Add Legoino receiver sketch for two Powered Up hubs
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/*
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* receiver.ino -- UART -> two LEGO Powered Up hubs (ESP32 "B")
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*
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* Board package: esp32 (the normal Espressif one)
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* Libraries: Legoino + NimBLE-Arduino 1.4.x (both via Library Manager)
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*
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* Listens for gamepad frames from the Bluepad32 board on Serial2 and drives
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* two Powered Up / Technic hubs over BLE using Legoino.
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*
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* Wiring to the transmitter board:
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* RX GPIO16 <- TX GPIO17 on transmitter
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* TX GPIO17 -> RX GPIO16 on transmitter
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* GND -> GND
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*
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* Created by: Jess Rogerson (yelling commands at Claude.AI)
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*/
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#include "Lpf2Hub.h"
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// ---------------------------------------------------------------- settings
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// Hub BLE addresses. Run tools/hub_scanner to find them - do not guess.
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// Lower case, colon separated.
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static const char *HUB_TRACKS_ADDR = "90:84:2b:61:e6:8c";
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static const char *HUB_UPPERBODY_ADDR = "90:84:2b:61:f2:d7";
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// Port numbers are just bytes in the LEGO protocol, same on every hub type:
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static const byte PORT_A = 0x00;
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static const byte PORT_B = 0x01;
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static const byte PORT_C = 0x02;
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static const byte PORT_D = 0x03;
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// Technic / Control+ motors (42100 etc.) are tacho motors -> leave this at 1.
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// Plain train motors and the simple Powered Up motors -> set it to 0.
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#define USE_TACHO_MOTORS 1
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static const int DEADZONE = 40; // raw stick counts ignored around centre
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static const int TRACK_MAX = 100; // LEGO speed range is -100..100
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static const int HEAD_MAX = 60;
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static const unsigned long MOTOR_MIN_INTERVAL_MS = 60; // per port throttle
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static const unsigned long LINK_TIMEOUT_MS = 400; // failsafe
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static const int LINK_RX_PIN = 16;
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static const int LINK_TX_PIN = 17;
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static const long LINK_BAUD = 115200;
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static const int STATUS_LED_PIN = 2;
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// ------------------------------------------------------------------ state
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Lpf2Hub hubTracks;
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Lpf2Hub hubUpperBody;
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static bool tracksInitialised = false;
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static bool upperInitialised = false;
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static unsigned long tracksRetryAt = 0;
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static unsigned long upperRetryAt = 0;
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static unsigned long lastFrameAt = 0;
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static bool failsafeEngaged = true;
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struct PortState {
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int lastSpeed;
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unsigned long lastSentAt;
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};
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static PortState trackLeft = {0, 0};
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static PortState trackRight = {0, 0};
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static PortState headTurn = {0, 0};
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// ----------------------------------------------------------------- helpers
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// Apply a deadzone, then scale what is left so the usable travel still
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// reaches full speed instead of jumping from 0 to a third of the range.
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static int stickToSpeed(int raw, int maxSpeed) {
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if (raw > -DEADZONE && raw < DEADZONE) return 0;
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int sign = (raw < 0) ? -1 : 1;
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long magnitude = abs((long)raw) - DEADZONE;
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long span = 512L - DEADZONE;
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long scaled = (magnitude * maxSpeed) / span;
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if (scaled > maxSpeed) scaled = maxSpeed;
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return sign * (int)scaled;
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}
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static void driveMotor(Lpf2Hub &hub, byte port, int speed, PortState &state) {
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if (!hub.isConnected()) return;
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unsigned long now = millis();
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bool changed = (speed != state.lastSpeed);
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bool stopping = (speed == 0 && state.lastSpeed != 0);
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// Stops always go out immediately; everything else is throttled so we
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// don't flood the hub's BLE queue and stall it.
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if (!stopping && (!changed || (now - state.lastSentAt) < MOTOR_MIN_INTERVAL_MS)) return;
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#if USE_TACHO_MOTORS
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hub.setTachoMotorSpeed(port, speed);
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#else
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hub.setBasicMotorSpeed(port, speed);
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#endif
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state.lastSpeed = speed;
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state.lastSentAt = now;
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}
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static void stopEverything() {
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driveMotor(hubTracks, PORT_A, 0, trackLeft);
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driveMotor(hubTracks, PORT_B, 0, trackRight);
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driveMotor(hubUpperBody, PORT_A, 0, headTurn);
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}
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// Connect the hubs one at a time. Kicking off two scans at once upsets the
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// shared NimBLE scanner and you end up with one hub connected and one sulking.
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static void serviceHub(Lpf2Hub &hub, const char *address, bool &initialised,
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unsigned long &retryAt, const char *label) {
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if (hub.isConnected()) return;
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if (hub.isConnecting()) {
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hub.connectHub();
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if (hub.isConnected()) {
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Serial.printf("[%s] connected\n", label);
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hub.setLedColor(GREEN);
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} else {
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Serial.printf("[%s] connect failed, retrying\n", label);
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initialised = false;
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retryAt = millis() + 2000;
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}
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return;
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}
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if (!initialised && millis() >= retryAt) {
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Serial.printf("[%s] scanning for %s\n", label, address);
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hub.init(std::string(address));
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initialised = true;
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}
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}
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static uint8_t xorChecksum(const char *s, size_t len) {
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uint8_t c = 0;
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for (size_t i = 0; i < len; i++) c ^= (uint8_t)s[i];
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return c;
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}
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// Returns true if a valid frame was parsed.
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static bool parseFrame(char *line, int &lx, int &ly, int &rx, int &ry, unsigned &buttons) {
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char *star = strrchr(line, '*');
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if (!star) return false;
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*star = '\0';
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unsigned expected = 0;
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if (sscanf(star + 1, "%2x", &expected) != 1) return false;
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if (xorChecksum(line, strlen(line)) != (uint8_t)expected) return false;
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return sscanf(line, "G,%d,%d,%d,%d,%u", &lx, &ly, &rx, &ry, &buttons) == 5;
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}
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// -------------------------------------------------------------------- main
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void setup() {
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Serial.begin(115200);
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Serial2.begin(LINK_BAUD, SERIAL_8N1, LINK_RX_PIN, LINK_TX_PIN);
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pinMode(STATUS_LED_PIN, OUTPUT);
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digitalWrite(STATUS_LED_PIN, LOW);
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Serial.println("LEGO hub receiver starting");
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}
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void loop() {
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// 1. Keep the hubs connected, tracks first.
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serviceHub(hubTracks, HUB_TRACKS_ADDR, tracksInitialised, tracksRetryAt, "tracks");
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if (hubTracks.isConnected()) {
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serviceHub(hubUpperBody, HUB_UPPERBODY_ADDR, upperInitialised, upperRetryAt, "upper");
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}
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digitalWrite(STATUS_LED_PIN,
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(hubTracks.isConnected() && hubUpperBody.isConnected()) ? HIGH : LOW);
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// 2. Pull whole lines off the link.
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static char buf[96];
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static size_t idx = 0;
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while (Serial2.available()) {
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char c = (char)Serial2.read();
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if (c == '\r') continue;
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if (c == '\n') {
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buf[idx] = '\0';
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int lx, ly, rx, ry;
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unsigned buttons;
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if (idx > 0 && parseFrame(buf, lx, ly, rx, ry, buttons)) {
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lastFrameAt = millis();
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failsafeEngaged = false;
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int leftTrack = stickToSpeed(-ly, TRACK_MAX); // push forward = positive
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int rightTrack = stickToSpeed(-ry, TRACK_MAX);
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int head = stickToSpeed(lx, HEAD_MAX);
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driveMotor(hubTracks, PORT_A, leftTrack, trackLeft);
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driveMotor(hubTracks, PORT_B, rightTrack, trackRight);
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driveMotor(hubUpperBody, PORT_A, head, headTurn);
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}
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idx = 0;
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} else if (idx < sizeof(buf) - 1) {
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buf[idx++] = c;
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} else {
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idx = 0; // overrun, throw the line away
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}
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}
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// 3. Failsafe - link went quiet, stop before something drives off a table.
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if (!failsafeEngaged && (millis() - lastFrameAt) > LINK_TIMEOUT_MS) {
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Serial.println("Link timeout - stopping motors");
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stopEverything();
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failsafeEngaged = true;
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}
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}
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