diff --git a/.gitignore b/.gitignore
index 755472c..2a5926b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -62,3 +62,6 @@ GUI
# Android
*.apk
+/software/raspberry/superviseur-robot/superviseur/dist/
+/software/raspberry/testeur/testeur/build/
+/software/raspberry/testeur/testeur/dist/
\ No newline at end of file
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
deleted file mode 100644
index ee202d8..0000000
--- a/.vscode/c_cpp_properties.json
+++ /dev/null
@@ -1,16 +0,0 @@
-{
- "configurations": [
- {
- "name": "Linux",
- "includePath": [
- "${workspaceFolder}/**"
- ],
- "defines": [],
- "compilerPath": "/usr/bin/clang",
- "cStandard": "c11",
- "cppStandard": "c++17",
- "intelliSenseMode": "clang-x64"
- }
- ],
- "version": 4
-}
\ No newline at end of file
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
deleted file mode 100644
index 29327bf..0000000
--- a/.vscode/tasks.json
+++ /dev/null
@@ -1,16 +0,0 @@
-{
- // See https://go.microsoft.com/fwlink/?LinkId=733558
- // for the documentation about the tasks.json format
- "version": "2.0.0",
- "tasks": [
- {
- "taskName": "Compile on raspberry",
- "command": "rsync -az '${file}' 10.105.1.6:~ && ssh server.example.org 'chmod +x ./${fileBasename}; ./${fileBasename}'",
- "type": "shell",
- "group": {
- "kind": "build",
- "isDefault": true
- }
- }
- ]
-}
\ No newline at end of file
diff --git a/README.md b/README.md
index 8dd3a87..7a9fe63 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,10 @@
# Dumber
-## Branche invalide :
-La branche master ne contient rien. Vous devez selectionner la branche stable avant de pouvoir commencer à utiliser le depot:
- git checkout stable
+Depot du projet de temps reel 4eme année au departement GEI de l'INSA Toulouse.
+
+## Repertoires
+- hardware : contient les plans pour la partie mecanique du robot et de son chargeur, ainsi que les plans de conception des PCB du robot, du chargeur, de l'adaptateur Xbee pour la raspberry et les plans des CAP du robot
+- software: rassemble les parties logicielles du robot, du chargeur, les bibliotheques et superviseur coté raspberry et l'interface Web
+- doc: contient les sujets de TD et TP
+- aruco_markers: Script de generation des tags (aruco) utilisés sur les robots
-Vous pouvez aussi selectionner la branche dev pour avoir les derniers developpements (instable)
- git checkout dev
diff --git a/aruco_markers/.gitignore b/aruco_markers/.gitignore
new file mode 100644
index 0000000..225c381
--- /dev/null
+++ b/aruco_markers/.gitignore
@@ -0,0 +1,2 @@
+*.png
+*.jpg
diff --git a/aruco_markers/generate_markers.sh b/aruco_markers/generate_markers.sh
new file mode 100755
index 0000000..2d3fddd
--- /dev/null
+++ b/aruco_markers/generate_markers.sh
@@ -0,0 +1,23 @@
+#!/bin/sh
+
+echo "Generating 20 markers"
+example_aruco_create_marker -d=3 --id=1 --ms=100 marker_4X4_1000_1.png
+example_aruco_create_marker -d=3 --id=2 --ms=100 marker_4X4_1000_2.png
+example_aruco_create_marker -d=3 --id=3 --ms=100 marker_4X4_1000_3.png
+example_aruco_create_marker -d=3 --id=4 --ms=100 marker_4X4_1000_4.png
+example_aruco_create_marker -d=3 --id=5 --ms=100 marker_4X4_1000_5.png
+example_aruco_create_marker -d=3 --id=6 --ms=100 marker_4X4_1000_6.png
+example_aruco_create_marker -d=3 --id=7 --ms=100 marker_4X4_1000_7.png
+example_aruco_create_marker -d=3 --id=8 --ms=100 marker_4X4_1000_8.png
+example_aruco_create_marker -d=3 --id=9 --ms=100 marker_4X4_1000_9.png
+example_aruco_create_marker -d=3 --id=10 --ms=100 marker_4X4_1000_10.png
+example_aruco_create_marker -d=3 --id=11 --ms=100 marker_4X4_1000_11.png
+example_aruco_create_marker -d=3 --id=12 --ms=100 marker_4X4_1000_12.png
+example_aruco_create_marker -d=3 --id=13 --ms=100 marker_4X4_1000_13.png
+example_aruco_create_marker -d=3 --id=14 --ms=100 marker_4X4_1000_14.png
+example_aruco_create_marker -d=3 --id=15 --ms=100 marker_4X4_1000_15.png
+example_aruco_create_marker -d=3 --id=16 --ms=100 marker_4X4_1000_16.png
+example_aruco_create_marker -d=3 --id=17 --ms=100 marker_4X4_1000_17.png
+example_aruco_create_marker -d=3 --id=18 --ms=100 marker_4X4_1000_18.png
+example_aruco_create_marker -d=3 --id=19 --ms=100 marker_4X4_1000_19.png
+example_aruco_create_marker -d=3 --id=20 --ms=100 marker_4X4_1000_20.png
diff --git a/aruco_markers/markers_board.odt b/aruco_markers/markers_board.odt
new file mode 100644
index 0000000..088d205
Binary files /dev/null and b/aruco_markers/markers_board.odt differ
diff --git a/aruco_markers/markers_board.pdf b/aruco_markers/markers_board.pdf
new file mode 100644
index 0000000..d65a9c7
Binary files /dev/null and b/aruco_markers/markers_board.pdf differ
diff --git a/doc/sujets/tex/conception/conception_robot.tex b/doc/sujets/tex/conception/conception_robot.tex
new file mode 100644
index 0000000..4590990
--- /dev/null
+++ b/doc/sujets/tex/conception/conception_robot.tex
@@ -0,0 +1,875 @@
+\documentclass[11pt,a4paper]{paper}
+
+\usepackage[T1]{fontenc}
+
+\usepackage{graphicx}
+\usepackage{amssymb}
+\usepackage{amstext}
+\usepackage{amsmath}
+\usepackage{a4wide,color}
+\usepackage[utf8]{inputenc}
+\usepackage[frenchb]{babel}
+\usepackage{xspace}
+\usepackage{anysize}
+\usepackage{tabularx}
+\usepackage{multirow}
+\usepackage{fancybox}
+\usepackage{fancyhdr}
+\usepackage{bbding}
+
+\usepackage{multicol}
+
+\setlength{\parskip}{1ex plus 0.5ex minus 0.2ex}
+\usepackage{color}
+\usepackage{float}
+
+\usepackage[toc,page]{appendix}
+\usepackage{lscape}
+
+\usepackage{placeins}
+
+\usepackage{listingsutf8}
+%\usepackage{listings}
+
+\usepackage{todonotes}
+
+\lstset{% general command to set parameter(s)
+ basicstyle=\footnotesize, % print whole listing small
+ keywordstyle=\color{magenta}\bfseries, % underlined bold black keywords
+ identifierstyle=, % nothing happens
+ commentstyle=\color{black}, % white comments
+ stringstyle=\ttfamily, % typewriter type for strings
+ showstringspaces=false % no special string spaces
+}
+
+\lstdefinelanguage{aald}
+ {morekeywords={system, implementation},
+ sensitive=false,
+ morecomment=[l]{//},
+ morecomment=[s]{/*}{*/},
+ morestring=[b]",
+}
+
+\usepackage[colorlinks=true]{hyperref}
+
+\renewcommand{\appendixtocname}{Annexes}
+\renewcommand{\appendixpagename}{Annexes}
+
+\usepackage[normalem]{ulem}
+\usepackage{color}
+
+\definecolor{Fond}{gray}{0.7}
+
+\renewcommand{\floatpagefraction}{.99}
+\renewcommand{\textfraction}{.01}
+\newcommand{\modif}[1]{\textcolor{red}{\uline{#1}}}
+
+
+\pagestyle{fancy}
+\fancyhf{}
+\fancyhead[RE,RO]{\thepage}
+\fancyhead[LE]{}
+\fancyhead[LO]{Programmation et conception de systèmes temps réel -- 4ème année AE et IR}
+\fancyfoot[LO]{INSA Toulouse -- \today}
+\fancypagestyle{plain}{%
+ \fancyhf{} % get rid of headers
+ \renewcommand{\headrulewidth}{0pt} % and the line
+}
+
+\newenvironment{maliste}%
+{ \begin{list}%
+ {\ArrowBoldRightStrobe}%
+ {\setlength{\labelwidth}{30pt}%
+ \setlength{\leftmargin}{35pt}%
+ \setlength{\itemsep}{\parsep}}}%
+{ \end{list} }
+
+
+
+
+\title{{\Huge Projet De Stijl 2.0}
+{\small : Plateforme pour robots mobiles}\\
+{\scriptsize Programmation et conception de systémes temps réel -- 4éme année AE/IR}\\
+{\scriptsize Institut National des Sciences Appliquées de Toulouse}\\
+---\\
+Dossier de conception \\
+{\large Version 2.0.1 (\today)}\\
+{\scriptsize Référent pédagogique : P.-E. Hladik (\texttt{pehladik@insa-toulouse.fr})}\\
+---
+}
+
+
+\begin{document}
+
+\maketitle
+
+%\begin{table}[htdp]
+%\caption{Suivi des modifications}
+%\begin{center}
+%\begin{tabular}{|c|c|c|p{8cm}|}
+%\hline
+%Date & Version & Auteur & Modifications\\
+%\hline
+%JJ/MM/12 & 0.3.X & P.-E. Hladik& \\
+%\hline
+%\end{tabular}
+%\end{center}
+%\label{default}
+%\end{table}%
+%\newpage
+
+%\tableofcontents
+
+%\newpage
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+ \section{Introduction}
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\label{sec:premier}
+
+Ce document a pour but de vous apprendre à lire un modèle en AADL et les diagrammes d'activité qui décrivent le comportement des threads. Le document présente le résultat d'une conception réalisée à la va-vite. Cette conception ne prend en considération que la mise en place des communications et la gestion des déplacements du robot ce qui correspond aux fonctionnalités 1, 2, 3, 4, 7, 10 et 12 du cahier des charges fonctionnel.
+
+Le code initial qui vous est fourni à la première séance de travaux pratiques correspond à l'implémentation de la conception présentée ici.
+
+Attention, les choix qui ont été faits ne sont pas forcément les meilleurs. Tout ce qui est proposé peut être remis en cause dans la suite du travail. \`A vous d'ajouter, de modifier, de critiquer de manière pertinente cette conception.
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\section{Diagramme de contexte}
+%%%%%%%%%%%%%%%%%%%%%%%%%
+
+La figure~\ref{fig:contexte} présente le superviseur dans son contexte et ses interactions avec les autres composants de la plate-forme.
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.6]{figures_pdf/contexte}
+\caption{Diagramme de contexte}
+\label{fig:contexte}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+La webcam produit des données (\texttt{image}) sous la forme d'un tableau d'octets. Le robot reçoit des ordres (\texttt{ordre}) sous la forme d'une chaîne de caractères et retourne une réponse aussi sous la forme d'une chaîne (\texttt{reponse}). Le moniteur envoi un événement (\texttt{connecter serveur}) pour demander la connexion avec le serveur puis établit une communication bi-directionnelle sous la forme d'une flux d'octets (\texttt{inputStream} et \texttt{outputStream}).
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\section{Le travail d'un concepteur : l'analyse fonctionnelle}
+%%%%%%%%%%%%%%%%%%%%%%%%%
+
+À partir du cahier des charges, le concepteur va analyser chaque fonctionnalité en se demandant quelles sont les données consommées et produites ainsi que les traitement à réaliser. Petit à petit il va ainsi construire l'architecture du programme.
+
+Dans la suite de ce document, nous ne nous intéresserons qu'aux fonctionnalités 1, 2, 3, 4, 7, 10 et 12 présentées dans le cahier des charges fonctionnel. Votre travail consistera à compléter la conception déjà réalisée pour intégrer l'ensemble des fonctionnalités. Vous pouvez modifier tout ce que vous voulez de cette conception.
+
+En analysant la fonctionnalité 1, le concepteur produit au brouillon le dessin suivant. Il décrit dans un rectangle blanc la fonction et dans une note sur fond jaune le comportement de la fonction. La flèche en pointillée représente un évènement.
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.5]{figures_pdf/fonc/fonc1}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+Pour intégrer la fonctionnalité 2, le concepteur complète son brouillon avec une nouvelle fonction. Il modifie aussi la première fonction pour que celle-ci produise l'événement {\tt serveur démarré}. L'évènement {\tt ouvrir socket} est produit par le moniteur lorsque l'utilisateur demande la connexion entre le moniteur et le superviseur.
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.5]{figures_pdf/fonc/fonc2}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+Les fonctionnalités 3 et 4 (voir dessin ci-dessous) induisent l'ajout du nouvel évènement {\tt connexion établie}. Une file de messages {\tt messageToMon} est aussi introduite. C'est dans cette file que seront postés les messages à envoyer au moniteur. On remarque l'apparition des flux de données-événement {\tt inputStream} et {\tt oututStream} en provenance et à destination du moniteur.
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.5]{figures_pdf/fonc/fonc3-4}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+
+L'ajout de la fonctionnalité 7 conduit à modifier la fonction de réception pour différencier les actions à réaliser en fonction du type des messages reçus. Un nouvel évènement {\tt ouvrir comRobot} est ainsi ajouté pour signaler une demander de mise en service de la communication avec le robot. On remarque aussi que la file de messages {\tt messageToMon} est maintenant utilisée par une fonction pour envoyer au moniteur le message d'acquittement ou d'échec.
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.5]{figures_pdf/fonc/fonc7}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+La fonction pour démarrer le robot sans watchdog (fonctionnalité 10) suit le même schéma que le fonctionnalité 7. On remarque cette fois que les flux {\tt ordre} et de {\tt réponse} sont utilisés pour communiquer avec le robot. La file de message {\tt messageToMon} a maintenant deux producteurs.
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.5]{figures_pdf/fonc/fonc10}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+La dernière fonctionnalité qui sera traitée dans cette conception introduit deux variables partagées : {\tt mouvement} et {\tt robot démarré}. Le choix fait par le concepteur pour traiter les mouvements consiste à envoyer périodiquement un message de mouvement au robot. Pour cela la fonction lit le mouvement à réaliser dans la variable {\tt mouvement}. Cette variable est mise à jour lorsqu'un message de mouvement est reçu. Cependant, le message ne doit être envoyé que si le robot est démarré, d'où l'ajout de la variable {\tt robot démarré} qui est mise à jour dans la fonction qui démarre le robot.
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.5]{figures_pdf/fonc/fonc12}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\section{Le travail d'un concepteur : la formalisation}
+%%%%%%%%%%%%%%%%%%%%%%%%%
+
+\subsection{Identification des threads}
+Après avoir identifier les fonctions de l'application, le concepteur doit préciser quand l'exécution des fonctions se produit. La première étape consiste à considérer chaque fonction comme un thread. Deux questions se posent alors :
+\begin{itemize}
+ \item Quel est le type du thread ? Un thread apériodique (noté par un A dans un rond) est un thread dont l'exécution est contrôlé par des événements alors qu'un thread périodique (noté par la valeur de la période dans un rond) aura une exécution qui revient périodiquement.
+ \item Quel est la priorité du thread ? Une règle simple pour les threads périodiques est d'attribuer les priorités par ordre décroissant des périodes, c'est-à-dire qu'un thread sera d'autant plus prioritaire que sa période sera petite. Pour les threads apériodiques, le niveau de priorité va dépendre de la criticité des fonctions.\\
+\end{itemize}
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.5]{figures_pdf/fonc/thread}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+\subsection{Raffinage}
+
+Une seconde étape consiste à avoir un regard critique sur sa conception, par exemple en se demandant s'il est possible de réunir des threads ensembles. Ici, le thread {\tt Etablissement de la communication avec le moniteur} ne peut être appelé qu'après {\tt démarrer serveur}, il est donc possible de les réunir en un seul thread.
+
+C'est aussi le moment de se demande si toutes les fonctionnalités sont couvertes. Pour cela on reprend chaque fonctionnalité et on vérifie qu'elles sont bien traitées. Ici tout semble correct, bien qu'un doute subsiste pour la gestion des déplacements du robot...
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+\subsection{Formalisation}
+
+Jusqu'ici tout a été réalisé au brouillon par le concepteur, il faut donc maintenant passer à une étape de formalisation pour pouvoir partager le travail réalisé et lever toute ambiguité. Pour cela, l'architecture sera décrite en AADL et le comportement des threads par des diagrammes d'activité UML. Le schéma~\ref{fig:AADL} présente le modèle AADL de l'architecture logicielle.
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.5]{figures_pdf/fonc/AADL}
+\end{center}
+\caption{Modèle AADL de l'architecture de l'application}
+\label{fig:AADL}
+\end{figure}
+\FloatBarrier
+
+Ensuite, pour chacun des threads, un diagramme d'activité UML est utilisé pour décrire son comportement. Les diagrammes ont été produits avec \href{https://www.planttext.com}{https://www.planttext.com} et les codes sources sont disponibles en annexe (disponibles numériquement sur la page moodle).
+
+\subsection{Thread th\_server}
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{figures_pdf/activity/th_server}
+\end{center}
+\caption{Diagramme d'activité du thread th\_server}
+\end{figure}
+\FloatBarrier
+
+\subsection{Thread th\_sendToMon}
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{figures_pdf/activity/th_sendToMon}
+\end{center}
+\caption{Diagramme d'activité du thread th\_sendToMon}
+\end{figure}
+\FloatBarrier
+
+
+\subsection{Thread th\_receiveFromMon}
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{figures_pdf/activity/th_receiveFromMon}
+\end{center}
+\caption{Diagramme d'activité du thread th\_receiveFromMon}
+\end{figure}
+\FloatBarrier
+
+\subsection{Thread th\_openComRobot}
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{figures_pdf/activity/th_openComRobot}
+\end{center}
+\caption{Diagramme d'activité du thread th\_openComRobot}
+\end{figure}
+\FloatBarrier
+
+\subsection{Thread th\_startRobot}
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{figures_pdf/activity/th_startRobot}
+\end{center}
+\caption{Diagramme d'activité du thread th\_startRobot}
+\end{figure}
+\FloatBarrier
+
+\subsection{Thread th\_move}
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{figures_pdf/activity/th_move}
+\end{center}
+\caption{Diagramme d'activité du thread th\_move}
+\end{figure}
+\FloatBarrier
+
+
+\newpage
+%%%%%%%%%%%%%%%%%%%%%%%
+\begin{appendices}
+%%%%%%%%%%%%%%%%%%%%%%%%%
+
+\section{Diagramme d'activité}
+\label{ann:diag_act}
+
+\framebox[\textwidth]{
+\begin{minipage}{0.9\textwidth}
+{\bf Remarque :} Cette présentation du diagramme d'activité est tirée du \href{http://laurent-audibert.developpez.com/Cours-UML/}{cours mis en ligne} de Laurent Audibert.
+
+Elle ne se veut pas exhaustive, mais simplement présenter les éléments nécessaire pour l'activité concernée par ce cours. De plus des éléments non standardisés sont introduit pour facilité l'expression des besoins.
+\end{minipage}
+}
+\vspace{2mm}
+
+Le diagramme d'activité est un diagramme comportemental d'UML, permettant de représenter le déclenchement d'événements en fonction des états du système et de modéliser des comportements parallélisables (multi-threads ou multi-processus).
+
+Les diagrammes d'activités permettent de spécifier des traitements a priori séquentiels et offrent une vision très proche de celle des langages de programmation impératifs comme C++ ou Java. Il serait utilisé ici dans ce but.
+
+\subsection{N{\oe}uds d'activité}
+
+Une activité modélise un comportement décrit par un séquencement organisé d'unités dont les éléments simples sont les actions. Le flot d'exécution est modélisé par des n{\oe}uds reliés par des arcs (transitions). Le flot de contrôle reste dans l'activité jusqu'à ce que les traitements soient terminés.
+
+Un n{\oe}ud d'activité est un type d'élément abstrait permettant de représenter les étapes le long du flot d'une activité. Il existe plusieurs familles de n{\oe}uds d'activités :
+\begin{itemize}
+\item les n{\oe}uds d'exécutions,
+\item et les n{\oe}uds de contrôle.
+\end{itemize}
+La figure~\ref{fig:noeuds_act} représente les différents types de n{\oe}uds d'activité.
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.6]{figures_pdf/noeud_activite}
+\caption{Représentation graphique des n{\oe}uds d'activité}
+\label{fig:noeuds_act}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+Le passage d'une activité vers une autre est matérialisé par une transition. Elles sont déclenchées dès que l'activité source est terminée et provoquent automatiquement et immédiatement le début de la prochaine activité à déclencher (l'activité cible). Contrairement aux activités, les transitions sont franchies de manière atomique, en principe sans durée perceptible.
+
+Les transitions spécifient l'enchaînement des traitements et définissent le flot de contrôle. Elles sont représentées graphiquement par un arc entre deux n{\oe}uds.
+
+\subsubsection{N{\oe}uds de contrôle}
+Un n{\oe}ud de contrôle est un n{\oe}ud d'activité abstrait utilisé pour coordonner les flots entre les n{\oe}uds d'une activité.
+Il existe plusieurs types de n{\oe}uds de contrôle (voir figure~\ref{fig:exe_act}) :
+\begin{itemize}
+\item n{\oe}ud initial : Un n{\oe}ud initial est un n{\oe}ud de contrôle à partir duquel le flot débute lorsque l'activité enveloppante est invoquée. Un n{\oe}ud initial possède un arc sortant et pas d'arc entrant.
+\item n{\oe}ud de fin d'activité : Lorsque l'un des arcs d'un n{\oe}ud de fin d'activité est activé (i.e. lorsqu'un flot d'exécution atteint un n{\oe}ud de fin d'activité), l'exécution de l'activité enveloppante s'achève et tout n{\oe}ud ou flot actif au sein de l'activité enveloppante est abandonné.
+\item n{\oe}ud de décision : Un n{\oe}ud de décision est un n{\oe}ud de contrôle qui permet de faire un choix entre plusieurs flots sortants. Il possède un arc entrant et plusieurs arcs sortants. Ces derniers sont généralement accompagnés de conditions de garde pour conditionner le choix. L'utilisation d'une garde [else] est recommandée après un n{\oe}ud de décision car elle garantit un modèle bien formé. En effet, la condition de garde [else] est validée si et seulement si toutes les autres gardes des transitions ayant la même source sont fausses.
+\item n{\oe}ud de fusion : Un n{\oe}ud de fusion est un n{\oe}ud de contrôle qui rassemble plusieurs flots alternatifs entrants en un seul flot sortant. Il n'est pas utilisé pour synchroniser des flots concurrents mais pour accepter un flot parmi plusieurs.
+\end{itemize}
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.6]{figures_pdf/exe_act}
+\caption{Exemple de n{\oe}uds de contrôle}
+\label{fig:exe_act}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+\subsection{N{\oe}uds d'exécution}
+
+Un n{\oe}ud d'exécution est un n{\oe}ud d'activité exécutable qui constitue l'unité fondamentale de fonctionnalité exécutable dans une activité. L'exécution d'une action représente une transformation ou un calcul quelconque dans le système modélisé. Les actions sont généralement liées à des opérations qui sont directement invoquées. Un n{\oe}ud d'exécution doit avoir au moins un arc entrant.
+
+Graphiquement, un n{\oe}ud d'exécution est représenté par un rectangle aux coins arrondis (figure~\ref{fig:exe_act}) qui contient sa description textuelle. Cette description textuelle peut aller d'un simple nom à une suite d'actions réalisées par l'activité. UML n'impose aucune syntaxe pour cette description textuelle, on peut donc utiliser une syntaxe proche de celle d'un langage de programmation particulier ou du pseudo-code.
+
+
+\paragraph{Ajout de sémantique}
+Pour faire le lien avec la conception en AADL, nous ajoutons deux actions spécifiques à la gestion des événements. Le caractère \og ? \fg utilisé après le nom d'un événement signifie que l'action est une attente (donc bloquée) sur la réception de cet événement, alors que \og ! \fg signifie sont émission. La figure~\ref{fig:exem_sync} donne un exemple où une activité est en attente (bloquée) de l'événement \texttt{toto} et produit l'événement \texttt{tata}.
+
+Pour les événements portant une donnée nous ferons suivre le symbole de synchronisation par une liste de variables qui reçoivent les données. Par exemple, {\tt toto?var} signifie que l'action est en attente de l'événement {\tt toto} et qu'à la réception la variable {\tt var} aura pour valeur celle transmise.
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.6]{figures_pdf/exem_evt}
+\caption{Exemple de synchronisation}
+\label{fig:exem_sync}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\newpage
+\section{Le langage AADL}
+\label{ann:aadl}
+
+AADL (Architecture Analysis and Design Language) est un langage de description d'architecture pour les systèmes temps réel. Il peut être indifféremment utilisé en avionique, spatial, robotique, etc. Il a été développé suite aux retours d'expérience sur l'utilisation du langage MethaH et a été standardisé sous l'autorité de le division ASD (Avionics System Division) du SAE (International Society for Automotive Engineers).
+
+Une première version du standard AADL (SAE AS5506) a été produite en novembre 2004. Celle courante est la 2.0~\cite{AADL:2009} et date de janvier 2009. Depuis des fournitures de documents annexes et d'outils ont été proposés.
+
+Le langage AADL étant extrêmement riche, il est impossible d'en donner ici une vue exhaustive en quelques pages. Nous ne présentons qu'un sous-ensemble de composants pour ne se focaliser que sur les principaux. Les personnes souhaitant approfondir le sujet peuvent se référer aux notes techniques disponibles sur le site de la SAE ou bien directement accéder au standard.
+
+Le standard~\cite{AADL:2009} est construit sur le concept de modélisation par composant. Un composant est une entité logicielle permettant de faire un calcul ou de stocker des données. Il peut représenter aussi bien une simple fonction qu'une application complète. Un composant peut être simple ou composé, il est alors dit composite. On distingue habituellement l'interface du composant qui permet de décrire les services qu'il fournit ou requière, de son implémentation qui décrit son fonctionnement interne.
+
+AADL permet de décrire aussi bien une architecture logicielle que matérielle et de spécifier le moteur d'exécution en terme de t‚ches concurrentes, de synchronisation et d'allocation. Le standard SAE AADL offre :
+\begin{itemize}
+ \item une spécification du langage avec une syntaxe textuelle ;
+ \item une sémantique et une représentation graphique ;
+ \item un profil UML du SAE AADL ;
+ \item d'une spécification XML/XMI comme format de modèle ;
+ \item et plusieurs annexes détaillant certains points : formalisation du comportement, définition des interfaces avec le C et Ada, extension au modèle d'erreur, etc.\\
+\end{itemize}
+
+\framebox[\textwidth]{
+\begin{minipage}{0.9\textwidth}
+{\bf Remarque :} La description du langage qui en est donnée ci-après est loin d'être exhaustive et certaines libertés ont été prises pour l'adapter aux besoins pédagogiques.
+
+La suite du document est directement inspirée du \href{http://www.axlog.fr/aadl/presentation\_fr.html}{guide en ligne} fourni par la société Axlog.
+\end{minipage}
+}
+
+\section{Notion de composant et syntaxe}
+
+
+La description d'une architecture en AADL consiste en la description de ses composants et leur composition sous forme d'une arborescence. Cette description pouvant être contenue dans des fichiers, une base de données, etc.
+
+
+Chaque composant appartient à une {\bf catégorie}. Ces catégories sont prédéfinies et se décomposent en :
+\begin{itemize}
+ \item Catégorie matérielle avec les composants : mémoire ({\em memory}) ; périphérique ({\em device}) ; processeur ({\em processor}) ; bus ({\em bus}).
+ \item Catégorie logicielle avec les composants : donnée ({\em data}) ; sousprogramme ({\em subprogram}) ; thread ({\em thread}) ; groupe de threads ({\em thread group}) ; processus ({\em†processs}).
+ \item Catégorie composite avec les composants : système ({\em system}), composant abstrait ({\em abstract}).\\
+\end{itemize}
+
+
+\subsection{Types et implémentation}
+
+Chaque composant comprend deux parties. La première, \textbf{le type}, correspond à son interface fonctionnelle, c'est-à-dire ce qui est visible pour les autres composants. La seconde, \textbf{l'implémentation}, décrit son contenu : sous-composants, propriétés, connexions, etc.
+
+Chaque implémentation est associée à un type. ¿ chaque type est associé aucune, une ou plusieurs implémentations. La figure~\ref{fig:type_implementation} donne un exemple de deux types de composants dont le premier est associé à deux implémentations de composants (component implementations). Textuellement, le type est introduit par le mot décrivant le type du composant, alors que l'implémentation est décrite par le type suivi du mot {\em implementation}.
+
+
+\begin{figure}[htbp]
+\begin{center}
+\begin{minipage}[c]{.46\linewidth}
+\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port},emphstyle=\textbf}
+\begin{lstlisting}
+system type1
+end type1;
+
+system type2
+end type2;
+
+system implementation type1.impl1
+end type1.impl1;
+
+system implementation type1.impl2
+end type1.impl2;
+\end{lstlisting}
+\end{minipage}
+\caption{Exemple de description de composants}
+\label{fig:type_implementation}
+\end{center}
+\end{figure}
+
+L'intérêt de scinder la description d'un composant en type et implémentation est de bien séparer ces deux points de vue. Décrire le type permet à spécifier l'interface du composant, c'est-à-dire exprimer à quoi il ressemble depuis l'extérieur. Alors que l'implémentation en représente l'intérieur. Dans la pratique, la description du type et de l'implémentation peuvent être faites par des personnes différentes, chacune ayant en charge une étape dans le raffinement de la description de l'architecture, du plus haut niveau jusqu'aux moindres détails.
+
+
+\subsection{Les propriétés}
+
+Chaque composant est caractérisé par des propriétés pouvant prendre des valeurs. Les propriétés sont prédéfinies, c'est-à-dire qu'elles sont identifiées par un nom, un type et la liste des catégories de composants sur lesquelles elles s'appliquent. Par exemple les {\em threads} disposent de propriétés telles que la période, l'échéance ou la durée d'exécution (voir figure~\ref{fig:ex_prop}).
+
+De nouvelles propriétés et de nouveaux types de propriétés peuvent être définis par l'utilisateur et associés à tout ou partie des catégories de composants. Ce mécanisme de propriétés est un point fort d'AADL en matière d'extensibilité. Gr‚ce à lui, toute notion spécifique au besoin de l'utilisateur peut être prise en compte dans sa description.
+
+Syntaxiquement, les propriétés sont introduites par le mot {\em properties} suivi d'une liste de propriétés séparées par un point virgule. Les valeurs associées à une propriété sont spécifiées à l'aide de "=>".
+
+\begin{figure}[htbp]
+\begin{center}
+\begin{minipage}[c]{.46\linewidth}
+\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port},emphstyle=\textbf}
+\begin{lstlisting}
+thread thread1
+ properties
+ Period => 15 ms;
+ Deadline => 10 ms;
+end thread1;
+\end{lstlisting}
+\end{minipage}
+\caption{Exemple d'un {\em thred} avec des propriétés sur sa période et son échéance}
+\label{fig:ex_prop}
+\end{center}
+\end{figure}
+
+\subsection{Ports et connexions}
+
+La description des flots de données et de contrôles entre composants se fait par le moyen de {\bf ports} et de {\bf connexions}. Un port est un point d'entrée et de sortie d'un composant, c'est-à-dire une interface par où transitent les données et les événements entre les composants. Une connexion permet de relier deux ports, soit les ports de deux sous-composants, soit le port d'un sous-composant avec le port du composant le contenant. Le type et le sens entre les ports connectés doivent être identiques.
+
+La figure~\ref{fig:connexion_graph} représente graphiquement des ports avec des connexions et la figure~\ref{fig:connexion} en donne sa syntaxe. Le système contient deux {\em process}, eux-même contenant chacun un {\em thread}. Une succession de {\em ports}, représentés par les triangles, et de connexions, représentées par les lignes, établit une communication entre les deux threads.
+
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=.6]{figures_pdf/connexion.pdf}
+\caption{Représentation d'un système et de ses sous-composants}
+\label{fig:connexion_graph}
+\end{center}
+\end{figure}
+
+\begin{figure}[htbp]
+\begin{center}
+\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port},emphstyle=\textbf}
+\begin{minipage}[c]{.46\linewidth}
+\begin{lstlisting}
+system system1
+end system1;
+
+system implementation system1.impl
+ subcomponents
+ p1: process process1.impl;
+ p2: process process2.impl;
+ connections
+ cn: data port p1.outport -> p2.inport;
+end system1.impl;
+
+process process1
+ features
+ outport: out data port;
+end process1;
+
+process implementation process1.impl
+ subcomponents
+ t1: thread thread1.impl;
+ connections
+ cn: data port t1.outport -> outport;
+end process1.impl;
+
+process process2
+ features
+ inport: in data port;
+end process2;
+\end{lstlisting}
+\end{minipage}
+\begin{minipage}[c]{.46\linewidth}
+\begin{lstlisting}
+process implementation process2.impl
+ subcomponents
+ t2: thread thread2.impl;
+ connections
+ cn: data port inport -> t2.inport;
+end process2.impl;
+
+thread thread1
+ features
+ outport: out data port;
+end thread1;
+
+thread implementation thread1.impl
+end thread1.impl;
+
+thread thread2
+ features
+ inport: in data port;
+end thread2;
+
+thread implementation thread2.impl
+end thread2.impl;
+\end{lstlisting}
+\end{minipage}
+\caption{Exemple de description de connexions}
+\label{fig:connexion}
+\end{center}
+\end{figure}
+
+
+\section{Outils}
+
+Différentes outils existent pour manipuler le langage AADL. En particulier, l'atelier de développement ouvert TOPCASED~\cite{topcased} fournit un éditeur textuel et graphique du langage, ADELE. De même, OSATE est un outil pour vérifier la syntaxe d'une description AADL. Cependant, ces outils ne sont pas très robuste ni \og user friendly\fg.
+
+\section{Description des principaux composants}
+
+\framebox[\textwidth]{
+\begin{minipage}{0.9\textwidth}
+{\bf Remarque :} Les principaux composants et éléments de description AADL utilisés pour la conception dans le cadre des TP sont énumérés dans les sections suivantes. Nous nous limitons volontairement à un sous-ensemble et ne respectons pas certaines règles imposées par le standard afin d'en simplifier son utilisation.
+
+Nous nous limitons aussi à l'expression graphique du langage. Nous ne ferons donc pas de distinction entre type et implémentation et les propriétés seront portées sous forme d'annotations sur les composants.
+\end{minipage}
+}
+
+\subsection{System}
+\paragraph{Définition} Un {\em system} représente l'assemblage des composants logiciels d'une l'application et de sa plate-forme d'exécution.
+
+\paragraph{Règles syntaxiques} Un {\em system} peut contenir les déclaration de {\em data}, de {\em port} et de {\em thread}\footnote{Cela n'est pas vrai dans le standard, un système contient normalement des {\em processes} qui contiennent des {\em threads}}.
+
+
+\begin{figure}[h]
+\begin{center}
+\includegraphics[scale=.6]{figures_pdf/system.pdf}
+\caption{Représentation graphique d'un système}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+
+%%%%%%%%%%%%%%%%%%%%
+\newpage
+\subsection{Thread}
+
+\paragraph{Définition} Un {\em thread} modélise une activité concurrente, c'est-à-dire une unité ordonnançable qui peut être exécutée en concurrence avec un autre {\em thread}. Chaque {\em thread} est représenté par un flot de contrôle séquentiel qui exécute les instructions d'une image binaire produite par un code source. Un thread peut être activé ({\em dispatch}), c'est-à-dire que son exécution est provoquée par un événement qui peut être asynchrone ou périodique.
+
+\paragraph{Règles syntaxiques} Un {\em thread} peut contenir des déclarations de {\em port}, de {\em requires data access}, et contenir des {\em data}.
+
+\paragraph{Exécution} Un {\em thread} s'exécute à la suite d'un {\em disptach}. Un tel événement peut se produire périodiquement ou suite à un événement. Dans le cas périodique, le {\em thread} ré-exécute régulièrement le code qui lui est associé. Dans le cas d'un {\em dispatch} sur événement, le code peut faire référence à une attente de cet événement.
+
+Quand le {\em thread} termine une exécution, il passe dans un état d'attente du prochain {\em dispatch}. Si un événement provoquant un dispatch est en attente, le {\em thread} commence immédiatement une exécution. Les événements de {\em dispatch} sur un événement peuvent être en attente.
+
+\paragraph{Propriétés} Un {\em thread} aura une propriété décrivant son type d'activation ainsi qu'un niveau de priorité. Dans le cas périodique, une propriété indiquant la période sera ajoutée.
+
+\begin{center}
+ \begin{minipage}[c]{.46\linewidth}
+ \lstset{inputencoding=utf8/latin1}
+\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, with, not, aadlstring},emphstyle=\textbf}
+%\lstset{numbers=left, numberstyle=\tiny, stepnumber=1, numbersep=10pt,numberblanklines= false}
+\begin{lstlisting}
+- - Propri\'et\'es liées \`a l'activation
+Dispatch_Protocol: {Periodic | Aperiodic }
+Period: time
+- - Propriété liée à l'ordonnancement
+Priority: integer
+\end{lstlisting}
+\end{minipage}
+\end{center}
+
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=.6]{figures_pdf/thread.pdf}
+\caption{Représentation graphique d'un {\em thread}}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+\subsection{Data}
+
+\paragraph{Définition}
+
+Un composant de type {\em data} représente une donnée qui peut être accessible et partagée par d'autres composants, ce qui est modélisé par un {\em requires data access}. L'accès concurrent à la donnée partagée est coordonnée par le protocole de partage spécifié par la propriété {\tt Concurrency\_Control\_Protocol} du composant de type {\em data}. Un {\em thread} est considéré comme étant dans une section critique quand il a accès au composant de type {\em data}.
+
+
+\paragraph{Règles syntaxiques} Un {\em data} peut contenir des déclarations de {\em subprogram access} et les propriétés associées.\\
+
+\paragraph{Propriétés} Un {\em data} est décrit par son type ainsi que par son protocole d'accès s'il est partagé.
+
+\begin{center}
+ \begin{minipage}[c]{.8\linewidth}
+ \lstset{inputencoding=utf8/latin1}
+\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port},emphstyle=\textbf}
+\begin{lstlisting}
+- - Type de la donnée
+Type_Source_Name : string
+- - Protocole d'accès à la donnée
+Concurrency_Control_Protocol : { Maximum_Priority | Priority_Inheritance |
+ Priority_Ceiling | Spin_Lock | Semaphore}
+\end{lstlisting}
+\end{minipage}
+\end{center}
+
+Un ensemble de services standards est fourni pour accéder au {\em data}. Les services {\tt Read\_Data(Data)} et {\tt Write\_Data(Data,Value)} représentent des interfaces pour les fonctions qui réalisent une lecture et écriture de la données du {\em data}. Ces fonctions commencent toujours par une prise de la ressource et se termine par sa libération. La gestion de l'accès concurrent se fait suivant le protocole spécifié. Il est bien sûr possible de définir d'autres services dédiés.
+
+
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=.6]{figures_pdf/data.pdf}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+%%%%%%%%%%%%%
+\subsection{Ports}
+
+\paragraph{Définition} Les {\em ports} sont les points de connexion entre les différents composants qui peuvent être utilisés pour le transfère du contrôle et des données entre eux. Les {\em ports} sont directionnels, c'est-à-dire qu'un port en sortie ({\em output}) est connecté à un port en entrée ({\em input}). Les ports peuvent passés des données, des événements ou les deux. Les données transférées par les ports sont typées. Du point de vue du code source, les données des {\em ports} sont accesibles comme des variables.
+
+Trois catégories de {\em ports} sont distinguées :
+\begin{itemize}
+\item Les {\em event data ports} sont les {\em ports} à travers lesquels des données sont envoyées et reçues. L'arrivée d'une donnée peut provoquer un événement chez le récepteur. Les données peuvent être mise dans une file. Un {\em event data port} représente les files de messages.
+\item Les {\em data ports} sont des {\em event data ports} avec une file de taille égale à un pour laquelle seule la dernière valeure est conservée ({\em blackboard}). Par défaut, l'arrivée d'une donnée ne cause pas d'activité. Les {\em data ports} représentent les {\em ports} sans file d'attente qui communiquent des informations, tels que des flux qui sont échantillonnés.
+\item Les {\em event ports} sont des {\em event data ports} sans contenu de message. Les {\em event ports} représentent des événement discrets dans l'environnement physique, tel que l'appui sur un bouton, une interruption d'horloge ou un événement logique discret comme une alarme.
+\end{itemize}
+
+Les {\em ports} sont directionnels. Un {\em out port} représente une sortie produite par un émetteur, et un {\em in port} représente une entrée requise par un récepteur.
+
+\paragraph{Règles syntaxiques} Les {\em ports} peuvent être déclarés dans les types des {\em threads} et {\em system}.
+
+\paragraph{Propriétés} \`A un port est associé au type de données qu'il transporte ainsi que la taille de sa file d'attente et le protocole utilisé pour gérer la file.
+
+\begin{center}
+ \begin{minipage}[c]{.72\linewidth}
+ \lstset{inputencoding=utf8/latin1}
+\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port, enumeration, aadlstring, aadlinteger},emphstyle=\textbf}
+\begin{lstlisting}
+- - Taille de la file de messages, 1 par défaut
+Queue_Size: aadlinteger 0 .. Max_Queue_Size => 1
+\end{lstlisting}
+\end{minipage}
+\end{center}
+
+Les {\em event} et {\em event data ports} ont par défaut une file associée avec une taille de 1 qui peut être explicitement changée en modifiant la propriété {\tt Queue\_size}. Les propriétés {\tt Queue\_Size} et {\tt Queue\_Processing\_Protocol} spécifient le comportement de la file.
+
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=.6]{figures_pdf/ports.pdf}
+\caption{Représentation graphique des {\em ports}}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+%%%%%%%%%%%%%
+\subsection{Connexions}
+
+\paragraph{Définition} Une connexion est un lien orienté entre les {\em features} de deux composants qui représente les échanges de données et de contrôle entres les composants. Cela peut être la transmission de contrôle et de données entre des ports de différents {\em threads} ou entre des {\em threads} et un {\em data}.
+
+\paragraph{Règles syntaxiques} Une connexion doit contenir au moins une source et une destination et respecter le sens de communication des {\em ports}.
+
+
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=.6]{figures_pdf/connexion2.pdf}
+\caption{Représentation graphique des connexions}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+%%%%%%%%%%%%%
+\newpage
+\section{Code source des schémas d'activité}
+
+\begin{multicols}{2}
+\subsection{Thread th\_server}
+{\scriptsize
+\begin{verbatim}
+@startuml
+skinparam monochrome true
+start
+:status = monitor.Open();
+if (status) then (failed)
+ :print("Unable to start server");
+stop
+else (succeed)
+ :monitor.AcceptClient();
+ :serverOk!;
+ stop
+endif
+@enduml
+\end{verbatim}}
+
+\subsection{Thread th\_sendToMon}
+{\scriptsize
+\begin{verbatim}
+@startuml
+skinparam monochrome true
+start
+:serverOK?;
+while ()
+ :messageToMon?msg;
+ :monitor.Write(msg);
+endwhile
+stop
+@enduml
+\end{verbatim}
+}
+
+\subsection{Thread th\_receiveFromMon}
+{\scriptsize
+\begin{verbatim}
+@startuml
+skinparam monochrome true
+start
+:serverOk?;
+while ()
+ :msgRcv = monitor.Read();
+ if (msgRcv.CompareID(MESSAGE_MONITOR_LOST)) then (true)
+ stop
+ else (false)
+ if (msgRcv.CompareID(MESSAGE_ROBOT_COM_OPEN)) then (true)
+ :openComRobot!;
+ else (false)
+ if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) then (true)
+ :startRobot!;
+ else (false)
+ if (msgRcv.CompareID(MESSAGE_ROBOT_GO_FORWARD
+ || msgRcv.CompareID(MESSAGE_ROBOT_GO_BACKWARD
+ || msgRcv.CompareID(MESSAGE_ROBOT_GO_LEFT
+ || msgRcv.CompareID(MESSAGE_ROBOT_GO_RIGHT
+ || msgRcv.CompareID(MESSAGE_ROBOT_STOP)) then (true)
+ :move = msg.GetId();
+ endif
+ endif
+ endif
+ endif
+endwhile
+stop
+@enduml
+\end{verbatim}
+}
+
+\subsection{Thread th\_openComRobot}
+{\scriptsize
+\begin{verbatim}
+@startuml
+skinparam monochrome true
+start
+while ()
+ :openComRobot?;
+ :err = robot.Open();
+ if (err) then (robot_ok)
+ :msgSend = new Message(MESSAGE_ANSWER_ACK);
+ else
+ :msgSend = new Message(MESSAGE_ANSWER_NACK);
+ endif
+ :messageToMon!msgSend;
+endwhile
+stop
+@enduml
+\end{verbatim}
+}
+
+
+\subsection{Thread th\_openStartRobot}
+{\scriptsize
+\begin{verbatim}
+@startuml
+skinparam monochrome true
+start
+while ()
+ :startRobot?;
+ :msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD));
+ :messageToMon!msgSend;
+ if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
+ :robotStarted = true;
+ endif
+endwhile
+stop
+@enduml
+\end{verbatim}
+}
+
+\subsection{Thread th\_move}
+{\scriptsize
+\begin{verbatim}
+@startuml
+skinparam monochrome true
+start
+:start_period(100 ms);
+while ()
+ :wait_next_period();
+ if (robotStarted) then (true)
+ :robot.Wirte(new Message(move));
+ endif
+endwhile
+stop
+@enduml
+\end{verbatim}
+}
+\end{multicols}
+
+\end{appendices}
+
+\bibliographystyle{plain}
+\bibliography{biblio}
+
+
+\end{document}
\ No newline at end of file
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diff --git a/doc/sujets/tex/conception/figures/AADL_cours/data.graffle b/doc/sujets/tex/conception/figures/AADL_cours/data.graffle
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+\documentclass[11pt]{paper}
+\usepackage[frenchb]{babel}
+
+\usepackage[T1]{fontenc}
+
+\usepackage{graphicx}
+\usepackage{amssymb}
+\usepackage{amstext}
+\usepackage{amsmath}
+\usepackage{a4wide,color}
+\usepackage[utf8]{inputenc}
+\usepackage{xspace}
+\usepackage{anysize}
+\usepackage{tabularx}
+\usepackage{multirow}
+\usepackage{fancybox}
+\usepackage{fancyhdr}
+\usepackage{bbding}
+
+\setlength{\parskip}{1ex plus 0.5ex minus 0.2ex}
+
+\usepackage{threeparttable}
+\usepackage{color}
+\usepackage{float}
+
+\usepackage[toc,page]{appendix}
+\usepackage{lscape}
+\usepackage{xspace}
+
+\usepackage{placeins}
+
+\usepackage{listingsutf8}
+
+\usepackage{todonotes}
+
+\lstset{% general command to set parameter(s)
+ basicstyle=\footnotesize, % print whole listing small
+ keywordstyle=\color{magenta}\bfseries, % underlined bold black keywords
+ identifierstyle=, % nothing happens
+ commentstyle=\color{black}, % white comments
+ stringstyle=\ttfamily, % typewriter type for strings
+ showstringspaces=false % no special string spaces
+}
+
+\lstdefinelanguage{aald}
+ {morekeywords={system, implementation},
+ sensitive=false,
+ morecomment=[l]{//},
+ morecomment=[s]{/*}{*/},
+ morestring=[b]",
+}
+
+\usepackage[colorlinks=true]{hyperref}
+
+\usepackage[normalem]{ulem}
+\usepackage{color}
+
+\definecolor{Fond}{gray}{0.9}
+
+\renewcommand{\floatpagefraction}{.99}
+\renewcommand{\textfraction}{.01}
+\newcommand{\modif}[1]{\textcolor{red}{\uline{#1}}}
+
+\newcounter{cptreq}
+\newcommand{\req}[1]{
+\stepcounter{cptreq}
+ \noindent\fcolorbox{black}{Fond}{% couleur du texte, couleur du fond
+ \begin{minipage}[t]{\textwidth}
+ {\bf Fonctionnalité \thecptreq}\, : #1
+ \end{minipage}
+ }
+}
+
+\newcommand{\raspi}{Raspberry Pi\xspace}
+
+\pagestyle{fancy}
+\fancyhf{}
+\fancyhead[RE,RO]{\thepage}
+\fancyhead[LE]{}
+\fancyhead[LO]{Programmation et conception de systémes temps réel -- 4éme année AE/IR}
+\fancyfoot[LO]{INSA Toulouse — P.-E. Hladik}
+\fancypagestyle{plain}{%
+ \fancyhf{} % get rid of headers
+ \renewcommand{\headrulewidth}{0pt} % and the line
+}
+
+\newenvironment{maliste}%
+{ \begin{list}%
+ {\ArrowBoldRightStrobe}%
+ {\setlength{\labelwidth}{30pt}%
+ \setlength{\leftmargin}{35pt}%
+ \setlength{\itemsep}{\parsep}}}%
+{ \end{list} }
+
+\renewcommand{\appendixtocname}{Annexes}
+\renewcommand{\appendixpagename}{Annexes}
+
+
+\title{{\Huge Projet De Stijl 2.0}
+{\small : Plateforme pour robots mobiles}\\
+{\scriptsize Programmation et conception de systémes temps réel -- 4éme année AE/IR}\\
+{\scriptsize Institut National des Sciences Appliquées de Toulouse}\\
+---\\
+Guide des outils de développement \\
+{\large Version 1.0.1 (\today)}\\
+{\scriptsize Référent pédagogique : P.-E. Hladik (\texttt{pehladik@insa-toulouse.fr})}\\
+{\scriptsize Référents plateforme : S. Di Mercurio (\texttt{dimercur@insa-toulouse.fr})}\\
+---
+}
+
+
+
+\begin{document}
+
+
+\maketitle
+
+%%%%%%%%%%%%%%%%%%%%
+\section{Code initial du projet}
+\label{sec:git}
+%%%%%%%%%%%%%%%%%%%%
+
+Le code du projet est disponible sur un dépôt git hébergé sur GitHub. Pour le récupérer, placer vous le répertoire cible et exécuter la commande\\ \indent\indent {\tt git clone https://github.com/INSA-GEI/dumber.git}\\
+
+Tout le code relatif au projet est disponible, cependant vous n'aurez besoin que des codes présents dans les répertoires :
+\begin{itemize}
+ \item {\tt ./dumber/software/raspberry/superviseur-robot} : ce répertoire contient un projet Netbeans avec l'ensemble du code source pour le projet initial,
+ \item {\tt ./dumber/software/monitor/monitor} : ce répertoire contient un projet Mono contenant l'ensemble du code source pour le moniteur.\\
+\end{itemize}
+
+Le répertoire {\tt superviseur-robot} est constitué des fichiers suivants :
+\begin{itemize}
+\item {\tt /destijl\_init/main.cpp} qui contient le main de l'application et lance la création des objets et leur exécution,
+\item {\tt /destijl\_init/src/tasks.h} qui contient l'entête des différentes fonctions,
+\item {\tt /destijl\_init/src/tasks.cpp} qui contient l'implémentation des fonctions de création des objets (tâches, sémaphores, mutex, etc.) ainsi que les fonction de traitement.
+\end{itemize}
+
+
+
+
+%%%%%%%%%%%%%%%%%%%%
+\section{Compilation d'une application distante}
+%%%%%%%%%%%%%%%%%%%%
+
+L'application étant sur une \raspi, il vous faut compiler le programme pour cette architecture. Nous vous proposons d'utiliser Netbeans pour écrire votre code et faire la compilation distante. Cela signifie que votre code est stocké sur votre compte INSA, que vous éditer le code sur la machine de TP, que ce code est ensuite automatiquement chargé sur la \raspi puis compilé (Netbeans permet de faire tout cela).
+
+Pour commencer lancer Netbeans et ouvrez le projet {\tt superviseur-robot}.
+
+Avant de compiler, il vous faut configurer la cible sur laquelle la compilation va se faire:
+\begin{enumerate}
+\item Cliquez droit sur le projet et choisir {\tt Properties},
+\item Allez dans l'onglet {\tt Build},
+\item Choisir {\tt ...} pour {\tt Build Host},
+\item Cliquez sur {\tt Add},
+\item Remplir {\tt Hostname} avec {\tt 10.105.1.x} l'adresse de la \raspi,
+\item Cliquez {\tt Next},
+\item Saisir {\tt pi} pour le {\tt login},
+\item Cliquez {\tt Next},
+\item Attendre l'ouverture de la communication,
+\item Saisir {\tt insa} comme mot de passe,
+\item Sélectionner {\tt SFTP} pour {\tt Access project files via},
+\item Cliquez {\tt Finish},
+\item Cliquez {\tt OK},
+\item Cliquez {\tt Apply},
+\item Cliquez {\tt OK}.
+\end{enumerate}
+
+Pour compiler, il suffit ensuite de cliquer sur l'icône en forme de marteau. Vous pourrez voir dans le terminal les étapes de compilation qui commence par le transfert des fichiers suivi de la compilation proprement dite.
+
+{\bf Remarque} : la première compilation est un peu longue, mais devrait ensuite se fluidifier avec la compilation incrémentale.
+
+
+%%%%%%%%%%%%%%%%%%%%
+\section{Exécution du superviseur}
+\label{sec:utilisation}
+%%%%%%%%%%%%%%%%%%%%
+
+Pour exécuter l'application sur le superviseur, il faut après avoir mis en place un terminal distant (voir ci-dessous) puis démarrer l'exécution avec la commande {\tt sudo ./path/app} où {\tt path} est le chemin du répertoire où se trouve l'application et {\tt app} est le nom de votre application. Attention les droits {\tt sudo} sont nécessaires pour des questions d'accès à certains services Xenomai de gestion de la mémoire.
+
+Si vous utilisez Netbeans, le répertoire dans lequel est compilée l'application se trouve dans l'arboressence commençant par {\tt .netbeans} (attention au "." au début). Il faut descendre dans cette arboressence jusqu'à une bifurcation, puis choisir le répertoire {\tt dist} et aller jusqu'au bout. L'application se trouve au bout de cette branche.
+
+
+%%%%%%%%%%%%%%%%%%%%
+\section{Mise en place d'un terminal distant avec la \raspi}
+\label{sec:ssh}
+%%%%%%%%%%%%%%%%%%%%
+
+Pour se connecter à la \raspi, vous aurez besoin de créer un accès via ssh. Pour cela, depuis un PC d'une salle informatique utilisez la commande :\\ \indent\indent{\tt ssh pi@10.105.1.x}\\
+avec {\tt x} le numéro sur le boitier de la \raspi.
+
+Le mot de passe est : insa.
+
+
+%%%%%%%%%%%%%%%%%%%%
+\section{Exécution du moniteur}
+\label{sec:utilisation}
+%%%%%%%%%%%%%%%%%%%%
+
+Pour exécuter le moniteur, il suffit depuis votre PC de travail de se placer dans le répertoire {\tt ./dumber/software/monitor/monitor} et de lancer {\tt ./monitor}.
+
+{\bf Attention} : avant de lancer la première fois l'application, il vous faut ouvrir l'environnement de développement MonoDevelop et ouvrir le projet {\tt ./dumber/software/monitor/monitor} et l'exécuter (cela recompile le projet et permet de faire les liens avec les librairies de votre PC). Cette étape ne sera plus à faire par la suite.
+
+
+%%%%%%%%%%%%%%%%%%%%
+\section{Comprendre la structuration du code}
+\label{sec:code}
+%%%%%%%%%%%%%%%%%%%%
+ L'ensemble du code du projet initial est contenu dans le répertorie {\tt superviseur-robot}. Les bibliothèques de traitement sont disponibles dans le repertoire {\tt lib}. Vous n'aurez pas à modifier ces bibliothèques, par contre vous devrez les utiliser. La documentation est directement écrite dans le code source.
+
+ Les seuls fichiers que vous allez avoir à modifier sont les fichiers {\tt tasks.h} et {\tt tasks.cpp}. La classe {\tt Tasks} a pour attributs privés l'ensemble des structures constituant l'application (tâches, mutex, sémarphores, ressources, etc.). Les fonctions de traitement associées aux tâches sont déclarées comme des méthodes privées de {\tt Tasks}.
+
+ La classe {\tt Tasks} propose quatre méthodes publics :
+ \begin{itemize}
+ \item {\tt Init()} qui crée les structures de l'application,
+ \item {\tt Run()} qui lance les tâches,
+ \item {\tt Stop()} qui termine les tâches,
+ \item {\tt Join()} qui suspend l'exécution du {\tt main}.\\
+ \end{itemize}
+
+Pour ajoutez des structures à l'application, il suffit de les déclarer dans le fichier {\tt tasks.h} puis de s'assurer qu'elles sont bien instanciées dans les méthodes adéquates de {\tt tasks.cpp}. Pour une tâche, il faut en plus déclarer une nouvelle méthode privée dans {tasks.h} et fournir son implémentation dans {tasks.cpp}. Cette nouvelle méthode sera le point d'entrée de la tâche.
+
+Toute la documentation de Xenomai se trouve en ligne (attention c'est Xenomai 3) et nous utilisons l'\href{https://xenomai.org/documentation/xenomai-3/html/xeno3prm/group__alchemy.html}{API alchemy}.
+
+\end{document}
\ No newline at end of file
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new file mode 100644
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@@ -0,0 +1,283 @@
+\begin{appendices}
+\section{Annexes}
+
+\subsection{Messages robot-superviseur}
+\label{sec:sec:comm_rob_sup}
+
+La communication fonctionne sur le principe d'une communication synchrone de type requête. La communication ne peut être initiée que par le superviseur.
+
+Toutes les communications ont par défaut un retour en cas d'erreur. Ce retour est porté par la valeur de {\tt messageID} d'un objet {\tt Message}. Si la communication s'est bien déroulée la valeur MESSAGE\_ANSWER\_ACK est retournée, sinon une valeur de retour correspondante à l'un des cas d'erreur suivant est produite :
+\begin{itemize}
+ \item MESSAGE\_ANSWER\_ROBOT\_TIMEOUT : la réponse n'est pas arrivée avant 80 ms,
+ \item MESSAGE\_ANSWER\_ROBOT\_UNKNOWN\_COMMAND : la commande n'a pas été comprise par le robot,
+ \item MESSAGE\_ANSWER\_ROBOT\_ERROR : la commande n'est pas conforme à sa définition.
+\end{itemize}
+\FloatBarrier
+
+Les messages envoyés au robot sont composés d'une entête codée sur un octect ({\tt char}) correspondant à l'ordre à réaliser. Certains ordres sont aussi accompagnés d'une donnée codée sur un entier ({\tt int}). Le tableau~\ref{tab:ordre_robot} décrit les entêtes.
+
+\begin{table}[htp]
+\begin{center}
+\begin{tabular}{|l|c|l|c|c|}
+\hline
+Entête (\scriptsize{MESSAGE\_ROBOT\_}) & Données & Description & Retour\\
+\hline\hline
+{\scriptsize PING} & -- & Teste la disponibilité de la communication & --\\
+{\scriptsize RESET} & -- & Demande un redémarrage du robot & --\\
+\hline
+{\scriptsize START\_WITHOUT\_WD} & -- & Démarre le robot sans le {\it watchdog} & -- \\
+{\scriptsize START\_WITH\_WD} & -- & Démarre le robot avec le {\it watchdog} & -- \\
+{\scriptsize RELOAD\_WD} & -- & Recharge le {\it watchdog} & --\\
+\hline
+{\scriptsize BATTERY\_GET} & -- & Retourne le niveau de la batterie & niv. batterie\\
+{\scriptsize STATE\_GET} & -- & Retourne l'état du robot & état\\
+\hline
+{\scriptsize GO\_FORWARD} & -- & Déplace le robot en avant & -- \\
+{\scriptsize GO\_BACK} & -- & Déplace le robot en arrière & -- \\
+{\scriptsize GO\_LEFT} & -- & Fait tourner dans le sens anti-horaire & -- \\
+{\scriptsize GO\_RIGHT} & -- & Fait tourner dans le sens horaire & -- \\
+{\scriptsize STOP\_MOVE} & -- & Stoppe le mouvement du robot & -- \\
+\hline
+{\scriptsize MOVE} & distance & Déplace en ligne droite & --\\
+{\scriptsize TURN} & angle & Tourne d'un angle donné & -- \\
+\hline
+\end{tabular}
+\end{center}
+\caption{Liste des messages du superviseur vers le robot}
+\label{tab:ordre_robot}
+\end{table}%
+\FloatBarrier
+
+Le niveau de la batterie peut prendre comme valeur :
+\begin{itemize}
+ \item BATTERY\_UNKNOWN : la mesure n'a pas abouti,
+ \item BATTERY\_EMPTY : niveau vide,
+ \item BATTERY\_LOW : niveau faible,
+ \item BATTERY\_FULL: niveau haut.
+\end{itemize}
+
+Les états possibles du robot sont :
+\begin{itemize}
+ \item MESSAGE\_ROBOT\_STATE\_BUSY : le robot est en train de réaliser un mouvement,
+ \item MESSAGE\_ROBOT\_STATE\_NOT\_BUSY : le robot ne réalise pas de mouvement.
+\end{itemize}
+
+%%%%%%%%%%%%%%%
+
+\subsection{Messages moniteur-superviseur}
+\label{sec:comm_mon_sup}
+
+\subsubsection{Moniteur vers Superviseur}
+\label{sec:mts}
+
+Les message envoyés du moniteur vers le superviseur sont composés d'un entête de trois octets et d'une donnée d'un octet. Le tableau~\ref{tab:mts} décrit ces entêtes et les données. Certains messages nécessitent une réponse par un acquittement (cf. messages section~\ref{sec:stm}). Les messages spécifiques pour le robot ont les même entêtes que la communication entre le robot et le superviseur.
+
+
+\begin{table}[htp]
+
+\begin{center}
+\begin{tabular}{|l|p{7cm}|}
+\hline
+{\bf Id} & {\bf Description} \\
+\hline
+MESSAGE\_ROBOT\_COM\_OPEN & Demande d'ouverture de la comm. avec le robot\\
+MESSAGE\_ROBOT\_COM\_CLOSE & Demande de fermeture de la comm. avec le robot \\
+\hline
+\multicolumn{2}{|l|}{{\bf Acquittement} : oui}\\
+\hline
+\hline
+MESSAGE\_ROBOT\_* & Message portant un ordre pour le robot (voir tableau précédent)\\
+\hline
+\multicolumn{2}{|p{\textwidth}|}{{\bf Acquittement} : les messages MESSAGE\_ROBOT\_START\_WITH\_WD et MESSAGE\_ROBOT\_START\_WITHOUT\_WD nécessitent un acquitement}\\
+\hline
+\hline
+MESSAGE\_CAM\_OPEN & Demande d'ouverture de la caméra\\
+MESSAGE\_CAM\_CLOSE & Demande de fermeture de la caméra\\
+MESSAGE\_CAM\_ASK\_ARENA & Demande de détection de l'arène \\
+MESSAGE\_CAM\_ARENA\_CONFIRM & L'arène est la bonne\\
+MESSAGE\_CAM\_ARENA\_INFIRM & L'arène n'est pas la bonne\\
+MESSAGE\_CAM\_POSITION\_COMPUTE\_START & Calcul de la position du robot\\
+MESSAGE\_CAM\_POSITION\_COMPUTE\_STOP & Arrêt du calcul de la position du robot\\
+\hline
+\multicolumn{2}{|p{\textwidth}|}{{\bf Acquittement} : les messages MESSAGE\_CAM\_OPEN et MESSAGE\_CAM\_CLOSE attendent un acquittement.}\\
+\hline
+\end{tabular}
+\end{center}
+\caption{Description des messages du moniteur vers le superviseur}
+\label{tab:mts}
+\end{table}%
+
+\newpage
+%%%%%%%%%
+\subsubsection{Superviseur vers Moniteur}
+\label{sec:stm}
+
+Les messages du superviseur vers le moniteur sont composés d'une entête de 3 octets et de données de taille variables. Le tableau~\ref{tab:stm} décrit ces messages.
+
+\begin{table}[htp]
+\begin{center}
+\begin{tabular}{lcl}
+\hline
+Entête & Données & Description\\
+\hline
+\hline
+MESSAGE\_ANSWER\_ACK & -- & Message d'acquittement en cas de succès\\
+MESSAGE\_ANSWER\_NACK & -- & Message d'acquittement en cas d'échec\\
+MESSAGE\_MONITOR\_LOST & -- & Signale la perte de la comm. avec le robot\\
+MESSAGE\_CAM\_IMAGE & Image & Envoi d'une image\\
+MESSAGE\_CAM\_POSITION & Position & Envoi de la postion du robot\\
+MESSAGE\_ROBOT\_BATTERY\_LEVEL & int & Envoi du niveau de la batterie\\
+\hline
+\end{tabular}
+\end{center}
+\caption{Liste des messages du moniteur vers le superviseur}
+\label{tab:stm}
+\end{table}%
+\FloatBarrier
+
+\newpage
+\section{Diagramme de classe des bibliothèques}
+\label{ann:diag_class}
+
+%
+%@startuml
+%skinparam monochrome true
+%
+%class Message{
+%-MessageID messageID
+%
+%+Message()
+%+Message(MessageId id)
+%+string ToString()
+%+bool CompareID(MessageID id)
+%+MessageID GetID()
+%+void SetID(MessageID id)
+%-bool CheckID(MessageID id)
+%}
+%
+%
+%class MessageBattery{
+% -BatteryLevel level
+% +MessageBattery(MessageID id, BatteryLevel level)
+% +BatteryLevel GetLevel()
+% +void SetLevel(BatteryLevel level)
+%}
+%
+%class MessagePosition{
+% -Position pos
+% +MessagePosition(MessageID id, Position& pos)
+% +Position GetPosition()
+% +void SetPosition(Position& pos)
+%}
+%
+%class MessageImg{
+% -Img* image
+% +MessageImg(MessageID id, Img *image)
+% +Img* GetImage()
+% +void SetImage(Img* image)
+%}
+%
+%class MessageInt{
+% - int value
+% + MessageInt(MessageID id, int val)
+% +int GetValue()
+% +void SetValue(int val)
+%}
+%
+%class MessageString{
+% - string s
+% +MessageString(MessageID id, string s)
+% +string GetString()
+% +void SetString(string s)
+%}
+%
+%Message <|-down- MessageImg
+%Message <|-down- MessageInt
+%Message <|-up- MessageString
+%Message <|-up- MessageBattery
+%Message <|-- MessagePosition
+%
+%class ComRobot {
+% +int Open()
+% +int Open(string usart)
+% +int Close()
+% +Message *Write(Message* msg)
+% +void Write_Pre()
+% +void Write_Post()
+% +Message *Ping()
+% +Message *Reset()
+% +Message *PowerOff()
+% +Message *StartWithWD()
+% +Message *StartWithoutWD()
+% +Message *ReloadWD()
+% +Message *Move(int length)
+% +Message *Turn(int angle)
+% +Message *Stop()
+% +Message *GoForward()
+% +Message *GoBackward()
+% +Message *GoLeft()
+% +Message *GoRight()
+% +Message *GetBattery()
+% +Message *GetState()
+%}
+%
+%class ComMonitor {
+% +int Open(int port)
+% +void Close()
+% +int AcceptClient()
+% +void Write(Message *msg)
+% +void Write_Pre()
+% +void Write_Post()
+% +Message *Read()
+% +void Read_Pre()
+% +void Read_Post()
+%}
+%class Img{
+% +ImageMat img
+% +Img(ImageMat imgMatrice)
+% +string ToString()
+% +Jpg ToJpg()
+% +Arena SearchArena()
+% +int DrawRobot(Position robot)
+% +int DrawArena(Arena arenaToDraw)
+% +std::list SearchRobot(Arena arena)
+%}
+%
+%class Camera{
+% +Camera(int size, int fps);
+%
+% +bool Open();
+% +void Close();
+% +Img Grab();
+% +int GetWidth() const;
+% +int GetHeight() const;
+%
+% +bool IsOpen();
+% +void SetSize(int size);
+%}
+%
+%class Position{
+% +cv::Point2f center
+% +cv::Point2f direction
+% +float angle
+% +int robotId
+%}
+%
+%class Arena{
+% +cv::Rect arena
+% +Arena()
+% +bool IsEmpty()
+%}
+%
+%@enduml
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.55]{./figures_pdf/classes1}
+\includegraphics[scale=0.55]{./figures_pdf/classes2}
+\caption{Diagramme de classes des bibliothèques De Stijl}
+\label{fig:diag17}
+\end{center}
+\end{figure}
+\FloatBarrier
+\end{appendices}
\ No newline at end of file
diff --git a/doc/sujets/tex/specifications/src/besoins.tex b/doc/sujets/tex/specifications/src/besoins.tex
new file mode 100644
index 0000000..cf5ffdc
--- /dev/null
+++ b/doc/sujets/tex/specifications/src/besoins.tex
@@ -0,0 +1,493 @@
+%%%%%%%%%%%%%%%%%%%%%%%
+\section{Expression fonctionnelle du besoin}
+%%%%%%%%%%%%%%%%%%%%%%%
+
+\subsection{Présentation générale}
+
+L'objectif est de concevoir et de développer l'architecture logicielle du superviseur afin d'assurer le fonctionnement de la plate-forme. Les fonctions attendues sont :
+\begin{enumerate}
+ \item Assurer la communication entre le moniteur et le superviseur.
+ \item Assurer la communication entre le superviseur et le robot.
+ \item Superviser l'état du robot.
+ \item Contrôler le déplacement du robot.
+ \item Contrôler et diffuser les images de la webcam.
+ \item Réaliser des missions.\\
+\end{enumerate}
+
+\noindent\framebox[\textwidth]{
+\begin{minipage}{0.9\textwidth}
+{\bf Remarque :} Les plateformes matérielle et logicielle ont de nouveau évoluées cette année. Les bibliothèques fournies ont été réécrites pour faciliter leur prise en main. Bien qu'elles aient été testées, elles comportent certainement des erreurs. Soyez indulgents, nous faisons de notre mieux pour fournir une plate-forme opérationnelle !\\
+{\bf Si vous remarquez des erreurs, des problèmes ou des optimisations à faire, n'hésitez pas à le communiquer} (via GitHub pour en garder la trace).
+\end{minipage}
+}\\
+
+ \subsection{Diagramme de contexte}
+
+La figure~\ref{fig:contexte} présente le superviseur dans son contexte et ses interactions avec les autres composants de la plate-forme.
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.6]{figures_pdf/contexte}
+\caption{Diagramme de contexte}
+\label{fig:contexte}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+La webcam produit des données (\texttt{image}) sous la forme d'un tableau d'octets. Le robot reçoit des ordres (\texttt{ordre}) sous la forme d'une chaîne de caractères et retourne une réponse aussi sous la forme d'une chaîne (\texttt{reponse}). Le moniteur envoie un événement (\texttt{connecter serveur}) pour demander la connexion avec le serveur puis établit une communication bi-directionnelle sous la forme d'un flux d'octets (\texttt{inputStream} et \texttt{outputStream}).
+
+%Si l'on se focalise uniquement sur le superviseur, nous avons donc un unique processus (voir figure~\ref{fig:processus}).
+%
+% \begin{figure}[htbp]
+%\begin{center}
+%\includegraphics[scale=0.6]{figures_pdf/AADL/system}
+%\caption{Vue systéme du Superviseur}
+%\label{fig:processus}
+%\end{center}
+%\end{figure}
+%\FloatBarrier
+
+
+ %%%%%%%%%%%%%%%%%%%%%%%%%
+\subsection{Description des fonctionnalités}
+%%%%%%%%%%%%%%%%%%%%%%%%%
+
+Vous trouverez dans cette partie la description des différentes fonctionnalités attendues. Les annexes apportent des compléments techniques.\\
+
+\noindent\fcolorbox{black}{Fond}{% couleur du texte, couleur du fond
+\begin{minipage}{\textwidth}
+L'expression des fonctionnalités est repérée par des encadrés avec un fond gris. C'est ce que vous devez réaliser.
+\end{minipage}
+}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\subsubsection{Fonctionnement du moniteur}
+%%%%%%%%%%%%%%%%%%%%%%%%%
+
+Le moniteur sert pour le contrôle du robot et la visualisation d'une scène. La communication entre le moniteur et le superviseur est réalisée par un socket avec un serveur du côté du superviseur. La communication est bi-directionnelle : le moniteur peut envoyer des requêtes et le superviseur peut envoyer des données pour mettre à jour certains éléments de l'interface. Les messages sont prédéfinis et sont présentés dans l'annexe~\ref{sec:comm_mon_sup}.
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+ \subsubsection{Communication entre le superviseur et le moniteur}
+%%%%%%%%%%%%%%%%%%%%%%%%%
+
+La communication entre le serveur et le superviseur est réalisée à l'aide d'un socket. Le superviseur joue le rôle de serveur. Toutes les fonctions pour gérer la communication entre le moniteur et le superviseur sont fournies dans {\tt monitor}.
+
+Les figures~\ref{fig:diag1_2} et~\ref{fig:diag3_6} illustrent le mode de fonctionnement nominal attendu pour la communication entre le superviseur et le moniteur.
+
+%https://sequencediagram.org
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\paragraph{Lancement du serveur.} Le lancement du serveur est réalisé à l'aide de la méthode {\tt Open} de la classe {\tt ComMonitor}.\\
+
+\req{Le lancement du serveur doit être réalisé au démarrage du superviseur. En cas d'échec du démarrage du serveur, un message textuel doit être affiché sur la console de lancement de l'application. Ce message doit signaler le problème et le superviseur doit s'arrêter.}
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\paragraph{Etablissement du socket.} La connexion entre le moniteur et le superviseur est réalisée site à la demande de l'utilisateur via l'interface graphique. Lorsque la demande est faite, un socket est créé, il faut donc que le serveur soit en attente d'une demande de connexion, c'est-à-dire que la méthode {\tt AcceptClient} de la classe {\tt ComMonitor} soit en cours d'exécution. Cette méthode est bloquante.\\
+
+\req{La connexion entre le moniteur et le superviseur (via le socket) doit être établie suite à la demande de connexion de l'utilisateur.}
+
+%Terminal->*Supervisor:exec
+%note left of Supervisor: (req 1) start server
+%Supervisor->+Supervisor: ComMonitor::Open()
+%Supervisor-->-Supervisor:err
+%alt err != failed
+% Supervisor->+Supervisor: ComMonitor::AcceptClient()
+% Monitor->Supervisor: connexion
+% note left of Supervisor: (req 2) connect socket
+% Supervisor->Monitor:accept
+% Supervisor-->-Supervisor:err
+%
+%else
+% Supervisor->Terminal: print("server failed")
+% destroy Supervisor
+%end
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{./seq_req/req1-2}
+\caption{Diagramme de séquence des fonctionnalités 1 à 2}
+\label{fig:diag1_2}
+\end{center}
+\end{figure}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\paragraph{Réception des messages.} La réception des messages du serveur par le superviseur est réalisée par l'appel de la méthode {\tt Read} de la classe {\tt ComMonitor}. Cette méthode est bloquante. Les messages du moniteur vers le superviseur sont pré-formatés dans la classe {\tt Message} et définis dans l'annexe~\ref{sec:mts}.\\
+
+\req{Tous les messages envoyés depuis le moniteur doivent être réceptionnés par le superviseur.}
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\paragraph{Envoi des messages.} L'envoi des messages du superviseur vers le moniteur est réalisé à l'aide de la fonction {\tt Write} de la classe {\tt ComMonitor}. Les messages du superviseur vers le moniteur sont pré-formatés et définis dans l'annexe~\ref{sec:stm}.\\
+
+\req{L'application superviseur doit être capable d'envoyer les messages au moniteur (via le serveur) avec un délai d'au plus 10~ms.}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\paragraph{Détection de la perte de communication.} La perte de communication entre le moniteur et le superviseur est détectée lors de la lecture sur le socket. La méthode {\tt Read} retourne un message de type {\tt MESSAGE\_MONITOR\_LOST} si la communication est perdue. \\
+
+\req{Le superviseur doit détecter la perte de communication avec le moniteur. En cas de perte de la communication un message doit être affiché sur la console de lancement du superviseur.}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\paragraph{Reprise de la communication.} La communication entre le moniteur et le superviseur est fermé à l'aide de la méthode {\tt Close} de la classe {\tt ComMonitor}. {\bf Attention} cette fonctionnalité ne peut être mise en place que lorsque l'ensemble de l'application est déjà réalisée, il ne sert à rien d'y travailler tant que le reste n'est pas fait.\\
+
+\req{En cas de perte de communication entre le superviseur et moniteur, il faut stopper le robot, la communication avec le robot, fermer le serveur et déconnecter la caméra afin de revenir dans le même état qu'au démarrage du superviseur.}
+
+%loop message is not MESSAGE_MONITOR_LOST
+%par
+%note left of Monitor: (req 3) receive message from Monitor
+%Supervisor->+Supervisor: ComMonitor::Read()
+%Monitor->Supervisor: message
+%Supervisor-->-Supervisor: message
+%note over Supervisor: compute message
+%else
+%note left of Monitor: (req 4) send message to Monitor
+%note over Supervisor: wait message to send
+%Supervisor->Monitor: ComMonitor::Write(message)
+%end
+%note left of Monitor
+% (req 5) detect loss of
+% communication between Supervisor
+% and Monitor
+%end note
+%end
+%note right of Supervisor: (req 6) kill server
+%Supervisor->+Supervisor:ComMonitor::Close
+%Supervisor->Terminal:print("Monitor is lost")
+%note over Supervisor: clear Supervisor
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{./seq_req/req3-6}
+\caption{Diagramme de séquence des fonctionnalités 3 à 6}
+\label{fig:diag3_6}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+ %%%%%%%%%%%%%%%%%%%%%%%%%
+\subsubsection{Communication entre le superviseur et le robot}
+%%%%%%%%%%%%%%%%%%%%%%%%%
+
+La communication avec le robot s'effectue par le biais d'émetteur-récepteur Xbee. Pour communiquer, il est nécessaire de commencer par ouvrir la communication entre le superviseur et le boîtier Xbee. Toutes les fonctions de gestion de la communication entre le robot et le superviseur sont fournies dans la bibliothèque {\tt robot}. La figure~\ref{fig:diag7_9} illustre les fonctionnalités 7 à 9.
+
+\paragraph{Mettre en place la communication avec le robot.} L'ouverture de la communication (c'est-à-dire la réservation d'un port série) avec le robot se fait à l'aide de la fonction {\tt Open} de la classe {\tt ComRobot}. Cette demande est automatiquement demandée par le moniteur dès que le socket est en place.\\
+
+\req{Dès que la communication avec le moniteur est en place, la communication entre le superviseur et le robot doit être ouverte. Si la communication est active, il faut envoyer un message d'acquittement au moniteur. En cas d'échec, un message le signalant est renvoyé au moniteur.}
+
+\paragraph{Surveillance de la communication avec le robot.} La communication entre le robot et le superviseur peut être perdue. Afin de surveiller cela, il faut mettre en place un mécanisme permettant d'inférer cette perte. L'envoi des messages au robot se fait à l'aide de la fonction {\tt Write} de la classe {\tt ComRobot}. En cas d'échec de communication, la méthode retourne un message contenant un code d'erreur. Cependant, l'envoi d'un message par Xbee peut retourner un échec même si le médium de communication est encore opérationnel.
+
+De ce fait, le simple retour d'un échec ne suffit pas à déterminer si la communication est définitivement perdue ou bien si c'est une erreur fugace. Afin de conclure que la communication est perdue, il faut donc mettre en place un mécanisme de compteur. Pour cela, il faut incrémenter un compteur à chaque échec sur l'envoi d'un message et le remettre à zéro à chaque succès. Si le compteur dépasse 3, la communication est alors déclarée perdue.\\
+
+\req{La communication entre le robot et le superviseur doit être surveillée par un mécanisme de compteur afin de détecter une perte du médium de communication.}
+
+\paragraph{Perte de la communication avec le robot.} Le medium de communication entre le robot et le superviseur est stoppé par l'appel à la fonction {\tt close\_communication\_robot}.\\
+
+\req{Lorsque la communication entre le robot et le superviseur est perdue, un message spécifique doit être envoyé au moniteur. Le système doit fermer la communication entre le robot et le superviseur et se remettre dans un état initial permettant de relancer la communication.}
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\subsubsection{Démarrage du robot}
+%%%%%%%%%%%%%%%%%%%%%%%%%
+
+Tous les messages entre le superviseur et le robot sont décrits dans l'annexe~\ref{sec:sec:comm_rob_sup}. L'envoi d'un message se fait par l'utilisation de la méthode {\tt Write} de la classe {\tt ComRobot}. La figure~\ref{fig:diag10_11} représente la séquence pour les fonctionnalités 10 et 11.\\
+
+\noindent\framebox[\textwidth]{
+\begin{minipage}{0.9\textwidth}
+{\bf Remarque :} Aucun mécanisme n'est mis en {\oe}uvre dans l'implémentation de {\tt Write} de {\tt ComRobot} pour se prémunir des appels concurrents.
+\end{minipage}
+}
+
+
+%%%%%%%%%%%%%%%%
+\paragraph{Démarrage sans watchdog du robot.} Le robot a deux modes de démarrage. Un mode simple, dit sans watchdog et un mode évolué exposé ci-après.\\
+
+\req{Lorsque l'utilisateur demande, via le moniteur, le démarrage sans watchdog, le robot doit démarrer dans ce mode. En cas de succès, un message d'acquittement est retourné au moniteur. En cas d'échec, un message indiquant l'échec est transmis au moniteur.}
+
+
+%note right of Monitor: (req 7) connect robot
+%Monitor->Supervisor:connexion robot
+%Supervisor->+Supervisor: ComRobot::Open()
+%Supervisor-->-Supervisor:err
+%alt err == 0
+%Supervisor->Monitor: ComMonitor::Write(ACK)
+%else
+%Supervisor->Monitor: ComMonitor::Write(NO_ACK)
+%end
+%note right of Monitor
+% (req 8) monitor communication with robot
+%end note
+%loop cmpt <= 3
+%Supervisor->+Supervisor: ComRobot:Write(message)
+%Supervisor-->-Supervisor:msg
+%alt msg is not an error
+% note over Supervisor: cmpt = 0
+%else
+% note over Supervisor: cmpt ++
+%end
+%end
+%note right of Monitor: (req 9) robot communication lost
+%Supervisor->Monitor: ComMonitor::Write(LOST_DMB)
+%Supervisor->Supervisor: ComRobot::Close()
+%note over Supervisor: initialize_communication_robot
+
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.48]{./seq_req/req7-9}
+\caption{Diagramme de séquence des fonctionnalités 7 à 9}
+\label{fig:diag7_9}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+%%%%%%%%%%%%%%%%
+\paragraph{Démarrage avec watchdog du robot.} En cas de perte de la communication entre le superviseur et le robot, ce dernier n'est plus contrôlable et continue à exécuter des ordres. Pour éviter cela, un mécanisme de surveillance à base de watchdog a été mis en place sur le robot.
+
+Le principe est simple : au démarrage du robot (c.-à-d. quand le robot traite l'ordre de démarrage avec watchdog), un watchdog périodique d'une seconde est lancé. \`A chaque expiration du watchdog un compteur dans le robot est incrémenté. Si le compteur atteint 3, le robot s'arrête et doit être redémarré manuellement. Pour éviter cela, le robot doit recevoir du superviseur un ordre spécifique de rechargement du watchdog (DMB\_RELOAD\_WD). Si l'ordre est valide, le compteur est décrémenté de 1 (minimum 0). Pour que cet ordre soit valide il faut qu'il arrive au moment où le watchdog expire avec un tolérance de 50~ms. \\
+
+\req{Lorsque l'utilisateur demande, via le moniteur, le démarrage avec watchdog, le robot doit démarrer dans ce mode. Un message d'acquittement est retourné au moniteur. En cas d'échec, un message indiquant l'échec est transmis au moniteur.
+
+Une fois le démarrage effectué, le robot doit rester vivant en envoyant régulièrement le message de rechargement du watchdog.}
+
+%alt
+%note right of Monitor
+% (req 10) start without watchdog
+%end note
+%Monitor->Supervisor:start_robot_without_wd
+%Supervisor->+Supervisor: ComRobot::Write(START_WITHOUT_WD)
+%Supervisor-->-Supervisor:err
+%note over Monitor, Supervisor:ack or no_ack
+%
+%else
+%note right of Monitor
+% (req 11) start with watchdog
+%end note
+%
+%Monitor->Supervisor:start_robot_with_wd
+%Supervisor->+Supervisor: ComRobot::Write(START_WITH_WD)
+%Supervisor-->-Supervisor:err
+%alt err == ROBOT_OK
+%Supervisor->Monitor: ComMonitor::Write(message(ACK))
+%note over Supervisor
+% start to reload wd periodically
+%end note
+%else
+%Supervisor->Monitor: ComMonitor::Write(message(NO_ACK)
+%end
+%end
+
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{./seq_req/req10-11}
+\caption{Diagramme de séquence des fonctionnalités 10 et 11}
+\label{fig:diag10_11}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\subsubsection{Déplacement et état du robot}
+%%%%%%%%%%%%%%%%%%%%%%%%%
+
+Le robot n'a aucune intelligence et ne réagit qu'aux ordres qu'il reçoit. La figure~\ref{fig:diag12_13} représente la séquence pour les fonctionnalités 12 et 13.
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\paragraph{Déplacement manuel du robot.} Le robot peut recevoir cinq ordres de mouvement (avancer, reculer, tourner à droite, tourner à gauche et stopper). Lorsque l'utilisateur presse les flèches de l'interface graphique un message est envoyé au superviseur avec le mouvement à réaliser.\\
+
+\req{Lorsque qu'un ordre de mouvement est reçu par le superviseur, le robot doit réaliser ce déplacement en moins de 100~ms.}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\paragraph{Niveau de batterie du robot.} Il est possible de récupérer le niveau de la batterie du robot à l'aide de la fonction {\tt Write} de {\tt ComRobot} avec l'entête {\tt DMB\_GET\_VBAT}. La valeur retournée est ensuite à transmettre au moniteur.\\
+
+\req{Le niveau de la batterie du robot doit être mis à jour toutes les 500~ms sur le moniteur.}
+
+%par
+%note right of Monitor
+% (req 12) move robot
+%end note
+%loop
+%Monitor->Supervisor:move_robot(move)
+%note over Supervisor: treat the message
+%Supervisor->Supervisor: ComRobot::Write(Message(move))
+%end
+%else
+%note right of Monitor
+% (req 13) check battery
+%end note
+%loop 500 ms
+%Supervisor->+Supervisor: ComRobot::Write(Message(GET_VBAT))
+%Supervisor-->-Supervisor: levelBat
+%Supervisor->Monitor:ComMonitor::Write(Message(levelBat))
+%end
+%end
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{./seq_req/req12-13}
+\caption{Diagramme de séquence des fonctionnalités 12 et 13}
+\label{fig:diag12_13}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\subsubsection{Gestion de la caméra}
+%%%%%%%%%%%%%%%%%%%%%%%%%
+
+Les fonctions permettant la manipulation des images sont fournies dans les librairies {\tt img} et {\tt camera}. L'implémentation des méthodes utilise \textsc{openCV}, une libraire libre en C/C++ de traitement d'images.
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\paragraph{Ouverture de la caméra.} La méthode {\tt Open} de la classe {\tt Camera} donne accès à la caméra.\\
+
+\req{La caméra doit être démarrée suite à une demande provenant du moniteur. Si l'ouverture de la caméra a échoué, il faut envoyer un message au moniteur.}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\paragraph{Capture d'une image (mode nominal).} La méthode {\tt Grab} de {\tt Camera} permet de capturer une image. La compression de l'image se fait à l'aide de la fonction {\tt ToJpg} de {\tt Img}. L'envoi de l'image au moniteur s'effectue normalement par l'envoi d'un message. La fréquence de capture d'une image est fixée par un paramètre lors de l'instanciation d'un objet {\tt Camera}.\\
+
+\req{Dès que la caméra est ouverte, une image doit être envoyée au moniteur toutes les 100 ms.}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%
+\paragraph{Fermeture de la caméra.} La méthode {\tt Close} de la classe {\tt Camera} permet de fermer proprement la caméra.\\
+
+\req{La caméra doit être fermée suite à une demande provenant du moniteur. Un message doit être envoyé au moniteur pour signifier l'acquittement de la demande. L'envoi périodique des images doit alors être stoppé.}
+
+%note right of Monitor
+%(req 14) open camera
+%end note
+%Monitor->Supervisor: open camera
+%Supervisor->+Supervisor: Camera::Open()
+%Supervisor-->-Supervisor: err
+%note over Monitor, Supervisor: ack or no_ack
+%par
+%loop camera active
+%note right of Monitor
+%(req 15) capture image
+%end note
+%Supervisor->+Supervisor: Camera:Grab()
+%Supervisor-->-Supervisor: image
+%Supervisor->+Supervisor: Img::ToJpg(image)
+%Supervisor-->-Supervisor: jpgimage
+%Supervisor->Monitor:ComMonitor::Write(Message(jpgimage))
+%end
+%else
+% note right of Monitor
+% (req 16) close camera
+% end note
+% Monitor->Supervisor: close camera
+% Supervisor->+Supervisor: Camera::Close()
+% Supervisor-->-Supervisor: err
+% note over Monitor, Supervisor: ack or no_ack
+%end
+
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{./seq_req/req14-16}
+\caption{Diagramme de séquence des fonctionnalités 14 et 16}
+\label{fig:diag14_15}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+\paragraph{Calibration de l'arène} Pour accélérer le traitement de l'image et le rendre plus stable\footnote{Si vous placez un robot en dehors de l'arène, il y a de fortes chances pour que cela perturbe le calcul de la position du robot.}, il est préférable de limiter la zone d'étude à l'arène. Pour cela il est nécessaire de faire un pré-traitement qui recherche l'arène.
+
+Le calcul se fait par l'appel à la méthode {\tt SearchArena} de {\tt Img}. Il est possible de tracer sur l'image l'arène en faisant appel à la méthode {\tt DrawArena}.\\
+
+\req{Suite à une demande de recherche de l'arène, le superviseur doit stopper l'envoi périodique des images, faire la recherche de l'arène et renvoyer une image sur laquelle est dessinée cette arène. Si aucune arène n'est trouvée un message d'échec est envoyé.\\
+
+L'utilisateur doit ensuite valider visuellement via le moniteur si l'arène a bien été trouvée. L'utilisateur peut :
+\begin{itemize}
+ \item valider l'arène : dans ce cas, le superviseur doit sauvegarder l'arène trouvée (pour l'utiliser ultérieurement) puis retourner dans son mode d'envoi périodique des images en ajoutant à l'image l'arène dessinée.
+ \item annuler la recherche : dans ce cas, le superviseur doit simplement retourner dans son mode d'envoi périodique des images et invalider la recherche.
+\end{itemize}
+}
+
+%note left of Monitor:(req 17) find arena
+%Monitor->Supervisor:find arena
+%note over Supervisor:stop periodic image
+%Supervisor->+Supervisor: Camera:Grab()
+%Supervisor-->-Supervisor: image
+%Supervisor->+Supervisor: Img::SearchArena(image)
+%Supervisor-->-Supervisor: arena
+%alt arena == NULL
+%Supervisor->Monitor:ComMonitor::Write(Message(NO_ACK))
+%else
+%Supervisor->+Supervisor: Img::DrawArena(image, arena)
+%Supervisor-->-Supervisor: image
+%Supervisor->+Supervisor: Img::ToJpg(image)
+%Supervisor-->-Supervisor: jpgimage
+%Supervisor->Monitor:ComMonitor::Write(Message(jpgimage))
+%alt
+% Monitor->Supervisor: arena ok
+% note over Supervisor: save arena
+%else
+% Monitor->Supervisor: arena ko
+% note over Supervisor: delete arena
+%end
+%end
+%
+%note over Supervisor: restart periodic image
+
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{./seq_req/req17}
+\caption{Diagramme de séquence de la fonctionnalité 17}
+\label{fig:diag16}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+%%%%%%%%%%%%%
+\paragraph{Calcul de la position du robot.} Le traitement d'une image pour trouver la position du robot se fait à l'aide de la méthode {\tt SearchRobot} de {\tt Img}. Il est possible de dessiner sur l'image la position trouvée en faisant appel à la méthode {\tt DrawRobot}. La position est envoyée du superviseur vers le moniteur en utilisant un message avec une entête dédié.\\
+
+\req{Suite à une demande de l'utilisateur de calculer la position du robot, le superviseur doit calculer cette position, dessiner sur l'image le résultat et envoyer un message au moniteur avec la position toutes les 100~ms. Si le robot n'a pas été trouvé, un message de position est envoyé avec une position (-1,-1).}
+
+%%%%%%%%%%%%%
+\paragraph{Stopper le calcul de la position du robot.} Il est possible pour l'utilisateur de demander l'arrêt du calcul de la position.\\
+
+\req{Suite à une demande de l'utilisateur de stopper le calcul de la position du robot, le superviseur doit rebasculer dans un mode d'envoi de l'image sans le calcul de la position.}
+
+% note right of Monitor:(req 18) compute position
+%Monitor->Supervisor:find_position
+%loop
+%Supervisor->+Supervisor: Camera:Grab()
+%Supervisor-->-Supervisor: image
+%Supervisor->+Supervisor: Img::SearchRobot(image, arena)
+%Supervisor-->-Supervisor: position
+%alt position != null
+% Supervisor->+Supervisor: Img::DrawRobot(image, positin)
+% Supervisor-->-Supervisor: image
+% Supervisor->Monitor:ComMonitor::Write(Message(position))
+%else
+% Supervisor->Monitor:ComMonitor::Write(Message(position nulle))
+%end
+% Supervisor->+Supervisor: Img::ToJpg(image)
+% Supervisor-->-Supervisor: jpgimage
+% Supervisor->Monitor:ComMonitor::Write(Message(image))
+%end
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=0.4]{./seq_req/req18}
+\caption{Diagramme de séquence de la fonctionnalité 18}
+\label{fig:diag17}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%
+\subsubsection{Réaliser une mission}
+%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+TBD
+%Les missions à effectuer consistent à déplacer le robot d'une position à une autre. Le choix de la destination se fait par l'utilisateur en cliquant sur l'image du moniteur puis en envoyant un message de type mission en la validant avec le bouton\og send mission \fg.
+%
+%Une mission est constituée de différents champs décrits dans un objet \texttt{DMission}. La position à atteindre peut être récupérée à l'aide de la méthode \texttt{d\_mission\_get\_position}. De plus, une mission est identifiée par un numéro contenu dans son champ \texttt{id}.
+%
+%La réalisation d'une mission s'effectue à l'aide des méthodes \texttt{d\_robot\_move} et \texttt{d\_robot\_turn}. Quand le point final est atteint, le superviseur doit envoyer un message de type mission portant l'identifiant de la mission. La méthode {\tt d\_message\_mission\_terminate} permet de construire un message portant les valeurs appropriées.
+%
+%Il est aussi possible pour l'utilisateur de mettre fin à une mission en cours en envoyant un message d'alerte (bouton \og Stop mission \fg). Ce message est de type {\tt MESSAGE\_TYPE\_MISSION} et porte \texttt{MISSION\_TYPE\_STOP} comme valeur dans le champ type. Dans ce cas le robot doit immédiatement s'arrêter puis le superviseur doit envoyer un message de fin de mission.
+%
+%Le diagramme~\ref{diag:seq_position} donne un aperçu de cette séquence.\\
+%
+% \noindent\fcolorbox{black}{Fond}{% couleur du texte, couleur du fond
+%\begin{minipage}{\textwidth}
+%Réaliser la fonction qui permet d'effectuer une mission. Aucune méthode n'est fournie pour concevoir le déplacement, le plus simple étant de tourner le robot dans la direction du point à atteindre puis d'avancer de la distance souhaitée.
+%\end{minipage}
+%}
diff --git a/doc/sujets/tex/specifications/src/plateforme.tex b/doc/sujets/tex/specifications/src/plateforme.tex
new file mode 100644
index 0000000..b64d58c
--- /dev/null
+++ b/doc/sujets/tex/specifications/src/plateforme.tex
@@ -0,0 +1,103 @@
+\section{Vue générale de la plate-forme}
+
+Le projet {\it De Stijl} est une plate-forme de contrôle d'un robot mobile développée au département Génie \'Electronique et Informatique. Les éléments constituant la plate-forme sont fournis et ont été testés de manière unitaire, mais nous ne garantissons pas un fonctionnement parfait. Toutes suggestions, corrections et modifications seront appréciées pour faire évoluer ce TP. Vous pouvez soumettre vos corrections (sujet, code ou autre) via le dépôt \href{https://github.com/INSA-GEI/dumber/}{GitHub}.
+
+\subsection{\'Eléments de la plate-forme}
+
+La plate-forme est constituée de quatre éléments (voir figure~\ref{fig:vue_gen}) :
+\begin{enumerate}
+\item {\bf L'arène :} Boîte rectangulaire de couleur grise, elle est le terrain dans lequel le robot évolue.% Deux zones de couleur y sont tracées pour représenter des objectifs à atteindre.
+\item {\bf Le robot mobile :} Robot deux roues embarquant un microcontrôleur et un ensemble de composants matériels nécessaires à son déplacement. L'intelligence embarquée est volontairement limitée au contrôle de son déplacement (contrôle des moteurs) et à des fonctionnalités pour connaître son état.
+\item {\bf Le superviseur :} Entité principale de la plate-forme, elle est dédiée au contrôle et à la supervision du robot. Elle est couplée à une Webcam fixée au-dessus du terrain afin d'en faire une acquisition visuelle et de localiser le robot.
+\item {\bf Le moniteur :} Entité entièrement logicielle et distante, son rôle est d'offrir une interface de contrôle pour l'utilisateur.\\
+ \end{enumerate}
+
+La communication entre les équipements est hétérogène et assurée par différents supports :
+\begin{enumerate}
+\item La communication entre le robot et le superviseur est réalisée par une liaison sans fils point à point à l'aide de modules XBee. Cette communication est vue comme une liaison série.
+\item La communication entre le superviseur et le moniteur est réalisée par un socket. La liaison physique est assurée par WiFi.
+\end{enumerate}
+
+
+\begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=.6]{figures_pdf/schema_general2.pdf}
+\caption{Vue générale de la plate-forme}
+\label{fig:vue_gen}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+ \subsubsection{Arène}
+
+L'arène (voir figure~\ref{fig:arene}) a été réalisée dans les ateliers du département par J. Perez. C'est une boîte de 60$\times$80 cm en Medium et recouverte d'une peinture uniforme grise. Les bords sont peints en blanc. Deux zones distinctes sont peintes sur les bords opposés. L'une étant de couleur verte (ou orange) et l'autre de couleur rouge. Actuellement ces zones ne servent pas. %Ces zones sont désignées comme étant des buts.
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=.6]{figures_pdf/arene.pdf}
+\caption{Vue schématique de l'arène}
+\label{fig:arene}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+ \subsubsection{Robot}
+
+La version 2.1 du robot a été conçue et réalisée par S. Di Mercurio. Schématiquement (figure~\ref{fig:robot}), le robot est constitué de deux moteurs, d'un microcontrôleur STM32F103RB et d'une puce Xbee assurant une liaison série point à point avec le superviseur. Chaque robot a un symbol différent sur le dos afin de l'identifier et de le localiser dans l'arène.
+
+Le robot est mobile sur deux roues avec un patin. Le contrôle de la trajectoire est assuré par le contrôle en vitesse des moteurs.
+
+Le code embarqué dans les robots a été produit par S. Di Mercurio et L. Senaneuch. Il offre tous les services nécessaires pour contrôler le robot.
+
+ \begin{figure}[htbp]
+\begin{center}
+\includegraphics[scale=.6]{figures_pdf/schema_robot.pdf}
+\caption{Vue schématique du robot}
+\label{fig:robot}
+\end{center}
+\end{figure}
+\FloatBarrier
+
+\noindent\framebox[\textwidth]{
+\begin{minipage}{0.9\textwidth}
+{\bf Remarque :} L'application que vous allez réaliser sera celle du superviseur. Vous ne toucherez pas au code embarqué dans le robot.
+\end{minipage}
+}\\
+
+ \subsubsection{Superviseur}
+
+
+Le superviseur orchestre le fonctionnement de la plate-forme en assurant le respect des contraintes temporelles du système. Il est déployé sur une Raspberry Pi 3B sur laquelle est installé un Ubuntu patché PREEMPT-RT avec l'extension mercury de Xenomai 3.0. Une Raspberry~Pi est un ordinateur à processeur ARM de taille réduite. La version 3B possède un processeur Broadcom BCM2837 64 bit à quatre cœurs ARM Cortex-A53 à 1,2 GHz, de puces WiFi 802.11n et Bluetooth 4.1. Un module Xbee a été ajouté pour communiquer avec le robot.
+
+La webcam est intégrée au bloc du superviseur et est une caméra Raspberry.
+
+\subsubsection{Moniteur}
+
+Le moniteur permet à l'utilisateur de saisir les ordres que le robot doit réalisée et aussi de connaître l'état global du système. Il a été développé par S. Di~Mercurio en C\# à l'aide de \href{https://www.monodevelop.com}{MonoDevelop}. Le moniteur communique avec le superviseur via un socket. Le serveur est mis en place sur la superviseur et le moniteur en est le client.
+
+\subsection{Bibliothèques logicielles}
+
+\framebox[\textwidth]{
+\begin{minipage}{0.9\textwidth}
+Votre travail consistera à concevoir uniquement l'architecture logicielle du superviseur. Toutes les fonctions de traitement (communication, vidéo, etc.) {\bf ont déjà été implémentées} par L. Senaneuch et S. Di Mercurio. Vous n'aurez pas à modifier ce code, simplement à faire appel aux fonctions. Il n'en reste pas moins un gros travail d'architecte logiciel à faire.
+\end{minipage}
+}\\
+
+
+
+Le code est disponible sur la branche stage du dépôt \href{https://github.com/INSA-GEI/dumber/}{GEI-INSA/dumber} sur GitHub . L'annexe~\ref{ann:diag_class} présente sous forme de diagramme de classes les bibliothèques disponibles.\\
+
+Les fonctions de traitement sont réparties en cinq bibliothèques :
+\begin{itemize}
+ \item commonitor : services de communication entre le superviseur et le moniteur,
+ \item comrobot : services de communication entre le superviseur et le robot,
+ \item message : services définissant le format des messages entre le moniteur, le superviseur et le robot,
+ \item camera : services de gestion de la caméra,
+ \item img : services réalisant tous les traitements vidéos. \\
+\end{itemize}
+
+\framebox[\textwidth]{
+\begin{minipage}{0.9\textwidth}
+Toutes les bibliothèques ont été développées en C++, mais vous n'avez pas besoin de connaissances évoluées pour les utiliser (aucun support ne sera fourni par les encadrants pour le C++). Des explications sont fournies dans un document annexe pour manipuler les bibliothèques, mais d'une manière générale, vous n'avez pas besoin de connaissances évoluées en programmation objet pour les utiliser.
+\end{minipage}
+}
diff --git a/doc/sujets/tex/specifications/sujet_robot.tex b/doc/sujets/tex/specifications/sujet_robot.tex
new file mode 100644
index 0000000..ac88cd8
--- /dev/null
+++ b/doc/sujets/tex/specifications/sujet_robot.tex
@@ -0,0 +1,142 @@
+\documentclass[11pt]{paper}
+\usepackage[frenchb]{babel}
+
+\usepackage[T1]{fontenc}
+
+\usepackage{graphicx}
+\usepackage{amssymb}
+\usepackage{amstext}
+\usepackage{amsmath}
+\usepackage{a4wide,color}
+\usepackage[utf8]{inputenc}
+\usepackage{xspace}
+\usepackage{anysize}
+\usepackage{tabularx}
+\usepackage{multirow}
+\usepackage{fancybox}
+\usepackage{fancyhdr}
+\usepackage{bbding}
+
+\usepackage{threeparttable}
+\usepackage{color}
+\usepackage{float}
+
+\usepackage[toc,page]{appendix}
+\usepackage{lscape}
+
+\usepackage{placeins}
+
+\usepackage{listingsutf8}
+
+\usepackage{todonotes}
+
+\lstset{% general command to set parameter(s)
+ basicstyle=\footnotesize, % print whole listing small
+ keywordstyle=\color{magenta}\bfseries, % underlined bold black keywords
+ identifierstyle=, % nothing happens
+ commentstyle=\color{black}, % white comments
+ stringstyle=\ttfamily, % typewriter type for strings
+ showstringspaces=false % no special string spaces
+}
+
+\lstdefinelanguage{aald}
+ {morekeywords={system, implementation},
+ sensitive=false,
+ morecomment=[l]{//},
+ morecomment=[s]{/*}{*/},
+ morestring=[b]",
+}
+
+\usepackage[colorlinks=true]{hyperref}
+
+\usepackage[normalem]{ulem}
+\usepackage{color}
+
+\definecolor{Fond}{gray}{0.9}
+
+\renewcommand{\floatpagefraction}{.99}
+\renewcommand{\textfraction}{.01}
+\newcommand{\modif}[1]{\textcolor{red}{\uline{#1}}}
+
+\newcounter{cptreq}
+\newcommand{\req}[1]{
+\stepcounter{cptreq}
+ \noindent\fcolorbox{black}{Fond}{% couleur du texte, couleur du fond
+ \begin{minipage}[t]{\textwidth}
+ {\bf Fonctionnalité \thecptreq}\, : #1
+ \end{minipage}
+ }
+}
+
+\pagestyle{fancy}
+\fancyhf{}
+\fancyhead[RE,RO]{\thepage}
+\fancyhead[LE]{}
+\fancyhead[LO]{Programmation et conception de systémes temps réel -- 4éme année AE/IR}
+\fancyfoot[LO]{INSA Toulouse — P.-E. Hladik}
+\fancypagestyle{plain}{%
+ \fancyhf{} % get rid of headers
+ \renewcommand{\headrulewidth}{0pt} % and the line
+}
+
+\newenvironment{maliste}%
+{ \begin{list}%
+ {\ArrowBoldRightStrobe}%
+ {\setlength{\labelwidth}{30pt}%
+ \setlength{\leftmargin}{35pt}%
+ \setlength{\itemsep}{\parsep}}}%
+{ \end{list} }
+
+\renewcommand{\appendixtocname}{Annexes}
+\renewcommand{\appendixpagename}{Annexes}
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+\title{{\Huge Projet De Stijl 2.0}
+{\small : Plateforme pour robots mobiles}\\
+{\scriptsize Programmation et conception de systémes temps réel -- 4éme année AE/IR}\\
+{\scriptsize Institut National des Sciences Appliquées de Toulouse}\\
+---\\
+Cahier des charges fonctionnel \\
+{\large Version 3.0.1 (\today)}\\
+{\scriptsize Référent pédagogique : P.-E. Hladik (\texttt{pehladik@insa-toulouse.fr})}\\
+{\scriptsize Référents plateforme : S. Di Mercurio (\texttt{dimercur@insa-toulouse.fr})}\\
+---
+}
+
+
+\begin{document}
+\maketitle
+
+%\tableofcontents
+%\newpage
+
+\section*{Travail demandé}
+
+\begin{enumerate}
+ \item Le travail sera réalisé dans le cadre d'un groupe de trois ou quatre étudiants sur deux séances de TD et cinq séances de TP.
+ \item Il est attendu une conception complète lors lors de la 3e séance de TP. La conception sera sous forme de brouillon, mais doit couvrir l'ensemble des exigences.
+ \item Le projet fera l'objet d'un rapport évalué ainsi qu'une démonstration (si l'emploi du temps le permet). Un squelette pour le rapport est disponible sur la page moodle de l'enseignement.
+ \item L'évaluation a pour but de juger de vos compétences pour rédiger un compte rendu, réaliser la conception d'une application temps réel et programmer sur un système temps réel, mais aussi sur vos connaissances plus générale des systèmes temps réel.
+ \item Le code réalisé devra être rendu sous forme d'archive ne comprenant que les codes sources modifiés.
+ \item Le rendu du rapport et du code se fera sous la forme d'une archive à envoyer à votre encadrant de TP.
+ \item La démonstration aura lieu la semaine qui suit la dernière séance de TP.
+\end{enumerate}
+
+\section*{Ressources indispensables}
+\begin{enumerate}
+ \item Page Moodle : \href{https://moodle.insa-toulouse.fr/course/view.php?id=235}{Programmation et conception sur exécutif temps réel}
+ \item Dépôt GEI-INSA sur GitHub : \href{https://github.com/INSA-GEI/dumber/}{dumber}
+\end{enumerate}
+
+\newpage
+\input{src/plateforme}
+
+\newpage
+\input{src/besoins}
+
+\newpage
+\input{src/annexes}
+
+\end{document}
\ No newline at end of file
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diff --git a/hardware/meca/Chargeur/Hammond/1593K.igs b/hardware/meca/Chargeur/Hammond/1593K.igs
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+110,27.7391409452903,29.3528133001798,5.49904822158197, 1883P 3407
+27.7391409452903,28.3528133001798,5.49904822158197; 1883P 3408
+110,27.7391409452903,29.3528133001798,4.49904822158197, 1885P 3409
+27.7391409452903,27.8528133001798,4.49904822158197; 1885P 3410
+110,27.7391409452903,29.3528133001798,4.49904822158197, 1887P 3411
+27.7391409452903,27.8528133001798,4.49904822158197; 1887P 3412
+110,28.7381891668722,27.8528133001798,5.45542883421663, 1889P 3413
+28.7381891668722,29.3528133001798,5.45542883421664; 1889P 3414
+110,-27.7391409452904,27.8528133001798,4.49904822158197, 1891P 3415
+-27.7391409452904,29.3528133001798,4.49904822158197; 1891P 3416
+110,27.7391409452903,27.8528133001798,4.49904822158197, 1893P 3417
+-27.7391409452904,27.8528133001798,4.49904822158197; 1893P 3418
+110,-27.7391409452904,29.3528133001798,5.49904822158197, 1895P 3419
+-27.7391409452904,28.3528133001798,5.49904822158197; 1895P 3420
+110,-28.7381891668722,29.3528133001798,5.45542883421663, 1897P 3421
+-28.7381891668722,27.8528133001798,5.45542883421663; 1897P 3422
+110,-28.7381891668722,29.3528133001798,5.45542883421664, 1899P 3423
+-28.7381891668722,27.8528133001798,5.45542883421663; 1899P 3424
+110,-28.7381891668722,27.8528133001798,5.45542883421663, 1901P 3425
+-29.1112532007192,27.8528133001798,14.; 1901P 3426
+110,27.7391409452903,-29.3528133001798,5.49904822158187, 1903P 3427
+27.7391409452903,-28.3528133001798,5.49904822158187; 1903P 3428
+110,28.7381891668722,-29.3528133001798,5.45542883421654, 1905P 3429
+28.7381891668722,-27.8528133001798,5.45542883421654; 1905P 3430
+110,28.7381891668722,-29.3528133001798,5.45542883421654, 1907P 3431
+28.7381891668722,-27.8528133001798,5.45542883421654; 1907P 3432
+110,27.7391409452903,-27.8528133001798,4.49904822158187, 1909P 3433
+27.7391409452903,-29.3528133001798,4.49904822158187; 1909P 3434
+110,28.7381891668722,-27.8528133001798,5.45542883421654, 1911P 3435
+29.1112532007192,-27.8528133001798,14.; 1911P 3436
+110,-27.7391409452903,-29.3528133001798,5.49904822158187, 1913P 3437
+-27.7391409452903,-28.3528133001798,5.49904822158187; 1913P 3438
+110,-27.7391409452903,-29.3528133001798,4.49904822158187, 1915P 3439
+-27.7391409452903,-27.8528133001798,4.49904822158187; 1915P 3440
+110,-27.7391409452903,-29.3528133001798,4.49904822158187, 1917P 3441
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+110,-28.7381891668722,-27.8528133001798,5.45542883421654, 1919P 3443
+-28.7381891668722,-29.3528133001798,5.45542883421654; 1919P 3444
+110,-27.7391409452903,-27.8528133001798,4.49904822158187, 1921P 3445
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+110,28.695521557925,-21.8056266003596,4.5,28.695521557925, 1923P 3447
+-20.8056266003596,4.5; 1923P 3448
+110,29.6945697795069,-27.8528133001798,4.45638061263467, 1925P 3449
+29.6945697795068,27.8528133001798,4.45638061263467; 1925P 3450
+110,29.6945697795069,-27.8528133001795,4.45638061263466, 1927P 3451
+29.6945697795069,27.8528133001798,4.45638061263466; 1927P 3452
+110,-30.1112532007192,-27.8528133001798,14.,-29.6945697795068, 1929P 3453
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+110,-29.1112532007192,-27.8528133001798,14.,-28.7381891668722, 1931P 3455
+-27.8528133001798,5.45542883421654; 1931P 3456
+110,29.6945697795069,-27.8528133001795,4.45638061263466, 1933P 3457
+30.1112532007192,-27.8528133001798,14.; 1933P 3458
+110,-28.695521557925,21.8056266003596,4.5,-28.695521557925, 1935P 3459
+20.8056266003596,4.5; 1935P 3460
+110,-29.6945697795068,27.8528133001798,4.45638061263467, 1937P 3461
+-29.6945697795068,-27.8528133001798,4.45638061263467; 1937P 3462
+110,-29.6945697795069,27.8528133001798,4.45638061263466, 1939P 3463
+-29.6945697795068,-27.8528133001798,4.45638061263466; 1939P 3464
+110,-29.6945697795069,27.8528133001798,4.45638061263466, 1941P 3465
+-30.1112532007192,27.8528133001798,14.0000000000001; 1941P 3466
+110,29.1112532007192,27.8528133001798,14.,28.7381891668722, 1943P 3467
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+110,30.1112532007192,27.8528133001798,14.,29.6945697795069, 1945P 3469
+27.8528133001798,4.45638061263466; 1945P 3470
+110,-30.1112532007192,33.6112532007192,14.,-29.663738996974, 1947P 3471
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+110,27.4998330309808,27.4998752267644,1.,27.4998330309808, 1949P 3473
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+110,27.4998330309808,-27.5001247732356,0.,27.4998330309808, 1953P 3477
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+-27.5001247732356,0.; 1965P 3490
+110,-27.5001669690192,27.4998752267644,0.,-27.5001669690192, 1967P 3491
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+110,-27.5001669690192,27.4998752267644,1.,27.4998330309808, 1969P 3493
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+110,30.1112532007192,-33.6112532007192,14.,29.663738996974, 1973P 3497
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+-33.1670259173082,3.82552245053865; 1977P 3502
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+33.1670259173082,3.82552245053865; 1981P 3506
+110,28.6708330309808,30.1281247732356,0.,-28.6708330309808, 1983P 3507
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+-33.1112532007192,30.6141085359736,14.; 1985P 3510
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+110,32.6670259173082,30.1698812525626,3.82552245053866, 1999P 3523
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+33.1112532007192,-30.6141085359736,14.; 2001P 3526
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+110,-28.3866947630342,-0.415258924316528,3.33095536418538, 2035P 3543
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+110,27.93,-10.385,0.85,-27.93,-10.385,0.85; 2119P 3623
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+110,0.386192402793675,1.88990709382666,-1.01851930083845, 2171P 3655
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+110,0.11963884070015,0.378206723171311,-0.973805973642108, 2173P 3657
+0.338834686574521,0.378206723171311,-0.338834686574521; 2173P 3658
+110,0.557909378547462,1.95805265247064,-0.557909378547461, 2175P 3659
+0.338834686574521,0.378206723171311,-0.338834686574521; 2175P 3660
+110,0.11963884070015,0.378206723171312,-1.51191266973864, 2177P 3661
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+110,-0.345315413067249,1.65808216515048,-1.70775298685433, 2181P 3666
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+110,-0.386192402793674,1.88990709382666,-1.01851930083845, 2183P 3668
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+110,-0.119638840700149,0.378206723171311,-0.973805973642108, 2185P 3670
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+110,-0.338834686574521,0.378206723171311,-0.338834686574521, 2187P 3672
+-0.119638840700149,0.378206723171311,-0.973805973642108; 2187P 3673
+110,1.01851930083845,1.88990709382666,0.386192402793675, 2189P 3674
+0.973805973642108,0.378206723171311,0.11963884070015; 2189P 3675
+110,0.973805973642108,0.378206723171311,0.11963884070015, 2191P 3676
+0.338834686574521,0.378206723171311,0.338834686574522; 2191P 3677
+110,0.557909378547461,1.95805265247064,0.557909378547462, 2193P 3678
+0.338834686574521,0.378206723171311,0.338834686574522; 2193P 3679
+110,1.51191266973864,0.378206723171311,0.11963884070015, 2195P 3680
+0.973805973642108,0.378206723171311,0.11963884070015; 2195P 3681
+110,2.56505428099949D-32,1.14020672317131,-2.09452577084706D-16, 2197P 3682
+3.34688346867451D-33,0.140206723171311,-2.73293775070881D-17; 2197P 3683
+110,1.70775298685433,1.65808216515048,-0.345315413067249, 2199P 3684
+1.4865531755912,0.378206723143521,-0.300587806215028; 2199P 3685
+110,1.01851930083845,1.88990709382666,-0.386192402793674, 2201P 3686
+0.973805973642108,0.378206723171311,-0.119638840700149; 2201P 3687
+110,0.973805973642108,0.378206723171311,-0.119638840700149, 2203P 3688
+1.51191266973864,0.378206723171311,-0.119638840700149; 2203P 3689
+110,0.338834686574521,0.378206723171311,-0.338834686574521, 2205P 3690
+0.973805973642108,0.378206723171311,-0.119638840700149; 2205P 3691
+110,-0.386192402793674,1.88990709382666,1.01851930083845, 2207P 3692
+-0.11963884070015,0.378206723171311,0.973805973642107; 2207P 3693
+110,-0.11963884070015,0.378206723171311,0.973805973642107, 2209P 3694
+-0.338834686574521,0.378206723171311,0.338834686574521; 2209P 3695
+110,-0.557909378547462,1.95805265247064,0.557909378547462, 2211P 3696
+-0.338834686574521,0.378206723171311,0.338834686574521; 2211P 3697
+110,-0.11963884070015,0.378206723171311,1.51191266973864, 2213P 3698
+-0.11963884070015,0.378206723171311,0.973805973642107; 2213P 3699
+110,2.09452577084706D-16,1.14020672317131,1.28252714049975D-32, 2215P 3700
+2.73293775070881D-17,0.140206723171311,1.67344173433726D-33; 2215P 3701
+110,0.345315413067249,1.65808216515048,1.70775298685433, 2217P 3702
+0.300587806215026,0.378206723143478,1.48655317559119; 2217P 3703
+110,0.386192402793674,1.88990709382666,1.01851930083845, 2219P 3704
+0.11963884070015,0.378206723171311,0.973805973642108; 2219P 3705
+110,0.11963884070015,0.378206723171311,0.973805973642108, 2221P 3706
+0.119638840700149,0.378206723171311,1.51191266973864; 2221P 3707
+110,0.338834686574521,0.378206723171311,0.338834686574522, 2223P 3708
+0.11963884070015,0.378206723171311,0.973805973642108; 2223P 3709
+110,-1.51191266973864,0.378206723171311,-0.11963884070015, 2225P 3710
+-0.973805973642108,0.378206723171311,-0.11963884070015; 2225P 3711
+110,0.,1.14020672317131,2.09452577084706D-16,0., 2227P 3712
+0.140206723171311,2.73293775070881D-17; 2227P 3713
+110,-1.70775298685433,1.65808216515048,0.34531541306725, 2229P 3714
+-1.48655317559116,0.378206723143308,0.30058780621502; 2229P 3715
+110,-1.01851930083845,1.88990709382666,0.386192402793674, 2231P 3716
+-0.973805973642108,0.378206723171311,0.11963884070015; 2231P 3717
+110,-0.973805973642108,0.378206723171311,0.11963884070015, 2233P 3718
+-1.51191266973864,0.378206723171311,0.11963884070015; 2233P 3719
+110,-0.338834686574521,0.378206723171311,0.338834686574521, 2235P 3720
+-0.973805973642108,0.378206723171311,0.11963884070015; 2235P 3721
+110,28.,-27.9999999999999,-80.8226222813261,28., 2237P 3722
+-27.9999999999999,-79.8226222813261; 2237P 3723
+110,26.4,-27.9999999999999,-1.60000000000001,26.4, 2239P 3724
+-27.9999999999999,0.; 2239P 3725
+110,26.4,-27.9999999999999,0.,26.4,-27.9999999999999,-1.6; 2241P 3726
+110,0.,0.,-80.8226222813261,0.,0.,-79.8226222813261; 2243P 3727
+110,-1.6,-1.95943487863577D-16,-1.60000000000001,-1.6, 2245P 3728
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+110,-1.6,-1.95943487863577D-16,0.,-1.6,-1.9593701661158D-16, 2247P 3730
+-1.6; 2247P 3731
+110,28.,6.21724893790088D-14,-80.8226222813261,28., 2249P 3732
+6.21724893790088D-14,-79.8226222813261; 2249P 3733
+110,26.4,6.19765458911452D-14,-1.60000000000001,26.4, 2251P 3734
+6.19765458911452D-14,0.; 2251P 3735
+110,26.4,6.19765458911452D-14,0.,26.4,6.19765523623972D-14,-1.6; 2253P 3736
+110,8.88178419700125D-15,-28.,-80.8226222813261, 2255P 3737
+8.88178419700125D-15,-28.,-79.8226222813261; 2255P 3738
+110,-1.59999999999999,-28.,-1.60000000000001,-1.59999999999999, 2257P 3739
+-28.,0.; 2257P 3740
+110,-1.59999999999999,-28.,0.,-1.59999999999999,-28.,-1.6; 2259P 3741
+110,-14.3056266003596,-3.35292539815827,-1.6,-11.0000000000002, 2261P 3742
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+110,-11.0000000000002,-3.35292539815827,0.,-11.0000000000002, 2263P 3744
+-3.35292539815827,-1.6; 2263P 3745
+110,-14.3056266003596,-3.35292539815827,0.,-11.0000000000002, 2265P 3746
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+110,-14.3056266003596,-3.35292539815827,0.,-14.3056266003596, 2267P 3748
+-3.35292539815827,-1.6; 2267P 3749
+110,-11.0000000000002,-6.66901717127651,0.,-11.0000000000002, 2269P 3750
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+110,-11.0000000000002,-3.35292539815827,0.,-11.0000000000002, 2271P 3752
+-3.35292539815827,-1.6; 2271P 3753
+110,-11.0000000000002,-9.98510894439476,0.,-11.0000000000002, 2273P 3754
+-9.98510894439476,-1.6; 2273P 3755
+110,-11.0000000000002,-9.98510894439476,-1.6,-14.3056266003596, 2275P 3756
+-9.98510894439476,-1.6; 2275P 3757
+110,-14.3056266003596,-9.98510894439476,0.,-14.3056266003596, 2277P 3758
+-9.98510894439476,-1.6; 2277P 3759
+110,-11.0000000000002,-9.98510894439476,0.,-14.3056266003596, 2279P 3760
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+110,-14.3056266003596,-9.98510894439476,-1.6,-14.3056266003596, 2281P 3762
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+110,-14.3056266003596,-42.83098282869,0.,-14.3056266003596, 2283P 3764
+-42.83098282869,-1.6; 2283P 3765
+110,-14.3056266003596,-9.98510894439476,0.,-14.3056266003596, 2285P 3766
+-42.83098282869,0.; 2285P 3767
+110,-14.3056266003596,-42.83098282869,-1.6,42.3056266003596, 2287P 3768
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+110,42.3056266003596,-42.83098282869,0.,42.3056266003596, 2289P 3770
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+110,-14.3056266003596,-42.83098282869,0.,42.3056266003596, 2291P 3772
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+110,42.3056266003596,-42.83098282869,-1.6,42.3056266003596, 2293P 3774
+-9.9851089443952,-1.6; 2293P 3775
+110,42.3056266003596,-9.9851089443952,0.,42.3056266003596, 2295P 3776
+-9.9851089443952,-1.6; 2295P 3777
+110,42.3056266003596,-42.83098282869,0.,42.3056266003596, 2297P 3778
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+110,42.3056266003596,-9.9851089443952,-1.6,38.9999999999998, 2299P 3780
+-9.9851089443952,-1.6; 2299P 3781
+110,38.9999999999998,-9.9851089443952,0.,38.9999999999998, 2301P 3782
+-9.9851089443952,-1.6; 2301P 3783
+110,42.3056266003596,-9.9851089443952,0.,38.9999999999998, 2303P 3784
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+110,38.9999999999998,-6.66901717127695,0.,38.9999999999998, 2305P 3786
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+110,38.9999999999998,-9.9851089443952,0.,38.9999999999998, 2307P 3788
+-9.9851089443952,-1.6; 2307P 3789
+110,38.9999999999998,-3.35292539815871,0.,38.9999999999998, 2309P 3790
+-3.35292539815871,-1.6; 2309P 3791
+110,38.9999999999998,-3.35292539815871,-1.6,42.3056266003596, 2311P 3792
+-3.35292539815871,-1.6; 2311P 3793
+110,42.3056266003596,-3.35292539815871,0.,42.3056266003596, 2313P 3794
+-3.35292539815871,-1.6; 2313P 3795
+110,38.9999999999998,-3.35292539815871,0.,42.3056266003596, 2315P 3796
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+110,42.3056266003596,-3.35292539815871,-1.6,42.3056266003596, 2317P 3798
+14.8309828286996,-1.6; 2317P 3799
+110,42.3056266003596,14.8309828286996,0.,42.3056266003596, 2319P 3800
+14.8309828286996,-1.6; 2319P 3801
+110,42.3056266003596,-3.35292539815871,0.,42.3056266003596, 2321P 3802
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+110,42.3056266003596,14.8309828286996,-1.6,-14.3056266003596, 2323P 3804
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+110,-14.3056266003596,14.8309828286996,0.,-14.3056266003596, 2325P 3806
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+110,-14.3056266003596,14.8309828286996,-1.6,-14.3056266003596, 2329P 3810
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+-3.35292539815827,0.; 2331P 3813
+190,7999,6637,6639; 2333P 3814
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+190,8311,7261,7263; 2607P 3951
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+190,8343,7325,7327; 2639P 3967
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+510,2623,2,1,5009,5011; 3393P 4344
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+510,149,1,1,5019; 3401P 4348
+510,151,1,1,5021; 3403P 4349
+510,153,1,1,5023; 3405P 4350
+510,155,1,1,5025; 3407P 4351
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+510,2625,1,1,5029; 3411P 4353
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+510,2649,1,1,5055; 3435P 4365
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+510,165,1,1,5067; 3447P 4371
+510,2655,1,1,5069; 3449P 4372
+510,167,1,1,5071; 3451P 4373
+510,169,1,1,5073; 3453P 4374
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+510,173,1,1,5077; 3457P 4376
+510,2657,1,1,5079; 3459P 4377
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+510,2663,1,1,5085; 3465P 4380
+510,175,1,1,5087; 3467P 4381
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+126,3,3,0,0,1,0,-0.270850206006767,-0.270850206006767, 3949P 4696
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+126,2,2,0,0,0,0,0.0146003990076308,0.0146003990076308, 4457P 6905
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+126,2,2,0,0,0,0,96.3821098899082,96.3821098899082, 4459P 6912
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+126,2,2,0,0,0,0,0.0146003990076402,0.0146003990076402, 4461P 6918
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+126,2,2,0,0,0,0,96.3821098897568,96.3821098897568, 4463P 6924
+96.3821098897568,96.9349509964598,96.9349509964598, 4463P 6925
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+126,2,2,0,0,0,0,0.0146003990076308,0.0146003990076308, 4465P 6930
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+126,2,2,0,0,0,0,96.3821098899019,96.3821098899019, 4467P 6936
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+126,2,2,0,0,0,0,0.0146003990076402,0.0146003990076402, 4469P 6942
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+1.70775298685433,0.0146003990076402,0.069487110557567,0.,0.,0.; 4469P 6947
+126,2,2,0,0,0,0,96.3821098897523,96.3821098897523, 4471P 6948
+96.3821098897523,96.9349509964597,96.9349509964597, 4471P 6949
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+126,2,2,0,0,0,0,0.0146003990076308,0.0146003990076308, 4473P 6954
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+126,2,2,0,0,0,0,96.3821098899172,96.3821098899172, 4475P 6960
+96.3821098899172,96.934950996638,96.934950996638, 4475P 6961
+96.934950996638,1.,1.,1.,-1.63134453736878,1.14020672337428, 4475P 6962
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+126,2,2,0,0,0,0,0.0146003990076402,0.0146003990076402, 4477P 6966
+0.0146003990076402,0.069487110557567,0.069487110557567, 4477P 6967
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+126,2,2,0,0,0,0,96.3821098897523,96.3821098897523, 4479P 6972
+96.3821098897523,96.9349509964597,96.9349509964597, 4479P 6973
+96.9349509964597,1.,1.,1.,-1.63134453741112,1.14020672337643, 4479P 6974
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+126,2,2,0,0,0,0,0.0146003990076308,0.0146003990076308, 4481P 6978
+0.0146003990076308,0.0694871105575398,0.0694871105575398, 4481P 6979
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+0.254,-1.66954876217241,1.39321918154183,0.2986129228661, 4481P 6981
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+508,1,0,8691,1,1,0; 4483P 6984
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+508,1,0,8691,13,1,0; 4493P 6990
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+0; 4653P 7106
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+0,0,8691,196,1,0; 4655P 7108
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+16; 8701P 11370
+406,1,6HSolid1; 8703P 11371
+406,1,14H1593K BOTTOM:1; 8705P 11372
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+406,1,36H1593K-L-P-Q-X-Y Contoured Endplate:1; 8713P 11376
+406,1,36H1593K-L-P-Q-X-Y Contoured Endplate:2; 8715P 11377
+406,1,28HSC549 (screw #4X 3_4'' OH):1; 8717P 11378
+406,1,28HSC549 (screw #4X 3_4'' OH):2; 8719P 11379
+406,1,11H1593K PCB:1; 8721P 11380
+314,74.9019607843137,74.9019607843137,74.9019607843137,; 8723P 11381
+314,6.66666666666667,75.6862745098039,32.9411764705882,; 8725P 11382
+S 1G 3D 8726P 11382 T 1
diff --git a/hardware/meca/Chargeur/Hammond/1593K.stp b/hardware/meca/Chargeur/Hammond/1593K.stp
new file mode 100644
index 0000000..eb6de40
--- /dev/null
+++ b/hardware/meca/Chargeur/Hammond/1593K.stp
@@ -0,0 +1,18986 @@
+ISO-10303-21;
+HEADER;
+/* Generated by software containing ST-Developer
+ * from STEP Tools, Inc. (www.steptools.com)
+ */
+
+FILE_DESCRIPTION(
+/* description */ (''),
+/* implementation_level */ '2;1');
+
+FILE_NAME(
+/* name */
+'E:\\Eng\\Customer Service\\Drawings\\working on 1593\\STEP\\1593K\\15
+93K.iam.stp',
+/* time_stamp */ '2016-04-25T15:45:16-04:00',
+/* author */ ('Lynn'),
+/* organization */ (''),
+/* preprocessor_version */ 'ST-DEVELOPER v16.1',
+/* originating_system */ 'Autodesk Inventor 2016',
+/* authorisation */ '');
+
+FILE_SCHEMA (('AUTOMOTIVE_DESIGN { 1 0 10303 214 3 1 1 }'));
+ENDSEC;
+
+DATA;
+#10=MECHANICAL_DESIGN_GEOMETRIC_PRESENTATION_REPRESENTATION('',(#80,#81,
+#82,#83,#84,#85),#16994);
+#11=ITEM_DEFINED_TRANSFORMATION($,$,#9031,#9659);
+#12=ITEM_DEFINED_TRANSFORMATION($,$,#9234,#9660);
+#13=ITEM_DEFINED_TRANSFORMATION($,$,#9491,#9661);
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+#16=ITEM_DEFINED_TRANSFORMATION($,$,#9510,#9664);
+#17=ITEM_DEFINED_TRANSFORMATION($,$,#9568,#9665);
+#18=ITEM_DEFINED_TRANSFORMATION($,$,#9568,#9666);
+#19=ITEM_DEFINED_TRANSFORMATION($,$,#9627,#9667);
+#20=(
+REPRESENTATION_RELATIONSHIP($,$,#17025,#17031)
+REPRESENTATION_RELATIONSHIP_WITH_TRANSFORMATION(#11)
+SHAPE_REPRESENTATION_RELATIONSHIP()
+);
+#21=(
+REPRESENTATION_RELATIONSHIP($,$,#17026,#17031)
+REPRESENTATION_RELATIONSHIP_WITH_TRANSFORMATION(#12)
+SHAPE_REPRESENTATION_RELATIONSHIP()
+);
+#22=(
+REPRESENTATION_RELATIONSHIP($,$,#17027,#17031)
+REPRESENTATION_RELATIONSHIP_WITH_TRANSFORMATION(#13)
+SHAPE_REPRESENTATION_RELATIONSHIP()
+);
+#23=(
+REPRESENTATION_RELATIONSHIP($,$,#17027,#17031)
+REPRESENTATION_RELATIONSHIP_WITH_TRANSFORMATION(#14)
+SHAPE_REPRESENTATION_RELATIONSHIP()
+);
+#24=(
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+REPRESENTATION_RELATIONSHIP_WITH_TRANSFORMATION(#15)
+SHAPE_REPRESENTATION_RELATIONSHIP()
+);
+#25=(
+REPRESENTATION_RELATIONSHIP($,$,#17028,#17031)
+REPRESENTATION_RELATIONSHIP_WITH_TRANSFORMATION(#16)
+SHAPE_REPRESENTATION_RELATIONSHIP()
+);
+#26=(
+REPRESENTATION_RELATIONSHIP($,$,#17029,#17031)
+REPRESENTATION_RELATIONSHIP_WITH_TRANSFORMATION(#17)
+SHAPE_REPRESENTATION_RELATIONSHIP()
+);
+#27=(
+REPRESENTATION_RELATIONSHIP($,$,#17029,#17031)
+REPRESENTATION_RELATIONSHIP_WITH_TRANSFORMATION(#18)
+SHAPE_REPRESENTATION_RELATIONSHIP()
+);
+#28=(
+REPRESENTATION_RELATIONSHIP($,$,#17030,#17031)
+REPRESENTATION_RELATIONSHIP_WITH_TRANSFORMATION(#19)
+SHAPE_REPRESENTATION_RELATIONSHIP()
+);
+#29=CONTEXT_DEPENDENT_SHAPE_REPRESENTATION(#20,#17016);
+#30=CONTEXT_DEPENDENT_SHAPE_REPRESENTATION(#21,#17017);
+#31=CONTEXT_DEPENDENT_SHAPE_REPRESENTATION(#22,#17018);
+#32=CONTEXT_DEPENDENT_SHAPE_REPRESENTATION(#23,#17019);
+#33=CONTEXT_DEPENDENT_SHAPE_REPRESENTATION(#24,#17020);
+#34=CONTEXT_DEPENDENT_SHAPE_REPRESENTATION(#25,#17021);
+#35=CONTEXT_DEPENDENT_SHAPE_REPRESENTATION(#26,#17022);
+#36=CONTEXT_DEPENDENT_SHAPE_REPRESENTATION(#27,#17023);
+#37=CONTEXT_DEPENDENT_SHAPE_REPRESENTATION(#28,#17024);
+#38=NEXT_ASSEMBLY_USAGE_OCCURRENCE('1593K BOTTOM:1','1593K BOTTOM:1',
+'1593K BOTTOM:1',#17039,#17033,'1593K BOTTOM:1');
+#39=NEXT_ASSEMBLY_USAGE_OCCURRENCE('1593K Top:1','1593K Top:1',
+'1593K Top:1',#17039,#17034,'1593K Top:1');
+#40=NEXT_ASSEMBLY_USAGE_OCCURRENCE('1593K-L-P-Q-X-Y Flat endplate:1',
+'1593K-L-P-Q-X-Y Flat endplate:1','1593K-L-P-Q-X-Y Flat endplate:1',#17039,
+#17035,'1593K-L-P-Q-X-Y Flat endplate:1');
+#41=NEXT_ASSEMBLY_USAGE_OCCURRENCE('1593K-L-P-Q-X-Y Flat endplate:2',
+'1593K-L-P-Q-X-Y Flat endplate:2','1593K-L-P-Q-X-Y Flat endplate:2',#17039,
+#17035,'1593K-L-P-Q-X-Y Flat endplate:2');
+#42=NEXT_ASSEMBLY_USAGE_OCCURRENCE(
+'1593K-L-P-Q-X-Y Contoured Endplate:1',
+'1593K-L-P-Q-X-Y Contoured Endplate:1',
+'1593K-L-P-Q-X-Y Contoured Endplate:1',#17039,#17036,
+'1593K-L-P-Q-X-Y Contoured Endplate:1');
+#43=NEXT_ASSEMBLY_USAGE_OCCURRENCE(
+'1593K-L-P-Q-X-Y Contoured Endplate:2',
+'1593K-L-P-Q-X-Y Contoured Endplate:2',
+'1593K-L-P-Q-X-Y Contoured Endplate:2',#17039,#17036,
+'1593K-L-P-Q-X-Y Contoured Endplate:2');
+#44=NEXT_ASSEMBLY_USAGE_OCCURRENCE('SC549 (screw #4X 3_4'''' OH):1',
+'SC549 (screw #4X 3_4'''' OH):1','SC549 (screw #4X 3_4'''' OH):1',#17039,
+#17037,'SC549 (screw #4X 3_4'''' OH):1');
+#45=NEXT_ASSEMBLY_USAGE_OCCURRENCE('SC549 (screw #4X 3_4'''' OH):2',
+'SC549 (screw #4X 3_4'''' OH):2','SC549 (screw #4X 3_4'''' OH):2',#17039,
+#17037,'SC549 (screw #4X 3_4'''' OH):2');
+#46=NEXT_ASSEMBLY_USAGE_OCCURRENCE('1593K PCB:1','1593K PCB:1',
+'1593K PCB:1',#17039,#17038,'1593K PCB:1');
+#47=(
+BOUNDED_CURVE()
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+B_SPLINE_CURVE_WITH_KNOTS((3,3),(96.3821098899082,96.934950996631),
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+CURVE()
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+RATIONAL_B_SPLINE_CURVE((1.,1.,1.))
+REPRESENTATION_ITEM('')
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+REPRESENTATION_ITEM('')
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+ .UNSPECIFIED.)
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+REPRESENTATION_ITEM('')
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+REPRESENTATION_ITEM('')
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+REPRESENTATION_ITEM('')
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+REPRESENTATION_ITEM('')
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+LENGTH_UNIT()
+NAMED_UNIT(#16998)
+);
+#67=LENGTH_MEASURE_WITH_UNIT(LENGTH_MEASURE(25.4),#16995);
+#68=SHAPE_REPRESENTATION_RELATIONSHIP('SRR','None',#17025,#74);
+#69=SHAPE_REPRESENTATION_RELATIONSHIP('SRR','None',#17026,#75);
+#70=SHAPE_REPRESENTATION_RELATIONSHIP('SRR','None',#17027,#76);
+#71=SHAPE_REPRESENTATION_RELATIONSHIP('SRR','None',#17028,#77);
+#72=SHAPE_REPRESENTATION_RELATIONSHIP('SRR','None',#17029,#78);
+#73=SHAPE_REPRESENTATION_RELATIONSHIP('SRR','None',#17030,#79);
+#74=ADVANCED_BREP_SHAPE_REPRESENTATION('',(#86),#16987);
+#75=ADVANCED_BREP_SHAPE_REPRESENTATION('',(#87),#16988);
+#76=ADVANCED_BREP_SHAPE_REPRESENTATION('',(#88),#16989);
+#77=ADVANCED_BREP_SHAPE_REPRESENTATION('',(#89),#16990);
+#78=ADVANCED_BREP_SHAPE_REPRESENTATION('',(#90),#16991);
+#79=ADVANCED_BREP_SHAPE_REPRESENTATION('',(#91),#16992);
+#80=STYLED_ITEM('',(#17064),#86);
+#81=STYLED_ITEM('',(#17064),#87);
+#82=STYLED_ITEM('',(#17064),#88);
+#83=STYLED_ITEM('',(#17064),#89);
+#84=STYLED_ITEM('',(#17064),#90);
+#85=STYLED_ITEM('',(#17065),#91);
+#86=MANIFOLD_SOLID_BREP('Solid1',#9025);
+#87=MANIFOLD_SOLID_BREP('Solid1',#9026);
+#88=MANIFOLD_SOLID_BREP('Solid1',#9027);
+#89=MANIFOLD_SOLID_BREP('Solid1',#9028);
+#90=MANIFOLD_SOLID_BREP('Solid1',#9029);
+#91=MANIFOLD_SOLID_BREP('Solid1',#9030);
+#92=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#11914,#11915,#11916,#11917),(#11918,
+#11919,#11920,#11921),(#11922,#11923,#11924,#11925),(#11926,#11927,#11928,
+#11929)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,4),(0.,1.),(0.,0.93187359759495),
+ .UNSPECIFIED.);
+#93=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12010,#12011,#12012,#12013),(#12014,
+#12015,#12016,#12017),(#12018,#12019,#12020,#12021),(#12022,#12023,#12024,
+#12025)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,4),(0.,1.),(0.,0.93187359759495),
+ .UNSPECIFIED.);
+#94=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12157,#12158,#12159,#12160),(#12161,
+#12162,#12163,#12164),(#12165,#12166,#12167,#12168),(#12169,#12170,#12171,
+#12172),(#12173,#12174,#12175,#12176)),.UNSPECIFIED.,.F.,.F.,.F.,(4,1,4),
+(4,4),(0.,0.5,1.),(0.,0.233949381637061),.UNSPECIFIED.);
+#95=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12200,#12201,#12202,#12203),(#12204,
+#12205,#12206,#12207),(#12208,#12209,#12210,#12211),(#12212,#12213,#12214,
+#12215),(#12216,#12217,#12218,#12219)),.UNSPECIFIED.,.F.,.F.,.F.,(4,1,4),
+(4,4),(0.,0.5,1.),(-0.0354313764706717,0.0157824636429473),
+ .UNSPECIFIED.);
+#96=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12247,#12248,#12249,#12250),(#12251,
+#12252,#12253,#12254),(#12255,#12256,#12257,#12258),(#12259,#12260,#12261,
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+(-0.01272221289793,0.),.UNSPECIFIED.);
+#97=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12280,#12281,#12282,#12283),(#12284,
+#12285,#12286,#12287),(#12288,#12289,#12290,#12291),(#12292,#12293,#12294,
+#12295),(#12296,#12297,#12298,#12299)),.UNSPECIFIED.,.F.,.F.,.F.,(4,1,4),
+(4,4),(0.,0.5,1.),(0.,0.0511009830285297),.UNSPECIFIED.);
+#98=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12316,#12317,#12318,#12319),(#12320,
+#12321,#12322,#12323),(#12324,#12325,#12326,#12327),(#12328,#12329,#12330,
+#12331),(#12332,#12333,#12334,#12335)),.UNSPECIFIED.,.F.,.F.,.F.,(4,1,4),
+(4,4),(0.,0.5,1.),(-0.0199466937863363,0.214002687850724),.UNSPECIFIED.);
+#99=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12352,#12353,#12354,#12355),(#12356,
+#12357,#12358,#12359),(#12360,#12361,#12362,#12363),(#12364,#12365,#12366,
+#12367)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,4),(-0.144534431303621,-0.1354054910309),
+(-0.0127222128979277,0.),.UNSPECIFIED.);
+#100=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12372,#12373,#12374,#12375),
+(#12376,#12377,#12378,#12379),(#12380,#12381,#12382,#12383),(#12384,#12385,
+#12386,#12387),(#12388,#12389,#12390,#12391)),.UNSPECIFIED.,.F.,.F.,.F.,
+(4,1,4),(4,4),(0.,0.5,1.),(0.,0.0511009830285309),.UNSPECIFIED.);
+#101=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12417,#12418,#12419,#12420),
+(#12421,#12422,#12423,#12424),(#12425,#12426,#12427,#12428),(#12429,#12430,
+#12431,#12432),(#12433,#12434,#12435,#12436)),.UNSPECIFIED.,.F.,.F.,.F.,
+(4,1,4),(4,4),(0.,0.5,1.),(-0.0199466937863375,0.214002687850719),
+ .UNSPECIFIED.);
+#102=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12458,#12459,#12460,#12461),
+(#12462,#12463,#12464,#12465),(#12466,#12467,#12468,#12469),(#12470,#12471,
+#12472,#12473)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,4),(-0.144534431303619,
+-0.1354054910309),(-0.0127222128979293,0.),.UNSPECIFIED.);
+#103=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12487,#12488,#12489,#12490),
+(#12491,#12492,#12493,#12494),(#12495,#12496,#12497,#12498),(#12499,#12500,
+#12501,#12502),(#12503,#12504,#12505,#12506)),.UNSPECIFIED.,.F.,.F.,.F.,
+(4,1,4),(4,4),(0.,0.5,1.),(-0.0354313764706738,0.0157824636429465),
+ .UNSPECIFIED.);
+#104=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12537,#12538,#12539,#12540),
+(#12541,#12542,#12543,#12544),(#12545,#12546,#12547,#12548),(#12549,#12550,
+#12551,#12552),(#12553,#12554,#12555,#12556)),.UNSPECIFIED.,.F.,.F.,.F.,
+(4,1,4),(4,4),(0.,0.5,1.),(5.43611617171541E-15,0.23394938163706),
+ .UNSPECIFIED.);
+#105=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12582,#12583,#12584,#12585),
+(#12586,#12587,#12588,#12589),(#12590,#12591,#12592,#12593),(#12594,#12595,
+#12596,#12597)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,4),(0.,1.),(0.,0.931873597594951),
+ .UNSPECIFIED.);
+#106=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12608,#12609,#12610,#12611,#12612),
+(#12613,#12614,#12615,#12616,#12617),(#12618,#12619,#12620,#12621,#12622),
+(#12623,#12624,#12625,#12626,#12627),(#12628,#12629,#12630,#12631,#12632)),
+ .UNSPECIFIED.,.F.,.F.,.F.,(4,1,4),(4,1,4),(0.,0.571428571428571,1.),(-1.52716309549507,
+-0.654498469497902,-2.76889868204589E-14),.UNSPECIFIED.);
+#107=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12654,#12655,#12656,#12657,#12658),
+(#12659,#12660,#12661,#12662,#12663),(#12664,#12665,#12666,#12667,#12668),
+(#12669,#12670,#12671,#12672,#12673),(#12674,#12675,#12676,#12677,#12678)),
+ .UNSPECIFIED.,.F.,.F.,.F.,(4,1,4),(4,1,4),(0.,0.571428571428571,1.),(-2.15910565738812E-14,
+0.654498469497854,1.52716309549502),.UNSPECIFIED.);
+#108=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12700,#12701,#12702,#12703),
+(#12704,#12705,#12706,#12707),(#12708,#12709,#12710,#12711),(#12712,#12713,
+#12714,#12715)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,4),(-0.00904503939394429,
+0.),(-0.0127222128979299,0.),.UNSPECIFIED.);
+#109=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12716,#12717,#12718,#12719,#12720),
+(#12721,#12722,#12723,#12724,#12725),(#12726,#12727,#12728,#12729,#12730),
+(#12731,#12732,#12733,#12734,#12735),(#12736,#12737,#12738,#12739,#12740)),
+ .UNSPECIFIED.,.F.,.F.,.F.,(4,1,4),(4,1,4),(0.,0.571428571428571,1.),(-1.52716309549502,
+-0.872664625997147,1.71839006165112E-14),.UNSPECIFIED.);
+#110=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12759,#12760,#12761,#12762,#12763),
+(#12764,#12765,#12766,#12767,#12768),(#12769,#12770,#12771,#12772,#12773),
+(#12774,#12775,#12776,#12777,#12778),(#12779,#12780,#12781,#12782,#12783)),
+ .UNSPECIFIED.,.F.,.F.,.F.,(4,1,4),(4,1,4),(0.,0.571428571428571,1.),(2.84012415101757E-14,
+0.654498469497902,1.52716309549507),.UNSPECIFIED.);
+#111=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#12803,#12804,#12805,#12806),
+(#12807,#12808,#12809,#12810),(#12811,#12812,#12813,#12814),(#12815,#12816,
+#12817,#12818)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,4),(0.,1.),(0.,0.93187359759495),
+ .UNSPECIFIED.);
+#112=B_SPLINE_SURFACE_WITH_KNOTS('',3,1,((#12974,#12975),(#12976,#12977),
+(#12978,#12979),(#12980,#12981)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(2,2),
+(-0.0999999999999996,0.),(1.66389014305167E-16,1.15082490364081),
+ .UNSPECIFIED.);
+#113=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#13006,#13007,#13008,#13009,#13010,
+#13011,#13012),(#13013,#13014,#13015,#13016,#13017,#13018,#13019),(#13020,
+#13021,#13022,#13023,#13024,#13025,#13026),(#13027,#13028,#13029,#13030,
+#13031,#13032,#13033)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,1,1,1,4),(-0.0900373399640405,
+-0.0257579314515006),(1.39054500918529E-9,0.0398881406251552,0.0797762798597655,
+0.109692384285723,0.139608488711681),.UNSPECIFIED.);
+#114=B_SPLINE_SURFACE_WITH_KNOTS('',3,1,((#13084,#13085),(#13086,#13087),
+(#13088,#13089),(#13090,#13091),(#13092,#13093),(#13094,#13095)),
+ .UNSPECIFIED.,.F.,.F.,.F.,(4,2,4),(2,2),(-0.0999999999999996,-0.0500000000000003,
+0.),(0.,5.59635528746603),.UNSPECIFIED.);
+#115=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#13116,#13117,#13118,#13119,#13120,
+#13121,#13122),(#13123,#13124,#13125,#13126,#13127,#13128,#13129),(#13130,
+#13131,#13132,#13133,#13134,#13135,#13136),(#13137,#13138,#13139,#13140,
+#13141,#13142,#13143)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,1,1,1,4),(-0.0900373399640393,
+-0.0257579314515021),(0.,0.0258067461804919,0.0516134923609838,0.0860224872683062,
+0.120431482175629),.UNSPECIFIED.);
+#116=B_SPLINE_SURFACE_WITH_KNOTS('',3,1,((#13189,#13190),(#13191,#13192),
+(#13193,#13194),(#13195,#13196)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(2,2),
+(-0.0999999999999996,0.),(-0.000493500209873617,0.193871270878671),
+ .UNSPECIFIED.);
+#117=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#13211,#13212,#13213,#13214),
+(#13215,#13216,#13217,#13218),(#13219,#13220,#13221,#13222),(#13223,#13224,
+#13225,#13226)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,4),(0.00996266003595902,
+0.0476033250449488),(0.,0.864653237347755),.UNSPECIFIED.);
+#118=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#13243,#13244,#13245,#13246),
+(#13247,#13248,#13249,#13250),(#13251,#13252,#13253,#13254),(#13255,#13256,
+#13257,#13258)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,4),(0.162449415199971,
+1.),(0.,0.93635651277544),.UNSPECIFIED.);
+#119=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#13277,#13278,#13279,#13280),
+(#13281,#13282,#13283,#13284),(#13285,#13286,#13287,#13288),(#13289,#13290,
+#13291,#13292),(#13293,#13294,#13295,#13296)),.UNSPECIFIED.,.F.,.F.,.F.,
+(4,1,4),(4,4),(0.,0.5,1.),(0.,0.190697270352386),.UNSPECIFIED.);
+#120=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#13310,#13311,#13312,#13313),
+(#13314,#13315,#13316,#13317),(#13318,#13319,#13320,#13321),(#13322,#13323,
+#13324,#13325),(#13326,#13327,#13328,#13329)),.UNSPECIFIED.,.F.,.F.,.F.,
+(4,1,4),(4,4),(0.,0.5,1.),(0.0349086488445128,0.225605919862102),
+ .UNSPECIFIED.);
+#121=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#13336,#13337,#13338,#13339),
+(#13340,#13341,#13342,#13343),(#13344,#13345,#13346,#13347),(#13348,#13349,
+#13350,#13351)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,4),(0.,0.837550586600784),
+(0.,0.93635651277544),.UNSPECIFIED.);
+#122=B_SPLINE_SURFACE_WITH_KNOTS('',3,1,((#13365,#13366),(#13367,#13368),
+(#13369,#13370),(#13371,#13372)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(2,2),
+(-0.0999999999999996,0.),(1.66389014305167E-16,1.15082490364081),
+ .UNSPECIFIED.);
+#123=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#13397,#13398,#13399,#13400,#13401,
+#13402,#13403),(#13404,#13405,#13406,#13407,#13408,#13409,#13410),(#13411,
+#13412,#13413,#13414,#13415,#13416,#13417),(#13418,#13419,#13420,#13421,
+#13422,#13423,#13424)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,1,1,1,4),(-0.0899999999999987,
+-0.025720591487462),(1.39054500918529E-9,0.0398881406251552,0.0797762798597655,
+0.109692384285723,0.139608488711681),.UNSPECIFIED.);
+#124=B_SPLINE_SURFACE_WITH_KNOTS('',3,1,((#13475,#13476),(#13477,#13478),
+(#13479,#13480),(#13481,#13482),(#13483,#13484),(#13485,#13486)),
+ .UNSPECIFIED.,.F.,.F.,.F.,(4,2,4),(2,2),(-0.0999999999999996,-0.0500000000000003,
+0.),(0.,5.59635528746603),.UNSPECIFIED.);
+#125=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#13507,#13508,#13509,#13510),
+(#13511,#13512,#13513,#13514),(#13515,#13516,#13517,#13518),(#13519,#13520,
+#13521,#13522)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,4),(0.0100000000000002,
+0.0476406650089902),(0.,0.864653237347755),.UNSPECIFIED.);
+#126=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#13545,#13546,#13547,#13548,#13549,
+#13550,#13551),(#13552,#13553,#13554,#13555,#13556,#13557,#13558),(#13559,
+#13560,#13561,#13562,#13563,#13564,#13565),(#13566,#13567,#13568,#13569,
+#13570,#13571,#13572)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,1,1,1,4),(-0.0899999999999985,
+-0.0257205914874622),(0.,0.0258067461804919,0.0516134923609838,0.0860224872683062,
+0.120431482175629),.UNSPECIFIED.);
+#127=B_SPLINE_SURFACE_WITH_KNOTS('',3,1,((#13612,#13613),(#13614,#13615),
+(#13616,#13617),(#13618,#13619)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(2,2),
+(-0.0999999999999996,0.),(-0.000493500209873617,0.193871270878671),
+ .UNSPECIFIED.);
+#128=B_SPLINE_SURFACE_WITH_KNOTS('',3,3,((#13687,#13688,#13689,#13690),
+(#13691,#13692,#13693,#13694),(#13695,#13696,#13697,#13698),(#13699,#13700,
+#13701,#13702)),.UNSPECIFIED.,.F.,.F.,.F.,(4,4),(4,4),(0.162449413399213,
+1.),(0.,0.93635651277544),.UNSPECIFIED.);
+#129=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14033,#14034),(#14035,#14036),
+(#14037,#14038)),.UNSPECIFIED.,.F.,.F.,.F.,(3,3),(2,2),(-1.,0.),(0.,19.115041672183),
+ .UNSPECIFIED.);
+#130=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14044,#14045),(#14046,#14047),
+(#14048,#14049)),.UNSPECIFIED.,.F.,.F.,.F.,(3,3),(2,2),(-1.,0.),(0.,19.115041672183),
+ .UNSPECIFIED.);
+#131=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14146,#14147),(#14148,#14149),
+(#14150,#14151)),.UNSPECIFIED.,.F.,.F.,.F.,(3,3),(2,2),(0.,1.),(0.,19.115041672183),
+ .UNSPECIFIED.);
+#132=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14157,#14158),(#14159,#14160),
+(#14161,#14162)),.UNSPECIFIED.,.F.,.F.,.F.,(3,3),(2,2),(0.,1.),(0.,19.115041672183),
+ .UNSPECIFIED.);
+#133=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14257,#14258),(#14259,#14260),
+(#14261,#14262)),.UNSPECIFIED.,.F.,.F.,.F.,(3,3),(2,2),(0.,1.),(0.,19.115041672183),
+ .UNSPECIFIED.);
+#134=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14268,#14269),(#14270,#14271),
+(#14272,#14273)),.UNSPECIFIED.,.F.,.F.,.F.,(3,3),(2,2),(0.,1.),(0.,19.115041672183),
+ .UNSPECIFIED.);
+#135=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14366,#14367),(#14368,#14369),
+(#14370,#14371),(#14372,#14373)),.UNSPECIFIED.,.F.,.F.,.F.,(3,1,3),(2,2),
+(-2.,-1.,0.),(0.,19.115041672183),.UNSPECIFIED.);
+#136=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14382,#14383),(#14384,#14385),
+(#14386,#14387),(#14388,#14389)),.UNSPECIFIED.,.F.,.F.,.F.,(3,1,3),(2,2),
+(-2.,-1.,0.),(0.,19.115041672183),.UNSPECIFIED.);
+#137=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14396,#14397),(#14398,#14399),
+(#14400,#14401),(#14402,#14403),(#14404,#14405)),.UNSPECIFIED.,.F.,.F.,
+ .F.,(3,1,1,3),(2,2),(0.,1.,2.,3.),(0.,19.115041672183),.UNSPECIFIED.);
+#138=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14415,#14416),(#14417,#14418),
+(#14419,#14420),(#14421,#14422),(#14423,#14424)),.UNSPECIFIED.,.F.,.F.,
+ .F.,(3,1,1,3),(2,2),(0.,1.,2.,3.),(0.,19.115041672183),.UNSPECIFIED.);
+#139=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14432,#14433),(#14434,#14435),
+(#14436,#14437),(#14438,#14439),(#14440,#14441)),.UNSPECIFIED.,.F.,.F.,
+ .F.,(3,1,1,3),(2,2),(-3.,-2.,-1.,0.),(0.,19.115041672183),
+ .UNSPECIFIED.);
+#140=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14449,#14450),(#14451,#14452),
+(#14453,#14454),(#14455,#14456)),.UNSPECIFIED.,.F.,.F.,.F.,(3,1,3),(2,2),
+(-2.,-1.,0.),(0.,19.115041672183),.UNSPECIFIED.);
+#141=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14461,#14462),(#14463,#14464),
+(#14465,#14466),(#14467,#14468),(#14469,#14470)),.UNSPECIFIED.,.F.,.F.,
+ .F.,(3,1,1,3),(2,2),(0.,1.,2.,3.),(0.,19.115041672183),.UNSPECIFIED.);
+#142=B_SPLINE_SURFACE_WITH_KNOTS('',2,1,((#14478,#14479),(#14480,#14481),
+(#14482,#14483),(#14484,#14485)),.UNSPECIFIED.,.F.,.F.,.F.,(3,1,3),(2,2),
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+0.0315763551207601,0.05999795924606,0.0895890827575734,0.129746437308464),
+ .UNSPECIFIED.);
+#2296=B_SPLINE_CURVE_WITH_KNOTS('',3,(#12569,#12570,#12571,#12572),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.233949380644725,-5.43611614865721E-15),
+ .UNSPECIFIED.);
+#2297=B_SPLINE_CURVE_WITH_KNOTS('',3,(#12573,#12574,#12575,#12576),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(5.43611617171541E-15,0.214002949952158),
+ .UNSPECIFIED.);
+#2298=B_SPLINE_CURVE_WITH_KNOTS('',3,(#12600,#12601,#12602,#12603),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.846586049296247),.UNSPECIFIED.);
+#2299=B_SPLINE_CURVE_WITH_KNOTS('',3,(#12604,#12605,#12606,#12607),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0434782608695651,0.93187359759495),
+ .UNSPECIFIED.);
+#2300=B_SPLINE_CURVE_WITH_KNOTS('',3,(#12633,#12634,#12635,#12636),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.00904503939394362,0.),.UNSPECIFIED.);
+#2301=B_SPLINE_CURVE_WITH_KNOTS('',3,(#12644,#12645,#12646,#12647,#12648,
+#12649,#12650,#12651,#12652,#12653),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,4),(-0.178413046619164,
+-0.17063874753803,-0.162680136538415,-0.146031817201107,-0.101880251094052),
+ .UNSPECIFIED.);
+#2302=B_SPLINE_CURVE_WITH_KNOTS('',3,(#12742,#12743,#12744,#12745,#12746,
+#12747,#12748,#12749,#12750,#12751),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,4),(-0.178413046617795,
+-0.17063874753778,-0.162680136538355,-0.14603181720111,-0.101880251094051),
+ .UNSPECIFIED.);
+#2303=B_SPLINE_CURVE_WITH_KNOTS('',3,(#12798,#12799,#12800,#12801),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.846586049296245),.UNSPECIFIED.);
+#2304=B_SPLINE_CURVE_WITH_KNOTS('',3,(#12819,#12820,#12821,#12822),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0434782608695651,0.93187359759495),
+ .UNSPECIFIED.);
+#2305=B_SPLINE_CURVE_WITH_KNOTS('',3,(#12984,#12985,#12986,#12987,#12988,
+#12989),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.,0.473188589998357,0.951215377697583),
+ .UNSPECIFIED.);
+#2306=B_SPLINE_CURVE_WITH_KNOTS('',3,(#12991,#12992,#12993,#12994),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.052402355152844,0.0900373399640392),
+ .UNSPECIFIED.);
+#2307=B_SPLINE_CURVE_WITH_KNOTS('',3,(#12996,#12997,#12998,#12999,#13000,
+#13001),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.,0.475594252334082,0.951188504668163),
+ .UNSPECIFIED.);
+#2308=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13002,#13003,#13004,#13005),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0595524149776674,0.0900373399640405),
+ .UNSPECIFIED.);
+#2309=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13035,#13036,#13037,#13038),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.0123529527784586),.UNSPECIFIED.);
+#2310=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13040,#13041,#13042,#13043,#13044,
+#13045,#13046,#13047,#13048,#13049,#13050,#13051,#13052),.UNSPECIFIED.,
+ .F.,.F.,(4,3,3,3,4),(0.,0.0531890631542948,0.10637812630859,0.146269923674311,
+0.186161721040032),.UNSPECIFIED.);
+#2311=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13054,#13055,#13056,#13057,#13058,
+#13059),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.025757931451502,0.0500000000000003,
+0.0900373399640402),.UNSPECIFIED.);
+#2312=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13061,#13062,#13063,#13064,#13065,
+#13066,#13067,#13068,#13069,#13070,#13071,#13072,#13073),.UNSPECIFIED.,
+ .F.,.F.,(4,3,3,3,4),(0.0794035105007601,0.0805279761214528,0.0934993784484166,
+0.114122091770229,0.130862797822686),.UNSPECIFIED.);
+#2313=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13074,#13075,#13076,#13077,#13078,
+#13079,#13080,#13081,#13082,#13083),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,4),(0.,
+0.0334875673790468,0.0653208331402529,0.0927579914920768,0.113627584056363),
+ .UNSPECIFIED.);
+#2314=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13097,#13098,#13099,#13100,#13101,
+#13102),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.0100000000000007,2.70831753912585,
+5.41663507825169),.UNSPECIFIED.);
+#2315=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13104,#13105,#13106,#13107,#13108,
+#13109),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.,2.70831753912585,5.40663507825169),
+ .UNSPECIFIED.);
+#2316=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13110,#13111,#13112,#13113,#13114,
+#13115),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.0257579314515021,0.0500000000000003,
+0.0900373399640393),.UNSPECIFIED.);
+#2317=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13145,#13146,#13147,#13148,#13149,
+#13150,#13151,#13152,#13153,#13154),.UNSPECIFIED.,.F.,.F.,(4,3,3,4),(0.,
+0.0199442656093025,0.0488158781577112,0.0513280218408656),.UNSPECIFIED.);
+#2318=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13156,#13157,#13158,#13159,#13160,
+#13161,#13162,#13163,#13164,#13165,#13166,#13167,#13168),.UNSPECIFIED.,
+ .F.,.F.,(4,3,3,3,4),(0.,0.0363602921413262,0.0727205842826525,0.121200973804421,
+0.169681363326189),.UNSPECIFIED.);
+#2319=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13170,#13171,#13172,#13173),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0595524153202675,0.0900373399640393),
+ .UNSPECIFIED.);
+#2320=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13175,#13176,#13177,#13178),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0726269042077402,0.0850084706277208),
+ .UNSPECIFIED.);
+#2321=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13179,#13180,#13181,#13182,#13183,
+#13184,#13185,#13186,#13187,#13188),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,4),(0.,
+0.0328327593305921,0.0639189635456213,0.0831187837118832,0.102219793991349),
+ .UNSPECIFIED.);
+#2322=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13198,#13199,#13200,#13201),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.000755511038014228,0.),.UNSPECIFIED.);
+#2323=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13203,#13204,#13205,#13206),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.00996266003596011,0.0475721106600894),
+ .UNSPECIFIED.);
+#2324=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13207,#13208,#13209,#13210),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.000755079333003818),.UNSPECIFIED.);
+#2325=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13228,#13229,#13230,#13231,#13232,
+#13233),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.,0.481476879675769,0.951944210444229),
+ .UNSPECIFIED.);
+#2326=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13235,#13236,#13237,#13238),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0476033250449488,-0.00996266003595902),
+ .UNSPECIFIED.);
+#2327=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13239,#13240,#13241,#13242),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.951971104823282,0.),.UNSPECIFIED.);
+#2328=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13260,#13261,#13262,#13263),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.181960637958194),.UNSPECIFIED.);
+#2329=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13265,#13266,#13267,#13268),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.00299013699329051,0.0405730273049665),
+ .UNSPECIFIED.);
+#2330=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13270,#13271,#13272,#13273,#13274,
+#13275),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.,0.551058758408212,1.03211513925168),
+ .UNSPECIFIED.);
+#2331=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13298,#13299,#13300,#13301),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.190697270330078,0.),.UNSPECIFIED.);
+#2332=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13305,#13306,#13307,#13308),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.225605919862102,-0.0349086488668209),
+ .UNSPECIFIED.);
+#2333=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13331,#13332,#13333,#13334),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0436452814209917,0.225605919862102),
+ .UNSPECIFIED.);
+#2334=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13355,#13356,#13357,#13358,#13359,
+#13360),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.0701097603559048,0.551044611264738,
+1.10222489958063),.UNSPECIFIED.);
+#2335=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13361,#13362,#13363,#13364),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.0375828904455473),.UNSPECIFIED.);
+#2336=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13375,#13376,#13377,#13378,#13379,
+#13380),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.,0.475594252334082,0.951188504668163),
+ .UNSPECIFIED.);
+#2337=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13382,#13383,#13384,#13385),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0523650151888006,0.0899999999999976),
+ .UNSPECIFIED.);
+#2338=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13387,#13388,#13389,#13390,#13391,
+#13392),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.,0.473188589998356,0.951215377697582),
+ .UNSPECIFIED.);
+#2339=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13393,#13394,#13395,#13396),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0595150750136239,0.0899999999999987),
+ .UNSPECIFIED.);
+#2340=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13426,#13427,#13428,#13429,#13430,
+#13431,#13432,#13433,#13434,#13435,#13436,#13437,#13438),.UNSPECIFIED.,
+ .F.,.F.,(4,3,3,3,4),(0.,0.0363604556244936,0.0727209112489872,0.121201518748312,
+0.169682126247637),.UNSPECIFIED.);
+#2341=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13440,#13441,#13442,#13443),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0726273862594529,0.0850087281704157),
+ .UNSPECIFIED.);
+#2342=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13445,#13446,#13447,#13448,#13449,
+#13450,#13451,#13452,#13453,#13454),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,4),(0.,
+0.0328352372226971,0.0639184551916102,0.0830954304811591,0.102219210451048),
+ .UNSPECIFIED.);
+#2343=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13456,#13457,#13458,#13459,#13460,
+#13461,#13462,#13463,#13464,#13465,#13466,#13467,#13468),.UNSPECIFIED.,
+ .F.,.F.,(4,3,3,3,4),(0.,0.0199915532385592,0.0489234675267404,0.0502128156471482,
+0.05132924367532),.UNSPECIFIED.);
+#2344=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13469,#13470,#13471,#13472,#13473,
+#13474),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.025720591487462,0.0500000000000003,
+0.0899999999999986),.UNSPECIFIED.);
+#2345=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13488,#13489,#13490,#13491,#13492,
+#13493),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.0100000000000011,2.70831753912585,
+5.41663507825169),.UNSPECIFIED.);
+#2346=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13495,#13496,#13497,#13498,#13499,
+#13500),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.,2.70831753912585,5.40663507825169),
+ .UNSPECIFIED.);
+#2347=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13501,#13502,#13503,#13504,#13505,
+#13506),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.0257205914874622,0.0500000000000003,
+0.0899999999999985),.UNSPECIFIED.);
+#2348=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13525,#13526,#13527,#13528,#13529,
+#13530),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.0110095489073083,0.481476879675769,
+0.962953759351537),.UNSPECIFIED.);
+#2349=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13532,#13533,#13534,#13535),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0595150753562288,0.0899999999999985),
+ .UNSPECIFIED.);
+#2350=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13537,#13538,#13539,#13540),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.962980964772958,-0.0110098599496763),
+ .UNSPECIFIED.);
+#2351=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13541,#13542,#13543,#13544),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0100000000000002,0.0476406650089902),
+ .UNSPECIFIED.);
+#2352=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13573,#13574,#13575,#13576,#13577,
+#13578,#13579,#13580,#13581,#13582,#13583,#13584,#13585),.UNSPECIFIED.,
+ .F.,.F.,(4,3,3,3,4),(0.,0.0531916384936581,0.106383276987316,0.14627700585756,
+0.186170734727803),.UNSPECIFIED.);
+#2353=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13587,#13588,#13589,#13590,#13591,
+#13592,#13593,#13594,#13595,#13596),.UNSPECIFIED.,.F.,.F.,(4,3,3,4),(0.0794478720249805,
+0.0934633265406712,0.114145001205006,0.130907200297341),.UNSPECIFIED.);
+#2354=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13598,#13599,#13600,#13601,#13602,
+#13603,#13604,#13605,#13606,#13607),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,4),(0.,
+0.0334847621050017,0.0652721442396514,0.0927847849494084,0.113628508122515),
+ .UNSPECIFIED.);
+#2355=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13608,#13609,#13610,#13611),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.0123533140135436),.UNSPECIFIED.);
+#2356=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13621,#13622,#13623,#13624),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.0122385162314055,0.0129935955644079),
+ .UNSPECIFIED.);
+#2357=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13626,#13627,#13628,#13629),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.05239054937587,0.0899999999999969),
+ .UNSPECIFIED.);
+#2358=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13630,#13631,#13632,#13633),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.000755511197673121,0.),.UNSPECIFIED.);
+#2359=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13704,#13705,#13706,#13707),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.181960638441115),.UNSPECIFIED.);
+#2360=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13709,#13710,#13711,#13712),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.00299013699328923,0.0405730273049661),
+ .UNSPECIFIED.);
+#2361=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13713,#13714,#13715,#13716,#13717,
+#13718),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.,0.551058758408126,1.03211513925143),
+ .UNSPECIFIED.);
+#2362=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13993,#13994,#13995,#13996),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0597157230968152,0.),.UNSPECIFIED.);
+#2363=B_SPLINE_CURVE_WITH_KNOTS('',3,(#13997,#13998,#13999,#14000),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0644719731236647,0.),.UNSPECIFIED.);
+#2364=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14041,#14042,#14043),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2365=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14050,#14051,#14052),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2366=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14090,#14091,#14092,#14093),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0490784302290945,0.),.UNSPECIFIED.);
+#2367=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14095,#14096,#14097,#14098),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0447024954776595,0.),.UNSPECIFIED.);
+#2368=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14153,#14154,#14155),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2369=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14164,#14165,#14166),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2370=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14201,#14202,#14203,#14204),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0490784302290945,0.),.UNSPECIFIED.);
+#2371=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14206,#14207,#14208,#14209),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0447024954776595,0.),.UNSPECIFIED.);
+#2372=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14264,#14265,#14266),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2373=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14275,#14276,#14277),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2374=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14292,#14293,#14294,#14295,#14296,
+#14297,#14298,#14299,#14300,#14301),.UNSPECIFIED.,.F.,.F.,(4,3,3,4),(-0.283856355728479,
+-0.189237570485653,-0.0946187852428264,0.),.UNSPECIFIED.);
+#2375=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14303,#14304,#14305,#14306,#14307,
+#14308,#14309,#14310,#14311,#14312),.UNSPECIFIED.,.F.,.F.,(4,3,3,4),(-0.161056288916947,
+-0.107370859277965,-0.0536854296389824,0.),.UNSPECIFIED.);
+#2376=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14314,#14315,#14316,#14317,#14318,
+#14319,#14320,#14321,#14322,#14323),.UNSPECIFIED.,.F.,.F.,(4,3,3,4),(-0.129610264587609,
+-0.0864068430584062,-0.0432034215292031,0.),.UNSPECIFIED.);
+#2377=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14324,#14325,#14326,#14327,#14328,
+#14329,#14330),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.38286931514088,-0.19143465757044,
+0.),.UNSPECIFIED.);
+#2378=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14333,#14334,#14335,#14336,#14337,
+#14338,#14339),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.163316680557839,-0.0816583402789197,
+0.),.UNSPECIFIED.);
+#2379=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14341,#14342,#14343,#14344,#14345,
+#14346,#14347),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.26098958913857,-0.130494794569285,
+0.),.UNSPECIFIED.);
+#2380=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14349,#14350,#14351,#14352,#14353,
+#14354,#14355),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.184105867554087,-0.0920529337770434,
+0.),.UNSPECIFIED.);
+#2381=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14356,#14357,#14358,#14359,#14360,
+#14361,#14362,#14363,#14364,#14365),.UNSPECIFIED.,.F.,.F.,(4,3,3,4),(-0.303227252941367,
+-0.202151501960911,-0.101075750980456,0.),.UNSPECIFIED.);
+#2382=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14377,#14378,#14379,#14380),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2383=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14392,#14393,#14394,#14395),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2384=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14409,#14410,#14411,#14412,#14413),
+ .UNSPECIFIED.,.F.,.F.,(3,1,1,3),(0.,1.,2.,3.),.UNSPECIFIED.);
+#2385=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14427,#14428,#14429,#14430,#14431),
+ .UNSPECIFIED.,.F.,.F.,(3,1,1,3),(0.,1.,2.,3.),.UNSPECIFIED.);
+#2386=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14444,#14445,#14446,#14447,#14448),
+ .UNSPECIFIED.,.F.,.F.,(3,1,1,3),(0.,1.,2.,3.),.UNSPECIFIED.);
+#2387=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14457,#14458,#14459,#14460),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2388=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14472,#14473,#14474,#14475,#14476),
+ .UNSPECIFIED.,.F.,.F.,(3,1,1,3),(0.,1.,2.,3.),.UNSPECIFIED.);
+#2389=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14486,#14487,#14488,#14489),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2390=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14556,#14557,#14558,#14559,#14560,
+#14561,#14562,#14563,#14564,#14565,#14566,#14567,#14568,#14569,#14570,#14571),
+ .UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,4),(-0.202608905324833,-0.162087124259866,
+-0.1215653431949,-0.0810435621299331,-0.0405217810649665,0.),
+ .UNSPECIFIED.);
+#2391=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14573,#14574,#14575,#14576,#14577,
+#14578,#14579),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.128553094991763,-0.0642765474958815,
+0.),.UNSPECIFIED.);
+#2392=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14581,#14582,#14583,#14584),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0495552138133032,0.),.UNSPECIFIED.);
+#2393=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14586,#14587,#14588,#14589),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0522115826826263,0.),.UNSPECIFIED.);
+#2394=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14595,#14596,#14597,#14598,#14599,
+#14600,#14601),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.22796552489135,-0.113982762445675,
+0.),.UNSPECIFIED.);
+#2395=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14609,#14610,#14611,#14612,#14613,
+#14614),.UNSPECIFIED.,.F.,.F.,(4,2,4),(-0.0454300887036107,-0.0194454234788048,
+0.),.UNSPECIFIED.);
+#2396=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14616,#14617,#14618,#14619,#14620,
+#14621,#14622),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.177274086985582,-0.088637043492791,
+0.),.UNSPECIFIED.);
+#2397=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14623,#14624,#14625,#14626,#14627,
+#14628,#14629),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.0729306945739068,-0.0364653472869534,
+0.),.UNSPECIFIED.);
+#2398=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14654,#14655,#14656,#14657),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2399=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14667,#14668,#14669),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2400=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14681,#14682,#14683,#14684),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2401=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14701,#14702,#14703,#14704,#14705,
+#14706,#14707),.UNSPECIFIED.,.F.,.F.,(3,1,1,1,1,3),(0.,1.,2.,3.,4.,5.),
+ .UNSPECIFIED.);
+#2402=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14722,#14723,#14724,#14725),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2403=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14736,#14737,#14738,#14739),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2404=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14746,#14747,#14748),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2405=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14756,#14757,#14758),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2406=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14773,#14774,#14775,#14776,#14777,
+#14778,#14779),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.112131722027016,-0.056065861013508,
+0.),.UNSPECIFIED.);
+#2407=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14783,#14784,#14785,#14786,#14787,
+#14788,#14789),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.0762755180947241,-0.0381377590473621,
+0.),.UNSPECIFIED.);
+#2408=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14809,#14810,#14811,#14812),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2409=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14830,#14831,#14832,#14833),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2410=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14844,#14845,#14846,#14847,#14848,
+#14849,#14850),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.208330101134195,-0.104165050567097,
+0.),.UNSPECIFIED.);
+#2411=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14852,#14853,#14854,#14855),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0905178429515043,0.),.UNSPECIFIED.);
+#2412=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14857,#14858,#14859,#14860),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0766569298202687,0.),.UNSPECIFIED.);
+#2413=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14862,#14863,#14864,#14865,#14866,
+#14867,#14868),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.130923399117314,-0.0654616995586568,
+0.),.UNSPECIFIED.);
+#2414=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14870,#14871,#14872,#14873),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0610610860315028,0.),.UNSPECIFIED.);
+#2415=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14887,#14888,#14889,#14890,#14891,
+#14892,#14893),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.0833046118604637,-0.0416523059302319,
+0.),.UNSPECIFIED.);
+#2416=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14895,#14896,#14897,#14898,#14899,
+#14900,#14901),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.154415596775917,-0.0772077983879583,
+0.),.UNSPECIFIED.);
+#2417=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14903,#14904,#14905,#14906,#14907,
+#14908,#14909),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.0864154705624932,-0.0432077352812466,
+0.),.UNSPECIFIED.);
+#2418=B_SPLINE_CURVE_WITH_KNOTS('',3,(#14911,#14912,#14913,#14914,#14915,
+#14916,#14917),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.0741086715418133,-0.0370543357709067,
+0.),.UNSPECIFIED.);
+#2419=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14941,#14942,#14943),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2420=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14954,#14955,#14956,#14957),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2421=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14966,#14967,#14968),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2422=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14977,#14978,#14979),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2423=B_SPLINE_CURVE_WITH_KNOTS('',2,(#14990,#14991,#14992,#14993),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2424=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15015,#15016,#15017,#15018),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2425=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15029,#15030,#15031,#15032),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2426=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15043,#15044,#15045,#15046),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2427=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15057,#15058,#15059,#15060),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2428=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15067,#15068,#15069,#15070,#15071,
+#15072,#15073),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.159118361507141,-0.0795591807535707,
+0.),.UNSPECIFIED.);
+#2429=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15075,#15076,#15077,#15078,#15079,
+#15080,#15081,#15082,#15083,#15084),.UNSPECIFIED.,.F.,.F.,(4,3,3,4),(-0.222113960223602,
+-0.148075973482401,-0.0740379867412007,0.),.UNSPECIFIED.);
+#2430=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15086,#15087,#15088,#15089,#15090,
+#15091,#15092,#15093,#15094,#15095),.UNSPECIFIED.,.F.,.F.,(4,3,3,4),(-0.112227163552709,
+-0.0748181090351393,-0.0374090545175697,-1.38777878078145E-17),
+ .UNSPECIFIED.);
+#2431=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15097,#15098,#15099,#15100,#15101,
+#15102,#15103),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.223728216446137,-0.111864108223069,
+0.),.UNSPECIFIED.);
+#2432=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15105,#15106,#15107,#15108,#15109,
+#15110,#15111),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.149168898111786,-0.0745844490558928,
+0.),.UNSPECIFIED.);
+#2433=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15113,#15114,#15115,#15116,#15117,
+#15118,#15119),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.0711873683808321,-0.035593684190416,
+0.),.UNSPECIFIED.);
+#2434=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15121,#15122,#15123,#15124),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0070395121485252,0.),.UNSPECIFIED.);
+#2435=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15126,#15127,#15128,#15129,#15130,
+#15131,#15132,#15133,#15134,#15135,#15136,#15137,#15138),.UNSPECIFIED.,
+ .F.,.F.,(4,3,3,3,4),(-0.346488627701181,-0.259866470775886,-0.173244313850591,
+-0.0866221569252953,0.),.UNSPECIFIED.);
+#2436=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15140,#15141,#15142,#15143,#15144,
+#15145,#15146),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.087526918140267,-0.0437634590701335,
+0.),.UNSPECIFIED.);
+#2437=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15150,#15151,#15152,#15153,#15154,
+#15155,#15156),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.0922228432299207,-0.0461114216149603,
+0.),.UNSPECIFIED.);
+#2438=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15158,#15159,#15160,#15161,#15162,
+#15163,#15164,#15165,#15166,#15167,#15168,#15169),.UNSPECIFIED.,.F.,.F.,
+(4,2,2,2,2,4),(-0.12667341537663,-0.110521675849881,-0.0948741914719495,
+-0.062254070385158,-0.0326542409704384,0.),.UNSPECIFIED.);
+#2439=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15171,#15172,#15173,#15174,#15175,
+#15176,#15177),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.116825180397978,-0.0584125901989892,
+0.),.UNSPECIFIED.);
+#2440=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15178,#15179,#15180,#15181,#15182,
+#15183,#15184),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.128922616792316,-0.0644613083961581,
+0.),.UNSPECIFIED.);
+#2441=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15196,#15197,#15198,#15199),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2442=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15211,#15212,#15213,#15214),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2443=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15226,#15227,#15228,#15229),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2444=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15241,#15242,#15243,#15244),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2445=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15257,#15258,#15259,#15260,#15261),
+ .UNSPECIFIED.,.F.,.F.,(3,1,1,3),(0.,1.,2.,3.),.UNSPECIFIED.);
+#2446=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15274,#15275,#15276,#15277,#15278),
+ .UNSPECIFIED.,.F.,.F.,(3,1,1,3),(0.,1.,2.,3.),.UNSPECIFIED.);
+#2447=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15289,#15290,#15291,#15292),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2448=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15303,#15304,#15305,#15306),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2449=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15315,#15316,#15317,#15318),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2450=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15328,#15329,#15330,#15331),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2451=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15340,#15341,#15342),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(0.,1.),.UNSPECIFIED.);
+#2452=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15357,#15358,#15359,#15360,#15361,
+#15362),.UNSPECIFIED.,.F.,.F.,(3,1,1,1,3),(0.,1.,2.,3.,4.),
+ .UNSPECIFIED.);
+#2453=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15373,#15374,#15375,#15376),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2454=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15383,#15384,#15385,#15386,#15387,
+#15388,#15389),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.137701775861196,-0.0688508879305982,
+0.),.UNSPECIFIED.);
+#2455=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15391,#15392,#15393,#15394,#15395,
+#15396,#15397,#15398,#15399,#15400,#15401,#15402),.UNSPECIFIED.,.F.,.F.,
+(4,2,2,2,2,4),(-0.139718155939574,-0.121477000807764,-0.104344529473282,
+-0.0704023527661014,-0.0363728352988816,0.),.UNSPECIFIED.);
+#2456=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15404,#15405,#15406,#15407,#15408,
+#15409,#15410),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.122793601676171,-0.0613968008380854,
+0.),.UNSPECIFIED.);
+#2457=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15412,#15413,#15414,#15415,#15416,
+#15417,#15418),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.0635577083130971,-0.0317788541565485,
+0.),.UNSPECIFIED.);
+#2458=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15420,#15421,#15422,#15423,#15424,
+#15425,#15426,#15427,#15428,#15429),.UNSPECIFIED.,.F.,.F.,(4,3,3,4),(-0.144664241386545,
+-0.0964428275910297,-0.0482214137955148,0.),.UNSPECIFIED.);
+#2459=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15431,#15432,#15433,#15434,#15435,
+#15436,#15437),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.195487857567408,-0.0977439287837041,
+0.),.UNSPECIFIED.);
+#2460=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15441,#15442,#15443,#15444,#15445,
+#15446,#15447),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.126022444811937,-0.0630112224059686,
+0.),.UNSPECIFIED.);
+#2461=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15449,#15450,#15451,#15452,#15453,
+#15454,#15455),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.0791958388189554,-0.0395979194094777,
+0.),.UNSPECIFIED.);
+#2462=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15457,#15458,#15459,#15460,#15461,
+#15462,#15463),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.0669068302015772,-0.0334534151007886,
+0.),.UNSPECIFIED.);
+#2463=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15465,#15466,#15467,#15468),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.00576597028140172,0.),.UNSPECIFIED.);
+#2464=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15472,#15473,#15474,#15475),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0258922414609084,0.),.UNSPECIFIED.);
+#2465=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15477,#15478,#15479,#15480,#15481,
+#15482,#15483),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.0965621193841441,-0.0482810596920721,
+0.),.UNSPECIFIED.);
+#2466=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15485,#15486,#15487,#15488,#15489,
+#15490,#15491),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.0896103302483542,-0.0448051651241771,
+0.),.UNSPECIFIED.);
+#2467=B_SPLINE_CURVE_WITH_KNOTS('',3,(#15493,#15494,#15495,#15496,#15497,
+#15498,#15499),.UNSPECIFIED.,.F.,.F.,(4,3,4),(-0.085539123967015,-0.0427695619835075,
+0.),.UNSPECIFIED.);
+#2468=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15512,#15513,#15514,#15515),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2469=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15527,#15528,#15529,#15530),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2470=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15545,#15546,#15547,#15548),
+ .UNSPECIFIED.,.F.,.F.,(3,1,3),(0.,1.,2.),.UNSPECIFIED.);
+#2471=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15561,#15562,#15563,#15564,#15565),
+ .UNSPECIFIED.,.F.,.F.,(3,1,1,3),(0.,1.,2.,3.),.UNSPECIFIED.);
+#2472=B_SPLINE_CURVE_WITH_KNOTS('',2,(#15576,#15577,#15578,#15579),
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