From d62207a4d645d17d1a9f225bdbd8e40b2eff917c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 29 Oct 2018 13:18:53 +0900
Subject: [PATCH 01/54] [jsk_tools] Add speak warnings node

---
 jsk_tools/src/audible_warning.py | 159 +++++++++++++++++++++++++++++++
 1 file changed, 159 insertions(+)
 create mode 100755 jsk_tools/src/audible_warning.py

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
new file mode 100755
index 000000000..d9e951fce
--- /dev/null
+++ b/jsk_tools/src/audible_warning.py
@@ -0,0 +1,159 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+from collections import defaultdict
+import actionlib
+import rospy
+from threading import Event
+from threading import Thread
+from threading import Lock
+from sound_play.msg import SoundRequest
+from sound_play.msg import SoundRequestAction
+from sound_play.msg import SoundRequestGoal
+from diagnostic_msgs.msg import DiagnosticArray
+from diagnostic_msgs.msg import DiagnosticStatus
+
+cached_paths = {}
+cached_result = {}
+
+
+def is_leaf(original_path):
+    if hasattr(cached_result, original_path):
+        return cached_result[original_path]
+
+    path = original_path[1:].split('/')
+
+    def _is_leaf(cached, path):
+        if not isinstance(path, list):
+            raise ValueError
+        if len(path) == 0:
+            raise ValueError
+        if len(path) == 1:
+            if path[0] in cached:
+                return False
+            else:
+                return True
+
+        parent = path[0]
+        child = path[1:]
+        if parent not in cached:
+            cached[parent] = {}
+        return _is_leaf(cached[parent], child)
+
+    result = _is_leaf(cached_paths, path)
+    if result is False:
+        cached_result[original_path] = result
+    return result
+
+
+class SpeakThread(Thread):
+
+    def __init__(self, rate=1.0, wait=True, blacklist=None):
+        super(SpeakThread, self).__init__()
+        self.memo = {}
+        self.event = Event()
+        self.rate = rate
+        self.wait = wait
+        self.lock = Lock()
+        self.stale = []
+        self.error = []
+        self.history = defaultdict(lambda: 10)
+        self.blacklist = blacklist
+
+        self.talk = actionlib.SimpleActionClient(
+            "/robotsound", SoundRequestAction)
+        self.talk.wait_for_server()
+
+        self.language = 'en'
+
+    def stop(self):
+        self.event.set()
+
+    def sort(self, error):
+        ret = {}
+        for s in error:
+            ns = s.name.split()[0]
+            if is_leaf(ns) is False:
+                continue
+            if any(filter(lambda n: n in ns, self.blacklist)):
+                continue
+            ret[ns] = s
+        return ret.values()
+
+    def add(self, stale, error):
+        with self.lock:
+            self.stale = self.sort(stale)
+            self.error = self.sort(error)
+
+    def pop(self):
+        with self.lock:
+            for e in self.stale + self.error:
+                if e.name not in self.history.keys():
+                    self.history[e.name] += 1
+                    return e
+            return None
+
+    def sweep(self):
+        for k in self.history.keys():
+            self.history[k] -= 1
+            if self.history[k] == 0:
+                del self.history[k]
+
+    def run(self):
+        while not self.event.wait(self.rate):
+            e = self.pop()
+            if e:
+                # rospy.loginfo("audible warning talking: %s" % e)
+                sentence = e.name + ' ' + e.message
+                sentence = sentence.replace('/', '   ')
+                sentence = sentence.replace('_', '   ')
+
+                goal = SoundRequestGoal()
+                goal.sound_request.sound = SoundRequest.SAY
+                goal.sound_request.command = SoundRequest.PLAY_ONCE
+                goal.sound_request.arg = sentence
+                goal.sound_request.volume = 1.0
+
+                self.talk.send_goal(goal)
+                if self.wait:
+                    self.talk.wait_for_result(rospy.Duration(10.0))
+            self.sweep()
+
+
+class AudibleWarning(object):
+    def __init__(self):
+        self.history = []
+        self.error = []
+        self.stale = []
+
+        speak_rate = rospy.get_param("~speak_rate", 1.0)
+        speak_wait = rospy.get_param("~speak_wait", True)
+        blacklist = rospy.get_param("~blacklist", [])
+        self.speak_thread = SpeakThread(speak_rate, speak_wait, blacklist)
+
+        # run-stop
+        self.run_stop = False
+
+        # diag
+        self.sub_diag = rospy.Subscriber("/diagnostics_agg", DiagnosticArray,
+                                         self.diag_cb, queue_size=1)
+        self.speak_thread.start()
+
+    def on_shutdown(self):
+        self.speak_thread.stop()
+        self.speak_thread.join()
+
+    def diag_cb(self, msg):
+        if self.run_stop:
+            return
+
+        error = filter(lambda s: s.level == DiagnosticStatus.ERROR, msg.status)
+        stale = filter(lambda s: s.level == DiagnosticStatus.STALE, msg.status)
+        self.speak_thread.add(stale, error)
+
+
+if __name__ == '__main__':
+    rospy.init_node("audible_warning")
+    aw = AudibleWarning()  # NOQA
+    rospy.on_shutdown(aw.on_shutdown)
+    rospy.spin()

From 83644d4343881fef9ae6f989acbc0edb87d7686a Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 12 May 2022 22:42:54 +0900
Subject: [PATCH 02/54] Add warn_stale option

---
 jsk_tools/src/audible_warning.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index d9e951fce..3c2406e80 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -128,6 +128,7 @@ def __init__(self):
 
         speak_rate = rospy.get_param("~speak_rate", 1.0)
         speak_wait = rospy.get_param("~speak_wait", True)
+        self.warn_stale = rospy.get_param('~warn_stale', False)
         blacklist = rospy.get_param("~blacklist", [])
         self.speak_thread = SpeakThread(speak_rate, speak_wait, blacklist)
 
@@ -148,7 +149,11 @@ def diag_cb(self, msg):
             return
 
         error = filter(lambda s: s.level == DiagnosticStatus.ERROR, msg.status)
-        stale = filter(lambda s: s.level == DiagnosticStatus.STALE, msg.status)
+        if self.warn_stale:
+            stale = filter(lambda s: s.level == DiagnosticStatus.STALE,
+                           msg.status)
+        else:
+            stale = []
         self.speak_thread.add(stale, error)
 
 

From 37505772fb604872a321db9d19efbb34cd825f55 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sun, 15 May 2022 16:16:23 +0900
Subject: [PATCH 03/54] Add is_leaf and filter function to jsk_tools'library

---
 jsk_tools/src/audible_warning.py             | 33 +----------
 jsk_tools/src/jsk_tools/diagnostics_utils.py | 58 ++++++++++++++++++++
 2 files changed, 60 insertions(+), 31 deletions(-)
 create mode 100644 jsk_tools/src/jsk_tools/diagnostics_utils.py

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 3c2406e80..d8ae4f516 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -13,37 +13,8 @@
 from diagnostic_msgs.msg import DiagnosticArray
 from diagnostic_msgs.msg import DiagnosticStatus
 
-cached_paths = {}
-cached_result = {}
-
-
-def is_leaf(original_path):
-    if hasattr(cached_result, original_path):
-        return cached_result[original_path]
-
-    path = original_path[1:].split('/')
-
-    def _is_leaf(cached, path):
-        if not isinstance(path, list):
-            raise ValueError
-        if len(path) == 0:
-            raise ValueError
-        if len(path) == 1:
-            if path[0] in cached:
-                return False
-            else:
-                return True
-
-        parent = path[0]
-        child = path[1:]
-        if parent not in cached:
-            cached[parent] = {}
-        return _is_leaf(cached[parent], child)
-
-    result = _is_leaf(cached_paths, path)
-    if result is False:
-        cached_result[original_path] = result
-    return result
+from jsk_tools.diagnostics_utils import is_leaf
+from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
 
 
 class SpeakThread(Thread):
diff --git a/jsk_tools/src/jsk_tools/diagnostics_utils.py b/jsk_tools/src/jsk_tools/diagnostics_utils.py
new file mode 100644
index 000000000..887f9e5f2
--- /dev/null
+++ b/jsk_tools/src/jsk_tools/diagnostics_utils.py
@@ -0,0 +1,58 @@
+cached_paths = {}
+cached_result = {}
+
+
+def is_leaf(original_path):
+    if hasattr(cached_result, original_path):
+        return cached_result[original_path]
+
+    path = original_path[1:].split('/')
+
+    def _is_leaf(cached, path):
+        if not isinstance(path, list):
+            raise ValueError
+        if len(path) == 0:
+            raise ValueError
+        if len(path) == 1:
+            if path[0] in cached:
+                return False
+            else:
+                return True
+
+        parent = path[0]
+        child = path[1:]
+        if parent not in cached:
+            cached[parent] = {}
+        return _is_leaf(cached[parent], child)
+
+    result = _is_leaf(cached_paths, path)
+    if result is False:
+        cached_result[original_path] = result
+    return result
+
+
+def filter_diagnostics_status_list(status_list, blacklist):
+    """Filter list of DiagnosticStatus.
+
+    Parameters
+    ----------
+    status_list : diagnostic_msgs.msg._DiagnosticStatus.DiagnosticStatus
+        List of DiagnosticStatus.
+    black_list : List[str]
+        List of blacklist.
+        The path of the name contained in this list is ignored.
+
+    Returns
+    -------
+    ret.values() : Dict[str, DiagnosticStatus]
+        Key is namespace and value is status.
+    """
+    ret = {}
+    for s in status_list:
+        ns = s.name.split()[0]
+        if is_leaf(ns) is False:
+            continue
+        if any(filter(lambda n: n in ns, blacklist)):
+            continue
+        ret[ns] = s
+    return ret.values()

From 2ff889ac823f72642dab2d08599c862d548937d4 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sun, 15 May 2022 16:17:11 +0900
Subject: [PATCH 04/54] Refactor audible_warning

---
 jsk_tools/src/audible_warning.py | 54 +++++++++++++-------------------
 1 file changed, 22 insertions(+), 32 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index d8ae4f516..94470ad57 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -2,70 +2,59 @@
 # -*- coding: utf-8 -*-
 
 from collections import defaultdict
-import actionlib
-import rospy
 from threading import Event
-from threading import Thread
 from threading import Lock
+from threading import Thread
+
+import actionlib
+from diagnostic_msgs.msg import DiagnosticArray
+from diagnostic_msgs.msg import DiagnosticStatus
+import rospy
 from sound_play.msg import SoundRequest
 from sound_play.msg import SoundRequestAction
 from sound_play.msg import SoundRequestGoal
-from diagnostic_msgs.msg import DiagnosticArray
-from diagnostic_msgs.msg import DiagnosticStatus
 
-from jsk_tools.diagnostics_utils import is_leaf
 from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
 
 
 class SpeakThread(Thread):
 
-    def __init__(self, rate=1.0, wait=True, blacklist=None):
+    def __init__(self, rate=1.0, wait=True, blacklist=None,
+                 language='en', wait_speak_duration_time=10):
         super(SpeakThread, self).__init__()
-        self.memo = {}
+        self.wait_speak_duration_time = wait_speak_duration_time
         self.event = Event()
         self.rate = rate
         self.wait = wait
         self.lock = Lock()
-        self.stale = []
-        self.error = []
+        self.status_list = []
         self.history = defaultdict(lambda: 10)
         self.blacklist = blacklist
+        self.language = language
 
         self.talk = actionlib.SimpleActionClient(
             "/robotsound", SoundRequestAction)
         self.talk.wait_for_server()
 
-        self.language = 'en'
-
     def stop(self):
         self.event.set()
 
-    def sort(self, error):
-        ret = {}
-        for s in error:
-            ns = s.name.split()[0]
-            if is_leaf(ns) is False:
-                continue
-            if any(filter(lambda n: n in ns, self.blacklist)):
-                continue
-            ret[ns] = s
-        return ret.values()
-
-    def add(self, stale, error):
+    def add(self, status_list):
         with self.lock:
-            self.stale = self.sort(stale)
-            self.error = self.sort(error)
+            self.status_list = filter_diagnostics_status_list(
+                status_list,
+                self.blacklist)
 
     def pop(self):
         with self.lock:
-            for e in self.stale + self.error:
-                if e.name not in self.history.keys():
-                    self.history[e.name] += 1
-                    return e
+            for status in self.status_list:
+                if status.name not in self.history.keys():
+                    self.history[status.name] += 1
+                    return status
             return None
 
     def sweep(self):
-        for k in self.history.keys():
+        for k in list(self.history.keys()):
             self.history[k] -= 1
             if self.history[k] == 0:
                 del self.history[k]
@@ -87,7 +76,8 @@ def run(self):
 
                 self.talk.send_goal(goal)
                 if self.wait:
-                    self.talk.wait_for_result(rospy.Duration(10.0))
+                    self.talk.wait_for_result(
+                        rospy.Duration(self.wait_speak_duration_time))
             self.sweep()
 
 

From dd7ddf6a729448292109611b89a38633f77bea27 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sun, 15 May 2022 16:24:08 +0900
Subject: [PATCH 05/54] Add prefix to speaking

---
 jsk_tools/src/audible_warning.py | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 94470ad57..ee41dde05 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -63,10 +63,18 @@ def run(self):
         while not self.event.wait(self.rate):
             e = self.pop()
             if e:
-                # rospy.loginfo("audible warning talking: %s" % e)
-                sentence = e.name + ' ' + e.message
-                sentence = sentence.replace('/', '   ')
-                sentence = sentence.replace('_', '   ')
+                if e.level == DiagnosticStatus.WARN:
+                    prefix = 'warning.'
+                elif e.level == DiagnosticStatus.ERROR:
+                    prefix = 'error.'
+                elif e.level == DiagnosticStatus.STALE:
+                    prefix = 'stale.'
+                else:
+                    prefix = 'ok.'
+                sentence = prefix + e.name + ' ' + e.message
+                sentence = sentence.replace('/', ' ')
+                sentence = sentence.replace('_', ' ')
+                rospy.loginfo("audible warning talking: %s" % sentence)
 
                 goal = SoundRequestGoal()
                 goal.sound_request.sound = SoundRequest.SAY

From e1896776bfd774f2f5f696d055a930ffb0f4331f Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sun, 15 May 2022 16:24:30 +0900
Subject: [PATCH 06/54] Refactor AudibleWarning node

---
 jsk_tools/src/audible_warning.py | 37 +++++++++++++++++---------------
 1 file changed, 20 insertions(+), 17 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index ee41dde05..61ed23881 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -90,23 +90,31 @@ def run(self):
 
 
 class AudibleWarning(object):
-    def __init__(self):
-        self.history = []
-        self.error = []
-        self.stale = []
 
+    def __init__(self):
         speak_rate = rospy.get_param("~speak_rate", 1.0)
-        speak_wait = rospy.get_param("~speak_wait", True)
-        self.warn_stale = rospy.get_param('~warn_stale', False)
+        wait_speak = rospy.get_param("~wait_speak", True)
+        language = rospy.get_param('~language', 'en')
+
+        self.diagnostics_list = []
+        if rospy.get_param("~speak_warn", True):
+            self.diagnostics_list.append(DiagnosticStatus.WARN)
+        if rospy.get_param("~speak_error", True):
+            self.diagnostics_list.append(DiagnosticStatus.ERROR)
+        if rospy.get_param("~speak_stale", True):
+            self.diagnostics_list.append(DiagnosticStatus.STALE)
+
         blacklist = rospy.get_param("~blacklist", [])
-        self.speak_thread = SpeakThread(speak_rate, speak_wait, blacklist)
+        self.speak_thread = SpeakThread(speak_rate, wait_speak, blacklist,
+                                        language)
 
         # run-stop
         self.run_stop = False
 
         # diag
-        self.sub_diag = rospy.Subscriber("/diagnostics_agg", DiagnosticArray,
-                                         self.diag_cb, queue_size=1)
+        self.sub_diag = rospy.Subscriber(
+            "/diagnostics_agg", DiagnosticArray,
+            self.diag_cb, queue_size=1)
         self.speak_thread.start()
 
     def on_shutdown(self):
@@ -116,14 +124,9 @@ def on_shutdown(self):
     def diag_cb(self, msg):
         if self.run_stop:
             return
-
-        error = filter(lambda s: s.level == DiagnosticStatus.ERROR, msg.status)
-        if self.warn_stale:
-            stale = filter(lambda s: s.level == DiagnosticStatus.STALE,
-                           msg.status)
-        else:
-            stale = []
-        self.speak_thread.add(stale, error)
+        target_status_list = filter(lambda n: n.level in self.diagnostics_list,
+                                    msg.status)
+        self.speak_thread.add(target_status_list)
 
 
 if __name__ == '__main__':

From e93e36355ef9d1d5233b8ba831a240259467f1f6 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 16 May 2022 22:18:40 +0900
Subject: [PATCH 07/54] [jsk_tools/audible_warning] Use priority queue instead
 of history

---
 jsk_tools/src/audible_warning.py | 45 +++++++++++++++++++-------------
 1 file changed, 27 insertions(+), 18 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 61ed23881..de07f7b60 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -2,6 +2,7 @@
 # -*- coding: utf-8 -*-
 
 from collections import defaultdict
+import heapq
 from threading import Event
 from threading import Lock
 from threading import Thread
@@ -20,15 +21,21 @@
 class SpeakThread(Thread):
 
     def __init__(self, rate=1.0, wait=True, blacklist=None,
-                 language='en', wait_speak_duration_time=10):
+                 language='en',
+                 volume=1.0,
+                 speak_interval=0,
+                 wait_speak_duration_time=10):
         super(SpeakThread, self).__init__()
         self.wait_speak_duration_time = wait_speak_duration_time
         self.event = Event()
         self.rate = rate
         self.wait = wait
+        self.volume = volume
         self.lock = Lock()
         self.status_list = []
-        self.history = defaultdict(lambda: 10)
+        self.speak_interval = speak_interval
+        tm = rospy.Time.now().to_sec() - speak_interval
+        self.previous_spoken_time = defaultdict(lambda tm=tm: tm)
         self.blacklist = blacklist
         self.language = language
 
@@ -41,24 +48,24 @@ def stop(self):
 
     def add(self, status_list):
         with self.lock:
-            self.status_list = filter_diagnostics_status_list(
-                status_list,
-                self.blacklist)
+            status_list = filter_diagnostics_status_list(
+                status_list, self.blacklist)
+            for status in status_list:
+                heapq.heappush(
+                    self.status_list,
+                    (rospy.Time.now().to_sec(), status))
 
     def pop(self):
         with self.lock:
-            for status in self.status_list:
-                if status.name not in self.history.keys():
-                    self.history[status.name] += 1
-                    return status
+            while len(self.status_list) > 0:
+                _, status = heapq.heappop(self.status_list)
+                if rospy.Time.now().to_sec() \
+                        - self.previous_spoken_time[status.name] \
+                        < self.speak_interval:
+                    continue
+                return status
             return None
 
-    def sweep(self):
-        for k in list(self.history.keys()):
-            self.history[k] -= 1
-            if self.history[k] == 0:
-                del self.history[k]
-
     def run(self):
         while not self.event.wait(self.rate):
             e = self.pop()
@@ -80,20 +87,22 @@ def run(self):
                 goal.sound_request.sound = SoundRequest.SAY
                 goal.sound_request.command = SoundRequest.PLAY_ONCE
                 goal.sound_request.arg = sentence
-                goal.sound_request.volume = 1.0
+                goal.sound_request.volume = self.volume
 
+                self.previous_spoken_time[e.name] = rospy.Time.now().to_sec()
                 self.talk.send_goal(goal)
                 if self.wait:
                     self.talk.wait_for_result(
                         rospy.Duration(self.wait_speak_duration_time))
-            self.sweep()
 
 
 class AudibleWarning(object):
 
     def __init__(self):
         speak_rate = rospy.get_param("~speak_rate", 1.0)
+        speak_interval = rospy.get_param("~speak_interval", 120.0)
         wait_speak = rospy.get_param("~wait_speak", True)
+        volume = rospy.get_param("~volume", 1.0)
         language = rospy.get_param('~language', 'en')
 
         self.diagnostics_list = []
@@ -106,7 +115,7 @@ def __init__(self):
 
         blacklist = rospy.get_param("~blacklist", [])
         self.speak_thread = SpeakThread(speak_rate, wait_speak, blacklist,
-                                        language)
+                                        language, volume, speak_interval)
 
         # run-stop
         self.run_stop = False

From 3e45382f4e30cee31d25aa1a3cd39ecd1b18f970 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 16 May 2022 22:19:34 +0900
Subject: [PATCH 08/54] [jsk_tools/audible_warning] Enable run_stop to suppress
 audible warning

---
 jsk_tools/src/audible_warning.py | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index de07f7b60..f3d3096a7 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -3,6 +3,7 @@
 
 from collections import defaultdict
 import heapq
+from importlib import import_module
 from threading import Event
 from threading import Lock
 from threading import Thread
@@ -18,6 +19,12 @@
 from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
 
 
+def expr_eval(expr):
+    def eval_fn(topic, m, t):
+        return eval(expr)
+    return eval_fn
+
+
 class SpeakThread(Thread):
 
     def __init__(self, rate=1.0, wait=True, blacklist=None,
@@ -119,6 +126,16 @@ def __init__(self):
 
         # run-stop
         self.run_stop = False
+        self.run_stop_topic = rospy.get_param('~run_stop_topic', None)
+        if self.run_stop_topic:
+            run_stop_condition = rospy.get_param(
+                '~run_stop_condition', 'm.data == True')
+            self.run_stop_condition = expr_eval(run_stop_condition)
+            self.run_stop_sub = rospy.Subscriber(
+                self.run_stop_topic,
+                rospy.AnyMsg,
+                callback=self.run_stop_callback,
+                queue_size=1)
 
         # diag
         self.sub_diag = rospy.Subscriber(
@@ -126,12 +143,26 @@ def __init__(self):
             self.diag_cb, queue_size=1)
         self.speak_thread.start()
 
+    def run_stop_callback(self, msg):
+        if isinstance(msg, rospy.msg.AnyMsg):
+            package, msg_type = msg._connection_header['type'].split('/')
+            ros_pkg = package + '.msg'
+            msg_class = getattr(import_module(ros_pkg), msg_type)
+            self.run_stop_sub.unregister()
+            deserialized_sub = rospy.Subscriber(
+                self.run_stop_topic, msg_class, self.run_stop_callback)
+            self.run_stop_sub = deserialized_sub
+            return
+        self.run_stop = self.run_stop_condition(
+            self.run_stop_topic, msg, rospy.Time.now())
+
     def on_shutdown(self):
         self.speak_thread.stop()
         self.speak_thread.join()
 
     def diag_cb(self, msg):
         if self.run_stop:
+            rospy.logdebug('RUN STOP is pressed. Do not speak warning.')
             return
         target_status_list = filter(lambda n: n.level in self.diagnostics_list,
                                     msg.status)

From 91ecd310f2aaba987ad14aa46b8ab468467b267e Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 16 May 2022 22:30:33 +0900
Subject: [PATCH 09/54] [jsk_tools/audible_warning] Add
 seconds_to_start_speaking option for initialization

---
 jsk_tools/src/audible_warning.py | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index f3d3096a7..7a0cc2a83 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -31,6 +31,7 @@ def __init__(self, rate=1.0, wait=True, blacklist=None,
                  language='en',
                  volume=1.0,
                  speak_interval=0,
+                 seconds_to_start_speaking=0,
                  wait_speak_duration_time=10):
         super(SpeakThread, self).__init__()
         self.wait_speak_duration_time = wait_speak_duration_time
@@ -41,7 +42,9 @@ def __init__(self, rate=1.0, wait=True, blacklist=None,
         self.lock = Lock()
         self.status_list = []
         self.speak_interval = speak_interval
-        tm = rospy.Time.now().to_sec() - speak_interval
+        tm = rospy.Time.now().to_sec() \
+            - speak_interval \
+            + seconds_to_start_speaking
         self.previous_spoken_time = defaultdict(lambda tm=tm: tm)
         self.blacklist = blacklist
         self.language = language
@@ -111,6 +114,8 @@ def __init__(self):
         wait_speak = rospy.get_param("~wait_speak", True)
         volume = rospy.get_param("~volume", 1.0)
         language = rospy.get_param('~language', 'en')
+        seconds_to_start_speaking = rospy.get_param(
+            '~seconds_to_start_speaking', 0)
 
         self.diagnostics_list = []
         if rospy.get_param("~speak_warn", True):
@@ -122,7 +127,8 @@ def __init__(self):
 
         blacklist = rospy.get_param("~blacklist", [])
         self.speak_thread = SpeakThread(speak_rate, wait_speak, blacklist,
-                                        language, volume, speak_interval)
+                                        language, volume, speak_interval,
+                                        seconds_to_start_speaking)
 
         # run-stop
         self.run_stop = False

From 2eb51a226dc56a5641ee69c1389196a7bb39d282 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 16 May 2022 22:30:46 +0900
Subject: [PATCH 10/54] [jsk_tools/audible_warning] Enable language
 specification

---
 jsk_tools/src/audible_warning.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 7a0cc2a83..05db4aeff 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -97,6 +97,7 @@ def run(self):
                 goal.sound_request.sound = SoundRequest.SAY
                 goal.sound_request.command = SoundRequest.PLAY_ONCE
                 goal.sound_request.arg = sentence
+                goal.sound_request.language = self.language
                 goal.sound_request.volume = self.volume
 
                 self.previous_spoken_time[e.name] = rospy.Time.now().to_sec()

From aab38ff6f4f10e84669750f09cade9d08ecdc78f Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 16 May 2022 22:31:00 +0900
Subject: [PATCH 11/54] [jsk_tools/audible_warning] Fixed namespace of
 diagnostics

---
 jsk_tools/src/jsk_tools/diagnostics_utils.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_tools/src/jsk_tools/diagnostics_utils.py b/jsk_tools/src/jsk_tools/diagnostics_utils.py
index 887f9e5f2..5504a3d33 100644
--- a/jsk_tools/src/jsk_tools/diagnostics_utils.py
+++ b/jsk_tools/src/jsk_tools/diagnostics_utils.py
@@ -49,7 +49,7 @@ def filter_diagnostics_status_list(status_list, blacklist):
     """
     ret = {}
     for s in status_list:
-        ns = s.name.split()[0]
+        ns = s.name
         if is_leaf(ns) is False:
             continue
         if any(filter(lambda n: n in ns, blacklist)):

From 003b586c65edb6f677b7056c8176768edc2dba9e Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 16 May 2022 22:34:10 +0900
Subject: [PATCH 12/54] [jsk_tools/audible_warning] Fixed typo language to arg2
 and set default value to ""

---
 jsk_tools/src/audible_warning.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 05db4aeff..6f9cb5aae 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -28,7 +28,7 @@ def eval_fn(topic, m, t):
 class SpeakThread(Thread):
 
     def __init__(self, rate=1.0, wait=True, blacklist=None,
-                 language='en',
+                 language='',
                  volume=1.0,
                  speak_interval=0,
                  seconds_to_start_speaking=0,
@@ -97,7 +97,7 @@ def run(self):
                 goal.sound_request.sound = SoundRequest.SAY
                 goal.sound_request.command = SoundRequest.PLAY_ONCE
                 goal.sound_request.arg = sentence
-                goal.sound_request.language = self.language
+                goal.sound_request.arg2 = self.language
                 goal.sound_request.volume = self.volume
 
                 self.previous_spoken_time[e.name] = rospy.Time.now().to_sec()
@@ -114,7 +114,7 @@ def __init__(self):
         speak_interval = rospy.get_param("~speak_interval", 120.0)
         wait_speak = rospy.get_param("~wait_speak", True)
         volume = rospy.get_param("~volume", 1.0)
-        language = rospy.get_param('~language', 'en')
+        language = rospy.get_param('~language', '')
         seconds_to_start_speaking = rospy.get_param(
             '~seconds_to_start_speaking', 0)
 

From 03e2c6a1c6926f12ba4a1194208963701e06d7cf Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 14:21:04 +0900
Subject: [PATCH 13/54] [jsk_tools/audible_warning] Wait until
 seconds_to_start_speaking the time has passed.

---
 jsk_tools/src/audible_warning.py | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 6f9cb5aae..1d5c0ec6e 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -31,7 +31,6 @@ def __init__(self, rate=1.0, wait=True, blacklist=None,
                  language='',
                  volume=1.0,
                  speak_interval=0,
-                 seconds_to_start_speaking=0,
                  wait_speak_duration_time=10):
         super(SpeakThread, self).__init__()
         self.wait_speak_duration_time = wait_speak_duration_time
@@ -43,8 +42,7 @@ def __init__(self, rate=1.0, wait=True, blacklist=None,
         self.status_list = []
         self.speak_interval = speak_interval
         tm = rospy.Time.now().to_sec() \
-            - speak_interval \
-            + seconds_to_start_speaking
+            - speak_interval
         self.previous_spoken_time = defaultdict(lambda tm=tm: tm)
         self.blacklist = blacklist
         self.language = language
@@ -118,6 +116,14 @@ def __init__(self):
         seconds_to_start_speaking = rospy.get_param(
             '~seconds_to_start_speaking', 0)
 
+        # Wait until seconds_to_start_speaking the time has passed.
+        rate = rospy.Rate(10)
+        start_time = rospy.Time.now()
+        while not rospy.is_shutdown() \
+                and (rospy.Time.now() - start_time).to_sec() \
+                < seconds_to_start_speaking:
+            rate.sleep()
+
         self.diagnostics_list = []
         if rospy.get_param("~speak_warn", True):
             self.diagnostics_list.append(DiagnosticStatus.WARN)

From 2fe97c2b50d56ea713c27ee80f60949637af2e9c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 14:30:07 +0900
Subject: [PATCH 14/54] [jsk_tools/audible_warning] Output error name

---
 jsk_tools/src/audible_warning.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 1d5c0ec6e..b20bf6724 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -89,6 +89,7 @@ def run(self):
                 sentence = prefix + e.name + ' ' + e.message
                 sentence = sentence.replace('/', ' ')
                 sentence = sentence.replace('_', ' ')
+                rospy.loginfo('audible warning error name "{}"'.format(e.name))
                 rospy.loginfo("audible warning talking: %s" % sentence)
 
                 goal = SoundRequestGoal()

From d65bacc1d90b3a399b1ce3546d94ce6a78202cce Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 14:44:03 +0900
Subject: [PATCH 15/54] [jsk_tools/audible_warning] Check status is leaf node

---
 jsk_tools/src/audible_warning.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index b20bf6724..a51e6d483 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -17,6 +17,7 @@
 from sound_play.msg import SoundRequestGoal
 
 from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
+from jsk_tools.diagnostics_utils import is_leaf
 
 
 def expr_eval(expr):
@@ -67,6 +68,8 @@ def pop(self):
         with self.lock:
             while len(self.status_list) > 0:
                 _, status = heapq.heappop(self.status_list)
+                if is_leaf(status.name) is False:
+                    continue
                 if rospy.Time.now().to_sec() \
                         - self.previous_spoken_time[status.name] \
                         < self.speak_interval:

From 793179be0f44b0f9add8b12a0605b8d3ad08576b Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 15:09:13 +0900
Subject: [PATCH 16/54] [jsk_tools/audible_warning] Enable regex for blacklist

---
 jsk_tools/src/audible_warning.py             | 2 ++
 jsk_tools/src/jsk_tools/diagnostics_utils.py | 5 ++++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index a51e6d483..d374d4230 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -4,6 +4,7 @@
 from collections import defaultdict
 import heapq
 from importlib import import_module
+import re
 from threading import Event
 from threading import Lock
 from threading import Thread
@@ -137,6 +138,7 @@ def __init__(self):
             self.diagnostics_list.append(DiagnosticStatus.STALE)
 
         blacklist = rospy.get_param("~blacklist", [])
+        blacklist = list(map(re.compile, blacklist))
         self.speak_thread = SpeakThread(speak_rate, wait_speak, blacklist,
                                         language, volume, speak_interval,
                                         seconds_to_start_speaking)
diff --git a/jsk_tools/src/jsk_tools/diagnostics_utils.py b/jsk_tools/src/jsk_tools/diagnostics_utils.py
index 5504a3d33..c561a76ea 100644
--- a/jsk_tools/src/jsk_tools/diagnostics_utils.py
+++ b/jsk_tools/src/jsk_tools/diagnostics_utils.py
@@ -1,3 +1,6 @@
+import re
+
+
 cached_paths = {}
 cached_result = {}
 
@@ -52,7 +55,7 @@ def filter_diagnostics_status_list(status_list, blacklist):
         ns = s.name
         if is_leaf(ns) is False:
             continue
-        if any(filter(lambda n: n in ns, blacklist)):
+        if any(filter(lambda n: re.match(n, ns), blacklist)):
             continue
         ret[ns] = s
     return ret.values()

From e9550ac87a7dfed9615954091f9d952c6dc88f2f Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 15:33:42 +0900
Subject: [PATCH 17/54] [jsk_tools/audible_warning] Add run_stop blacklist

---
 jsk_tools/src/audible_warning.py | 19 +++++++++++++++++--
 1 file changed, 17 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index d374d4230..6c8dc5817 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -144,15 +144,21 @@ def __init__(self):
                                         seconds_to_start_speaking)
 
         # run-stop
+        self.speak_when_runstopped = rospy.get_param(
+            '~speak_when_runstopped', True)
         self.run_stop = False
         self.run_stop_topic = rospy.get_param('~run_stop_topic', None)
         if self.run_stop_topic:
             run_stop_condition = rospy.get_param(
                 '~run_stop_condition', 'm.data == True')
+            run_stop_blacklist = rospy.get_param(
+                '~run_stop_blacklist', [])
+            self.run_stop_blacklist = list(map(re.compile, run_stop_blacklist))
             self.run_stop_condition = expr_eval(run_stop_condition)
             self.run_stop_sub = rospy.Subscriber(
                 self.run_stop_topic,
                 rospy.AnyMsg,
+
                 callback=self.run_stop_callback,
                 queue_size=1)
 
@@ -181,8 +187,17 @@ def on_shutdown(self):
 
     def diag_cb(self, msg):
         if self.run_stop:
-            rospy.logdebug('RUN STOP is pressed. Do not speak warning.')
-            return
+            if self.speak_when_runstopped is False:
+                rospy.logdebug('RUN STOP is pressed. Do not speak warning.')
+                return
+
+            filtered_status = []
+            for status in msg.status:
+                for bn in self.run_stop_blacklist:
+                    if re.match(status.name, bn):
+                        filtered_status.append(status)
+                        break
+            msg.status = filtered_status
         target_status_list = filter(lambda n: n.level in self.diagnostics_list,
                                     msg.status)
         self.speak_thread.add(target_status_list)

From 917f8531baec305f46a78949d17f28d2885a1ce0 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 17:13:28 +0900
Subject: [PATCH 18/54] [jsk_tools/audible_warning] Enable blacklist message
 option

---
 jsk_tools/src/jsk_tools/diagnostics_utils.py | 31 ++++++++++++++------
 1 file changed, 22 insertions(+), 9 deletions(-)

diff --git a/jsk_tools/src/jsk_tools/diagnostics_utils.py b/jsk_tools/src/jsk_tools/diagnostics_utils.py
index c561a76ea..42b8142aa 100644
--- a/jsk_tools/src/jsk_tools/diagnostics_utils.py
+++ b/jsk_tools/src/jsk_tools/diagnostics_utils.py
@@ -1,3 +1,4 @@
+import itertools
 import re
 
 
@@ -34,28 +35,40 @@ def _is_leaf(cached, path):
     return result
 
 
-def filter_diagnostics_status_list(status_list, blacklist):
+def filter_diagnostics_status_list(status_list, blacklist,
+                                   blacklist_messages=None):
     """Filter list of DiagnosticStatus.
 
     Parameters
     ----------
-    status_list : diagnostic_msgs.msg._DiagnosticStatus.DiagnosticStatus
+    status_list : List[DiagnosticStatus]
         List of DiagnosticStatus.
-    black_list : List[str]
+    blacklist : List[str] or List[re.Pattern]
         List of blacklist.
         The path of the name contained in this list is ignored.
+    blacklist_messages : List[str] or List[re.Pattern]
+        List of blacklist for message.
+        This has a one-to-one correspondence with blacklist.
 
     Returns
     -------
-    ret.values() : Dict[str, DiagnosticStatus]
-        Key is namespace and value is status.
+    filtered_status : List[DiagnosticStatus]
+        List of filtered diagnostics status.
     """
-    ret = {}
+    blacklist_messages = blacklist_messages or []
+    filtered_status = []
     for s in status_list:
         ns = s.name
         if is_leaf(ns) is False:
             continue
-        if any(filter(lambda n: re.match(n, ns), blacklist)):
+        matched = False
+        for bn, message in itertools.zip_longest(
+                blacklist, blacklist_messages):
+            if re.match(bn, ns):
+                if message is None or re.match(message, s.message):
+                    matched = True
+                    break
+        if matched is True:
             continue
-        ret[ns] = s
-    return ret.values()
+        filtered_status.append(s)
+    return filtered_status

From 3f9d7abb6f654445d80f40f298c65d9c03058a57 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 17:13:56 +0900
Subject: [PATCH 19/54] [jsk_tools/audible_warning] Add blacklist messsage
 option

---
 jsk_tools/src/audible_warning.py | 54 ++++++++++++++++++++++----------
 1 file changed, 38 insertions(+), 16 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 6c8dc5817..f0b49171f 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -29,7 +29,7 @@ def eval_fn(topic, m, t):
 
 class SpeakThread(Thread):
 
-    def __init__(self, rate=1.0, wait=True, blacklist=None,
+    def __init__(self, rate=1.0, wait=True,
                  language='',
                  volume=1.0,
                  speak_interval=0,
@@ -46,7 +46,6 @@ def __init__(self, rate=1.0, wait=True, blacklist=None,
         tm = rospy.Time.now().to_sec() \
             - speak_interval
         self.previous_spoken_time = defaultdict(lambda tm=tm: tm)
-        self.blacklist = blacklist
         self.language = language
 
         self.talk = actionlib.SimpleActionClient(
@@ -58,8 +57,6 @@ def stop(self):
 
     def add(self, status_list):
         with self.lock:
-            status_list = filter_diagnostics_status_list(
-                status_list, self.blacklist)
             for status in status_list:
                 heapq.heappush(
                     self.status_list,
@@ -138,8 +135,20 @@ def __init__(self):
             self.diagnostics_list.append(DiagnosticStatus.STALE)
 
         blacklist = rospy.get_param("~blacklist", [])
-        blacklist = list(map(re.compile, blacklist))
-        self.speak_thread = SpeakThread(speak_rate, wait_speak, blacklist,
+        self.blacklist_names = []
+        self.blacklist_messages = []
+        for bl in blacklist:
+            if 'name' not in bl:
+                name = re.compile(r'.')
+            else:
+                name = re.compile(bl['name'])
+            self.blacklist_names.append(name)
+            if 'message' not in bl:
+                message = re.compile(r'.')
+            else:
+                message = re.compile(bl['message'])
+            self.blacklist_messages.append(message)
+        self.speak_thread = SpeakThread(speak_rate, wait_speak,
                                         language, volume, speak_interval,
                                         seconds_to_start_speaking)
 
@@ -153,7 +162,19 @@ def __init__(self):
                 '~run_stop_condition', 'm.data == True')
             run_stop_blacklist = rospy.get_param(
                 '~run_stop_blacklist', [])
-            self.run_stop_blacklist = list(map(re.compile, run_stop_blacklist))
+            self.run_stop_blacklist_names = []
+            self.run_stop_blacklist_messages = []
+            for bl in run_stop_blacklist:
+                if 'name' not in bl:
+                    name = re.compile(r'.')
+                else:
+                    name = re.compile(bl['name'])
+                self.run_stop_blacklist_names.append(name)
+                if 'message' not in bl:
+                    message = re.compile(r'.')
+                else:
+                    message = re.compile(bl['message'])
+                self.run_stop_blacklist_messages.append(message)
             self.run_stop_condition = expr_eval(run_stop_condition)
             self.run_stop_sub = rospy.Subscriber(
                 self.run_stop_topic,
@@ -186,20 +207,21 @@ def on_shutdown(self):
         self.speak_thread.join()
 
     def diag_cb(self, msg):
+        target_status_list = filter(
+            lambda n: n.level in self.diagnostics_list,
+            msg.status)
         if self.run_stop:
             if self.speak_when_runstopped is False:
                 rospy.logdebug('RUN STOP is pressed. Do not speak warning.')
                 return
 
-            filtered_status = []
-            for status in msg.status:
-                for bn in self.run_stop_blacklist:
-                    if re.match(status.name, bn):
-                        filtered_status.append(status)
-                        break
-            msg.status = filtered_status
-        target_status_list = filter(lambda n: n.level in self.diagnostics_list,
-                                    msg.status)
+            target_status_list = filter_diagnostics_status_list(
+                target_status_list,
+                self.run_stop_blacklist_names,
+                self.run_stop_blacklist_messages)
+
+        target_status_list = filter_diagnostics_status_list(
+            target_status_list, self.blacklist_names, self.blacklist_messages)
         self.speak_thread.add(target_status_list)
 
 

From 1f1e299ee627ac3672c6a3b675dd8c6030c9fa28 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 18:19:39 +0900
Subject: [PATCH 20/54] [jsk_tools/audible_warning] Add sample

---
 doc/jsk_tools/scripts/audible_warning.md      | 136 ++++++++++++++++++
 .../scripts/images/audible_warning.jpg        | Bin 0 -> 92036 bytes
 jsk_tools/sample/pseudo_diagnostics.py        |  56 ++++++++
 .../sample/sample_audible_warning.launch      |  39 +++++
 4 files changed, 231 insertions(+)
 create mode 100644 doc/jsk_tools/scripts/audible_warning.md
 create mode 100644 doc/jsk_tools/scripts/images/audible_warning.jpg
 create mode 100755 jsk_tools/sample/pseudo_diagnostics.py
 create mode 100644 jsk_tools/sample/sample_audible_warning.launch

diff --git a/doc/jsk_tools/scripts/audible_warning.md b/doc/jsk_tools/scripts/audible_warning.md
new file mode 100644
index 000000000..61aadee5c
--- /dev/null
+++ b/doc/jsk_tools/scripts/audible_warning.md
@@ -0,0 +1,136 @@
+audible\_warning.py
+=======================
+
+## What is this
+
+This is a general node that subscribes to `/diagnostics_agg` to speak the error content.
+Robots using diagnostics can use this node.
+
+## Target Action
+
+* `/robotsound` (`sound_play/SoundRequestAction`)
+
+    Target action name.
+
+    If it is a different server name, please remap it like `<remap from="/robotsound" to="/sound_play" />`.
+
+## Subscribing Topics
+
+* `/diagnostics_agg` (`diagnostic_msgs/DiagnosticArray`)
+
+    Aggregated diagnostics.
+
+
+## Parameter
+
+* `~speak_rate` (`Float`, default: `1.0`)
+
+    Rate of speak loop.
+
+* `~speak_interval` (`Float`, default: `120.0`)
+
+    The same error will not be spoken until this number of seconds has passed.
+
+* `~volume` (`Float`, default: `1.0`)
+
+    Volume of speaking.
+
+* `~language` (`String`, default: `""`)
+
+    Language parameters for `arg2` in `sound_play/SoundRequestAction`.
+
+* `~wait_speak` (`Bool`, default: `True`)
+
+    If `True`, wait until finish saying one error.
+
+* `~seconds_to_start_speaking` (`Float`, default: `0.0`)
+
+    It is the time to wait for the node to speak after it has started.
+
+    This is useful for ignoring errors that occur when the robot starts.
+
+* `~speak_warn` (`Bool`, default: `True`)
+
+    If `True`, speak warning level diagnostics.
+
+* `~speak_error` (`Bool`, default: `True`)
+
+    If `True`, speak error level diagnostics.
+
+* `~speak_stale` (`Bool`, default: `True`)
+
+    If `True`, speak stale level diagnostics.
+
+* `~speak_when_runstopped` (`Bool`, default: `True`)
+
+    If `True`, speak an error even if runstop is `True`.
+
+* `~run_stop_topic` (`String`, default: `None`)
+
+    Subscribe this topic if this value is specified.
+
+* `~run_stop_condition` (`String`, default: `m.data == True`)
+
+    Returning bool value condition using the given Python expression.
+    The Python expression can access any of the Python builtins plus:
+    ``topic`` (the topic of the message), ``m`` (the message) and ``t`` (time of message).
+
+    For example, ``~run_stop_topic`` is ``robot_state (fetch_driver_msgs/RobotState)`` and if you want to check whether a runstop is a pressed, you can do the following.
+
+    ```bash
+    run_stop_condition: "m.runstopped is True"
+    ```
+
+- `~blacklist` (`Yaml`, required)
+
+    User must always specify `name`. You can specify `message` as an option.
+
+    These values are matched using python regular expressions.
+
+    It is something like below:
+
+    ```
+    <!-- speak warning -->
+    <node name="audible_warning"
+          pkg="jsk_tools" type="audible_warning.py"
+          output="screen" >
+      <remap from="/robotsound" to="/sound_play" />
+      <rosparam>
+        run_stop_topic: robot_state
+        run_stop_condition: "m.runstopped is True"
+        seconds_to_start_speaking: 30
+        blacklist:
+          - "/CPU/CPU Usage/my_machine CPU Usage"
+          - "/SoundPlay/sound_play: Node State"
+          - "/Other/jsk_joy_node: Joystick Driver Status"
+          - "/Other/Combined Gyro"
+          - "/Other/l515_head l515_head_realsense2_camera_color: Frequency Status"
+          - "/Other/l515_head l515_head_realsense2_camera_confidence: Frequency Status"
+          - "/Other/l515_head l515_head_realsense2_camera_depth: Frequency Status"
+          - "/Other/l515_head l515_head_realsense2_camera_infra: Frequency Status"
+          - "/Other/ukf_se: Filter diagnostic updater"
+          - "/Peripherals/PS3 Controller"
+          - "/Sensors/IMU/IMU 1 Gyro"
+          - "/Sensors/IMU/IMU 2 Gyro"
+        run_stop_blacklist:
+          - "\\w*_(mcb|breaker)"
+          - "/Motor Control Boards/.*"
+          - "/Breakers/.*"
+      </rosparam>
+    </node>
+    ```
+
+- `~run_stop_blacklist` (`Yaml`, optional)
+
+    This is valid when run_stop is `True`. Blacklist at run_stop.
+
+
+## Usage
+
+Listen warnings from diagnostics.
+
+```bash
+roslaunch jsk_tools sample_audible_warning.launch
+```
+
+![audible_warning](./images/audible_warning.jpg)
diff --git a/doc/jsk_tools/scripts/images/audible_warning.jpg b/doc/jsk_tools/scripts/images/audible_warning.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5d3ed1f7d0c479ff73ed7870be7e7c047f25c957
GIT binary patch
literal 92036
zcmeFZ2T+?yvnYz!>vdjR#$+&Su)$=@k_ZC9Z<`#KAVkKNu!IBx10tv0wT+45$CxD2
z5@ke?2?B!&Ya_sb0E3VKkqj7tz$BCNW2?@&_3G9+uimYD-n(_{{w<aCspp%Xnf|(a
zX1b?!Jbe6x@2auBkv`w4Q+#}<PF{S+qkIqfPXF*X{QY_Q1b+PK$G_p+Pd}ac>HN71
z7tWtMfBwRyE0-=@{Q2Vf^Opgaf4*|{D&XpcOV{|XUFAQyzWO(jQ-9Yy{o}clidQe5
zzj%WEAB5w-_yFflKRTUt`V@fg2f(S*fK$hGK8ce~p8orN(${~3Ge4dE@rTprPMtp~
zcDl-U>ZIR4o<DQt^r@4^PoL*I^~32OPi_HRyPk56UqJAt72KAY^y+oqps<J(Q1!m0
zwGGlgxw?Nq`X1u3kXiuk{4EgpfzR(Xw^4ot4|Si&*trG%ky=^x;e@*QNvkI<pTNJj
z&38il)Cu)-C#6P!Q+z+1`r%~IXU?BFdouVFhW-FJee=g_!24(TEv4=~PLj6r`Mv+A
z>w>pH4{VUhzJ7U?AHa}@e^gbko)vgy{Vad#w(8ozF^BKcN!^pG06rbQ9j~aL9H%@9
zyf<GhqBf4^RC*~b$9x}cYdC%i5Py6rmR7{1*&OD(!VF7QDY-Q!b8jwF$V=CD7f$0!
z_H~;>e&bLg`c-oN{8!<>nD8%2_;2bE0nHDTqOHR|wTLRDSl-W)Qc(0P$wrfX9}q2`
zv*-KE*D10LM`uUdyQ2l|IP6gBZ5bQ-e^dMa{Nfa*=}9fHby)fe_x1#PSW&&$IK3RM
zsq5wNf*erTa;gFW1aucnNnv+u{v6zsu<LJWf^hfAg``Lm6PG3hp#44?bY%P&pUhJi
zq0;u@kDbrl<!}B`yzfJ<d#K0>dN&D9Ksha)E6o%5RGJ4)d%6dr<Mgx4p~rmBpO`n-
zJl(Tp)fvXW2dSK9KPlE}nLYg2Alj9ACamV#-~*Q7S3jW#^>3P>I_tpIy?(kiqbx9e
z*R*3#)nmT*MZN5R>>NO6p<GDLeyze0CEi4SYcoCS=$;W%Zs}4^l9x_F7bGF9^agzw
zc%NI&aKv+=zqIr(y1uMyazexIS@XaJ4$a>f^zh1|1J-XRGYY2L>6A~;C9L;fTbWHc
zLvUaFYtYgrmmZTF1>&1S$q(iS5^T)QHNY*;vy*Y0k!>VqmbZ4ycbNUp=0fZYkd4&#
z4v_6?#6G`Uo+&o5w0f^I8s{O0Px&XSO#zo}CMzUQ6Q1>jNPLd{YNjKKHGh?RPinBJ
zfFIX3En6Wg+*i25r0|$o3rN4~b&3o^?|L28oRS3Q<8!>%CtrEwgVg(|;r((v=>2WY
zh16`?)z*9&igZ>*$`VdWA#?p;Hf5k`(Sxl@Z29_PQ^6>f6PR5voBREF4)&{zw_D-s
zc*emMd$%XP^)*bWA^8u46xO!Z&S^^_2}<z5_OFY~*d|A+Xl@?!^}#2c>owM@s{dGR
za#3v;G!?sVc}YNRGy&Eif@Ze0?-qK9&bjM3pR3SwK3~Xco$mvbi2A569syGE;qFr#
z<)vOpA^~WZvt`|;k&)f|F9?tn)eF1sx8J;=Bz@v4zwomRAw+UfQ=0|R<P5tN;P;Hg
z4bP$e?2En@g%-V1kt_#gtLho2+IEdli$^7GwYB{qeuw-fN3e~7e2;-tMPb~VSr#)d
z;$n@4HsO9`0lVdjcgQ<Nh#PqTt4|9b$%x)ZQFq@1C(O|<4%)3ZR6nK&&LKn87nh*7
zWAPNBd6sRNdBDps86I-p*F)yD*&T~llUbwBItFZ!GTI;zU^ROh<%aC{x}p9i7a3wP
z0?-LyN;vH%r=)M+0baaYjC#C1Qb8>uR@U_8$RT2q%}Z(dek77VqQLxh|3I|0XbNq~
zFnduww+^5a!IV(7@778gOy~5c?}LC_?P~*p@bme}t%9QQ@aUy<+^eeCSE1!jHa>lh
z_a0jC7luG2q=)t$VjJKQZc6<F*`aMxKDn->CcIsL;esjVMqI$%PmQ5}d>dj|I!aVE
zv_5Kif7!ynZcI8S$Kflwxy-2O26tg&5tmPx-`U82l3@3h*;H@?9qc!mik4j-^>(SO
z*5z5iHm3c+v788iCu(If=v!YL{6q(S=zDo@RCu~kHpZuk$R7FjP9GZVwW(k!rv5x*
z;ZqH;*8m3p)WV4?FfjkUbOY+oYI(0Zn^?y@Fw-eyefL;F;<pXpkN$Ie!^d~g_HwtP
zJ#lGBtSLtE^JfmaxVV(kF!@I5X%%)<AumDF9&8qx#R*P>Q%dt8@Xx13o}?=NmAdFZ
zv6qT{<HfXLTEQKtgF=R`;L9;geQE*8wz3DWt3a96>z9(p{y^co+<m*s-pBZJw^EUE
znn`imub=CC^h+%%U*~=EVZFM}mv=YvrQ}O?Clhy$`Glx#eJ_IuGh(J4_Bm_(qY|nU
zPxcXCBfmyQt>%c`fXrA5#_1zvL)g^=XwA8beO+%DS0$w$c0cs(ScUbYPsl%Mu-BXZ
zrY~w1f20PK+QogQ9NuX;1+I7wxA`0!)^UD1LaEiy2O5&vh6eS3fEi0b*ip}9@brz-
zyBZy4>PpU{dNe6?V<o^-7XySO<ijx7EdAY9F5^iQ`Xhq3bj`3zKl;^usp1!59&0K`
z;TPhL-jElLE>HWfd0lJNL-7xw22j+QEu9=4xyFmu-vjC19~}H7JhW*!$y=K-JM_FO
zmS6s#9>~9yX}{|dr?>5z{PhelW7=HbhHdIgET}WGd;QdO+gdvzc77-UmHdE$-D!Xl
z!Z2Z0XhM+l`EBn$!9>^K-k&P94ERf6SYy*L*<8u5dx6sKm5#i7z2X%`RYu7vc2bCG
z2-#T82)6ks$<6qA;3iu)8Ijj?ezj)f=A<yuVU0C-n1wyOQmi`ZwbScYcQEqsHyU-f
zX>s3vFjsBpm~R~hY}OWjY*s&aX684dNZr?Rwj5rykbZr5nIu;NSRH_3J`IMVcd*53
z8rE?;CS@e>hQJP$7A|4tI%1x!v&;4XtSw5SN53&Y>_f-&z{h+ZT>N21+1wN{mp8t4
z{al=udlTW9?|`&(CuW*39Z?fWircR`N<gcke(i2WT==^D#97I+J5=*d=@Pr43mP;(
zRS%t5zB!;{DPC^xwv#pMm10hOrgKqkXj;9=c%|Gth}nnDvF{j-pJ@*9Dn91Zn;N^N
zKiGs->j>i3?cl}7E3@h=7uWn@g0_7h&2~Z*8HwO|XLPvefNH?7l`R%guJgeVvVmJX
z>6TYc_N^U}LZ2};*(D7XZuq+_zW^>T9v?r`u&gZ;qzyXeD>~-8va~|nneFwPq%Ie#
zTU*44rD;_3UajKT_GwG!2RO86-WYr9vxf=OvS=N&i-06gMF!+1TnYh__sV=EY3rEG
z{j%*2PmH8ECJe&yR%2&h840!=B4>2hYR+X+TZ>1GxerBpv?9A>o;CH3bs)baWFpzK
zE;8B*(X68u$#x%-fAh+O=Cn2@xqP>8>EP4%HD1o}Xqs?etNIo^C{R}C%GZd#)UdI`
zU2gBeM6M*aReDOA&?|obgST?&TL@d8K_P#rrFiNNqYG__vzHRk1^tslY=c5<Ubf^J
z!olp3LQ9Ox-o$LNta${;5kqbr@@{gCimdd-hOR-gCPx^i{`+(Iqq*+-i`U^IQ)#Of
z{I`gv7M>o%Tlut4G)tbI-p=RAsmdG~?e0jXqKmZp6hsDg`|y0*$YgqLxBlaa66M!M
z&M!c=$(J1F{Hs#>qL>OZMsnb?$l)d^V!t8s{j}BzqxT{i80$zi+l`iWTa8NotuUB2
zdl{;g+dG{Z90G2N5Ud61gcRLJKD&ZRJNMq!X!M&+a9Jn*`;@S}y(!Dh3i8VKTY2uD
zk<=p3873jOj+Of|hdAc*jGo$SFP}bYc5*;giX0A4$W9RtN`t5h$9zxA)^2>`=?*b-
zJjD9i1JaNAGHb1B1XAA{oC}@ZdX^-TSZ=QZcaFVX+xFu>A4W@0kIl{F6vJ@tUbWBr
z3-oida+=Et>fToezmP?JaNjNZ)cd@0BmA0w9bnehQeX1ck}`X^N)o$1TJ;?fEmH|^
zr$5v|<1yKdf_}z_0^sz_>vk$XHzM>b#Ffj!?i#aUOGs(|8jZ<oVaI&>&s@`-e+I=d
zneny+@KRzz0Z1ou54ebPbZjM1OEl8iG{4ojA;5Nod{ZxvG(<ehc8sucwpWT8dP;x2
z`^@ae!5BpwWy&kFD@M(t*qA<>>7#3lG6}Gs48JdF-5?7c^+7}I_dOuQ(K+CeSd-X#
z2Y);B<zY*vmur=WP5>xzWBGIS&3JB(&Mf`I#GDtZ@~M7LrH3z-Us8aMJLYpuoKf$A
zP6n=AU6TZLvJd9Aj@*KSHu^mA-SL>ItWfy_&E(vd-*qtE+FlU{>zD{{i^TQE>&JW-
zvO3z;y>EYisi253oL_Ce`Iq4P7hQiq)xkD4v`=4?+y-X=gvthj26&#wEHXJT;e{a_
z%@5_eAv>mR1;>1v3aiI_`Kx;iLld-3B!(@8T1)%%SGe9WpF!5(>)j7AWNLv!gZrx9
z$hvi5oTS*vqv3kUnh=U#59A7F-`ZSq*l`u|Xh+I55*V1`(3@mON4mOU;dIz1`X>GR
zXqa~F$FxgDbYYZ~a(d{`4tNb%H@t#cH?~k%=3jSh?OKr*9ArAH_rhhCHISg^tY@R^
zdlOym@6nD2s(#0RwJ>Bb%<>~iQnF%mKu-)nei2f4zNA}t&v>_TXoSZv*{$8D_7S!F
z&z;SkhMYJB%#_RlOb~5AA}CjDCt$@iJ>?X@rR>}<g`#^9|Axpq3-edvmj=|A#gezO
z($=-d%r)No5!zMTea5{d`L!fPj`;?T`Ce{qcZB)QX{-!wTZzk&=?UFgLzr{+cm+%@
zpkGr7WtQk=r+x@(z9Bocpr|9-x!UsHqCE;G%sjMJPvq=Y_Z+fAXKF!-L{PKnl3M1X
z`O9yOZx)%1*-?r0o}nqGXOZ9k8(EO}Ph_F-Kaz#yr?Kxag15i4rn1zp@dVKDwr5M%
z(_g$bGc1wll@q0-lK!?+YyW1axXU1m-nA@`(6lCu#ZrxVNEj?&l4bF7H2Jsmf$eF3
zjh1SDeu;?P(a3r#m+Ss@v+l0KYK6C%iG;1W^(avF+KUBt!<3qAJ~Re=5P~+m)xTDe
zn0LL0+UCG%IJ%j)kDJ(t-f@u@JmyOsV}dw$=g#Nxe_S2AQNeK_5ojmNU~JzppL{4#
zVte^Z$$Q7O0K%iP@L)&K8v9mfQ0dds<%9&e>_`NRVPmBIgU-}@xX_^qgy8*gVQo)b
za!CpcWNM|iRc2Rz>)4s|EFzbhOPf4rO}AkBN(2`Zih=yA6A=ffFfAo83of$zfvY(2
zN2juP8G?)~wo=XLo4$75HVJ2Sg|`+xI6%^V>Ao9-HO~&pks6bIFAD78_0{_190oTp
z55wuZxfup?5@DS0d*3k;+12r3+FD)yqt~6+EiQb`ahnOWMoi<hroYOJWg1<-*APQH
z$JJd{D%aCxc@Yycd2sk#6x~4RuZ0e0vx}Tbkr=u~_ra`pEdJvTF>#r<fNVK8o6&I;
z1`~4FukeOXd9JoL-l*tT6SYQXJHzn`=t9r2jN6)a+w&zmq7?2yq~r(Zv)S&MJD4k=
z=GVcMkw=K!x<<leB&~|+5Jap9-(~ib!Yc*#YvVT$BsB11$rqpOdn$eC{IGV{E$e_&
ztK?-nT{u&l;JxTG<}Fl!DA;f2&F>WQ7;B*NePz4vKHI1?v3396&|^MTyC6e$IibK{
z>tLOWS(?-sO{>rr?yLGx*^HWYs{dk<rrP+vL3PBl9sZ8^$G36f+2-0Lc^5WhIaHv>
z29*M)Sw;@!T~I#?H^cud=}1m-G!5Vq?fd%X#>p?fZ_LFGeO@XB*dN&!?j8Q~Lsj?K
z>?bvgt<IwX4G-sFl}yc_x=Tv>JC-D`n75qFJXiKoJtA7?Be5;6frY*slNEle?bmq`
zqr6B=okeKbT*Wvrk?1?Pa|Ygn>)82zsGFqP+@H1`vL}+uf6Go@+Aif4L_C&c8Oh{5
z2-7d$&{BzEF|!;re00Fzjm7e5apja5Nai$ZD#lY>a;+H8HMg0pzNn}y7?<Na=JP_q
z2SQjKohmaC`vv7tS!-J>(^1qQ1n0N-xZ5Kd0`IT8=+F+9VP`vqV`~Ffh%QMIdx6&B
zCb$TnJ{^<m(I-Y_b5x_(Z&c*lXV<6gwg>Z5u&63z1L>tC`~D-!TPARDt@#P@mOWdw
z=MZA!F=U=obpvySJK72?*l*b89x+BG_VGF@l`XE_L>*)Q2J`rteY^PZ-D5t6PUg;n
zmW3ds#ULRCaaDEJx{Fegz`^Zw_%s0z&g_Itj;=-!pEatbd>#6<4HVwjKJ1ldtjqX^
zFCX*mp1ZgC%YU-?c3Rymm6gX|Uq?0u$1e>Tc&u%(4{n<{T1bAh@hTi}%JbW(gCk7w
zpD85+F=ctq^t+E2JeqXXt$04~IHM(Wo3T40dX};u^a2`zJs|r$&L`5XfY-V%FPv@8
zec{7qL>$NlbusLJU#b5c{gK5Q{-eXc@YSN3t0Jh?%*-zqo!`$i=hjQuUzqoW2nY~V
z^nVli?LZdO#gP5|oBi+THprm*AG`jguUKZT*Y7^GHuH=Xq_D03F{j~daBm)`0RVuh
z=D&gN@`XDmZ`NKM|LF#4HZ*m}JNC{99By%~Q}H5y#5G_!ZwT%cbzoG~1Gh0xUbEnz
z(otQ*n`z51?YJ4eAoUD}X;>ud(Cmx$O|8JM%fz}fhJ!U$3f&-pct5~CW+QqL#)ax~
z#bn&MDbFB^&|c&B5PwpEnS>~%TVOzz0%0<^`BJv-x`<CrSInP(eiO~x$&H!cDNYP=
zNUrgZ)7{RU+srxUo3r?B=L-K9adT<W*Mo_;ahYVXHV^(|zKb*uF?KjIV229zBG7hd
zuQ&QU*s&RJyGn-GeknQ|2C_#D77Yh+Q`EdEX6RBMHhmumI7;kn*?dSGm_ERPYslKp
zQq@~rj3mJ{eD_z2iioHG$@BidqfhyFe&f)CWr=cYTLSsDEGIc0Mb1&+qsFZl_F%7s
zt~VW(982*AZJ~~h?3#6V-0C{hs<C=8COx}ZGtBa9BFF;KBummBGxc7#7Stn@%F_hk
zoUUBpxZL-0{`i@p!oyOC5;R#gXQ^T8V=SqeX^k_#Y%gg_1Fw)dC992PIZEi#pmt4n
z=PPDVOG21?_L&gYdMR#Bq|dAv#M=t+dzmZcp}nmPUC9dBn|pud))ziL3APx;jvBDf
zEPpL@>rYB-k^ADbJ(dCyCr-~I<rNA75`H$5D-y6a=4ZB~d3ov{HeDSgXBZWuK@(7#
z6Y8UOuFzCwlo;kLBdby=%*nyYbH~>qgcI@F*}c$yEFn-o0V<SdL$=CsLxIHTORHHk
z-*S>yoyieKy;1?`lQY77qY|j;j`M&1%}M@YF@d@tkt9X)1C_^gBV8)Ib`mRC92Jh%
zXc<fpX9XnS-FA%fKE<u`7wt-+02=Y$qcf7%Rm_8;8SQJDVLAh$v`POIwPU^p?t{of
zvP#WAO)ltTG1u+04elG=u$rB?GW;YgPFb+JIo3GAO_!D8tguNUf%6IOa4UY(36%_v
z3~)5ed#hb_|B0LHbrMo7J!^YZGdwx_=o7~6^WS~^H@Fgh#;tZ?!Q=U5kHVsiWZ;e1
zas=d43E80MvvcdBV-%}`24y2r%UKlmKti}C*0CrbHCM&V49<(}_5AQ2ZGNYqZeVQX
z=LBZkeX)_#@T6KW%VT0&_94G{nu>Yy4PpX8%EM(Hw4RZ1GOJ{p*|TQ*+@p8pX1o6S
z_b&X$->1}~d{Xw$oAQ(d43j=Jxc#BOsK2=f*M4%$XJcdCy{7Zil$JxKxLzPJS<E#2
zn2)CkJLdc0pm<HPbKI!zOgOn56Vf-nxE2$$Qx>SjYol#c6qAX>7#EVDo!xBYQS7XZ
zg-mkWREyMs=7WRnOjn6wl;qUaJ)-7G16m$&1KCP<igQBQvN{21q_+J=%H@?XD&ZBZ
zFO=mpr$L}l4seukyoW$^ISO#4ml}$5@D675*#~9oZCz>d`^eu^AKX~l6o2+#*Z<<f
zzhvNFGVm`M`2S1>E(<Om^BHna-1{1M;Tv7uc!>v<g2ozi1W$y#LAxO*N+v~jfoz`r
zV}5OVrY`<xwA9m0`$*oM4v_PFUj3u}OM|a$^gBl`D}L^5D@_tF4;h332-yB2irx?_
z&|F~mvRlje-K9xkwq=hS)xTmE0g0L(^}lW9&J?G0|J2oHhUUT39$?LrNrFTv1@Iv+
zJ$@-8hQ!eK$;HX2F2W>OW%CSnf1|GHOqgy5*mMR)R>EmWlT^F;Ia@G5j~~KVLulH@
zHT%4&8HS%F%25H}dXex8S)KXh9*%f{qg!ujMJr4Ag#v^b=jmgkccG(ntu*C{9&^q8
zA<5MQS}D1@t9=v^7FI9IU8eRUjG6oE?)w_Z>Lac0Xn_Mu;#=;OcaImHw<v}<pk9xX
zV0)D;>~@KrTN)hB|Ipe>s3PTawy3rbd845}&o#uuBb*iA8HqCXFJGp!wf9YJb=sZN
z$^64_ZABYqE?Ky|wvAH~XKk_+#3tz<_ytxXN&!wwm-U=4>%n)EY^VqalEB<xmVW<w
zmcdR}kCMWo3z#R8p$kVByYxRPt^R|2eE@V;bvW(Cdv{-YO>7S#3Bd0Rx3qp}2}wcd
zC&12Rxh{Yp)2iv|iOyUf;dZ~Qb|B03;@+}W!g}sY^ZH(3yt!XI(l`6<q>^1uhZj9n
zzJ^jejzyLiWD9c(-x||HCG$QJ&6IqVU+CH}2VRgkYEzp^MJ2*CG%{kC1LxtGuI3Q%
z91xfuC{XrbTG9BM4jf(NCEnz$f&9WblR9qts_KP6VxZ)&l&{lMW@d0-tTP4zCd7t@
zB$1gwEMtQMir?!q-s|+nn0pWL1Bm;*syhbu8wnFxS5DZCw9AfOEw@Rze!0A?uI!cW
z{1CC|O&GsSX_C+bBmRD&Io*Nm3kpkErY+Q^(tTe^Bym;g8*ah9ugPdOw-&fl_8%{b
z{wJ_!0tLnw-pCXe{XrY_3=<HrHvhz#D?m;&A9zURM{=-7tfK+ZhLn>ao{JAaB)95X
zk*rm}@n)(*RFLfxRi)C}0f*{<wX=#%m5!MD;U{(0woQ|qVGJdoDCe}2Avz1+tw}?e
z57ph$-|5w4pfnBaM<Xj;iWbTIsyzOfoPMDCM2P;rvdD|<^C@;ARg}5%0BYpbZci&|
z6rswfoi}7FB~x%sNCPe!HxRQ%5j&7=g@n1rQZE<PhV&JNG#>K_uEA8!P2uT_0lXX4
z^Bv_`H$f3g-X-)6_@Hm?D>WOl2P1D-@i7(p^^0aDHMo3A<PL{GIB=F7TR75x>Y$cz
zalt`JQ}=r>Xh?*2%$MHldY-)N(Y`R?&m-HHc>{YyI!tG%M;PJo^U1pf2Bde0)C|Md
z{u@=_SQ~Ga+=$NSzS>fIJ0O;p2=a^`PfuH@EldsZF(~sXr>ViBETnnmW0<u;+m6GU
z15CCo#3KKDaGxO`B|4V!COTW5;)_-g$$73H5Tz%1(frE2iA*=Nn>D4mI(g)&gJ>bG
zf$WHgHF+ser9f-``FYyR{7$F4?i#-xbI~iizNI<~1FOv1g0vvG>pFqd2-hW4vF4oc
z@=%2KYjyv~n`J@Gqz<hu`LQdyi;7e~uZ_>Qx^K6;w|pB16()URxs~aCrlYLwc?IMG
z_SCxtcQ$y*@M}(`$W}2F1A@si0jxCZ2SYjTHFI?zBpm%(w@u#9{@E1=xt=nRZy;~x
zQq=*@7G;>_Ni!=N9LCLDW56nXwk`a5B|VV-GR%zkG2co2YS@^Br~n0@_-k5qruWpY
zS<ZoXq@RmUWu~O;TnKA@Z#7L44FxApI(mlvs@i}v%GSAB;i=3v9RGp(!M7mA|JOC}
zjB${%p!&$(4G%8L%Z?~*g~Shexo;H%f%d(s86k*l!<kL;^TeW9tS@~dGZ@T)dJ~g0
zVrr!VURMAk&+>d~Wg>zR&DEER`Ku$VVq;E}&bQywqg{J!eow-w8b>LOEH8-dUp3ho
z^%0~BxyKMy{Z*I~bau0=?Dus)%#A+P;M!KTGoo<ndAqFDe#02<c5psB&hH>t1DL&*
z<^4LmSDf!%t1K=Er#d{YVWH?xq*vH@EN8;+6-cf_3#{$oP0DNod70PXHJ!|(@OG5=
zScCfP=AKK0X+Rudc0vjzVZ#fq{_u3H{_8rV;n2xCIa8-Qey+uNGPT{h<5^Wk)-R6!
zXcMIleg(0JnStxi5|8=582JtDINA2J`-BC4V74t1=H;nN*kitTGrivxhJ@FH3v#Ep
z!9hE7xni?VntEIrk(jxFlReRQ3-f~<Z<pcOzN#<vj;sFWKeX0qJ@y>EcW)%C$^_&8
zJ;!MN&(@VXGqGE~rm-akwJ@Go?y4oF=VIxf+{9|?N5{nNISUt%*Ly~9yrWJFIJ!NM
zmp#tfDs4mjzU`N%-DgT?_RMxHuQaRnscJU=HYMQthy7m#f-Q=>kaQRF<!`F5Yk_4&
z##onOha_oBfLPuhzrp<p84{_{;tHACIEr{kEnKjcoI1LwE@1|fU%+8e0>w2;i`N_b
zcIH-oU96H8?+GpavZ*Z@xi6IWCRfy&<sr*2r4c({Mrtx#%-Tzk6cQZfpk~U|zR+lp
zrlkuw+uWWW`-GEi+*XMyc`HBF@3%ymJs_EBOE~eErKR0)i`+)b>8#`43?rw~5T>wK
zaHre37pqziQ?1%O9Z8*?3Xus6x5fzSUo$&Vb+IP_UM?<7nl(c<J_r;jDP7@!mn>Wy
z^~xhGxLgt@jnkp5+O2lQ%uHLz!op&_qL_A~4NCdo-Ig>!#Cr_YEmi!Z&&;UpKOTMS
ztzx-6rF95SSD4gI3u+t5D^@b$+M_l1T%RuiZW)h9zM#Z22dv3tyji$P?+moR)pW9W
zXs$ngX@9JGDH1%|5K>o>6V<p{ogg<YC(vPTU%n2QOv_Z?LDfnKhrCh{=)UkM&Tkf<
zc40M!LL1?^Diq=+L>(4xdtO4wQ}l<74{dq#dY`k;YH3<=I0rJth1>}XA$|}$7++${
z4Q1F?itK2f*kb)GmuzW3j;IeuhM5OSG-WVm*iQh@<nBI+lU)z#Oie9)a`xOE*)}-`
zjwm?sYQu{m`&(>OQi*iZ;BpMo2Cip=rWzAa%&*6MoE?WDZ5zY`2(l@^+F?O2UyWg)
z8ah?An=3f2R6;!Q4HWeZpb6_n@mt*ehFPVTZe4~x1y8=@DP%rEpK8$*Z}^@0ttaCb
z^hcWU(R1pI`Vus<ytLhe;I27s9rUH~0p<oG<r`{zj<KJ<)S2UnU!Dt-UmcE_4iat-
zTe;UbvRx0<8aoNnf1iP^CuH{hsP+D@VUYA){Pu+@5C4jpn5W~#4Qp_-3-=uMUKD$z
z+GnpdEl@*vF1gRi)ze9$PPXJLWSRn&9zYxo%i})fhc-ai&0AS3lV!Ely<YzlGxC2>
z^^`F~rrr%%0FT_!YlHI7F;BguAM*{<S}MK2r{-KaEU?(OJo0|wS)ZAfKKHvorqpV7
zm^$^w*y=c}_*JVXih`3<*eEWnR<N|nep`P{FKJ=Wi`+rJzp(Q{rQHV#YBgVjf_gZO
zl}0s;11T9G8{_q@QKm>;2O1PT3Z3W+^>f&XChjsKGjV-mfS|If5pRJiBdhMqXOxt>
z0uIawjYywmmx@Ni*cLUhB7#ivqR#CDlZR1jcoS4=9Ro4djMR42mi<m{_1{T6%cMGD
zr}1la<dYl+C4B9a!vapWO?*f`%6brX`<Sn+A-jayR^T5ZjVOS3#TCKJEn=XNhOEK$
zAQET44F#+n;pNs!lZ(-=X#-jnqAaqbxoo6|gikynV-dD?b?@vSM4=Lz-Ad4lo>2GY
zst=c?-cP5zEhG)p@o)`roJwCC&phGm>}1M8xcY?7{Pt{o_zGJ`>fL4Yv#nfzY4P>+
z#FrLpUUOZ|O|O~zl*m!dE$Wu_QRllMoKIL$ud+(?4)o-B1B>=<Ni+g)(Wvh2JDIgP
zDc%HI!Dt-0ygOXZ6t}QDnB4X2+4e(8Myiab<f?lLKNEPO3Tjn1&wJG5Tqdw#y9?MO
z(XRbtt7Elg_29O7ZsyG0oz(2jca8%|xi8Cf>5TBT^!-sS9V?QSZBEe~fM0AcEMl3O
zUSU6#EHHNc>nD<l(@J~w<6EtO*=-r)G{a>_ooh)-+Qq4~ssm-seXvY(<$MssB5q+K
zNQ66AV}>E$Ld(cZB3?o1Gs5%$)auC$5*r&4`t5t@`0i1iGHeADhSK0pzF!Edu69{n
zcAE0kiJ{bHHdS@&8Mvy})`?h(U-BffcQ@*V$a9dOsB*|ole4o*03MrIg|^qyG2hct
z&dHwP7l`gC9@k!uh8~=LwY^uOysh}QY78eoL=3lihe{xHEob|Od~D!Ez@Q<fcyD~B
zvM+ALzlc&jn-VqdG6E?fdr9CmN2M*DVu#93+@aAFl90teg#OZ~P}9Wcr+8EhUBJn^
zg-Y8~ZhLwfz&^3-?7L!$oZdv|LMgu_EC~>+)f40Q4Cp+5uYQr-=LYusHwXR$rTVWy
z&Aj8dE0>`Z^8DV>;HVMlf=~hL2lIY#agz1?uhP4js68)7b}9XI1F_R1k4#FvpiA&S
zpYNs7oASg=6s*w)N5~KpF8m3%zEwq&4|x6Yt~7x+@@}`*)nI74CbGEVnfK95+xOrI
zx0$6!e_KuENKjWr#3yHD>>Vk$tGb_N65g}}6LdWsvd=}wtlf-h;{H7@<HuKC1-Q1B
zv>5&AJAKTzQgtNNvXA}iV~`#9#SPadO9IbwZPc}AiC+JF%yArd4kO@e^<++VeT98~
zmc-bfy2=7xALX~l47{;)uV?{~KXS$@HE6}M{N08Ox<xrTHR-Ty%h|q`NF?(+tec?(
zV&Xes<kb2d{q5Y@vbU6jfufEB{uSZJJKy7k$KDD;-%c&W%|bpx2OF%b*7f&{+cJp0
zuz`QfZ;ls5zUc&S<YyAloCEJDp8%@jsBNWtG+l48#}PH9>7tYRxuZm&e_&<@H%gK=
zv0`Op^(pZ{0MMd+kL<q2^5EU370}ew%`E>KyN3Q7KesaNi{Cj`2riHsDio5h85D^p
zl(-T0Lg1FjWaElt!PKT8*GsHv+IG1=q#<;oM-GP3B+!wXE6touFrMxcqNN?hrh)f1
zCK0w!e6zF&V`~(@IHLA(^d3k-@X^TJhw|LZDC{k>oVfF@a&wgr=5udrt&icPjOB|p
z;bp#UC(#^$0~Lo=!@8Tg5d53w3rAs6N&tRvTU}PWk0u&bh!*jum3Bi(FsXxgiy-l_
z#*u^q{uolPkH{oYIeO>8T=hMb>zHxVpv&xq5E4mDsU(#{C&{52zL|xac3YLFPzFO&
z%G^APtjRMV_qI*&JL6uB&4cWHTZm6~L$5}GScj22dzLw^PU@&H;Lfqb8W`<|((02~
zhc|vy;9c8W?eD~(RP}2_O4|#mHroTe`$ljxFHe<JJAoAN_nuoMdj*lhSG*9N2U6;0
zixHBxn;cGHQQ(AZj*Lfi!g_jo`~J+&wyEni`GMur>$Obrtj5va;kJCgTA&6hedRgv
z5lSns*Yvi1Kt6u-ik(uL$CJH&WWz9Iri5b0swl1qyb;TaJL*rgg;D2iY^?m5wPjeB
zOovAO1X)e`x=XT1G@b4rXB*NHW|Go`4Yds{ukkMz<{&+cc$)Ohm>6QRgy^ywrK2{?
zAlXJEI$Z^Tyhv0ojUrCz;mY%)e%FvG`4;8_t<ocq?8<$cdU3SHymDXZR~i}9#f@4h
z>rQso-z!wWY8e+ai7$pK@cuH}3?ye1)P2NMMAUc#VKAhnt+{}D{#4ZJ>BTa3dgW#7
zm4O+O;g^)2TBbcJh1Pvqy$7wqI&c1Ib8Mqu#aMIZW;q>emE4A<_r|*iGZ!;r+dOhk
zqIg>7<8oecyu1>%98t7ZCp$rY&(yT1zNIK;w5fCy^OMoj5=LWZyPfvMiYsozk)q5V
zXzk1Mu2{)O<~Py5W2mJuatgv5-h$LPOUM|@>pjA#Dobl%yPuVdqxFUufK7FWQYVIj
z({pFjN$ro*tX*W1%8PC=IMNcBR6l@c`=~icB0r?}cK*z_&9bh8o<_UM6j-yk(v7o}
zHdRV{<x-AAtek)Xc49V!HpzUI{Y{@%I&di8B&xNz=+LOc4~bvEem9d|)LXaf>tIAz
zjF-DC(fa4uQ;Ynu3udL*jr6ws2mqLyeN?zIl5CW--PrUVDb8fXpMGL$iSOLk{^eaQ
zrz^eqRdEO>wd&==*`)Fqs;$gxWQ%bV+=(Qb2`Swz^9g}!GCbUQdu`>oo?tQn6rGdg
zyc;kPh?!av_vUiyIJFf`Gi*8gqI^w#bdz5l7~d`8Z?A5OY3iDc<H<dJ(XirE_gJ*d
z07vz@*uuGkDkIyLmNSb!NE4ProhY4Bq2Pu0Cj13vPI`;2?l_Op;_MQTrU66-lY@k|
zmD=?l^f!i>%C;ib6Yvt+Io@CtRjHDM4lzRqWSvA>=|yu>84m@uN{UUwuYGw_wdP}k
zF#CB%($6@6t#sq$EZSkuw`2su(U@w%2#hb^3Gty7Zx7TdXN8CPvN1DD3s_qqv3lF!
zk3-D5HokGp@0d?TO;y{)ma6JE(4^M8l8SIbM07Vo!a8gSHtA6_xZ=`!W`Fz6mp}3i
zIdkppO})O-aQ_ge($BaV0=9KcsK1b_px#&3&eU=1vv^smbG}^5Ji)&h*wYxE+~l{`
z4qEGCpxys#=D7ck%Bddj%xj}}<jQM?6p*b(7k^1``!mU@+{2RJxbRbK1ONO#1QbHv
z^%?GG<N0R_GcX>H3d6h*iryIG1_Oe72(@kf7lF)P#AC+&baq%*WA_Q)9@oMh@7#G}
zH*O&Kd1qX4FSf@^!%7C^==ea**nNOfV60V&bAe7M*zf3}F@P-wy^pFCf(j_yeO)A5
zgjd~1qtYUsbbEDZI{qf&tEg^9Ac0=z(6BgOGE5oqt{ZxY%ef<M<c_n=e^nV>Nh#9x
zc0M-?$JIShxK7N*n1q<p+l&0ABFam}-v_i60Nm5Frh(7P-3Qa>qSIqtlGn=j=!cmM
zLONqJ;QdV{0QXi#l2=E1^Q8ULKZqA+FT>1K+rmcd$`Uqxn$Id%Rl+N#vqd$a0_Tyr
zMn+|3Dylg~+eo}!*-VQeu^N~jv+#V~jBr@OE!5R(2|+5U#&0cxnxz7>9xrx>{Z=~*
z@5&?vClbY8-ccXS`$&UqtUHv59_su6yNef1V8c-o_h=3L58NNvH05VCB=@Mt();Y9
z+to%v(d`(}ONfF{<3we5My9EOQATgTQpU+xL?k{8{rFx6SEb>V*88BeG_`V5JWSI;
z+jzFz#=yscq|W-Bd)l0;pRIE)L7Ny9oVattRi&e=Lpfr?t{1ra5wU0DF%dZvoHcpn
zo{Umrm8|F7Oj_ODcUoT*dz)NVf{Hz=zqUO7^tMO$SDRWHgCG4(ti}5&YR=WFa6JPL
zg@_Abl8L4Y=7ue|7-m#**mfLtE)_L*a`<K4B3CQPonZ@6h~WWC1mbiLS<&&RvIF4R
zvu8YI?JeT++lSXhQ5u!muf$=_)*+Na&(HlIcO|bqsHs^ka2o2GlO7{FL&3by#{K+7
zc<4Szt)du3g#f#O9ANaQ@QA1>(~6Xhq|uPFL9@*o`Juf?;E-G?`oZXz<nx2m;_dB0
zIn_V86gG`gRs_I_DFfQCj9p~R<#WIU!%nBKy1D^%#`PhV_ykiA{YG6s--%pL7bF@p
z^Q|2i9sP|$nE8|=sm<t-{q{AhU7LSWBV+UB`^&50-DN5n!hPU7SlnFwOuD^=PjN{K
zweSV$O|lPQp_nXQjw%``E#pE$E^Q7J1v#$zi4<|sempH^_hEYG1QO=$9i`H=6d`R9
z)2n1iM-7c^wa{YO^&4eje!OnQsQj+jF88++Pi9E*n%*xqwhll~spOn-y=x~&#HHcC
z%L|m5M@e&iAz-O6{b*JreK)xW1Q5x2j|#7B9%j&c?-dW0jgpeOMKb6F#+>%M_+B63
zlZ>V~sk<`4_h0_m-b2-&>Mjd3eo~MvWnUvzz$=2|7C*?l8wryjN&H1%0bckOeslTe
z&5#iDHFrkfEX~7xgNCX_VoJ0zS0Y5iM-OJO@${{XGEVhs%^_9MI?3*$=(MRpbfq55
zIn>8oB<}o}yQG3u#-J(5-qIlfXE*{W4*Y1a;qLWZ&rHEJ<%VrV+A*KiU~_0&iEtTx
ztHWiV9v-Jqf^#)L$@Y0E6upt&q5`%kLsm+<^|~<Xx<caL+fV0$*V+{e!a>+ag>?99
z7GR)#GR_k9hguVXpit;HR<fRkbL=ZBDFt|WRl_h9C{KM^&86lpIkKp=tHMa^5<o(l
zT(OVBZ(;gZr8^B*1!SD^U2Rzgu^NLN<sRzWCIxXL;zugQY0>>>g$gXL51Qe1&S4!m
zs#8?{jL-4<k)aWuqwL`P+NCAirUHJLck#irthY{uPT;<FHhyu%k=2qfB_$>E+#)(I
z2>^&b{pWvYTmNf*s=r;9s6{;9f8y^nBq#f(Aj;mkD@Cqs8z_KyV3Y?%aDOl$*_zY3
zLs&t-X%x9FI@OgUqEG)1qMka<KZU)*T?p-2+qgC^Zx#C@1;Ly4hd-b>CFv4V1XgTm
z-IQ^KJW2!fOnB*cL@>Qqb6PE9U%Dkvy9d2K0Bpg}0oJn%*v<z7RsI!!?~+dSD9Ad@
zHsKooA^v|j>U8SKS^g()%85qG#={tWpoUdxUZb@{!4Z?^yZes?Zc1{w?*z@|m!Glr
z&>^Ko_%z?YQ2*k@|GqMDDixizneKPh`tyiaoqUj_ey7uTGlmz^G+$cO3*RB-`~%p0
zT|F3>qx5CzWt!4kuBMUgx5k&z9sv%b363a)$=7Mw&*lAPxlCvI=xj+*>jHBxD6^YC
zL2Pqrg9J<;rFxB;u5j?|I+fEzZ2SUmW91ueN$1De<xJrx+0W#^w<;?JTuROrn_i%p
z(6p~TQR=-TjlXO<zmsci_=&YLGR;QZKS^tZf=S2|F9G56T#f?|=P115hyYA_PGD+%
z^ZUhh&X>}C4ZsW7p`|!H2&Og)7|IW54esf#4V`w9u*|AU9l5vM^Qe^c>LRS#Wnb}I
zHtXWAn`DFml`ixAca;93a)QJee!70z6}k_*0+~ibHdTr`1S}3|u`?zx%<~Iai;TQh
z+u=+m2|ua*q;w0Z0Fcm@*B9+&tf0?z=Ug2MYb&gG0G+<(xa2P^mr6og_gf)s$^f-F
zdF32u%b!#07p2FBaGyvCpGgqj{I0n9%d@3g>!nUT4M=7Yv_2l+DLgv~is|*GMz?4u
z^3$;fitas?62bWmNo1fmx6ZCzN)`|kmGWWzDjKcXg1Y1#>!&@1z}6wVw<HT%J!?O=
z8C(L>ykbSvxgS%MLm*Ai0g7^NbiwmuzQB2pg-}}-8N5Yb=csmkY+7e&%N|m#jWhLR
zD!1m$YqRENyoTosf1UlwhC6p*Y(DMY+uM|rm`UxkOI1-JZ;tt>`iVsuuJkUJ0i9Bg
z<Kgmox(ZW-MRDbdLOhmTgO=rw9_Vjh<7MoU+gv6hUdRT0&-c-64;yzG_;aLs9lV<A
z)c@!bfY356Q3p}pk@*lAQ&V>_xoo4d6BLv-WFn!po?p4DYLxS)M6}{%JwVVQgp`F3
zGHMQ{7L|mW>Y~TeNNgWX1F#w1Q@2+NBgWMzC6hml#*$E}Y0NTR#&qpqIhwWEh5-UV
zH4NR}n}IJOJH}t)1x(_rWyE@#`=ZuZ0<f@cikOZ6kSWBb{o^hUl^6E5^)^hmC!|@(
zpzKpksinXt*Md&GmuSN~VsLX79V5<^d>Gbe+A9alI7x@TzOb&J3xL{hDLAq*B3l?}
zO*|gh$?u*KzY)I~)RP&sC^&5@8^?XuKlnIv*$>+B@)2poNZtTf^k?ad?`_i4_M$vo
z2{*);IHW(XUoSeVSK4}5?jqK+O#{D6Fj@lIR}c!kaypdALz#jM-3MWwZ65R?i*aW5
zg+2NtgPftA98)s@lgWrTU%Ub5-oVW`-3*!%3T8l4hv#RTjm&;`#}lwWSoa%g0o#-w
z7Wf+v%70Ast<|qHUMK*E1^d(H{#gAqqqM}~SeEbrs%0)xK#ufC)*L8fq?iO~3rct=
zZ=r~=?(VbCGSy|w6^GFEfx_c<U)D37?o_gW`76Eo(2c%*>2}<k!m_6F@a7H^Ty2$u
ze`<~i;Wf>oEa}amAxmC#PNRbDtY>CDcrc+JZe}iN8_rn*t@zP9aNNdPqIZ?glIfGV
zQ5XM>8Ap9JZigaamO<xY_<Nj-L(SKsM>g9>w!_i3&ph{=--=<zH-8(|UMc(O1oud_
z@BQMb+VDxc%hk(!f8lcj*{A=@ZaRB;t9e%<r*a3E8Wl>>U3vxOO$tD}Pu9Efp~BnJ
z5!sjFyA9fR?`8e7dNsXOEv_1r$v<WK5La)!_wH66CD%PKCGz0T@VqGN<vgxlpaEQ*
zE&rR|Y8%z&OFzlRy~10L+3Gnk<nAn>VD`iONnVrQ9oA>6KzZxx7BAdcc)zi0?m!AL
zzi4sU**R#@8D_tW<ve~i6aO&L$JT!Q-BlasWvwr*uj_uATyd6D(!X9rHgYc>>d$j4
z87eN09H<;TJQH!7>V0*}U+bZDMT!#Ma0$v{SZR0nF^~Ds8qTXrcfP16XbWaT@P^DC
z>_o(?h;j8eto}IqRcaz^J@aa{%DqX&ytbPDYK3n*BntJ?Xc;Rdg?~^j770_X?ht!~
zqc@B>Xe=Z0JwOlS_nKv)4HGvz7MR-*pj~bNy5EC4*+fhN2=lNRyen$0(<Je;7s+0=
zahM^|Fj`wE26VC^o~3)=t3)yersUkJAB{PZSavU!-;UY&$h1Lrklo(zwPTk%vtB`K
zHN<|Mf5R56)%DkOrc{Jz%tyyst9~X6c?Gv&x@TjyLGD|NsvIPeDNxp{0BrW{cfd`)
zj4nj?Lo@cqDuJEu6+RmAJ^3IFy6)pAO=u!=7&IVK$yINe8f$78Q>uAq9_pMLRnZ+_
zG>!CuuuQ~Lz|2m~EVgobfsHM$9&R&t(L}$zMm>7Z#e;4e5U*>YqS)c6tIJ{4aM3bS
zGJv5b%mdOMDEm%18ZY6O&FzON03p%o3Dp_tDb8b3J{uWrFTB-tuA&^-uG3*yWx=$R
zGFwWh@^ho%_t)1-J;rusf47uSa2D&Q@^)&5rY6mB2*mgxvuP1Ts}#sKX6WK$qT7{X
z==4qdjza-|Sql#=C#6PzErW)2&sxd#&?uW$sx!DA+?f-|kbUXL%>|Ep)lB*cCSLA%
z#{0HmUKGXIZ~w^c(Mp0A;RF)=#<-u_3$pXX@_t?gF0J~rwi@@=E!>HCu?0Fp5&_`P
z;`;hb^r){Wj2uh?CAjF?lY!+rG3W-K-YRBH*gMM^MehVJ5qMN3+*#&I+rZ;J1=#K8
z_S%q7*j!PI+CiJas`^)-hG0u}4s4pBb_~>J?q&FGFl6&^+{8jPAeNbf{Wb&Yv5W6h
z_46D`mA<wj1~9?7^UReT=<RA5H3KT*BXnN|1A$*__Nxgeaagwb4KTRPKnZ#Jwx%&8
zBRwX)b^AoytBINazuAQUI_vVko)Rj!TSY8}=Ukv4`;+W3pYK0l>ZOWRGpdU3;5&;K
zkqr&;nrB7ulv?eT`?s#V60Fj58#GUFBI4YSX7w!MW^Q%@O1K?Prr}H=ND@jv?DS*s
zdS7oaEG7X!{_h#PP3%hrU1MsW7Vke_D>wNjWUpd7;^i;Y9shbWk?gOTlUNc)v@Nsn
z^A~_eS0JSQ8%*-o9ouHgY*{BMiA;X?9WGKWdq(WBbBR#dz_^SDXlnrNp+jJ7EKVvw
z8kjHe>J{rmr5&q7ft9QGP0V~LUmLc4)|k=*f(r`p1eTHHz@VNp3`)3pA@q7SbR*Nx
zVif2wH)|J97#)&x<taIimZMTnoJE!E8M&_YzgB+@FdPQP0msP-)Vt1)N>iuIS$PfG
zL=weW%Wc*2y_wd%_x2n&qH4W=8o5aS<pS&L07ps#HD!M|oG~FiB^;0c%sxbpaWc6`
z%nWb<!$z_FG$tvN&zI~Fr>%ziAA8D0<VVf<mNvrGUM+r|kza7Lmq|9^%$i~95pXa>
z`<AZx@2)6glE5}roR(<F=+)L_Y$`3`9BsoFk(lK&Tb+-Ul7W<zcwe#Gm0X2)C?~Vu
zed6mpYVI<}Buy;C3!<vj9m*4`@1GvI6rBLKc-}S-A9z6WCxdnISO$GXgs$(Sabl0R
zW$`Aisp!Bmq>O5MJYxpfVxO_k3~Z!zh28&+cdu(EWfL2v)XhJS->8-Evh8n%40QfN
zQ1qAzg~Khs`8f|X!Q?F*Fs@b*Z%~hfta|#Wm?<G1PfQ=p7qt`xXG8UwY$$ytdwnQ;
zd!+@jRIU7-%ld7(9&_VL8zenoTYSw)&dbud^y?cp#$b{J>_M|vYQB_vr2a|h)xf2a
z&TCICLrX8O^ss>%y}Jv`FUV1Y>x4P}^(A6*EwC1<#jDy^y7Mha=d#r!u|ZYF8OzHq
zH^{_MADpGxb(JVJtUfQv^3|ufc7>YK6om0cnxn(^v<@_5YYjIy<vyF<VTy7e^%{no
z$y@6a6mBpWrXB4{LNR@=A)vLDD(&&t_9mDP5LYSp)U-!9my&PX^}H~4<+AwZHHhP_
z0ZX7&#&-<?LQ}uO3Gs@YSLM+5)GVGYEF&h~d@W}2#BdsnylAL~vg0NzMmMq>(5MQa
zgp07OtZ$++@N}ijxxd~OGc6CDjolrC9nJ-@29D%odL7(rDAX<e$&K4&>;O5<epGle
zn2tn(G}03a@}Wthb?Zt)8XJ>AjG3|(n1hPC^taHh+0xZssNWyj9W7oCEtk&zJMORl
z6Hw*I_cw$)wj7Iv+S82>UEQgr#U%vs3|GO1k8e9g7xmfoV3TXg2{34bkg@U$#K>TA
zP3T~aL(6$$^4k8E>`7|hKtCim-a$r2dncEsWLqmb#5S{jzFa|SPD7StC_>Cq?X-n9
z#x@ci;gIY+@P<N)^^5{*ptv?=!}~_hUWe%taq@CC3kEa6;t;mUO9*o7$=?`cJ=A&s
z)!b;}+pt#~B27J2`00z&_yC7kK^ON$xjP&-?HA*B;+^9+qUubXHud_82qgjKWJiZF
zy*W-T69xh>fnw&GXw5!KgDrTYk<?MmuS(p>SOjLzz}Albx!$HBoxC$37A|x9L(o7~
z>Zo@tOG3(K5=ADxf<Y^79&{A?%MCOHahnjvJh%oZ+n$}yI8l56FrBB>q}owH+ak=E
zS4YQhPe#1ooLmYm{qAwcE4?9CbnLCNJmsC0%?HOHuYK<>U$gl~g5eYVh4)Vksx2ER
zNmxBy8y-)S9Ex@ESI{2pA%hyZBi!_p^vew1LITf`w+p(_D+LtOmli%*qoCY5PK4mI
zuLQr@{{+tKZnU&`TGRmD{_!N0v*zkhy;H@TCl@rIc*asgN?)lYbhT*QkleH@!{WR7
z?N(wLrl$IS(R2n9YM@Iy=CjYpHrp+h2}L83NQ?vq$ba%jD4o<WF=|jL<jopH--YwG
zjg%~OKNcsyBp@6Wyg2#em<Obs`Umt5I;jUEa!+CWkOQXhZb<Hx@g_!n^(yTqKse5O
z(-j9g2OpiV2B;AaTm%m?D-PBGAWd^AltxFBdb}=UDQnBKE<UqMY(g~xY4b(P(kz1H
zj+4hJEj9kyVXx?*UN`vAyeu}aM?W8%LY&wAzu0@zs5G;^UodA#Ri%<t$}%R-o{~fp
z#}LE;hnz|r;#|%O8Y>V%L}Cn%IOJ3YBPw{*IDm@fNCd&CfI}QA5up+h6%->*5hKnq
zj!|P$m;1imz207{Z?Ep#ANtGvvRUi-z<Suv!+-Dn`~L>-?B62OnKt5y)VT&EUSt?a
zUgvK0_`!CvHkV_#4%XYknA{#DQS{9x-Oue&hnKY9<~FTQ6gBq#<$qoJUo-Ll*E<0^
zG1%ZX@!5`9$9UkRrN!`bKlfdD#+N72L?{2Hz3s@oFaNSi)!B3w>|w2zEROx_NUF|D
z+p{Py>|Cir=Y@63Y3WT5n{d-gID2Ts{RHRdMb|)-<EV>m2ws!%0m@ty(-~W-35_be
zWhf=quE|<v$T&#c{QBjeM-1;7*jZi6-Y^X_+JKA_J(i(OKv+s=6I$pD5yqFTvmO06
zX(}kzPt)~HI%CJ=2ih04H!iOqP2<)<z>n6QjoDpKrB~bw0;Y~LD<M7sXQ-No-e2EN
z350iTsXlJs_x$~f#~0Wg>8u5KJBBCpSQ?0N?XhqaS(XX0oiSV#I!CY_cR<?&%}?}v
z+Zl!t1RZFdIZflS6HOv?kGx=;Gf5LCK7I>z@s6cdan_XLnS+}csK6%d+iIxNR!rMu
zCQ~BG;$!O-(^fp^qB1FY9c0-Gu8v87<5Z4q0K<;okd_5`S*%3IlzWEC09<`GMUjSt
zHZN$G82%lkhFZ&i{MSIwJMRwg-)iL)w+3E+C(-oVxMYc@uALgzx;Zw~7p4huU50tJ
zxJi-N$nvJ{@j;I@6%F!|#>_Xqt*!P<6*ZQX=uH`ZPD=!w#@h#I8#FtY{^cif3_m6<
zt7_?woH$GRc+|d&TiqYamRC8ZrEeRzr<9Fw2;}GR#RV_J^dvINO6cez<na;FUTHv^
zMZbv!{$z<l^hTr)DvMX-;1!n+>t=29Mw4_Kfj{yOOt#OS30a1n=QcwYS7sRXZfrAx
zQQHCr4AWC<c-rBk266hFDWP`mXU(MwQ9v#pj$0yr2%0Dzs}bvC%bQfiiF`?!<2G4l
zl@MlqH3FRbw~4Lqb}}*8-E1aw=x3LJ2v$}%y;kjyXM(GXzV(}_Uz^b#8Oo-WMI6z)
zx+`uW1qxEpTGK&A%K@E(UZ364&SN8G#%$r5N*RI$S%{8boqswD%D342ssa?Gbx!&%
zBR`}n&Ax+$uWd7;M`ycgyZ=1C&57eTRZA9rs^3nKG^`J5{2$YxLJ;oq7An1KvW3`J
z>!@fX9AF~|<=f-b@hjF|?*>kKR%N8@%#OBpIFCtuu4S0zk2-lQ>8M83|N5l=JV0#~
z=Of`-gasTN6BpDo-i;;irttN#8V#OZZ^*<AP=!A>sjj#jTP^#9D#pMeLYD?-?eWIa
zv)abwH)sC}HH))2&4~?dGBaY*ql_;!SX{d2^P1iP7^4Pj=7tlr42OJZjO(ML+=e-C
zcQ0(r8Z<d>?$A6sp6ZbZOSAPN0^C6L^>}g9Zc0!^hraRd^bc(@4;_5qW#-9z>8g8x
z`!CP@nwvZ35?aP!7bpIf7tqW<XhXP`JRKcc+{wdRn7g4{p@vtfNY=!h&K7sFdl!k+
z2WTjt*ER1Yj$N1ig2qIh?Vy#1OGw$8);8Xx?EI$p_rX9jgG#=4M)ud@^DlR0pTZ(e
zI_Vg3MA7eQPYDGOD}XjLC778&U#91cRv5aAdY%uc?UX1X*+94zp^UGOuzgO`O{hWp
zC6|=C)bQd<s0Aw1@PwpUFIDo7IhEa>Xg;e}G2b3@)_VO+N5B8GpAE{vp<%at>^~f;
zeW~_=(W<=)uXXfXtHokIaY_g~1Zo~oYLMa#vTs&YNTPz=N(ZWeOF(rYZ@UZ$>K>mO
zy)}FCN#dklvfzW<jghYV%=r~#W!)0L5*kfhs?9}?oxm7}{dwdO!bP86Wl-qvgmGN-
zHLvHQigot66UEb_jZFS$;zeT0CVHKlu0E5x&6j{|WLCxY4<2^A!aZyWK+orz8~)Z;
zi*I*vyOjb8ziS@MAWM|Q-|<yjE0`77rT%p7IGv6QOf5Hue0dM=?jHHy=R?x{eu=jd
z#V6V?5!k89x5V2ua~;UGuAnBCp);1&$Ny3cZX3VFNCRJ;uJFnDN1Zc&ta_5eo{Y<U
zm*T@XZ639~gp1P|sbiH_gJp0O>yw8wa17KF>O6%9xG&u>JTnsww=5}Jr<UX-2-mgL
zjURgEs@`&%u#4du<=B6vLs~AzA6vN9?`hxdig-%QZ+ZKADk+qR*T<l}9^SZ5wGFhe
zcH4mJjzsx#YY?iSG={299kzAvW7tbHEIhmQ>-tq$@jQDclW%~s#j4m)OJ;@xd+m(w
zkiL4+c6;jO*QedDk?5-yZ|;Be{OK`f`5)X~-^Ms4m!dM?TAk+tg1T6_@#g(dDoSIs
zln>k7)b=c>gpKP%*oub9N(jED*X+?+BkhL1aps7E18CU9d7BM)3Y|f%0b8mcvR_S}
z4?<P8$zNfj%tuai47ngV(y;RL$46BPz1*y8<+FEL4+{?(Zj>J%s?jehPr37EcLk_g
zUS)vGB$rpAR5Qt5rXj<`qzWW1mjo<x3E?BGiOq+CPQWI@BqsYYkY(Yfx%W1UUY`eB
zric9W_pEwt&fROO<E~nTXRj^bG&|1LG<qR|eB)MZd3|XB3O)$LRaQe>C;nvufeG+M
zpa~^AC8U=AF_o2^`0c_+?d88#r1sowTOUa4Jt13a47y(WcUJUizZ%Agr`xw{GT+gP
zE3+018r=+@NOZ#779*E2%h)g*%ET-%n9YZ*g%D&8Ithth1<d-|TF*6x290mij-!?*
z%&aZaXWG2pk+fT88Kb@G{pYM-PEK?cX&O7lM+A7PQpV0-mHc#EK|1Hs>i!PlqZVgW
zwf%!!f6{?PJB4k$J|l+kka%aLp+@<J^<qY0b&wmF@m?r&;UgLx<H@8w!rIEWfj%Fe
z_MUqC`9AKNb*#tFlTC4);o;t&qN!C??QlBz>A!vbT+R)S5{N;@!5yl#GK+%IOz|dr
zZGFPsYfC2<M01CtbO4koyfa*<Q4E9bd^E1d^R{K?QBtcF<(a5Ko`4P3)0x$N)oW2A
z_*-~AYZpItE2Hk@1<Jr(&MGc6Q(@0?!j!yoQL6rY)V`bXk|imWhn{Hz!x|o6qNjef
zm8pP3cydGy@4&-r<AU(jz+~5J$hTS<4n54jh8bD9eVcS)fyrnn4G3+>pp@r(8dduQ
z#H%ZBHtzI(;R4Zox`ZqUt8O^d2WgNelEO|?T}M8@;eWQG=IstfuGlu&wa$W4_)_$S
zwtCSEwT@P++85lh$u)3OcgpSRKx+WWvU-jlAgSD{4yI`54i7z=v^S0V&{RL>+aWEB
zr@BXN3ca6aGWAhXP;S)CK#ts$w;3ndtOChmH0{Po-8%|^jse0!=)rlq^~tEBBz8V@
zY<bzv#om$qWJo%WsYfr<i1d$rNBy61sfpFl`B9RKQI%P4X2#<co6V0rkGUGTp(;?d
zlb2YMlek#ay1ZBJRggItJka4N#H!j?rL2vrg}<!OH+|Dzf}2Y|*Rk0UXxL314)bx+
z;k#68Tt9d-8xJxFYG;lpt4zSq(=6+I(x&;CfwBaVzS0+#6z%Bkv0V_p6D5;9zsvLZ
z$n$nBA(4ggJL#c&{_mWMHT-|EWq~P0OD;IlfS*ZG)OIC}mCmZQE1dLt{pxHOMRUpT
zQ^At<l@**yZKn(g;38Xqz|c96s;YX<x|X)f@-T?O)i<@@P}Lxm#VMu5_T@@)Gwb?1
z>wNkT{1S!H@j|;;&tU1#qyE=oNCCrID+U=>PS?j$Mdd;#uZrv%MPc=g!za|k?z{ne
zWAcP8e_XWD3@zlA!*@wdpcQLUOXiG9_a0xexZ1U#2zUeJScZ+tzwIdf?2fKzfkp4M
ze&xrljQi&@p}sQJU)irYG&U~DD!+2p)znDDt!1xhNn>qf`mtrmSPdR;&SqL|dQ>7N
zqAQRH3a}fqqM|j2o>3pa-fMT!)Vk=;BV=_0OhiQ8{sXgC_jn!0BKPuu=IiwrVVAvq
zLQZQtVrs+cP8a74jW|~^N@=D$b*Yd^tbsm8v%pRXi$_5#u+`%PYN%*Sr<UH~qn(!I
z?kI%D$$>e8_QvR3w;i5mla67>4YMD{V>2#Ue$%Bm1FWX3XRoq9x+UHDOq~nn<ivTz
z6@KsQa=OriCf*)e3Z^`LO7i!+cNQACfiDBYaW|T5mGXFPiLMX{kL@;8CFO*InT+1C
z8xnOT_)ctb$W!eUx`f_qFw}T?%E*8}G(UCzU^XbN5G~t7N5^mVx$VEncYICBoDD`(
z6*jC9^6FjvD!M`b=~|9?RM1D{umicVOU2#*(QS|hsl`a2uxdM?`iQYJWsbu5O!7`9
zw5j`?LP;T(f6k76XB!sKkD9aYwj~h6QJBcEFi3~e?Nl>v(N9l{myYU<id7#p@tCWN
z)xgYJT!F|fwm~Fx=3pJ_gym?j?RPV6mXo06(Fe<=xMuF7)@V~$P|L`$r{B2?{0=Wu
z86pnH4SwewnU|HN6ay2tciLi%3ByATiVjMlWN?(+={pSEsRwo8mXs}+&d)mctlWcq
zhY5A%9N<cDZKKj@itP*{(v)KLlJJeOW1)Hdq1O-36M;hivlsNUqWH}j^eU~?yR6Ka
z5DQ?3k@Is!+<Ul@Qu%D)Y3$6|zi7YzzpWIB#Fp|oWT{jZmo0<v1{>rM5g^t1)0~!f
z)dVs2%lG}Ada&H4N6V1oM>`BWeV}>WNKP&eI_k_DvpEP=Q~`Vf;wlH+lLNEDZOB<X
zIF4NAh+yHGYIWmqXrTujtJLYMkju9D028j4mYvo=uz?cdd-f)5SSS4Nd%hdm+dw+n
zl@5<La-ga?iSz%E@}Fi`P93lEA@DbH=4^5t4?MOBdmg-Yf(Y0RQkh0b0nF;v*R!O(
ze@2{v^<fH5%cs8U6hmgOsde11o3|JtIy30LM%Ulr|Cy;+D)dpO_|0mMR2T=!Af-_1
zZo>RDLPjl|Hf#{MZWnkju^CKS7glL~W;wo#XjtnWU(sc`uOAC7d<GF{@4a+?u%Xjl
zoPsmq(kEJKEAfk1_k5B@;DrDsna+R_S5-%SG>j^~=P+q$PnR2t4W>Z$0PBggx%AAw
z6$r3VbyXC*V%NPpl^{f6Y3QjbzY2|T?~*I4?X9nu8=PO=yq|Pol{5OYuRF+RL*V0g
z+U$P0D5^TI`H#_|r#(MZp45{Xq;_qT3|=2VSZ0!CNL!wVC}H`14ZjeB`LgXOU>U@!
z0;T$>PM#fLaFw2ZQ&5NtXFT0d!pCC2Yp@7bEsajKWXzma^L;5xo+e_718ubFnH>&4
zRvw6y->hoAWKG}+9oLmTH-OH8EmPT7^{bJCq@de*AT7tiNb09}r=SnCKe7`pE425f
zUClZfYJ_zfJILS1B{px7@9V&|4)b_b_#P9lqpt+2jr2)+I}OROEtF16CYc&KSE`~a
zu|GHV8Or6dCYw~16;+G`)Zui}!b%=LEONW)0bl((U7#WftD@h}s1D4ib8~YeZ^vF5
z31|k>Xn6+%qqmyD{S8yc#19^SjvDqfRVcleKsxXiTPQ*dvYF6O3g8<Z>V{PYu6+9$
zO={B9;3bOAO#YO6sqReA%}H>2$7->5NPy`{>iPRYmUT(9se`#;%s^mL+w{A!z?CSv
zLE+-*15a<G?vExDdi^1p<WF_Otv5dF-{~1%N|t`aK^Nwt<qn7OOIwdpK6gjxkF$dI
zHXiy8$$+3c@wf7P{jV>se@C_cp-^3FT=xEQpjF6I=8}Y2speC=J?$vDXKPoXjYF;G
z!X;!L93+NE)NkL2ahUdZVtycGmV8QJV>QY|5QVPF!fwEoOLMQ=8%IZyNO%JJVkNVA
z%vUn%trf7I^=<u4tlhdZr=Ous3UCb5`+n#%+#v3gqX^=q9}7~k6}lv63eq$Fua?@?
z7aHqD8o8N_OZ;Qqfm23L+rC_`vIXNV=sx=+?{!{a_vtz^bZ69`<YHES<tov<PP|qB
zUg#)@=53cK-wkgx@j0dEr~3KuX_0*_P->`S02C*#jr4`A7pa3Z{31TT--jOl<fjcX
zRqGxIy8}&{$2S{}Kqwj-UIH7IV;r3qc3e_<I`T_XJp`X3^l;qG5p8Icw-5+?9D(p2
zllE0vR1{WK6}SS_LF!v67jizRCHwmi`L8@K=7jxg{f!)gVF&#D^GMXt$SYS@KL?V5
zW)|0(y}fxQq@$t8xjnwL67ut%KaVh>7i&BJbGsOb!g%1FQML$!*5#dr5oPO)HXF_a
zN&$1$r2UtA$3EmW&43y;ZZXBL5^CFKCu+gn_p6Eq!-L%YUtNIL;}+<oqjh!uA=)F+
z`T8un`ImD)z4+4Fn>@_kiV8&3zzcGC%AH7}%!=6ci~L^TXqLAt({#m#tt6gLE1_x8
z#9$5gpZ^nt-j|@6`FOqArY{Y@VfJj_5pzGtV#JZEM~>_<9-0L$kp9lM%JD0-TJ@T=
z%{11-J*{gAH6+|*<f#&a`m_pQAwFu_nT+bI=Df#`_#Y;{$`yxpBEwY2kN5tWe(g&@
zy2oDe-)etP_d%nRWdT`%2TvM!Vo<-flrTRp0xF9uL}aYtS5)?6OZtvywBXHS4bV3=
z8}7J>={et~K`q_f>*9+#AIj(>Lv)IYpEv)Joz=;{*fW_@^87lv{L4bqzUO|xK49Ob
z7y9K`ZS`#<IJ}_NEd>MwT9!&Jc^+%3<Rvi@v6{Llbc?QgUFKK9QQ2TMO(37r9xPC4
z&JEww#EpeQ_&r80Dtik{n^!(mc4yzk&kSK;&&9IAm*)>>UP`=VO%O>|kR|&du*s5r
zSQT>KGC=zF_IK(oCgwJ$bYmdF+y>Ww9&~&Y{u*RVH!>>acICCN_?Tp6<zh-})lN?d
z#$2|t79)ce*>Yo7Qq$>7CW_6I=_^@nyHf=ZMn*@(J!%Z=kx??IS|?e71={2KSEc$X
zE-&%|?qCP|3rW3%6%%#hg-cWmW=HS`li-73a|=s1%4u4#{`0=efQVZio0q}m!FgT7
z8<ev@eM6RX7u7Wkti7st_e>~*?r=b5xXnHrtg^3Rm`qQ|9AUAFo;VqUYNL4Ts!>i=
zpPZB7ljAIivd`JL-F^yx`|OK=V0YtKOFdTTC|ADf<eIs0D>3VffqKzJqxt$Y|37v{
zqFtZ9(p~$e{J0oa3#{dRkd(Zujc>{18~S<s>O+u7DcfU^Nwc31tnp$MtAJDoV~hYG
z>BV|lOjuJe7euVq{rAVYXbLYN>AAIekP-%gGmz(dlz)szT&>UNxwG2aPmXCZ>J|A_
zW(L8vaKo1=YJYTnqgZkhRG$&gqG=l0W3a#tAaJ#B={jM%q?MzpwNus`Skt#tH{pqL
zE-Wco0W#{N@oTCu$F)vpLm)eXVczCB{Gw>QG5gYv^QE4*#sdeIH<u@ve=`%0W2&y#
z&zyHxdvZ7Es??ylnli?D@0o@*>cHFs1a=gtV8Y$d$*kcsTlyPd0$-w*HKRV0M94%@
zk~@OLgp$k==F*uN;Ax7`gMSad%fXdb=|{|Y=aGAo+Fq1ch3cK8&t`6shKa_}z)<u&
z%$`-0cd^LzmW$H!;=QTvF0XM3uW!sYB7Mi1HSI+U6&LsWn6`35XmOSl)XDSUp;Xp9
zX_1q1rk(e~*-QaA?qV>tWqw&KL9c1y;Gp+X0IOf`*ojk=_`RvN7X7;)PY=(rJZaUn
z{4=Z9V(K{dM6$>YQ?BOGG5UQ|=mPrIDSRx+*@hnQ5{KSU%|#Y<AvbKLqdATuKvJt2
zMpe6ojl9zno__#5yIZF}*(Mt$FDaFB6k#6{j?+8Q*{qoQA_bboD+U%$3J8nK@&fbd
zU0z<3;7;Xl#I*)uZk`V_dZ&2=6cV87=oxV1zADXqFM6T~tL?Plr@`BF+(gH44U0_c
zwFEuQ7TrvxrNWJ2SY#lFOv<Z|4)=}yu&eZRH|d2i|1kUB`lC_PZm?t`)<EN>yEn4_
z<r(d8LOlaB+fdDLou@^_pU8iu2AIoIf79%-ufG0}@|1GCF+~=)$3$;|Ep{+TyiFOJ
zknO}|;}keo;+F2nb_uB*4THJ3*<4Js6(<b9rLq>N2vr0CMk+VJSG`()j5RQP9W6`i
zIp4ICs{_~8Fw^=i!9?gRKW6sL7vR$0FT27(KN6dbj37?A-s)Y)#4gY_F*A;a9u;?0
ztCyjt4JoME5M?gQ7xyIhK5NPh>?68f#iq=0x{c=&rU0b6C@s!`my1<qKoChL<MJ%f
zS^KfExixa-pM@hIOtBtY!w`t6c^;jzmX-FyJwyN`bktumZCKz3BeDhHcte+BEsxEa
zKqR8hpeafQ%FXx;x)WPp{qhbZ)~;1t>iJx5=*G!W>Q~vyKKn)vsALoN(95WQ)jJ~`
z-Su;DbZfM2+Kb>At(nF5V6l4)-7Sk^gSi-XIa+)!_Ob)SRd-CEQK%WBm@Xcg1E+O)
z+J|r_plA!qx@{2EK*~Yd13=}k#7cR~OSFptRcXhb!h_i~NUcg(`uf8gyNH%nP&3VT
ztJ`E)P)H6wJRgqhH!3@Yc;-KSfo^OT;45rtXzo8jqLD0F41kL(ZPs2ivX`?}JHI5u
z*px1R*cFVj3KdAyex0d3hyw?KOevbf3uqi4;MFl+0gDRM*SFmin1^IeBd~SQd*7Tv
z;Vyl5_N7L^gZ0)6?|lXCSw;<3#%ZRnGp7GY*SZ)UVh5~g?r}^-gfg_^Cr6~CzSE!r
z!W>OVDA!Ps`IC~8`G)P11_koXj7oorqW|pUz(e!LQh*9GxE5hM7ZWulN4D`Cm8NRb
z`tZmkMLAIS+t=?;6dgWoi<sBF*wbt@c_k#k#V+sW$_-|i-{>}OK$DB&ss{utFPMme
z;#h^;qQf~}90v;o)`pC-9kHse@5C&i3Msj^3J}Qz>KObON!9yRn#Jqm7+6#xaUck}
z+#O{zcrFTwN=Fmce>mioRA0I?c)UUI*nIOoL#H41uV>qruN{?TJ$k~DnO)TEXLnJC
zpSx8TQbdm4YY7E|Vo8tci`Y&(M;A*L$Q}f-Aj+-w)>Nsb;8<-+sLRpRxni$RE}_Xy
z67Gz~qrll0e;%>g95cIQsn@TqN<a!%Z5{zQFNl}E=>Jy3y>@xvT>rH&_Yfn~0PVY1
z+#>J0MA4U{Y+ZYTd?kGzAGWeSt0A#nF`DsNTOQ6xQ&O}C9O1BgdZ`avZ7DbIoCw@d
zlZ}+S<KTvog6kz^f|fE!?AX`Qzk5goiHA<b!Tpy^l5;&{()=zJ!QFq!phhl|-Tgd+
z+zvXD7Jijc2Jq)dqbU^TMTvN5zULUwj*49i;coOND-8iKLF#3WTP|jwZeAFX<{D;}
zy4azm+)NpKwA2e@FHe3hgyXEIV))646b(%726)EgE~Qc9rts#!m~Fn+7uMtAb^<9`
zr|Gxc%_c0+CSIg^i>^l8HopVf5%(l^m?^k(7<00I9V3f5vsQ}kGgZ|=;CXz2dYQ@F
z1@DZ}w{2N`z}3!{8!e=yPGufaQrTcl)raqbQ8%1IpE+1@BOWw$68n!^9_vyXIBds_
za$mnbkK6mB!tdN2_v2Ef*=@f55|N(y?ndsl94XNYKx6_eq+KyEye9_C<E`g-czB>v
zd4dEpJ!izVt5|Dp1zA<MDJ5`Nc^((uRZ=?H{7-<(5`&iK7nmAOCBTSQ8*}x*SNEEx
zKXjhOThr@H?=-qSUB0L&a+cVy$z_77*HfnVUIYwRqHB9BJH_22uxr=6fn3w-V8RN4
zB17V1l;m?$%^s!{>mcNJvl<*fvT7!<E!mD99tqQkOA|@p`Caqh_hL?m#SU~AjVAKn
zu;#KN*uEp@9TT`C43#H`7$41#)d&~+fjy&-&#%(s8Zpqt4;^-3lwF<;b)2)7oGCiw
zDCTnxe#CgSsxo*UaMOMjoej4@av8Stt|GC#Ny7zo`;^cqRnot@`n$SQ+lxJC%1U(O
zGs|vGH}XGN(N}h|(1y61bLxvKYK<x2l8=#hjUu5*DX<JVI0i^rUh1=431P}NZ0CTs
zypKfM53PYsjlB|YYmWKZTvrmz7ZJU#Jx*+rTK1du?t{yMj7_;~iTz6rI~?-+$rL{<
zb-~4C#Io@AqkNY><7!-ii#q^UE*Z)SdnvWX+=&I1Na{MFiL!XR{RaHtnz7csClTQ)
z=&{DLK=p-98^l<D`8VuCO9^{@X$APr^}D!-_FERu(geCUbCj+>&yaxi(UPoCl(&I4
z%stHa-(1QVn=|yso7zV`AF<dAe;&!`m;&$JO12yx8I@sb@zbc}(h0B80aU7^45zZn
zbJj=P>U3E`Kq)Y(v_=ew4(xcsHI;x=LI%6Y)8_+wTD9i8PyK$V`@Y1I)J@e^3I>Mc
zS;s%0XlUcFynoX%LNJgPp2U>p)6Ots&MaUS7j0)-6quwmQ}&WCJcZY1o#uuM(lG|E
zd5EmaVlF3Dv{cHWh11{`pbQ>^_XxyE;b{~lViMQu$4}NGkENE+9)A@1tl2Z3zbA6%
z>;8&C7hq^3zl|1$+;Zl347m>Lb6(YN#MM#nj7!9C8TN5IRl9pZN?UEE#MLWSgF2Pq
z4TT?it0sMnseYxWl^$auP)agdY!gLR$#P+*=+H1$lnQ*XNiWuzXvuJ*S9iWjuC2=&
zHIeQ;t;y=JDa-G^u*U+HU5f~CF^&V{JwDDZWW7c8V(pp+>+Plx#lDl{yqLjIp$l3m
zn|MS~np<s9(g7qi(?X7!DfPBrxD7*rY=mA3Pmn*p>YV<4tPJR$uWozV7hW3BdTN}d
zF1GvWpZzBl`FVK)qfqRY+fq%SKmaC@z5|0xs~o)^j2z0rhwgqi5XH_1Ef{H{P+17u
zgnbHqz(+VzA6t?<TnTZ|^VCZT?7%^V*#2lC&ns5-I(tF2ybi8^9{uc>!|9h+opZl?
zzLu4i=ju(d#wL*G>z)r^rrOh|`Igk+bA>H6WpPl7Pu9S9F2;E(-dcp=9+kJUvNJ&Z
z7!)9$JSgspwdZylma3?)*x+Rl_V7lS1IVU9L`uWFf=b7Ca#6q>rPSeP^{-908qcxb
zoYkFZriY^R=N}axoo?7p%+kcKI7R%>khM7DWBiXI!v+>+=e&fe6#&ljMiJ!3b|{Tk
z8g<;-7}!0eX{d+S9#3Ha>V_kpzna}Pu)eKVib3z^0awm)lt*lh9D$jEp%x<T*}r)u
zwl-HL0=~QaI=ZpX`f~F|0%t_tU-l+{!cwneh-*FJTQIaSSQ>Tfdeh}#IGj;38lqO0
z{vBsnT5eNOsTd&>W^4$3_0ugFC#>@5I7TrD+Q30%+8cVF{lN_av?w`7Hp;?kA=4Xr
z(+6yo#blmj)+>#|R?WsW1r7UNV@YERT)lRI9U}iIG%nAAUS%kvmCNx~a%ISvj`aXD
zB=Zwe>(DlkqKzzK)yO#<WcnW^{qrVEZ>z~|5B_ln)-1bkWS8cW5p9i83z_me4u3u*
zX*d-ZlXoM}WJJtg5EyWY0fm|L+-s9#QreeK+5v`;Gh?-DAKrCBJMwgJne%J}D1@}r
zV3&5%SnzQ0R1%*V*9cVx3c51uK}$BmglwMIuw@}lJ>q@Btb1MDY?)S}f17Bc%(sJ{
zwRK)zRAlU50Gq4IH(FHOb=#|!xA9|776xcDhens|l4lnPZw-56?7F8GN*nGj!%D4*
z`zz$kHR}e&r5$vm_7xp(l}tt7e}C5@$^5NW(-x%(jEyWv`|T@XSjY<<vgyO>_%EMs
zv&XS{#&sk$I@Gnk?G?Bd2c3DKIwfA;Uh*4}w`IyxgWPj6`w%yZD;^<yO+gzxe2hIc
z=2)fOmB%v~>`#8x_1Cu*+;WDB-U*>2swO@ip2Os~noJJlxVqkSHMM4#My{S##a^lk
z2nD32v)xA1TjDH}x>bj@K6IR|j7vInChpjolV%yZ)3q(ZI|pW=2QD0Ce_^b8WOfJR
z{r%hcH3v}{)YO5j42PVvbrg*w3hlIUL8n6Re$@1TTNaTy;aQZBqnFIS>5;yAC6+tp
zi@w_)L1KLqReAT1U3x5|Qs|-#<G^=DZ0}f4Tf%MXnMs}A*eVP#YOuk>!^;3+nd6+e
zl@w;{_h5EODH_@02~wdLAW+FvELPRXESaCVHEsXOBjVvRg&OVcN`d;sN%$uR&4{CQ
z`#<GeI75{!c<dL=#6^T%E9#)y++YPn<IH;#&oFP~Gs2bi&a1o%0ExB9g^$)a!IKd(
zLYATls1iduE4Em;YPU$9@qI(sm5-GP`|4uXybRz-#BIW=%da?kHY5^g8T5<xPmj%l
zv^Xq}@O0!qeoN5k9u{av(^HE+zCI`#Ifspl?Y2gw7lA^S#i>@so+*LttjCr$n-j@1
zr9~K^SV|2kmv`Y*jX2f5hbEq%nMt*9Q!QtNMm9>L0r^ITx`({!{@Bp^+6>73>&aM!
zI=>aV@)g|Sb4X?_KW_78ADc6J@i>~9;vRN_m=z5B^GJeJoV$l%O1v{%3a~n!VRaor
zOhqEOi@g>qP2_pffVx6QB^w(izv8YrBA(`Q4Dz(#oRQk5+vJigQQE3#!-(^_ZN~IN
z`qyti#=T(2Z+}=&<JLVstz_~<MDVS`6Z)hzu9obln9z5H)*MVyt8KW;PctVgK(O8=
zEX}Pzb=u%!@3J4IZ7C!-3K`oumt4U6Tz=|@5!MEiOp>Ukh~X{N7S+`;4I!fL%xlpJ
z>#T}Pu_8Tw$W2mHx2iy$3p)%tZg9&zn%jHSeJ*8=#qDT5jhjt5d#ySvEP+$;L)`;q
z*r78uqi~m7SO=G^Iggb}hqZ(rNRWD_g248AzacGmUyfQ@KU?DrKu>sG1S|6oOjX8g
zlzrLnr`tT=nuO=vl@~1(6}@3>u#R{BERVKzw^)6|0sD(nA&J*_oSV)++H$1NJAR?L
zJy{lUsoV<HO5G6;rS~3khXR{FqYxxF7}k0kFD~Da6=cbtdxt_>&er^SWV69#{BrNz
zvHL~Hw}(S75>_68P2Olhb9LqP8hS3&198-DsEeRmj<R$$$V!Xz^oQPZ3NxZ4MmiTC
zXQbKN9N4RK;?jY5KR4VG5E=zb=SnAP=FC+fWr0tkWWajn6?eTr<9cjlCiTlGgEli>
z6Gymvt)T43b#nEC_tsm-=U~kE2SB~_2Hxd4Nb;pQrfIy}RT<`nc<dSgUUcT(6sJS4
zc7-Xa=yk}DK`2cGR#9zCxnfLNAt<7~Y$!ejsFGPSo|yUB1mow9myJ*yvHj3x-#4uu
zLMN2NE-I<;<M|H`(X%IJNp|MNd!>Jg$d<PaBsGTvj~;#f>rVdl+zfaBJMJdie>6ja
zx=6uuL+>+(d2Qy1$L03uU3g)Z<9d{GA-3u8)F)>Og$wFDZB%RHS@FlZElV~Q=Ez$o
zd|qlbSyP#@DSm(NZR%LP@JV0$sp2=(@f_s+`-QRb20ym;MlfikfV(enmDGTIr1Mxm
zeerFGYWUl(Z$8*a<Y`Q{VyBe1euiayrX+LPynmG^Fx$`|KTc|hicC|kSZXCo1VzY0
zCQ!EE64jFFSdE{T+b+r7qVJI|eX;1*#t}c%S@-47%(Vq?>0=_A)s4cnW^}Ne(SKK$
zAAi%KqkVUU)38@)q4Qyps2Pcdp~Y+=H0`Nu3oipCXFDT+nWV^4$M*{wm?+O3Opm>>
zstQ|SAuq~N;$H|fS!AfH1wK4`Q+U`u`<Id*1Vx2bWrig|ur#suHTU@HTL~jsGinx1
zBR`oC%U_dzRb!~?X5}vV57Ck?3QpRYu_jwbJH64_@?jOC9H(9;x1HBDXwqbliD%x_
z8rTX<8@o{rcPH#|C48+{ynp?_$Dwa(tZ#PYet7fek-(q9+UNa1cbMd-Ummtf^y3Ui
z*~hT-dks7PIQbu=p6$ZSao+1st0h+7$d=xZQIMR`0{?bjDp}-tQI`>C^M2?lqf+S)
zWKbA(ff}SGkL{i4m*n*Ctp5@7*|cZg{J1Vau311+av6<D7zDaZ1P9nUOF$oTJbr&S
zbCTWwBcLy_ZjL|2ibHFoPjj{*1CN^9<G}gA<$1@ubc1Hw$^eTxqEX?UZd1kdMTYud
z6278v=HMq?wHM)}4@B6Fiy9o|;nyXEkeOK)&$l8Kl+%_{rsxtvWd20v+Uc`U3yRT0
z8nc#^Bo3zLyBIKr{X%jvp`&}l15TdbKIZ5Stkmo7pn&#rJkpT8KDrmZ4)euBfy!++
zo_8R45x^J>?c|07J&X3UBOBIUFstUXK9voNf0n%R7dTufN><Zoe406boBA-tAs^g@
zr70Fv1}t)kRr*N4nD+2Tg{@m)ZPf-XM>tk-dsIQ;4b~xBa+_|xY}-14V7SNZ0nUtX
zoNQVTo`6L$Ggx2SI9Ryq2Y~}DXv&nt<`E9iG6z-FG0i1siSCrhXa|G7D%bzx<H-Mc
zTsio6{OQ++LBDQNJdA%`#Ikp5cpqI&xhYusuX+3y#`${kVQ3@~p`rnp{;a3Dy%cov
zO3g^)sT)nMCEHnIeTT&yDJM6_QIpzd%7fL&K=z8UiVbp^aInVX^#aFxhg$QO|H1gT
z;jpBPaVPuN^LOs&=NDOd+HG|;2~J}@%~HzNzL8ex)9Ks#DqSnI5YB>%&b*PYtSCzi
zx}05?pxWu}RPrQt98>ph!7^+A^qtqAGr~gD^q)Eg$iwLZI#|XUjoMyxvSnT&^J_V2
zWiFhFC`IBI5lUl;yyIN3FZ8{*=8U`XNhHb5*`8>0^n%G#HA;%`p>JR8J`E8?S-<Ho
z<L+Jy3UXC_C--?j%v#)TUx(YoMdk&lfS)wStyOBbs4M0>1$>OUFfEd$pTY-@Yp|nk
zBo3aF<z0!WGgWaYi2P(opZkyB{*S!>G6jEAYJeQY&8gvwk4=HW<N|tYaY$jrfQime
zq-Qldr#O>Ew|<rM_H`xISE#aE6?;C<T@E78gG-p^vQcG|y9+-2MfLA%DUvR1)Zhfn
z6Lkpp8Gl^R?p=!W@keIBW*Y)bIgJro?|1)*Dk^XE52{vM3-b@a{P!5;A4Ab%b4Z?+
za>qBT!Al#jpoH#HHc_|Rlo`VBuC<ysPnh4Wn(#yQ+o>R4j(`i+z^8X9-_#?D!u)SP
zr|=wuA{{-iT>UX_`Nn9L$C?gcZJB;Cm^}?h=Al+aS48QNStq{y4i?o%P0`;%Q=y07
zQ?`Gw&3O)1N#ZVpW$GRG)^zC8q(U#^CGkO|m~xMoJ&^v|vufrW!TIj#36bi^!Nrm6
z^aZnf3t67&GwD6Zv>$)N`h7;#A9*TkZZvKPrl-au`t8o&<`sISEOhz?FWqDn4oX<8
z@&;FJmbfDzOhT(cr=7IxGG#1jx%@G5fWbw@T+xxP{g>MGpB3u+JBshL>MOfLpKcrl
z2RLX_@R*kRKabGa1=loPO=2)AL19c>05p>!R;Ef(*y5o>`PM2Nb!D7PSXu%CcX>2V
z+bE37so>q+iBCSNde$Ws&0)bfwTX?}dR%$wQ4Aehj1Oi+D&oE)+{$pSE}2Kja&H&W
z%^vF;r7mU=!;BYi#O(l7wcN_>-ByCA<v+mum0FYKtL*8l30~l9qiiC-TNCOQTyD1|
z+7)Q~aMVISw&OKN90LMwJah!4jCr-Bi1Z=C?T7X5QP7J@t=_Q8l$KBKoh}2-T+IOZ
zCp&9=a23^-UHFVk+_?TUugfrCB(ObnBx-4><5l&X3CGm)x|j`@09AApsK^|=lE5qt
zknVILcglE<!og_gtt+>b%<SElsHln+`|D1C|M>XZ|Lu6xd9*M&4BqEA$IuO#HBLB3
z$IaNw^9AlF<5=nC@o{VL>+=bPV*2}Xdw}~QdVUETeqH9^Oq0M${gU_IxBlnD{(my&
zaN(cq74z{evY0qdJlAI2^X`2^&R|X92G_Y+39R02TDz-%C~{KUT~Y*13Hj;Z6}`l}
z(*x~>EdAIIW%Bex?^lNZ<zM+fDpLRJ`u~?1_}dSnaXka08r+!MW~$PMe)8WZ-H#m>
zwWRBLA7KCLe?;%7!hX<v^Ao74u*KrCuSZa9Te#8fC-LujV2f{__!&Vi4CjHN@4O#<
z=(aav{(0nO>Yxe)uQ^7<I-toyFQjGh&Xsqf;;f`UkKDh5pFSoBDxpKKjs#kvr}u4g
zw#Pu70Z4tK4ro6rn7P|}=@#upd(6Lo2nL=P)2W(T1wf}TxWtwi)jsJbBi@Yy<OKx1
zty)R#17dac5#BEDXQ=z+-tm#yPSoZ-uP^849E>$Pm9|}$HOida((w}Ip+e|w!Pkd~
zre=no4@}QIUfmg6;kaK^E~Dbn5#i3z8#$4_(0*@NMa{cb9>4N(apuNnW7R8$n@W%0
zHlo{-AG1#1VSIe!i_Yt>6lVfvwa0qk6W?hG)C<lAAe~NHo~w%pI0{?7nHsl^lXP64
z+$KHxCCY~6;;dLP9EvJG>3wo!XgJ5KuBe=mMBN=J;WqI28^Gjw<z`cbKp^;Gu?`L$
z2c`S?;zkp}sCYN-i|U!o(t(6Q3t?PfZ0k2CA~K&gXe2(0E;?aQU!s<TQX9K@=)2-X
zpYzlCtN%+`3fq4$zalpXtW#xC3^g+jvsh6>J1YGFEm_H?o*`L6d2&5|EIMU$mzg9m
zfhAWYz#|w}C=w`FVCPlLQK>-rns)L&wP<r{gj;tN_HcMFu3D7h0KMs<L)<#kp_%$q
zspTgpQ_lyQ0YQ^LHV<kQj^M(6xL}yKmZ$e&6uc9!5=y7IqoFGs+Ga&Hisbk@iAw*O
z`MTPATdXzDahpI{&>#n4yhs(Q44RfB8UY#rmqwwbpYe`71!Rtra#Io%JwP%BHzSTJ
zx)hO@NEe@tz-qdc_ss$)EN5Bz`%h>j_@{2Pzs{A<hoLxXum*zoiCEIu8@aOVoE#sI
zj?6`3p;Ch`Ah}`M0FQHuz1%TMG{uMuNNGk;gS4kin(q#I#uj>!v{#D!vHvTS4+5&q
z=zpF75+oUa8y0*1KtNbwsh4j~`7T`3?6!>x6NhLw<h{ppug^<U;LcT5OIMczI|IAS
zL91Rl%f0}mtg+J<r$QJ2P>>+PO6OIEXIq+1u%K0w&7@6dNk>YNAlWnz2?tu1@Z2sl
z&LWQ2)`hlk6)dCnn|O~U&aCDMS9g4oEitS)%D<>C4<q-_cgjLJI9S2L;(gR!Gkxt$
zyfyY~cethLv1QnSFi4b=6arA`6hu3<<EEzd?}4cX9ZDKqrR{n@*3&I;hfwxqbwRZ&
zxoMGu>N+}OXg*@yy-#f7te8Aw=9d@xTMB=#ukL~^xDm7umNU8oI~D~^LS#)oBM;z@
z(W|*5dn0dQN~IE}61~8x&2s=TQ4&=pcTFh_)v9GwLdxvWi@VtaO6L3RedYqq#E};S
z)B)NTWs9dk7<*vt%1OAo>G$*LCyV+cI!2n#d~3WTK23!d13Io$dc6*Vq@N=%_SjJ4
zIEY7bPQ6`gSG8NqVFyk%?GrA_BM3O--4Q1hcefs+0SB(<LWZZ4Tf(dby9nQVii|6`
zfmCdv4Unu3z2BpDja+m*ja0XCw;d4@v-_@^&KRF>_ZjKuo9ahxtmAb4X3ciC&Bj3^
zrCrwb5?0P#bn<Ae9CfDA0%@#>DJgSGZY?2~GeF;NW73X8<5AQvfwe1{LMU3AY&mTJ
zPsV!z$y3Hb2KZmJe-lOfPbQuSyzs%IP?{l8fW3?wE898EW}|AMBSWuF+yz~&RtX)6
z!-ptYV?Xi~9l8NqXUee`a-0o}G1Ars5zfA;TyBsE`&|l7qCl-0i|avTAr#)utO928
z_xbv1<=l|)2tn}Imm>O8kC&BD)SFm=Q|8|X$ot=Y3|_OsC!?#gST<3iA9(|6UeYKt
z+KZ^_xJn13;+};vGb*6J{9?m)8B|utN$&XMb3L<MVSv-knbfUCxcoX74@U`0o#xnc
zUabUy2X6seg+TB4qXyi+{OxrE>i#cXb6Q^kTPE*}T3+l5jZN7wweOy|L%)8$eQ4BU
zA=b68Mikg#T?8IYP}(0Bu$N--N}^0tEf!r{mB3EX9`;JxIzx5qYq2i%c1>tvyp#lf
z+}%Mq$9Tjjcf6{0&*2CVngs-^NG~r6L&G!gGReIUE<d+wasV_>++{_(6^?#fGUEgq
zx2o^S<tw@i*QX(-=pVp$mm8o;xh%O66ScVPJDkblK7u3Aed|OwRD)c<h1xVopb}H<
zFKRnKs=`^-v4!!u@Ft6Hh%*vt$@79>O&@693jDg_LG9)+A!@@?3BZo}rANW-T*B^#
zG1*?D(z)8Oq~Y`*9M^!=-9LcURD640Ye#-K*rKVILzbOTo$)hkIoR7xvYX-Wc9^`V
zJG&!g`_yoYgmO9R_OQ(~08OMBan`?|GClmddHw6zj>p$BL0_M`d8mWN1<ksc##_Yp
z8{ONk-`kHnoD5msn|_ouquzS-Ucy1q!k72tZkmWg`OM8Q|7whSs#j?>-53T@^k@k;
zmy|sk+o1OZN4cGChQzkXEM%&s^z>U3t6%SK_JK3Byi6#PlSb7mfc!+qF|N%{$loEp
z&RrcU7BpAI$_Ad&VV9Wc*_{tgSXWW4g&~R(crq0C^N$Sg$0Xe(v+p<qD6jD~%aU%;
zfYyS>`i9^8;4KTY{qW-bPvpIV?*o-pNloYWKiIQn!H2eSS;|<3*N4}1R55^}uQ*AM
zua7uMo(hZ>Jv+8&FE+SbHlp;kVBNW#8C>c+vaT)79ONkd-vx0N=-Y<ZUJtcenQ{;y
z_B4lk5qMjo5<(re8@5^9MLL*>%ETh=zGuI5-so4oGk=s7YQ(X5?2|F!d3qaL&e<Hk
zObVP-UkX*U8>CmAiyBZGike|fP17LDQC@bk6=;F(wxcg5YcsB|Iz3u3IpN`S^NN*=
zuZ6J+h?ZtFA;u0^3b*11VpT|aQg|{26Z^&R8B&D0Ihjbz&uYK?vLE+b4ffTBxE2Gu
zA$zqbn|JhHK6jlJ1?T`sHh!$&HHLrg;bD7`29%=t17*~kQma9fPhCl|AG>4Gx<J*^
zd{e>!-eX{#Yf$#IaivqZ(s}62jhS_g%7lLHQ{?s+*_YPp_gzptfA2~j4rUZH=9+%e
zUlPE1W%8cDBm{!-RSon70GnE&SL-d>`{XR4MfG8H^b24f6U8-(;eN7G84n~UA6nMV
zWz1GL+=x%6bz`FX(A1_?q38{Hhi5zvh-I|DO?~{@eHuP<iF&eA7Hgk6c06KADl6r@
zq`YHh<Y54TT@{l2kirIBz(EB>ztR&9-T??F3NmKbp#0%d-zKymsm2MR11JTRSzyu|
zVWOhLNiU9)*v4~e1kbRiQ+6g)a=LThR%DyERs3D<2CFlq^L8igvsp#9YG3G%MVRuA
zuQ`CcO^%8|VEZjXg!j6fO{XvUHK9k9TH1AW&I-sn2X&T%iB3>71isl@=&)=+$3kTm
zWzv?=m@*GBmxEI#)qu3tb!_#m9jA>kIF#|`>#f`vb*r!Cfm3yDK{8e@*Bb`&)^_*2
z#sxz6^8VPb8AVVQHlQkawQsGX_&sMCo~|D)_8A%iaJ$^}imux_NolKc=lKmu^-Jk?
zZi=rlnxBm6N0XkrfU5xZDbAPsnh%=i@2~pEo^daC^?O<!bAcH$<HfG1HeVZ}l$4wo
zCmM_NRCbNmzG2k5x7m8p6e>wd0+f;ruS$?34Rs(q*xK|ZT2=#kPzzixPfGQ|0V@Wo
z5cYVFu~k{v>3v4ldWhfw$oQ{=nWk-+?-eF{fm|)pFW#ZDwh4A0;LINih^A%DzcEe1
zJlzpT@zi&Vj~{(X5NEH4VNKn6DU$bIwP}r0B|JwS5+cPL%5MlUf!({r?G?~_L5~|u
z<<l?_Jq<TN$sWc9^FO7&Y)iCektJEb3F7x#oF1=yc&A<z6{VGCZn`RJWpZ+(Zx4Hn
z1VNl_-b;fpk^Z_`oHp$gAEqlukth@q*R2maTQgYzb^fPUau|B=VM@0byksJh1LqE|
z;{uW6OWjjH1aG!#`n~}T+G59RNoe!-#9T`l_;m1nT7Evsa;P0$^IMRq?VEQL|A0VD
zs_BLL-xmJj5N2)fy4yLRTq+U=u)GO(t?j;8f|7n=$PXHj%Ht4`bve+si8I7gpex!k
zD}vA?!nmZQj{E14l)-41?3O{5w=h;nwG9K)I&&t2VieaZ@HrXEmicfd)2_Wk5`5N%
zluN|LqIj@%`d3K<dKj3nD;brvi_JoB{&~bc)@H?SpTIMd)LN6QydRBBxXI$U2=s2t
z;O&@qe4rTE>E+>*(<IX4sfR<hNE?|oFL$_|V1ew}v}w_}rFOeV&YYMf9cwbKDheUf
z+^M^*?!I70F@8Fb`Zz1<&XZ{@11ur$GIAW93~asNs8UsGq>y*5pT*ocwDQiZm=c%X
zuveP+gYbj9u~`Zrkc$jUM&IfkNqX?m((E><=Vy3nf-z6av{~CH=%^)wnde|rG(GNn
zw&yCN)QHd8yYRH<s6`UxBlq#U&yCf#n;Tj?^Ci;J^6rN1@}{wUnuAhDz?^$h*MOz!
z&6X&=bpAX7h42mS9lkqpEYobfBBkHsZ)EcGtUL4N<DN)fT;p#%9CW$yqfPozk7g-w
zjS@j%5(6#nxd~Z!&3}3yi;tt)lBfkVd>=;3(HAbU6x@rlNfbH*bNc_7<(O;hot!pT
z;Gl_RQjA(1s!n1#p?c+(;fAMlsc3)ADJymw$b0kPtEqL%6icll0kQU00=brSfqe9(
zG#3#yVbaex`SXZ0ouKLtCDaVQfMOdVki6|yZk?e<1K%Jy_EW)iC8a(G=ZGA(HJ7iP
zo}CLU*v7{-$RIFGOzM|I7+C1BpuuxrJfTbn#U*Wh(NN-4x9lo3ln#}cKaap?=FPod
z-ka9cn`r#}^PZKi&-5nf{>g%qeu9v&;$$McS2Cf@-wx>gDCjOiR|bR`J>fvk<@H$L
z0Hs6uVAUmS;$fou{T^uS>2jN$+IR#6w^0-0x_+JV<sItx*`6tASwza>vU5!;%4<06
z`j-)TYc3PqngY%d@OE1J->1m6Vbqd>zfN85_qoJm&7?v#BkRR8I*#DG614MJ?9Qn?
z%6XU8YhcYx+9Sns<Ofy$QVMiBVx`|!&=T$EUA(_S7z|kudi}UM=0@pEsQ9{``$SwY
zpyjcJqE61d%0bj1lFHbjJN&&hYxP&ecMXlb!SvaP=E0!ze{ZaNTK)7Xg=~n?9(8f9
z=i7H3uRZ0LJG;Fir=%K`4HiST>m<^adZoR~9=5o2_TXdBU(yXe$t>bcI}?ev9$pS_
z2)!0Oax9*UbVmOIOHWXY1Wua&YY7;Z3)38PH9eo29X!UEPZ`}3)D@k-UW<D}39sz=
zW^<>lbaC(AS$@#WP^VKu4x&F>DV<y|5h`M>MT0Ib&XmrWW4#ko%D_Fm!W^nFY{1@r
zlf(ZxDf@CuuEmD)jhm<&MWmwjLhj_xd_k_^%kLW7MIA;4SSNcEQAL&`F)8;xZw_2G
zR#jzK&5uM7=T>N|`-w_;`Mne_8R&P|#<`ebK`Q+@NQsHI0sBkDOWCKbtt~J6rA8B{
z<PM%3`G#eH8ykO#xO7XTt?}qi#xDz&4lJIf9q1wS(9`ukuy;+3SRXA)G-~n7#P;R>
z%5)-%;27|0zJ1tl#2t2AQh(Gm@J#sy0v`iIoF&wK8E6Co9Y*>R_*Ssm>Uw4`zo;U(
z+_Nr`gIjfR0LW_LaJ-{X5rODar_MhFNgrPV@-OmQbIuZCEHUYt?@Yo>O%l*i`h=Xi
zwvgdf?6q5kvK8~48w7nc!l%RQLr36{-1Nmtx)fWl;;@5KaS&ZeK&!DGd2p->D6$ZG
zz>&@x_bsKrX4lq1pjLyH_wc3^<&Hmx=UBh}Ke6&KUVeU#{%`EP2~<<r_wQ*{IaE1T
zM3C8Efr7|n3}GJXrwlSi#z4YQCK4baAQ0xM%2H$s6d;g<Nv1#`0fB@`hEhUMnF$G!
z2oxYQ0g-vM^ZR$d|9ZXN>h4v))vx=#ZnGAb3pw{@-JN~*J?GrLzaNwBs`{+bDT9S=
zMZ30<l^%o~0wjYmxEz*UC&{U9Esoah*{@k0%3{WBSiwRG3B;{J88Kkn#LX(1K4mg)
zsvI~L<2!hN??C6|H4-Uq!m>LOL|eil`BHRyuxMXeN+ctb#}hpjC-6HZJB+czhUcw=
ziX;0Bt5v6zg@c{8&tX}-n4e@<GYDi&o~kpgZvO*^SRdivU{>FD_*(f^ogPr}bz@sx
zchqa=L2L*CQzuq5Vr_Cqq{tZ#&ZPS%(lP-RFO$<vg0djLQiqLoCd2d8t|SakkhpWH
zk-*EOUSNYtCjy9HPwMG=xEha8rxd!?SoB6BP-%WqtG$5mT&5s?h8bK?7-l_X+2;m-
zXybP$rs{d^qzc4h8FCh^?y1iu)i-B(^)VfM@d@iDw=i;xYiP>z>b|mbopyWebqs&=
z9T=w9d_R0iG~p;bWu-5l-2MZ_!fXhdwI(d#2KGDeSSzqo)_>fcR$GT?0kM07&$JF4
zqsv-nWkJt-q@rrL)|ZCEbe+td_ncZ~sBd_SrtGHpa?%akW<#;xp{I(`a5FQHiOHg)
z&?tU-opXWndT<j`4`~r;I=n{8BrT!m`)jHbeXK%QB}3fml3m>ZN`afzX6{SMI#hJL
zF6ku7=|nkG>;pJHNGwVjey;mUzbmi&|6oi~_8*>cIQFkG34~$zanUKfJp>650T7m4
z=IfZP@myN8Kx%=DG9YX(SR#xf6jb$kjC=O)wLS=*-F~!Qp${N6<^T}Vki_DbPB3*G
z;k6|`aoY0ITe*e|$9aBKjqyA${(WXr;ojB2sz<ID8aix}BR5J_qgL~#>LU2NG@Y5P
z01>*Csg2&~$a-wx2%$=IhR41{4`mwf!&d>IgzVMtU$$<muirT=N2*xISJuvsn)@Yi
zmqE!_8IGf9r%?Gt#X{t?<zu@gCaGdur@TuZ8IpH3?1!1DaP`(|igU>(6{QTYgw|tQ
zcyeB16M*w;nRzy{iV$y_x@JmNE-Jjz{|N%2Oh^{0HfW<Z8-IUnikfx5KRl^_{|>5k
z(#q#;Ry=0?zi~!jlN-xiuBlrgP8ke1zvBwYE@Yxtdn1FoTIuc_29WNAsHxZLQz!OG
zPm}Ag);F+#GMDO=DQub8oDgZ#3nJvzNH->XmV2s6zTR}b0V3^&bwU%*%$$^G=w^+a
zyjD?CLP@a%-vWQWSL@VaUurv_66NRd+u&iV%%>0b9qZP!!NF6AP}Z7(V#!nxVWKU>
z4Bxv$G9?er_}Cz^yVW8RJQPSMxY`D6nOhV|`1_BUk9F2n&RDBYE+3j7<9@<RSG~@H
z%I6efhr8E=i4?r!^_}W2`HtVzSaQ8Gf2JUpb6@EYAu@)*8n#pOC5OZZjt^>z4!lRo
zEPisTipy_7+TGgHztVL8`4g-N?FgoofktE$1;T~fiSsJ$Z>*ZTl_p#se>(Wlv9*Fj
z$y~{LfIjd}3AOl1M)tDV)5E-ngVP?F?!etU0FR4Ps$nT<bf{qqBR=^cAiF`Qw*IAN
zEpI*h$0-}*M+a{fFleGpox!khic};<uEVLM$xm~Knw$4<dZtfmaZAy{M@FU?IG23|
zo)unX2mk@{%6z**pIBS^IIWjy)478po2Wrx?;0yeM(efZ#TlD#SXnS%o#aoN(oC_6
zt7!W{H|z`UKgBA9G@xrp5(xm%{V~6qjSlDK@WcC~_YOGoBX8Jv8G}jyAoVdWtU)Po
zjbIXZ*!bNU^5sBpxE$>Hdr^&r!MeqO*ej5&10-~zX4XH2IB^Bp9BWdb?kiL|R&_DY
z4pBB~zc701%ds<jK?sTU!TY)o_MQpE+-Xd=u2aexpW-moEIVwbkhyS8i_U8xj@JN1
z7DPlu0KyH>um-f4Y*!;jHRZBmv<Za%Dg`;@G+=&>DPfegQ>&aTUa9tpHmk>c(I4RX
zdho;@%(W+^G{Xmxmy?5}KEbMnXf}@ro<wCbp;E>@U9Y_WpsgNb<9-*W${gJ$h<^oV
z)nhhFBz9T#biea0>26N`$A`88^-nDXmv}rjZL3^teAr|tUYMSvsv8m8Fnz6ZgDo~Z
zjugT~bpOjW;_N-ir;F&kWsNYc3$J`@hHq7kn20tjyt<>Ov1obRd(1h1%*#8-R#c-Z
zHTl^%w*_srZ%arJ3OXbtA0SYQlMTj*Od2Xp3gRsI*A-3xjC_qZ0}y9P-74^SB_QfX
zcht4;wtMn$^PonT1!2n3U}Y&qx*yR>5_Pn{O@3mh8+#{wc!<Xy*L+sJLI1p|Rb8^N
z`_t!+tCX9v7u$p+q=zNUO>y#SV2j5M^!0S@$`WekyPD?9It!ikYHF9zO}22!Xx;BS
zm3Qm2&v^IP)ktmU_R@TIc<Y)wUJ|*UN{n`$;VF!Ejtz1bA*T!zW+<s5<PGLP_4Wkl
z^}xAr`52Y=^6C%kWg9-=1kbW6tuFmBykKH7Eg>Q~vT>u#Lj5*Hxt|ERu|F~t5%mYv
zM12;DiP+w4@*S0U))>eRc`><M`6}zB=V7iJFEO#p`uOFO-VU66O;dcPhR)aplbw+T
z5gn?Xa2cK%@~_ERgq4*s^WdlV`S9JeRRq#t%>ZebF{X;^rv4O_k<vP;Ec)8|5!|WO
z@wi=8=MBaK^3ZJcMm`nMY$R}VS}+-Sst%y^_P1+-@^^^;aw!zjK=?y}6en_XOoF;o
zMw4v}Ktkn0>|j@1ZK~P}H&WgCUzXcmbCs<-;F#z2uwP2c%7;jmEHf!U^-$iK(#y|R
z%7)n8ZJQf;(;w~US7+@p5nUcRuLm>2J)eFWi#h*drtM<=d$sb7YKEQ5!enu!nZnbn
zFBtJ}HOg);$t~QeC$?hX{-OlJj+OBBuj}h#$yw}Q&a)7JxRL$Xxz)_XNKsYC<5?9X
zU6=CGCq5s^=^8jl0=$Cibi>=J0_QzgZ1ztX7^}q!-K7C>UCrI>ud-HuKJ&RX-xVo^
zlmVs?mJ7#fZ>P)<oG*yJax=e!=w8%)PYa95dLsWD!`}FfJW+Z?-ueA=bL0c>-XB;M
z3)Yf93~k|~-R0JMF(X+*(ZWGYUu16+=F0a8OL@f+PP|K#3*uCFRl|&U0u@=W!1mkC
z#l2P#yn6cW6m_x{Rj*$&*<;t8S;Y4(sUKT@$hmg>S^BV1YKnPqo5<E<>+e|=0kM(`
z^G`1TI!5eeH>)ovtjcy`gy2x=Ie)8ANIZS1FDt^XUYP6K+f=uWTWLV(XTLkRA5z$k
z_&|TH^)jyppAuI;jVhz$XX4#deeLdc1_4AJZ6zs%=5}5XyI=~VtR;AN(-fg9WbmwX
z`Aw*$>bqr(Vp10=$~EI|_pQwB{pU+atKMbQXd|0~g=Qxm7dCtF`HW$zeJ`22xw>wF
zLgl;ex8=1#J|Hu8{Rs(oiN9rsK}D{$+q}unF&2Gkm?s(522L5?$(R~klb%V51<8(7
z#}Y+=5H*7dn+bWq%t`q4nQLN_olW6S{6mt^V7k*jzUVXw{QxZwOY4*ur4Gc$3k%o)
z8Zzxe=<tT|@w$=O8N-x(H_hr2-0o%R=iNzdqGf+(`?kDhG@{dNeU>?5gsX*5Z&#2@
z&Ldc3rz_XA=4>e&^+}8VLY?05l!=*|vJFSlf<R<MDk`=gXR7k5iRM?#fZZ}&&wlSd
za_3B8dWs;f0wa&HHxqj=Wev4@PfDPbiprE(2;HbGtDd&0Fp|rX7xe84^TvVr`iT_*
zrp&^`M?ANG^mCW%+_hpgpsC7hAyebAhD$WQD8KNE3|K)bT~bXIpmFsN$9}ui2tA7>
zAL9Ya;Ci*cwKBJ<njzb`UsFG}-(-olV<#}JLYCJ0_PeZWz8qUbaGr$+3pMxN`-Vq9
zp>ez2Fn$gi4q1es9%a$m`L>s^2yl8?&sLF+VY+>!b!B+ok_f;sO_-f4n+61lEQuJF
zcPazWOsuchbV5S%-V{Q?5Gb31`WRzhcRA>g2>%@}T>CW28hUG$dEoEiJ+;&8zsVgk
zvz(VhT8{QbU`MJU?hEK>P5s`rl$RR|pO@dM=l)nxlaC&lmDOYtZjtl((Q&({;Wsrd
zK@-LxiW1f*OnOmipN+dT!4AH@&_#tz<DuUl9oh|2^muY(1_UAlRp*nko+K>el$eN;
z_E>VL&tBmJbjF2qmH-jHHdBy`l0R2btojM-)+X?&c(wIIxj*L&G?<(|AyQPGXIoy|
z*XftwQKT8ASXBL||G*;y0@ci-4>_s-VKmizcB@Wm-Jdf`%&{(`vJ|JqXM|Z|YVQ~D
z%{r^Q*4d3!>;H^jv-zguauTER_5k#Q>OCO`)7wp{^X`^%@j$E53Hy?N1u6Ewf)q(J
zzO5h=yR^XnxbdMDqf)J1dp0~&c*}81pkyYUSS0sDRHH2VmpSD@Vy24+Jek4ub4G>4
z`h2!QKz+<euwhn>we^&)@v3k@rB&N-J#cC!VFF*J6Zxc~=F%U!ncLyCn}&=5oy0EF
zx=Ju7vD2v%H}6zY#xzxOrY!&%Tl5fmRCLS+d5cIRhgPk9B8)2-Xia!M*;n}7E$U2r
z?;#?Loh>f3b4b;##eD+<6ICggaCRo1-}%5BZ)|K@<ZWzxEqooUzqIP_vb4S^M9lqf
zUB^IU^vbi1Fw$8c^UOxgvv(|5W+!-h*FYEqMm!k_*EOpe7S=4qCkgvs-to#vJ1)aZ
z#JA@F6)`tru+EWks;BvQ_dvx{t#Dmry$Drs{arPjqu3H240gQcVDl(U5n(P}(<Cb0
z#jw9aDz8XP8YnLfEe%%IXhA7bA?7ZYe4D`t8wIU|lsAhXzIjrm?WZsE@bwm~^0=+Z
z@eoRRakP|tf>0;&C#OYuXDXVZ;q6!9Jy>`~HBzWWP1B)6G$Yr8`y%G_<|>+p=p_qW
zpi4q>2$Q8C)PAFP6({}ZY3PCI=A69RseR_GyWdu+$@A()*z<BqiG%RFwh(^T3ky3p
z@~--9K-ZNRtw^8U(%6!+?C7Nh14DDn_$4|5^MLDW=H1|i<w#b7uLbLQ#aRo7$JDMO
z22O|OFqC&XzWpYiCYHh=5DLukQ^+AiXu@&`X-oKLvK0amBO+xL`n1AV<Y@(Fsfr;U
z!B)lg;p-Q9*+ak~jvd&Q_6S;uYtwMKI?#240UjG1DnVs3RLg+N{P7fay;jOTwjG<E
z1Z$v8g;txdN-+fsEyjZJpG0Ecw$ycoD92pxl<<GNDu%I?kZBw9@G2`WEy2L>7(~Ld
zlWF|0u`ycVvGHx_o*P7WpU;gr*eiw<mt|X5F31?#V5*E~ME5F2+@jtkiw00?Ude!~
z&@V+*`U~TXmQzmYf}KedMA|^Y`o$z(b6vHFpx<THC>E+vqZ?z@Rky&8d5IevSSEE}
zo<82AI8%Qy<c5jawKd<3rH3Y_i$wy-T(8@5irZ0c$8kqb4c$lk0_uZCjQnGv{<6Nt
z9#Ke%3Gs#0y1L;HsqaD%E3tLT4>19^ySqN~T$Iw=@k;_}4++{)GtV@8z?hX?mn+O0
zbkA??g^;_5ZNQP3JVQ64$@(KvCr~d;x`XvT<D>(d@Bd=rCri}HM~Q2Cl#kO&&&!*r
zLxy(=v#bg{KJn0asGM}~p+^M_tQctwFB2*)Q@L2+cz_Qfd0KDv_oPE~*3cmzp(vdF
zTG_}&dWq-NB{T0=O#}w10!`&gI^XB0J<J>5_jgjgHq<-_v4z^u+*F-sBSn`7T9pdz
zZ{v*$TNZr;KC4oYp5Z-Mc<6XrMoUyi163Wv%p$!!FUPp&rkc5?d%F3?dntWUfR2Vv
zy6J{fYej+NjT=f*b`8le&```yF7uGx5@kmdnD=^#><HAtKAFnIty;&+b#UX{u9s)=
zh2o-jhl);{1nT_qfYjWZ;7D^bc5_oT860rYr1M6I<L_tl*OPm^Mnpi#d;JxSrHD*+
z{1#@V%bPD{hAoo!<NqX;Hfr+$)_B+i|K0wQN=wA}P?vSXT3&Q<(loez1a5v#8!t{^
z^Ars<mqz9$II91Z)mvphsAsr%{<gviT^7ySvApnM<$DSgj;Ui0LGC3sLzB}r<qJw9
zA{--x0}Pvd$N%*fy$9dT{*T+Xdmu)oMplu`YJ95tDU%JbMf;9K@D21gUo5I+p>4L5
z`Gqm6X9j{G^H?o5&r1kcHE8cf+Am-(4UfyyS1<5aY&^-=nGS@PBA$IBFDI~zoh8js
zn9|~n1x{sY<$nzNFPCcE@U|`6(8{wmpczd2?2-yBA!@>*b!civ(PU=WX+dK7+8F!W
z$>ttQKlH7Xbz9#!i^ULf-Vf3%h&Rjy_s4-zXpN&pHr9X~G3_hBABOOk)i)T49>NK!
z!ArsR%8O-T63WaysY|V>aEFus^$gkf>l^<)O!6I|Zzu1(atS6=)M-p|BX;xZcMo1o
zT=k8OW5;CtO!zmJJ^t<?Cjr7o#L7Yn*16P8&+k0Ge)w0j|6LdQd+onE+}E!5HNt(3
z?SC(7{LR*1gUr_;^EJqP4KjZ-Z2Z0E|GOab?e4ksERvW#o9l*1R45i_x!n-b0!41i
z$(a`dL}tJ1PcIfov9>DKjs-eI7l(~=gph5ERJy+uPsk^KYrBP?j&u}K({C6Kw)mr~
ze>`=~Oeg>;5CXVAmhYRcwN?n(<(XH!$F&$jqWafU{m*GD{Rj0Om;BO3&I}1t^2@tR
z;knI*kIglNFybQIuOHv1+o)sP7Dk*mK4+rv*T+2FboVs8zZ~ma^O<LtJ-;9}@cJXV
z)bq=+$*X7*X2~{2a^700dZ67R3Tu<?{j)*tSO56hm;Otz&{qEBF5BFbd07`tdJ7vf
zj@o3u`RJGFCh5BACg~VqG<<%^L`=S!=UtUsgH7@+ODRtJxFAER8V<qhNB9huO%I&%
z_-V>;ynf}a{zK`f@%s_{msi*R43w1@Ecq>Gbba$CEVY65vKAtJ>i@ZB-wCU*n7A5E
zcX<6vs~WT7j0cd_NO;-N#4LB{)XP8CuK2@4ALMJFzr&1f#g3(i{iSmOu(jC`Vm|%r
zM}0FscWhKK<-4!Vz8d7Khy0J#7wmv6btXYmAX@FtcVV&Xi<3tmq?%^yG;0J@a&|Tj
z{&Mo$#V34n_x;%UWcyj__lSKN)~JicjvNR3?zD4-Psy}n^L*u{U{#J8x|&s95l@jh
zGtxIgrVE7eZpT_35c}nr6mylG?dvBjJ(4!euPVUarL_Sg_*sTaT;1SV)MgYgAo|NO
z1(4T|18^T-=eUthqwfr_?{ro*xT0VfM|7<ls%eE-?dXShkK4d)d=|<@?&*UO!qQH#
z#)9`=U5w@S#!%bt;o`*L1HR?cDF)I$`i9+B!XCS{AI=(UT4?w@-Z~S^Jh(ybR(bQn
zGhe;*b*Oli)){QV<}(6|IKrS%Oo5Dxu!~|%H7fnafwd+BNmTscfcFqXdt8AR5zsB7
zH4`s<6prA=(>Iel1KL8FR<$s&w$1rw9-BzRX!eaRh>`ZDgv#W;lUMsLYQHA05;!;=
z=pBV0yM0zPLeJ0%sdlwRMOk=;Zq4BGJ5tIB5}buqDup`Yyl+m#e{Pft;H5P*bjt+2
z4KJBv>(?3ZF@>`M^uH*2{R&<s#_l!VT~(k@fxo1PUS8~`C1z;edYy9$zUD4j(J5w$
z7d=#~v9z|n6l5(e7@fr3s#k&?exHh-55)M~@e&pN>&r16GJQV+(CeL&;oP9o>($a(
zBhCy?@SGI*scEPeOH?t6YIq2?3nNH21E4n>`Xu&7WBC2E@4CeO&zk#nJi|G^yFv8*
zJb;wc%VV9taoGmnIKUhZmTXqgv7dZf__kaC#YxY6UZCi*6G|1<Q_+pdL1r2;8(!Kh
z1vylmHdq~y<g@BRw~sCZ5fT#n4(fo(o5?K1t;%WYe$QEspDiNC#<i{ESASxr*T-)5
z+PA9M=v$V`u!VB?#ee_{JQp3%@Amx|ikzSDkQ7oaRk+Ix<oQti+*@&A1vxK9k%FQx
z(+a5*nnX7{$Ap^k5_y@#g%->Lmn~aEAZ-y7`fhS|jHjrvCqeI`PW@VU{^h9#36CXj
zKj>-6)4G%$0+u6s4kHCUTSLxfjwx4`ndYbCCHtx+W_qS-$|9$^7_4^cC;Em<wfEp(
zG#Vf$oD{rI>lHb=_qe!^dOuy~Nlf>$fOT`~rHt&kN+BuDxcdPvxVNl0jaor2kCOoy
zysefZ?C@ptZgBkaP6vLlR_<6D-|XCI(#6ry)<vxma8gTa01&9>xBPHB4|{rOw2I1m
zc_gR=_>3EcV00D;gca&!)fF6pWYHa6cVe<Kk5_#51Mphn*n=*IZ1Y92^sAX0!L&!$
zU=klXhlU41j<Ap1p|Rte>m5EAp;XE<CoXGqCdUK|ZdkPr$`vMZD@rvLb~Dinc6ITb
z2Gt-&Qw_*<gl?mi+cVOl(p31`j}!39(cwLe6G$y?p27CZa$K?5nGGEH0{lz}%H)Re
zrteVGXZZ*7!_KY(sQ17fCVeihL8Qzl*IQWMB9ek}Uk6<Ieum16m{pK(v-{M26tGKM
zli<)<iZRYKB*}{$fN^T%hZFhYM6~Z=C#NAY#(l=nrAob#_i(dnDW>A(lyPBV0wbW}
z)y19{7JH<p;M9nNlUk-vpmHz&*`B~AP6sb(C)(TjfB^U{;!JfZ2Ho$z2FQ{XTa&(W
z!MA6^F3me(Vss$~&P6H6`}QdWoR0DQboh!GnY4Bdulhc)V(fQiM8kv(G}-66Uv(y|
z%lZY}os&+JGZ!W`4KC?aW5AhY!;73Ln%iN{xQ~cbAL2tUH+~z_D@;@eNWbqu)#q&#
zXUl%DQwQpquJwv0LEu(Vav-2YUw`>ujrPNLWQ=bW7iX4l>4;35SYIy@xRjFXmrm0e
z%Cx(~W#-9Uqv{5fJb&9u@42CKvp2gVJITGj)dq<ob*^Qmk0}<?huiW`d+zY1sR+ip
zIxC^<4lYV9bKtkqJMli%JAseZA(n3DG7p}mmxvCh+dG($QBe|dX@H)<D2v2=hlTIH
zY5Me}%h~^lpyPzw;`0m@J5vAs2&xK3F!FAGj+76*iyv{GxtlI(reiBRPnYv?)Bj5W
zTnr<Pp|<ckN2?H<ZR%l7Bup`UOF{2dSM*sQ56coe)vz58yN#sSZZH+%3-hX#Kl$(l
z6Fk~W5dU4&Ri6CL(*0sp>m=9Asxyl$<p~8q;nkH@A2atBq=Ffa$%rDkCP(xT7q5PS
zI~5k+dz84DvS#gZOUa!-k=`&-rf-T2<~3`!OBHu`3$B=3T5aU8yNUVx_W2m?B`|$Y
z_o3E>Tu`D~I=@Oh@ZGk<{qDG{_4bpwZsxJHNF_P*2c;E{PBMJZj!C67ZdxKOD0qY3
z5Z`~HxH{4wdp*fUi^}9FGmb=ndCd?F)K5++;7y#5d1o-TTY@(T5&?od%;WQgC1O^l
z_VgCj)gM24_8a(zow`6HYZStfDvhtQ#Y=gfzL<JQ9qXM&!UM#+_F+?nhOWv&-zi}S
z7-kO;Qz9p_bvg~j=2l(C<%Cjsob$44Op{Gzk#1No87L66t1DJ_==skx#z0+SqqowC
z`0$S1$bUjr?UDFQmtWsdSIYvUB+_RWjZGXEjJ-tI8-GkGzF{bjM=%AzkuujgfI;)Y
z#mS?5b-zKj)LfZ|6)HL+%2Ds~*$P+qZx3fiPW`1h9uRk(Df%8A*J&B~WW$eAY}QPU
zvBfy1l=}LPn8PJ2)0T}<nFHwzRg916v&fA+2xfGK=9M*y-<~5-jlFad`T$8>hL9Aw
zpGDK$YNCZDL1m0Wf^@pn6b-aCxS#r;p8iXiTwizP_`Uo4TQZ$%zm(LIuO@6biVnRx
z+Y>R;dr2kkQi^BL_?AM2>B>{J$FSMWR-B?mC?|(?)MJ*dnPk<s9|=kp7H7-J->OR=
z=5W}<siQ;L{BS~>4niKg4$SS74<|BJ53Xoix&(1uA>N7kT_^ZI4BK})*Q?w)_jybs
zh*h0<S6L1N_;QT5)l`La9Rb_gmtJb`?t6@31@wY*Sz1(M!IFqrGK4PzxJeGy32q^F
zy%bBf2_X`MEH^8E*$iRQvuYCB3qI`df=A?T9{alapV9{3B+VHoC@7T%sudi`3KOPR
z?jA=4Jt%S6eikCF1WB&A$q)*1i@p=4zI<z~3gTbvQigGYV%sD<Q*9bd+w#s7-{$CQ
zw6*1zZc~FyikIv-Bpy*9max=rLg&`!slzsNtsoo*R*Y6NA>y7lee+{i?&VKa>MR#*
z0ycYlRCVVY`UXd=TuG<}T)yBTJ&gOT=K{VcG4%lNc7EprNyH|@5nL@Dyd$K9_VnPk
z)*`rTYgDv5a01BAOvhn%pM*(nB%4Nlo~?`MuQs|Sl!sV@R)#5#ePlYS)z9Lq&Z@&x
ze(A~>fW%3G-(n=3-euqBKXTC8v)DqD>1si+=4MC0=|*)9^0sP=_j=&gcF~$3xTi~h
zwLU<?t@EhP&AW<S=}ddMk=RwomR-iS1a~=Z{eG>us6(gvY54mQA(mwy&uUM3zY!S2
zF_Y0GS4$jX-PPeXSw8II+ulQ{k;#LjZ?&bTrT4!a^S2vW_%z$)wwBkd;e*+AjS6_b
zFe5k|L$t<d_glBA!IB@<e^BfW84Hj{m%k8`uI|Xx=r*r>7vN~yX|=r+P%t=<c4Kiq
zCJ!rVZ<;yE>eXJ6Pvo{>t1a!220GQ3`yw~G?r!efdKlbrqGR62E_8^YDzXGFU1A^k
zZsrqKvn#LHVkA9-yl-+)K78QGb9IBw6aLT3JAfU5zTc1CC4z$#2Gxo+v@C9S1}a({
zc!6oVW9rhbL9n$10#8x9r^mlVNGgh-&{n=XNQYcl<|=A03Hg2bgCcCIAi08Db%s#X
z*Qj^ee$F_^bL#}tVS68(UVMSU`BZWtvZxd`+c%7}o)#^yJXv2Mr=0yyRT)dDJp}F^
zPP6DmM0n{2m5KN@5vW@%6zFO2l4RyESy(fdm1Gsn+)bnCw*p1HSA~V6eYsR7F*W3s
zcFsxU-dXjCSC=i4GF3L~J)2%>$yi>~Bh06Vi5i}*a&U{qi##t%!y3x>Q;%jSz!WaY
zCT0b)=0X8;Cg+~ggBhv?cu;EoJ?{8<2WVolV|1TNkUf5Nr}>rIWl9D1YRDd1%9Z4}
zvGHsfx)#wF@-lz>&8AaB*==u~%HpyZ*#m<h>2<LjFU{WQ9&CK#98jEvLItkmSCxV{
zHs?fU=CXkGJF~<IkY+qnn7=D->8S=oo%Ar2LMip?*(lWv+`D$-to}$!;>$b1u&!ap
zTcMg>@{%++=VCKuI;9M5zh2(51`xq)vIg5dykgq@<mn)`g@%q#p*AhTcvV{<!7r=2
zRd!$P2Tk9feyzK6+zv@ugx<W4rg9f4^Mm21hqkPq4cpdSJ*xaE*s9Nji>j|xG{q}e
zyD4KHYWyX@PGK|~BCX{zt76{SG4_M}c6`}fywQ&b`%-2WTM0SVs|iOKp4TJ*&?X`(
zA)2%-UP$OxTKCI2`=Qb|YhQIscmF#-hX%1hpv#Fn^3zkeTgC2M3nM{}qUAJ4YlShl
z@ZqUoA(8_R?<*N;fg$7q{F6-(K_V?)C{-EBg@=2(_N{cvTM-^+By7h9rPYH%s<R%L
zs&+Ik?j{DVY6!A&P|8haVXZvBFoa&ZZk=s13FgwcGj>YyJ+ETqYI({~c|zGgAs6u9
z<CXo(#Bz*rgd`XiJiF1;!x~NAbfJlH_N=Duvy?%+a3sLb!#UZ^)ka>m=?2nxAYJQS
zfLh#8Kh^))$^Y1%*P~f#3Jbq&+qX&n1z(Qk{&{Pu{Zy`M;))J=*)ueK+P7z>evSU3
z&MWJ~Gn^nr%j}kpqkFm*9y3VexXGL;w%~l^hIvn}^6hxSdDLf9!+Ek|^b`tsMxSrm
zf`NWHRyH$Th1AUeZLd$u)a333jcbE{$)WY}Au?#Y`w`M7JhE47J1<y0b5#4y&a|KQ
z$(1FP7_!AxZY)^KXa)fFAFPRS@-|!AasvBu#}UXc$MOe<fa98XZpUg?UyzLbM8o*E
zYk?68ie)azJ=^``+n(c46!~O>r6;W~5<HcjKC~Z9^1A>1b6Q!NBt9;Jm~)RtaRO^7
z!``Ir;i?{uMPqH`)FY>R=*(Gpzor5&gQKyR%0ol!0g@f@^AgVslrq@+X_Ix&8T$LI
z&g+IKPki~h{n?JBnkNRLSJ{KV)U#oXf26J8GVYbanu~lcngNHXy>1T1#`8Dg@diIk
zZcLBn1PNKNE1#!o8dM-ILKX0L-BybjDC`j9Lbbx`3H8lF`+)Ha$?v|M`15m7zt8iE
zx>-kZ_C<aT)<&%??Iu0y>816dQjI^lFy?Gq5~V6JW2q!@4uh+>NbP&J5bn_gXGd?f
z7Of}n#R>6L(?M6(uIZZOxPQ+6x;Y=aAxyfDnDqkn=GP_gzwfb6XXx1ePJN$LaG96u
zg=K|GTbqS<h)YH$-|Y2};@cn3YJ8AxQW~VuP-GmaR#g1QV|2LK0DG_}&}TenRg6~M
zufqcBzbAb;=BZPb=jOwiAPv{^t*n(VB_z-38LvmITjnSSf-cXZ+!0Ip_uW^Vr0<0F
zXs`$o0)w<?jyHQD5Xf=xMR-Z%PQ6iLX65lzuJhQZOzCF3H|&E6%eXwH&W(e&`B}+m
z_gz{|d@gr17gDFqT&@~f-@%8sZM5PRHoe}*69|1Mpm(y>CR30QEt0jR;uS|@+(Wi_
zc{0IltJIW8x8GEOW|Cllc+J|na<)w-7kaP<_)$P}p&Fa+&&6&Cj?_%BVnia}e{*$h
zzgd-UX;{-{_e0LVe%+J$y8UW_|H=ZlTzL`Z@e8>rLQ)h3sB5&B{tflMtHke%FIw{}
zDo?wRN$AtzSJN%TbLX0n=*mpTW=F>e+;2)fu7D3qvMWz_ew|hOekC|H^v=Q0L6?t*
z>UO;>Jo<-D(j&b*<k-NMV?RoFzLM#yS(%TGKacn;WzKmUXT&@Od}tO#jcmR$^&O#6
zzKLrvc46(CuV?&f$FJV=wa@%}k%Cp1#YWdnCBon)wdrw}@7*#pvp$1BH$6xbeTO%;
z)&+<__WmJdbADGId7zoIK|22D-^;l9w_4v!-rjXH+wqO9ye@h4^`rkS8~&|>z8d_i
zoBb_^`S%)sb+fN-_V0Pl-#Y56n|*b&zvVFhUgNKB_Wz=rfqw@$!l+J5o~D<Zn_;?l
ze~GBsc*hA6$2(es<mQJ8ewO+0DWka|)i9g&P5%#im0{}(QNKuk{nuAZeD#U1UE%*C
zD1cnw)lNx!Mn9VKec{k~$pQbHUHEehBW*RL;CDGP{yZf2%u}5g6Je@t*;iJ+%YE<P
zA~s=}y8TU`uh#e(|I)7gU*|NXR!=kxO&|Ullyh$T5q}}z=r5h#xcyhyjm9s>9!k%4
zME_O4=Nj91KIneiCwR1)(T7uC&-nivJ6@0gDo989Ap=y~z=1d9N1<YMu^f#Ga>2pi
zy$gK-_uD`oxx>0(&R&kIt_FJE^iWshKt0u_pup^BSyiTZFrd7#Dvfth!x7e~QB|?v
z=$?w7xOl)bYH*DBd29Wv$9?T*|2IUJa0T^__m`CmS=zM=qRqXYwPtWPM>!q%S>WrG
zAi7Y6ci!f)5K1<0?C5qPqM1HWZ7>I*N3Uzg@6SH0v$WuGKbH7^IhG-WiTQ&Jesb?T
z_{Yu6r0c4qgK_PLB`?P27+tsbLaF+=V9rB!EhKIXwMcz4gCV6@JEDu!JBx7sHXyS{
zEr?)sm>1Pd1EuI!gP)cO;^a5e+b>iy?SdqOTibVxXAMONU9W&oK&IKEC^en#_gFi2
z_oFL*4;VI?(!9*dGM5a;W{n0%k=qN7?4u_U9+ri=N7)SEA)#b$b?(ct6QlyON;h?w
z$x%pafUr`lpml`Q^wcaf9Gg%l*Y*gu7X`+YH+5T|8LTGO09~o*>f1Nw2TLs&!AJ{b
zkPKD`i2h869)L1G7$z@Gq$^5U9Ta&Tik<Q7&DO(Sdz<XchaL|q7R6QC_L>YXfiVj<
zaWpzPs2g-e2|39qP8cN9O?8SC=OlsyC>xn-x8XI&D)EZ7CnM+G7vSD;Sr3|q+49#h
zVILzF?cY)>w#_Jo^E7M6pcn(W{4s??pf4h#Z%`+7W<p{!A*J&$$*DC+f?whfOxO|R
zMj-5?(9!?U9^U&|c=BJT?H9gbl?|N|jiNB%5wQpCcGG+R_{2j0qVJgqG(6McoPL@=
zevT5CzH7`iNVk2f;&auzxz{*Qr*dFcIj2-8AZlXlbEuXaaA`c3TNO*HOEMcXG8_dP
zCPCk{ahdQdXK)1v<C=Y-3m@c3VHae^*ED5bYp0ya>o^6iAB{{@Fu0gbaZa7e>_dYW
z<6CtTKbn}J=N%kO3x?*+0M-j2H1hzHd{8H~kw2=w5m8s@A0b!Y^?H<fxRcksN0a_<
zFXcNtq~w%j!QJy<!#}>h{h#0Pe>bxTv2G(6M6>Xj=Z26RY4<azXRmdt$9eh1o8=##
z3f{-nHa**^+Qn8kH9yLSJGLT%<g!p5w-~jKhUZgMd2dDd1Bn%XOwMwrkxug9!4#jP
zu{t+>tPWwT8sAW2V?UBO@;gISJJ081>M}D39ZjrKDwsotRqZC-G;~45SR<Ep?mV49
zF|$<uWDLOlE;QK>jo$EoXzAG5^WyfL+3__8g9)}V(i4p<@^SeDWtZ-p;qf2xHcH7M
zohSv|te1gY-OSwXk5fJril1^;yFgMmD;~cdR;D^FRK)C#ir{%}C_tv9A{%YIz{(h6
zm;3yunb{8{qg9-eNhftpow+5?k*p}VSn-pgWET6cO&m>}0p8RpZV9rtl-Li)rq)LP
zIMV80T}*N5#TL6ls=#1Wj4ir<;sPnmR7+{DWb%Y;v}VB}8FJ13q2w6Xsm&5L$a-eQ
zs5m&mR+LQFG<sYOl^?_j1tX21L--5)@U{tVS6+SO=Wy3X!N|*jKJA{xqpt20kIH=W
z*)PWmdivegy7BoRRvSu}G*`E%lU<GKKfuTxnqe>8Ley(V95qkUZj~Bmy)C4crJQCt
z_&}pBTeJ@iezN~(gIyhk8KB?5YRL1oid=JrrepMGn`V2AkvTazI?3TJ(w`qj$zt-1
zZh%Bqdh7HDz4<Zju2%h!P!VDd*}p60bNUt^oW5Wm(==Cqw&9nO789G<5<+60)VI*P
zBxsV^;4tJ?g|Jd~4Cf=+>@dAUi#@{#SE5iP8wD`jl=79&PJ~TjX0BoNtgF_ADaZWq
zK`MLS-f;YJf0ci)%h9m*`nO#XufXAxj{|vnREK(3;IG&^&7o929Q9<~49X0My^uT#
zSKktjjLd8vX^oVL`ix8olTiHBb@Kwcbzuep?P>wN2TgsWN`*0!8aTS5E@RUFQeH#5
zAz3kYoH%ZjbHNGg_@KBpaO~8H<^yHRN8uBGAx2sJJN7Q-G8a44Dywd?yD#-8;qQhG
zPfH4}Oq7Dt!YRGGtfzD0pA9o4#`C>Y0yp@w1x;czL`%!;x7^P`bAjyrsFtG<4~+I~
z|EhI(kpkewUp>uMsjXHk7sK!O2q9S}4+{&)^~3h}#fCeqTClaw1uk;S>roP}+;_>o
z_#wQ9K(A6itz$Q>7o2CF624vO&64+P4kDKHYl4!IWg4xOOP?WXn7jGzH9+5W$X2mv
zgE;{|r`PuUFItiytoRyDlq-GC|Fz~`1nHe_#2G{rcUMaE4xet@)PrcwcQi>$r25}!
z-*l5U16P(&d}le-sqxK76YN@iY8z0`>$FBVV((d%VisE>C5xvBT>n?Pvu70+vJ{cL
z)Jr+^zb75M3E^QU&U`u6tKR$N*xP3p;#IbCduyhonUkl|#jztjaJBmg74?7y@S9;;
zVdVWd60~CDh8@R5x?n+S4w75;gj_ZYlhh6Bc9(1DZ7Xd#ghTCDsJyx*(w?eNv^+)`
zYVQQn1(gD21Rjc(1vW+uM)444?e^5!Gf9D==e??6Gnv6r+fG747Ot7gHc?>&C#Y<m
zYvwF6XWwnVVcBfUOOI6CD0WRMv<qz$l5WZX-5u<NL}6}~a@ogurb!VHBoRN?<vdH|
zc}lVv!Aq6Vo0}S7)p~i|Gzvw}iY13ExYUD9?D8`G@l{hmK=+3MO2-F<TPtrLuVh6A
z%k)YAgsOaA53fkCgy|-h&(bn&*<hLDy=JC!z!=FQa(b`7*KK)w5m_wO-PhWHkdHPs
z3gO$Z;|V>cJERRo-8GFKNOo8*N?k~zrq69tT9`dvG1bSLJ)Lg88C6+#^mO-l|DsI`
zIhCdGZW(}AurTmMlL=#;6$ao8nDK)bWmfHgUZ2_gEAe!H{9U}>o-s4XDPT#b<nuN?
za68mOC+hHYzcZUST<u<`U!VNtn3}run1Uj3aJh3d``5L4SI;<c=B`JU_?gpA@Rd!C
z?6aPCY+W9dkWN2)@?rq3n{&I5<1(GLf>?_H!z!RG=HeocOH5*AsygQ}3>wF4ba+19
zuG64aFTl%Y(8u{++%%~TTM2SoSY{#C#m7}O3Gun6h(Y4$+sEnz#QNjU3O1J-z_f0&
zUlO^U;F+Ojj%}2uy~O$VRgRdvT5wptj-zPshEG6s{AU3R4Tl+~<LC-ao1~t_o>;?h
z5Pl7mvPcmtJ106h_a2Y+Zcw*zrn9oUGR9duye9tlVvZ2|KU_?tp%~Tk4rH}XYIA=S
zgEKOUz$;gz^LX$7k$-A=K7OmgZ9&STb4hOgj!F>RJ}&<jGG`r)%!yh=<nrgF51M9(
z{j13Egd|$G*tGnUgsuYF)i1{&SrMT#vok%WdS1TF!=P7U{nl}x$<8WGnGaY_x-UCD
z-N=#GuD*cJ`+WGwHnSS_A|BXZH3!F*m&Xf!7>LJkb4;@`{Y41XE=%6CbY}mkIMoZ3
z$U?c$cfFu?!z=})_ku{b#O^*DP>+J6hL0M``&xJf|0*f?y7~W#4ZcbBI-8`RKn|=b
z*h>=ma;)hemp|xWS?Twe;0xF-=+BGS#k9-=GOL^x6`nZU6$Rj;yc64Z%P;C@rt015
zXqnx5DE*&%%3%|ddTQ5;8<CM@QF`aC3gh%KFI@Wk&Za!}Rx3|~ocDdRMxj$xTmEA&
zyN5y!!k_w(u1!VD4jh&O91#M%iA=KzHI*NT&m;&7h(EV`l!HiOOK-n*tw0cIO96rQ
z;JtQXv8K#*Gqc3ODI+gmdf3Rv>f{)RF(l#PRtdzMhbgc@3+c)d@21~6uh*&Q_4#|L
zNA3RS{x^Sn?>mk`lC1SL{oI24*7=SZW=htd+P=#vK3W|-<i&1$$N$?W{5FpuVNcwd
z8TPB6Udq1!Gkr6%9<wfTvGhvu(clf$b%ke~d8fq+ANO==BE6?)3Mnp_SWTFqm-Qx2
zOU>yB?`<{PdY`wI{auicRd?jixCqWRz)6Q@4(@0Ll8fxN`PEv3;XU{5H`}e<>y_D4
zJ4w|sQO3fT2|~Wa1R*D9_$EGeeasruttmV`4~6og_Vl5=z8o_=bNL#wujj?8PHXNX
zum9XV^>r`zs|{Me+CbPX{>Su#vz1_<mEresdD#Rdxjb(I4Xd$|+1$K3P*H`vY?Ego
zX_!**TuWc(vuW23R%=1y^m)i!BuHLtI{6&jn?#!Vz1s1au;8i5XO8S?mBtjrCe(VP
zo}jC3o&-f`6yI_BZg-bNP+QL(ElaL$NFM%^5Sy+Ztf>o=z7sjBfHlx90<LwHuP(f_
z$<vMSs1hR4OZ}8#TZ|>~T!fd*m0{sxo1uEgkwuu|sg8#S=i3^HWp0*mOGtjpNFTxr
zC@=-4aAusIcjxrkaO`HCuJq|QzJ$JCd``L{rSK0};=4Q_SSM0$itSdB>h^$rNa_R@
z`iUW(NSVZxLA_Qy<jUliV>jrllhPhf*K~0lS`n5~+HEmar;`(8qo80w>}q|waR#KO
z{cbQjjI@*;67Sbol+JcEASHSZyh~&;XX3PQWw%=a8a~!W7ExY<0ofe(V2*beqoK=}
zg_3U(lCAZ6?jNMRhFa`#s_0Wq6JL&PH}LtDb5W)JcOR~ZFo{oz2Upddvx?8$f2-D*
zddlq+O(ts^of$u((^GaAQ9f)YU*y;Prb{`)IBBhF9At0yWU!5#I%H2`(CXSy0nQC~
zsXUaye6l}Zr9~~jL4;<l>QO8ld3X65qfm<B1S%>>L?<=lrAlMq{e#eW<%gW$?6bFO
zZuX+CH#D4|M(Z8XHQsQtNY(Mk5DWYTba8BX=fL3wM|2@n#3<+C2b-2vUD4Ux$U3R6
zI=>x4d|oltW=-kS&J=hj`i4M~JCiK%&PC}|@`1!9E>Qa!+5J;xXT##MH1SD>(o@x@
zr}rsslZh|g|6y6TXeWu{=;nLZhq;~YKEoj4T_h_K$8;^Vn~ywqS^3oh4IeE6ez&Mj
zv_WN$$$M#K%FeBv6zq;<MjHj$tyu}du1Qu_T_vCSQG$h+{oj0Qa5c#oIoR(E)9uH+
z;^uf=XVZ#BZV4VnZp>R)B!;|_@~Oa8O4h8U4$Pq|$WLsUb{`D$f}}_2LyW{#xb>_Y
z5L?&6^b(&i$QbAXRO<%w7_&Ln^`uS^2;{bJ-0v!2<DOJLPEn&z<iyqeuITZ5<w{sg
zJHR=ebSTrOJ3l||n|W!dsm6@y08T|RY-KyGu@~IjPUzc|hDD#3x7TTV5-tD?VRBLR
zs{(`~P^861;o>Ak---MfipIc{L<|rpkTgd?NFa<ySlL|jD4)cnP)CjK_x8Xuvfu^^
zz)FVw{f`+EMMG=BgUzPa0Tt2mQny*fu*C9Fdb24**IM5c-x#BiD@xXXn`6A1*rgg?
zpTCuB<<ywmqcp&&1{B9A)aYl%7bNf7y5|*vh`9oZto=uRJC6>Z%&UtRb^9?~D+twD
zSrfP!NffzuQCBxb%@A1SSD6+pb;#4eNpni<KGfuoAw@*S^)~YGdcD)2)Hp?*ROmaG
z)ZDOUwTn8x{aU57NqB$j?Jq^OZ_!1s!y`oxtAb7RCiKXes+s<XC2({3ww6#H%w%w|
z;P*a8umTD-NCC&Q<m5AKkWt27n)N|?*rA(jW>+@$I@MGWLJA%C>S>MeA}h<(Y}cQh
zJNXMpbMme4wcnK1Zo8;tC6(?2-2CzNR)28bs<<MRkR?G6vX83eKlB2%Eat5}a!hl(
z02ErJvE8$F1$J+{iU)Sj6anfrd|5jll_w)k?X9Mm(@{Dh)X%H+Y!E-&6V?Bk4Y1CJ
zE>APV%|%b1E2fk;xOkYw+f~hlRC{*ZPb~0+g^ga2(qgXY%qOfp^WpJG`ufahwf5|{
z?(A78352bQ9}mf^!%vG8+cDTvVESw{UZUNgtU=KwenMwKinWun!ppzpoN-D^47MJ5
zJ^Sp`S)<>V0vIP`M0c}qU`o&3@Fr;vU$vzM0lTGKIe1%brc=`!GY=RECP`w9^MdZu
zaeO<JvUmO(fsiW{_#m&$`@o?dW;T4N6H3`I!_|t}<--*684#fpsLW?!?N_Fg)n(<n
z8c&Zt@qoRlxUMws-;JC0`G~K^jL(!kO^SUzKs64;#Rldy=3iNd^G(+ULTLy+Y(0BI
zZ!4uh%<ziGI?0qK|6WK|+@9d-VN=#e{%VmR{d>7Z|K~@En?@c~6(49Cah{!vJr$K!
zb0lTGXZ>COg-Ogwv6N=LbG4E-c2(s~oTh|NWfbD#?$wBDi;9YaFUKy*$q5l0-#T0%
zgx&dcCkMDDy)*so2cPn);PNE6xov3;L{1?ESOpOT7AfREVXqx3X0mo31c<F`%w0ST
z{Vet6m_zk0_;uIQu(;es?~yT5PY_hE2N6Q(TWhh3LIOmWGyk#<>ewktx`gs%C3*|$
zG>fF7<+Dt?m7$i7s}7JyiSf-ExG%>(I=<e4WQMg-=VS^OkD#%O2VvDGVotr*pxtdj
z2ub8M1_(I?1c<G}(=`oEt*j9h9iKr|KY!uAD?4NR-E?WAZ*Tdir^C*z0Eh!-L*1sL
z>WM-0T}JWyT$>5m{jLeA*o?K)))<`@l%dCN3ib5*E46)+*66D1Kh|MqVfc=0eUJ&{
zK}T|Jt+;Ypf<~>5SKjA02~whYsz_H-u%qz;G{Xr)Xq`&S-T2soc0w2+)<lG*VSX!Y
zr;WB}n>1C;F5zmGc|w6XjjRZe;04iDwbd1Zbo-xH?LeeZg5ryC^m34kcj?pb&Hm|f
zv6YlyVBAw4XtUwZ!auk><LLg|)TJ-SK7?VhGS<};5ea+|NF*03AmqP9{+Rk5aB^=?
zmjq|qAP|b-xmF0BHh_4a-pZ%ve+le;i{HK}ujz2Hedbh=gtONjrDmUci+#_((SSe7
zs+iA!T5fzf=J)Jq8gjYXPd<5MT4}kjRNZ+sfw8fgKiZ`LtPkP>TctJexG>nmhH>SH
z@kp;Mb@3gqf@)vf1Ug4s+USxykg=_~HdDU}#lPT9Rxmo8ed@)Uas#d2HD#pcc~u~J
zW9HK3cw-0706C0mZ_0}>>?LosSm9{&SyUbDuug#T0s_uSZ{?xU9=ycPrGzE)xLiH8
zpDgbkpKR5$X~o~soYw1H$|W}B=B_ruZwfljPj1^!?g$3&)z@ow894O#_QMjNf|ISU
z&yN<v??}-~f9mux6Dedabk#*i1X^t+&S}#kBb|voJ$-VZA0IXxj6iQABfNR)00R^P
zD9v3>>|tVMP+qs{8kB&UsaIdr+x<cfeNam2*lJcbu@0U)`#Debb^hs?YrWA5Y}pC}
z+o~_e7;cgpQCA(oVR6*81MAIMIb|Orsqaw84TaRL*#5cDb)r}@oJd#z)@${5EibOV
z(a$e?)6+=)^U`*k!`&r}@`MTwTU>_U6lwD^f!K`by!e?DQ7mt!=O{958*PI%Fu2~Q
z<V>~d!)mXB#v`NT<n%;KSY$GFTB|`*4hW!|4sN5OQK(4DHZ{5LwDfrAZdqm%`{|2~
zuy^_VbDnKWzh7-u!I+5@BZ<nGzm5c<H;U@!7eMo!8<c3JT<%ED#sUcDgq&V6-db#j
zVJguc;v{y4AO!<AI&$96Y7u$1ovTL_4lbF_uSu)8_WPA4iM2N{u))qQTf@@Ta)io|
zGF)!BDxL$ihwe|574fV!D73P>e7m)nR-gs@%9T(Zeid-crUdS^r`57r28Rk}+ch8^
zfQG0|eo=$Tt4D(?(UdoEmU3lYI+Ww4RITx>w=6%MvVD2vm9qGp0k|l$XNP0U%eyXI
z8-uD+Y^2`hdfaXffCo?5)VTIUz~qElQo#HrGN-LUB>HY|@a#JJ01P7ZQ$q?|ZGPOA
zJwvFIw4d6~N6#G(OS(8EE#>wIn>kDfr(en<>6WlHC{`J*DB|kf4|6Isle>d7)1PGJ
zO`Dq~Ne(<-hB<wcZ-c@(rwkJ7gFrfj3Eyjll~|c*8B2dRC1U(4$UB}$++-S?%E@W*
zLl)ww2V)&sR3o}Tnt12L6&VVJ6%bGiX5gyuy3IHrw=3o^lc$XIrh>JTk@;-j2vks<
zn#i4X_bZS)Ix|$$=m2r^|NgfC&<_V$bum{Ud)V)`UL`DR7wL|wK(*1kn$1OgC$9SI
zN94<uSMhIJua{HS54_7MrJ|R9_}S3DpSsCXPQZL(ov)@acmmLJuqciPzsgZ6bJ1ol
zAmobE0HUJ7j!?*L#kXM%iJ0)Z(qe5|2r*@St6k%u<e*6SutmG!+-n%d!bSl}?T_A%
zese(U(`UVYd2U<WeYWvFX^%Uo><6M|USJ=t|6Db+t!aqIDpwBScSee;zGF7#o%Mi?
zmh@>YZFP-K)EWK0vwG!KZ*XH}FP)~nRR&rkZEr<x2}a7eo548xr8+3o!3<&zkt!v*
zNaG*)qJ4sLD}_9$#EP<!MYO$X28E&>pWJis(;iI;YiXh+LFE1Pxa@51@hmR#hrln#
zfO3D@82}o`wys(lU8>?(JUJo{JzH!xqP~#Vz%2|8xmfgreJYo&YvSwq{dWs0LBhKb
z7tpX8?mnRw)ZGq=yaE@`{XADf3w-#;JCZc7;w^tgh3?{i?s+{Fo)^$;Z(qN{sLrhE
zygSl*1vH4TzCP@+Z|co1S;1pzy3eSQ4s<SN0?l35UP^{v@wL!xsKVnI3eibie=z|-
zY-T*dzvX{v@4chiytaK&a+26d+=4OK^aN~dQ!NY8OKj7tDWZrLOGY3Gf$1F*JI06_
zz!V7~LI)v%0f}DX0FnXGBoL+;j4;hY22AfyJNw<-ecu>o-}m;}d%XS53x6;)#`?6z
zT2r%qYt8xl(O-(EOI&>fN2=A*1G}9Zo?N!`P!XZcF8K~C1-vwNRy~`EnEIeTd;4lc
zRaHvn@DQJ>)a&Um=Vt4SRYSe{e6ErIPLwT2-;qP5s8AdZso2R}@0mp)pC``&Zsaz(
z?xy!?HN7z)R|rg%w1(rBKUFB@qf3#>9Q{))C3Vk<#hL@fA{oK7-Gk^eM-qnB6l;qe
zULE^zsLy0Q@iuP{6DOWf%&LI8v}w6Y7T~yrxgJR#Pu4mbILo_n`7E!#8A*RWE0SJZ
z*|33C>G*P99U&i-BOn^1JNxOg7jWeh0WY?zWTHRqMnYQlS1k@#3KGI^APB^?9-FJo
z?z52hV@N6!)dB{KRWR>nZ^%uh0foCPwlO&jW14@vEHHUqd#o>^e?bO~Hx7@V@LIu4
z0^<j!%eNnu_8}g9Zl#YFJ|fr8l&_642X()?6IkymkCgc_&Hj$UMDkD_Z7V?2#;LjA
zF-YbOBpip=BjCGe)Fu>wrM+;y6_y2siDGE4@fFn8W)x%{paou}Si8IO(>yC!@uE=s
zf!Wyi{dmoUjZ=JXK6t`>V2nia#nsTV6j1%}XjSqht4#NlXd@z5GYOT3DRP4l<6jK#
zqcz#pEkg16WZk`JXq#L}5>E&yB&h3A&=#~fox`Ayrm+01e23YvDA>j3AO3#g_YaPq
zQp)p?N5o$6dT(;7;-_PC=Z*_yM`}Ob=~c{tyK)%l6a`<F{gnUHh1$CK6ys|;mj=tz
zO>!&OwJgswtL&GUWIv<KN67D^p5}@u8fRgjL^s(xYr@VzBc6?puuM`oa$^B)Hm=h-
z?_g8&DAwK5{5)Zs82zrWX!i^5`}o$0(CKLXBdZAO6M=>WDb1JudY5TP)W^UjBp>dA
zcCea~A;gS5`mNyU+O+Zj31vdJY1Wc!N^2W7AeH=5j64w-r{xPlFeQR|ATX2PM{N<M
zey*AmF$|O%+%<@}*Y{TAyb67{d1AC%Rum7Vl0s59Q`;l^R?beoq&j0Vb2<cu#;yrl
z$<~ZP3d-HIWTMve)S7~VmJ9<BCj$3Ybne|fG`@gDY)!!C0052rpXM$eHT=k~zR<;T
zIFf<sHSR`5OKUkU=;<`BMPz&fealM~O-0@sRLwIvP)Mgs^jX&_S>KF(<A4>iz!dDi
zfAeKU@g!$hO0y!INpKpihoc*=S}eqjSMAOZc%5y(d?K(mT()rF?f~fP&{t{M4nz}t
z0u}=Cev?0}@%p~qXcvcHe;HOJ=<=aa{Hq6(!P}z`2(uQweUU_HzIVD>3*1u3SgsXE
z9%ZpgRK+?psxNo>`wRAI;aC-}JRuhZyDb7PSC=yon(E*@T>p&kpeOet97+n+3BEDj
zUBUeKA%nSkVTc8>>+6SY3AH+nO~#ldV4L6BNc6>PLH5>NwF>WJ>)gJDI96t!2uyY>
z=V`UcSzp*!IjU|@&Q>~rX^Eu){H#%e0NwSObFQ(>*bjV)LyLYrpil__w3X8}CoP@O
zWS!nX#Q)lzBdb~&=$r2H;X%jOL*Uo9(C30{iPtJ0j(`<{&2C;Val)|yyz~$Saj~M9
zua=~QHX*Kx);!ffpvZ(~AsdUQX%?<)FTlNk&dXni<ug6vb9O)|!7J0@;WDj_cn%7n
zF(F%06poF)oc3C;Y7*x>8rwFDK)5}kJsO!*K$e3OZLG3z8f=rRfidDBrV$qeRxQey
zV`^B#Iw{NAF8L5RKYA+x@_(YOb5CF9t#4EOJXDN;lK`Qd1DMag+OGmp)B96*eh%Nu
zc|EX`ol|%5K@=Tb)ts^%N51$5UQkh7I{vP>yzECwAf%lAie4m~f9@4A;oj4Z%ubgl
ztyVDG9SqOA)zN1g*YDrXx{^caS--Ra3ffJuno2WGSqD*hLW0vuA~WJ$bPEgf8w{Un
zhEMOy@roSQ_c}IEiyqn)&8$Af`%Mk;O6+}N*o=q5x9p&c3J#{KD!(PCQQeA+je|5|
z%pXPRk!$iI-$PK^whd*9k!~{4Il0zWC>Zbt7Zo^$8D%AP2Wcwg?C?aWW#e2xZU9@0
zVK4wts{4l2NS9USy<Ly$+)}pyT3drcE_aVOjG8PadO#qkqC(%|;P@)GY4%-vnabv?
z#xgUO&K$}DNJb%ABfbmm;#h1cTWk?Tl`U(N8t`{0#d{++nDEgNEOua<+&rkdg&X`Z
z5fNE8sXcD{>p$qh{{Gjl)CWgZlpN~jS9~LW>gyuRYpYlDffRBxHb(#0?z`;Qg<SpK
zAJlF%4}Sbbs)?rxwjqH4SBI-<Jz{@>Z{U~QilLO6F^Q6rz;B?Nl~5RjVDO#p<Rv$+
zz5A!SFFPOGe^O(}j?EPCu?fzf|4#hRfj>p^Z>J2Oo*TT8dtR{^1qO@odFf6B_}p;N
zKe^%l<c9nEuJgY-`oA!${7FXmCkNzzRiXZO-~UtL{^SY!lPBy?p0NL&pZG70|1VDF
zKaPwIgByll-Z4$^wRveN{s4mq%fGLwC=fF1EQt`*yQMp!@`l$GV|o4Yr-lb@4Jtjw
zYu|Zygx1gRsS>_8clpEiREJ!~%TEfArYE!CF~h!5^=O$4IK)|hb}Dfv($^!y^z9GB
zF{|jlj|iQw#r~Y?Pg(t`4F8P{=W)mP5DQDE-h(#_^L9G^#Y(Z8&IR$ra-6u>b=v&L
zA3X&G&Wjs<?2j#Q$xC0fbTdis|Bu1X;<x?NOqSmHK3`&v)%1H5K+28K5GDxj?;Kwr
z355alAJX<V0X$3XE)I+dBSlv$7;;$gN<j@R!o69uepQ${7MR&P{s5;gm(`YvBx>@z
zm<pE^sc6&gqEn$cn^?>N)E}^8#axm3yPh*fzR1RP-oU_8zH&nX8=ur8m{&0O*&6t6
zZvq0VXiJsox$-X1b#ymVSWEaz3k$Sdz=p;j6VA4JkitT;w5INa7u4JJ>DbrwJKulh
zv{xK(TVr_8-Y^nh&Tg0k+Z!wkwpE&N(S_QKIgM1eLa&v_A*AUD1GpE(n6!VdQ9#hC
zNch3ZWq8Kd&|HehWRPv=nfG!mV!F8kG`a1I$`Yn-vh`NLR|k;i%+!bt;rK1=@@G63
z_Xr0$K8~{}_Mq_MFTXEJ&?%Ka&oxU^M~w2&&^-?~YjkN;bC5Y$dpOMiCv<?HH@M@0
z++w9hjCVzF<X9i$u?LuK1ln{5C5qil>Wam8UHk5j?fu{QaO&J0+<0|B|5prPJX$pj
zgm_4TOTS>-_RB-_Or~peeR-&gx5z?S_7`(e3<D<bM#5<71+|gkJPR*7aaNh~dVA<1
zoeay;UVKR9G)JUa%vl3?TZ5hA0gGi+O~PxBHS&pomcr_#pxr*jH7a5Jn)Zw%_)a3c
z8YenDFp~Up^W#ft#Q1K<%8BwS`%yPBhu&_lTp;Vp?!fq9sruG{Y-vapi{Ed=+vS5m
z>rLm+wyQhlHYG9Kz!+?5fv2wA!<Rqi{<tlMzBt_O#DP4`a70W9r$UPDV=s5B8x?Lg
zrhdBFk-Kr=9-5o~?&IMUOp4$dxZ$NU347Q$Q<NNI*-Bhy#OmuH7+s5OKTs6_Q?>WT
zy>H4oQ33I&-toaoXULbu&1_g=@s7q#guJ{w@upt@=(#`7B3<oJbVhbqtlFUl1a6am
zFtTrb9@Aj<s98vOe`+F(G8pBUCF2ihn*&au$8wmQV7P4Lx>zQ5zeZ{#3g|n|fYwpw
zDUWOnt<E{aQ(|gMMSo%Pq@_1=nUOKy9uI45Rv+E!D-*griop+JD?3gE0{UIMD1YZS
z?bJ{^Y#dBI5y<&?BG9{Z`phwJ_?X>r#Jk6Dwh5m(AYa(OhM(Ekk-C@bpgnN9W6r$&
zizZm(qhOS>h=RR?ToY4^0B6~QTpk6bF}jC#K*LRtcYMJ7)bsl&M0oC)Lvt2sfCaeJ
z#s$${Z~G@2!CSU8P6P@{Nh}n?Qf64Z%VHvv;-b6mbD(=&a9H61Jv`eosYdPVffbK<
zv|}VycS}+2^IDs0akHjE?n@qqZkK$qAL~Cu%}6k*`{0>R?@EPU-XxssGHe)47PsVt
z;08@`bBI#7jMjjhoWIhP{_t*9az*{~_iP0~JB;F@&1PW;!x~+lK5w1l*3acWnf|QF
zZR6s4JVMzC!n!8>Ia=xL{fXDlms;(W%N}b=y*Y2d0=^6V)hbV(*kQ;a3<^b9ZRAI`
z@}zR33TD^z*!ikx(N<VPhxTfF%%LBvNWL4JmVby%3OwJFCoJ+_Tg_Yjv(ASupEo0&
zmadV?N=zX;1{oyA1ZdbzrUo3JFlwmN{#9M2grth*A;(Whmz#*}f;Aj!U>MfU*#+Gb
zs&ffcSt&~e?^Lp$d)~rz-U1<Kg-aXf;+r)6`p;f=#LUwglJxyMFJ)=>8&;)=<&1}A
zB!r4yLVd29f?)*IIrE`=aj7B6@;4D2n7LU^q6=ig4#0-0aw~-dfhh<KZr@8ta3V5-
zenEY-b)lwcffJI{&9i{3&rc}nuICH}jb;lzqAw7>AG$v~Wej%t{BvO|kwy+tTN3ng
z>wKn*^QX{X@<wWrUGcjP22h1D@cVbm*Q2bSTh`M`py8pE<v~8+|H_5~6vl)?p};G5
z^XuceLgv8}H5F3t;JQ^VUNP$_Ev;7>u9I!^F;&hmpU~LWaewWbfUL<l^z+w+eFl_$
z?xjoC30kK4q#9j`qzs6r1Zm9vP6Ys1QYl@N(`s3X#ZrPWm}vkovCBb8+zJ4cBS1kx
zyaT5MhQp+hTxd?tM4+Hf6CN%n=T0)u8&kA=daEtt2GHX+;FMfC%Ppt^*Ynhe3s$^8
z@Iv9k*HfZr?GIfUQRWh^t|<;JcY|b}uSaCDk}aceq(E%z2O*I*K<9z*GMobc=2o`h
z;cmp3U<sLkXdRPOk!V~<f@J~v-FTD*05H4Zi$y7)#fW*UuWRS7tSP~-|7xDJnvGOI
z>slHx)l7adi*S1Ha@D4^H6?PC5mAUN<lnZx>GC#Sj954AR^^s?r#g==<SoR8)VQKC
z*qk>wTt->v@&*l!wlsr>bRn#?j8|O%Ye`nja@)11gXX28eMv%ojnFey-*h$TI11CY
z9#A1}fmsBW>weheSx|KxraBOu5}8>wl;q|RL@c#bu)eHHg=Og^>pI8pPvoQ=bVK2R
zNel)XD2VlDlO8pUv9N>6l;ttKH0K7tX*?Ql1Y|?M-Hf~A4utcv6XgQN<;i3Fko{)w
zd`C$|u<&zq?2&t+cZFv<KadIw@?fLQ{cd7{HfO>T9hxtVRLLARQH=aWFgcUj9H`8j
zb-b6SR@Ag7S92b-4fn@l;`7$|Rhpt*aGC2D@)5vn?X}fY4qpAf-@5{?EsD5)Q|H1{
zuA3|>q4ekuBV1Iq$WNJ?B&)bVy}~vZ(mP9ee&g-}UKNfei`l77;xs8`w!?zd&}Gr&
zdM-1_BTJ>5J1{!D;qSJt)9{YOSVcDvXwhPXBuAZJ{svQeVWi&7nY^}#5UY=H1x3>A
z)e^#&xe6$8b9HH9VrbW{%$#f{v7D~*8!9tG!Wpu+&73WSHjIptWkRv<C~!D5WC26!
z3c*sn#4T>-hTBDlW2lI-NCsMJR6QQUO*B{t#Kx08)OktW97sxfnG@1)niIMb9PdxN
zSzPn-k-1W-d~TF)oby#P@7VX7gK1M{RE+khpc}J#xB#`V(U_-qF%6J2LSaDB0JE+x
zzXrDjsO}U8_!HMd<(?g;wQDY2MtvSbEo_>cpdA=Rd|ZIafpckUgDoM>Y&kDyWq?}l
zty^tMDYF=!gO{Vj(1;`J_Cp*Yjb&SFGF1zzt+~SciVhNc$Mh)Zi@E+J5vrt>jfo#@
z5evml0$VLM@z#E(zma2*Yg3+;1SjS~(%key7oFDFMOO`_?PAO=@q1;$A6jI?8Lh`5
zp4~ph<kuCuv{|fpuekB$?sa5x(L)OVidl=tDsw3=`!Qcn1JUq-R+hK^vHqa7r#;mo
zawAD`F6PMwrh3&VKXWb5+Dodg2l<{~1nxBOz_pLWoxOu~<hpBjI(c0hb&_BAVNbL`
zCRcoF?IvVM(W=#EPb=mniE1?u!49(EC9=s@kVf`1x*j2}w8PTOu+)n(k%9d9aS<St
zFsKHH0apg-(wh-@qpZ}n5(F8lAAtho)cdD+GiX}yHdv5|k4K%kT7daQc;*;T`rh|t
z^pX0oN5Q(K8JHA8#@Bbux(NjgNQ$nTm>DtEXemJ5?(VXb=rL<HVxKVbe#YuV;HwQd
zR8}$^HjZBe5^^*?;A1b8Q4n?xP2B!uMaDp+RR|4m1>fgC>onlx>-1Kkm|1sj?rfkb
zs)N?!CXTGIB^1J$ZT<Fcrk)9MO{#}iclGrix1H1C?#5+hk>E9!F3<?eN{cbQM#iL2
zJxU6LoSx7Tsj9+r##vR7-RKI)1T+%8vbaY`Ij=UMD2fxMXXe;~N?-0G7m<YF@90fK
zE+xbQpG?)YLgIU%v-ow9ymQWucjeMQNZU?Kedb{s2pSnFw%EdT*+TVn>Zz5|U(h`x
zMyj$e3!2c?@{|CFEVS98R2_uvHC7#@CdruU`)#iwgt};SqbsWiN&GO-DRPDM+#K3!
zb5A1u*NKRwxu65vyZxbbRT9`fq*AyXmLd}rrEljj+)uXDb|1~F0p%^^OpMZG+lq35
zafwTNc(<F*^Gqt&slg)xkhmB|nbe@k_{U>=OVYwSe|sY3@O=`ks<W|l?y0{;!02?v
zdo)`^N%d0d)77V&7hl@HUu;S>d0nCHT5YTet|5AZxct%%kgP{o6@C&(+31E2$5+9!
zCi$fW{a(Npb^S%VymMuY`FLJmKZt<9TZ3TXG+6*ZFiGyw0&-zRM@o50soMDmF6rXz
z#K9YpGi6k!v2XD(xyxvIIM?ot6wyDSb_r~}gbMnav+R4u3}@#}T@|zG*EaOBMeq!a
zKaAxTF9O;jVaTy04p~qLVmpzRvLO~VjKLmp0~WpGF_RYwFF37l`&#?@R)EQYW@p3i
z<!tvQ)q>EMC@3FdX({@yxdnxXY{$ML_Fv>S2|G1&OYZw;Na!y{2xA7a@~T~|UD=~m
zN|Nde45(}b!<SxEp<{fZfEKjah61JJw4uG{2~E|?*MWStvu`bXU55t0P;$POv)iJ&
z(6v1^N{+5yd{|L;pGCjB!yFmB^t_hU)uVT&VwgBCadcyTH&ZoxTA`qNk6M(gB~&3a
zgQJuz0K_dUAh1#xn(Z$Hv~)wFd&oU0Ea%ZYy@LfcLOZeTcn{}XnJtRS3(E((*XM3~
zIg3chS|f@*uYG3GvTg(P9+_|hhEW_Vi$@(5(yrjXPW{sQdg9yGo<%BGZO}V+Z9jY4
ze?lfalriYqLbp~wM`sckb|89q!h3cTeg~U^uBq=2JP%{^)_KhvNew7^#QUf^Mvl74
zU97+NurT`Zs!5vW5I`YUoG4p4f+8%<r|Zgh8-ZRq{(2;rogKYZgUHFNNenJkqe2@8
z0=*fGt_Rb=CEn%IiI^_9`ZQDqIzBDumy={*1Zel<&0fbk)s98^p6^|;OsQDct*3+b
ziHYZ4^FS}u@?1%ANct4G{Ph+m4fJh<$va~eMx3r&B!cA<U%JJNABg6+w?Jgzx@3;F
zm!K$;$*d}&P^!mlS%Rq%P)(?Rz88WL%mqG;{1V=d_UfPe@<Hw?ZHo?{aX%z&2htZ@
zi>o5m6RECUahEC|rqMqYQCG;e830GxnRzqYpGlUzL;5#A&-c1J3>o7y2DPJg{RR1d
z$s3w08;#M3`jn?=(fTqhb{8>0?J_1Y`1LzR0P%V8?7a?rQ=Mne$_2|DrOwbOkGQIw
zge}ZBRNFo~J-Us=xyJ-ir}rV6eYbVr*R<So9>SEFnN9dtR>ye2DZ|6<vQd)`db$eE
zm;v?vO3|kc`Tdl2KO~x5Stg`gS*AAQ;|CBFoJ8Qwp>MgV{_dd8#;mbq)N)m*k9dOe
z6)1`f(z+wrLwVo*@X!Sep;taMY9sI7*lscUY01Q}lHBRN4!E+2VTAPiAuVX3^8|PA
z!3yL+s$fL{FsE9vYp1)yh2vij%axR+Py@dF&)<H|Ht4N})xR-)ypp3Y0-kM7vP@X^
z8C4h4LLwFu^46?n8|z296;0-ya+wP%M(J9?dG0FK#u}JpQ$l`A8OnIK%j<0>Su9Gg
zstO3`N!_C&Oiu*PSm`O=<>g@~uZF=?ZYVeO_K|j4!N|&Xr=^veG4@Bdd(bk2l=-Xn
z=)iHg*77d4J!Z-Ul0baT+~J_yAjXOVse1Y$=s~SO{Gj^PfCZ@fHn-KlZ<5`rGhL7G
zLfSSFYFw7X+lnM6KXx%-g4!0dv&n&DKUtllvYeEMUs@-xD@#z^$!fcAOK=*c#m>cT
zztN3pfTg8xpk<vAAf%w!yCqvLa%n6c+pw~^>heB#(r6+)hX?GdFn82oY&gDss!CNU
zbE<9&YtI8FZ|S@uD`_zNEX}4-tR-H9!(b-%S#sd%PoO?Moq|K0E6Sn7c5fT-=(W$a
zd25w7Crb-89!98{$`I@$Y7K{FZM0Oqk;}-neXU@Mmu(=hU5&bc`pCo$(jo?fRD%&+
z$cbSMeyg$efoq!D;Nga9zLh(6AUdpC0zO}P-t~h<@3S+WZ-hZ0)#qbGbNnvm137Tc
zumo~0<+K@Hb0AqnQ-dBQ=|FW`L$(z*;s&Yx@l|r+^>`X9hj8Fk>gAo28^l3V_!W@@
zP|eVZ(4^=lx~tzPw8zIQ$7$}XzF>yysTH8Jq+LM?*b$(7X(^seGz%9>DPe={Ii9=d
z(Pc0*!MhE0iQEi{7z5~ZY#6Z!EkVojC`9f=O&jb=y&RBBS-o;1Al0|`H?=|E<p1zO
zF{h?+eOI|_#o|?C+;rBPug2<?#6TB|9FvTemWIi{*ex|RsV#6*_>6KDvBmL;t9>lp
z_CaIeIr-ZSf-dqtjZc&wkq2g+UAcLd*F14JZ#XHyJNVw~Z3Q>^Lb+@rN`+~h-bjMI
z8C2;6V(F#)_H4-=bKE#(ahevRk;E_E7UXl#I-#>#&{=ORz3W^m%5U7@_*@#Hyr{qN
zAi1J|1QUyAQ-ulyh3<;DZ;udA1D<XOh>^mTXQr2a_&bJ!<Gn=5sc4jPlNKo)Ef?~K
z8ifxRU22{##K|Z81aqcoiA9temVuM3;x>!!KU&|bm$fdoV0eY`TgXH3v<;xf@{Tqc
zSPev5)d`9&^DD57rhnckJEfE1s|Z(3{BpG0KV@Zd1Dde&DCOC6n~4L5u5l*Tlg*qD
zy<7qYJDQab9k~dWG$>jaM;R7Ep-szIC^XqCm~ly`4GzpMYEECu6~?bnHg?^77X0MN
zw*7-v*PMl!@2dzO`-|dnbCK1J#^&^8)A}$ZJnBBGkf<WU-jpxv9x{4fMR>l{6$x~A
z9@qd)j$`oyYRPpI7e}z8tw<M=wR&-&U%RZ&s`gw<ozh1a<=YsPor+JULnCVQ>hpo-
z(Gfd?kwAQMoM=f@5RbW|OtORq9U7)Z8sQOMfGgZq-j(FV=ps%sN2NlmjvdJIo(|MD
z8pp0a;~AOFXM%By&lWo&BbSrDo3e2^KYkyN?yobxZB0r?sqg<x;~5cwZ<j`gh>4Q=
zg?XZ-)AkJ3EKm)55ZczfSp6Gd^5`nEyMtq_)DGwqrgx5$j9%x}jj5m)uLrOM?K!y0
z?TaOiEn-aDVGkGEy{jp;VnG4ljl%MX-SC!72|g9_P;*eB{M{g~YMvg;H+HYaiDB)8
zcWBcEvOP6MC`d;;ZFZg0F@sOZre$F<5t#29WC#h<oexeu>-HkL`SIbT=kfyxCHvAF
z&-{I5cCt))v|0aGpqQ)4yu1CTd1mZ-o@S~m0|wOf@^h_Z#j_|AHEh5d?Woz<eP}-M
ziJq0+?DDPtYbhJ%mb#spNO{CMh$*(8P^FSMca7|M*S>E}RsG&O`=NN;d6$U<I&x7^
z+?WbbV;Hgcl*3rY$_iSIz^5Dx&G*vi8Z=27kO7Fdfm%fZlxyF3)f+##-cZ~5*(L=z
zQ4QMOFYQ!Kyh@5TRAu1c?S_s`S0kx-;yjZ`3|JS-!Zt*7!?g_9ZL(QvU2y;U@q9-V
z(22fbS*Oh}1;h{R;f+FhQa_X79jD7bXoQ}A;7aYY_}2N(Pl)-F2Cd};Wp+f150XtK
zmk|peW;CTB<#kgcWGU)q75(N&6l#E4gC#lYf58JK8CG6NG8n9E_P5lPR@S3TN{jLn
zjsdt5HgA@deR%27wX$n3*kHKuXP0|cgu#v)mEJ^o?{~$da)NU)gpX`P6$FWR0WK%8
z18qQ*WhM5zHp&8aU&|p)R}QKms7aHZpuyX;BIH?%scL?y#gqvc$><<>29(^?yhY%l
zzL-5Da;kIWwa58;V9E9jk3=*$Xe)g=GIPMuQhP>r)OFrXIiNz)#fkzw&e@zS^Fo*u
zGw9Jno8!7!lyTpcLW}F>dS6G~{*DVae^;K&h)R@AbCbnyxrHjE1yiU&-u6SdZ!4Te
z$%vTDgsvz)H?ymSUrv1T{$W6Uc6}bNf}a9f9Ku;ZbTgFSZN-X$eZf6-$J0TgQ=KGk
z{tQ`3YD|!O8Bo;f#`PuP<O++Na$RdH#p36OlI;zaJd(f8s%9<IvP#$Shk^Bb+`J;8
zyqa1uk9!ph2%ZMLQ=FHQGaYzkS}j{x<rFEW>^JqZUn+}KR@b_g#DycO9GmwS4X-Mc
zUcYm7quneRTK&=q-!HB9q&Y*Y#vL(Tr-oS-0$>QfZE9SWUhM+j2tR>h4)*~jrSNU~
zoh+v0h~}Bh%`4zWCB-qZN^{?lv96T%0}p5AN$aZt_hbfj1~YA{<3J;0BfDC{!ooJ5
zgF5>Wd7BIHjxTd^u)912m(T$Pn&6PO5y-z-?ef~ei<}t8??r)fIx{h1Wv&l|D||@J
zs1COqY%2h4ls$61dI)Kr5Vo^=I&{x`DQZx~H!3j7pLL`+WfU0SwWWu<d3h!S=n)r^
zf5^kqof(qSr(28b=P<yFqjB%aI~A1<b86jT<g#L1MQn5UjXCVi;<Ol0U=bL+>?W_O
z?~vlATL=`Cgvtcs4K}&Dw@@)Pnj_O8GsOddBz{AMY~_=$AGyDpvc@3&Jtsf!X>ee7
z2ar;-R^7}^9UaAS3)Z@dK(#N6jRBQayHiB6A=sw#xDq*Ijv#Fqhhexmm<jbw(20N(
zY0NH)uDFd&f(ZdyX=*d|eN~#jIvL-7@s8hkI4;u+c`q$d^>j7L_hC|iX1cMgaCI^-
zK!&;!ped|cSa8Nx2}Ic<Ey$_m{H5fX!idfQ49oKg$_1G)A<4fSGxGPJt>@uc^=0p*
zV*S~356z>m8JctDCH65$uZr@RWCWbxrRVHk9*-Lg%)Tpw7>aj8^;beds)qU9YkSL5
zb(;Ckj+f#oGp$>MHnr4d+2Wv|B+I@DsOn30&Iw}6?<cMRN9<Ys9+B1LxOC^?9);!Q
zMeN$Ii?aBHnwqxr_Pg14+>?x+Ubo5v^l^1s&{)QtH^VFH8hLZ0zk-`@!U)0}ji*fd
ztpDaJ^)dSs&eQJK`sYR=sIZ<=et#W@dP6p9B8-0fS<1Lm6+6@%YMpF~uvl8&vtLf)
z2Ovb3mqv0?*=yvH?qT27Kr~RVE~RdJe%A9XFQYN^Ye$Z@^2O+@4Z3BhLeJjn49^Kc
z+hEA&*$<hUfz(VHX0zk6LRB8BKt~N|n&N7;o3toMNNX_p&7rNDEViLHWfdrH<)1X5
zHAoBOjxPQXrt5ji>CMCT?-??b%)w&F7YpT$U<V~7d7?av#k;6`lLIz5#zT^qtWtiu
z9$U<8Pu@wSDRBYo4Q;w1i~>+f#EjGmgU&xb$Vo{9a=%_}cu0dld~)>9yR6L!`~C{H
zBy|q)GS9y*HF<}TBvm__uF0jTnp9aoEi-y<Xu6k`hvY6!B=pO~W}$@XWi5iD-1Q!0
zcSW@3a%7-2ZE9-oL}0#M*7uFtcYQA-Wj(u-Xqd<E;@<XEs$hh5r<=uu8$nB(6%aX#
z=Y7h}C<V5ze49dv$)ghi;>SIgfCbqOMGFfHN6juMT#fD+d?MhSXjFChdeCQ1(toTt
zc+enO>brS2DNQ)+T0(p2!8zB_&5sV#-1p1NNKa$g`Nvs^yw6nZBQqcx6XhxV-pk|*
zqeWtoXaJv?k}C*oHQ1R6n=Bynt63?#R$4}|Vt%|z8DH&ith-e!tFUo*)jF0YB2RyF
zvqJK_iOFD2{rLTTM{Vct)6Gl^gVMP2RYjvNC5}ZUW`{)hWaMj13M*+2z>FAlTCN>b
zTNjSc4+)g20VZ)G=qAg{XXn&+wMIN{uC?VV-yZwi@?M<cVX9wc6Ev}{uy*D@WI!+K
z%|x`!;z5u%08?3;-aG|XF^X0uOs=R1@0ym8i&(6N@SJIZqPs<9Vi8&(76~nq3!BsB
zOfoE1v8m4rUp@^}nx7Z3dYeR~QGDBa9#=qm&GVEj4cklQpUJFOKSqX&swxFEy&{`x
zxfDp2-6>0K18vPY)BqB?Wuq5r1YNDv@cb8-px(SM+6j3TK9LT&79o6w+WLWmKnsH{
z`ULZZ!xz7W2S2;{DC^4_)&yELqEA>y%W+n-cd>0Cppvko2_A^dbe#u-!M5rn)OEtJ
zpk$$pmVp6UaQhm>5DwR3Ebvi^_89{o@!$OXpC_^JswoiP>f-ceR52;|^Lxl;Nt;g}
zLc%8!*nLv9%0<Hx?~LW14$bcyM5-myod%9}lB@^hpwZArR{UlFQ~IujMO3K_Y)<fo
z3)|VV{aRiBvl<bP2bE-EVa?8$<tX$mYd%2cR8`c6<P`@}N&vBP6qL!&U5it%Md#34
zShF*JmJ42f_Dy6V#9&*}AwN~mcQr6D{!K>vs_bu04mXw3yW`Ln(OG$$S#-4oRmcq~
zHg)}Ovwkrhl#HY{3)++?4#k_D2$-u=cXDY;gmpY88m7&O{O}ZYiR92?U<K8^E+m?2
z%7^4*dX2KY>L9nas<L{%r`k*^jo1{cjs!hYyYfx4o*W>_00qgvEBDxeTCGXp!wIv8
z3=F&^7ra)nj6wc^@1fgIZhwgJKlH@kC|M|$mlZYlT_PLTtWZaqs*t76?d?<V7M2a1
z&X=c;k0rCfvp>u`9cZmLBU^7tR7!ift6Mt8eVPg5-&`#d*M1EkMdyXR0l8l}4^FMC
z7B8*r{G_*LJ9sW=H0*m#2fcw-UtIOs(|=C&r>y=|hJT9T=saxYgRPh=of}VrD&Q9(
z#56&nIk3Cp7Z<kcvZI$vH>3~0<JK=oU1+mkafqy|BnlHh$l-7Z4`RO9dn&P6AnWg$
z^L$)Y$^izkw%O+&r&>U$^&ZU_e#N_xoV09@+KS-=Zcyz?%0C;s{bC2gYp>L~FVWli
z235aLTK_Ik;X-iL<omkrPZ%U!c8ecz@Y3o3r;h=3`n$&@Iyzp$YkCwaN{c+L5-?d_
zpx#BQjig*1CF(QxO!v(D`gyI&u`_R0*CwS8OMhMqo0**aa3XMhlYX2ZdlVSQ$00tR
z&somg{{DAY_xX;}vC%^Hp)9}OQ;(9he9&;9&z4e2h^0RAm>xXJ^ZcTM_ka3Cm8P_h
z>hc}4VySyuuN&;%l#L(Pu1BdHRVE*A>#r=88(Mq+^~v^krw?}fVt1PdPXt=y8}4mW
z4`7GWD)Z6@xrxVIyJO7#1j5i?AN`Mma6ZGvuKuxdSN?%Ez~{JEZ~R2yMp(1-YF_LI
zN-THmZ=dB;oUhK^*5`2P#~*Fq#7<1|@;AadGV(w83LTL3_rJX>ANk$y^ZsjgmEWh3
zdMKOF@eb78thafTacsLD6?v4EKfM$?&HCGQ{<HTa<aB*L@5#EE$0)-084tBh-)r^j
zRoT(Me8et0y14JVm(#eI-x!xN>y~m88pm^#h^TOS-AKuNH43jbs;WvB;~z~9#T5Ov
zb|_3yK$})QIu!r$?XLK;!vwq9WOMWGg6F|Sx7u9MJCB-X6v%1z<1^ORx~X4aZujXm
ztEcR3%Bn8$dv6yzZY+0>8R^8wZ_$osdB;|WM>vn?tydp4E=SEBh(x`LvfFtiARWPP
z(re_I>(0j>%hmBan+kOE&mTQM>R7(;tNxbb(MHM9Xe_sdH=r|p$e8=}IAR2*XdY%U
zmV0VWak~lLeM+lsXg0yzARAXHp_EYOkaaUx)(z#U9do@XQ<%(JSAJY|n$d9j<$G^G
z6x2_B2d>j+SO=U;SDRmDMOAU4$~nOmU1*bpj~};Yj4~*Wt<&)6s>y-=*ju|!(3MY8
zZz$dOc#(WOV;M$q@?+y9G((~-g)Qw0642@nnj?y7>6TSLzhXDJ6f_5CmpNXT_ji5h
zy}S^#rGjKez$9J|M6Xytr`psvvvjT1pS_KG<Ho=8zDx-o7$*=`Ec~4D^f$K%U9Hyu
z-MR90i4x2Sl5ch2l!vl(z428cMW7vZGuhY*Bd<9)eE&GBsbXk4HPzBppUHYc?U+Lv
zDy^jsD3vtOvt&XCsqKK;qp*)#VK`$;UFEQYs8sdXXKHWiSM%Obv8$;!cklIQsaIxQ
ze94v@W!^y~9H7X-4%bsmAbTG7AQ{GH<6>Jui1Va$1e91P^UK?Ig392k!OVCvS<q=4
z-O(n*4u^R&EEWVgWj$oMJUIm*V!8>NgX4W*7+VZ%0OE7JMqE|vzB&;|a;QA>cEF}n
zkTW(*rP|G&S=st%OLwg8bI(>Y?BR_DddU3N90VXH%IN<R7RvQ6KwB0;fCPM+H@0{(
zcN#N^gIyUIkIxP}5g7Gyf4)PhCmgZ_g}mcaLrL9%_&K1U(1jOaYZ75sL}FV!t_-W3
z2$UM{*Z#QXcP4*lC-P8@ej;$QSVu~Id;6fH=Lm2jP{zlabDizrXK+n$Ezjtj-);Vr
z=)Tyrrpgn6FIXo6gXC+?F}&l!t!Igxe4gv&9lj=dIsf4w1kQYT7?s>xy=zo-937%G
zvV+);CAE6+A+nKkv2CdbTJnN+6MywkDovjpAK#uiR_4#JDx)-XM2>lVBA}kQXMDWC
z$JA&ZIT0wdmnr)nwP)?qu~T{%P6QHbt{)FDT=Z*G>tlPRl%E|edK{3Y_qRs==28Co
z4|W-;yUpu-Kl!}DW4r#qi|;4jEgt0lbj-Crj{n1_{LA)s{bTPOUt*l<y>tG)scrfX
zPXwN~dPwns*~@mCrFSTQyWD^F&Q4pBhim6e_E5!zFt21cJ2Cm@&)AkK23DC4hlrxG
zUw9F;T`vv?T@Xf=*}!ajmDDe5P71L?J~G^%dRJ|M*(t&r>0+jtF2YJy=OOLN`UP%^
zeI+wmO@dnBAerlTc#a7})vK|&dpk*oNr$C#=-fwCk{3WYPkwGT2hWJElV5;(+(P?)
zg-aRBb4nDNVpnOZL0ar7Kbv1ZzUp?ntr^lRk@w}sVYJxobx1ShdAE}0!3=Eg^4l2D
zY*ds>R~W<)0Jxm0f~!lJ${mQXnu&G7|FDry`a$5J^Ed_U@Y+vhsQF?QS@lHV=#ob*
zVenZ@Z_Lc*v$xXwmB)L`<M$m~Z?;n<k4twJyd;l*0pH$GQFKOFMwh%89kXKGi>>Mc
zn>)%%kSZ!O+>PqM<Y6(D?ZRby>*U^>n^Ah%7bI2ZvUL6XQGPoU(P}UK{2caK?AL>b
zRI==$f^<v_Ej;FJ#ZM}seVI{CCj#OwievaYr*1UP_G<MS){jgTX5CEpG)3fVgNozS
zHA$Idur)?C<?@yb0;2wrtX6FOfze;;pJW9@p*3k%vRk<K4j~%~eTbCxKH=4zK}7?&
zEJeqE@bj~mlRxYx)aB<)(^1`9k6cx@6~Mtj^q5$Ax~eImr{Z0@y5_fu&d^8@Rmj@f
zWVQoLl~YgfAk^r}OidjG;RE@wP&D`>f1$lD7j4Um9-t(=5yy!{JLe1lfBK;E3gxTQ
zO=)~03|CXFq71tsRPH~>B$lAbnLz`nf(Rt5#OS9;u_JeVuv?j#x7(-Bjy!Ce+qWv!
zaE$F-1KMl4359=%^bAxqz^qR-n~<rGUlqi3E$aG<(xgP(FKj0%Bq9Cv&M{ok-`9`5
z$&Vy=+Ji^9i1Ny`iH}XNtkZqs4@0tb(|Tz{;-*|$=W(^!ve6dF!r}T3G?2nS+=4^p
z;IehieAscsNFLb-4kOJ8VtLs3c>boesJ_}q-}%qHKlLra##&FYDC&OOQq~g79Kv@~
zoZiptSAWK;$1BVPcX*EC=3Nw==p*bqbhCvTK7e4`dtx~oL^fazB^y}%q)?xgSEfd?
zI7+pCwq7kXt2$@=j03u9vMk(IDBC_Pl+x08)E|EO_-d#7V-~?Edo=aA@{#O%K4&Yo
zBDQM>^iFy=<6OiU<Ft}3*!<~bX@1e`<;o-T<Lgb;-<$|^<)DTjI>{=P(l_)?4!w5U
zJl=b(>;8}VhTkEgo%ZhR8_(%?zvmN)oCsh(pkC>(%ZY7@q{^DVr}ti9>Wdz$IPPa3
zS_it{;g8=M`-KuN=HZ}sKPGK=a6O`9q=OTQ`*`8dG_LLQqF2oQnvYL5Q)#h@qsJvD
z0zy+`KgV(`Kubzezpq@nI0ks=UcIHV+kCT8_g$t0C}<?y^TA{JU0VWCqauw=xSEzO
zd(~hm(AH!w<|z}$KpuK0gs2A1?ZDnWJ&f(H22mTyrnmvvWIYR$L_6Rk9<5+gKE(dd
z#V!6Wh%b--ORFO+v_9dZ^gXD)<NZ;!ofP%UznR3BD&Fp-gMVh)Ie2Eqg_VB`iEx@P
zHCFo~%lH*3`Emi-`D)s}&|Q>n-#W2ke3+I0CN=#MKNN`+PmFS?GHA_w-$_1NoA#<k
zd}^(Xw&wp;!LI+mp%MRVnFqP-@-?iq9mhrXDV&o;OEAhyE6Peu=HnbRCFnK0A#xyC
z(8eaHuuxtySyBVv4SN??mbzO{y>4xnFoI)1p?(MqhASjGeQod$tHA%R4h8!EDzo@!
z3*jF!b+-$A?Xtap51FAzQZ6jRnZ+aWED|pTyke^vQ}Zus_FOWVH(*wX3&v7aLwi^>
zP1w7i_$gqb;i9bu*$NSlAw<HV{G#FrBQGgzzN7yC^hANbJBXi71pcjj(LY=0L9QBn
z&6{X1<p%RL&lCM{u)Lz8ywvm>&augLr|ko?Dv*DS3JxL?iFtXFn)rUc=H>G>FIm>w
zI$<QC3o4`H9Us5UhqL_lzoq6S7V>)*Ol>+HEse7ruE<nBz4^W<0V_7nF%^}$ZD92b
zbTvhN$?YbIR!xg9gBe@thv=Dj&<`OSE-ncpSki)S3tA(G;YZ=X^?GtXEdCJ#t^OLA
z^8Y^*1pgt$Q%)dU2*2ih?ivX0?Btd3Sh%bt1@bWPd(6YAgjd56Vx#G%(gmt=byFQ;
zzpK~L>%DKSrPq;`WOoHyITm)C*UFIvwr|A8AIQko<^K_(HGfYA?#BKRqW_`Q{ad6R
zmklqUZcVSZc%SR*?1Z=$b(_^}ax-0B(U!I}59On4dx%fduXm9H(}D_#fARgxPJ7>0
z%pEILN;KmgifPc$wz4pM*A`bu5U>o${{Nr<(&w9}>78>#i`o~>2?T`vx23_i6>a)t
zoyMiuQ6`I5ZDccr%!+*sk4J`Qu3KN3PfZu(OYd@?35Tj#DkB%pPm%{@HJ3&45%6f&
z<3DmK#Nh8arO>}wGWCz7um8DibPqq`M^8uOelB@Tkp#-5X6O}`mKI{KW+B|?1E+Ud
z%$f%H&L7OL(;<cg1uX=EQq#p^^f?o%$+~(9whDsr@oj}Nvc(2o-p~GfYM#O=$zDeL
zZ<o@CW_46dJ>w7>i}ll0Wy~Wtw}%e=R>Ot@u%4;`YyDd-CMC(?*30hoR%_|75e`);
z(g3E0rOdH_c@59=LA(w`%W6W$*BLkaBmE|P4>;9bpZrrkeL8dQ@$eb2$kPnXz7mi7
zmD*zkLM0#NoA@9DkFNgp?C4+m{}axhEJl#2OEL^}N|+xm=`D}X-y;%bVu?TQoyGe^
z><_ohwso*#YNIYI1R;j<bR}<YC_i5wF1~Q<U%IZpP97nMlz5ksNKAI?QYPw2KPl;}
z$`?B{Jvx%dsUoA4zKMj+X;9`wEVcM|1QZA265CCBa=6GSSz0eyEF$Q~lkxup4OtOT

literal 0
HcmV?d00001

diff --git a/jsk_tools/sample/pseudo_diagnostics.py b/jsk_tools/sample/pseudo_diagnostics.py
new file mode 100755
index 000000000..c45aed031
--- /dev/null
+++ b/jsk_tools/sample/pseudo_diagnostics.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+
+import diagnostic_msgs
+import diagnostic_updater
+from packaging import version
+import pkg_resources
+import rospy
+
+
+def change_diagnostics(stat):
+    current_state = True
+
+    def _change_diagnostics(stat):
+        if current_state:
+            stat.summary(diagnostic_msgs.msg.DiagnosticStatus.OK,
+                         "Sensor is OK")
+        else:
+            stat.summary(diagnostic_msgs.msg.DiagnosticStatus.ERROR,
+                         "Sensor is not OK.")
+        current_state = not current_state
+        stat.add("Current State", current_state)
+        return stat
+    return _change_diagnostics
+
+
+class PseudoDiagnostics(object):
+
+    def __init__(self, sensor_name, duration_time=5):
+        self.updater = diagnostic_updater.Updater()
+        self.updater.setHardwareID(sensor_name)
+        self.updater.add("pseudo_diagnostics", change_diagnostics)
+        kwargs = dict(
+            period=rospy.Duration(duration_time),
+            callback=self.update_diagnostics,
+            oneshot=False,
+        )
+        if version.parse(pkg_resources.get_distribution('rospy').version) \
+                >= version.parse('1.12.0'):
+            # on >=kinetic, it raises ROSTimeMovedBackwardsException
+            # when we use rosbag play --loop.
+            kwargs['reset'] = True
+        self.timer = rospy.Timer(**kwargs)
+
+    def update_diagnostics(self, event):
+        self.updater.update()
+
+
+if __name__ == '__main__':
+    rospy.init_node('pseudo_diagnostics')
+    pusedo_diagnotics = PseudoDiagnostics(
+        sensor_name='sensor1',
+        duration_time=5)
+    pusedo_diagnotics = PseudoDiagnostics(
+        sensor_name='sensor2',
+        duration_time=10)
+    rospy.spin()
diff --git a/jsk_tools/sample/sample_audible_warning.launch b/jsk_tools/sample/sample_audible_warning.launch
new file mode 100644
index 000000000..25abf7e2f
--- /dev/null
+++ b/jsk_tools/sample/sample_audible_warning.launch
@@ -0,0 +1,39 @@
+<launch>
+
+  <arg name="gui" default="true" />
+  <arg name="device" default="" />
+
+  <node name="pseudo_diagnostics"
+        pkg="jsk_tools" type="pseudo_diagnostics.py"
+        output="screen">
+  </node>
+
+  <node name="diagnostic_aggregator"
+        pkg="diagnostic_aggregator" type="aggregator_node"
+        clear_params="true" >
+    <rosparam command="load" file="$(find jsk_tools)/sample/config/diagnostics_analyzer.yaml" />
+  </node>
+
+  <node name="sound_play"
+        pkg="sound_play" type="soundplay_node.py">
+    <param name="device" value="$(arg device)" />
+    <param name="loop_rate" value="100" />
+  </node>
+
+  <node name="audible_warning_for_fetch"
+        pkg="jsk_tools" type="audible_warning.py"
+        output="screen" >
+    <remap from="/robotsound" to="/sound_play" />
+    <rosparam>
+      speak_interval: 0
+      seconds_to_start_speaking: 5
+    </rosparam>
+  </node>
+
+  <group if="$(arg gui)" >
+    <node name="robot_monitor"
+          pkg="rqt_robot_monitor" type="rqt_robot_monitor" >
+    </node>
+  </group>
+
+</launch>

From f0aec043efd74069effbc37b72c93c5106d1bf2c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 22:13:30 +0900
Subject: [PATCH 21/54] [jsk_tools/audible_warning] Add test

---
 jsk_tools/CMakeLists.txt                       |  2 ++
 jsk_tools/sample/sample_audible_warning.launch |  4 +++-
 jsk_tools/test/test_audible_warning.test       | 17 +++++++++++++++++
 3 files changed, 22 insertions(+), 1 deletion(-)
 create mode 100644 jsk_tools/test/test_audible_warning.test

diff --git a/jsk_tools/CMakeLists.txt b/jsk_tools/CMakeLists.txt
index c1a9e6779..6ae62abfa 100644
--- a/jsk_tools/CMakeLists.txt
+++ b/jsk_tools/CMakeLists.txt
@@ -27,6 +27,7 @@ endforeach(exec)
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslint REQUIRED)
+  roslint_python(src/audible_warning.py)
   roslint_python(src/jsk_tools/cltool.py)
   roslint_python(src/test_topic_published.py)
   roslint_python(src/test_rosparam_set.py)
@@ -49,6 +50,7 @@ if (CATKIN_ENABLE_TESTING)
     # https://github.com/jsk-ros-pkg/jsk_common/pull/1293#issuecomment-164158260
     jsk_tools_add_rostest(test/test_rosparam_set.test)
   endif()
+  jsk_tools_add_rostest(test/test_audible_warning.test)
   jsk_tools_add_rostest(test/test_stdout.test)
   jsk_tools_add_rostest(test/test_rostopic_host_sanity.test)
   jsk_tools_add_rostest(test/test_sanity_diagnostics.test)
diff --git a/jsk_tools/sample/sample_audible_warning.launch b/jsk_tools/sample/sample_audible_warning.launch
index 25abf7e2f..df665639c 100644
--- a/jsk_tools/sample/sample_audible_warning.launch
+++ b/jsk_tools/sample/sample_audible_warning.launch
@@ -2,6 +2,7 @@
 
   <arg name="gui" default="true" />
   <arg name="device" default="" />
+  <arg name="launch_sound_play" default="true" />
 
   <node name="pseudo_diagnostics"
         pkg="jsk_tools" type="pseudo_diagnostics.py"
@@ -15,7 +16,8 @@
   </node>
 
   <node name="sound_play"
-        pkg="sound_play" type="soundplay_node.py">
+        pkg="sound_play" type="soundplay_node.py"
+        if="$(arg launch_sound_play)" >
     <param name="device" value="$(arg device)" />
     <param name="loop_rate" value="100" />
   </node>
diff --git a/jsk_tools/test/test_audible_warning.test b/jsk_tools/test/test_audible_warning.test
new file mode 100644
index 000000000..12ff0904e
--- /dev/null
+++ b/jsk_tools/test/test_audible_warning.test
@@ -0,0 +1,17 @@
+<launch>
+
+  <include file="$(find jsk_tools)/sample/sample_audible_warning.launch" >
+    <arg name="device" value="plughw:100,0" />  <!-- pseudo device -->
+    <arg name="gui" value="false" />
+  </include>
+
+  <test test-name="test_topic_published"
+        name="test_topic_published"
+        pkg="jsk_tools" type="test_topic_published.py">
+    <rosparam>
+      topic_0: /sound_play/goal
+      timeout_0: 10
+    </rosparam>
+  </test>
+
+</launch>

From 9993337425058d7b44199e7039494e72e3b390b5 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 23:03:57 +0900
Subject: [PATCH 22/54] [jsk_tools/diagnostics_utils] Import zip_longest for
 python2

---
 jsk_tools/src/jsk_tools/diagnostics_utils.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/src/jsk_tools/diagnostics_utils.py b/jsk_tools/src/jsk_tools/diagnostics_utils.py
index 42b8142aa..34d4ea8bb 100644
--- a/jsk_tools/src/jsk_tools/diagnostics_utils.py
+++ b/jsk_tools/src/jsk_tools/diagnostics_utils.py
@@ -1,4 +1,7 @@
-import itertools
+try:
+    from itertools import zip_longest
+except:
+    from itertools import izip_longest as zip_longest
 import re
 
 
@@ -62,7 +65,7 @@ def filter_diagnostics_status_list(status_list, blacklist,
         if is_leaf(ns) is False:
             continue
         matched = False
-        for bn, message in itertools.zip_longest(
+        for bn, message in zip_longest(
                 blacklist, blacklist_messages):
             if re.match(bn, ns):
                 if message is None or re.match(message, s.message):

From 27d2fe17871cf2c9cbedc3051805c3a5af5d81f2 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 17 May 2022 23:37:40 +0900
Subject: [PATCH 23/54] [jsk_tools/audible_warning] Use LooseVersion for
 python2

---
 jsk_tools/sample/pseudo_diagnostics.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/jsk_tools/sample/pseudo_diagnostics.py b/jsk_tools/sample/pseudo_diagnostics.py
index c45aed031..92f0b4d4c 100755
--- a/jsk_tools/sample/pseudo_diagnostics.py
+++ b/jsk_tools/sample/pseudo_diagnostics.py
@@ -2,7 +2,7 @@
 
 import diagnostic_msgs
 import diagnostic_updater
-from packaging import version
+from distutils.version import LooseVersion as version
 import pkg_resources
 import rospy
 
@@ -34,8 +34,8 @@ def __init__(self, sensor_name, duration_time=5):
             callback=self.update_diagnostics,
             oneshot=False,
         )
-        if version.parse(pkg_resources.get_distribution('rospy').version) \
-                >= version.parse('1.12.0'):
+        if version(pkg_resources.get_distribution('rospy').version) \
+                >= version('1.12.0'):
             # on >=kinetic, it raises ROSTimeMovedBackwardsException
             # when we use rosbag play --loop.
             kwargs['reset'] = True

From 769ccc45fc24f5a79d9d06d6dd1e9b8aaa33a98e Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Wed, 18 May 2022 00:29:11 +0900
Subject: [PATCH 24/54] [jsk_tools/audible-warning] Set volume if it has volume
 property

---
 jsk_tools/src/audible_warning.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index f0b49171f..5dbf904a6 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -98,7 +98,8 @@ def run(self):
                 goal.sound_request.command = SoundRequest.PLAY_ONCE
                 goal.sound_request.arg = sentence
                 goal.sound_request.arg2 = self.language
-                goal.sound_request.volume = self.volume
+                if hasattr(goal.sound_request, 'volume'):
+                    goal.sound_request.volume = self.volume
 
                 self.previous_spoken_time[e.name] = rospy.Time.now().to_sec()
                 self.talk.send_goal(goal)

From 9b24b9c2b552e1cd98115d138d38e48cdd573ce6 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Wed, 18 May 2022 01:13:30 +0900
Subject: [PATCH 25/54] [jsk_tools/audible-warning] Fixed test name

---
 jsk_tools/test/test_audible_warning.test | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/test/test_audible_warning.test b/jsk_tools/test/test_audible_warning.test
index 12ff0904e..9efa2e8b3 100644
--- a/jsk_tools/test/test_audible_warning.test
+++ b/jsk_tools/test/test_audible_warning.test
@@ -5,8 +5,8 @@
     <arg name="gui" value="false" />
   </include>
 
-  <test test-name="test_topic_published"
-        name="test_topic_published"
+  <test test-name="test_audible_warning"
+        name="test_audible_warning"
         pkg="jsk_tools" type="test_topic_published.py">
     <rosparam>
       topic_0: /sound_play/goal

From 188c2e82f497b03124731b9639bf80aa6d4d2bf7 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Mon, 23 May 2022 14:51:06 +0900
Subject: [PATCH 26/54] [jsk_tools/audible_warning] Split sample
 diagnostics_analyzer

---
 ...mple_audible_warning_diagnostics_analyzer.yaml | 15 +++++++++++++++
 jsk_tools/sample/sample_audible_warning.launch    |  2 +-
 2 files changed, 16 insertions(+), 1 deletion(-)
 create mode 100644 jsk_tools/sample/config/sample_audible_warning_diagnostics_analyzer.yaml

diff --git a/jsk_tools/sample/config/sample_audible_warning_diagnostics_analyzer.yaml b/jsk_tools/sample/config/sample_audible_warning_diagnostics_analyzer.yaml
new file mode 100644
index 000000000..c6c0feb93
--- /dev/null
+++ b/jsk_tools/sample/config/sample_audible_warning_diagnostics_analyzer.yaml
@@ -0,0 +1,15 @@
+analyzers:
+  cameras:
+    type: diagnostic_aggregator/AnalyzerGroup
+    path: Sensors
+    analyzers:
+      pseudo_diagnostics1:
+        type: diagnostic_aggregator/GenericAnalyzer
+        path: sensor1
+        find_and_remove_prefix: 'pseudo_diagnostics: '
+        num_items: 1
+      pseudo_diagnostics2:
+        type: diagnostic_aggregator/GenericAnalyzer
+        path: sensor2
+        find_and_remove_prefix: 'pseudo_diagnostics: '
+        num_items: 1
diff --git a/jsk_tools/sample/sample_audible_warning.launch b/jsk_tools/sample/sample_audible_warning.launch
index df665639c..7ebc1a4d8 100644
--- a/jsk_tools/sample/sample_audible_warning.launch
+++ b/jsk_tools/sample/sample_audible_warning.launch
@@ -12,7 +12,7 @@
   <node name="diagnostic_aggregator"
         pkg="diagnostic_aggregator" type="aggregator_node"
         clear_params="true" >
-    <rosparam command="load" file="$(find jsk_tools)/sample/config/diagnostics_analyzer.yaml" />
+    <rosparam command="load" file="$(find jsk_tools)/sample/config/sample_audible_warning_diagnostics_analyzer.yaml" />
   </node>
 
   <node name="sound_play"

From fb4536c940a65a93ac7e4f7cbb6b0f3f1b76acc7 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 28 Jun 2022 22:36:55 +0900
Subject: [PATCH 27/54] [jsk_tools] add rossetclient

---
 jsk_tools/env-hooks/99.jsk_tools.sh | 25 ++++++++++++++++++++++++-
 1 file changed, 24 insertions(+), 1 deletion(-)

diff --git a/jsk_tools/env-hooks/99.jsk_tools.sh b/jsk_tools/env-hooks/99.jsk_tools.sh
index c07ec0fb4..22e2ccdfb 100644
--- a/jsk_tools/env-hooks/99.jsk_tools.sh
+++ b/jsk_tools/env-hooks/99.jsk_tools.sh
@@ -44,7 +44,11 @@ _update_prompt() {
             export PS1="${WITHOUT_ROS_PROMPT}"
         fi
     elif [ "$master_host" != "" ]; then
-        local ros_prompt="[$ROS_MASTER_URI][$ROS_IP]"
+        if [[ "$ROS_HOSTNAME" != "" && "$ROS_IP" == "" ]]; then
+            local ros_prompt="[$ROS_MASTER_URI][$ROS_HOSTNAME]"
+        else
+            local ros_prompt="[$ROS_MASTER_URI][$ROS_IP]"
+        fi
         if [ "$CATKIN_SHELL" = "bash" ]; then
             export PS1="\[\033[00;31m\]$ros_prompt\[\033[00m\] ${WITHOUT_ROS_PROMPT}"
         elif [ "$CATKIN_SHELL" = "zsh" ]; then
@@ -86,6 +90,7 @@ rossetip_dev() {
 
 rossetip_addr() {
     local target_host=${1-"133.11.216.211"}
+    echo "target_host: $target_host"
     # Check if target_host looks like ip address or not
     if [ "$(echo $target_host | sed -e 's/[0-9\.]//g')" != "" ]; then
         target_host_ip=$(timeout 0.01 getent hosts ${target_host} | cut -f 1 -d ' ')
@@ -125,6 +130,24 @@ rossetip() {
     fi
 }
 
+rossetclient() {
+    local client_interface=$1
+    if [[ $client_interface =~ [0-9]+.[0-9]+.[0-9]+.[0-9]+ ]]; then
+        export ROS_IP="$client_interface"
+    else
+        local addr_if_client_is_device=${LANC=C ip -o -4 a | grep lo\ \ \  | cut -d\  -f7 | cut -d\/ -f1}
+        if [[ $addr_if_client_is_device = "" ]]; then
+            export ROS_IP="$addr_if_client_is_device"
+        else
+            export ROS_HOSTNAME="$client_interface"
+        fi
+    fi
+    echo -e "\e[1;31mset ROS_IP to \"$ROS_IP\" and ROS_HOSTNAME to \"$ROS_HOSTNAME\"\e[m"
+    if [ "$NO_ROS_PROMPT" = "" ]; then
+        _update_prompt
+    fi
+}
+
 rosn() {
     if [ "$1" = "" ]; then
         select=$(rosnode list | percol | xargs -n 1 rosnode info | percol)

From c6073bc436b5fdf48be09c0786aeffdf646ab60c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 28 May 2022 19:46:17 +0900
Subject: [PATCH 28/54] [audible_warning] Add diagnostics_level_to_str

---
 jsk_tools/src/jsk_tools/diagnostics_utils.py | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/jsk_tools/src/jsk_tools/diagnostics_utils.py b/jsk_tools/src/jsk_tools/diagnostics_utils.py
index 34d4ea8bb..a65c506bc 100644
--- a/jsk_tools/src/jsk_tools/diagnostics_utils.py
+++ b/jsk_tools/src/jsk_tools/diagnostics_utils.py
@@ -4,6 +4,8 @@
     from itertools import izip_longest as zip_longest
 import re
 
+from diagnostic_msgs.msg import DiagnosticStatus
+
 
 cached_paths = {}
 cached_result = {}
@@ -75,3 +77,16 @@ def filter_diagnostics_status_list(status_list, blacklist,
             continue
         filtered_status.append(s)
     return filtered_status
+
+
+def diagnostics_level_to_str(level):
+    if level == DiagnosticStatus.OK:
+        return 'OK'
+    elif level == DiagnosticStatus.WARN:
+        return 'WARN'
+    elif level == DiagnosticStatus.ERROR:
+        return 'ERROR'
+    elif level == DiagnosticStatus.STALE:
+        return 'STALE'
+    else:
+        raise ValueError('Not valid level {}'.format(level))

From 012f51436a55cc978056d19789c92acb14c760d7 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 28 May 2022 19:48:15 +0900
Subject: [PATCH 29/54] [audible_warning] Add dynamic reconfigure parameters

---
 jsk_tools/CMakeLists.txt         | 21 +++++++++++++++++++--
 jsk_tools/cfg/AudibleWarning.cfg | 19 +++++++++++++++++++
 jsk_tools/package.xml            |  4 ++++
 3 files changed, 42 insertions(+), 2 deletions(-)
 create mode 100755 jsk_tools/cfg/AudibleWarning.cfg

diff --git a/jsk_tools/CMakeLists.txt b/jsk_tools/CMakeLists.txt
index 6ae62abfa..1140b01fa 100644
--- a/jsk_tools/CMakeLists.txt
+++ b/jsk_tools/CMakeLists.txt
@@ -1,11 +1,19 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(jsk_tools)
 
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED
+  COMPONENTS
+  message_generation
+  dynamic_reconfigure)
 catkin_python_setup()
 set(ROS_BUILD_TYPE RelWithDebInfo)
+
+generate_dynamic_reconfigure_options(
+  cfg/AudibleWarning.cfg
+)
+
 catkin_package(
-  CATKIN_DEPENDS #
+  CATKIN_DEPENDS message_runtime #
   LIBRARIES #
   INCLUDE_DIRS #
   DEPENDS #
@@ -25,6 +33,15 @@ foreach(exec ${BIN_EXECUTABLES})
   install(PROGRAMS bin/${exec} DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 endforeach(exec)
 
+file(GLOB SCRIPT_PROGRAMS src/*.py)
+catkin_install_python(
+  PROGRAMS ${SCRIPT_PROGRAMS}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/)
+file(GLOB SCRIPT_BIN_PROGRAMS bin/*.py)
+catkin_install_python(
+  PROGRAMS ${SCRIPT_BIN_PROGRAMS}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/bin/)
+
 if (CATKIN_ENABLE_TESTING)
   find_package(roslint REQUIRED)
   roslint_python(src/audible_warning.py)
diff --git a/jsk_tools/cfg/AudibleWarning.cfg b/jsk_tools/cfg/AudibleWarning.cfg
new file mode 100755
index 000000000..21e4997bc
--- /dev/null
+++ b/jsk_tools/cfg/AudibleWarning.cfg
@@ -0,0 +1,19 @@
+#! /usr/bin/env python
+
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+PACKAGE = 'jsk_tools'
+
+gen = ParameterGenerator()
+speak_group = gen.add_group("speak flag")
+speak_group.add("enable", bool_t, 0, "Flag of speak", True)
+speak_group.add("speak_ok", bool_t, 0, "Speak ok level diagnostics", False)
+speak_group.add("speak_stale", bool_t, 0, "Speak stale level diagnostics", True)
+speak_group.add("speak_warn", bool_t, 0, "Speak warn level diagnostics", True)
+speak_group.add("speak_error", bool_t, 0, "Speak error level diagnostics", True)
+
+gen.add("volume", double_t, 0, "Volume of sound.", 1.0, 0.0, 1.0)
+gen.add("speak_interval", double_t, 0, "Volume of sound.", 120.0, 0.0, 3600.0)
+
+exit(gen.generate(PACKAGE, PACKAGE, "AudibleWarning"))
diff --git a/jsk_tools/package.xml b/jsk_tools/package.xml
index ef0a9d455..afeeb7a2d 100644
--- a/jsk_tools/package.xml
+++ b/jsk_tools/package.xml
@@ -15,12 +15,16 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>git</build_depend>
+  <build_depend>message_generation</build_depend>
   <build_depend>rosgraph_msgs</build_depend>
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>diagnostic_aggregator</exec_depend>
   <exec_depend>diagnostic_msgs</exec_depend>
   <exec_depend>diagnostic_updater</exec_depend>
+  <exec_depend>dynamic_reconfigure</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
   <exec_depend>python-percol</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-colorama</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-colorama</exec_depend>

From 7473d0736cefbf515417885ffc6a74cff199d74c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 28 May 2022 19:48:39 +0900
Subject: [PATCH 30/54] [audible_warning/sample] Fixed audible_warning node
 name

---
 jsk_tools/sample/sample_audible_warning.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_tools/sample/sample_audible_warning.launch b/jsk_tools/sample/sample_audible_warning.launch
index 7ebc1a4d8..236c97e14 100644
--- a/jsk_tools/sample/sample_audible_warning.launch
+++ b/jsk_tools/sample/sample_audible_warning.launch
@@ -22,7 +22,7 @@
     <param name="loop_rate" value="100" />
   </node>
 
-  <node name="audible_warning_for_fetch"
+  <node name="audible_warning"
         pkg="jsk_tools" type="audible_warning.py"
         output="screen" >
     <remap from="/robotsound" to="/sound_play" />

From 9bf9f1b652ecf8b591b59bddce862d0588bf86b4 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 28 May 2022 19:49:23 +0900
Subject: [PATCH 31/54] [audible_warning] Use dynamic reconfigure params

---
 jsk_tools/src/audible_warning.py | 85 +++++++++++++++++++++++++-------
 1 file changed, 67 insertions(+), 18 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 5dbf904a6..f93186283 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -12,11 +12,14 @@
 import actionlib
 from diagnostic_msgs.msg import DiagnosticArray
 from diagnostic_msgs.msg import DiagnosticStatus
+from dynamic_reconfigure.server import Server
 import rospy
 from sound_play.msg import SoundRequest
 from sound_play.msg import SoundRequestAction
 from sound_play.msg import SoundRequestGoal
 
+from jsk_tools.cfg import AudibleWarningConfig as Config
+from jsk_tools.diagnostics_utils import diagnostics_level_to_str
 from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
 from jsk_tools.diagnostics_utils import is_leaf
 
@@ -33,7 +36,8 @@ def __init__(self, rate=1.0, wait=True,
                  language='',
                  volume=1.0,
                  speak_interval=0,
-                 wait_speak_duration_time=10):
+                 wait_speak_duration_time=10,
+                 diagnostics_level_list=None):
         super(SpeakThread, self).__init__()
         self.wait_speak_duration_time = wait_speak_duration_time
         self.event = Event()
@@ -43,9 +47,11 @@ def __init__(self, rate=1.0, wait=True,
         self.lock = Lock()
         self.status_list = []
         self.speak_interval = speak_interval
+        self.diagnostics_level_list = diagnostics_level_list or []
         tm = rospy.Time.now().to_sec() \
             - speak_interval
         self.previous_spoken_time = defaultdict(lambda tm=tm: tm)
+        self.speak_flag = True
         self.language = language
 
         self.talk = actionlib.SimpleActionClient(
@@ -55,6 +61,36 @@ def __init__(self, rate=1.0, wait=True,
     def stop(self):
         self.event.set()
 
+    def set_diagnostics_level_list(self, level_list):
+        self.diagnostics_level_list = level_list
+
+    def set_speak_flag(self, flag):
+        if flag is True and self.speak_flag is False:
+            # clear queue before start speaking.
+            with self.lock:
+                self.status_list = []
+        self.speak_flag = flag
+        if self.speak_flag is True:
+            rospy.loginfo('audible warning is enabled. speak [{}] levels'
+                          .format(', '.join(map(diagnostics_level_to_str,
+                                                self.diagnostics_level_list))))
+        else:
+            rospy.loginfo('audible warning is disabled.')
+
+    def set_volume(self, volume):
+        volume = min(max(0.0, volume), 1.0)
+        if self.volume != volume:
+            self.volume = volume
+            rospy.loginfo("audible warning's volume was set to {}".format(
+                self.volume))
+
+    def set_speak_interval(self, interval):
+        interval = max(0.0, interval)
+        if self.speak_interval != interval:
+            self.speak_interval = interval
+            rospy.loginfo("audible warning's speak interval was set to {}"
+                          .format(self.speak_interval))
+
     def add(self, status_list):
         with self.lock:
             for status in status_list:
@@ -79,7 +115,14 @@ def run(self):
         while not self.event.wait(self.rate):
             e = self.pop()
             if e:
-                if e.level == DiagnosticStatus.WARN:
+                if self.speak_flag is False:
+                    continue
+                if e.level not in self.diagnostics_level_list:
+                    continue
+
+                if e.level == DiagnosticStatus.OK:
+                    prefix = 'ok.'
+                elif e.level == DiagnosticStatus.WARN:
                     prefix = 'warning.'
                 elif e.level == DiagnosticStatus.ERROR:
                     prefix = 'error.'
@@ -112,9 +155,7 @@ class AudibleWarning(object):
 
     def __init__(self):
         speak_rate = rospy.get_param("~speak_rate", 1.0)
-        speak_interval = rospy.get_param("~speak_interval", 120.0)
         wait_speak = rospy.get_param("~wait_speak", True)
-        volume = rospy.get_param("~volume", 1.0)
         language = rospy.get_param('~language', '')
         seconds_to_start_speaking = rospy.get_param(
             '~seconds_to_start_speaking', 0)
@@ -127,14 +168,6 @@ def __init__(self):
                 < seconds_to_start_speaking:
             rate.sleep()
 
-        self.diagnostics_list = []
-        if rospy.get_param("~speak_warn", True):
-            self.diagnostics_list.append(DiagnosticStatus.WARN)
-        if rospy.get_param("~speak_error", True):
-            self.diagnostics_list.append(DiagnosticStatus.ERROR)
-        if rospy.get_param("~speak_stale", True):
-            self.diagnostics_list.append(DiagnosticStatus.STALE)
-
         blacklist = rospy.get_param("~blacklist", [])
         self.blacklist_names = []
         self.blacklist_messages = []
@@ -149,9 +182,11 @@ def __init__(self):
             else:
                 message = re.compile(bl['message'])
             self.blacklist_messages.append(message)
-        self.speak_thread = SpeakThread(speak_rate, wait_speak,
-                                        language, volume, speak_interval,
-                                        seconds_to_start_speaking)
+        self.speak_thread = SpeakThread(
+            speak_rate, wait_speak,
+            language,
+            wait_speak_duration_time=seconds_to_start_speaking)
+        self.srv = Server(Config, self.config_callback)
 
         # run-stop
         self.speak_when_runstopped = rospy.get_param(
@@ -190,6 +225,22 @@ def __init__(self):
             self.diag_cb, queue_size=1)
         self.speak_thread.start()
 
+    def config_callback(self, config, level):
+        level_list = []
+        if config.speak_ok:
+            level_list.append(DiagnosticStatus.OK)
+        if config.speak_warn:
+            level_list.append(DiagnosticStatus.WARN)
+        if config.speak_error:
+            level_list.append(DiagnosticStatus.ERROR)
+        if config.speak_stale:
+            level_list.append(DiagnosticStatus.STALE)
+        self.speak_thread.set_diagnostics_level_list(level_list)
+        self.speak_thread.set_speak_flag(config.enable)
+        self.speak_thread.set_volume(config.volume)
+        self.speak_thread.set_speak_interval(config.speak_interval)
+        return config
+
     def run_stop_callback(self, msg):
         if isinstance(msg, rospy.msg.AnyMsg):
             package, msg_type = msg._connection_header['type'].split('/')
@@ -208,9 +259,7 @@ def on_shutdown(self):
         self.speak_thread.join()
 
     def diag_cb(self, msg):
-        target_status_list = filter(
-            lambda n: n.level in self.diagnostics_list,
-            msg.status)
+        target_status_list = msg.status
         if self.run_stop:
             if self.speak_when_runstopped is False:
                 rospy.logdebug('RUN STOP is pressed. Do not speak warning.')

From 024f67b45c1ea7560ca0890e4759bd28e98ab80c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Fri, 3 Jun 2022 23:48:44 +0900
Subject: [PATCH 32/54] [audible_warning] Add inflection_utils for
 camel_to_snake case

---
 jsk_tools/src/audible_warning.py            |  2 ++
 jsk_tools/src/jsk_tools/inflection_utils.py | 15 +++++++++++++++
 2 files changed, 17 insertions(+)
 create mode 100644 jsk_tools/src/jsk_tools/inflection_utils.py

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index f93186283..6d4fecefd 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -22,6 +22,7 @@
 from jsk_tools.diagnostics_utils import diagnostics_level_to_str
 from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
 from jsk_tools.diagnostics_utils import is_leaf
+from jsk_tools.inflection_utils import camel_to_snake
 
 
 def expr_eval(expr):
@@ -131,6 +132,7 @@ def run(self):
                 else:
                     prefix = 'ok.'
                 sentence = prefix + e.name + ' ' + e.message
+                sentence = camel_to_snake(sentence)
                 sentence = sentence.replace('/', ' ')
                 sentence = sentence.replace('_', ' ')
                 rospy.loginfo('audible warning error name "{}"'.format(e.name))
diff --git a/jsk_tools/src/jsk_tools/inflection_utils.py b/jsk_tools/src/jsk_tools/inflection_utils.py
new file mode 100644
index 000000000..455869920
--- /dev/null
+++ b/jsk_tools/src/jsk_tools/inflection_utils.py
@@ -0,0 +1,15 @@
+import re
+
+
+def camel_to_snake(word):
+    """Convert Camel case to snake case.
+
+    Examples
+    --------
+    >>> camel_to_snake('clusterPointIndices')
+    'cluster_point_indices'
+    """
+    word = re.sub(r"([A-Z]+)([A-Z][a-z])", r'\1_\2', word)
+    word = re.sub(r"([a-z\d])([A-Z])", r'\1_\2', word)
+    word = word.replace("-", "_")
+    return word.lower()

From 1ffabe7c467e9b28cbb718dbd841103ecd002804 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 28 May 2022 20:56:20 +0900
Subject: [PATCH 33/54] [audible_warning] Add ignore after runstop time

---
 jsk_tools/cfg/AudibleWarning.cfg |  6 ++++++
 jsk_tools/src/audible_warning.py | 28 ++++++++++++++++++++++++++--
 2 files changed, 32 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/cfg/AudibleWarning.cfg b/jsk_tools/cfg/AudibleWarning.cfg
index 21e4997bc..bd1144e44 100755
--- a/jsk_tools/cfg/AudibleWarning.cfg
+++ b/jsk_tools/cfg/AudibleWarning.cfg
@@ -15,5 +15,11 @@ speak_group.add("speak_error", bool_t, 0, "Speak error level diagnostics", True)
 
 gen.add("volume", double_t, 0, "Volume of sound.", 1.0, 0.0, 1.0)
 gen.add("speak_interval", double_t, 0, "Volume of sound.", 120.0, 0.0, 3600.0)
+gen.add("ignore_time_after_runstop_is_enabled", double_t, 0,
+        "Time to ignore diagnostics after runstop is enabled.",
+        0.0, 0.0, 3600.0)
+gen.add("ignore_time_after_runstop_is_disabled", double_t, 0,
+        "Time to ignore diagnostics after runstop is disabled.",
+        0.0, 0.0, 3600.0)
 
 exit(gen.generate(PACKAGE, PACKAGE, "AudibleWarning"))
diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 6d4fecefd..456347362 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -163,6 +163,9 @@ def __init__(self):
             '~seconds_to_start_speaking', 0)
 
         # Wait until seconds_to_start_speaking the time has passed.
+        self.run_stop_enabled_time = None
+        self.run_stop_disabled_time = None
+        self.run_stop_time = None
         rate = rospy.Rate(10)
         start_time = rospy.Time.now()
         while not rospy.is_shutdown() \
@@ -241,6 +244,10 @@ def config_callback(self, config, level):
         self.speak_thread.set_speak_flag(config.enable)
         self.speak_thread.set_volume(config.volume)
         self.speak_thread.set_speak_interval(config.speak_interval)
+        self.ignore_time_after_runstop_is_enabled = \
+            config.ignore_time_after_runstop_is_enabled
+        self.ignore_time_after_runstop_is_disabled = \
+            config.ignore_time_after_runstop_is_disabled
         return config
 
     def run_stop_callback(self, msg):
@@ -253,8 +260,15 @@ def run_stop_callback(self, msg):
                 self.run_stop_topic, msg_class, self.run_stop_callback)
             self.run_stop_sub = deserialized_sub
             return
-        self.run_stop = self.run_stop_condition(
-            self.run_stop_topic, msg, rospy.Time.now())
+        tm = rospy.Time.now()
+        run_stop = self.run_stop_condition(
+            self.run_stop_topic, msg, tm)
+        if run_stop != self.run_stop:
+            if run_stop is True:
+                self.run_stop_enabled_time = tm
+            else:
+                self.run_stop_disabled_time = tm
+        self.run_stop = run_stop
 
     def on_shutdown(self):
         self.speak_thread.stop()
@@ -262,6 +276,16 @@ def on_shutdown(self):
 
     def diag_cb(self, msg):
         target_status_list = msg.status
+
+        if self.ignore_time_after_runstop_is_enabled > 0.0:
+            if ((rospy.Time.now() - self.run_stop_enabled_time).to_sec <
+                    self.ignore_time_after_runstop_is_enabled):
+                return
+        if self.ignore_time_after_runstop_is_disabled > 0.0:
+            if ((rospy.Time.now() - self.run_stop_disabled_time).to_sec <
+                    self.ignore_time_after_runstop_is_disabled):
+                return
+
         if self.run_stop:
             if self.speak_when_runstopped is False:
                 rospy.logdebug('RUN STOP is pressed. Do not speak warning.')

From b16778a1380895b37a272461af7cbd4a0f91a14d Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 4 Jun 2022 02:16:44 +0900
Subject: [PATCH 34/54] [audible_warning] Ignore if
 self.run_stop_(disabled|enabled)_time is None

---
 jsk_tools/src/audible_warning.py | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/src/audible_warning.py
index 456347362..787dfc6df 100755
--- a/jsk_tools/src/audible_warning.py
+++ b/jsk_tools/src/audible_warning.py
@@ -165,7 +165,6 @@ def __init__(self):
         # Wait until seconds_to_start_speaking the time has passed.
         self.run_stop_enabled_time = None
         self.run_stop_disabled_time = None
-        self.run_stop_time = None
         rate = rospy.Rate(10)
         start_time = rospy.Time.now()
         while not rospy.is_shutdown() \
@@ -278,12 +277,16 @@ def diag_cb(self, msg):
         target_status_list = msg.status
 
         if self.ignore_time_after_runstop_is_enabled > 0.0:
-            if ((rospy.Time.now() - self.run_stop_enabled_time).to_sec <
-                    self.ignore_time_after_runstop_is_enabled):
+            if self.run_stop_enabled_time is not None \
+                    and ((rospy.Time.now()
+                          - self.run_stop_enabled_time).to_sec <
+                         self.ignore_time_after_runstop_is_enabled):
                 return
         if self.ignore_time_after_runstop_is_disabled > 0.0:
-            if ((rospy.Time.now() - self.run_stop_disabled_time).to_sec <
-                    self.ignore_time_after_runstop_is_disabled):
+            if self.run_stop_disabled_time is not None \
+                    and ((rospy.Time.now()
+                          - self.run_stop_disabled_time).to_sec <
+                         self.ignore_time_after_runstop_is_disabled):
                 return
 
         if self.run_stop:

From b42daedee71e26c08cd25e504ee22efb0449f7b5 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Sat, 4 Jun 2022 02:20:15 +0900
Subject: [PATCH 35/54] [audible_warning] Add docs for dynamic reconfigure's
 parameters

---
 doc/jsk_tools/scripts/audible_warning.md | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/doc/jsk_tools/scripts/audible_warning.md b/doc/jsk_tools/scripts/audible_warning.md
index 61aadee5c..75888827f 100644
--- a/doc/jsk_tools/scripts/audible_warning.md
+++ b/doc/jsk_tools/scripts/audible_warning.md
@@ -49,6 +49,14 @@ Robots using diagnostics can use this node.
 
     This is useful for ignoring errors that occur when the robot starts.
 
+* `~enable` (`Bool`, default: `True`)
+
+    If `True`, speak diagnositcs. If `False`, this node don't speak.
+
+* `~speak_ok` (`Bool`, default: `False`)
+
+    If `True`, speak ok level diagnostics.
+
 * `~speak_warn` (`Bool`, default: `True`)
 
     If `True`, speak warning level diagnostics.
@@ -81,6 +89,14 @@ Robots using diagnostics can use this node.
     run_stop_condition: "m.runstopped is True"
     ```
 
+* `~ignore_time_after_runstop_is_enabled` (`Float`, default: `0.0`)
+
+    Time to ignore diagnostics after runstop is enabled.
+
+* `~ignore_time_after_runstop_is_disabled` (`Float`, default: `0.0`)
+
+    Time to ignore diagnostics after runstop is disabled.
+
 - `~blacklist` (`Yaml`, required)
 
     User must always specify `name`. You can specify `message` as an option.

From 69757a457c4da33a471685390fd3ca4b7acfc874 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 00:58:28 +0900
Subject: [PATCH 36/54] [audible_warning] Move audible_warning.py to
 node_scripts.

---
 jsk_tools/CMakeLists.txt                           | 14 ++------------
 jsk_tools/{src => node_scripts}/audible_warning.py |  0
 jsk_tools/package.xml                              |  2 --
 3 files changed, 2 insertions(+), 14 deletions(-)
 rename jsk_tools/{src => node_scripts}/audible_warning.py (100%)

diff --git a/jsk_tools/CMakeLists.txt b/jsk_tools/CMakeLists.txt
index 1140b01fa..c0b5db08e 100644
--- a/jsk_tools/CMakeLists.txt
+++ b/jsk_tools/CMakeLists.txt
@@ -3,7 +3,6 @@ project(jsk_tools)
 
 find_package(catkin REQUIRED
   COMPONENTS
-  message_generation
   dynamic_reconfigure)
 catkin_python_setup()
 set(ROS_BUILD_TYPE RelWithDebInfo)
@@ -13,7 +12,7 @@ generate_dynamic_reconfigure_options(
 )
 
 catkin_package(
-  CATKIN_DEPENDS message_runtime #
+  CATKIN_DEPENDS dynamic_reconfigure #
   LIBRARIES #
   INCLUDE_DIRS #
   DEPENDS #
@@ -33,15 +32,6 @@ foreach(exec ${BIN_EXECUTABLES})
   install(PROGRAMS bin/${exec} DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 endforeach(exec)
 
-file(GLOB SCRIPT_PROGRAMS src/*.py)
-catkin_install_python(
-  PROGRAMS ${SCRIPT_PROGRAMS}
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/)
-file(GLOB SCRIPT_BIN_PROGRAMS bin/*.py)
-catkin_install_python(
-  PROGRAMS ${SCRIPT_BIN_PROGRAMS}
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/bin/)
-
 if (CATKIN_ENABLE_TESTING)
   find_package(roslint REQUIRED)
   roslint_python(src/audible_warning.py)
@@ -93,7 +83,7 @@ install(DIRECTORY test
   USE_SOURCE_PERMISSIONS
   PATTERN "*.test" EXCLUDE
   )
-install(DIRECTORY src dot-files cmake launch sample
+install(DIRECTORY src dot-files cmake launch sample node_scripts
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
   )
diff --git a/jsk_tools/src/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
similarity index 100%
rename from jsk_tools/src/audible_warning.py
rename to jsk_tools/node_scripts/audible_warning.py
diff --git a/jsk_tools/package.xml b/jsk_tools/package.xml
index afeeb7a2d..082dc1b2b 100644
--- a/jsk_tools/package.xml
+++ b/jsk_tools/package.xml
@@ -17,14 +17,12 @@
 
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>git</build_depend>
-  <build_depend>message_generation</build_depend>
   <build_depend>rosgraph_msgs</build_depend>
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>diagnostic_aggregator</exec_depend>
   <exec_depend>diagnostic_msgs</exec_depend>
   <exec_depend>diagnostic_updater</exec_depend>
   <exec_depend>dynamic_reconfigure</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
   <exec_depend>python-percol</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-colorama</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-colorama</exec_depend>

From 78f3928e73d84d26e120993a1904fefe6d2e4898 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 01:09:14 +0900
Subject: [PATCH 37/54] [audible_warning] Fixed lint test target path

---
 jsk_tools/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_tools/CMakeLists.txt b/jsk_tools/CMakeLists.txt
index c0b5db08e..451998060 100644
--- a/jsk_tools/CMakeLists.txt
+++ b/jsk_tools/CMakeLists.txt
@@ -34,7 +34,7 @@ endforeach(exec)
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslint REQUIRED)
-  roslint_python(src/audible_warning.py)
+  roslint_python(node_scripts/audible_warning.py)
   roslint_python(src/jsk_tools/cltool.py)
   roslint_python(src/test_topic_published.py)
   roslint_python(src/test_rosparam_set.py)

From 8e119f61ac5153df53e0d3da7d587efd243f1940 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 01:09:26 +0900
Subject: [PATCH 38/54] [audible_warning] Fixed lint

---
 jsk_tools/node_scripts/audible_warning.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 787dfc6df..49b604fd3 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -278,14 +278,14 @@ def diag_cb(self, msg):
 
         if self.ignore_time_after_runstop_is_enabled > 0.0:
             if self.run_stop_enabled_time is not None \
-                    and ((rospy.Time.now()
-                          - self.run_stop_enabled_time).to_sec <
+                    and ((rospy.Time.now() -
+                          self.run_stop_enabled_time).to_sec <
                          self.ignore_time_after_runstop_is_enabled):
                 return
         if self.ignore_time_after_runstop_is_disabled > 0.0:
             if self.run_stop_disabled_time is not None \
-                    and ((rospy.Time.now()
-                          - self.run_stop_disabled_time).to_sec <
+                    and ((rospy.Time.now() -
+                          self.run_stop_disabled_time).to_sec <
                          self.ignore_time_after_runstop_is_disabled):
                 return
 

From 1b10cb3040213d36fc26639a5ac8164a310c3da4 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 13:14:18 +0900
Subject: [PATCH 39/54] [audible_warning] Convert multiple space to one

---
 jsk_tools/node_scripts/audible_warning.py | 2 ++
 jsk_tools/src/jsk_tools/string_utils.py   | 2 ++
 2 files changed, 4 insertions(+)
 create mode 100644 jsk_tools/src/jsk_tools/string_utils.py

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 49b604fd3..eefe464a8 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -23,6 +23,7 @@
 from jsk_tools.diagnostics_utils import filter_diagnostics_status_list
 from jsk_tools.diagnostics_utils import is_leaf
 from jsk_tools.inflection_utils import camel_to_snake
+from jsk_tools.string_utils import multiple_whitespace_to_one
 
 
 def expr_eval(expr):
@@ -135,6 +136,7 @@ def run(self):
                 sentence = camel_to_snake(sentence)
                 sentence = sentence.replace('/', ' ')
                 sentence = sentence.replace('_', ' ')
+                sentence = multiple_whitespace_to_one(sentence)
                 rospy.loginfo('audible warning error name "{}"'.format(e.name))
                 rospy.loginfo("audible warning talking: %s" % sentence)
 
diff --git a/jsk_tools/src/jsk_tools/string_utils.py b/jsk_tools/src/jsk_tools/string_utils.py
new file mode 100644
index 000000000..fe9459ce5
--- /dev/null
+++ b/jsk_tools/src/jsk_tools/string_utils.py
@@ -0,0 +1,2 @@
+def multiple_whitespace_to_one(text):
+    return ' '.join(text.split())

From a044fcd1826cbdb79c2dd34d6ec41befcf2558a3 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 13:14:35 +0900
Subject: [PATCH 40/54] [audible_warning] Convert colon symbol to english text

---
 jsk_tools/node_scripts/audible_warning.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index eefe464a8..da2bb8444 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -136,6 +136,7 @@ def run(self):
                 sentence = camel_to_snake(sentence)
                 sentence = sentence.replace('/', ' ')
                 sentence = sentence.replace('_', ' ')
+                sentence = sentence.replace(':', ' colon ')
                 sentence = multiple_whitespace_to_one(sentence)
                 rospy.loginfo('audible warning error name "{}"'.format(e.name))
                 rospy.loginfo("audible warning talking: %s" % sentence)

From cf21b2ce42eead490e9f8d29b87b9ca98d279826 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 7 Jun 2022 13:21:30 +0900
Subject: [PATCH 41/54] [audible_warning] Add publishing text

---
 jsk_tools/node_scripts/audible_warning.py | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index da2bb8444..769ee5b9a 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -13,6 +13,7 @@
 from diagnostic_msgs.msg import DiagnosticArray
 from diagnostic_msgs.msg import DiagnosticStatus
 from dynamic_reconfigure.server import Server
+import std_msgs.msg
 import rospy
 from sound_play.msg import SoundRequest
 from sound_play.msg import SoundRequestAction
@@ -56,6 +57,13 @@ def __init__(self, rate=1.0, wait=True,
         self.speak_flag = True
         self.language = language
 
+        self.pub_original_text = rospy.Publisher('~output/original_text',
+                                                 std_msgs.msg.String,
+                                                 queue_size=1)
+        self.pub_speak_text = rospy.Publisher('~output/text',
+                                              std_msgs.msg.String,
+                                              queue_size=1)
+
         self.talk = actionlib.SimpleActionClient(
             "/robotsound", SoundRequestAction)
         self.talk.wait_for_server()
@@ -140,6 +148,9 @@ def run(self):
                 sentence = multiple_whitespace_to_one(sentence)
                 rospy.loginfo('audible warning error name "{}"'.format(e.name))
                 rospy.loginfo("audible warning talking: %s" % sentence)
+                self.pub_original_text.publish(e.message)
+                self.pub_speak_text.publish(
+                    "audible warning talking: %s" % sentence)
 
                 goal = SoundRequestGoal()
                 goal.sound_request.sound = SoundRequest.SAY

From 42332db0c942f4736bc7255b4686638529a587bf Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Wed, 8 Jun 2022 18:53:30 +0900
Subject: [PATCH 42/54] [audible_warning] Add AudibleWarningClient for
 reconfigure

---
 jsk_tools/src/jsk_tools/clients/__init__.py    |  1 +
 .../clients/audible_warninig_client.py         | 18 ++++++++++++++++++
 2 files changed, 19 insertions(+)
 create mode 100644 jsk_tools/src/jsk_tools/clients/__init__.py
 create mode 100644 jsk_tools/src/jsk_tools/clients/audible_warninig_client.py

diff --git a/jsk_tools/src/jsk_tools/clients/__init__.py b/jsk_tools/src/jsk_tools/clients/__init__.py
new file mode 100644
index 000000000..91a96e71c
--- /dev/null
+++ b/jsk_tools/src/jsk_tools/clients/__init__.py
@@ -0,0 +1 @@
+from .audible_warninig_client import AudibleWarningReconfigureClient
diff --git a/jsk_tools/src/jsk_tools/clients/audible_warninig_client.py b/jsk_tools/src/jsk_tools/clients/audible_warninig_client.py
new file mode 100644
index 000000000..0bc575505
--- /dev/null
+++ b/jsk_tools/src/jsk_tools/clients/audible_warninig_client.py
@@ -0,0 +1,18 @@
+from dynamic_reconfigure.client import Client
+
+
+class AudibleWarningReconfigureClient(object):
+
+    def __init__(self, client_name='audible_warning'):
+        super(AudibleWarningReconfigureClient).__init__()
+        self.client_name = client_name
+        self.client = Client(client_name, timeout=3)
+
+    def reconfigure(self, **kwargs):
+        return self.client.update_configuration(kwargs)
+
+    def enable(self):
+        return self.client.update_configuration({'enable': True})
+
+    def disable(self):
+        return self.client.update_configuration({'enable': False})

From 6d3d940297471e0aeb02124a5e5aca47526bb4db Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 9 Jun 2022 01:35:47 +0900
Subject: [PATCH 43/54] [audible_warning] Make speak_when_runstopped dynamic
 params

---
 jsk_tools/cfg/AudibleWarning.cfg          | 1 +
 jsk_tools/node_scripts/audible_warning.py | 3 +--
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/cfg/AudibleWarning.cfg b/jsk_tools/cfg/AudibleWarning.cfg
index bd1144e44..705682213 100755
--- a/jsk_tools/cfg/AudibleWarning.cfg
+++ b/jsk_tools/cfg/AudibleWarning.cfg
@@ -12,6 +12,7 @@ speak_group.add("speak_ok", bool_t, 0, "Speak ok level diagnostics", False)
 speak_group.add("speak_stale", bool_t, 0, "Speak stale level diagnostics", True)
 speak_group.add("speak_warn", bool_t, 0, "Speak warn level diagnostics", True)
 speak_group.add("speak_error", bool_t, 0, "Speak error level diagnostics", True)
+speak_group.add("speak_when_runstopped", bool_t, 0, "Speak when runstop is enabled", True)
 
 gen.add("volume", double_t, 0, "Volume of sound.", 1.0, 0.0, 1.0)
 gen.add("speak_interval", double_t, 0, "Volume of sound.", 120.0, 0.0, 3600.0)
diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 769ee5b9a..9d33a910a 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -207,8 +207,6 @@ def __init__(self):
         self.srv = Server(Config, self.config_callback)
 
         # run-stop
-        self.speak_when_runstopped = rospy.get_param(
-            '~speak_when_runstopped', True)
         self.run_stop = False
         self.run_stop_topic = rospy.get_param('~run_stop_topic', None)
         if self.run_stop_topic:
@@ -261,6 +259,7 @@ def config_callback(self, config, level):
             config.ignore_time_after_runstop_is_enabled
         self.ignore_time_after_runstop_is_disabled = \
             config.ignore_time_after_runstop_is_disabled
+        self.speak_when_runstopped = config.speak_when_runstopped
         return config
 
     def run_stop_callback(self, msg):

From d38121c756b9614eb0560bfc2792cb8b066a50f4 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 9 Jun 2022 01:36:37 +0900
Subject: [PATCH 44/54] [audible_warning] Don't add heap at first

---
 jsk_tools/node_scripts/audible_warning.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 9d33a910a..a58f4eeca 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -104,6 +104,12 @@ def set_speak_interval(self, interval):
     def add(self, status_list):
         with self.lock:
             for status in status_list:
+                if is_leaf(status.name) is False:
+                    continue
+                if rospy.Time.now().to_sec() \
+                        - self.previous_spoken_time[status.name] \
+                        < self.speak_interval:
+                    continue
                 heapq.heappush(
                     self.status_list,
                     (rospy.Time.now().to_sec(), status))

From d0c4d4eeb9588f60cba9ed15925e1f3474226e6d Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 9 Jun 2022 01:36:59 +0900
Subject: [PATCH 45/54] [audible_warning] Deserialize image

---
 jsk_tools/node_scripts/audible_warning.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index a58f4eeca..7d2a34412 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -277,7 +277,7 @@ def run_stop_callback(self, msg):
             deserialized_sub = rospy.Subscriber(
                 self.run_stop_topic, msg_class, self.run_stop_callback)
             self.run_stop_sub = deserialized_sub
-            return
+            msg = msg_class().deserialize(msg._buff)
         tm = rospy.Time.now()
         run_stop = self.run_stop_condition(
             self.run_stop_topic, msg, tm)

From 299832443e4f9760ceb054e42a97aef7fca87389 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 9 Jun 2022 01:37:34 +0900
Subject: [PATCH 46/54] [audible_warning] Fixed typo by adding ()

---
 jsk_tools/node_scripts/audible_warning.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 7d2a34412..5b23575ee 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -298,13 +298,13 @@ def diag_cb(self, msg):
         if self.ignore_time_after_runstop_is_enabled > 0.0:
             if self.run_stop_enabled_time is not None \
                     and ((rospy.Time.now() -
-                          self.run_stop_enabled_time).to_sec <
+                          self.run_stop_enabled_time).to_sec() <
                          self.ignore_time_after_runstop_is_enabled):
                 return
         if self.ignore_time_after_runstop_is_disabled > 0.0:
             if self.run_stop_disabled_time is not None \
                     and ((rospy.Time.now() -
-                          self.run_stop_disabled_time).to_sec <
+                          self.run_stop_disabled_time).to_sec() <
                          self.ignore_time_after_runstop_is_disabled):
                 return
 

From 890dbc29ebc4db2b7bca433449e1f63905a01ca2 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 9 Jun 2022 01:38:42 +0900
Subject: [PATCH 47/54] [audible_warning] Add loginfo to display runstop state

---
 jsk_tools/node_scripts/audible_warning.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 5b23575ee..ec048a451 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -283,9 +283,11 @@ def run_stop_callback(self, msg):
             self.run_stop_topic, msg, tm)
         if run_stop != self.run_stop:
             if run_stop is True:
-                self.run_stop_enabled_time = tm
+                self.run_stop_enabled_time = rospy.Time.now()
+                rospy.loginfo('Audible Warning: Runstop is enabled.')
             else:
-                self.run_stop_disabled_time = tm
+                self.run_stop_disabled_time = rospy.Time.now()
+                rospy.loginfo('Audible Warning: Runstop is disabled.')
         self.run_stop = run_stop
 
     def on_shutdown(self):

From 99c6aa941317e3e4e4040ef7249d36fbf036b473 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 9 Jun 2022 01:39:20 +0900
Subject: [PATCH 48/54] [audible_warning] Add pseudo runstop publisher

---
 jsk_tools/sample/pseudo_runstop_publisher.py  | 41 +++++++++++++++++++
 .../sample/sample_audible_warning.launch      | 14 ++++++-
 2 files changed, 54 insertions(+), 1 deletion(-)
 create mode 100755 jsk_tools/sample/pseudo_runstop_publisher.py

diff --git a/jsk_tools/sample/pseudo_runstop_publisher.py b/jsk_tools/sample/pseudo_runstop_publisher.py
new file mode 100755
index 000000000..7091fc95f
--- /dev/null
+++ b/jsk_tools/sample/pseudo_runstop_publisher.py
@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+
+from distutils.version import LooseVersion as version
+
+import pkg_resources
+import rospy
+import std_msgs.msg
+
+
+class PseudoRunstopPublisher(object):
+
+    def __init__(self):
+        duration_time = rospy.get_param('~duration_time', 30)
+        self.runstop = True
+        self.pub = rospy.Publisher('~runstop', std_msgs.msg.Bool,
+                                   queue_size=1)
+        kwargs = dict(
+            period=rospy.Duration(duration_time),
+            callback=self.publish_callback,
+            oneshot=False,
+        )
+        if version(pkg_resources.get_distribution('rospy').version) \
+                >= version('1.12.0'):
+            # on >=kinetic, it raises ROSTimeMovedBackwardsException
+            # when we use rosbag play --loop.
+            kwargs['reset'] = True
+        self.timer = rospy.Timer(**kwargs)
+
+    def publish_callback(self, event):
+        if self.runstop is True:
+            rospy.loginfo('Runstop is enabled.')
+        else:
+            rospy.loginfo('Runstop is disabled.')
+        self.pub.publish(self.runstop)
+        self.runstop = not self.runstop
+
+
+if __name__ == '__main__':
+    rospy.init_node('pseudo_runstop_publisher')
+    pub = PseudoRunstopPublisher()
+    rospy.spin()
diff --git a/jsk_tools/sample/sample_audible_warning.launch b/jsk_tools/sample/sample_audible_warning.launch
index 236c97e14..f9fb14ed0 100644
--- a/jsk_tools/sample/sample_audible_warning.launch
+++ b/jsk_tools/sample/sample_audible_warning.launch
@@ -9,6 +9,14 @@
         output="screen">
   </node>
 
+  <node name="pseudo_runstop_publisher"
+        pkg="jsk_tools" type="pseudo_runstop_publisher.py"
+        output="screen">
+    <rosparam>
+      duration_time: 30
+    </rosparam>
+  </node>
+
   <node name="diagnostic_aggregator"
         pkg="diagnostic_aggregator" type="aggregator_node"
         clear_params="true" >
@@ -27,8 +35,12 @@
         output="screen" >
     <remap from="/robotsound" to="/sound_play" />
     <rosparam>
-      speak_interval: 0
+      run_stop_topic: /pseudo_runstop_publisher/runstop
+      speak_when_runstopped: true
+      speak_interval: 0.0
       seconds_to_start_speaking: 5
+      ignore_time_after_runstop_is_enabled: 10.0
+      ignore_time_after_runstop_is_disabled: 10.0
     </rosparam>
   </node>
 

From 5217806db0f38a778ccc58982c26a4546a06da6d Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Tue, 14 Jun 2022 16:02:49 +0900
Subject: [PATCH 49/54] [audible_warning] Add prefix + error name to original
 text

---
 jsk_tools/node_scripts/audible_warning.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index ec048a451..7f1659cbe 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -154,7 +154,7 @@ def run(self):
                 sentence = multiple_whitespace_to_one(sentence)
                 rospy.loginfo('audible warning error name "{}"'.format(e.name))
                 rospy.loginfo("audible warning talking: %s" % sentence)
-                self.pub_original_text.publish(e.message)
+                self.pub_original_text.publish(prefix + e.name + ' ' + e.message)
                 self.pub_speak_text.publish(
                     "audible warning talking: %s" % sentence)
 

From 22c96e10028a12710e114a696f065ed74704aea8 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 7 Jul 2022 02:05:18 +0900
Subject: [PATCH 50/54] [jsk_tools/audible_warning] Modified default speak rate
 to speed up.

---
 doc/jsk_tools/scripts/audible_warning.md  | 4 ++--
 jsk_tools/node_scripts/audible_warning.py | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/doc/jsk_tools/scripts/audible_warning.md b/doc/jsk_tools/scripts/audible_warning.md
index 75888827f..72849c0d8 100644
--- a/doc/jsk_tools/scripts/audible_warning.md
+++ b/doc/jsk_tools/scripts/audible_warning.md
@@ -23,9 +23,9 @@ Robots using diagnostics can use this node.
 
 ## Parameter
 
-* `~speak_rate` (`Float`, default: `1.0`)
+* `~speak_rate` (`Float`, default: `1.0 / 100.0`)
 
-    Rate of speak loop.
+    Rate of speak loop. If `~wait_speak` is `True`, wait until a robot finish speaking.
 
 * `~speak_interval` (`Float`, default: `120.0`)
 
diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 7f1659cbe..6da9ef6b5 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -176,7 +176,7 @@ def run(self):
 class AudibleWarning(object):
 
     def __init__(self):
-        speak_rate = rospy.get_param("~speak_rate", 1.0)
+        speak_rate = rospy.get_param("~speak_rate", 1.0 / 100.0)
         wait_speak = rospy.get_param("~wait_speak", True)
         language = rospy.get_param('~language', '')
         seconds_to_start_speaking = rospy.get_param(

From 688ea1e24db3aa5ccc08be0cabfe0d02d6d2df10 Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 7 Jul 2022 02:49:32 +0900
Subject: [PATCH 51/54] [jsk_tools/audible_warning] Add space to published
 original text.

---
 jsk_tools/node_scripts/audible_warning.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 6da9ef6b5..4f9cb98dd 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -154,7 +154,7 @@ def run(self):
                 sentence = multiple_whitespace_to_one(sentence)
                 rospy.loginfo('audible warning error name "{}"'.format(e.name))
                 rospy.loginfo("audible warning talking: %s" % sentence)
-                self.pub_original_text.publish(prefix + e.name + ' ' + e.message)
+                self.pub_original_text.publish(prefix + ' ' + e.name + ' ' + e.message)
                 self.pub_speak_text.publish(
                     "audible warning talking: %s" % sentence)
 

From 22972c1356df1f0a8efcbeb2ed9b97534fa8908c Mon Sep 17 00:00:00 2001
From: iory <ab.ioryz@gmail.com>
Date: Thu, 7 Jul 2022 03:04:28 +0900
Subject: [PATCH 52/54] [jsk_tools/audible_warning] Set
 wait_speak_duration_time to wait action server result.

---
 doc/jsk_tools/scripts/audible_warning.md  | 4 ++++
 jsk_tools/node_scripts/audible_warning.py | 4 +++-
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/doc/jsk_tools/scripts/audible_warning.md b/doc/jsk_tools/scripts/audible_warning.md
index 72849c0d8..95fb4d3a9 100644
--- a/doc/jsk_tools/scripts/audible_warning.md
+++ b/doc/jsk_tools/scripts/audible_warning.md
@@ -49,6 +49,10 @@ Robots using diagnostics can use this node.
 
     This is useful for ignoring errors that occur when the robot starts.
 
+* `~wait_speak_duration_time` (`Float`, default: `30.0`)
+
+    Waiting time in `robotsound` action.
+
 * `~enable` (`Bool`, default: `True`)
 
     If `True`, speak diagnositcs. If `False`, this node don't speak.
diff --git a/jsk_tools/node_scripts/audible_warning.py b/jsk_tools/node_scripts/audible_warning.py
index 4f9cb98dd..f1bd39845 100755
--- a/jsk_tools/node_scripts/audible_warning.py
+++ b/jsk_tools/node_scripts/audible_warning.py
@@ -181,6 +181,8 @@ def __init__(self):
         language = rospy.get_param('~language', '')
         seconds_to_start_speaking = rospy.get_param(
             '~seconds_to_start_speaking', 0)
+        wait_speak_duration_time = rospy.get_param(
+            '~wait_speak_duration_time', 30.0)
 
         # Wait until seconds_to_start_speaking the time has passed.
         self.run_stop_enabled_time = None
@@ -209,7 +211,7 @@ def __init__(self):
         self.speak_thread = SpeakThread(
             speak_rate, wait_speak,
             language,
-            wait_speak_duration_time=seconds_to_start_speaking)
+            wait_speak_duration_time=wait_speak_duration_time)
         self.srv = Server(Config, self.config_callback)
 
         # run-stop

From c17036d9cc3150f8a50e06414a9e308c0f1cac85 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 30 Sep 2022 23:14:26 +0900
Subject: [PATCH 53/54] catch StopIteration when all images do not have stamp

---
 .../python/jsk_rosbag_tools/bag_to_video.py         | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/jsk_rosbag_tools/python/jsk_rosbag_tools/bag_to_video.py b/jsk_rosbag_tools/python/jsk_rosbag_tools/bag_to_video.py
index 0dcc3851a..c8157cc77 100644
--- a/jsk_rosbag_tools/python/jsk_rosbag_tools/bag_to_video.py
+++ b/jsk_rosbag_tools/python/jsk_rosbag_tools/bag_to_video.py
@@ -110,10 +110,15 @@ def bag_to_video(input_bagfile,
 
         # remove 0 time stamp
         stamp = 0.0
-        while stamp == 0.0:
-            stamp, _, img, _ = next(images)
-            if show_progress_bar:
-                progress.update(1)
+        try:
+            while stamp == 0.0:
+                stamp, _, img, _ = next(images)
+                if show_progress_bar:
+                    progress.update(1)
+        except StopIteration:
+            print('[bag_to_video] No timestamp found in all images')
+            print('[bag_to_video] Skipping {}'.format(image_topic))
+            break
         start_stamp = stamp
         width, height = img.shape[1], img.shape[0]
 

From acd431e588439105efffadb2539290fb0daad661 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Wed, 22 Mar 2023 01:18:31 +0900
Subject: [PATCH 54/54] auto lambda for c++14

---
 .../jsk_topic_tools/connection_based_nodelet.h   | 16 ++++++++--------
 .../src/constant_rate_throttle_nodelet.cpp       |  4 ++--
 jsk_topic_tools/src/diagnostic_nodelet.cpp       |  2 +-
 jsk_topic_tools/src/hz_measure_nodelet.cpp       |  2 +-
 .../src/lightweight_throttle_nodelet.cpp         |  4 ++--
 jsk_topic_tools/src/mux_nodelet.cpp              |  2 +-
 jsk_topic_tools/src/relay_nodelet.cpp            |  2 +-
 jsk_topic_tools/src/stealth_relay_nodelet.cpp    |  2 +-
 .../src/synchronized_throttle_nodelet.cpp        |  6 +++---
 .../src/timered_diagnostic_updater.cpp           |  2 +-
 jsk_topic_tools/src/topic_buffer_client.cpp      |  2 +-
 jsk_topic_tools/src/topic_buffer_server.cpp      |  2 +-
 12 files changed, 23 insertions(+), 23 deletions(-)

diff --git a/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h b/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h
index 075ac3897..643b56cb5 100644
--- a/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h
+++ b/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h
@@ -192,13 +192,13 @@ namespace jsk_topic_tools
     {
       boost::mutex::scoped_lock lock(connection_mutex_);
       ros::SubscriberStatusCallback connect_cb
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         = boost::bind(&ConnectionBasedNodelet::connectionCallback, this, _1);
 #else
         = [this](auto& pub){ connectionCallback(pub); };
 #endif
       ros::SubscriberStatusCallback disconnect_cb
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         = boost::bind(&ConnectionBasedNodelet::connectionCallback, this, _1);
 #else
         = [this](auto& pub){ connectionCallback(pub); };
@@ -262,14 +262,14 @@ namespace jsk_topic_tools
     {
       boost::mutex::scoped_lock lock(connection_mutex_);
       image_transport::SubscriberStatusCallback connect_cb
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         = boost::bind(&ConnectionBasedNodelet::imageConnectionCallback,
                       this, _1);
 #else
         = [this](auto& pub){ imageConnectionCallback(pub); };
 #endif
       image_transport::SubscriberStatusCallback disconnect_cb
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         = boost::bind(&ConnectionBasedNodelet::imageConnectionCallback,
                       this, _1);
 #else
@@ -334,28 +334,28 @@ namespace jsk_topic_tools
     {
       boost::mutex::scoped_lock lock(connection_mutex_);
       image_transport::SubscriberStatusCallback connect_cb
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         = boost::bind(&ConnectionBasedNodelet::cameraConnectionCallback,
                       this, _1);
 #else
         = [this](auto& pub){ cameraConnectionCallback(pub); };
 #endif
       image_transport::SubscriberStatusCallback disconnect_cb
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         = boost::bind(&ConnectionBasedNodelet::cameraConnectionCallback,
                       this, _1);
 #else
         = [this](auto& pub){ cameraConnectionCallback(pub); };
 #endif
       ros::SubscriberStatusCallback info_connect_cb
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         = boost::bind(&ConnectionBasedNodelet::cameraInfoConnectionCallback,
                       this, _1);
 #else
         = [this](auto& pub){ cameraInfoConnectionCallback(pub); };
 #endif
       ros::SubscriberStatusCallback info_disconnect_cb
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         = boost::bind(&ConnectionBasedNodelet::cameraInfoConnectionCallback,
                       this, _1);
 #else
diff --git a/jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp b/jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp
index f43a4ac54..cb486fc46 100644
--- a/jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp
+++ b/jsk_topic_tools/src/constant_rate_throttle_nodelet.cpp
@@ -12,7 +12,7 @@ namespace jsk_topic_tools
 
     srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(pnh_);
     dynamic_reconfigure::Server<Config>::CallbackType f
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         = boost::bind(&ConstantRateThrottle::configCallback, this, _1, _2);
 #else
         = [this](auto& config, auto level) {configCallback(config, level); };
@@ -68,7 +68,7 @@ namespace jsk_topic_tools
     if (!advertised_) {
         sub_->shutdown();
         ros::SubscriberStatusCallback connect_cb
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         = boost::bind(&ConstantRateThrottle::connectionCallback, this, _1);
 #else
         = [this](auto& pub){ connectionCallback(pub); };
diff --git a/jsk_topic_tools/src/diagnostic_nodelet.cpp b/jsk_topic_tools/src/diagnostic_nodelet.cpp
index 365968ec0..a5bef07b5 100644
--- a/jsk_topic_tools/src/diagnostic_nodelet.cpp
+++ b/jsk_topic_tools/src/diagnostic_nodelet.cpp
@@ -56,7 +56,7 @@ namespace jsk_topic_tools
     diagnostic_updater_->setHardwareID(getName());
     diagnostic_updater_->add(
       getName(),
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
       boost::bind(
         &DiagnosticNodelet::updateDiagnostic,
         this,
diff --git a/jsk_topic_tools/src/hz_measure_nodelet.cpp b/jsk_topic_tools/src/hz_measure_nodelet.cpp
index f859fe9b9..af662a271 100644
--- a/jsk_topic_tools/src/hz_measure_nodelet.cpp
+++ b/jsk_topic_tools/src/hz_measure_nodelet.cpp
@@ -78,7 +78,7 @@ namespace jsk_topic_tools
 
     diagnostic_updater_.reset(new TimeredDiagnosticUpdater(pnh_, ros::Duration(1.0)));
     diagnostic_updater_->setHardwareID(getName());
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
     diagnostic_updater_->add(getName(),
                              boost::bind(&HzMeasure::updateDiagnostic,
                                          this, _1));
diff --git a/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp b/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp
index dd59d9551..62cf7ee50 100644
--- a/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp
+++ b/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp
@@ -45,7 +45,7 @@ namespace jsk_topic_tools
 
     srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(pnh_);
     dynamic_reconfigure::Server<Config>::CallbackType f =
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
       boost::bind(&LightweightThrottle::configCallback, this, _1, _2);
 #else
       [this](auto& config, auto level){ configCallback(config, level); };
@@ -99,7 +99,7 @@ namespace jsk_topic_tools
       // This section should be called once
       sub_->shutdown();         // Shutdown before advertising topic
       ros::SubscriberStatusCallback connect_cb
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         = boost::bind(&LightweightThrottle::connectionCallback, this, _1);
 #else
         = [this](auto& pub){ connectionCallback(pub); };
diff --git a/jsk_topic_tools/src/mux_nodelet.cpp b/jsk_topic_tools/src/mux_nodelet.cpp
index fe27fcff2..9997ff40d 100644
--- a/jsk_topic_tools/src/mux_nodelet.cpp
+++ b/jsk_topic_tools/src/mux_nodelet.cpp
@@ -194,7 +194,7 @@ namespace jsk_topic_tools
   {
     if (!advertised_) {         // first time
       ros::SubscriberStatusCallback connect_cb
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         = boost::bind(&MUX::connectCb, this, _1);
 #else
         = [this](auto& pub){ connectCb(pub); };
diff --git a/jsk_topic_tools/src/relay_nodelet.cpp b/jsk_topic_tools/src/relay_nodelet.cpp
index d26bd254a..c862fcddc 100644
--- a/jsk_topic_tools/src/relay_nodelet.cpp
+++ b/jsk_topic_tools/src/relay_nodelet.cpp
@@ -50,7 +50,7 @@ namespace jsk_topic_tools
     diagnostic_updater_->setHardwareID(getName());
     diagnostic_updater_->add(
       getName() + "::Relay",
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
       boost::bind(
         &Relay::updateDiagnostic, this, _1));
 #else
diff --git a/jsk_topic_tools/src/stealth_relay_nodelet.cpp b/jsk_topic_tools/src/stealth_relay_nodelet.cpp
index 7b309839e..2060f6352 100644
--- a/jsk_topic_tools/src/stealth_relay_nodelet.cpp
+++ b/jsk_topic_tools/src/stealth_relay_nodelet.cpp
@@ -69,7 +69,7 @@ namespace jsk_topic_tools
 
     srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
     dynamic_reconfigure::Server<Config>::CallbackType f =
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
       boost::bind(&StealthRelay::configCallback, this, _1, _2);
 #else
       [this](auto& config, auto level){ configCallback(config, level); };
diff --git a/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp b/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp
index 995a6db6b..56c053092 100644
--- a/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp
+++ b/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp
@@ -87,7 +87,7 @@ void SynchronizedThrottle::onInit()
 
   srv_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
   dynamic_reconfigure::Server<Config>::CallbackType f =
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
       boost::bind(&SynchronizedThrottle::configCallback, this, _1, _2);
 #else
       [this](auto& config, auto level){ configCallback(config, level); };
@@ -114,7 +114,7 @@ void SynchronizedThrottle::onInit()
   {
     check_sub_[i] = pnh_->subscribe<topic_tools::ShapeShifterStamped>(
         input_topics_[i], 1,
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
 	boost::bind(&SynchronizedThrottle::checkCallback, this, _1, i)
 #else
         [this,i](auto& msg){ checkCallback(msg, i); }
@@ -208,7 +208,7 @@ void SynchronizedThrottle::subscribe()
   if (n_topics < MAX_SYNC_NUM)
   {
     sub_[0]->registerCallback(
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
         boost::bind(&SynchronizedThrottle::fillNullMessage, this, _1)
 #else
         [this](auto& msg){ fillNullMessage(msg); }
diff --git a/jsk_topic_tools/src/timered_diagnostic_updater.cpp b/jsk_topic_tools/src/timered_diagnostic_updater.cpp
index c3b384e9d..0bbe549d2 100644
--- a/jsk_topic_tools/src/timered_diagnostic_updater.cpp
+++ b/jsk_topic_tools/src/timered_diagnostic_updater.cpp
@@ -44,7 +44,7 @@ namespace jsk_topic_tools
   {
     timer_ = nh.createTimer(
       timer_duration,
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
       boost::bind(&TimeredDiagnosticUpdater::timerCallback,this,_1)
 #else
       [this](auto& event){ timerCallback(event); }
diff --git a/jsk_topic_tools/src/topic_buffer_client.cpp b/jsk_topic_tools/src/topic_buffer_client.cpp
index 5ab8db2d3..e0d884123 100644
--- a/jsk_topic_tools/src/topic_buffer_client.cpp
+++ b/jsk_topic_tools/src/topic_buffer_client.cpp
@@ -201,7 +201,7 @@ int main(int argc, char **argv)
         pub_info->topic_with_header = false;
         ROS_INFO_STREAM("subscribe " << pub_info->topic_name+string("_update"));
         pub_info->sub = new ros::Subscriber(n.subscribe<ShapeShifter>(pub_info->topic_name+string("_update"), 10,
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
             boost::bind(in_cb, _1, pub_info)
 #else
             [pub_info](auto& msg){ in_cb(msg, pub_info); }
diff --git a/jsk_topic_tools/src/topic_buffer_server.cpp b/jsk_topic_tools/src/topic_buffer_server.cpp
index b79b0f2a5..be881a7d6 100644
--- a/jsk_topic_tools/src/topic_buffer_server.cpp
+++ b/jsk_topic_tools/src/topic_buffer_server.cpp
@@ -220,7 +220,7 @@ int main(int argc, char **argv)
             sub_info->periodic = false;
             ROS_INFO_STREAM("subscribe " << sub_info->topic_name);
             sub_info->sub = new ros::Subscriber(n.subscribe<ShapeShifter>(sub_info->topic_name, 10,
-#if __cplusplus < 201100L
+#if __cplusplus < 201400L
                 boost::bind(in_cb, _1, sub_info)
 #else
                 [sub_info](auto& msg){ in_cb(msg, sub_info); }