ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Map/Map.cpp@119:c45efcd706d9, 2015-05-06 (annotated)

Committer:
Jagang
Date:
Wed May 06 15:17:16 2015 +0000
Revision:
119:c45efcd706d9
Parent:
117:f8c147141a0c
Child:
123:55e5e9acc541
Modif asserv B; Impl?mentation de l'IA et des objectifs (Ramasser PC et d?poser)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 109:53918ba98306 1 #include "Map.h"
Jagang 109:53918ba98306 2
Jagang 109:53918ba98306 3 #include "mbed.h"
Jagang 109:53918ba98306 4 #include "Obs_circle.h"
Jagang 109:53918ba98306 5 #include "Obs_rect.h"
Jagang 109:53918ba98306 6
Jagang 109:53918ba98306 7 extern Serial logger;
Jagang 109:53918ba98306 8
Jagang 109:53918ba98306 9 Map::Map()
Jagang 109:53918ba98306 10 {
Jagang 109:53918ba98306 11
Jagang 109:53918ba98306 12 }
Jagang 109:53918ba98306 13
Jagang 109:53918ba98306 14 Map::~Map()
Jagang 109:53918ba98306 15 {
Jagang 109:53918ba98306 16 for(unsigned int i=0;i<obstacles.size();i++)
Jagang 109:53918ba98306 17 delete obstacles[i];
Jagang 109:53918ba98306 18 }
Jagang 109:53918ba98306 19
Jagang 109:53918ba98306 20 void Map::build()
Jagang 109:53918ba98306 21 {
Jagang 109:53918ba98306 22 //obstacles.push_back(new Obs_circle(ROBOTRADIUS,2,2,1));
Jagang 109:53918ba98306 23 obstacles.push_back(new Obs_rect(ROBOTRADIUS,-100,-100,2100,0)); // MG
Jagang 109:53918ba98306 24
Jagang 109:53918ba98306 25
Jagang 109:53918ba98306 26 obstacles.push_back(new Obs_rect(ROBOTRADIUS,778,0,800,400)); // M1
Jagang 109:53918ba98306 27 obstacles.push_back(new Obs_rect(ROBOTRADIUS,1200,0,1222,400)); // M2
Jagang 109:53918ba98306 28 obstacles.push_back(new Obs_rect(ROBOTRADIUS,800,0,1200,70)); // M3
Jagang 109:53918ba98306 29
Jagang 109:53918ba98306 30 }
Jagang 109:53918ba98306 31
Jagang 109:53918ba98306 32 int Map::getHeight(float x, float y)
Jagang 109:53918ba98306 33 {
Jagang 109:53918ba98306 34 int height = 0;
Jagang 109:53918ba98306 35 for(unsigned int i=0;i<obstacles.size();i++)
Jagang 109:53918ba98306 36 height += obstacles[i]->height(x,y);
Jagang 109:53918ba98306 37 return height;
Jagang 109:53918ba98306 38 }
Jagang 109:53918ba98306 39
Jagang 109:53918ba98306 40 float dist(Point *p1,Point *p2)
Jagang 109:53918ba98306 41 {
Jagang 109:53918ba98306 42 int dx = p1->getx()-p2->getx();
Jagang 109:53918ba98306 43 if(dx<0) dx=-dx;
Jagang 109:53918ba98306 44 int dy = p1->gety()-p2->gety();
Jagang 109:53918ba98306 45 if(dy<0) dy=-dy;
Jagang 109:53918ba98306 46 return sqrt((float)dx*dx+dy*dy);
Jagang 109:53918ba98306 47 }
Jagang 109:53918ba98306 48
Jagang 109:53918ba98306 49 char Map::AStar(float x, float y, float goal_x, float goal_y, float mpc)
Jagang 109:53918ba98306 50 {
Jagang 109:53918ba98306 51 /*! http://www.gamedev.net/page/resources/_/technical/artificial-intelligence/a-pathfinding-for-beginners-r2003 !*/
Jagang 109:53918ba98306 52 //float dx,dy; // Permet de diminuer l'erreur par rapport au centre des cases
Jagang 109:53918ba98306 53 //dx = ((((int)(x/mpc))*mpc-mpc/2)+(((int)(goal_x/mpc))*mpc-mpc/2))/2;
Jagang 109:53918ba98306 54
Jagang 119:c45efcd706d9 55 path.clear();
Jagang 119:c45efcd706d9 56 #if LOG_LEVEL >= 3
Jagang 119:c45efcd706d9 57 logger.printf("[info - pathfinder] Start point (%.1f,%.1f)\r\n",x,y);
Jagang 119:c45efcd706d9 58 logger.printf("[info - pathfinder] Goal point (%.1f,%.1f)\r\n",goal_x,goal_y);
Jagang 119:c45efcd706d9 59 #endif
Jagang 119:c45efcd706d9 60
Jagang 109:53918ba98306 61 Point goal(goal_x/mpc,goal_y/mpc);
Jagang 109:53918ba98306 62 if(getHeight(goal_x,goal_y) >= 32000)
Jagang 109:53918ba98306 63 {
Jagang 109:53918ba98306 64 #if LOG_LEVEL >= 2
Jagang 119:c45efcd706d9 65 logger.printf("[warning - pathfinder] Unreachable point (%.1f,%.1f) %d\r\n",goal_x,goal_y,getHeight(goal_x,goal_y));
Jagang 119:c45efcd706d9 66
Jagang 119:c45efcd706d9 67 for(unsigned int i=0;i<obstacles.size();i++)
Jagang 119:c45efcd706d9 68 {
Jagang 119:c45efcd706d9 69 logger.printf("%d %d\r\n",i,obstacles[i]->height(goal_x,goal_y));
Jagang 119:c45efcd706d9 70 }
Jagang 119:c45efcd706d9 71
Jagang 109:53918ba98306 72 #endif
Jagang 109:53918ba98306 73 return 4;
Jagang 109:53918ba98306 74 }
Jagang 109:53918ba98306 75
Jagang 109:53918ba98306 76 if(getHeight(x,y) >= 32000)
Jagang 109:53918ba98306 77 {
Jagang 109:53918ba98306 78 #if LOG_LEVEL >= 2
Jagang 109:53918ba98306 79 logger.printf("[warning - pathfinder] Unstartable point (%.3f,%.3f)\r\n",x,y);
Jagang 109:53918ba98306 80 #endif
Jagang 109:53918ba98306 81 return 5;
Jagang 109:53918ba98306 82 }
Jagang 109:53918ba98306 83
Jagang 109:53918ba98306 84
Jagang 109:53918ba98306 85 unsigned int i=0;
Jagang 117:f8c147141a0c 86 unsigned int instanceDePoint=0;
Jagang 109:53918ba98306 87
Jagang 109:53918ba98306 88 std::vector<Point*> openList;
Jagang 109:53918ba98306 89 openList.push_back(new Point(x/mpc,y/mpc));
Jagang 109:53918ba98306 90 openList[0]->setG(0);
Jagang 109:53918ba98306 91 openList[0]->setH(dist(openList[0],&goal));
Jagang 109:53918ba98306 92 openList[0]->setParent();
Jagang 109:53918ba98306 93
Jagang 109:53918ba98306 94 std::vector<Point*> closeList;
Jagang 109:53918ba98306 95
Jagang 109:53918ba98306 96 Point* current;
Jagang 109:53918ba98306 97 do
Jagang 109:53918ba98306 98 {
Jagang 109:53918ba98306 99
Jagang 109:53918ba98306 100 // On cherche le plus petit F dans la liste ouverte
Jagang 109:53918ba98306 101 current = openList[0];
Jagang 109:53918ba98306 102
Jagang 109:53918ba98306 103 unsigned int pos = 0;
Jagang 109:53918ba98306 104 for(i=0;i<openList.size();i++)
Jagang 109:53918ba98306 105 if(openList[i]->getF() < current->getF())
Jagang 109:53918ba98306 106 {
Jagang 109:53918ba98306 107 current = openList[i];
Jagang 109:53918ba98306 108 pos = i;
Jagang 109:53918ba98306 109 }
Jagang 109:53918ba98306 110
Jagang 109:53918ba98306 111 // On le place dans la liste fermé
Jagang 109:53918ba98306 112 closeList.push_back(current);
Jagang 109:53918ba98306 113 openList.erase(openList.begin()+pos);
Jagang 109:53918ba98306 114
Jagang 109:53918ba98306 115 #if LOG_LEVEL >= 4 && LOG_ASTAR
Jagang 109:53918ba98306 116 logger.printf("[info - pathfinder] Adding (%d,%d) in the closed list\r\n",current->getx(),current->gety());
Jagang 109:53918ba98306 117 logger.printf("[info - pathfinder] Closed list : %d elements\r\n[info - pathfinder] Opened list : %d elements\r\n",openList.size(),closeList.size());
Jagang 109:53918ba98306 118 #endif
Jagang 109:53918ba98306 119
Jagang 109:53918ba98306 120 // On ajoute tous ses voisins viable das la liste ouverte
Jagang 109:53918ba98306 121 for(int dx=-1;dx<=1;dx++)
Jagang 109:53918ba98306 122 {
Jagang 109:53918ba98306 123 for(int dy=-1;dy<=1;dy++)
Jagang 109:53918ba98306 124 {
Jagang 109:53918ba98306 125 if(dx==0 && dy==0) continue;
Jagang 109:53918ba98306 126
Jagang 109:53918ba98306 127 Point *p = new Point(current->getx()+dx,current->gety()+dy);
Jagang 117:f8c147141a0c 128 instanceDePoint++;
Jagang 117:f8c147141a0c 129 if(p == 0 || instanceDePoint >= MAXPOINT) // Overload !!!
Jagang 109:53918ba98306 130 {
Jagang 109:53918ba98306 131 for(unsigned int i=0;i<openList.size();i++)
Jagang 109:53918ba98306 132 delete openList[i];
Jagang 109:53918ba98306 133 for(unsigned int i=0;i<closeList.size();i++)
Jagang 109:53918ba98306 134 delete closeList[i];
Jagang 109:53918ba98306 135
Jagang 109:53918ba98306 136 path.clear();
Jagang 109:53918ba98306 137
Jagang 109:53918ba98306 138 #if LOG_LEVEL >= 1
Jagang 109:53918ba98306 139 logger.printf("[error - pathfinder] Overload (%d,%d)\r\n",openList.size(),closeList.size());
Jagang 109:53918ba98306 140 #endif
Jagang 109:53918ba98306 141
Jagang 109:53918ba98306 142 return 3;
Jagang 109:53918ba98306 143 }
Jagang 109:53918ba98306 144
Jagang 109:53918ba98306 145 if(p->in(closeList)) // On ignore le point si il est déjà dans la liste fermé
Jagang 109:53918ba98306 146 {
Jagang 109:53918ba98306 147 delete p;
Jagang 109:53918ba98306 148 continue;
Jagang 109:53918ba98306 149 }
Jagang 109:53918ba98306 150
Jagang 109:53918ba98306 151 int height = getHeight((current->getx()+dx)*mpc,(current->gety()+dy)*mpc);
Jagang 109:53918ba98306 152 if(height>=32000) // On ignore le point, il n'est pas accessible
Jagang 109:53918ba98306 153 {
Jagang 109:53918ba98306 154 delete p;
Jagang 109:53918ba98306 155 continue; // On ignore le point si il est déjà dans la liste fermé
Jagang 109:53918ba98306 156 }
Jagang 109:53918ba98306 157
Jagang 109:53918ba98306 158 if(p->in(openList,pos))
Jagang 109:53918ba98306 159 {
Jagang 109:53918ba98306 160 if(dx == 0 || dy == 0) // Mouvement non diagonnal
Jagang 109:53918ba98306 161 {
Jagang 109:53918ba98306 162 if(current->getG() + NDIAG_COST < openList[pos]->getG())
Jagang 109:53918ba98306 163 {
Jagang 109:53918ba98306 164 openList[pos]->setG(current->getG() + NDIAG_COST);
Jagang 109:53918ba98306 165 openList[pos]->setParent(current);
Jagang 109:53918ba98306 166 }
Jagang 109:53918ba98306 167 }
Jagang 109:53918ba98306 168 else
Jagang 109:53918ba98306 169 {
Jagang 109:53918ba98306 170 if(current->getG() + DIAG_COST < openList[pos]->getG())
Jagang 109:53918ba98306 171 {
Jagang 109:53918ba98306 172 openList[pos]->setG(current->getG() + DIAG_COST);
Jagang 109:53918ba98306 173 openList[pos]->setParent(current);
Jagang 109:53918ba98306 174 }
Jagang 109:53918ba98306 175 }
Jagang 109:53918ba98306 176
Jagang 109:53918ba98306 177 delete p;
Jagang 109:53918ba98306 178 }
Jagang 109:53918ba98306 179 else
Jagang 109:53918ba98306 180 {
Jagang 109:53918ba98306 181 openList.push_back(p);
Jagang 109:53918ba98306 182 if(dx == 0 || dy == 0) // Mouvement non diagonnal
Jagang 109:53918ba98306 183 p->setG(current->getG() + NDIAG_COST);
Jagang 109:53918ba98306 184 else
Jagang 109:53918ba98306 185 p->setG(current->getG() + DIAG_COST);
Jagang 109:53918ba98306 186 p->setH(height + dist(p,&goal));
Jagang 109:53918ba98306 187 p->setParent(current);
Jagang 109:53918ba98306 188 }
Jagang 109:53918ba98306 189 }
Jagang 109:53918ba98306 190 }
Jagang 109:53918ba98306 191 }
Jagang 109:53918ba98306 192 while(dist(closeList.back(),&goal) && !openList.empty()); // Tant qu'on a pas atteint la case et qu'on a des choix
Jagang 109:53918ba98306 193
Jagang 109:53918ba98306 194
Jagang 109:53918ba98306 195 #if LOG_LEVEL >= 3
Jagang 109:53918ba98306 196 logger.printf("[info - pathfinder] Closed list : %d elements\r\n[info - pathfinder] Opened list : %d elements\r\n",openList.size(),closeList.size());
Jagang 109:53918ba98306 197 #endif
Jagang 109:53918ba98306 198
Jagang 109:53918ba98306 199 if(!openList.empty())
Jagang 109:53918ba98306 200 {
Jagang 109:53918ba98306 201 for(i=0;i<openList.size();i++)
Jagang 109:53918ba98306 202 delete openList[i];
Jagang 109:53918ba98306 203
Jagang 109:53918ba98306 204 // On reconstruit le chemin
Jagang 109:53918ba98306 205 #if LOG_LEVEL >= 3
Jagang 109:53918ba98306 206 logger.printf("[info - pathfinder] Recontruction du chemin ... ");
Jagang 109:53918ba98306 207 #endif
Jagang 109:53918ba98306 208 path.clear();
Jagang 109:53918ba98306 209 Point* c = closeList.back();
Jagang 109:53918ba98306 210 while(c != 0)
Jagang 109:53918ba98306 211 {
Jagang 109:53918ba98306 212 path.insert(path.begin(),SimplePoint(c->getx()*mpc,c->gety()*mpc));
Jagang 109:53918ba98306 213 c = c->getParent();
Jagang 109:53918ba98306 214 }
Jagang 109:53918ba98306 215
Jagang 109:53918ba98306 216 for(i=0;i<closeList.size();i++)
Jagang 109:53918ba98306 217 delete closeList[i];
Jagang 109:53918ba98306 218
Jagang 109:53918ba98306 219 #if LOG_LEVEL >= 3
Jagang 109:53918ba98306 220 logger.printf("[done] %d elements\r\n",path.size());
Jagang 109:53918ba98306 221 logger.printf("[info - pathfinder] Tendage du chemin ... ");
Jagang 109:53918ba98306 222 #endif
Jagang 109:53918ba98306 223
Jagang 109:53918ba98306 224
Jagang 109:53918ba98306 225 // Algo de 'tendage' du chemin
Jagang 109:53918ba98306 226 bool continuer = true;
Jagang 109:53918ba98306 227 std::vector<SimplePoint> tempPath;
Jagang 109:53918ba98306 228 while(continuer)
Jagang 109:53918ba98306 229 {
Jagang 109:53918ba98306 230 for(i=1;i<path.size();i+=2)
Jagang 109:53918ba98306 231 {
Jagang 109:53918ba98306 232 tempPath.push_back(path[i-1]);
Jagang 109:53918ba98306 233 int height = (getHeight(path[i-1].x*mpc,path[i-1].y*mpc)+getHeight(path[i+1].x*mpc,path[i+1].y*mpc))/2;
Jagang 109:53918ba98306 234
Jagang 109:53918ba98306 235 #if LOG_LEVEL >= 4 & LOG_TENDEUR
Jagang 109:53918ba98306 236 logger.printf("[info - tendeur] Testing (%.3f,%.3f) %d\r\n",path[i].x,path[i].y,height);
Jagang 109:53918ba98306 237 #endif
Jagang 109:53918ba98306 238
Jagang 109:53918ba98306 239 if(path[i-1].x!=path[i+1].x)
Jagang 109:53918ba98306 240 {
Jagang 109:53918ba98306 241 // y=a*x+b
Jagang 109:53918ba98306 242 float a = (path[i-1].y-path[i+1].y)/(path[i-1].x-path[i+1].x);
Jagang 109:53918ba98306 243 float b = path[i-1].y - a*path[i-1].x;
Jagang 109:53918ba98306 244
Jagang 119:c45efcd706d9 245 float step = (mpc*0.5f)*cos(atan(a));
Jagang 109:53918ba98306 246
Jagang 109:53918ba98306 247 #if LOG_LEVEL >= 4 & LOG_TENDEUR
Jagang 109:53918ba98306 248 logger.printf("[info - tendeur] X: a=%.2f b=%.2f\r\n",a,b);
Jagang 109:53918ba98306 249 logger.printf("[info - tendeur] x [%.3f,%.3f] step=%.6f\r\n",path[i-1].x,path[i+1].x,step);
Jagang 109:53918ba98306 250 #endif
Jagang 109:53918ba98306 251 float x;
Jagang 109:53918ba98306 252 for(x=min(path[i-1].x,path[i+1].x);x<max(path[i-1].x,path[i+1].x);x+=step)
Jagang 109:53918ba98306 253 {
Jagang 119:c45efcd706d9 254 #if LOG_LEVEL >= 5 & LOG_TENDEUR
Jagang 109:53918ba98306 255 logger.printf("%.3f\t%.3f\t%.3f\r\n",getHeight(x,(a*x+b)),x,(a*x+b));
Jagang 109:53918ba98306 256 #endif
Jagang 109:53918ba98306 257 if(getHeight(x,(a*x+b)) > height) // Ca ne passe pas sans ce point
Jagang 109:53918ba98306 258 {
Jagang 109:53918ba98306 259 tempPath.push_back(path[i]);
Jagang 109:53918ba98306 260
Jagang 109:53918ba98306 261 #if LOG_LEVEL >= 4 & LOG_TENDEUR
Jagang 109:53918ba98306 262 logger.printf("[info - tendeur] Adding (%.3f,%.3f) to the path\r\n",path[i].x,path[i].y);
Jagang 109:53918ba98306 263 #endif
Jagang 109:53918ba98306 264 break;
Jagang 109:53918ba98306 265 }
Jagang 109:53918ba98306 266 }
Jagang 109:53918ba98306 267 #if LOG_LEVEL >= 4 & LOG_TENDEUR
Jagang 109:53918ba98306 268 if(x >= max(path[i-1].x,path[i+1].x))
Jagang 109:53918ba98306 269 {
Jagang 109:53918ba98306 270 logger.printf("[info - tendeur] Skipping (%.3f,%.3f) to the path\r\n",path[i].x,path[i].y);
Jagang 109:53918ba98306 271 }
Jagang 109:53918ba98306 272 #endif
Jagang 109:53918ba98306 273 }
Jagang 109:53918ba98306 274 else if(path[i-1].y!=path[i+1].y)
Jagang 109:53918ba98306 275 {
Jagang 109:53918ba98306 276 // x=a*y+b
Jagang 109:53918ba98306 277 float a = (path[i-1].x-path[i+1].x)/(path[i-1].y-path[i+1].y);
Jagang 109:53918ba98306 278 float b = path[i-1].x - a*path[i-1].y;
Jagang 109:53918ba98306 279
Jagang 119:c45efcd706d9 280 float step = (mpc*0.5f)*cos(atan(a));
Jagang 109:53918ba98306 281
Jagang 109:53918ba98306 282 #if LOG_LEVEL >= 4 & LOG_TENDEUR
Jagang 109:53918ba98306 283 logger.printf("[info - tendeur] Y: a=%.2f b=%.2f\r\n",a,b);
Jagang 109:53918ba98306 284 logger.printf("[info - tendeur] y [%.3f,%.3f] step=%.6f\r\n",path[i-1].y,path[i+1].y,step);
Jagang 109:53918ba98306 285 #endif
Jagang 109:53918ba98306 286 float y;
Jagang 109:53918ba98306 287 for(y=min(path[i-1].y,path[i+1].y);y<max(path[i-1].y,path[i+1].y);y+=step)
Jagang 109:53918ba98306 288 {
Jagang 119:c45efcd706d9 289 #if LOG_LEVEL >= 5 & LOG_TENDEUR
Jagang 109:53918ba98306 290 logger.printf("%.3f\t%.3f\t%.3f\t%.3f\r\n",getHeight((a*y+b),y),height,(a*y+b),y);
Jagang 109:53918ba98306 291 #endif
Jagang 109:53918ba98306 292 if(getHeight((a*y+b),y) > height) // Ca ne passe pas sans ce point
Jagang 109:53918ba98306 293 {
Jagang 109:53918ba98306 294 tempPath.push_back(path[i]);
Jagang 109:53918ba98306 295
Jagang 109:53918ba98306 296 #if LOG_LEVEL >= 4 & LOG_TENDEUR
Jagang 109:53918ba98306 297 logger.printf("[info - tendeur] Adding (%.3f,%.3f) to the path\r\n",path[i].x,path[i].y);
Jagang 109:53918ba98306 298 #endif
Jagang 109:53918ba98306 299 break;
Jagang 109:53918ba98306 300 }
Jagang 109:53918ba98306 301 }
Jagang 109:53918ba98306 302 #if LOG_LEVEL >= 4 & LOG_TENDEUR
Jagang 109:53918ba98306 303 if(y >= max(path[i-1].y,path[i+1].y))
Jagang 109:53918ba98306 304 {
Jagang 109:53918ba98306 305 logger.printf("[info - tendeur] Skipping (%.3f,%.3f) to the path\r\n",path[i].x,path[i].y);
Jagang 109:53918ba98306 306 }
Jagang 109:53918ba98306 307 #endif
Jagang 109:53918ba98306 308 }
Jagang 109:53918ba98306 309 }
Jagang 109:53918ba98306 310 if(path.back() != tempPath.back())
Jagang 109:53918ba98306 311 tempPath.push_back(path.back());
Jagang 109:53918ba98306 312
Jagang 109:53918ba98306 313 if(tempPath.size() < path.size()) // On a réussit a enlever un point
Jagang 109:53918ba98306 314 {
Jagang 109:53918ba98306 315 path.clear();
Jagang 109:53918ba98306 316 for(i=0;i<tempPath.size();i++)
Jagang 109:53918ba98306 317 path.push_back(tempPath[i]);
Jagang 109:53918ba98306 318 continuer = true;
Jagang 109:53918ba98306 319 }
Jagang 109:53918ba98306 320 else
Jagang 109:53918ba98306 321 continuer = false;
Jagang 109:53918ba98306 322
Jagang 109:53918ba98306 323 tempPath.clear();
Jagang 109:53918ba98306 324 }
Jagang 109:53918ba98306 325
Jagang 109:53918ba98306 326 #if LOG_LEVEL >= 3
Jagang 109:53918ba98306 327 logger.printf("[done] %d elements\r\n",path.size());
Jagang 109:53918ba98306 328 #endif
Jagang 109:53918ba98306 329
Jagang 109:53918ba98306 330 return 1;
Jagang 109:53918ba98306 331 }
Jagang 109:53918ba98306 332 else
Jagang 109:53918ba98306 333 {
Jagang 109:53918ba98306 334 for(i=0;i<openList.size();i++)
Jagang 109:53918ba98306 335 delete openList[i];
Jagang 109:53918ba98306 336 for(i=0;i<closeList.size();i++)
Jagang 109:53918ba98306 337 delete closeList[i];
Jagang 109:53918ba98306 338
Jagang 109:53918ba98306 339 path.clear();
Jagang 109:53918ba98306 340
Jagang 109:53918ba98306 341 return 2;
Jagang 109:53918ba98306 342 }
Jagang 109:53918ba98306 343 }
Jagang 109:53918ba98306 344
Jagang 109:53918ba98306 345
Jagang 109:53918ba98306 346
Jagang 109:53918ba98306 347
Jagang 109:53918ba98306 348
Jagang 109:53918ba98306 349