2001
From: Nader Zare <nader.zare88@gmail.com>
Date: Mon, 22 Apr 2024 22:56:04 -0300
Subject: [PATCH 07/11] Update main.yml

---
 .github/workflows/main.yml | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 5b6cf362..550b7c6a 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -104,12 +104,15 @@ jobs:
           name: rcssserver-x86_64
           path: ${{ github.workspace }}/artifact/*
           retention-days: 5
-
+          
+      - name: List files in artifact directory
+        run: ls -l ${{ github.workspace }}/artifact/
+        
       - name: Check if there is no release with the same tag
         id: check_release
         run: |
-          curl -s -o /dev/null -w "%{http_code}" https://api.github.com/repos/${{ github.repository }}/releases/tags/${{ github.ref_name }} -u ${{ secrets.GITHUB_TOKEN }}:
-          echo "::set-output name=release_exists::${{ steps.check_release.outputs.stdout }}"
+          result=$(curl -s -o /dev/null -w "%{http_code}" https://api.github.com/repos/${{ github.repository }}/releases/tags/${{ github.ref_name }} -u ${{ secrets.GITHUB_TOKEN }})
+          echo "::set-output name=release_exists::$result"
 
       # ------------------------------------------- Release
       - name: Create Release

From 10507b05f16e070923aca069e336d56c643e686c Mon Sep 17 00:00:00 2001
From: Nader Zare <nader.zare88@gmail.com>
Date: Mon, 22 Apr 2024 23:18:08 -0300
Subject: [PATCH 08/11] Update main.yml

---
 .github/workflows/main.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 550b7c6a..03c13861 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -122,8 +122,8 @@ jobs:
         with:
           artifacts: "${{ github.workspace }}/artifact/*"
           token: ${{ secrets.GITHUB_TOKEN }}
-          tag: "${{ github.ref_name }}"
-          release_name: "${{ github.ref_name }}"
+          tag: "${{ steps.cmake_version.outputs.version }}"
+          release_name: "${{ steps.cmake_version.outputs.version }}"
           release_body: "RoboCup Soccer Simulator Server"
           draft: false
           prerelease: false

From dc6e4d0f810d94d55d0002c56a006f2260269ba7 Mon Sep 17 00:00:00 2001
From: Nader Zare <nader.zare88@gmail.com>
Date: Tue, 23 Apr 2024 00:03:52 -0300
Subject: [PATCH 09/11] Update README.md

---
 README.md | 30 +++++++++++++++++++++++++++++-
 1 file changed, 29 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 0c7db2c5..887a7528 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,35 @@ The RoboCup Soccer Simulator Server (rcssserver) is a research and educational t
 
 For further reading, please check [the user's manual](https://rcsoccersim.readthedocs.io/).
 
-## :soccer: Quick Start
+There are three different solutions to run the RoboCup Soccer Simulator Server.
+- Download the AppImage release and run (Linux, Windows WSL)
+- Build from source and run (Linux, Windows WSL)
+- Use Docker Image
+
+## :gift_heart: AppImage
+#### Download AppImage
+Download "rcssserver-x86_64-?.?.?.AppImage" from the (release page)[https://github.com/CLSFramework/rcssserver/releases] / latest version
+or use the below command to download the latest version of AppImage:
+```bash
+wget $(curl -s https://api.github.com/repos/clsframework/rcssserver/releases/latest | grep -oP '"browser_download_url": "\K(.*rcssserver-x86_64-.*\.AppImage)' | head -n 1)
+```
+
+#### Install dependency and update permission
+
+then you need to update the permission of the AppImage and install fuse:
+```bash
+chmod +x rcssserver-x86_64-*.AppImage
+sudo apt-get install fuse
+```
+
+#### Run
+
+to run the AppImage:
+```bash
+./rcssserver-x86_64-?.?.?.AppImage
+```
+
+## :soccer: Build From Source
 
 rcssserver is implemented by C++14 and depends some libraries.
 Make sure you have the required dependencies installed on your system:

From 589a771419ed3a3f547de26b3292cd10389ac20a Mon Sep 17 00:00:00 2001
From: Nader Zare <nader.zare88@gmail.com>
Date: Tue, 23 Apr 2024 00:10:41 -0300
Subject: [PATCH 10/11] Update README.md

---
 README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 887a7528..416b4da1 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-# RoboCup Soccer Simulator Server
+# :soccer: RoboCup Soccer Simulator Server
 
 [![CircleCI](https://circleci.com/gh/rcsoccersim/rcssserver/tree/master.svg?style=svg)](https://circleci.com/gh/rcsoccersim/rcssserver/tree/master)
 ![License](https://img.shields.io/github/license/rcsoccersim/rcssserver.svg)
@@ -37,7 +37,7 @@ to run the AppImage:
 ./rcssserver-x86_64-?.?.?.AppImage
 ```
 
-## :soccer: Build From Source
+## :wrench: Build From Source
 
 rcssserver is implemented by C++14 and depends some libraries.
 Make sure you have the required dependencies installed on your system:

From f8ec368bfea450a59b9d363f2f48260271033864 Mon Sep 17 00:00:00 2001
From: Nader Zare <nader.zare88@gmail.com>
Date: Tue, 23 Apr 2024 00:12:49 -0300
Subject: [PATCH 11/11] Update README.md

---
 README.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 416b4da1..3ef9acb2 100644
--- a/README.md
+++ b/README.md
@@ -26,8 +26,9 @@ wget $(curl -s https://api.github.com/repos/clsframework/rcssserver/releases/lat
 
 then you need to update the permission of the AppImage and install fuse:
 ```bash
-chmod +x rcssserver-x86_64-*.AppImage
+sudo apt update
 sudo apt-get install fuse
+chmod +x rcssserver-x86_64-*.AppImage
 ```
 
 #### Run