pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h → dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/include/CFLinker.h

@@ -38,7 +38,7 @@
 #include "crazyFlyZone.h"
 #include "ui_mainguiwindow.h"
 
-#include "rosNodeThread.h"
+#include "rosNodeThread_for_systemConfigGUI.h"
 
 #include <QObject>
 

dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/include/constants_for_qt_compile.h

+//    Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
+//
+//    This file is part of D-FaLL-System.
+//    
+//    D-FaLL-System is free software: you can redistribute it and/or modify
+//    it under the terms of the GNU General Public License as published by
+//    the Free Software Foundation, either version 3 of the License, or
+//    (at your option) any later version.
+//    
+//    D-FaLL-System is distributed in the hope that it will be useful,
+//    but WITHOUT ANY WARRANTY; without even the implied warranty of
+//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//    GNU General Public License for more details.
+//    
+//    You should have received a copy of the GNU General Public License
+//    along with D-FaLL-System.  If not, see <http://www.gnu.org/licenses/>.
+//    
+//
+//    ----------------------------------------------------------------------------------
+//    DDDD        FFFFF        L     L           SSSS  Y   Y   SSSS  TTTTT  EEEEE  M   M
+//    D   D       F      aaa   L     L          S       Y Y   S        T    E      MM MM
+//    D   D  ---  FFFF  a   a  L     L     ---   SSS     Y     SSS     T    EEE    M M M
+//    D   D       F     a  aa  L     L              S    Y        S    T    E      M   M
+//    DDDD        F      aa a  LLLL  LLLL       SSSS     Y    SSSS     T    EEEEE  M   M
+//
+//
+//    DESCRIPTION:
+//    Constants that are used across multiple files
+//
+//    ----------------------------------------------------------------------------------
+
+
+//    ----------------------------------------------------------------------------------
+//    U   U
+//    U   U
+//    U   U
+//    U   U
+//     UUU
+//    ----------------------------------------------------------------------------------
+
+
+// Conversions between degrees and radians
+#define RAD2DEG 180.0/PI
+#define DEG2RAD PI/180.0
+
+// PI
+#define PI 3.141592653589
+
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    
+//    
+//    
+//    
+//    
+//    ----------------------------------------------------------------------------------
+
+
+
+// The types, i.e., agent or coordinator
+#define TYPE_INVALID      -1
+#define TYPE_COORDINATOR   1
+#define TYPE_AGENT         2
+
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    
+//    
+//    
+//    
+//    
+//    ----------------------------------------------------------------------------------
+
+
+
+// These constants define the modes that can be used for controller this is
+// running on-board the Crazyflie 2.0.
+// Therefore, the constants defined here need to be in agreement with those
+// defined in the firmware running on-board the Crazyflie 2.0.
+// The following is a short description about each mode:
+//
+// CF_COMMAND_TYPE_MOTORS
+//     In this mode the Crazyflie will apply the requested 16-bit per motor
+//     command directly to each of the motors
+//
+// CF_COMMAND_TYPE_RATE
+//     In this mode the Crazyflie will apply the requested 16-bit per motor
+//     command directly to each of the motors, and additionally request the
+//     body frame roll, pitch, and yaw angular rates from the PID rate
+//     controllers implemented in the Crazyflie 2.0 firmware.
+//
+// CF_COMMAND_TYPE_ANGLE
+//     In this mode the Crazyflie will apply the requested 16-bit per motor
+//     command directly to each of the motors, and additionally request the
+//     body frame roll, pitch, and yaw angles from the PID attitude
+//     controllers implemented in the Crazyflie 2.0 firmware.
+#define CF_COMMAND_TYPE_MOTORS 6
+#define CF_COMMAND_TYPE_RATE   7
+#define CF_COMMAND_TYPE_ANGLE  8
+
+// Types of controllers being used:
+#define DEFAULT_CONTROLLER      1
+#define DEMO_CONTROLLER      2
+#define STUDENT_CONTROLLER   3
+#define MPC_CONTROLLER       4
+#define REMOTE_CONTROLLER    5
+#define TUNING_CONTROLLER    6
+#define PICKER_CONTROLLER    7
+
+// The constants that "command" changes in the
+// operation state of this agent
+#define CMD_USE_DEFAULT_CONTROLLER      1
+#define CMD_USE_DEMO_CONTROLLER      2
+#define CMD_USE_STUDENT_CONTROLLER   3
+#define CMD_USE_MPC_CONTROLLER       4
+#define CMD_USE_REMOTE_CONTROLLER    5
+#define CMD_USE_TUNING_CONTROLLER    6
+#define CMD_USE_PICKER_CONTROLLER    7
+
+
+#define CMD_CRAZYFLY_TAKE_OFF        11
+#define CMD_CRAZYFLY_LAND            12
+#define CMD_CRAZYFLY_MOTORS_OFF      13
+
+// Flying states
+#define STATE_MOTORS_OFF     1
+#define STATE_TAKE_OFF       2
+#define STATE_FLYING         3
+#define STATE_LAND           4
+#define STATE_UNAVAILABLE    5
+
+
+// Commands for CrazyRadio
+#define CMD_RECONNECT  0
+#define CMD_DISCONNECT 1
+
+
+// CrazyRadio states:
+#define CRAZY_RADIO_STATE_CONNECTED      0
+#define CRAZY_RADIO_STATE_CONNECTING     1
+#define CRAZY_RADIO_STATE_DISCONNECTED   2
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    BBBB     A    TTTTT  TTTTT  EEEEE  RRRR   Y   Y
+//    B   B   A A     T      T    E      R   R   Y Y
+//    BBBB   A   A    T      T    EEE    RRRR     Y
+//    B   B  AAAAA    T      T    E      R   R    Y
+//    BBBB   A   A    T      T    EEEEE  R   R    Y
+//    ----------------------------------------------------------------------------------
+
+// Battery levels
+#define BATTERY_LEVEL_000            0
+#define BATTERY_LEVEL_010            1
+#define BATTERY_LEVEL_020            2
+#define BATTERY_LEVEL_030            3
+#define BATTERY_LEVEL_040            4
+#define BATTERY_LEVEL_050            5
+#define BATTERY_LEVEL_060            6
+#define BATTERY_LEVEL_070            7
+#define BATTERY_LEVEL_080            8
+#define BATTERY_LEVEL_090            9
+#define BATTERY_LEVEL_100           10
+#define BATTERY_LEVEL_UNAVAILABLE   -1
+
+// Battery states
+#define BATTERY_STATE_NORMAL         0
+#define BATTERY_STATE_LOW            1
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    Y   Y    A    M   M  L
+//     Y Y    A A   MM MM  L
+//      Y    A   A  M M M  L
+//      Y    AAAAA  M   M  L
+//      Y    A   A  M   M  LLLLL
+//    ----------------------------------------------------------------------------------
+
+// For where to load the yaml file from
+#define LOAD_YAML_FROM_AGENT             1
+#define LOAD_YAML_FROM_COORDINATOR       2
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    
+//    
+//    
+//    
+//    
+//    ----------------------------------------------------------------------------------
+
+// For standard buttons in the GUI
+#define REQUEST_DEFAULT_SETPOINT_BUTTON_ID    100
\ No newline at end of file

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h → dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/include/crazyFly.h

@@ -38,21 +38,32 @@
 #include <QGraphicsSvgItem>
 #include <QSvgRenderer>
 
+
 #ifdef CATKIN_MAKE
-#include "d_fall_pps/CrazyflieData.h"
+// Include the Crazyflie Data Struct
+#include "dfall_pkg/FlyingVehicleState.h"
+// Include other classes
+#include "classes/GetParamtersAndNamespaces.h"
+#else
+// Include the shared definitions
+#include "include/constants_for_qt_compile.h"
 #endif
 
+
+
 #ifdef CATKIN_MAKE
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 #endif
 
+
 #define DRONE_HEIGHT         100 * FROM_MILIMETERS_TO_UNITS * 1.2
 #define DRONE_WIDTH          100 * FROM_MILIMETERS_TO_UNITS * 1.2
 
+
 class crazyFly : public QGraphicsSvgItem
 {
 public:
-    explicit crazyFly(const CrazyflieData* p_crazyfly_msg, QString filename, QGraphicsItem * parent = 0);
+    explicit crazyFly(const FlyingVehicleState* p_crazyfly_msg, QString filename, QGraphicsItem * parent = 0);
     ~crazyFly();
     QRectF boundingRect() const;
 
@@ -60,7 +71,7 @@ public:
                const QStyleOptionGraphicsItem * option,
                QWidget * widget);
 
-    void updateCF(const CrazyflieData* p_crazyfly_msg);
+    void updateCF(const FlyingVehicleState* p_crazyfly_msg);
 
     std::string getName();
 
@@ -83,7 +94,7 @@ private:
     std::string m_name;
     qreal m_x;
     qreal m_y;
-    qreal m_z;
+    qreal m_z = 0.0;
 
     qreal m_roll;
     qreal m_pitch;
@@ -91,6 +102,8 @@ private:
 
     bool m_occluded;
 
+    qreal m_baseline_scale = 1.0;
+
     // info for plotting CF
     qreal m_width;
     qreal m_height;

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/globalDefinitions.h → dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/include/globalDefinitions.h

@@ -41,9 +41,4 @@
 #define FROM_CENTIMETERS_TO_UNITS            1
 #define FROM_MILIMETERS_TO_UNITS             0.1
 
-#define PI                                   3.1415926
-
-#define FROM_RADIANS_TO_DEGREES            180.0/PI
-#define FROM_DEGREES_TO_RADIANS            PI/180.0
-
 #endif

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h → dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/include/mainguiwindow.h

-//    Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
+//    Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat, Angel Romero
 //
 //    This file is part of D-FaLL-System.
 //    
@@ -25,7 +25,7 @@
 //
 //
 //    DESCRIPTION:
-//    Teacher's GUI main window header.
+//    System Config GUI main window header.
 //
 //    ----------------------------------------------------------------------------------
 
@@ -38,42 +38,40 @@
 #include <QTimer>
 #include <QGridLayout>
 #include <QGraphicsRectItem>
+#include <QLineEdit>
 
 
 #ifdef CATKIN_MAKE
-#include "rosNodeThread.h"
+#include "rosNodeThread_for_systemConfigGUI.h"
+
+// Include the standard message types
+#include "std_msgs/Int32.h"
+//#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+#include "dfall_pkg/IntWithHeader.h"
 #include "marker.h"
 #include "crazyFly.h"
 #include "CFLinker.h"
 
-#include "d_fall_pps/CrazyflieDB.h"
-#include "d_fall_pps/CrazyflieEntry.h"
-#include "d_fall_pps/CustomControllerYAML.h"
+// Include the DFALL service types
+#include "dfall_pkg/CrazyflieDB.h"
+#include "dfall_pkg/CrazyflieEntry.h"
 
-#include <std_msgs/Int32.h>
+// Include the shared definitions
+#include "nodes/Constants.h"
 
+// Include other classes
+#include "classes/GetParamtersAndNamespaces.h"
 
-// The constants that are sent to the agents in order to
-// "command" changes in their operation state
-#define CMD_USE_SAFE_CONTROLLER   1
-#define CMD_USE_CUSTOM_CONTROLLER 2
-#define CMD_CRAZYFLY_TAKE_OFF     3
-#define CMD_CRAZYFLY_LAND         4
-#define CMD_CRAZYFLY_MOTORS_OFF   5
 
-// The constants that are sent to the agents in order to
-// adjust their radio connection
-#define CMD_RECONNECT  0
-#define CMD_DISCONNECT 1
+using namespace dfall_pkg;
 
-// For which controller parameters to load
-#define LOAD_YAML_SAFE_CONTROLLER_AGENT          1
-#define LOAD_YAML_CUSTOM_CONTROLLER_AGENT        2
-#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR    3
-#define LOAD_YAML_CUSTOM_CONTROLLER_COORDINATOR  4
 
-
-using namespace d_fall_pps;
+#else
+// Include the shared definitions
+#include "include/constants_for_qt_compile.h"
 
 #endif
 
@@ -134,6 +132,8 @@ private slots:
     #ifdef CATKIN_MAKE
     #endif
 
+    float validate_and_get_value_from_lineEdit(QLineEdit * lineEdit, float min, float max, int decimals, float default_value);
+
     void doNumCrazyFlyZonesChanged(int n);
     void transitionToMode(int mode);
     void on_removeTable_clicked();
@@ -165,12 +165,14 @@ private slots:
 
     void on_load_from_DB_button_clicked();
 
-    #ifdef CATKIN_MAKE
+#ifdef CATKIN_MAKE
     void updateNewViconData(const ptrToMessage& p_msg);
-    #endif
+#endif
+
     void on_checkBox_vicon_crazyflies_toggled(bool checked);
 
     void on_scaleSpinBox_valueChanged(double arg1);
+
     void on_refresh_cfs_button_clicked();
 
     void on_refresh_student_ids_button_clicked();
@@ -182,27 +184,17 @@ private slots:
     void updateComboBoxes();
 
     void setTabIndex(int index);
+
     void doTabClosed(int tab_index);
 
     void on_comboBoxCFs_currentTextChanged(const QString &arg1);
-
     
-    // For the buttons that "command" all of the agent nodes
-    // > For the radio connection
-    void on_all_connect_button_clicked();
-    void on_all_disconnect_button_clicked();
-    // > For changing the operation state
-    void on_all_take_off_button_clicked();
-    void on_all_land_button_clicked();
-    void on_all_motors_off_button_clicked();
-    void on_all_enable_safe_controller_button_clicked();
-    void on_all_enable_custom_controller_button_clicked();
-    // > For loading the parameter
-    void on_all_load_safe_controller_yaml_own_agent_button_clicked();
-    void on_all_load_custom_controller_yaml_own_agent_button_clicked();
-    // > For sending a message with updated parameters
-    void on_all_load_safe_controller_yaml_coordinator_button_clicked();
-    void on_all_load_custom_controller_yaml_coordinator_button_clicked();
+    // For the emergency stop button
+    void on_emergency_stop_button_clicked();
+
+    // For automatically validating the zmin and zmax line edits
+    void on_lineEdit_zmin_editingFinished();
+    void on_lineEdit_zmax_editingFinished();
     
 
 private:
@@ -210,25 +202,19 @@ private:
     Ui::MainGUIWindow *ui;
     myGraphicsScene* scene;
 
-    ros::Timer m_timer_yaml_file_for_safe_controller;
-    ros::Timer m_timer_yaml_file_for_custom_controller;
-
     void _init();
 
-    void safeYamlFileTimerCallback(const ros::TimerEvent&);
-    void customYamlFileTimerCallback(const ros::TimerEvent&);
-
-    void customSendYamlAsMessageTimerCallback(const ros::TimerEvent&);
-    
+#ifdef CATKIN_MAKE
     float getParameterFloat(ros::NodeHandle& nodeHandle, std::string name);
-    void getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length);
+    void getParameterFloatVectorKnownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length);
     int getParameterInt(ros::NodeHandle& nodeHandle, std::string name);
     void getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val, int length);
     int getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val);
     bool getParameterBool(ros::NodeHandle& nodeHandle, std::string name);
+#endif
 
 
-    #ifdef CATKIN_MAKE
+#ifdef CATKIN_MAKE
     rosNodeThread* _rosNodeThread;
     std::vector<Marker*> markers_vector;
     std::vector<crazyFly*> crazyflies_vector;
@@ -236,28 +222,9 @@ private:
 
     std::string ros_namespace;
 
-    ros::Publisher DBChangedPublisher;
+    //ros::Publisher DBChangedPublisher;
     ros::Publisher emergencyStopPublisher;
-
-    // Publsher for sending "commands" from here (the master) to all
-    // of the agent nodes (where a "command" is the integer that
-    // gives the directive to "take-off", "land, "motors-off", etc...)
-    ros::Publisher commandAllAgentsPublisher;
-
-    // Publisher for sending a request from here (the master) to all "Parameter Service" nodes
-    // that it should re-load parameters from the YAML file for the controllers.
-    // > This is recieved and acted on by both Coordinate and Agent type "Parameter Services",
-    // > A coordinator type "Parameter Service" will subsequently request the agents to fetch
-    //   the parameters from itself.
-    // > A agent type "Parameter Service" will subsequently request its own agent to fetch
-    //   the parameters from itself.
-    ros::Publisher requestLoadControllerYamlPublisher;
-
-    // Publisher for sending a request from here (the master) to all
-    // of the agents nodes that they should (re/dis)-connect from
-    // the Crazy-Radio
-    ros::Publisher crazyRadioCommandAllAgentsPublisher;
-    #endif
+#endif
 
     void updateComboBoxesCFs();
 
@@ -265,6 +232,8 @@ private:
 
     int getTabIndexFromName(QString name);
 
+
+#ifdef CATKIN_MAKE
     CrazyflieDB m_data_base;
 
     void clear_database_file();
@@ -276,6 +245,7 @@ private:
     void save_database_file();
 
     void insert_or_update_entry_database(CrazyflieEntry entry);
+#endif
 
 };
 

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/marker.h → dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/include/marker.h

@@ -25,7 +25,7 @@
 //
 //
 //    DESCRIPTION:
-//    Teacher's GUI marker object, to represent unlabeled markers.
+//    System Config GUI marker object, to represent unlabeled markers.
 //
 //    ----------------------------------------------------------------------------------
 
@@ -38,12 +38,12 @@
 #include <QGraphicsEllipseItem>
 
 #ifdef CATKIN_MAKE
-#include "d_fall_pps/UnlabeledMarker.h"
+#include "dfall_pkg/UnlabeledMarker.h"
 #endif
 
 
 #ifdef CATKIN_MAKE
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 #endif
 
 #define MARKER_DIAMETER        20 * FROM_MILIMETERS_TO_UNITS

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h → dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/include/rosNodeThread_for_systemConfigGUI.h

@@ -30,8 +30,8 @@
 //    ----------------------------------------------------------------------------------
 
 
-#ifndef ___ROSNODETHREAD_H___
-#define ___ROSNODETHREAD_H___
+#ifndef ___ROSNODETHREAD_FOR_SYSTEMCONFIGGUI_H___
+#define ___ROSNODETHREAD_FOR_SYSTEMCONFIGGUI_H___
 
 #include <QtCore>
 #include <QThread>
@@ -43,11 +43,11 @@
 
 #include <ros/ros.h>
 #include <ros/network.h>
-#include "d_fall_pps/UnlabeledMarker.h"
-#include "d_fall_pps/CrazyflieData.h"
-#include "d_fall_pps/ViconData.h"
+#include "dfall_pkg/UnlabeledMarker.h"
+#include "dfall_pkg/FlyingVehicleState.h"
+#include "dfall_pkg/ViconData.h"
 
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 typedef ViconData::ConstPtr ptrToMessage;
 

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp → dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/src/CFLinker.cpp

@@ -164,11 +164,17 @@ void CFLinker::link(int student_id, int cf_zone_index, std::string cf_name, std:
     links.push_back(tmp_link);
     // TODO: remove options linked from available ones
 
+    // Get the index of the currently selected CF
     int index = m_ui->comboBoxCFs->currentIndex();
-    // remove items
+    // Remove item from the CF Combo Box
     m_ui->comboBoxCFs->removeItem(index);
-    index = m_ui->comboBoxCFZones->currentIndex();
-    m_ui->comboBoxCFZones->removeItem(index);
+
+
+    // THIS WAS COMMENTED OUT TO ALLOW ASSIGNING MULTIPLE CRAYZFLIES TO ONE ZONE
+    // Get the index of the currently selected CF
+    //index = m_ui->comboBoxCFZones->currentIndex();
+    // Remove item from the CF Combo Box
+    //m_ui->comboBoxCFZones->removeItem(index);
 
     // disable item
     // m_ui->comboBoxCFs->setItemData(index, 0, Qt::UserRole - 1);

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/channelLUT.cpp → dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/src/channelLUT.cpp

@@ -35,21 +35,24 @@
 
 std::map<std::string, std::string> channel_LUT
 {
-    // {"CF1", "A12D2"},
-    // {"CF2", "E341E"},
-    // {"CF3", "4E21A"},
-    {"cfOne", "0/76/2M/E7E7E7E701"},
-    {"cfTwo", "0/69/2M"},
-    {"cfThree", "0/72/2M"},
-    {"cfFour", "0/99/2M"},
-    {"PPS_CF01", "0/0/2M/E7E7E7E701"},
-    {"PPS_CF02", "0/8/2M/E7E7E7E702"},
-    {"PPS_CF03", "0/16/2M/E7E7E7E703"},
-    {"PPS_CF04", "0/24/2M/E7E7E7E704"},
-    {"PPS_CF05", "0/32/2M/E7E7E7E705"},
-    {"PPS_CF06", "0/40/2M/E7E7E7E706"},
-    {"PPS_CF07", "0/48/2M/E7E7E7E707"},
-    {"PPS_CF08", "0/56/2M/E7E7E7E708"},
-    {"PPS_CF09", "0/56/2M/E7E7E7E709"},
-    {"PPS_CF10", "0/56/2M/E7E7E7E70A"},
+    {"CF01", "0/0/2M/E7E7E7E701"},
+    {"CF02", "0/8/2M/E7E7E7E702"},
+    {"CF03", "0/16/2M/E7E7E7E703"},
+    {"CF04", "0/24/2M/E7E7E7E704"},
+    {"CF05", "0/32/2M/E7E7E7E705"},
+    {"CF06", "0/40/2M/E7E7E7E706"},
+    {"CF07", "0/48/2M/E7E7E7E707"},
+    {"CF08", "0/56/2M/E7E7E7E708"},
+    {"CF09", "0/64/2M/E7E7E7E709"},
+    {"CF10", "0/72/2M/E7E7E7E70A"},
+    {"CF11", "0/80/2M/E7E7E7E70B"},
+    {"CF12", "0/88/2M/E7E7E7E70C"},
+    {"CF13", "0/96/2M/E7E7E7E70D"},
+    {"CF14", "0/104/2M/E7E7E7E70E"},
+    {"CF15", "0/112/2M/E7E7E7E70F"},
+    {"CF16", "0/120/2M/E7E7E7E710"},
+    {"CF17", "0/4/2M/E7E7E7E711"},
+    {"CF18", "0/12/2M/E7E7E7E712"},
+    {"CF19", "0/20/2M/E7E7E7E713"},
+    {"CF20", "0/28/2M/E7E7E7E714"},
 };