From 7c412830a7db6410592eac03269138dfdd6707fe Mon Sep 17 00:00:00 2001 From: jserot Date: Mon, 27 Nov 2023 15:24:58 +0100 Subject: [PATCH] Updated user and ref manuals (also added hyperlinks) --- TODO.md | 2 + docs/ref_manual/rfsm_rm.pdf | Bin 646248 -> 654756 bytes docs/ref_manual/rfsm_rm.tex | 3 +- docs/ref_manual/variants.tex | 26 ++++---- docs/user_manual/ex1-systemc.tex | 2 +- docs/user_manual/introduction.tex | 9 +-- docs/user_manual/language.tex | 98 ++++++++++++++++-------------- docs/user_manual/overview.tex | 10 +-- docs/user_manual/rfsm_um.pdf | Bin 911751 -> 933877 bytes docs/user_manual/rfsm_um.tex | 3 +- docs/user_manual/rfsmc.tex | 2 +- 11 files changed, 84 insertions(+), 71 deletions(-) diff --git a/TODO.md b/TODO.md index 2f59c01e..3515f4a8 100644 --- a/TODO.md +++ b/TODO.md @@ -1,5 +1,6 @@ COMPILER +- LHS = LVAL - support for synchronous actions (allow `examples/full/single/pgcd:sim` for ex.) - allow shared signals with multiple writers in VHDL - allow arrays as 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zE1DwhtkfQ&oAPGgqN@-sn!>fROVpN-nI$O(gfCDl-{IdoXi@|hm1;WBrbP5Ahb6T( zJpTm68@!Kn;7Jkvsw|td*iywu7Zd0cN1 z0tX#f_WXo@U(6Q;mD=%n*E(vj{=qDsC}aKecSN3%3O+t=6Gr- z`H?=^Q8nMZH|5jcWd8U3m*xT@KmM$~+(=d6+t^j?JHhOW7TaLl$-W=m{mK8$Rq&e` z_*=DL^8q*H?vnQ)=jls3@d=u$uUZ@T=yRN7H!%M@5H%JbKjM<_6DB5k4TUHF3qaa` AApigX diff --git a/docs/ref_manual/rfsm_rm.tex b/docs/ref_manual/rfsm_rm.tex index 9ac2386b..af17935b 100755 --- a/docs/ref_manual/rfsm_rm.tex +++ b/docs/ref_manual/rfsm_rm.tex @@ -20,7 +20,8 @@ \usepackage{fixltx2e} \usepackage[multiple]{footmisc} \usepackage{grammar-defns} %% Generated by Obelisk -\usepackage{url} +%\usepackage{url} +\usepackage{hyperref} \usepackage{bcprules} \newsavebox{\FVerbBox} diff --git a/docs/ref_manual/variants.tex b/docs/ref_manual/variants.tex index 6d4237f9..a25556a5 100644 --- a/docs/ref_manual/variants.tex +++ b/docs/ref_manual/variants.tex @@ -4,8 +4,8 @@ \chapter{ Building language variants} Following the approach described in~\cite{Leroy00} for example, the RFSM compiler is implemented in a \emph{modular} way. The language is split into a \emph{host} language, describing the general structure and behavior of FSMs (states, transitions, \ldots) and a \emph{guest} -language\footnote{``Base'' in the terminology of \cite{Leroy00}.} describing the syntax and -semantics of \emph{expressions} used in transition guards and semantics. +language\footnote{``Base language'' in the terminology of \cite{Leroy00}.} describing the syntax and +semantics of \emph{expressions} used in transition guards and actions. Technically, this ``separation of concern'' is realized by providing the host language in the form of a \emph{functor} taking as argument the module implementing the guest language. @@ -75,7 +75,7 @@ \section{Implementing the \texttt{Guest} module} \end{itemize} Listings~\ref{lst:mini-types}, \ref{lst:mini-syntax},\ref{lst:mini-value} and \ref{lst:mini-eval} -respectively show the contents of of the \texttt{Types}, +respectively show the contents of the \texttt{Types}, \texttt{Syntax}, \texttt{Value} and \texttt{Eval} modules for the \texttt{mini} language. The definition of non essential fonctions has been omitted\footnote{See the corresponding source files in \texttt{src/guests/others/mini/lib} for a complete listing.}. @@ -145,7 +145,7 @@ \section{Implementing the \texttt{Guest} module} let pp_lhs fmt l = ... \end{lstlisting} -The module \texttt{Syntax} use the modules \texttt{Location}, \texttt{Annot} and \texttt{Ident} +The module \texttt{Syntax} uses the modules \texttt{Location}, \texttt{Annot} and \texttt{Ident} provided by the \texttt{Rfsm} host library. These modules provide types and functions to handle source code locations, syntax annotations and identifiers respectively. The type \verb|('a,Types.typ) Annot.t| is associated to syntax nodes of type @@ -193,7 +193,7 @@ \section{Implementing the \texttt{Guest} module} let pp fmt (v: t) = ... \end{lstlisting} -The module \verb|Guest.Value| define the values, associated to guest-level expressions by the +The module \verb|Guest.Value| defines the values, associated to guest-level expressions by the dynamic semantics. The value \verb|Val_unknown| is used to represent undefined or unitialized value. The functions \verb|vcd_type| and \verb|vcd_value| provide the interface to the VCD backend, generating simulation traces~: they should return a VCD compatible representation (defined in the @@ -234,12 +234,12 @@ \section{Implementing the \texttt{Guest} module} The module \verb|Guest.Eval| defines the guest-level dynamic semantics, \emph{i.e.} the definition of the dynamic environment \texttt{env}, used to bind identifiers to values and of the -functions \verb|eval_expr| and \verb|exal_bool| used to evaluate guest-level expressions. The +functions \verb|eval_expr| and \verb|eval_bool| used to evaluate guest-level expressions. The presence of a distinct, \verb|eval_bool| function is required because the boolean type and expressions are not part of the host-level syntax. The definition of the \texttt{env} type here uses -that provided by the host library but any definition matching the corresponding signature would do. +that provided by the RFSM host library but any definition matching the corresponding signature would do. -\section{Implementing the \texttt{Guest} parser} +\section{Implementing the guest language parser} The parser for the guest language defines the concrete syntax for guest-level type expressions, expressions and LHS. It is written in a separate \texttt{.mly} file which will be combined with the @@ -282,16 +282,16 @@ \section{Implementing the \texttt{Guest} parser} \end{lstlisting} -\section{Implementing the \texttt{Guest} lexer} +\section{Implementing the guest language lexer} The \texttt{ocamllex} tool, used for defining the lexer, does not support multi-file definitions. The lexer for the guest-specific part of the target language is therefore supplied in the form of code fragments to be inserted in the host lexer definition file\footnote{Technically, this insertion is - performed using the \texttt{cppo} tool.}. These fragments are listed in two separate files, -present in the \texttt{bin} subdirectory of the guest directory~: + performed using the \texttt{cppo} tool.}. These fragments are listed in two separate files, which +must be supplied in the \texttt{bin} subdirectory of the guest directory~: \begin{itemize} -\item the file \texttt{guest_km} contains the lexer definition of the guest-specific keywords, -\item the file \texttt{guest_rules} contains the guest-specific rules. +\item the file \texttt{guest_kw.mll} contains the lexer definition of the guest-specific keywords, +\item the file \texttt{guest_rules.mll} contains the guest-specific rules. \end{itemize} In the case of the \texttt{mini} language defined here, the latter is empty and the former only diff --git a/docs/user_manual/ex1-systemc.tex b/docs/user_manual/ex1-systemc.tex index bc2f7683..dfa8a38b 100644 --- a/docs/user_manual/ex1-systemc.tex +++ b/docs/user_manual/ex1-systemc.tex @@ -1,4 +1,4 @@ -\chapter*{Appendix A1 - Example of generated SystemC code} +\chapter*{Appendix A2 - Example of generated SystemC code} \label{cha:ex1-systemc} This is the code generated from program given in Listing~\ref{lst:rfsm-gensig} by the SystemC diff --git a/docs/user_manual/introduction.tex b/docs/user_manual/introduction.tex index 86a3d572..df085455 100644 --- a/docs/user_manual/introduction.tex +++ b/docs/user_manual/introduction.tex @@ -5,15 +5,16 @@ \chapter{Introduction} \medskip RFSM is a domain specific language aimed at describing, drawing and simulating \emph{reactive finite state - machines}. Reactive FSMs are a FSMs for which transitions can only take place at the occurence of -events. + machines}. Reactive FSMs are FSMs for which transitions can only take place at the occurence of +\emph{events}. \medskip -RFSM has been developed mainly for pedagogical purposes, in order to initiate students to +RFSM has been developed mainly for pedagogical purposes, in order to initiate students into model-based design. It is currently used in courses dedicated to embedded system design both on software and hardware platforms (microcontrolers and FPGA resp.). But RFSM can also be used to -generate code (C, SystemC or VHDL) from high-level models to be integrated to existing applications. +generate code (C, SystemC or VHDL) from high-level models, to be integrated to existing applications. +\medskip More precisely, RFSM can be used to \begin{itemize} \item describe FSM-based models and testbenches, diff --git a/docs/user_manual/language.tex b/docs/user_manual/language.tex index 9aab001f..323f2804 100644 --- a/docs/user_manual/language.tex +++ b/docs/user_manual/language.tex @@ -8,18 +8,18 @@ \chapter{The RFSM language} \section{Programs} \label{sec:programs} -A RSFM program contains declarations of six kinds~: +A RSFM program is made of successive sections, containing, respectively \begin{itemize} -\item \textbf{types} -\item \textbf{constants} -\item \textbf{functions} -\item \textbf{FSM models} -\item \textbf{global objects} -\item \textbf{FSM instanciations} +\item type declarations, +\item constant declarations, +\item function declarations, +\item FSM model definitions, +\item global object definitions, +\item FSM instanciations. \end{itemize} -These declarations may appear in any order in a given program but an object used in a given section must -have been declared before. +Each section is optional\footnote{Though, obviously, a program with no model definition, and hence + no FSM instanciation, is of little interest.} but their must appear in the order given above. \section{FSM models} \label{sec:fsm-models} @@ -230,18 +230,19 @@ \subsubsection*{Semantic issues} the action \verb|y:=x*2|. This interpretation is the most intuitive one and naturally fits with software-based -implementations. There's actually another interpretation in which actions are not performed sequentially but -\emph{synchronously}. In this case, all the expressions appearing on the right-hand-side of -assignations are fisrt evaluated \emph{in parallel} and then, and only then, all the assignations -are performed. Because the values of the variables occuring in the RHS expressions are those -\emph{before} the transition, the order in which the actions are performed does not matter in this -case. In the example above, the values assigned to \texttt{x} and \texttt{y} will be 2 and 2 - respectively. This interpretation more naturally fits to \emph{hardware-based} implementations, -in which variables are implemented as \emph{signals} all updated synchronously at each clock cycle. -Switching to a synchronous interpretation is possible by invoking the \texttt{rfsmc} compiler with the -\texttt{-synchronous_actions} option. \textbf{Caveat}. This option is -available when using the simulator and the VHDL backend but is -currently not supported when using the C and SystemC backends. +implementations. +% There's actually another interpretation in which actions are not performed sequentially but +% \emph{synchronously}. In this case, all the expressions appearing on the right-hand-side of +% assignations are fisrt evaluated \emph{in parallel} and then, and only then, all the assignations +% are performed. Because the values of the variables occuring in the RHS expressions are those +% \emph{before} the transition, the order in which the actions are performed does not matter in this +% case. In the example above, the values assigned to \texttt{x} and \texttt{y} will be 2 and 2 +% respectively. This interpretation more naturally fits to \emph{hardware-based} implementations, +% in which variables are implemented as \emph{signals} all updated synchronously at each clock cycle. +% Switching to a synchronous interpretation is possible by invoking the \texttt{rfsmc} compiler with the +% \verb|-synchronous_actions| option. \textbf{Caveat}. This option is +% available when using the simulator and the VHDL backend but is +% currently not supported when using the C and SystemC backends. \medskip \textbf{Non-determinism and priorities}. @@ -293,7 +294,7 @@ \subsubsection*{Semantic issues} sense, cheating, since the \texttt{StartStop} event is supposed to modelize user interaction which occur, by essence, at impredictible dates. -The above problem can be solved by assigning a \emph{priority} to transitions. In the current +The above problem can be solved by assigning \emph{priorities} to transitions. In the current implementation, this is achieved by tagging some transitions as ``high priority'' transitions\footnote{Future versions may evolve towards a more sophisticated mechanism allowing numeric priorities.}. When several transitions are enabled, if one is tagged as ``high priority'' @@ -338,8 +339,9 @@ \subsection{Initial transition} \framebox{\lstinline[language=Rfsm]{| -> init_state}} \end{center} -\medskip -\textbf{Note}. Output values can be set by either attaching them to states or by updating them on +\subsection{Output values} + +Output values can be set by either attaching them to states or by updating them on transitions. For a given output \texttt{o}, attaching a value \texttt{v} to a state \texttt{S}, by writing \begin{center} @@ -365,6 +367,7 @@ \section{Inputs and outputs} Interface to the external world are represented by \verb|input| and \verb|output| objects. +\medskip \step For outputs the declaration simply gives a name and a type~: \begin{center} @@ -435,6 +438,7 @@ \section{Shared objects} occurs when the system model involves several FSM instances and when the input of a given instance is provided by the output of another one. +\medskip \step For shared objects the declaration simply gives a name and a type~: \begin{center} @@ -456,17 +460,19 @@ \section{Shared objects} \subsection*{Semantic issues} \medskip -Shared objects are typically used to perform some kind synchronisation between FSMs. The precise semantics -of this synchronisation depends on the shared object. It is described formally in Appendix D. +Shared objects are typically used to perform some kind synchronisation between FSMs. The precise semantic +of this synchronisation depends on the shared object. We here describe it informally. A formal +account is given the reference manual. \subsubsection*{Synchronisation using a shared event} \label{sec:synchr-using-shar} Synchronisation using a shared event is both instantaneous and ephemeral. +\medskip \textbf{Instantaneous} means that an event emitted by a FSM when taking a transition can trigger a reaction of another FSM at the same logical instant, the two reactions -- that of -emitting FSM and that of the ``receiving'' FSM -- being simultaneous. +the ``emitting'' FSM and that of the ``receiving'' FSM -- being simultaneous. This is illustrated in Fig.~\ref{fig:sync-ev1}. Here, each occurence of event \texttt{H} when \texttt{a1} is in state \texttt{A} triggers the simultaneous transition of \texttt{a2} from state \texttt{A} to state \texttt{B}. @@ -588,7 +594,7 @@ \subsubsection*{Synchronisation using a shared event} backends. The support of shared events in the SystemC backend, for example, is fragile and has not yet fully tested\footnote{It relies on the insertion of zero-time \texttt{wait} instructions.}. It is completely lacking in the VHDL backend (VHDL implementation of FSMs can only be triggered by a -single, ``external'' \texttt{clock} signal). Finally, the \emph{event} mechanism provided by most +single, external, \texttt{clock} signal). Finally, the \emph{event} mechanism provided by most of real-time operating systems (as abstracted by \verb|notify_ev()| and \verb|wait_ev()| pseudo-primitives used in the code generated by the C backend) may not obey the semantics provided here (most of OS-supported events are \emph{memorized} when they are not awaited for when emitted in @@ -609,7 +615,7 @@ \subsubsection*{Synchronisation using shared variables} \begin{figure}[h] \centering \begin{tabular}[c]{cc} - \begin{minipage}[b]{0.3\linewidth} + \begin{minipage}[b]{0.4\linewidth} \begin{lstlisting}[language=Rfsm] fsm model A1( in h: event, @@ -635,10 +641,10 @@ \subsubsection*{Synchronisation using shared variables} } \end{lstlisting} \end{minipage} & - \begin{minipage}[b]{0.7\linewidth} + \begin{minipage}[b]{0.6\linewidth} \begin{lstlisting}[language=Rfsm] -input H : event = sporadic(10, 20, 30, 40) -shared V : bool +input H: event = sporadic(10,20,30,40) +shared V: bool fsm a1 = A1(H,V) fsm a2 = A2(H,V) @@ -652,18 +658,18 @@ \subsubsection*{Synchronisation using shared variables} \end{figure} \bigskip Because shared variables are, by definition, memorized, they can used to implement -\emph{defered synchronisation}, \emph{i.e.} the situation where a FSM emits an event which be used +\emph{defered synchronisation}, \emph{i.e.} the situation where a FSM emits an event which will be used \emph{later} by another FSM (shared events cannot be used in this case since, as described above, non-awaited events are not memorized and hence lost). This is illustrated in Fig.~\ref{fig:sync-sv2}. Here, \texttt{a1} set variable \texttt{v} to 1 when going from state -\texttt{S1} to \texttt{S2} but \texttt{a2} only detect this when going from state \texttt{S2} to +\texttt{S1} to \texttt{S2} but \texttt{a2} only detects this when going from state \texttt{S2} to \texttt{S3}, reseting the variable to 0 \emph{en passant}. In effect, \texttt{a1} has emitted a event which has been memorized and caught latter by \texttt{a2}. \begin{figure}[h] \centering \begin{tabular}[c]{cc} - \begin{minipage}[b]{0.3\linewidth} + \begin{minipage}[b]{0.4\linewidth} \begin{lstlisting}[language=Rfsm] fsm model A1( in h: event, @@ -685,17 +691,18 @@ \subsubsection*{Synchronisation using shared variables} states: S1, S2, S3; trans: | S1 -> S2 on h - | S2 -> S3 on h when v=1 with v:=0 + | S2 -> S3 on h when v=1 + with v:=0 | S3 -> S1 on h; itrans: | -> S1 ; } \end{lstlisting} \end{minipage} & - \begin{minipage}[b]{0.7\linewidth} + \begin{minipage}[b]{0.6\linewidth} \begin{lstlisting}[language=Rfsm] -input H : event = sporadic(10, 20, 30) -shared v : bool +input H: event = sporadic(10,20,30) +shared v: bool fsm a1 = A1(H,v) fsm a2 = A2(H,v) @@ -785,10 +792,10 @@ \section{FSM instances} For example, the last line of the program given in Listing~\ref{lst:rfsm-gensig} \begin{center} -\example{\lstinline[language=Rfsm]'fsm g = gensig<4>(H,E,S)'} +\example{\lstinline[language=Rfsm]'fsm g = gensig<3>(H,E,S)'} \end{center} -creates an instance of model \verb|gensig| for which \verb|n=4| and whose inputs (resp. output) are +creates an instance of model \verb|gensig| for which \verb|n=3| and whose inputs (resp. output) are connected to the global inputs (resp. output) \texttt{H} and \texttt{E} (resp. \texttt{S}). \medskip @@ -817,9 +824,9 @@ \section{Constants} \noindent where \begin{itemize} -\item \lstinline[language=Rfsm]|| is the type of the defined constant (currently limited to +\item \emph{type} is the type of the defined constant (currently limited to \verb|int|, \verb|bool|, \verb|char|, \verb|float| and arrays of such types, -\item \lstinline[language=Rfsm]|| is the value of the constant. +\item \emph{value} is the value of the constant. \end{itemize} Global constants have a global scope and hence can be used in any FSM model or instance. @@ -903,7 +910,7 @@ \section{Types and type declarations} \step Objects of type \texttt{bool} can have only two values : \texttt{0} (false) and \texttt{1} (true). \step Values of type \texttt{char} are -denoted using single quotes. For example, for a variable \verb|c| having type \verb|char| : +denoted using single quotes. For example, for a variable \verb|c| having type \verb|char|~: \begin{center} \example{\lstinline[language=Rfsm]|c := 'A'|} \end{center} @@ -946,7 +953,7 @@ \section{Types and type declarations} syntax \verb|n[i]|, where \verb|n| is an integer is equivalent to \verb|n[i:i]|. The \emph{cast} operator (\verb|::|) can be used to combine integers with different sizes (for example, if \verb|n| has type \verb|int<16>| and \verb|m| has type \verb|int<8>|, writing \verb|n:=n+m| is not allowed -and mus be written, instead, \verb|n:=n+m::int<16>|. Note that the +and must be written, instead, \verb|n:=n+m::int<16>|. Note that the logical ``or'' operator is denoted ``\verb+||+'' because the single ``\verb+|+'' is already used in the syntax. @@ -979,6 +986,7 @@ \section{Types and type declarations} \textbf{User defined types} are either \emph{type abbreviations}, \emph{enumerations} or \emph{records}. +\medskip \step Type abbreviations are introduced with the following declaration \begin{center} \framebox{\lstinline[language=Rfsm]{type typename = type_expression}} diff --git a/docs/user_manual/overview.tex b/docs/user_manual/overview.tex index 63315d02..168b1362 100644 --- a/docs/user_manual/overview.tex +++ b/docs/user_manual/overview.tex @@ -1,7 +1,7 @@ \chapter{Overview} \label{cha:overview} -This chapter gives informal introduction to the RFSM language and of how to use it to describe +This chapter gives an informal introduction to the RFSM language and of how to use it to describe FSM-based systems. \medskip @@ -36,9 +36,9 @@ \chapter{Overview} \end{lstlisting} \medskip -The program can be divided in four parts. +The program can be divided in three parts. -\medskip The first part (lines \ref{gensig-1a}--\ref{gensig-1b}) gives a \textbf{generic model} of +\medskip The first part (lines \ref{gensig-1a}--\ref{gensig-1b}) gives a generic \textbf{model} of the generator behavior. The model, named \verb|gensig|, has one parameter, \verb|n|, two inputs, \verb|h| and \verb|e|, of type \verb|event| and \verb|bool| respectively, and one output \verb|s| of type \verb|bool|. Its behavior is specified as a reactive FSM with two states, \verb|E0| and @@ -175,12 +175,12 @@ \section*{Code generation} \medskip For the SystemC and VHDL backends, the generated code can actually be compiled and executed for -simulation purpose and. The FSM implementations generated by the VHDL backend can also be +simulation purpose. The FSM implementations generated by the VHDL backend can also be synthetized to be implemented on hardware using hardware-specific tools\footnote{We use the \textsc{quartus} toolchain from Intel/Altera.}. \medskip -Appendices C1, C2 and C3 respectively give the C and SystemC code generated from the example in +Appendices A1, A2 and A3 respectively give the C and SystemC code generated from the example in Listing~\ref{lst:rfsm-gensig}. \section*{Variant formulation} diff --git a/docs/user_manual/rfsm_um.pdf b/docs/user_manual/rfsm_um.pdf index 895d50b8624210f9002798715a5e0a9a5c677dad..0ebc33a7a14882d8db178ec7a0cf494fc8301ae3 100644 GIT binary patch delta 110976 zcmZs?1yCeG(=7@N?(XjH?(XjH&f>E8;J!EvusAF%EN+9lyDhr7FR-}VHjmUtK(NPbXZ3zTr$G88EWy8t;mxh5i;mWqX^ z6FCP5JBVc;S}w9JdVxqRfTChU5Uby~0U>m)f8> zAwj|&usG11+@DwW4MNcatM!#U_ghiAU-XV~+s0YqvG2y6m&TN7o4=1w`+Baf0$A#e z#((}u9Br|?J`IQak@;m+!TDgGC5#*)q!%v4-3@+sdqC&x1K8Tr9#l{knoz===HS+Y z=0RXx8H1St^Wc5yKMvOc+BJ-@6LN&mQ85Vkp=IzQ^_mZjensn`cQp@TC3P@pTm9lBM?`*Vbml zIg=(GD>YZ}L(0GgQe(b5y)sE$mbe7au3|A*RNgBwYYz=hq%>8Enz+4yBOP+73)(27Ys1sAID}j=xP6v$DuPv zgXyo;li1_~4KA-1n|?P>4n#$}EOt51#S2@(fR&x1yI=nK-7XJtl&k6u7wlyXqC!Al z82|R;ejDUI<2wW22v%2Fkg8m?Ad_>k-}ggUtLbOs9b`U?3L_CYUs0iut?2Zw$C?uH z8u0m&Rc0pwrz4+tF&l6&>2QPaQJo`$)fR7JunMzz?qLmj4FXIB6PmB$H+nx~DdFGq)~RKPcgYC8?=tKls_B{Wk5z|o|gQ~=lK<1Bdz z>=E<}sxvXx#2*tdi8q~)GI-ahM;P4SeX1oq`K}6qZlhN8qMgpC{y8mM)!_`57JgaN z3E@t@{Jsq&_lcC~ce3R&B74nI2_)u8vPpMX9!}bp)>O2t|p(e8q-5&>5uR7&;^#`sX$=VwMYW`g8tLqCw z5SpmKGQJX@?`t{>G+d&^XJ7eV-w2#zDM>D}*nNrLN6g-Dsm4cF+U4e=snBxnXV2Ql zhD5&11Y5fbo1&2(*tJ>AHsnoO+=5ZKZMBP@mJFdJr!mU4qD4cqt^|`mxD$ep7U0F5 zQTUBhBKS^~i#kOLl=iAeIeRfYHDQPuGW}SAaaNFUcp5prX~8L!!7bJ>w6{DKu`>u0 zB@zuA*t$+PB1*Q?`bT>AIE1wl{Jv5vBxGG!G+8HK;e~`SNzm}T9q}{NtL8%Ts@4Ab zLwR|9@4^H3W#Ojf%-mXT-N>7;*5mc+jd{Rs`MVjxS5sElN^lT1e-HH1U=VJ>9fykm z3SveMM)a-grV(JPD_p;vw~QVZ2FAf)uk-_J2B=t|ADJlFb@f2|J>0SK6lpUZa!EQ} zd5xu6*>%{*v+rKdy&sM1JB2PR5Cr2-Z)-<1)MCx>Ik!VAaAEGgB`JP~^*r1P5Yf;9 z`I^FsO&hb2lCrWgl*?{jZe|6yC9CQ{I>-#RznwuAjPdivZ#}QC(+__VXQG%6O^>m>)EcRT2{WdpIeM(sQ@|P%admDVHSr zk$D2`#`)dJv`njr<>-v!D1xGqAZ*0+YkEFSCfh#7?Kd0T4doUO?lZPRvCH8XU=w(R zi~{A048x;yeq5|)=-wpLIC=ayF-9Pn_;<>AYI$?l3t~&F5#cai8?gEAbwlAbru4AB zWRkNJ7sE7=EcoeoA_rP+{J_UVYtTA_xVqt}9ZNnPv`zNFIJ-es<*rQGB!$}!pOw2F z24ajWPLR%I@lGca#7&8qHDDYAZt4wAbVQbra#y^2+dZ#Y!f2H4qqAKoQ+u3Tx^5bf z(irg#x72I7rbxM_)H=70JKyCVum$BKRtuacm3AGYn9cnAqt2+~!jmqaUlx5;_;SCs z7~iKJa2BIk}|~;L#4X`CIXen2dr;Y_8<iDy{@Td;5@hEeU)3g|7UNjJQzk9yu+VqKFC8xqvRqMYg43+w~pE zjzEC>(s?s`;SgOS=6a1lih(g^v{M$BM6b_ z?I-U~6E>2Z;miqIdS2h2^wB7{toQvo3gPjOPHbcaQ(>iOVy2JQTHn*<4lfJqmOO7w z>G3Nv$!HrS$*4V@Y)=V^kNTlc*`}|2@+uTrHK4@aKVg+|EImS6YqD^HO{MMw8aFNK zTbp&6q-a2CNTFLHaP29h38C7GxOU#QfkJ_RA)`i1@nAal4u^Yqv6&LNNq>-h=()^g z&|fU_{`rbfSUIWsz7}4;ld&~!ddBD&^kjjg>r`gJudFH7Xo<`-X`O9b_njvgv%->h z3(BItZ$y?L>F1RKD+g6qgCA2Rz20hLIjK;Quacps-A~0}pn`_Mp{tnER%cKst3Spo zgnko)A8Cc~RH9d?@4xST&IN?2#fSb zUUyMYB{b++seZ&2bu7zC!HXoArBLHnKHaaYim3}iaZ)s3l9p!Z3o$y&R`aS(weN(W zh%3Q~1-W$O071xIPvJI5$Eze8M0*kAOj>ca6y(jxJL}w12&`!z+YWqYXpBSkLw~_LkN#l?~}k_ zxU-|)V>Arty>qc@0=Tb2l5b$ZB_w^jcIdD0ufcN1{bim(6*)0{GjGVDD;m2R6kzI# z;(Wf?@=Y@M+a;rPi(9kAOeXmN6`Loq%Fgy$Jwhph3HSg716dgjX6EkB;|~b!pE>J@ zHZInlpkZA&R7h@6Q4c&86c;;)dM(hl)tU03Nnm`uj$RjwV58<(Vt)+-vg*!b zOjti|&m<}J#Z~%M{VJc$TZp7m^&|;kl4aH@dN{9f0Wm4))SG%3-G(bL#yh{Y?w9>s zyEG(~?0LRCSos5bnKdN4Y^)Jr)l+v-J*^QPPTb(|I`Pr5e>~+Y_`uG&Kd=a31lM;7 zf04YoQnFtmNjY9fpRD+{amqRm6p4CJ`Caqe%3v(+&VYf8mJ&Ju?>O*YFS&ytmTzxJK3zu<}jyVNQU-yIgg6v+$w=eretlnJ4 zsJy4Yvi^RS7_8z)7SaDl63Z?^rpS%8t{Yvtksd!YC68LOW5{ta9s(%~7^_K~#F2eH zR!ibE%EeqR9Df=YWPUyRzR-OJC8TGJNLiI={7ovL9+5UKpwuB`U$m2ot&X{Vd#L@- z@>i7EwTQ#$h3@Kpv-Q8~ePSc9Ac`+nER?9UUNO+9MMgos{N6Pxct7$^d*N9b%i1n55q```q$Ojy% z`LQQI{9=fr64hYN;k|%ClEt3TywPqNru*4p$`w6H2g}85uTFG`v+r2R;u(`w;TTq5 zdJ?;%N$=_++ANBICFyoQ%~d*62psbX5-^=6Ef-H6;7-we#ZT#GflI=@YmkU$@f+%t zzGCre1kboxQ_rYB@isBFO$rmNBFie}$hUt@FfZe0mHQ)@CSZ+46+tB|ooZnrPn$n$ z7#Ge=N)BN--)5ipjfI>)LF7>ATz%)?vDd33Jwu!hw$_8aHa8zmHRh;@QOErj4Ir9V zT6|0r-PnBHgDqFa10s_oOZ$Y08EkC@egI6q6p|z`VobB<2iCqsrW5kl6m^>gc0Vay zTBlLq!0~hL#MW;L^d(=PQZ&;L`^(eBLNGn{*Ubur2q)yo)1yvWzKRv@*opF>N2$-! zA^cdta{4liWF4o@Ar5&vg~KA+`{-C%1fd1rgYwGwc+RCi2TV|}48SD!jzS*{3zvKb z^LGB;asD1!>W0pOy#1lGG#`_aUz>#kvyFH=m1Z-}$C(Gy86pnQW(j`dfb*58+8a}* z7i6;-6WOm#y&U2`q(LSx3!)z6qCAYk7i31svRO5!r(=dd{Z+J8W9JUbm8s5!54UJ- zBK&OklkBx|0*Fk34+%lt!!uziL7~{H8OvJ6F=N@QHe=yV5>28*HSE4~P0TAz=Ntkr zC&=AD|6D#%Ng=0l=(^1kqc+F16TtD!Zxc#ktwSl>juqs%9~Z%>dYNtz(U&Q?DzU)f zwdj#JH2;miO4v2yh->k|Z>_%}<(v79av5RZT?RyV7I0WNje^sH(qB0PA+;A}6uOnI z@e~vF@w5gobHHu8472sfzBFTa)EE9ws1Nd9E`-P|UBB+V8d2tZqhU@6(Rpmh0*9eg zV2dV9WD@c~*0O!L3T*CKoWvXGhPmkv(}NCkXV$PVQZ;R^oPCxsk`5wF-?URy)k3Fz zVAqsW9I(V=k|SD(1Ris0(BX8uNoUC++^o^K3ma3P3}s%ly>Hd`1iLK{N>cbdThw-p zg32-)4;sF{u;ow?(p1^XG(;BDr5JUk6M~0i3C0a>Fzh&C86rF%vA|$k%koSQ~+Qnvla+U%g?y>-x~o zGJ4YtIS678HgNul!?FFmhJ+mrZ@})iIcD#_tE(&j!99yYiX)2ZNkK$5#2hyu=@*=7 zEIvAf<-M|6R6Kz7@UydEZc$e}1I<&GilUQH2w`s1;D=bAq1rc(Q|03J;A_*P8LzmL>(xU2`}`S(GBKy1U%+iQe28q%e{gOS z@

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