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carte esclave Petit Robot
Dependencies: mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr
main.cpp@25:9627700d989f, 2019-05-22 (annotated)
- Committer:
- kyxstark
- Date:
- Wed May 22 20:56:42 2019 +0000
- Revision:
- 25:9627700d989f
- Parent:
- 24:33c7ff467bd9
- Child:
- 30:d034f469359e
pour theo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kyxstark | 25:9627700d989f | 1 | |
Artiom | 1:568955af8c2b | 2 | #include "main.h" |
Artiom | 0:bc74da1c502f | 3 | |
Artiom | 0:bc74da1c502f | 4 | #define SIZE_FIFO 50 |
Artiom | 0:bc74da1c502f | 5 | |
Artiom | 0:bc74da1c502f | 6 | CAN can(PB_8,PB_9,1000000); // Rx&Tx pour le CAN |
Artiom | 0:bc74da1c502f | 7 | |
kyxstark | 22:9e92a2b941ba | 8 | Serial pc(USBTX,USBRX); |
Artiom | 0:bc74da1c502f | 9 | |
Artiom | 0:bc74da1c502f | 10 | CANMessage msgRxBuffer[SIZE_FIFO]; |
Artiom | 0:bc74da1c502f | 11 | unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN |
Artiom | 0:bc74da1c502f | 12 | signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN |
Artiom | 0:bc74da1c502f | 13 | unsigned char EtatGameEnd=0; |
Artiom | 0:bc74da1c502f | 14 | |
kyxstark | 21:edf6d03fdb20 | 15 | void canProcessRx(void); |
Artiom | 12:191486ba5118 | 16 | |
Artiom | 12:191486ba5118 | 17 | |
Artiom | 0:bc74da1c502f | 18 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 19 | /* FUNCTION NAME: canRx_ISR */ |
Artiom | 0:bc74da1c502f | 20 | /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */ |
Artiom | 0:bc74da1c502f | 21 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 22 | void canRx_ISR (void) |
Artiom | 0:bc74da1c502f | 23 | { |
Artiom | 0:bc74da1c502f | 24 | if (can.read(msgRxBuffer[FIFO_ecriture])) { |
Artiom | 0:bc74da1c502f | 25 | if (msgRxBuffer[FIFO_ecriture].id==GLOBAL_GAME_END) { |
Artiom | 0:bc74da1c502f | 26 | |
Artiom | 0:bc74da1c502f | 27 | } |
Artiom | 0:bc74da1c502f | 28 | FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 29 | |
Artiom | 0:bc74da1c502f | 30 | } |
Artiom | 0:bc74da1c502f | 31 | |
Artiom | 0:bc74da1c502f | 32 | } |
Artiom | 0:bc74da1c502f | 33 | |
Artiom | 0:bc74da1c502f | 34 | int main() |
Artiom | 0:bc74da1c502f | 35 | { |
Artiom | 0:bc74da1c502f | 36 | can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
Artiom | 0:bc74da1c502f | 37 | servo_interrupt_en(); //permettre les interuptions |
Artiom | 11:6c11c081c855 | 38 | |
Artiom | 0:bc74da1c502f | 39 | wait(1);//attente servo boot |
kyxstark | 21:edf6d03fdb20 | 40 | |
kyxstark | 21:edf6d03fdb20 | 41 | |
kyxstark | 21:edf6d03fdb20 | 42 | #ifdef ROBOT_SMALL |
kyxstark | 22:9e92a2b941ba | 43 | pc.printf("\nPetit robot\n\n"); |
Artiom | 2:9e63099cca99 | 44 | gabarit_petit_robot(); |
kyxstark | 21:edf6d03fdb20 | 45 | #endif |
kyxstark | 21:edf6d03fdb20 | 46 | |
kyxstark | 21:edf6d03fdb20 | 47 | |
kyxstark | 21:edf6d03fdb20 | 48 | |
kyxstark | 21:edf6d03fdb20 | 49 | #ifdef ROBOT_BIG |
kyxstark | 22:9e92a2b941ba | 50 | pc.printf("\nGros robot\n\n"); |
kyxstark | 21:edf6d03fdb20 | 51 | clear(doigt,2); |
kyxstark | 21:edf6d03fdb20 | 52 | setTorque(doigt, TORQUE_ON,2); |
kyxstark | 21:edf6d03fdb20 | 53 | positionControl(doigt,384,100,BLED_ON,2); |
kyxstark | 21:edf6d03fdb20 | 54 | wait(1.0); |
kyxstark | 21:edf6d03fdb20 | 55 | #endif |
kyxstark | 21:edf6d03fdb20 | 56 | |
kyxstark | 21:edf6d03fdb20 | 57 | |
kyxstark | 22:9e92a2b941ba | 58 | pc.printf("\nLAUNCHED"); |
Artiom | 0:bc74da1c502f | 59 | while(1) { |
Artiom | 0:bc74da1c502f | 60 | canProcessRx(); |
Artiom | 10:48c0d1b8aed9 | 61 | f_mesure();//dt35 |
Artiom | 11:6c11c081c855 | 62 | |
kyxstark | 21:edf6d03fdb20 | 63 | |
kyxstark | 21:edf6d03fdb20 | 64 | #ifdef ROBOT_SMALL |
Artiom | 5:6e198cdd99ad | 65 | automate_ventouse_presentoir_arriere(); |
kyxstark | 24:33c7ff467bd9 | 66 | automate_ventouse_presentoir_avant(); |
Artiom | 7:553f3f1c2c53 | 67 | |
Artiom | 6:45f9cf44718a | 68 | automate_ventouse_goldenium_arriere(); |
kyxstark | 24:33c7ff467bd9 | 69 | automate_ventouse_goldenium_avant(); |
kyxstark | 24:33c7ff467bd9 | 70 | |
Artiom | 6:45f9cf44718a | 71 | automate_ventouse_sol_avant(); |
Artiom | 7:553f3f1c2c53 | 72 | automate_ventouse_sol_arriere(); |
Artiom | 7:553f3f1c2c53 | 73 | |
kyxstark | 24:33c7ff467bd9 | 74 | automate_ventouse_balance_avant(); |
Artiom | 12:191486ba5118 | 75 | automate_ventouse_balance_arriere(); |
Artiom | 12:191486ba5118 | 76 | |
Artiom | 12:191486ba5118 | 77 | automate_ventouse_relache_arriere(); |
kyxstark | 24:33c7ff467bd9 | 78 | automate_ventouse_relache_avant(); |
Artiom | 14:b1abd2f6df75 | 79 | |
Artiom | 13:9e19048eb065 | 80 | automate_ventouse_sol_avant_relache(); |
Artiom | 14:b1abd2f6df75 | 81 | automate_ventouse_sol_arriere_relache(); |
Artiom | 14:b1abd2f6df75 | 82 | |
Artiom | 14:b1abd2f6df75 | 83 | automate_ventouse_accelerateur_arriere(); |
kyxstark | 24:33c7ff467bd9 | 84 | automate_ventouse_accelerateur_avant(); |
kyxstark | 21:edf6d03fdb20 | 85 | #endif |
kyxstark | 21:edf6d03fdb20 | 86 | |
kyxstark | 21:edf6d03fdb20 | 87 | #ifdef ROBOT_BIG |
kyxstark | 25:9627700d989f | 88 | /*automate_ventouse_presentoir_avant(); |
kyxstark | 24:33c7ff467bd9 | 89 | automate_ventouse_goldenium_avant(); |
kyxstark | 24:33c7ff467bd9 | 90 | automate_ventouse_relache_avant(); |
kyxstark | 25:9627700d989f | 91 | automate_ventouse_accelerateur_avant();*/ |
kyxstark | 24:33c7ff467bd9 | 92 | |
kyxstark | 21:edf6d03fdb20 | 93 | fifo_couleur(); |
kyxstark | 21:edf6d03fdb20 | 94 | ascenseur(); |
kyxstark | 21:edf6d03fdb20 | 95 | |
kyxstark | 21:edf6d03fdb20 | 96 | #endif |
Artiom | 13:9e19048eb065 | 97 | |
Artiom | 0:bc74da1c502f | 98 | if(EtatGameEnd==1) { |
Artiom | 0:bc74da1c502f | 99 | while(1); |
Artiom | 0:bc74da1c502f | 100 | } |
Artiom | 0:bc74da1c502f | 101 | |
Artiom | 0:bc74da1c502f | 102 | } |
Artiom | 0:bc74da1c502f | 103 | } |
Artiom | 0:bc74da1c502f | 104 | |
Artiom | 0:bc74da1c502f | 105 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 106 | /* FUNCTION NAME: canProcessRx */ |
Artiom | 0:bc74da1c502f | 107 | /* DESCRIPTION : Fonction de traitement des messages CAN */ |
Artiom | 0:bc74da1c502f | 108 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 109 | void canProcessRx(void) |
Artiom | 0:bc74da1c502f | 110 | { |
Artiom | 0:bc74da1c502f | 111 | static signed char FIFO_occupation=0,FIFO_max_occupation=0; |
Artiom | 0:bc74da1c502f | 112 | CANMessage msgTx=CANMessage(); |
Artiom | 0:bc74da1c502f | 113 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
Artiom | 0:bc74da1c502f | 114 | if(FIFO_occupation<0) |
Artiom | 0:bc74da1c502f | 115 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 116 | if(FIFO_max_occupation<FIFO_occupation) |
Artiom | 0:bc74da1c502f | 117 | FIFO_max_occupation=FIFO_occupation; |
Artiom | 0:bc74da1c502f | 118 | if(FIFO_occupation!=0) { |
Artiom | 0:bc74da1c502f | 119 | int identifiant=msgRxBuffer[FIFO_lecture].id; |
Artiom | 0:bc74da1c502f | 120 | |
Artiom | 0:bc74da1c502f | 121 | switch(identifiant) { |
Artiom | 0:bc74da1c502f | 122 | |
Artiom | 0:bc74da1c502f | 123 | case GLOBAL_GAME_END: |
Artiom | 0:bc74da1c502f | 124 | EtatGameEnd = 1; |
Artiom | 0:bc74da1c502f | 125 | break; |
Artiom | 0:bc74da1c502f | 126 | |
Artiom | 0:bc74da1c502f | 127 | case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN |
Artiom | 0:bc74da1c502f | 128 | char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0]; |
Artiom | 0:bc74da1c502f | 129 | short distance=lecture_telemetre(numero_telemetre); |
Artiom | 0:bc74da1c502f | 130 | |
Artiom | 0:bc74da1c502f | 131 | |
Artiom | 0:bc74da1c502f | 132 | msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 133 | msgTx.len=2; |
Artiom | 0:bc74da1c502f | 134 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 135 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 136 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 137 | msgTx.data[0]=(unsigned char)distance; |
Artiom | 0:bc74da1c502f | 138 | msgTx.data[1]=(unsigned char)(distance>>8); |
Artiom | 0:bc74da1c502f | 139 | |
Artiom | 0:bc74da1c502f | 140 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 141 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA); |
Artiom | 0:bc74da1c502f | 142 | break; |
Artiom | 0:bc74da1c502f | 143 | |
Artiom | 0:bc74da1c502f | 144 | case DATA_RECALAGE: |
Artiom | 0:bc74da1c502f | 145 | short distance1=lecture_telemetre(1); |
Artiom | 0:bc74da1c502f | 146 | short distance2=lecture_telemetre(2); |
Artiom | 0:bc74da1c502f | 147 | short distance3=lecture_telemetre(3); |
Artiom | 0:bc74da1c502f | 148 | short distance4=lecture_telemetre(4); |
Artiom | 0:bc74da1c502f | 149 | |
Artiom | 0:bc74da1c502f | 150 | msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 151 | msgTx.len=8; |
Artiom | 0:bc74da1c502f | 152 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 153 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 154 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 155 | msgTx.data[0]=(unsigned char)distance1; |
Artiom | 0:bc74da1c502f | 156 | msgTx.data[1]=(unsigned char)(distance1>>8); |
Artiom | 0:bc74da1c502f | 157 | msgTx.data[2]=(unsigned char)distance2; |
Artiom | 0:bc74da1c502f | 158 | msgTx.data[3]=(unsigned char)(distance2>>8); |
Artiom | 0:bc74da1c502f | 159 | msgTx.data[4]=(unsigned char)distance3; |
Artiom | 0:bc74da1c502f | 160 | msgTx.data[5]=(unsigned char)(distance3>>8); |
Artiom | 0:bc74da1c502f | 161 | msgTx.data[6]=(unsigned char)distance4; |
Artiom | 0:bc74da1c502f | 162 | msgTx.data[7]=(unsigned char)(distance4>>8); |
Artiom | 0:bc74da1c502f | 163 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 164 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE); |
Artiom | 0:bc74da1c502f | 165 | break; |
kyxstark | 23:93a427b242ce | 166 | |
kyxstark | 25:9627700d989f | 167 | |
kyxstark | 25:9627700d989f | 168 | |
kyxstark | 25:9627700d989f | 169 | //--------------------------------------------------------------------------ACK carte pompe---------------------------------------------- |
kyxstark | 25:9627700d989f | 170 | |
kyxstark | 25:9627700d989f | 171 | |
kyxstark | 25:9627700d989f | 172 | case HACHEUR_STATUT_VENTOUSES: |
kyxstark | 25:9627700d989f | 173 | status_pompe = msgRxBuffer[FIFO_lecture].data[1]; |
kyxstark | 25:9627700d989f | 174 | //can.write(CANMessage(0x529, &status_pompe,1)); |
kyxstark | 25:9627700d989f | 175 | break; |
kyxstark | 25:9627700d989f | 176 | |
kyxstark | 25:9627700d989f | 177 | case HACHEUR_GET_ATOM_ACK: |
kyxstark | 25:9627700d989f | 178 | status_pompe |= (0x01 << msgRxBuffer[FIFO_lecture].data[0]); |
kyxstark | 25:9627700d989f | 179 | //can.write(CANMessage(0x529, &status_pompe,1)); |
kyxstark | 25:9627700d989f | 180 | break; |
kyxstark | 25:9627700d989f | 181 | |
kyxstark | 25:9627700d989f | 182 | case HACHEUR_RELEASE_ATOM_ACK : |
kyxstark | 25:9627700d989f | 183 | status_pompe &= ~(0x01 << msgRxBuffer[FIFO_lecture].data[0]); |
kyxstark | 25:9627700d989f | 184 | break; |
kyxstark | 25:9627700d989f | 185 | |
kyxstark | 25:9627700d989f | 186 | //------------------------------------------------------------------------------------------------------------------------------------------- |
kyxstark | 25:9627700d989f | 187 | |
kyxstark | 25:9627700d989f | 188 | |
kyxstark | 25:9627700d989f | 189 | |
kyxstark | 25:9627700d989f | 190 | #ifdef ROBOT_SMALL |
kyxstark | 23:93a427b242ce | 191 | case PRESENTOIR_AVANT: |
kyxstark | 23:93a427b242ce | 192 | fpresentoir_avant=1; |
kyxstark | 23:93a427b242ce | 193 | break; |
kyxstark | 23:93a427b242ce | 194 | |
kyxstark | 23:93a427b242ce | 195 | case BALANCE_AVANT: |
kyxstark | 23:93a427b242ce | 196 | fbalance_avant=1; |
kyxstark | 23:93a427b242ce | 197 | break; |
kyxstark | 23:93a427b242ce | 198 | |
kyxstark | 23:93a427b242ce | 199 | case ACCELERATEUR_AVANT: |
kyxstark | 23:93a427b242ce | 200 | faccelerateur_avant=1; |
kyxstark | 23:93a427b242ce | 201 | break; |
kyxstark | 23:93a427b242ce | 202 | |
kyxstark | 23:93a427b242ce | 203 | case GOLDENIUM_AVANT: |
kyxstark | 23:93a427b242ce | 204 | fgoldenium_avant=1; |
kyxstark | 23:93a427b242ce | 205 | break; |
kyxstark | 23:93a427b242ce | 206 | |
kyxstark | 23:93a427b242ce | 207 | case VENTOUSE_AV_CENTRE_BALANCE: |
kyxstark | 23:93a427b242ce | 208 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
kyxstark | 23:93a427b242ce | 209 | goldenium_avant(); |
kyxstark | 23:93a427b242ce | 210 | verification(); |
kyxstark | 23:93a427b242ce | 211 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
kyxstark | 23:93a427b242ce | 212 | break; |
kyxstark | 23:93a427b242ce | 213 | |
kyxstark | 23:93a427b242ce | 214 | case AVANT_RELACHE: |
kyxstark | 23:93a427b242ce | 215 | favant_relache=1; |
kyxstark | 23:93a427b242ce | 216 | break; |
Artiom | 4:4a79942713fa | 217 | //-------------------------------------------------------------------------Actions petit robot---------------------------------------------- |
Artiom | 2:9e63099cca99 | 218 | case GABARIT_PETIT_ROBOT: |
Artiom | 2:9e63099cca99 | 219 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 2:9e63099cca99 | 220 | gabarit_petit_robot(); |
Artiom | 2:9e63099cca99 | 221 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 0:bc74da1c502f | 222 | break; |
Artiom | 0:bc74da1c502f | 223 | |
Artiom | 0:bc74da1c502f | 224 | case PRESENTOIR_ARRIERE: |
Artiom | 5:6e198cdd99ad | 225 | fpresentoir_arriere=1; |
Artiom | 0:bc74da1c502f | 226 | break; |
Artiom | 0:bc74da1c502f | 227 | |
Artiom | 0:bc74da1c502f | 228 | case BALANCE_ARRIERE: |
Artiom | 12:191486ba5118 | 229 | fbalance_arriere=1; |
Artiom | 2:9e63099cca99 | 230 | break; |
Artiom | 2:9e63099cca99 | 231 | |
Artiom | 2:9e63099cca99 | 232 | case ACCELERATEUR_ARRIERE: |
Artiom | 14:b1abd2f6df75 | 233 | faccelerateur_arriere=1; |
Artiom | 2:9e63099cca99 | 234 | break; |
Artiom | 6:45f9cf44718a | 235 | |
Artiom | 2:9e63099cca99 | 236 | case GOLDENIUM_ARRIERE: |
Artiom | 6:45f9cf44718a | 237 | fgoldenium_arriere=1; |
Artiom | 2:9e63099cca99 | 238 | break; |
Artiom | 6:45f9cf44718a | 239 | |
Artiom | 2:9e63099cca99 | 240 | case SOL_AVANT: |
Artiom | 6:45f9cf44718a | 241 | fsol_avant=1; |
Artiom | 2:9e63099cca99 | 242 | break; |
Artiom | 2:9e63099cca99 | 243 | |
Artiom | 2:9e63099cca99 | 244 | case SOL_ARRIERE: |
Artiom | 6:45f9cf44718a | 245 | fsol_arriere=1; |
Artiom | 2:9e63099cca99 | 246 | break; |
Artiom | 2:9e63099cca99 | 247 | |
Artiom | 2:9e63099cca99 | 248 | case SOL_AVANT_RELACHE: |
Artiom | 7:553f3f1c2c53 | 249 | fsol_avant_relache=1; |
Artiom | 2:9e63099cca99 | 250 | break; |
Artiom | 2:9e63099cca99 | 251 | |
Artiom | 2:9e63099cca99 | 252 | case SOL_ARRIERE_RELACHE: |
Artiom | 7:553f3f1c2c53 | 253 | fsol_arriere_relache=1; |
Artiom | 0:bc74da1c502f | 254 | break; |
Artiom | 12:191486ba5118 | 255 | |
Artiom | 12:191486ba5118 | 256 | case ARRIERE_RELACHE: |
Artiom | 12:191486ba5118 | 257 | farriere_relache=1; |
Artiom | 12:191486ba5118 | 258 | break; |
Artiom | 14:b1abd2f6df75 | 259 | case RECROQUEVILLER: |
Artiom | 14:b1abd2f6df75 | 260 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 14:b1abd2f6df75 | 261 | recroqueviller_avant(); |
Artiom | 14:b1abd2f6df75 | 262 | recroqueviller_arriere(); |
Artiom | 14:b1abd2f6df75 | 263 | verification(); |
Artiom | 14:b1abd2f6df75 | 264 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 14:b1abd2f6df75 | 265 | break; |
Artiom | 13:9e19048eb065 | 266 | |
Artiom | 20:42f8ec726ac8 | 267 | case VENTOUSE_AR_CENTRE_BALANCE: |
Artiom | 20:42f8ec726ac8 | 268 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
Artiom | 20:42f8ec726ac8 | 269 | goldenium_arriere(); |
Artiom | 20:42f8ec726ac8 | 270 | positionControl(AR_poigne_D, 200,1,BLED_ON,3);//actionneur |
Artiom | 20:42f8ec726ac8 | 271 | verification(); |
Artiom | 20:42f8ec726ac8 | 272 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 20:42f8ec726ac8 | 273 | break; |
Artiom | 13:9e19048eb065 | 274 | |
Artiom | 0:bc74da1c502f | 275 | |
Artiom | 0:bc74da1c502f | 276 | #endif |
kyxstark | 23:93a427b242ce | 277 | |
Artiom | 0:bc74da1c502f | 278 | #ifdef ROBOT_BIG |
kyxstark | 21:edf6d03fdb20 | 279 | case ASCENSEUR: |
kyxstark | 22:9e92a2b941ba | 280 | flag_ascenseur = msgRxBuffer[FIFO_lecture].data[0]; |
Artiom | 0:bc74da1c502f | 281 | break; |
Artiom | 0:bc74da1c502f | 282 | |
Artiom | 0:bc74da1c502f | 283 | #endif |
Artiom | 0:bc74da1c502f | 284 | } |
Artiom | 0:bc74da1c502f | 285 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 286 | |
Artiom | 0:bc74da1c502f | 287 | } |
Artiom | 4:4a79942713fa | 288 | |
Artiom | 4:4a79942713fa | 289 | |
Artiom | 4:4a79942713fa | 290 | } |
Artiom | 4:4a79942713fa | 291 | |
Artiom | 4:4a79942713fa | 292 | |
Artiom | 4:4a79942713fa | 293 | |
Artiom | 11:6c11c081c855 | 294 |