/*
* Copyright (c) 2007, Swedish Institute of Computer Science.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Institute nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* This file is part of the Contiki operating system.
*
* $Id: Demo.java,v 1.4 2008/07/02 14:12:48 adamdunkels Exp $
*/
/**
* \file
* Java program showing energy estimates from a Contiki app
* \author
* Fredrik �sterlind <fros@sics.se>
*/
import java.awt.BorderLayout;
import java.awt.Font;
import java.awt.GraphicsEnvironment;
import java.awt.GridLayout;
import java.awt.Rectangle;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.awt.event.MouseEvent;
import java.awt.event.MouseListener;
import java.awt.event.WindowEvent;
import java.awt.event.WindowListener;
import java.awt.image.BufferedImage;
import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.util.Vector;
import javax.swing.ImageIcon;
import javax.swing.JDialog;
import javax.swing.JFrame;
import javax.swing.JLabel;
import javax.swing.JPanel;
import javax.swing.Timer;
import org.jfree.chart.ChartFactory;
import org.jfree.chart.JFreeChart;
import org.jfree.chart.axis.ValueAxis;
import org.jfree.chart.plot.PlotOrientation;
import org.jfree.data.category.DefaultCategoryDataset;
import org.jfree.data.general.DefaultPieDataset;
import org.jfree.data.time.Second;
import org.jfree.data.time.TimeSeries;
import org.jfree.data.time.TimeSeriesCollection;
public class Demo extends JPanel {
public static final boolean REPLAY_TEMP_DATA = false;
public static final int TOTAL_HEIGHT = 300;
public static final int TOTAL_WIDTH = 900;
public static final String SERIALDUMP_WINDOWS = "./tools/sky/serialdump-windows.exe";
public static final String SERIALDUMP_LINUX = "./tools/sky/serialdump-linux";
public static final int HISTORY_MAX_SECONDS = 120;
public static final int NODE_HEIGHT = 300;
public static final int NODE_WIDTH = 450;
public static final int NUMBER_NODES = 7;
public static final int NODE_IDS[] = {42, 43, 44, 45, 46, 47, 48};
public static final String CATEGORIES[] = {"LPM", "CPU", "Radio listen", "Radio transmit"};
public static final int PARSE_NR_COMPONENTS = 8;
public static final int PARSE_POS_SINK_ID = 0;
public static final int PARSE_POS_SICS_ID = 1;
public static final int PARSE_POS_COUNT = 2;
public static final int PARSE_POS_SOURCE_ID = 3;
public static final int PARSE_POS_TIME_CPU = 4;
public static final int PARSE_POS_TIME_LPM = 5;
public static final int PARSE_POS_TIME_TRANSMIT = 6;
public static final int PARSE_POS_TIME_LISTEN = 7;
public static final String PARSE_SICS_ID = "SICS";
public static final double TICKS_PER_SECOND = 4096; /* TODO Convert from TimerB ticks to seconds */
public static final double UPDATE_PERIOD = 1; /* TODO Set update period (1 second?) */
/* CC2420 has 8.5 (-25dBm), 9.9 (-15dBm), 11 (-10dBm), 14 (-5dBm) and 17.4 (0dBm) */
public static final int CHARTS_MAX_MILLIWATTS = 70;
public static final double VOLTAGE = 3;
public static final double POWER_CPU = 1.800 * VOLTAGE; /* mW */
public static final double POWER_LPM = 0.0545 * VOLTAGE; /* mW */
public static final double POWER_TRANSMIT = 17.7 * VOLTAGE; /* mW */
public static final double POWER_LISTEN = 20.0 * VOLTAGE; /* mW */
public static final int MA_HISTORY_LENGTH = 40;
private Process serialDumpProcess;
private Vector<Double> historyLPM = new Vector<Double>();
private Vector<Double> historyCPU = new Vector<Double>();
private Vector<Double> historyListen = new Vector<Double>();
private Vector<Double> historyTransmit = new Vector<Double>();
private int trackedNodeIndex = 0; /* Currently tracked node index */
private String comPort;
private JFrame frame;
private TimeSeries nodeHistorySerie;
private JFreeChart nodeHistoryChart;
private JLabel nodeHistoryLabel;
private JFreeChart relativeChart;
private JLabel relativeLabel;
private DefaultPieDataset relativeDataset;
private JFreeChart totalChart;
private DefaultCategoryDataset totalDataset;
private JLabel totalLabel;
private int categoryOrder = 0;
public Demo(String comPort) {
this.comPort = comPort;
System.out.println("Demo application listening on COM port: " + comPort);
/* Make sure we have nice window decorations */
JFrame.setDefaultLookAndFeelDecorated(true);
JDialog.setDefaultLookAndFeelDecorated(true);
Rectangle maxSize = GraphicsEnvironment.getLocalGraphicsEnvironment()
.getMaximumWindowBounds();
/* Create and set up the window */
frame = new JFrame("Sensor Node Power Profiling with Contiki (ACM SenSys 2007)");
if (maxSize != null) {
frame.setMaximizedBounds(maxSize);
}
frame.setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
frame.addWindowListener(new WindowListener() {
public void windowDeactivated(WindowEvent e) {
}
public void windowIconified(WindowEvent e) {
}
public void windowDeiconified(WindowEvent e) {
}
public void windowOpened(WindowEvent e) {
}
public void windowClosed(WindowEvent e) {
}
public void windowActivated(WindowEvent e) {
}
public void windowClosing(WindowEvent e) {
/* TODO Clean up resources */
if (serialDumpProcess != null) {
try {
serialDumpProcess.destroy();
} catch (Exception ex) {
System.err.println("Serialdump process exception: " + ex.getMessage());
}
}
System.exit(0);
}
});
frame.setContentPane(this);
/* Create charts */
createAllCharts();
/* Add charts */
this.setLayout(new BorderLayout());
JPanel contentPanel = new JPanel(new GridLayout(2, 1));
add(contentPanel);
JPanel upperPanel = new JPanel(new GridLayout());
totalLabel.setAlignmentX(JPanel.CENTER_ALIGNMENT);
upperPanel.add(totalLabel);
contentPanel.add(upperPanel);
JPanel lowerPanel = new JPanel(new GridLayout(1, 2));
relativeLabel.setAlignmentX(JPanel.CENTER_ALIGNMENT);
lowerPanel.add(relativeLabel);
nodeHistoryLabel.setAlignmentX(JPanel.CENTER_ALIGNMENT);
lowerPanel.add(nodeHistoryLabel);
contentPanel.add(lowerPanel);
JLabel advertisementLabel = new JLabel("Sensor Node Power Profiling with Contiki",
JLabel.CENTER);
advertisementLabel.setFont(new Font("Sans-serif", Font.BOLD, 40));
JLabel urlLabel = new JLabel("http://www.sics.se/contiki/",
JLabel.CENTER);
urlLabel.setFont(new Font("Monospace", Font.BOLD, 36));
add(advertisementLabel, BorderLayout.NORTH);
add(urlLabel, BorderLayout.SOUTH);
/* Display the window */
frame.pack();
frame.setLocationRelativeTo(null);
frame.setVisible(true);
if (!REPLAY_TEMP_DATA) {
connectToCOMPort();
}
Timer updateTimer = new Timer(500, null);
updateTimer.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
// parseIncomingLine(TEMP_NODE_DATA[TEMP_COUNTER]);
// TEMP_COUNTER = (TEMP_COUNTER + 1) % TEMP_NODE_DATA.length;
try {
updateCharts();
} catch(Exception eeeee) {}
}
});
updateTimer.start();
if (REPLAY_TEMP_DATA) {
// Timer updateTimer = new Timer(1000, null);
updateTimer.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
parseIncomingLine(TEMP_NODE_DATA[TEMP_COUNTER]);
TEMP_COUNTER = (TEMP_COUNTER + 1) % TEMP_NODE_DATA.length;
updateCharts();
}
});
updateTimer.start();
}
}
public void connectToCOMPort() {
/* Connect to COM using external serialdump application */
String osName = System.getProperty("os.name").toLowerCase();
String fullCommand;
if (osName.startsWith("win")) {
fullCommand = SERIALDUMP_WINDOWS + " " + "-b115200" + " " + comPort;
} else {
fullCommand = SERIALDUMP_LINUX + " " + "-b115200" + " " + comPort;
}
try {
String[] cmd = fullCommand.split(" ");
serialDumpProcess = Runtime.getRuntime().exec(cmd);
final BufferedReader input = new BufferedReader(new InputStreamReader(serialDumpProcess.getInputStream()));
final BufferedReader err = new BufferedReader(new InputStreamReader(serialDumpProcess.getErrorStream()));
/* Start thread listening on stdout */
Thread readInput = new Thread(new Runnable() {
public void run() {
String line;
try {
while ((line = input.readLine()) != null) {
parseIncomingLine(line);
}
input.close();
System.out.println("Serialdump process shut down, exiting");
System.exit(1);
} catch (IOException e) {
System.err.println("Exception when reading from serialdump");
e.printStackTrace();
System.exit(1);
}
}
}, "read input stream thread");
/* Start thread listening on stderr */
Thread readError = new Thread(new Runnable() {
public void run() {
String line;
try {
while ((line = err.readLine()) != null) {
System.err.println("Serialdump error stream> " + line);
}
err.close();
} catch (IOException e) {
System.err.println("Exception when reading from serialdump");
e.printStackTrace();
System.exit(1);
}
}
}, "read error stream thread");
readInput.start();
readError.start();
} catch (Exception e) {
System.err.println("Exception when executing '" + fullCommand + "'");
System.err.println("Exiting demo application");
e.printStackTrace();
System.exit(1);
}
}
public void createAllCharts() {
BufferedImage image;
/* Create total power history chart for tracked node */
nodeHistoryLabel = new JLabel();
createHistoryChartForNode(nodeHistoryLabel, trackedNodeIndex);
/* Create moving average relative power distribution chart */
relativeDataset = new DefaultPieDataset();
for (String category: CATEGORIES) {
relativeDataset.setValue(category, 0);
}
relativeChart = ChartFactory.createPieChart("Moving Average: Relative power distribution", relativeDataset, false, false, false);
image = relativeChart.createBufferedImage(NODE_WIDTH,NODE_HEIGHT);
relativeLabel = new JLabel();
relativeLabel.setIcon(new ImageIcon(image));
/* Create chart with power of all nodes */
totalDataset = new DefaultCategoryDataset();
for (int i=0; i < NUMBER_NODES; i++) {
for (String category: CATEGORIES) {
totalDataset.addValue(0, category, getNodeNameFromIndex(i));
}
}
totalChart = ChartFactory.createStackedBarChart(null, null, "Power (mW)", totalDataset, PlotOrientation.VERTICAL, true, true, true);
ValueAxis rangeAxis = totalChart.getCategoryPlot().getRangeAxis();
// rangeAxis.setRange(0, CHARTS_MAX_MILLIWATTS);
image = totalChart.createBufferedImage(TOTAL_WIDTH,TOTAL_HEIGHT);
totalLabel = new JLabel();
totalLabel.setIcon(new ImageIcon(image));
MouseListener categoryChangeListener = new MouseListener() {
public void mouseClicked(MouseEvent e) {
System.out.println("Toggling category order");
categoryOrder++;
totalDataset.clear();
for (int i=0; i < NUMBER_NODES; i++) {
for (int j=0; j < CATEGORIES.length; j++) {
totalDataset.addValue(0, CATEGORIES[(j + categoryOrder) % CATEGORIES.length], getNodeNameFromIndex(i));
}
}
totalChart = ChartFactory.createStackedBarChart(null, null, "Power (mW)", totalDataset, PlotOrientation.VERTICAL, true, true, true);
ValueAxis rangeAxis = totalChart.getCategoryPlot().getRangeAxis();
// rangeAxis.setRange(0, CHARTS_MAX_MILLIWATTS);
relativeDataset.clear();
for (int i=0; i < NUMBER_NODES; i++) {
for (int j=0; j < CATEGORIES.length; j++) {
relativeDataset.setValue(CATEGORIES[(j + categoryOrder) % CATEGORIES.length], 0.00001);
}
}
relativeChart = ChartFactory.createPieChart("Moving Average: Relative power distribution", relativeDataset, false, false, false);
updateCharts();
}
public void mousePressed(MouseEvent e) {
}
public void mouseReleased(MouseEvent e) {
}
public void mouseEntered(MouseEvent e) {
}
public void mouseExited(MouseEvent e) {
}
};
totalLabel.addMouseListener(categoryChangeListener);
relativeLabel.addMouseListener(categoryChangeListener);
MouseListener toggleTrackedListener = new MouseListener() {
public void mouseClicked(MouseEvent e) {
trackedNodeIndex = (trackedNodeIndex + 1) % NODE_IDS.length;
System.out.println("Tracking " + getNodeNameFromIndex(trackedNodeIndex));
createHistoryChartForNode(nodeHistoryLabel, trackedNodeIndex);
updateCharts();
}
public void mousePressed(MouseEvent e) {
}
public void mouseReleased(MouseEvent e) {
}
public void mouseEntered(MouseEvent e) {
}
public void mouseExited(MouseEvent e) {
}
};
nodeHistoryLabel.addMouseListener(toggleTrackedListener);
}
public void createHistoryChartForNode(JLabel label, int index) {
BufferedImage image;
/* Create history */
nodeHistorySerie = new TimeSeries("", Second.class);
nodeHistorySerie.removeAgedItems(true);
nodeHistorySerie.setMaximumItemCount(HISTORY_MAX_SECONDS);
TimeSeriesCollection historyData = new TimeSeriesCollection(nodeHistorySerie);
nodeHistoryChart = ChartFactory.createTimeSeriesChart(getNodeNameFromIndex(index) + ": Total power (mW)", null, null, historyData, false, false, false);
ValueAxis rangeAxis = nodeHistoryChart.getXYPlot().getRangeAxis();
rangeAxis.setRange(0, CHARTS_MAX_MILLIWATTS);
image = nodeHistoryChart.createBufferedImage(NODE_WIDTH,NODE_HEIGHT);
label.setIcon(new ImageIcon(image));
}
public void addHistoryPower(double newPower) {
if (nodeHistorySerie != null) {
nodeHistorySerie.addOrUpdate(new Second(), newPower);
}
}
public void updateTotalPower(String category, String nodeName, double newValue) {
if (totalDataset != null) {
totalDataset.addValue(newValue, category, nodeName);
}
}
public void updateTotalPowers(String nodeName, double lpm, double cpu, double listen, double transmit) {
updateTotalPower(CATEGORIES[0], nodeName, lpm);
updateTotalPower(CATEGORIES[1], nodeName, cpu);
updateTotalPower(CATEGORIES[2], nodeName, listen);
updateTotalPower(CATEGORIES[3], nodeName, transmit);
}
public void setRelativePower(String category, double newVal) {
if (relativeDataset != null) {
relativeDataset.setValue(category, newVal);
}
}
public void setRelativePowers(double lpm, double cpu, double listen, double transmit) {
setRelativePower(CATEGORIES[0], lpm);
setRelativePower(CATEGORIES[1], cpu);
setRelativePower(CATEGORIES[2], listen);
setRelativePower(CATEGORIES[3], transmit);
}
public void updateMARelativePowers(double lpm, double cpu, double listen, double transmit) {
/* Add new values */
historyLPM.add(lpm);
historyCPU.add(cpu);
historyListen.add(listen);
historyTransmit.add(transmit);
/* Remove old values (if any) */
if (historyLPM.size() > MA_HISTORY_LENGTH) {
historyLPM.remove(0);
}
if (historyCPU.size() > MA_HISTORY_LENGTH) {
historyCPU.remove(0);
}
if (historyListen.size() > MA_HISTORY_LENGTH) {
historyListen.remove(0);
}
if (historyTransmit.size() > MA_HISTORY_LENGTH) {
historyTransmit.remove(0);
}
/* Calculate average */
double lpmMA = 0;
for (double power: historyLPM) {
lpmMA += power;
}
lpmMA /= historyLPM.size();
double cpuMA = 0;
for (double power: historyCPU) {
cpuMA += power;
}
cpuMA /= historyCPU.size();
double transmitMA = 0;
for (double power: historyTransmit) {
transmitMA += power;
}
transmitMA /= historyTransmit.size();
double listenMA = 0;
for (double power: historyListen) {
listenMA += power;
}
listenMA /= historyListen.size();
setRelativePowers(lpmMA, cpuMA, listenMA, transmitMA);
}
public void parseIncomingLine(String line) {
if (line == null) {
System.err.println("Parsing null line");
return;
}
/* Split line into components */
String[] components = line.split(" ");
if (components.length != PARSE_NR_COMPONENTS) {
System.err.println("Parsing wrong components count (" + components.length + "): '" + line + "'");
return;
}
/* Parse source and components times */
int sinkNodeID=-1, sourceNodeID=-1, timeCPU=-1, timeLPM=-1, timeTransmit=-1, timeListen=-1;
try {
sinkNodeID = Integer.parseInt(components[PARSE_POS_SINK_ID]);
if (!components[PARSE_POS_SICS_ID].equals(PARSE_SICS_ID)) {
throw new Exception("Parsing non-demo data: '" + line + "'");
}
/*Integer.parseInt(components[PARSE_POS_COUNT]);*/
sourceNodeID = Integer.parseInt(components[PARSE_POS_SOURCE_ID]);
timeCPU = Integer.parseInt(components[PARSE_POS_TIME_CPU]);
timeLPM = Integer.parseInt(components[PARSE_POS_TIME_LPM]);
timeTransmit = Integer.parseInt(components[PARSE_POS_TIME_TRANSMIT]);
/* TODO Too big transmit time? */
timeListen = Integer.parseInt(components[PARSE_POS_TIME_LISTEN]);
} catch (Exception e) {
System.err.println(e.getMessage());
return;
}
/* Validate parsed values */
String nodeName = getNodeNameFromId(sourceNodeID);
if (nodeName == null) {
System.err.println("No registered node with ID " + sourceNodeID + ": '" + line + "'");
return;
}
if (timeCPU < 0) {
System.err.println("Parsed negative CPU time (" + timeCPU + "): '" + line + "'");
return;
}
if (timeLPM < 0) {
System.err.println("Parsed negative LPM time (" + timeLPM + "): '" + line + "'");
return;
}
if (timeTransmit < 0) {
System.err.println("Parsed negative transmit time (" + timeTransmit + "): '" + line + "'");
return;
}
if (timeListen < 0) {
System.err.println("Parsed negative listen time (" + timeListen + "): '" + line + "'");
return;
}
/* Calculate component specific powers using parsed times */
double powerCPU = (timeCPU / TICKS_PER_SECOND) * POWER_CPU / UPDATE_PERIOD;
double powerLPM = (timeLPM / TICKS_PER_SECOND)* POWER_LPM / UPDATE_PERIOD;
double powerTransmit = (timeTransmit / TICKS_PER_SECOND)* POWER_TRANSMIT / UPDATE_PERIOD;
double powerListen = (timeListen / TICKS_PER_SECOND) * POWER_LISTEN / UPDATE_PERIOD;
/* Update node history */
if (getNodeNameFromId(sourceNodeID).equals(getNodeNameFromIndex(trackedNodeIndex))) {
System.out.println("Parsed data from tracked " + nodeName);
addHistoryPower(powerCPU + powerLPM + powerTransmit + powerListen);
} else {
System.out.println("Parsed data from " + nodeName);
}
updateMARelativePowers(powerLPM, powerCPU, powerListen, powerTransmit);
updateTotalPowers(nodeName, powerLPM, powerCPU, powerListen, powerTransmit);
// updateCharts();
}
public void updateCharts() {
BufferedImage image;
/* Recreate all label icons */
/* TODO Only update changed charts: i */
if (relativeLabel != null) {
image = relativeChart.createBufferedImage(NODE_WIDTH,NODE_HEIGHT);
relativeLabel.setIcon(new ImageIcon(image));
}
if (nodeHistoryLabel != null) {
image = nodeHistoryChart.createBufferedImage(NODE_WIDTH,NODE_HEIGHT);
nodeHistoryLabel.setIcon(new ImageIcon(image));
}
if (totalLabel != null) {
image = totalChart.createBufferedImage(TOTAL_WIDTH,TOTAL_HEIGHT);
totalLabel.setIcon(new ImageIcon(image));
}
repaint();
}
public String getNodeNameFromIndex(int index) {
return "Node " + NODE_IDS[index];
}
public static String getNodeNameFromId(int id) {
boolean exists = false;
for (int existingID: NODE_IDS) {
if (existingID == id) {
exists = true;
break;
}
}
if (!exists) {
System.err.println("Node " + id + " is not registered!");
return null;
}
return "Node " + id;
}
public static void main(final String[] args) {
if (args.length != 1) {
System.err.println("Usage: java Demo COMPORT [TRACK_NODE_ID]");
return;
}
final String comPort = args[0];
javax.swing.SwingUtilities.invokeLater(new Runnable() {
public void run() {
new Demo(comPort);
}
});
}
/* TEMPORARY DATA */
int TEMP_COUNTER = 0;
String[] TEMP_NODE_DATA = {
"33 S 1 33 3 0 4093 0",
"33 R 1 34 44 0 4052 0",
"33 S 2 33 77 0 4019 0",
"33 S 3 33 39 0 4057 0",
"33 R 2 34 39 0 4057 0",
"33 S 4 33 78 0 4018 0",
"33 R 3 34 80 0 4016 0",
"33 S 5 33 83 0 4013 0",
"33 R 4 34 80 0 4015 0",
"33 S 6 33 90 0 4006 0",
"33 S 7 33 40 0 4056 0",
"33 R 5 34 87 0 4009 0",
"33 S 8 33 80 0 4016 0",
"33 R 6 34 130 0 3965 0",
"33 S 9 33 81 0 4015 0",
"33 S 10 33 39 0 4057 0",
"33 R 7 34 87 0 4009 0",
"33 S 11 33 89 0 4007 0",
"33 R 8 34 94 0 4002 0",
"33 S 12 33 89 0 4007 0",
"33 R 9 34 47 0 4049 0",
"33 S 13 33 83 0 4013 0",
"33 R 10 34 82 0 4014 0",
"33 S 14 33 90 0 4006 0",
"33 R 11 34 94 0 3999 0",
"33 S 15 33 92 0 4004 0",
"33 S 16 33 46 0 4050 0",
"33 R 12 34 132 0 3964 0",
"33 R 13 34 46 0 4050 0",
"33 S 17 33 140 0 3956 0",
"33 R 14 34 86 0 4009 0",
"33 S 18 33 85 0 4010 0",
"33 R 15 34 94 0 4002 0",
"33 S 19 33 83 0 4013 0",
"33 S 20 33 41 0 4055 0",
"33 R 16 34 41 0 4055 0",
"33 S 21 33 86 0 4009 0",
"33 R 17 34 86 0 4010 0",
"33 R 18 34 84 0 4012 0",
"33 S 22 33 127 0 3969 0",
"33 R 19 34 84 0 4012 0",
"33 S 23 33 85 0 4011 0",
"33 S 24 33 44 0 4052 0",
"33 R 20 34 41 0 4055 0",
"33 S 25 33 86 0 4010 0",
"33 S 26 33 47 0 4048 0",
"33 R 21 34 94 0 4000 0",
"33 S 27 33 89 0 4004 0"
};
}