From b0c9aa281ab9b0083093c0d0cf2a12e32889434c Mon Sep 17 00:00:00 2001
From: Diego Freitas <diego-xbm@hotmail.com>
Date: Thu, 14 Aug 2025 12:51:45 -0300
Subject: [PATCH] ajustes no IMU e deteccao de obstaculos

---
 .../workers/health_worker/modulos/imu.py      |  19 ++-
 .../__pycache__/direcional.cpython-311.pyc    | Bin 20685 -> 20939 bytes
 .../manager_worker/modulos/direcional.py      |  32 ++--
 .../shared/__pycache__/utils.cpython-311.pyc  | Bin 12617 -> 13922 bytes
 .../Python/Scripts/workers/shared/utils.py    |  18 +-
 .../camera_manager.cpython-311.pyc            | Bin 118882 -> 118584 bytes
 .../__pycache__/config.cpython-311.pyc        | Bin 3459 -> 3459 bytes
 .../workers/visual_worker/camera_manager.py   |  11 +-
 .../Scripts/workers/visual_worker/config.py   |   1 -
 .../processamento/costmap_fuser.py            | 154 ++++++++++++++----
 10 files changed, 166 insertions(+), 69 deletions(-)

diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/health_worker/modulos/imu.py b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/health_worker/modulos/imu.py
index 552996709..00c551ee8 100644
--- a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/health_worker/modulos/imu.py
+++ b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/health_worker/modulos/imu.py
@@ -53,6 +53,16 @@ class IMUCamera(ModuloDiagnosticoBase):
                     self.imu_em_falha = False
 
                 if imuData is not None:
+                    # dt estimado por pacote
+                    now = time.time()
+                    if self.last_imu_ts is None:
+                        dt = 1.0 / max(1e-3, f_tick)   # fallback
+                    else:
+                        dt = max(0.0, now - self.last_imu_ts)
+                    self.last_imu_ts = now
+                    dt = min(dt, 0.05)  # clamp anti-bursts (<=50 ms)
+                    self.filtro_imu.Dt = float(dt)
+
                     for packet in imuData.packets:
                         accel = packet.acceleroMeter
                         gyro = packet.gyroscope
@@ -78,15 +88,6 @@ class IMUCamera(ModuloDiagnosticoBase):
                         yaw -= self.yaw_inicial
 
                         Rwb = r.as_matrix()
-                        # dt estimado por pacote
-                        now = time.time()
-                        if self.last_imu_ts is None:
-                            dt = 1.0 / max(1e-3, f_tick)   # fallback
-                        else:
-                            dt = max(0.0, now - self.last_imu_ts)
-                        self.last_imu_ts = now
-                        dt = min(dt, 0.05)  # clamp anti-bursts (<=50 ms)
-                        self.filtro_imu.Dt = float(dt)
 
                         # 1) aceleração no mundo
                         a_body   = np.array([ax, ay, az], dtype=np.float64)
diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/__pycache__/direcional.cpython-311.pyc b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/__pycache__/direcional.cpython-311.pyc
index 1e3631b3b39e90a40a6aa6b50e1ce01a3b6e563f..f818f29e2f53971594d3ffeb704ecfe7152a02fb 100644
GIT binary patch
delta 1205
zcmZWnZA=?=7{BWav}Mpzt}mm*-gv3fmi8#4g?4na44i;r$w-(&t=Ha7&lXCq?Iz_2
z_|Xq0g#QO?j9Ce8BU!T4G%@|)%p!hRe2I76B{Vg}=~uth7){I)^?$T;;-1_+zbC){
z@A*B?y?nQWezS|V-EM8wATUn-^6^_go&U7$ZM$qrQ_R{|m2w$-8f@B60xfYC{R8BQ
z7mM!`9BS$1w3IzAlbYD)(k&9!gK_|u$E|H+H=x4VP^^MQPgnZ@r>0yVDJVDBdV~aU
zdWPtWoSJKiE2M5VMA<k^R*4{KYr_r#rIr*~xZo`~@6ORo=~U8DgIN`Vtn1RxKh<-(
zTPW1QyB-{p$H1@W3?>irKL={)ER=vRJpI}*-1bak+j&j}Hk~H@@Nu6NlmYMB%_c9U
zKEB9$`;!sDXGW~+xpu0j@pwwAiPKX)X((hz;z#?jb#@f8KyX{TdyurfzPOZo5!SKZ
zaqI>A!K0yBG*BeYXk;5zRWw1y;>k=pV}tVAjT<-dP=moK8egH=7`?K8dw)0S!Y`35
zxlAQpRaG*YN|Uh!ozXvOnuW~%PArp1;v~*qgLI}DCVUD1`Mpo@OlQ4*VVRE6snq@s
z%aHxh@a2Xh8-(Xo?FELVV@z_HOk8A^)2XWdT4afQCz8s%NwW+^MwV7m)uv^VWs}#d
z>J&rKktjo^*eq-YKX{|45d?j!P0Fi@B$)=E`942U)ifN)t2DSiGNwL&AAJ+4$!3c8
zMo!4(ed-|iHqd*7zXg8W$a(Xxl`U@G;y%<__)`;tZc@}u^18`G(_o=jF!@B2kJtGg
zX^k~R-MWN6)mN}C9_uftOOY}$!xJ-yn3cz~g;!y!Uk}dxTf#!X)<kTL$JP!l!v#vP
z1Vl@K$2I~r6=FWko1BG{rEqz0iXWV+*!uUT1)J|)PbqeP^uf9?z9{&^qCYIy!hDn#
z`skeIaN!M}j0+11aUqdY9he<uvx9ezl~}<X63rogd|ohL`Mn9zb>{kRVuIEtYHc+{
z(Hh+I7Os>XW4vRmVzhj~EN(OT7QyHgjZWU^DaZ~CzOunrYQEng7$!u+#FngL#-Fj@
zQdT+)ImPzq)@TXKW%3chIxI2DZU2^EV)(vc!RiH%$Ks*O1IU-gPzQvs>=SMXUw2xi
z?7u)j_}<}#neQIgKzKNynd_E6^x<<|a?ymsTI^EJbr<)7cNOTL#rg5a&1el=o}NXG
n#og(&94!O$tPB0S_|oioRR0Q!5;f#M`E~H&B|`BR{8jz|eI9Q_

delta 953
zcmZ8fZ%7ki9KQE%vrb*Rxt(h|^K5Fme{O0`V`YsgT7sJNK?!8;7G2Y=ZnvOy^Ut>k
ziqZQ)OTtNHVi4B81VL05h*90<f+0xJ$386xDkA9JW?=nz?|FXj^Lu{JeYksb7rb2n
zd+sX~#Tcrp^*iUjcRbp2-iSXY6A|NOIRW?&aLTBIN}Cfb!?^8u;<`-)hDM<zw@@h7
zC@SYL)+CbCxJU*7YeqK<j5W8IEFvi?{2=G!5B#%Z6-l;fPR80qMV@nhn~cSx6kN79
z5*BecoHA>*_C>V(ARmwmxd1pUsuESXS!FYeE#hd3o<c<_k(#!MSX>QXbkoOLxc}#6
zBE=f~vYeYQVvEEww$+LHKnc<h`tu>YJg*-@I!rcI%M6&%0Eb(v2#2VK(=H9X(b^8$
z5^Jr+_+(gzR<iT+_ZZh$@M74<1sT>S_`HIL4KfW8MWdBrM}niFk#R0?BupUl=P4K|
zWyY;czlZk(*q}A6{u|LZ8WL6)yy3ARvl?gkOGpn_B4EZDC&O|f!4vRu9wy-P`a+@A
z1)lTlXEw<Y$NEM_IZud>An&Hq&G9}j7YumDy19T5g0~%`fQG*vmtnN+shod}Owiqa
zgj|$k*c6t<Pb99jmlA}5Y=O6&wRwK-{5ZKqRc6uu(1SlIDsTa%VXrhCTpL;&lERUl
zgF^om!&E2mZ+S!t>bJD^mD;4%k=8mS%JGTPNmSiZ&y(tuxmz-Kqqj)<=t?7k?Q_PT
zZ_aMtlhj0-nvkf8e{-@$n6Bz-&z4d*TX#>BRMw}J^;ry8G-v3FnW39QvsaR|DNUOs
z+P=ic@Qi-neAn%+xMRtk)Z5c~dyLE|_e#oI`0VIjvwl`csST3akg?cfowH3zjZxAV
zGxWYVouca{x;|rVj&({E#-zpse;)O_PSs#9%Ux<juZ*2dh}J8rb9mT&5Yc;^6`@q^
z0*F#I#e?NU%ESz+h>a3}`VEzQuspHY@lXc7Cr-P6?E+umKyM$=Bo=xF0=$Fe{Z{ZZ
Z(b<0tl$`{?mc@49Fq|2%$$p@3_y@yOA$tG-

diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/direcional.py b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/direcional.py
index 2ccc21e9b..f150180b5 100644
--- a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/direcional.py
+++ b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/direcional.py
@@ -217,25 +217,27 @@ def _regras_taticas(contexto):
             blocked = bool(block.get("blocked")) if isinstance(block, dict) else False
             reason  = (block.get("reason") if isinstance(block, dict) else "none") or "none"
 
-            if blocked:
-                mostrar_log(f"🟥 Bloqueio detectado ({reason}). d_obs_min={d_obs_min if d_obs_min is not None else '–'} m. Parando.")
+            if blocked and reason == "blackout":
+                mostrar_log(f"🟥 Blackout de percepção. Parando.")
                 return _comando_direcional_parado(True)
 
-            if (d_obs_min is not None) and (d_obs_min <= dist_necessaria):
-                mostrar_log(f"🟥 Obstáculo à {d_obs_min:.2f} m < distancia necessária {dist_necessaria:.2f} m. Parando.")
-                return _comando_direcional_parado(True)
+            if blocked and reason == "obstacle":
+                if (d_obs_min is not None) and (d_obs_min <= dist_necessaria):
+                    mostrar_log(f"🟥 Obstáculo a {d_obs_min:.2f} m ≤ {dist_necessaria:.2f} m (necessária). Parando.")
+                    return _comando_direcional_parado(True)
+                else:
+                    # opcional: limitar velocidade para manter margem de frenagem
+                    # v_max_safe = sqrt(2*a*(dmin - margem)), se dmin existir
+                    if d_obs_min is not None and d_obs_min > margem_parada:
+                        v_max_safe = (2.0 * a_max_freio * max(0.0, d_obs_min - margem_parada)) ** 0.5
+                        contexto.setdefault("DirecionalHints", {})["v_max_sugerida_mps"] = float(v_max_safe)
 
-            # opcional: dica de veto lateral pro MPC (se você consumir)
-            side_bias = None
-            if isinstance(block, dict):
-                sb = block.get("side_bias") or {}
-                side_bias = sb.get("value", None)
-            if side_bias is not None:
+            # motivo narrow: não para, mas dá dica lateral
+            if isinstance(block, dict) and reason == "narrow":
+                sb = (block.get("side_bias") or {}).get("value", 0.0)
                 hints = contexto.setdefault("DirecionalHints", {})
-                if side_bias > 0.25:   # mais fechado à direita -> evite virar p/ direita
-                    hints["vetar_direita"] = True
-                elif side_bias < -0.25:  # mais fechado à esquerda -> evite virar p/ esquerda
-                    hints["vetar_esquerda"] = True
+                if sb > 0.25:  hints["vetar_direita"]  = True
+                if sb < -0.25: hints["vetar_esquerda"] = True
 
         # se chegou até aqui, pode seguir
         return _comando_direcional_parado(False)
diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/__pycache__/utils.cpython-311.pyc b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/__pycache__/utils.cpython-311.pyc
index e5b2bd2535f621014f243bbab1888756f43f7abf..37c34f295e4eced614aba7b0821ae4123b908669 100644
GIT binary patch
delta 2961
zcmZ`*eN0=|6@S;y?_mrCY-|Vy2ZJ4mGd_~Sik8r(odfx3ffDF4tW561_W=ff={^%a
z1T$T!#JYc)TxtDUnlwtAW~r8J?y7E6r)+3avu+Y(?n2*$7EPL}YTCrQRb!R*an3U#
zVacu@Kc9Q<@1A?lx#!-)^}#<xw_PkMvI@{bpPm`{qvzDN?d0F5>UX70Q7I+|Wg<|4
ziqX87C1^2Zb2L9@4O(Lb!2;+@^FpwY%78^Q4{#f;rPg^8ET#p}E1`veHd+K|r(RmD
znnz1<Eo`(zbx@n?r1rbDLl#;(F9pj^P#<-Ip>n#DZinCPv;wFuwSrcv6+<$unl}es
z)P46<x&s*1_c7=JZY8aOO;l0RC;01l32`?2iC!8=#8c{IDsd>97*wLiR2tFzCcUsP
zrKHBSt^^&ACUm(!6i84tvy(hTq!QS8VP@F$ds1BtqF$=T!!Q_%#FSw*G^l9mgRN`_
zj5xV!{u;6Ir)wPirdcQD{0CAUaqy3%9mLJor3XndZ<Z^h2H;lnE?FVA%oX`<(eeN&
z{DsWH$E?00AFd&(v1DqB)$#9G&sG?#77Z!WDhnk}sw}EZvBSWs&-52OPQb`(g{vm=
zF;5pa!wOf5J4i48toW#G0}gBE9VN5G#}`ZXk{<pU;4xlr>y-_o9)7LZBeM}89?4v=
zEtutIoU?~NP&Qcb6%chXrX*QDKU>x>_u`Pk|5;W?M!BcF1=i{>_ejrxdL%Pd{)kv#
zgA5bG9t5=ImslIhhF9i9T-Cs-Tdt$sqo_?I%mL`;a3W5%A`m@yH)d?J5(dHV6!;%g
zw6PEy9t<TFri3C?W2a!w0-vm0bfLeW{0FUB3>uCuK$m@!KUwv=p1mmI7X2bSjq)aJ
z*`x$vPQWgaaU9te#!=2$Lg_h#Z}GId9zt-@T_e2=iqrhp?ui0p3-3cWEb?1EM<%>u
z!PNLF^e>653#UB=py!37il(WWCPL5SnKQg(Pe5n7k^ig4$J=Z2$*a7xrp{>?#N=X|
z+h?aC!=5a+fbx>bu&R@=hGF-3STX-|O*?s=@2=eonRueMy%mq*Qjsn(B|fY&JXGT_
z*s~~YdZ~-kk)$rA#*<MM67g5Hhvaie=;syQhj#a(_yT}#jwfQOPNvvP(9;S5JWt&@
zFj#)hTW!4tYK)2I<+J`h{3Gu_a=Cau^IPAd$&K+~2AoCG)*$eA>RVk`k?|S=`u{(!
z_tvrtsKo%V*8w(tN5w^e=_dY@`Z|7QmnHfR>fS^!EL}qBy9nnIE+f1J@QD|t?;%`4
zFgAdZW8VjWyZIxO&mr^y==P|>hQ}cTlL;2eohJJ+xA{w3-b2o2yx32XO(y?exNx)*
zHd`sP>ma|Cne^9@T(AyiF6@4cG`6C>%{v9Dn~!tgT22B);*h!rk?~7}4|r8WHRNP_
zLxr>qil6gf!?z&~{@SqKVO&PST0rfWb9d6PB(cPJoH7T_{}RH!9ODMczd^_%Y~*}X
zQ<>Yik~XGlk!dwFrmD%%M1-bB*b4AI;7Ze2D~37@f16DL36J@2pA$iNL7-$-$QM!|
z-)^IX6IU6(T3TkOrikzcID8qMHX5pHsYuCI^{g->Q1h5UW8X*-?vWg(l!ZT^=imd?
z+bpwWhCDquLvmK7`&r#Z<rL=dMjOrBlrXuBmRpl29gZEN7%-!aZVqoOUzS@YP4n*E
zW!&!-QW)Qj<`Y=etSMD~yANg2GGls0IAeMPB64{%DnuB7LOg5wx+!kS{Z5bxVNx6r
zCdiD?CwRgCu!+Fm0Q3xfn)vg(*<)Z?mk+5-iD-J!Ni~`XN2mf7E2bHlq)VDIPE}pj
zjGCwC0VNbmYSX?B#u6SS;eq#78;_<G=D9Q51NBjf?(@K9FyjJ+!)hu7M5CCp$5CZX
zqb_FDP$r{BJQ5pcc=~$b!H&K_Pj^S4|Ivdzx^z;Bj;p$*=ZTJEk9PNWuoJ*xm?C~r
zx87M)7b9R`81x&@1iWx)tsED+Lkk&u3&qkJ`xu5lM7|3GIVY^x9CJt4O!<;))wwI{
z{Nl2+E$eK%>D+(Ax&Ph6*9MoJN3zZ%H=SKKoL%oHmO`KiXPw~%>q>$1McZ=+77nc1
zcV_K-epvRlYuVnOwYM(>R*LNl>2oa?+s?PW*>?5I%igxEx9z5P{|#>%Z2lse?F?l*
z)n)Hc);sj!=*jG8`tO1;MmkNO3WBfGv}WLn+jI8#%g4_RTosqytyy>L^VaqC)dI(w
zK%_^=-MDHgU2;79?p^@+mMsUemIF)oeCyEG(jrbqNft_6OO}fDg=xV1ei}Y+^8qnn
z5f<}EphZ};SOZPsqTL?wi;F%9HGT;-O(M!IQedA5?@uF4>+bXuqkO{8E713wa_?!)
z&#>cWnA<FffO)S=@$p!4$|yVB)m)X<tF#e?skG^K`h<p!f5t+fi)b6^wLwu~u4bf=
zkx{G!tr`Wf0j0wTBM8qRoC47E;#6TwnbOTP5>6QpCc|>Xt|43(;DuvfMG@af<JmH@
zCRdX1?J{!gb4$CC$?C)GFQCI~slCUqG&g_Yme9Dg^;;3zm$rT@IYQ=7&E3T9C?Kvi
K;a)Im(tiP;vgl3#

delta 1767
zcmZ`(ZERCj7~W}nFJ<lRR_NMo-AB9W#w8m#X=Y;Pbm&xIAFwSZE|7ZHb5|<;%G*{L
zsMBOJ|1g{<jwo(w_!3YtDVq58V-gijRDSrwTw*jv6EVT;pG1G)`<`M0iQcr&dCz;E
z^PKa(=RN1=<d+kkQ<_#;f!~p_h21NS^PXDv%Y6H~X_i#RRbIhu$yF)mxRX_I`%K07
zYVJU+<O-sTH*@C<8+Y^7*wc6=qKCT>t9XcOrsMHy(xs1kOfRo8*YN6_y^~Jvol(Zu
z@-SbEIzHaQ{n*y<fVt*TUTgY!o#~%cdHsxIJivoDPvs3L*7zTSO~|d~Y_vjey+SJw
z>CAGaGPyh$5KU&{F^BLfzTymPXNrd7uHw749~pCt7aVm;5FI}8j$;?|2)FVF^NGKe
zwvZRSmNSv!W-P-^%e`fAq`&Wh=>5Y3!y~!_>P4U0-RvgP+7cz2NEvZ6I$`9@?g;2O
z(j*pCgL#VA)bn=dMs(<I@QU-5w`pOTr<kd1ehON}ua&RWNhNL4*l$8K^MnaWV+#6_
z)mB_|4KNh>-Ti}&#l^*{jkxV=RsC$c=&jzWdXNJhVy^lr78Y)A7uzO!5r;(9yF-<t
zA+fqTqyk6c!^NxK=N)PX&FK^e{1dJbG%b6|$bu?<^N*>6G_*@>4z#gJkqB(UwH5;*
zWg6Y_;-`W8?Cnj&un}|;ke04Mglrj=Ba=3B7?d8|>Y60)0fHyR)4>K5TWR!(b3six
zgw9#99K29Z0bIF`U^!DpZcjA9b1*|wo)b$AmxniyNo(qMm?OIkx2&pQ-ZHo>F-D2)
zgu`T)l*l?rFe@%Lw##jVl?8On3xCsIOzvFMNt^ZxI!@bR3lVpUzHp7q9}I|{;XB!)
zI2>-Pk(-qnDDMmA#NfIe!P9IA6cVsW0gJ_Ql%!Ay+@iashaDHWmM$!?6D>UvO5AD9
zQou;ZO`s!?se@<9Du-a%_b0NJk}qVFCYDW2>qF|RMA$ASTJPB?4@zL)a-=gU(_&Nb
z683U*<e|qx<qu>H)CnV8r^3fL_;T@TYX>XU%~G-X_6xQ~3LGRHB?&u8gr1QzG5YK6
zk@|DQSR|kfz^%cLG`vnuiXPrTC<jiCW8$NAn?~Ow^EiQ=e}b%&1WN>`2;M}vB7;9e
z-LnL55y&!o8!fy&Qb%TCSoG<&o8L#br6moB7r=<-GkGHkAJC+7df-E%uzmlR9dT3-
zE1x0fY;jp{yOEc^;??!rSZ5b0l}jB9P$ezAE&C7>X)M4#Vth{Ug)lpsZ@dSwOe$N*
zn^DLlqKPz5#PC9VjihC9tYZOd;O@?AJLSD$a0j||wRC-?x&oO(nghK)&`oexiSZ5D
z-x6FRI7l#yU@2*HZ*+H#CYKH!3vO;hK=}?GUx_mt_6$+Var5i38G2A>@&;jZgxt2$
z34B6!9r&<;M+oHWr=$z1?9`2G9V=v~EL$uqE^ca=28~GcaLR{HzEtvs0eUIm5Q4QT
z%?$u!%5q=^@-lZocTQFzP|9J9fHDKL+foV20->V)%h{94@Iun;h0EAw_|LtFxMFAG
dSVY&pukc>__xDrr&&UuH_jarJR}@)g{{TwVpw$2X

diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/utils.py b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/utils.py
index 5123a8076..0977e797a 100644
--- a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/utils.py
+++ b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/utils.py
@@ -2,9 +2,10 @@ import base64
 import math
 import cv2
 import numpy as np
-import cupy as cp
 
 from manager_worker.config import mostrar_log
+from shared.contexto_global_redis import ContextoGlobalRedis
+from shared.enums import StatusModulo, T_Code
 
 
 
@@ -206,3 +207,18 @@ def resize_keep_width(img: np.ndarray, new_w: int, min_h: int) -> np.ndarray:
         new_h = min_h
     return cv2.resize(img, (new_w, new_h), interpolation=cv2.INTER_AREA)
 
+# ----------------------------
+# Helpers equipamento
+# ----------------------------
+def get_velocidade_atual_ms():
+    velocidade = 0.0
+    try:
+        velocidade = ContextoGlobalRedis.get_contexto().get("Gerais", {}).get("velocidade_ms", 0.0)
+        if velocidade == 0:
+            imu = ContextoGlobalRedis.get_modulo(T_Code.Imu)
+            if imu is not None and imu.get("saude", {}).get("status", StatusModulo.DESCONECTADO.value) == StatusModulo.OPERANTE.value:
+                velocidade = imu.get("vel_mps", 0.0)
+    except Exception as e:
+        mostrar_log(f"Erro ao consultar velocidade atual: {e}")
+    finally:
+        return velocidade
diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/__pycache__/camera_manager.cpython-311.pyc b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/__pycache__/camera_manager.cpython-311.pyc
index 9cac9da3d37ab8e561fb5c6f1105e5acb20a6b7f..b8d2cac2750b043ce61ec20e09d3e2f3136de095 100644
GIT binary patch
delta 14123
zcmb_j33QZ2w(jaJOD7?Lge;KIBqY#)VTZ6LAuL7_7>J;V({#E!NkeZ|cUUrD&{1(i
z#ZrD@p5ro#ii*s%8l2~b<G$jE+b=rcsJu8X=y4lHXWsqp-$@5X=A3uV`_IYO_1ALi
zR@J???ydUs;jL-=ew&taS9W%$iJpyL-`sZZj%_(bB7fWPmqv$%tr#XuK9kQ8tPEAH
zsN!^1aCm6MiV>X74!S}kSBwmeS}{tMh(Tg>VzMX~!luqOpI59Gw)*4lwf<nl8}NC2
zezzyy?g_d>vBZPsD=cD2VwSz!l2<|9#sq;=4kMK1>Vk~>L{*|J^ESIEQ%~mZEgg;g
zVglU(ie691FFi5cLNC&(w&s<TOht_%zz|eR4}=5WfX5e+Bh~)ALQ#@<H?Km7QR=7u
zMXF>#saZ})OdK#t*wHzWh~yWFscK992r(?NH^0%A-9Y&+i)==*SJ_J%#W1zF<S|jD
zat67@g(^I#df=rf+(Zzw6F8ll>5;?K9|m1R)#?Z5+n1w4vpR2ZX$|*tCEl+f(Cw`<
z;B&8&mmnuaCyid6t5!Lkb#=yEoTK&*ewL_-?fL4-Gi-_LN-q;NQ_yH6$n@h04Rm;<
zJLYNk`K1%N1;+fi*G1$SzpM^<!k$*YlsBk_Lke9>(HL_?qhqFSK*m~vn1#UUOs;}V
zTr=b&^I+~KU-~a-55xj->Ze80<hx~Svz(x=DR)jTNAq5yx+NBu_gI;-ZsWSTMfzh#
z2Uep4>LKw_`EzE+Z_xI?05_|LD~F4b>I1@w%3f7oaUxxLD{9?F5bHza%&N~sJ&3rh
zayKeq9e8G>&&cHw-cD&fBOVC(V{uO?Dt|}seaNWwBd)SmQJ%^hHZW1@3W^gLyI~|4
zdvxTY89&1kb&M`_M^yTK0dG7I3CEcJzYTc)sL?{)nTU@*+hPYp@_zN&m|t|>f#d*?
zNITu{iHAH<xd(4qOFTZ0Y>GtZMAn7n7}Q#fe8*CMYseptd%T{A9E%*=9Dj3rtDJx;
z`2Z}LyoJD(W~}f-l-5OyF5<dy>lwxh#{8|6RJV*RAd!D)?DIlYB`zF)+%~mWy5x4W
zv&Djbe^d?yQ3=RFZdQAc=F^juI&da;sNdHV+A&9Zf!aT-AWgS~JnQ8s^=VCcWv_s^
zGWGt+wmq^-Bhk(AvGOG~ZfcbilBio-NaC3JSSG!bQ1S!yO01i@*iy>t`aZh-fFNce
zAhj`c<^uK6jLS)9LNniOdxZ*)ZvFhBTfcvH?=1N;8oUe80ch_s%Y#T`2tD)l4yB2s
zae5kQPB0Mj8*R8dG>oyD8Y~%IzM=Nax}UmSS-XEZ(>GJK4omffmJX{kHrmPk9k*1E
zZ|Sf*=Ph1JIiS{IbDrKY-RTlW_l831_IM!P9*oGN=n5mFp2)1k>z=12npyvYWojK|
zN_5c;vnf9%IBs@^bjw1|LRp5aS%3zDdn{bhfG<>d?zy5_JwJDzs8IdpP0rawRdjnS
z?vJ|L<b`VKyfOA+$SPNVoL8RMJ#U@p)eJTL^kdFBpnD$ym@}E`uC1d<Yo(N-e-qW2
zjU{##K%ZLEIFx$X+SnlGsMi~ZGGY0a`k^sl7_`KbXZ*Kt^iq_$>aqo{C6htSpny~#
z+IS5Bq6E6#6OH=AK4QMTITVP?Jemp_L2-YiRwFeIuttfqN+$%-Cfl7{P<Jds6C6ff
zL2q8j6PJMwx3@hOkGT5D3iXS#3P%kDG3K$5QhL9rUwTRXu#GW|0VvN06exApxui><
zpEaL!sn=pJT$FARFRSHC&Y1<iS*hfMNKFFV0a!(#XOKp+W=l5DtlTUY@(t7}R-Z2^
znq7jLd2?uEi!BSph>PWH<E0H%cygd=E{CD`5M-G^6LUOimMm)i(hB=0C|IkaOY@CY
z$xB?hbe`FKnMEyLRHc46`*!WB`J$i27SC4OPRmzQvvbtq3#{t(?m~;$XjO-n6^+<v
zTAfK$_*w1fN$ny=?gcaaY)VTJuy0DICRxh4wyeZw+i2fK@_R32n4gVlKHCgRsjw_6
z+i2gIzA<eViT=G1e}06CTEq01ROqsjvW;m}#de?l#7dhoDBtAHQh(o4ro#UmXzuO4
zUuDL9|3=X#s4`3@KO0TA7O1>S3+hd)2lnP=P$%gpcCwO~-jun?5gt=vidXm4G?|8x
z=dvk_s1&K!9R-$*jallzxy6pG3$w!MKGP=pRe|7n)7{j94G~$MF%YTjKK@ZCM!6%A
zJHU`ef6VRnM#3!tPuS~GJ66mqFJ>Xvt+7Cd-_VY+pa}aV3jo{Ik1K|Bo{J>=AFNB<
zE2{$wlb=d;dwbO9iTl~FlBYq0AziW>DX5QL;KR=1ZYK9_4S5jmKq%H0S!e7t5HrJ#
z$TnmRilC?a0<pN8%)Z;unNi5J&;TXd)C~4|FdhjB)YD^OPn2lJsZJoKr-jI!3wV>x
zLN?VfY-|z@Qw#0x7_P2eTBzz)7ECFj)!1x$$I<VgWAuUaiFdc$-SW=pv6ov9rn`=r
zof(tg=~sH7U*+9p2VFCs6n}QrA8^$_Ir-QOb=xlonvcy?yH*YnHF(MWc8Y1h$k+Ri
zI@o{I<qaR_6{sUCuXjA}Jy3Ys>xD}W7A{d6&u=gfcB(PI+*31moN4c1g8ij)2GGwl
zW5v9&rf0@w&MUP%GreeDk>%L|Hp+Rn$VNHOmRgV=n>*i>C~&u#OCO<u1rB4Du^;If
zK7ZWr^+x=>_G+hRwqp(D8-`+~I_fFyJPq%>!n}ILcs*&s*Z`y!C20U=q8D=DNi+e|
z0hIu9<W0t!<n@?DPdE~y-Odx^wK4n`=(W?SI+kWShN08J)U3nFlm9?-hDanHY5s>L
z9m9a!sz+N+>x7{-ct4*~dbU9x4k}D8^yU9Hk_<z<cqBu?HIIZXGRss}5C2U6lX7$b
zA0n1Pkd&MrpSBe24<h!9ti;SqiCwK_HaobNN7akLDsuC_3Z7pcLdFzy#hcG|dezO|
zD0u@hkCdJb(xalG!p2^oENP$7>OU_^awxoI@Bnx{-cbia&SJwN6OEJkRvF=O;z(k8
z_&#ec%ZuHx3_RiA%c&0RV#b6oQ`2KZ=Zweu|4CT-PO&ku>eiTZ1hcdZ^Kh#9EW><O
zBy};}hK=*bL{{8wr$8&%QAMaa#!h_<3>^U6L7-cso_L#XT^$L8<+sR43xw9m02!hZ
z^z}F@?g2cZe(V_3z|;IB-p2w`BHrH+jFo6~K7nqFddR<*=OLYGIJsd2iWarvS24%!
zXw3uZuP%DAz)T+1m%kb#@)JWgZnZRX>C;rD!&bdI>Te~lhNrMUT6xh$8z2Ax({eSX
zT*-+GAr}r2oRMHlV7&}dj_zpo#Qc*dGAHtOm9u%AvDvOsb2pC=wJN-M3;7A(ZGK|O
z_tciwb1MjQ+NNhxxD}@1guQ+aLiMyT#RDXL<oLwm8^{g07LAfFqgc<4V<~Sj?c!0Q
zQBAmbIr)rNU956Mof@)j81*`5+Z^$gx?)?E=L;fmk6C_&UTcvSy4ABj5R=$Dh#fAd
zqcn!bk4xy5uqQ09rZ<_3QNM!J#{@?w@blN&qdRxtdAC+JsI2P;*$pb%FRh|j&AWb9
zIeL{_2&jk4=|>md7};=ARl~ktWm2zhAFrOcF+<#`KD>T1O;NE57H>gsmlJ@8SbK;9
zFSM4|so$zHip?KWr;EFk{f1hqKktTZ6@7Y;Sl5&KpoN~Tw%s@-t9k}G_;GI}6rHtO
z&Af5wm@2AF4*7NXu^4@zJw@#6-2Rr9<P>lIH)eOM7jB%we%~d7lAZqp?QAW<h$rr{
z^{{*E_JX1dQ6N^wV6^$zz@T=cdS&|z@qo(I>WR<-t%4LNs@>wapQ=eHVtb{^`>a5X
zxoP0^i|JLjhJAsMp1I5uZ1>NVG9u*<sLBHR9s0;_T-Y>siF@JP`XzIhHW~iFLACj&
zfj;mi;lSyZC1=;Odg|7YpBA?nnYMLpe(9H+G3(n<^(yq2L5m-vIG1Yu9hndmJ(Dus
z@rXOz9+Hbu%P##<3T5SQ)bX2!jKxIi{dwb;{uXzv%@g%wA`O$3Qs>czIxkU;JDTii
z=r>*cZpW~Bmw{wjI1+aUTEj%U-Qy1UbaUfUc@LNP{Ly$Dol5);P3}e(oj0`TS-m}y
z){ypP?;KTg4N9#j(6bO=y1hY9ES5Z+kpBe&I{;W7sgSxEaD$5OoMePW1?uqj0`=t1
zO0h8U$<7b$b_*)ZOuTwqr@gZd%~;$a&+-x~N-9Hlt-K2ruLQ8l+=)V}MbEJ(<Syjj
z0buR8hH|^J2;@Ejir_f67miyS8x~A6qCQ(Aod--iZfjgD)ysG1i>>O&-OD;*LsC*;
z2*n;EuRA<G-*SJTwJq-V8B2)eF_zrw4F;ly)nmcUkbW=OpVpvX{tK1<2@qh?3`nh9
zrLl6xRG`TI4)9&|=sgu<E<&s60B8}PmdWcWrQ6%w2s?HAI{q~#{brT3`&afqqUKt4
z?e1z)?8kR65-%ij?p<3l=osZU$vTvtIL-2qy5*S>cAnX*)ho}qI)4HOm`9hT+lK}`
zd;Mr(NVjw7M{cDWJyXl;1t5(_9Rs*YYTdA8@_hg=7ngp3S1gkJ3sQ#xpVDiMJc8th
zfWH!)Ko>o9q@4vln&#9+$cWfq1eI^p{m%}v!x+nl)T_@9op=#7*3&(~c)RqtL-K1X
z>CQzlV*8{3{ZM<tIKEI7&yAvU(?!pn?K+hp$dADp>u@uuZB(y3H>{Iw0ybeiBN_>A
z2nNEW8`x%aTOb^tFkZKGkc9k*j7$nXA~AO`u*R>aw*-R0#ngb!g>Gx7$~A02<tON7
zF?u+PRIeP7Lc@}f9qA)bLs4%Cfosvp5@o`o2(#Mqyt6TRcDg?K+acctX%@NvK?-Lg
z@>9S?Aow$~C;x`h&(!hfFB=3|Bg5y3tw~BCiarN?p|-tHp79-$-xFxgbWxJVa`jK4
zj=pe%SgSU^cn(SEn=j548HqtJW#`f+>w52;DYv5y?*Yk8itW9_8wt8`b|5`LIg_fy
ztkgHme{wHT``()?4yk{>H`9Sl$dK`m)x1NK=kQ8h2Uaa1a+~<XidQS8g>+zn^6aRL
zw77l#n13}65Ydk@+^OoxL#1?Z{lTGOlmCR8_6=_7CsyDS$<t|qWBn-Qbgpuyo;rgy
z1X&%U)no6C7H=i|@9#6GXHX7l(mqvrxQeD=!QqACxcbfE3fi}xI6UW!MyywgH=Ds5
z4o^r{D4>;eT1wDF)%2{8ClGTJ+v@|Nh~c3b`yw$yPTE;VmWuBZw;ee%qm$=#CP>4O
zwi37WSnDKfCX_#^5T-i08{=k+3Pnk|GV{o1`z^|DA<%7n)*~?($#j`gZ(BXnAHrQj
zAlw$A6JE9EZ!3%MBXWVu2T%j}Ke~DS2Kf+rs8xsmR!~?^Nz(OJ5ajGOr0!K&pH;8q
zHOxa@ETo|o`@jmXCeIi<z{ONb+ZSDPL}<Qn&Z}qQEfn$LR1k}#Tjob&$-4>ADpc2g
zwx)AClBr1_Zzxd(x>$yyIe@9eke(Iv$W~Ys?1gd#2I3%XZ}Y_5fpANNH6fW}9ETaR
zb2BPhycEr2CG@l?S%9cFuBS)+v4}gd;qwVN_`3g#^8T49&y13Q1wHY=T3S|h<csM>
z40#Tfb-2j+Do``Nq?5D6FTVWNDrO|+f8#Na<e6jR&g)SJmU(%28FBO?2NE>N^VOff
z8`spU7m{Z(HTVK!@I184<Py4RtuPVa(CV2&Gy}A{bmm6$5dPC$u&$UJd4XE~eR(ds
z02r@~BXg#@;`<sqG$mF*(L+(1p%+p0$@eZ1O62~qSBMpf{eRao#e3ShR&kb#S!ElL
zbRt>mKrCh<GNfWjt=C?&iZjFxt;8nAce38|Hdc&oc_Nq+?>5&^LwP<G%p)1&9Nw%b
z!zAkfyd7cx>9Z$cpQBBXh2u^TW%wmhZon#l2XLhrPB;+FoAK@i_yB$YmZqD7%R=pI
zo2U?9YXj|~b9Jw`$)StkZ1B3UNV9OWz_Y#LZD29FV0VHy1m26Vs~9Iy0d%$+08y7~
zkZMNCtNqI^igF8)4k9-M2y4UB#H6LYOP|_NTs4Leuww#A=(9<Dir0%k>D2p!_CT7L
zbFw60R~XQVH6iaiB15uwgOERf=HCIw0qn(G3KlN|q$c|cyz(fn1evrpPuNFJmb@DI
zTLISqs!(Y5t*5^ZsgQF6a_r=iX*Z^eiRQH??ekJmCx&TR8R9&#rK>GNY_ZRtNu#>Q
z92iYJ1ah&WvoXxOs4WG1_>qUGh+KxN!6j#Gr`)5imDfJ??TD8tZtEJCD_SypBDb4M
zM0qZpS@{AQbL{t`_F9P;QHyx2qoBvrc8;Ip^!eBNopfR1G{VCx(adnmkb*3>8u8%~
z>PMSANGx2#b4iiKT7N731zkf<3SuNYS0fT>#z?jSI2=hQn-z<CC_;v8={ELB=<cXJ
z7?k&+(fxpj0W5)2v@ZvVqR!tV;{aM%8|oL<>luq?FKw!CID5e&`4ecf$UaDw=s=R<
z;ZS=BA&sw{`eA=2f%Z<Ci==?jsVB!Ep^)B>><NV@G54f#<JXU`so@Ao&P87t9Bfdb
zcG+MtUZiV}3>Hp1Tw%FM`^#W4eALUB-d6yx0$u~WPN3UXkRfd`f{`!K`Ip+bQc>h!
zBXtZJUujLHV!Go6q;V=HKhbuUii+F=ltJzzo$R@#XPtaQd!<wq+u5QV)IKW}^~Q-r
zjW(f7j21_`R+Wi<wp_MCSS!N-{iUn3LTnbbbs)?pDT}yr*^LMTD$KX?P5$-qr8tyk
zMQ8Ok5e?j=prKuxRVm8ye*#%J;Cfo5Jq{OB{zHpaih=fvP~y<8t`tQi(sx#hsp5R?
zFO`Ds+`DeB61%dD0E?ObGv?+Ez(D{{)d8eVoI}GOI2@@<UVniPmSh%54229SE+SHJ
zkEI*;5Z%wCZZ?@}Sx+g_mSXd0dVyK)KEyfQD^R6BssMCLgo4@(q(p=4r+qO&44jLo
zpoy--&8XEobZNos+vpd@x;vfV=#qV9m;UV+@6^gw)J7L8WD%7g7h`0e);Lj2oKT52
z4EKPCThZ`z0*S@oP^Tk(fxnfm#5~iCjUZjyJ5f|Ra?sEK?J#9b!l+z>3@zJ?NpA)j
zRx7s5EaZ^yJ|W~DZQ3MJzlu%un<(N%W}}ToHuUQ^NWsGEHW_IT`(zrrW}WJ__O9xb
zQPz$70Nk6ij>tc1?@bcZtM`M>QvgFfz}|_=j$^2`$z|8(Ocpa{cY~=<0fro*HSgbs
z!r)ban?5>&JQMP+Ln=pmYO+{Hl2<%M%oHtM%cqD~`h;{UZz55L3L6%EJX%ZuOax2<
zU@xXhbCCX4`>9qq2Mf?N6Z9Ms@-8$EHRftl>qL2REov+yj!!=E)#7y|`v<f=b>d1p
z>tcS_ta{NP&NFN;b=K_$KOYkuz45K8|8Z33%}O0E(Ai}(iWj2;EGv0p#;s+5wi#X|
zHgQ<zo-6Ns?a*v7!Z_q8)W$W4LTzY+7%tw`==ye>!NtC=!wurie!TfDH1+}FKB<Cr
zNI5XPl!CE~@(l{0YNSJ~PbnCH>M2z|l@`k^)T;-bew6Bzd3cAW8F6|(rRe&5A^pvk
zg~(>LlSN2E%jn{LY>O<wD?3L6ktzn10HAPk5K>S%IT)!tq)L%00}KH;0Yfd?o+go}
zJ>4X7r*O<(2F6?{V@+i3e4O&S&p-iuHa#t=nB6(ZYS0{K3#S;VjXqlp5xcYnXN&UA
zDiG)em$T0jvQn~o@}&gF^nA{@3~gA0Pu5n9Xf#Ss15^XX0HD9RwK)<A$`iG?Q>N6I
zeYCNtp3+}-=vZ`8nmmOyx#xS5=2j`+1o=!)Fxuv!ATJiDyDi#wj3|Ru=1fq9%IJBd
z!0yOezYKadxIIA|HIez+1<OQn=h>*V6wrj4=Jp!;i^>_unF*MMY)i9;F8>MKR5qTL
z3+H}5`Ez#Q=R|A@2-N_l0{WPW`Ix*@+6vyftln{B$I4o;VGfR?zwz`pA$j|W(?=1b
zRbITDowIGr#e8wN>)qwzNJeMUQfxq<>^RRy>U2QLVx;rLN<VTjrLqyJGYIsYo+(?i
zjslpNOc@buBF^N)p@m*(T;Jl()=k%|^s&G?ZB?_dX|tM1vsY;?%_3x+G~kTKYg3-u
z{I0K?MW)%oh6YM2>$EgKebCpfjr5CgoiEWmyE6O8CJP?>S}dCnfLoSLkn9tT8ebym
znYi$Euf=(_+>g4j^5jU<HH|JjM)04O8i+BDJU6$ZBW6wa3zvv=SzAPlsKzEvmk2+C
zL^_48e9%r8<J5(21Ibvb5BX!)O|7EbT+nA^;LtEu+G_zZsIwdNa;Ry0D7wK|on8|v
z2g4xz+(5qr8CF8}Q+wkOSC+AgmtgHK1@sP>S(d*>UNc%l5Onj9Fnz#-!)gvQvnVgQ
zn*1Y&X_v1SQ?oklv|-?ii!Qyj1FJ=T*OAr2CrVmCtrc*hqRF-{cTlts%&kLDyr0rY
z;B$U-u{gbY0i~NxX|m-xL{Lw|g}uAIhMcn%zb0AuQQP!uF{5(;I%CretK7#Z!ye0X
z0V@E#7CB{*PqxJz#-4}DY)ntG$|o6Q7+A8(orHbOG8x?d7+3|!3?tApB?-RqK?0j$
z$>us`sbQbV|KnYXfhUIdg<NXi-A3gd{gy3vE?ro^*qKy3xeD|fOr|NOj=Y9x&au_i
z<0nmWj%aC*`F$?wLFq_>jskDXG$&@xIfCkpbB%V^PjgnvUD_9yh%(WvWnU`F92e0-
zcDI0SuQvHoG1NG@X9Z#hi%tI!lwS<OEM`8WAUC?bg--0-eSO_DqIXKe&oPT(_fwAB
zm7sPVdVtyQ{Ldzz71}kUk9lJ0KDF$D_*DdY78xLSizgUt_ITIGAo4?iHGtKCt$@zS
zKnSIbAa$b6mr>+h0D!?a4tamh;9rL-Z1uMx#eu>py^B7kU(izgXVcF{U&cYT9k7-_
zPwx>l+VAlF3pPEu9wlb4S2qX7(%(4Q!1ZZpu^DuPR7)4o+OM`y+<tx6+grq*98ueK
z*>-WRsACJoqR5+t;O#Ey(~*G)_Z+j+Df_s|d^~T2r5ur3<#=t#O`??i*qJxc_H(*+
z;Z5R-sq94-5>ax(K)U-*Ofd_6F1^!bD$86ma^Ip1BfQO#6<Xa6ai)Dg#Of(++YV7#
zwg<zwpCFb)wb?fH0G$?V2X}}GqE<`aDfZN$*P}-|^7qU?@@ef+j&JroUTb)AID9zn
zn2k@1ocsan(ag7h7oC~;Wvx7P*B3j*fSR4?2$P{_V}4^^PtfmPPseoEqJW*NTJT#3
zz@UuSbb(g2M=UJH$phUG1S8F!AbnaFppVa+@omciZR;LU+W8=8JOp?ckn&j@KnOl-
za;Ey22e{itWc4|v=-bVWPTx$!qx_mO+Ia^?-iMo&VaWIp4<n^*3YM)KK<S)Jbjqi7
z#oB}i#Qr7hI@Y1oVyH8_Stc}1lXm)%|DqvMj44~?Kk$l(QctHVg$R9;-O91$iJzrv
z^Y&6W^Qd<7UP0dgbbY&5w2LL^!MLh|6{R7<(Deb{@_8<=0WZlApB+NBN9+MMg9rx?
zITY1D`Uf$5_(fpJL7<yk*6Frp`rN0@_*s`?myRDY6J+~_X|9BrBc9U23Gse4izeH2
zSk{1*h;+|G4<i7*!L4zkxl7ydpcv5r|6aZc)?v~+%nPQ`XSU8I(~Q%sMJPCrM!`|N
zZd+Wxq<)ERThO>{$y}OV9$t?2(Su@a0dG8iMVBS$4F_X#hvs@nl)0cSE^|j#1HNi;
z&YJ0rw@LW`k*3Vd2H5o(oRzCZA0os3DoUI(8)SHb*mYq0&8~aOrnCL#iTooNO&y=I
z|G?gT>O_<SwML8u{uTXOL#&1Vvmx%+tzLg1m<+btqtTgke#j#8FE9YPF^s|kXv)s}
zaTEv?a8!D}VZ=Eqou!@iuqbu((Fv{nVd3h89oEy=1;TFrj)o63CxZ<KotD!#esqT(
zi0IkLqx7gp;>PI@7*qoAdjdFOYpEhD^M2%}w0A$4;V?h7AJif5PpJ2_g+Abt&m#Gp
zR@Eh{roW8zD+GEv?(6t}5W0}J5AX;Ia(fEszziQq`V0rzp>63BGpa8_y&0I1uh7k8
zq~OHMV|c|ufsP|Zzq^&b!v8?~s*6sg_@LONW$zQ$iwm_|_lcoH-b0f^fL=|MZ{YQP
zg4p?F+?S~9cBZS}?o2aoJf;!l4l<?9B41nei0CJlcSRo&!yQh@KAD5{Segw;3klOg
zKj(p?o3yT{#i&l4M@byf(ow=pN-vcA!TD@t^YQIdc>NRLX+Q%=SoyFud4Na6aEO7%
zl20_6IDBrRTAVi*+_UZ@s-~KKD|NE!5t|)7wTM5s_oPecO724bK4fIe|3>;zz==gE
zqu(SS>!~jvM~ap12}-%9>gjG4HMd*ObQ>35ez$h`8IjvriJr;<>j38fB;XFfZonSE
zgMeJXbASr~ZvZ|6<X~FgLTWft{LMIjE<PBqrGO?t8G&xamqGGY)Lz$#+%<rU0dE7E
zQNjhR(*HtU%1X|~QsClLo(sUOmy9CyB%lVb9A3}C94r8EIKKg@O#pa&x|I*duC(AB
z|4!tx&457h1+!%9ISh;pX6Pz-j!v)oRoEsUGxfrPF3<B~xOEX%Mm^VQ(hm||z!5au
zPN4TEch%cYceCMmbxS*aazGIj^_dJ%tloACixzR$;H0_h?UzMJI0{f>HwIOxo$)H!
z_aZIuswf{{jC?k$%-R;b_Og3CeFooW`e(^Xs|ohX6nmxXu~&svG#xXW!~*j%%KiUC
b?c>+PtlBf3V(>B3&*N8||IH~%ne+bzFpKB(

delta 14203
zcmb7L34D~*wa=X`%Oqrh>?BMQ0t{dX`%X59pa@6;D5%4iS&|{Mac9C3!JyWqQf2wX
z5A~^7t$?^-BgWcVYt@4LQY`vW6<QUe(qdbEKKokV`JZo+2|Ru6n;-el{qAz^x#ym9
z?m2fpp1eEx4||da?ajzYOQKKl@9t{5;*K4I3Pje9kuQ%DNuDH+Jup02xw4YW>46c!
zkt;`XIU_JC=v?Uxj$S!hEfvLLO!o{?E`&wB+_b9uP16s}qO^OJt=yblPK2X^z#%IL
zWtn<Q>O-QkduH0bHc_I!mvyjY4C)IAbbG5e=5i}RuT-MCnI7aY^}+0-qG{-n4=6>q
z6o1I?_A8#SbgJ)X=ZnJbud*vd$!N6YxMKdGHyTrd5tkBD0{*C1j->{5{NU2==D`z0
zDL9hD&^J3im&+XvdEGI^qsVFM{X<5Hitbm3EU;$OQzxfcDj3kBRunA|6>6~PX;G<;
zDRzm?>ek|_ydR)(6G7BQ;BaiAkE~E%FTSO?k}CEK-Rg;LjCgy$rH|7pm!rR;ZWvlJ
zjT!kNo^K@3ZLQMpajlovq9#E$nI0XhS34ZFwT1*&sILzF4N36Ul6%C^Dd_CP@JuDv
zLCft_q${d)c)TRK#lwp0RCE}G4(W5}H8m_=G_Rq#Zth~a6!nlMEsz=EjvZ7HH4``-
z@%>ucePGy!CgD`Kmluf%>Va~{lrjwMAFrFEF}dHuM0Bf9((dVI>5WRJWie<Gv2Iau
z*kr#0WA6m~hx*v)0`;@XOrrhw%8|B-RH+YD50>YvH6v^lXHO#U!H_)!(E$|OMtm;n
zK+$QD`_Tbgz|xRzqn1~8FO~JwezlN4rsn}<)Lo;tk~qtp*NJo38%eCaJ9_b~@8E@I
z1Z~|OkzSAA9rK4nQ6~JqmhBlcR*3t%cZ^+Twt*A*kox(!i@WYaaWF_E&-W^^pc0V}
z<0*Y9)UY`mnHydol2z!n81?ohZ)?ySiYaa-EXSe7I@jCM(JCjP%Mbw6K;BK@Og6Uk
zaVqP=r;C^_TzV?+jVtPHrK0+a>ReLux2lf_TKk<7zOg1$N$$cpYc$~XMx=wva;^H<
zw0s-*kh|5_rsaz=_2X#{F<MQYUT!lqK^-@}RJ^1vnm)pTjn^$c>0QfgMB!XWpZEjg
z=)QIO5_1V}&F?|-Jpxub(sDz^BdVBvBbnJvv)^rdg<4PDeEQIy|NPCtIr3!;cn9z<
z0OOq|`CF91Uf;@(QCT;|#_P#_K7hyYbQl<At1?(JrhH3%dCtQ$<;I$4S8!hwb?Y=&
zP4snI9MQ23p6?rT)dXLs&C$4|iE2Qt)9RStIn&`3#`K0Q>9&|Z))5HHk1<uhIjK8p
zkC3oe)_rZBUPCPsQ}haydI`QUIfA-*k+MjZplUXto?yS3I~s6W-8%15p{O6tYZT?`
z*v2V?Hc=Pd7L9o$t~R+@jWmv<ecjV|H|?uh<}6e%nSW+p185x}I7NR+NwwQ*Nl-p2
z8D_(#H>A&9LPPpBjdcpfq!+5ys|qa;u=?PF2GOAYX+fE-0yN%Mb1&$og}r#e>%!hY
zmCRJ{Tj(4<89n-`oHMCxLu*()vv5dJ770Rz@SKg3AEj!*8nyJIlH7JG>KO?h!zA9I
zy5yn~5<}>se0wei@#J~x_KR}uId~on7@{7$=u(nN+M@HJ>q{4xnZ?U$Z0RLkVUUNi
z%Wl9Vz<mH0fu7nY2g!btjgEI&zJ)#o=#!Ihy6)Hp7d(M1L__vmI-a7-{ZaDCE5fqf
zE2R~qc)_q3r(G7Z2|!ilPcg<6i@Ok$>S?N|{0I%OrKp|2&{al5VIi;1a@FB0=zhM*
zX);AD>YtY#F|Dzx_b$#iSvRSxmlQa~Cd;OzHBff`P&s8lIkm66CQTi;B0tj>!%Xpy
zLCBg+W9;hM6=lWN2S{HJKxg^0$>y=nqSB_MJ?ZKf%X8H%Po6z#O-8&qNxgb%ex+?w
z@<X<>$8Ap8WZRVF>Yph#O#9VbF~k%r*S1uPA%o80;n|XWk)p1>BtLU-A7xL<=G53Q
zb<g88XtY+nSmbI?-6^uHX;-&wO4G&%M1E?jKgpPtI3H$Ci&be~91ue^{{dmw?#L1u
zqhs)_@z0u~{u1_%Kkd9unHMLRZ}+5}vy4<)crg}Um$YVR->^+7n^GT2f51$FqCewv
z8Ijs--<%#ASCJH((N~+4G(1U`Z_XeprRuX~x#o;b8CteU6xuVc$_S-+k~Y(~`t6#F
zn+GjwX4`L+SI}VgfaGqfX#2_YIq6Fu98_Y`-|3CI5Xt!bO31AkmQDl6k#jik63WTz
zya87*5>=nRw6SCuo11Ql(on-NajqCDzDuoKIjrjvJafdt7R>XrO|k`eK+)C_@hCAb
zn}Zw+dxH$+c__h#^)$qE!LSGZFcTH#1;GxENaSwxd>wEU4Y?j1Xs(t(*xjzQdR_jm
zV6-i~-Z<f4Ge*2J$T-|!;ChP3A0_I_2E+76V^;S4sT@o}8WMJ-r$j?ags8=IGl@XH
zfjaX#e^gHnQk3a;$HNr_N(oD|qi9%Lwpy}kJcWFVR}G~gFtDnixLzcUt-f*Y(ezR8
zR8PkDd2jH)GYvw$Yt=9@M}2x#zGZe&PM-S5RXbDP$UpDR{F<ZrHR_hj8oCDO-PrJ6
zPUX>@>O*;t7rmJ?>uAob8ynuq%(<~^&&0h`e>`>H)PwbJR!luwG4)u*%(p6LJ~{t|
zz|lt6(MIo^6~3btzPHz`JG!RpZ%Ik*qS5phQl>`J8OC?=3bodqt-JmE2EUni-qF1C
zwwq5B4?9*o`K{u~2R%opEIiWohF?8;**(+FACYu$D8aKOjVbhXxKhloOgcOwZGMjV
zaCO1_4D*o`E7csyuu{#D95c$5S@S1%AGo~DRPrQA%6|g#ei^b%^>|}mw>#{OLMhei
z)%Er@RBw3KRqE!|C0&TZ&+(t<Dh#{G#7^6dovy(w6@W6p9Kdh@r6uw0&W<1RbUuWG
z6a_0$-u8j+Gq-<VjU6qf!JQ8BpZRJ1gP!PKto+?P7%S?tElZS6nvP=inf8J%6lXXZ
zor7e1|Jp92lAd8qkI)<E(s}>ym8K3@sROIxmGW`M>YR=VMp7<gOprJl;KI*Y*ig0D
z=Mb-T&+?U8ZCHx@SY6#df@0Yl+Ar@4pkf-P;PW4+pKfwTC{T(jQYsteYShH#Nehw)
zM_m&<iBL3g{QZmVi!X{#VqOaEoS8OE^#vS--@63$p1^qVVfUMXhb&pFS~kPGv0mN0
zcDg-?74WIOOnq~0+1&AXUJPKbgmd}dV~q96kg+;NIz}-|mqIjr>VAi4OQ16q(3uQ_
zDVMt=8Vi5h{bT8}Q8;YcID*i*vAXLQ;DTM-eN@sd5hd29Th@gAAxTC{j@TbuFa6{<
z3o+l*=#B7S{t}J3l)(kok=Tuhy)T62WZ)U}8V5+&NsggCE|6MHpj!(f3Z=mE3OuA4
zR6<CrP3oDAQTx3Z&TGukuI>@JCQ4YZ>l`QYyAO5VY;NJ^=crGowQ5bo+e$GXi#G?u
zd_+>V0|EdnMh2<mjPG^?wTOEuChZ9L{2OGLYIJ*x67^1*#H`4B)%&j+Z^Vuv_4rkz
zM7?V1x`E==A9X#m^eY-md;KF2=CV~!^GE$5T2IJL7Xu)j93rJ8Wz}u8OiHfhEf^FJ
zzQqO}JRt7AYs(n1P<?UB3JU+qu2u($8uie&;pCz9ZF9vLb=dY1ji-sgev>30N)85P
zp<9#<{;0$eNbGO}2kn!vSfQIkN=R-+_e`u9S&IBn-L^fiyq=1>-S3II+yNyT^+xBI
z(TIQ|PKM(0A?oq%4P}^BUQa+X+(2Kta7WRv@6@?Tt=Tb4>{B=Gm_pJyv9nNpWk*xt
zO_*?NoQ-HlkaAHBmOIsHJ4@+wTCsD!cu?K5vxdj)C>=0?#I~L@#WwYP@vwSKEvu@e
zMhY#q;md5$M1Q)OSnu-sd~u0xG5n{&+rz5+)~PhlowxpAL42NXFvRK$gq0ZGcNm-z
zvw9{nLRTa#<8qOk(NV04TIriFP7K1DP-}NgNJA{`4hJK1eyZNTtB$7lcvl4(SK4j&
z*dC$*@>2ED+p5KN>WSO(?Ei@hR>dz>p$+chkOfJho=i6pZA!$eCsP=r#9~r{J&BZ5
zH!odQ$2O{4f?nE91(nwIZC>e>*FwhI(e-BVo=UqNq(q;3eT_<Jg`P&0u2|R=>Iljv
z^s-5BgmQVg<SslV2kDwB*g-j+(h?<W2+Nq)L$@UqZ$QF&4u>ex>vJ)Okg(y_5{5n2
zFzjXOAGKzi4J;+Avv&`#`XSQ~g<~#%Ylx=pP+WeGZd%YJ4{(de8;P}%_xK5hJg9El
zoiFZJ_wF7udpnvfm{?Ee?TD)=djokly59-F*2rBb-2=FdAUYPl!kJRbAMzNrx7Ub^
zySLo_2b;}=PBq<ad%A30Y$R+htnoKc)2Tad$EUYO?ng&hkYO-;(MVI#=gc#5AL<_f
zuwC3twY}*CvWI}OV6N?lZ!8NM7S1p-XX^sG9hvcsb-@y;`t}YH+te%fF7JZ(h-(E(
ztRx4Cylz)Ko)unyYa4Bdv7guwWB)DgfInjRJ67aWiJQStYrrf2iBA6jB!Ni*NbFUm
zu~&vD&}7qr$JOQgD#mTWD8&A3fP7ylchIA5YjYuW*KO<h+YtOc>b`wf+JA=b?4>Iq
z`BCuFm+W6GUg_Sqe_c`WpQ*W7euuQ>`|9-PN7>jTZB<*JcXoXXMj%e7xfemZA<1mo
zAF}o=`jXqIN1udw+W_PP(8mCldt&>rbMgZK?;5wBz$5lbo<!*nfL?mMRQ?gg4*?$$
zoJAKibS7T}+nV9fMbNnXco9_oO3;}}S7Bj?Pw{V190;y-OG`_51N&(CxZ3tY*`yy3
zNj*gg#5$zn3d%2NRBsl>*Av9G>+71cR(D!``h_uc``r7&va0XX5_t;zvb8Iqb|ryc
zs-8Gr+GY3<oZNb9Bplcn@Q3KW6K9Za^@m~;C+Ox*Qlh`3B8_sZaMTs>w|n&zpFa>-
zLIc>n=++MEJdK@!`~;IN#yq_!^{W~kb?`jocM>{RkWjkCXDOXJ=CGqlreM!f3F0@(
z8{*%c@;FGdR(^`oXMoQETQKo=sHZ%Q)<3DY9=<*s>PU`KiMIDC>Et8jwlC4)EA{dt
zBT^)*S&~V;`pB&|*4xF<+ojOk@Qd?AdiS9hGqULHeeT^$rrwWnd|<>6FFp+H?r^~6
zrdv*_1Y`|$iC@#=)(|Y-q%PIxi4WA>`fNK6E8{%<P(7hfnaexHj@3+#*SHd7U!Rax
zCQD1th{&+d<?%+nYY^OG9%G?1)s@FfD9PJ!eE8sBW4X4CF6kv!uo`)R`sncjBWf9{
zzIuGTc(?o8<4>AW>?CTkqo>qo-XB4y@5k>i68}&qe^5b3)}<fJ&AAZUk>J5f_h*lO
zkXx}F8<ZYY{81ONv%wz>8@6s7hN}?)sHZ+?693gb^TdUzT`aE}kb?JYC4T5*sg-Pp
zF!i{iC)LV_upV}!^;DmTTpB4v+k>`y33Mw*t`f{krpuK2$LeX`AbuV3huXq)$*o#H
zy=>kABIm!6u3<Rj(M=mR%EvJS;w3#3nK(sge&r%Xwt9oImTJk;{g{BetwHHw^?^^T
zmhoO?V=Oyf*88Wx8qRFV663hIfFAX9Tp)xg$m6T;ndp{@dh_{_DEn;Lf>C*D^=Iu}
zyHHF>dxBvf<ruUKO$~sV#EG6BAU@$Ta2m?XArm_pa+?x$`9r?25uF${MwD-e=^k`6
zyXg)ATcRgN$haf!n4S{xM#HY|qR%G^F-l!@x;#G>?P(FxpnwwduZ!>R1lYvnbVHw4
zQI}4qdZIX2eed)TVebCR=`Sr}X7?w5QB0#*a(s~T{;;R#?W)Hbu7ETP2%4o!jea@4
zxnKV!OEMvYTtf!D!nF97x@hkpkH67wCIxxJaP3Rt2tBtKUKApdQvLeN@+^)8ux#0Z
z${Ka_SJMpp&c#{^l8v>jRd4vpDI(pEeRWXSFqzw;?$|S=`^vAcO0&I(;U>hr+F-Mo
z<YeyI{Nr&ZD<<ei&BT$TKLFMuW^sY|5AEk>F`<i1p3k*naKf@-N__m_fRiq2Xe71c
z8a}<Kf|v%J024Tn1{_j2_~=x;4Yj!7Ghj7J3ZMnx222to33JiWgJ&<m2WSOgw|Xa_
zwNO(nqC$M3^;ksL8Y3!2Js&h2gz#3emb1RI4X~?X-_O>-VFsT9d<@|zF|OF!F<HM6
z$N(M{w6<t_tfC+*59J_gLx8Y$#408?^=m`o7;#P;aCTt72AmB4&Y_?!v5C3ooueFQ
zK<5j<UjTmvV25-|2-o$ij}$d=SaUsiy8)1p@=bVT_P1h0a+?zJP}C)FM*S^-ZGcf|
zG<i1AU#GkkHM_K`WHHOsk)+)+RMd(J?crpxO5D_wnj&tn)#HwOzsWzASn+3J3+o`E
zeKe5rJ$%XcsfogaTfi(=XjFU3dD*sKe>v)v8d=}-)*#_avl*tS%_$V+SvR2XOBl>4
z;LBR1P>d2=wc86taRn!Yi6EEhLeE-_F!&^q)Q%O3MeQsZN-frTTj?+09A?C*36(*#
zYNR3xnBETHd?bZDRWzbdJ`BCltsG>~Z*CodfP4gl9tAuJVC|ZwZ7&i97j>iJb&Rky
z)GeyhQy14aHP<yPTew*MH)yjuK0%!*d7<nV$qVH)o(`Ia1C&D;Urx)0@@QWciD9-&
zFmA3^R4i&lvbM5VIBW=P<tA-Qu^74NRmkWy!0UiF0B;fK)|KQKeMWlGuQhryIU$z}
zug85NQWz>4(T1T;+Ly&*ru}7baSW4uq|K!3*sQm}aSCqn=(=jXJgS9;ib5NEhPSnw
zhl)Dm)Sj*#9V*6(PkTg($h2m$H^IIbj^t#Iqg-qeHHnCN5b^1>85smjkzY?}_HKwZ
z;li8^md*5AYI7Q~g|upP@Rttx7Gx1w>&fAc7~(_u4=sDR$g?3@m1){}!$kpUYU6M*
zU98r&3>WlPLC>5@@j$wfKr!>bg|v<W-UhJn-bCqasTxQBiEwTFCqhVu6_i~i)Rr9L
zUX1I9{pMcSMeh;x9Yiiy)>4U#px88)9^hVkf6q0&E74^zx&U-@n9|fVlthEf*0xO$
zdGk)vnwseq05f{^FI`&j_zvcU)9uACPp6hXS$f@P7r#>@-84oQD`gS2e<Q}p!P=)2
z#H5KMFoxkl@URC1=MzY52InxHDGR-=Ub+C9VL0?u?c#}|(w>Qd2547P#bm6?S!`Go
zXY&fkunDn;Wrc<=4@eOYYR4yvy4CD*e}^XCWOlyTWW$#3!Vbby>sA@=2zg`*re^!;
z_u9^?gmcx6-y-<8!MULFGi}o(F|+D9(0LwU7z~=u-gaCvt&4BF_R%CUtNv3k^%=m>
zBaG&wx!;7O3EZ$-PPkx!x}E5prMV}I<)nE}O%}6-zvt`8BAPNWmD-z0)eZK*$V7~o
z1egq%0>GI{o#vtZH|_2@!Z9=nGzCH5^&h9d6VPL>rq2=Oh4tuh32_`vrQvk28y{Jr
z<<^ky|5jUEBW|*>E#~%oP$L?|Dt4*J0DE0v<wJr~yM8y~6MI$moW$h;-AXEG#?1?F
zE5%w~iR8ggrv`5lyEE)Feziv5Ty1k5`RNMnfjXM#_u8j*VuvwzPtVo$;_b{XY``MJ
zsZ%L#c<d6=v8aSuae(nxbb*19<**ecU<kS=4EXzOS7xAJE$C!X$tQF04Er+D?p!L-
zivf%1uU;0Q`XsHVSr(!Q+oD$zs(msKj~v?Mqf`Va2EfeZP_CoSvIM2UCatzfR4$a2
z^rUCZ?F-zaOUWTa?nVwi8hzR9*c5+B4ZRnj6@iwX9Jj(={A5N4+CxpkA;xI0Hi=<k
zuXeggly{8;fqrm02J9DGAloAU6p;vxR$vU9>$#?hg`9`hD!@2EH2}s+mjdB%K%Q-~
zT{2;_99WG<_k^)>6vldzFx#oDCw;HVw6scj4CK?4K%`BfA6KI>I+^H<F_H$hkA<KL
z`_Qw=T3z9FUKvm}x|Bc{4UyPCda0vsxo(>8)=ewuZ@!PdeR4U*H3OERkEvrC{YB(#
z)ZoTg)}Y$lqIh&0fs5KE(H7#}Dv$gwKX9(Haez7vl%@k_0RCNH!AF<HJ-)hH)`AUF
zU_AXzpudUn-(2bN)<u-8{EKCxmd{tcP%FD$6lzPB3#a&FPv>%RGBp_Y8J(D%<C^&>
zEdV5ZM~Y#cKGZ_q@&c4DB+v)-$+LYuWhqgaa3?rU;?9I}WvFDn_UF|iU;ALS7%ALZ
zvLb?pZQs(<sfY@bo&5@|Rn}<x-1NHQC)&$yF}~{+600+9fOfL#aTvwg`50K@z#UgS
z1F}oQtLSO?ZP~R>33Pa6zf-4(7jMD|#YpRu6WkiiX1jP4T_0;#dPrch=O-TF6ID2~
z>DPdNLhVv07v+0&`i-8Z(5)aDP0S(x*)!cI%1yZgRt63YFQrA=L~++Apf`wyb_63E
zjV<W+n6eZ;;ky?4CCIQDatPX=J~-2jt-1~ybUmPd!OXJ!0qPWt#%}ATVIkaqOKC_U
zo$C7b4BvDLIQ?RJ`ZYE>ACL@hNqR?H>lZ_MuJH?xC~5_@Ho)1YCjC#ei;lc3cFcTw
z(n1h(UU#*aUv(jso4?mp%S(x#o{U!mTpiP7y7u?0NfrL7m0lxeb+OlGmke(_z!}4i
z<x0RRK))wWIO21CFejgvp>qj%JI5Qx9WgbOq6<8%9A@q!bl|xRP)^XBgTce`$lf}Q
zB4T>Y2roUbA2$4T!c{Mz?iB6u>BPW-;qxFH<l3mcGjsV0N7JIZC62gpNd@%llai(;
zb!Iora8y@SO_)5{G0N8w^?IDL1+8NUI&<B=84gI!F^c+(caC+`&2Uu8z1p^GMJd_b
zBlKlQWYX&c+aB%MwW7?phiCiYaEg6@DcY|EVb(G)N>Cf!=A--f4$r`#jOcx@=jUw1
zaQuldZ7Zm4!wm5IUH`YwXM1+e8sLIhxxZiaK>SApdOE#7;_@khK#SsTmqFBr00BTd
z;1)pFR3Ma6Mo>E2!^^d(lK{AP<39Gg-1`o6VIRK}B~A;zH>w!u=V>dxKPZHwXBRI!
zKy@8pJ%OImr)YHGLEUib$&F|+x#<w|SJU5kIT!sqXlc<|xC^SGyIyVR^^|?@>e+C;
zcw~^6(=&3HxKz}#hhkmi6G8Cl77yXbL4^9Q#OX$S{1m=QH!@C6HZ5|J_N&_{Ypc-S
zzl}2d3$<aI_~CR88ViXiMPDG@`xD5RwLXWQ>1R<^I;fRAMioZpO0N%TCpB@Q&G1~>
zgx#Xj_9)izh<5pIkx!F!>=qM6y|#b1cw`zTId!sg$Rp>U{Iup2XD?6wvc`zmklBA@
zugCjJ4t^Q;RNAroBD2%}TqED#yX|%{c-ozyi?!<+kZ07b1iY>dWV_qZ0An?N$zVr@
zH5j?*h1%hV#G*pnA<*T0Al#w^=ygQD$Lngrt1Yi<RS%1ju0x>l1fU0yh)wH32(f8g
zFaz8Hf@vdf`kYGi_Ua~wXSNYJenAx-e5#`E4_nl@<AUU{QaY93$$DYBRL<le^#nD@
zBJJqI;@PDfD`F+&fcUKExawO}Bugtg((50{AZ4rk2Og0x>M3;RPrnKKS~+t(`^8-C
z)FYIvJfqEdRM2ntJ-0n7I>b_z)k%zp*Q6!Fu?+w|;aQe9W9oPU&k-Q|9}f8xYGMte
zmwBw(<&TMxBl|Nd-Q-)ZTU+S;i#FqHeS%%OTsZI;`ML`2rN_iv@q(85Q}G`EaBlc;
zcv8QGnCorC40PW#AaynF9rtQQ-C~rJSMWQqj*z?4v~UK!XzW-z!?=Q4f`-c>`n_6v
zw<r{u+I8KcI+srs{D{_D1k$*=l6Pn?b&FCbEWv5&OmDy|DULa_9kDhk4-y@!OlyGC
zp2bx;TK41Qm0w4TLuP;sOM}CLL|~q9*zBBHYCi{8=Uh*5?2aIufA1P_gOAvW{;NjR
zM?Ztdyt>8h^#|g4b4MgHn{M{{<8C8T=ZyRy*36;#e}S_^ka)S_p*g{<)&BIjD6tPP
z04?v3aOT3v>M85}As4^x!dHz`wdO;@(bNsr9|!!D0HM@6`hlG7^Vg_N7-S-%Nx1X|
ztnYdBdjW75a6~(NNQ{{ID$1`B=qdPd%q3e}<ddlT8Q>{2Wc4-Bl^0&N^cZ1mnl|bQ
zG3$bB&~FZw{a4H~4J8EK#uX|OdmYz(URNvqAAt`*FFB%w=snK1zQTIr)DYSuPl%mj
zvsTw5%8Gsu67K=}ZA~7<<NMmC9^tcBK)kbwdS``pay7jid-^evDOUDmKPg7q9dLVO
z<m=IC1Ij|eVbIqVVDb*_lIO&ju9;}YZ7HSyxKCOne+};IP|Y`~&*AZTzzcwSkg)Kt
z&GAb&B8H0x43>Ng(agzjGxg%SMsUm)4R=F52X^wZK@po*_VptE;;#Z>D!CW+J(x5@
z{sQHv0cSTQTzRwnWnX{!3`%TWztUQt7o)p|gI*b69bg4uE#N-De!#<kZa@~`H-HG>
zEx>1h3<&RSlt!SG1;_>z1BL=t07?jS3;pM%nDIYfI=fIC0$c}p7odR7H7K!#3P?EN
z;m*h7P{1k%^jnM4vw-P%<Xm_jR(cU&1%NZPt58C8rd#;hYO5I+=MSKkT>#XEf4!A_
z23LTQVuqe4UZ8uW%n{ZpXOjA1X^-i!7-?C|ozc%ZR<?nJ4{!nlcM<406k57Fq@+8X
zDqjcvo=?dR%^A-nEbb1<V3uOYjo?J-+3>Om3flp!Cr>-`3c2NcE%Q}TKA`}E3IWX3
z^(ggo`c29#ejV96M~<*0!NDX&@9J^CDlB67J9NwXul{L2e@)D(S>zBy&m?^}e!=yB
K`<_<j<bMFBhyeQl

diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/__pycache__/config.cpython-311.pyc b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/__pycache__/config.cpython-311.pyc
index 1066fb91d5ab0a7fb640782952b5a27dadee3d28..9ce2ba71136afc2521074bca672c135d3fbf81a1 100644
GIT binary patch
delta 42
wcmZpcZkFa<&dbZi00fgh&CQV9$lJlmsIhq(XB#79=w?~&Z;Xr*lSO#*0rKYyYybcN

delta 42
wcmZpcZkFa<&dbZi00hsT&&-hC$lJlmsJVF>XB#79*k)PoZ;XsmlSO#*0sAHkw*UYD

diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/camera_manager.py b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/camera_manager.py
index bf7427a54..0b6f2fdf5 100644
--- a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/camera_manager.py
+++ b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/camera_manager.py
@@ -14,7 +14,7 @@ from visual_worker.processamento.radar_top_down import Radar2DManager
 from visual_worker.processamento.segmentacao_semantica import ClassesSegmentacao, SegmentacaoManager
 from visual_worker.processamento.costmap_fuser import CostmapFuser, unpack_snapshot
 from shared.enums import StatusModulo, T_Code, CameraFrameType
-from shared.utils import analisar_linhas_por_profundidade, decode_image_base64, encode_image_base64, fazer_overlay
+from shared.utils import analisar_linhas_por_profundidade, decode_image_base64, encode_image_base64, fazer_overlay, get_velocidade_atual_ms
 from shared.gps_handler import GPSHandler
 from camera_worker.camera_oak import CameraOak
 from shared.contexto_global_redis import ContextoGlobalRedis, CtxKey
@@ -401,6 +401,8 @@ class CameraManager:
             if depth_frame_np is None or depth_frame_np.size == 0: return
             segmentacao = self._ultima_analise_segmentacao.get("classes")
             if segmentacao is None: return 
+
+            vel = get_velocidade_atual_ms()
             
             t0 = time.time()
             #grid_conf = self._gerar_grid_confianca(depth_frame_np, segmentacao, dist_max)
@@ -409,7 +411,7 @@ class CameraManager:
             t1 = time.time()
             grid_conf["ultima_chamada"] = self._ultima_analise_matriz_confianca.get("ultima_chamada", t0)
             self._calcular_performance(t0, t1, grid_conf)
-            snapshot = self.data_fuser.update(grid_conf, ts=t1)
+            snapshot = self.data_fuser.update(grid_conf, ts=t1, velocidade_ms=vel)
             self._ultima_analise_matriz_confianca = grid_conf
             #self._ultima_analise_segmentacao["corredor_perfil"] = self.segmentacao_manager.calcular_perfil_corredor(matriz, fov_h)
             ContextoGlobalRedis.atualizar_ctx_dict(
@@ -422,11 +424,6 @@ class CameraManager:
             #self._mostrar_debug_grid_confianca(self._ultimo_rgb_frame, grid_conf["matriz"], True, self._ultima_analise_segmentacao["mask_color"])
             #key, vis = self.debug_show_visualworker(frame_bgr=self._ultimo_rgb_frame, grid=grid_conf, wait=1, text_mode="full", draw_grid=True, draw_cells=True, draw_legend=True)
 
-            vel = 0.0
-            imu = ContextoGlobalRedis.get_modulo(T_Code.Imu)
-            if imu is not None and imu.get("saude", {}).get("status", StatusModulo.DESCONECTADO.value) == StatusModulo.OPERANTE.value:
-                vel = imu.get("vel_mps", 0.0)
-
             vis, metrics = self.debug_blockage_imshow(self._ultimo_rgb_frame, snapshot, velocidade_media=vel)
         except Exception as e:
             self.mostrar_log(f"❌ Erro na geracao da matriz de confianca: {e}")
diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/config.py b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/config.py
index c5d1a587d..993d80c7b 100644
--- a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/config.py
+++ b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/config.py
@@ -32,7 +32,6 @@ def iniciar_camera_manager(mx_id):
         if manager.camera is not None and manager.operante:
             mostrar_log(f"✅ Camera manager iniciado, com MX_ID: {mx_id}")
 
-
 _CONFIG_PATH = os.path.join(os.path.dirname(__file__), "config.json")
 _CONFIG_CACHE = None
 _CONFIG_MTIME = None
diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/processamento/costmap_fuser.py b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/processamento/costmap_fuser.py
index 5b679f2d4..b3f34abd7 100644
--- a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/processamento/costmap_fuser.py
+++ b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/visual_worker/processamento/costmap_fuser.py
@@ -42,6 +42,12 @@ class CostmapFuser:
         self.buf_zref = []   # opcional
         self.buf_ts = []
 
+        self._blk_state = {
+            "on": 0, "off": 0, "latched": False,
+            "reason": "none", "dmin": None,
+            "last_decision": "LIVRE"
+        }
+
         self.seq = 0
 
     def _stack(self, lst, fallback_val=0.0):
@@ -112,7 +118,7 @@ class CostmapFuser:
         # metros por coluna
         return (row_width / float(self.grid_w)).astype(np.float32)             # (H,)
 
-    def update(self, grid_dict, ts=None):
+    def update(self, grid_dict, ts=None, velocidade_ms=0.0):
         """
         grid_dict deve conter (grid_h,grid_w): "custo","conf","anom","navegavel"
         opcional: "z_ref" (m) 2D
@@ -189,6 +195,15 @@ class CostmapFuser:
         # escala X por linha (m/col)
         row_scale_x = self._row_scale_x(row_dist)                  # (H,) ou None
 
+        block = self._compute_blockage_metrics(
+            custo_f, anom_f, conf_f, nav_f,
+            row_dist_m, row_scale_x, self.central_cols,
+            use_persistence=True,
+            velocidade_mps=velocidade_ms,
+            a_max_freio=0.8, margem_parada=0.25,
+            N_on=2, N_off=5, blackout_imediato=True
+        )
+
         # incrementa seq
         self.seq += 1
 
@@ -210,13 +225,14 @@ class CostmapFuser:
                 "near_is_bottom": bool(self.near_is_bottom),
             },
             "y_range_m": [float(self.y_range_m[0]), float(self.y_range_m[1])],
-            #"d_obs_min": (None if d_obs_min is None else float(d_obs_min)),
             "row_dist_m": row_dist_m.tolist(),
             "row_scale_x_m": row_scale_x.tolist(),
             "custo_u8": to_u8_list(custo_f),
             "conf_u8":  to_u8_list(conf_f),
             "anom_u8":  to_u8_list(anom_f),
-            "nav_mask": nav_f.astype(np.uint8).ravel().tolist()
+            "nav_mask": nav_f.astype(np.uint8).ravel().tolist(),
+            "d_obs_min": block["d_obs_min"],
+            "block": block
         }
         
         # (opcional) incluir z_ref_u8 pra debug/visualização
@@ -224,16 +240,6 @@ class CostmapFuser:
         #     zref_u8 = np.clip(zref_f / self.y_range_m[1] * 255.0, 0, 255).astype(np.uint8)
         #     snap["zref_u8"] = zref_u8.ravel().tolist()
 
-        block = self._compute_blockage_metrics(
-            custo_f, anom_f, conf_f, nav_f,
-            row_dist_m, row_scale_x,
-            central_cols=self.central_cols,
-            robot_width_m=self.robot_width_m,  # defina no __init__ ou config
-            margin_m=0.12,
-        )
-        snap["block"] = block
-        snap["d_obs_min"] = block["d_obs_min"]  # mantém campo raiz por compatibilidade
-
         return snap
     
     def _compute_blockage_metrics(
@@ -243,57 +249,69 @@ class CostmapFuser:
         robot_width_m=0.84, margin_m=0.12,
         thr_anom_block=0.50, thr_cost_block=0.65, thr_conf_low=0.35,
         rho_block_central=0.70, rho_block_global=0.60,
-        near_is_bottom=True
+        near_is_bottom=True,
+        # ------ NOVOS (opcionais) ------
+        use_persistence=False,
+        velocidade_mps=None,    # m/s; se None, decisão não usa distância de frenagem
+        a_max_freio=0.8,        # m/s²
+        margem_parada=0.25,     # m
+        N_on=2,                 # frames p/ entrar
+        N_off=5,                # frames p/ sair
+        blackout_imediato=True
     ):
         """
         Retorna dict com:
         - d_obs_min (m) ou None
-        - blocked (bool)
+        - blocked (bool)  -> se use_persistence=False: igual ao "raw"; se True: já com persistência
+        - blocked_raw (bool)
         - reason ('obstacle','blackout','narrow','none')
         - coverage: {'central_max':..., 'global':...}
         - side_bias: {'value': -1..+1, 'left_frac':..., 'right_frac':...}
-        - j_block (índice da linha que bloqueia) ou None
+        - j_block (índice) ou None
+        - decision: { 'parar': bool, 'dist_necessaria': float, 'v_max_sugerida_mps': float|None,
+                    'frames_on':int, 'frames_off':int, 'N_on':int, 'N_off':int }
         """
 
+        import numpy as np
+
         H, W = custo_f.shape
-        c0, c1 = central_cols  # intervalo central sugerido pelo seu snap
+        c0, c1 = central_cols
         c0 = max(0, min(W-1, int(c0)))
         c1 = max(0, min(W,   int(c1)))
         if c1 <= c0:
             c0, c1 = W//3, 2*W//3  # fallback
 
-        # 1) Máscaras “inseguras”
+        # 1) Máscaras inseguras
         mask_anom = (anom_f >= thr_anom_block)
         mask_cost = (custo_f >= thr_cost_block)
         mask_conf = (conf_f   <  thr_conf_low)
         unsafe = mask_anom | mask_cost | mask_conf
 
-        # 2) Largura em colunas por linha (corredor = robô + margem)
+        # 2) Largura em colunas por linha
         width_need_m = robot_width_m + margin_m
         cols_need = []
         for j in range(H):
             sx = row_scale_x_m[j] if row_scale_x_m is not None else (width_need_m / max(1, (c1 - c0)))
             if sx is None or sx <= 1e-6:
-                cols_need.append(c1 - c0)  # fallback
+                cols_need.append(c1 - c0)
             else:
                 ncols = int(np.ceil(width_need_m / sx))
                 cols_need.append(max(1, min(W, ncols)))
         cols_need = np.asarray(cols_need, dtype=int)
 
-        # 3) Varredura por linha: janela central com largura cols_need[j]
+        # 3) Varredura central
         def central_window(j, ncols):
-            # centra no meio de [c0,c1)
             mid = (c0 + c1) // 2
             half = ncols // 2
             a = max(0, mid - half)
             b = min(W, a + ncols)
-            # ajusta se estourou esquerda/direita
             a = max(0, b - ncols)
             return a, b
 
         coverage_central = np.zeros(H, np.float32)
         j_block = None
-        for j in (range(H-1, -1, -1) if near_is_bottom else range(H)):  # começa pelo "mais perto"
+        it = (range(H-1, -1, -1) if near_is_bottom else range(H))
+        for j in it:
             a, b = central_window(j, cols_need[j])
             unsafe_row = unsafe[j, a:b]
             coverage = unsafe_row.mean() if (b > a) else 1.0
@@ -302,45 +320,109 @@ class CostmapFuser:
                 j_block = j
                 break
 
-        # 4) Cobertura global (fallback diagnóstico)
+        # 4) Cobertura global
         global_cov = unsafe.mean()
 
-        # 5) d_obs_min em metros
+        # 5) Distância do 1º bloqueio
         d_obs_min = None if j_block is None else float(row_dist_m[j_block])
 
-        # 6) Viés lateral (onde está mais “fechado”)
-        # mede cobertura do lado esquerdo vs direito dentro do intervalo [c0,c1)
+        # 6) Viés lateral
         left  = unsafe[:, c0:(c0+c1)//2].mean() if (c1-c0) >= 2 else 0.0
         right = unsafe[:, (c0+c1)//2:c1].mean() if (c1-c0) >= 2 else 0.0
         side_bias_val = float(np.clip((right - left) / max(1e-6, (right + left)), -1.0, 1.0))
 
-        # 7) Decisão de bloqueio e razão
-        blocked = False
+        # 7) Decisão "raw" (sem persistência)
+        blocked_raw = False
         reason  = "none"
         if j_block is not None:
-            blocked = True
+            blocked_raw = True
             reason = "obstacle"
         elif global_cov >= rho_block_global and (conf_f.mean() < 0.45):
-            blocked = True
-            reason = "blackout"  # visão ruim / depth ruim geral
-        # opcional: “narrow” se central ok mas laterais muito ruins
+            blocked_raw = True
+            reason = "blackout"
         elif coverage_central.max() > 0.45 and (left > 0.7 or right > 0.7):
             reason = "narrow"
 
+        # 8) Persistência / histerese + decisão de parada (opcional)
+        decision = {
+            "parar": False,
+            "dist_necessaria": None,
+            "v_max_sugerida_mps": None,
+            "frames_on": 0,
+            "frames_off": 0,
+            "N_on": N_on,
+            "N_off": N_off
+        }
+
+        blocked_out = blocked_raw  # default: compatível com antes
+
+        if use_persistence:
+            # calcula distância necessária se tivermos velocidade
+            v = float(max(0.0, velocidade_mps or 0.0))
+            dist_freio      = max(0.30, (v*v) / max(1e-9, 2.0 * a_max_freio))
+            dist_necessaria = dist_freio + margem_parada
+            decision["dist_necessaria"] = float(dist_necessaria)
+
+            # regra "stop_now" crua (antes do debounce)
+            stop_now = False
+            v_max_sug = None
+
+            if blocked_raw and reason == "blackout":
+                stop_now = True if blackout_imediato else False
+
+            if blocked_raw and reason == "obstacle":
+                if (d_obs_min is not None) and np.isfinite(d_obs_min) and (d_obs_min <= dist_necessaria):
+                    stop_now = True
+                else:
+                    if (d_obs_min is not None) and np.isfinite(d_obs_min) and (d_obs_min > margem_parada):
+                        v_max_sug = float(np.sqrt(max(0.0, 2.0 * a_max_freio * (d_obs_min - margem_parada))))
+
+            # histerese
+            st = self._blk_state
+            if stop_now:
+                st["on"]  += 1
+                st["off"]  = 0
+            else:
+                st["off"] += 1
+                st["on"]   = 0
+
+            if not st["latched"] and st["on"] >= N_on:
+                st["latched"] = True
+            elif st["latched"] and st["off"] >= N_off:
+                st["latched"] = False
+
+            # saída persistente
+            decision.update({
+                "parar": bool(st["latched"]),
+                "v_max_sugerida_mps": v_max_sug,
+                "frames_on": int(st["on"]),
+                "frames_off": int(st["off"])
+            })
+
+            # quando usamos persistência, o 'blocked' exposto passa a refletir a decisão debounced:
+            blocked_out = bool(st["latched"])
+
+            # guarda debug
+            st["reason"] = reason
+            st["dmin"] = (None if d_obs_min is None else float(d_obs_min))
+            st["last_decision"] = "PARAR" if st["latched"] else "LIVRE"
+
         return {
             "d_obs_min": d_obs_min,
-            "blocked": bool(blocked),
+            "blocked": bool(blocked_out),          # <- já com persistência se habilitada
+            "blocked_raw": bool(blocked_raw),      # <- útil pra debug/HUD
             "reason": reason,
             "coverage": {
                 "central_max": float(coverage_central.max()),
                 "global": float(global_cov),
             },
             "side_bias": {
-                "value": side_bias_val,   # <0 = mais fechado à esquerda; >0 = direita
+                "value": side_bias_val,
                 "left_frac": float(left),
                 "right_frac": float(right),
             },
             "j_block": (None if j_block is None else int(j_block)),
+            "decision": decision
         }