Added some more documentation.

- erfolgreich getestet mit 95A TPU

.gitea/workflows/deploy-ftp.yml

@@ -28,7 +28,7 @@ jobs:
                   python -m pip install platformio
 
             - name: Build firmware bundle
-              run: pio run -e uno
+              run: pio run -e uno_linux
 
             - name: Install lftp client
               run: |

.gitignore

@@ -216,3 +216,4 @@ pip-log.txt
 #Mr Developer
 .mr.developer.cfg
 src/credentials.h
+platformio_override.ini

CAD/Zusatzteile-EiAndockerLinksORing16x2.step

@@ -0,0 +1,848 @@
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+#552 = UNCERTAINTY_MEASURE_WITH_UNIT(LENGTH_MEASURE(2.E-07),#549,
+  'distance_accuracy_value','confusion accuracy');
+#553 = PRODUCT_RELATED_PRODUCT_CATEGORY('part',$,(#7));
+#554 = MECHANICAL_DESIGN_GEOMETRIC_PRESENTATION_REPRESENTATION('',(#555)
+  ,#548);
+#555 = STYLED_ITEM('color',(#556),#15);
+#556 = PRESENTATION_STYLE_ASSIGNMENT((#557,#563));
+#557 = SURFACE_STYLE_USAGE(.BOTH.,#558);
+#558 = SURFACE_SIDE_STYLE('',(#559));
+#559 = SURFACE_STYLE_FILL_AREA(#560);
+#560 = FILL_AREA_STYLE('',(#561));
+#561 = FILL_AREA_STYLE_COLOUR('',#562);
+#562 = COLOUR_RGB('',0.650980421574,0.411764706019,0.956862747054);
+#563 = CURVE_STYLE('',#564,POSITIVE_LENGTH_MEASURE(0.1),#565);
+#564 = DRAUGHTING_PRE_DEFINED_CURVE_FONT('continuous');
+#565 = COLOUR_RGB('',9.803921802644E-02,9.803921802644E-02,
+  9.803921802644E-02);
+ENDSEC;
+END-ISO-10303-21;

README.md

@@ -1,58 +1,62 @@
-Eggduino
-====
+# Der Sternenlabor EggBot
+* Basiert auf EggDuino mit folgenden Anpassungen
+   * portiert auf ESP32
+   * Bessere Stepper Library
+   * Einfache Bahnplanung (weniger Verzerrungen)
+   * Stift Servo mit Rampensteuerung
+   * Webinterface für Logging und Einstellungen (Anschlussbelegung)
+   * BLE Interface (http://Eggbot.app)
+   * Web Socket Interace (aktuell ungetestet)
+   * RS232 Kommunikation mit 115200 (zuvor 9600)
+* Inkscape Plugin AxiDraw_395 (siehe GIT)
+   * Modifizierte ebb_serial.py zur Erkennung 
+   * Modifizierte eggbot.py - entfernt Pausen zwischen Bewegungen
+* Verwendung ohne Inkscape mittels http://EggBot.app
 
-Arduino Firmware for Eggbot / Spherebot with Inkscape-Integration
+Ohne angepasstes Inkscape Plugin kann keine Kommunikation zum EggBot aufgenommen werden.
 
-Version 1.6a
-tested with Inkscape Portable 0.91, Eggbot Extension and patched eggbot.py
+# Materialliste
 
-Regards: Eggduino-Firmware by Joachim Cerny, 2015
+Schrauben:
+* Motor Welle Ei: M3x8
+* Motorbefestigung: 8x M3x10
+* Motor Welle Stift: M3x12
+* Klemme für Eihalterung: 2x M3x16
+* Spannschraube Stift: M3x25
+* Armgelenk: M3x30
+* Mutter: 4x M3 **vierkant!**
+* Platine Schrauben: 4x M2.3x5
+* Schrauben für Feder: 2x M2.3x5
+* Scheiben für Feder: 2x M3x6x0.5
 
-Thanks for the nice libs ACCELSTEPPER and SERIALCOMMAND, which made this project much easier. Thanks to the Eggbot-Team for such a funny and enjoyable concept! Thanks to my wife and my daughter for their patience. :-)
+Sonstiges:
+* Zugfeder: 8x17 (entspannt)
+* O-Ring: 3x 18x2
+* Kugellager: 608ZZ (8x22x7)
 
-Features:
+Elektronik:
+* 2x Schrittmotor Nema 17 (200 Schritte/Umd.)
+* 2x Anschlusskabel
+* 1x Micro Servo
+* 1x CNC Shield (z.B. AZDelivery)
+* 2x Schrittmotor Treiber DRV8825
+   * Konfiguriert auf 32 Mikroschritte
+   * Auf 0,5V kalibriert
+* 1x ESP32 Arduino UNO Formfaktor
+* 1x Netzteil 12V min. 1A
+* 1x Micro USB Kabel
 
-- Implemented Eggbot-Protocol-Version 2.1.0
-- Turn-on homing: switch-on position of pen will be taken as reference point.
-- No collision-detection!!
-- Supported Servos: At least one type ;-) I use Arduino Servo-Lib with TG9e- standard servo.
-- Full Arduino-Compatible. I used an Arduino Uno
-- Button-support (3 buttons)
+3D-Druckteile: https://www.thingiverse.com/thing:3431363 (hoffentlich bald in unserem GIT)
 
-Tested and fully functional with Inkscape.
+# Elektronik
+Damit der ESP32 mit angeschlossenem CNC Shield korrekt funktioniert. Muss zwischen Enable und GND ein 1k Widerstand eingelötet werden.
+ ![CNC Mod](res/cnc-shield-mod.png)
 
-Installation:
-
-- Upload Eggduino.ino with Arduino-IDE or similar tool to your Arudino (i.e. Uno)
-- Disable Autoreset on Arduinoboard (there are several ways to do this... Which one does not matter...)
-- Install Inkscape Tools wit Eggbot extension. Detailed instructions: (You yust need to complete Steps 1 and 2)
-http://wiki.evilmadscientist.com/Installing_software
-
-- Because of an bug in the Eggbot-extension (Function findEiBotBoards()), the Eggduino cannot be detected by default.
-	Hopefully, the guys will fix this later on. But we can fix it on our own.
-    It is quiete easy:
-	
-        - Go to your Inkscape-Installationfolder and navigate to subfolder .\App\Inkscape\share\extensions
-		- open File "eggbot.py" in texteditor and search for line:
-			"Try any devices which seem to have EBB boards attached"
-                - comment that block with "#" like this:
-                		# Try any devices which seem to have EBB boards attached
-				# for strComPort in eggbot_scan.findEiBotBoards():
-				#	serialPort = self.testSerialPort( strComPort )
-				#	if serialPort:
-				#		self.svgSerialPort = strComPort
-				#		return serialPort
-		- In my version lines 1355-1360
- 
-
-## Setup
-Add credentials.h file with content like this:
-
-    const char *kWifiSsid = "MySSID";
-    const char *kWifiPassword = "MySecret";
-
-To disable Wifi:
-
-    const char *kWifiSsid = 0;
-    const char *kWifiPassword = 0;
+## Anschlussbelegung
+* Ei-Drehen Stepper: Y
+* Stift-Bewegen Stepper: X
+* Servo Ctrl Pin: Z-Step
+* USB Versorgung an ESP32 UNO (nötig)
+* 12V Netzteil an CNC Shield (nicht ESP32 UNO Buche)
 
+Falls von der Anschlussbelegung abgewichen wird, muss die geänderte Belegung über das Webinterface angepasst werden.

include/ArduinoEsp32Compat.h

@@ -0,0 +1,14 @@
+#pragma once
+
+// Arduino-ESP32 1.0.6 does not define these version macros, but some newer
+// libraries use them to select legacy-compatible code paths.
+#ifndef ESP_ARDUINO_VERSION
+#define EGGDUINO_LEGACY_ARDUINO_ESP32 1
+#define ESP_ARDUINO_VERSION 0
+#else
+#define EGGDUINO_LEGACY_ARDUINO_ESP32 0
+#endif
+
+#ifndef ESP_ARDUINO_VERSION_VAL
+#define ESP_ARDUINO_VERSION_VAL(major, minor, patch) (((major) * 10000) + ((minor) * 100) + (patch))
+#endif

include/EggDuino.h

@@ -14,25 +14,21 @@
 #include "SerialCommand.h"
 #include "button.h"
 
-// implemented Eggbot-Protocol-Version v13
-#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a"
-
 #ifdef ESP32
 
 // Rotational Stepper
-static const int kDefaultRotDirPin = 16;
+static const int kDefaultRotStepPin = 25;
+static const int kDefaultRotDirPin = 27;
 static const int kDefaultRotEnablePin = 12;
-static const int kDefaultRotStepPin = 26;
-#define rotMicrostep 32
-static const int kDefaultRotMicrostep = rotMicrostep;
+static const int kDefaultRotMicrostep = 32;
 
 // Pen Stepper
 static const int kDefaultPenStepPin = 25;
-static const int kDefaultPenDirPin = 27;
+static const int kDefaultPenDirPin = 16;
 static const int kDefaultPenEnablePin = 12;
-#define penMicrostep 32
-static const int kDefaultPenMicrostep = penMicrostep;
+static const int kDefaultPenMicrostep = 32;
 
+// Servo Pin
 static const int kDefaultServoPin = 17;
 
 
@@ -104,6 +100,7 @@ extern int g_iMaxAcclSpeed;
 extern String g_sHostname;
 extern String g_sWifiSsid;
 extern String g_sWifiPassword;
+extern String g_strConnectionState;
 
 enum ProtocolTransport {
 	PROTOCOL_TRANSPORT_SERIAL = 0,

include/button.h

@@ -29,7 +29,7 @@ private:
 	
 public:
 	
-	Button(byte p, ActionCb a): debounce(0), state(1), lastState(1), action(a), pin(p) {
+	Button(byte p, ActionCb a): debounce(0), state(1), lastState(1), pin(p), action(a) {
 		pinMode(pin, INPUT_PULLUP);
 	}
 
@@ -56,4 +56,3 @@ public:
 }; //button
 
 #endif //__BUTTON_H__
-

inkscape/README.md

@@ -0,0 +1,5 @@
+# Inkscape
+Das Verzeichnis ernthält die funktionierenden AxiDraw Plugins für Inkscape. Nach der Installation müssen allerdings noch zwei Datei gepatched werden.
+1. Installationsort des Inkscape Plugins öffnen. Diese findet man indem man Inkscape öffnet und in Bearbeiten->Einstellung unter System den Eintrag Benutzererweiterungen sucht.
+2. Im Ordner die Datei eggbot.py durch die im Ordner Patch enthaltene Datei ersetzen.
+3. Im Ordner des Plugins unter axidraw_deps/plotink die Datei ebb_serial.py ersetzen.

inkscape/killegg.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+# killegg.sh
+# Simple helper script to terminate any running instance of the Python program "eggbot.py" which is started by inkscape.
+# It searches for the process by name and sends a termination signal.
+
+PROCESS="eggbot.py"
+
+PIDS=$(pgrep -f "$PROCESS")
+
+if [ -z "$PIDS" ]; then
+    echo "Kein laufender Prozess für $PROCESS gefunden."
+else
+    echo "Beende Prozess(e): $PIDS"
+    kill $PIDS
+fi

inkscape/patch/ebb_serial.py

@@ -64,6 +64,9 @@ def findPort():
         if port[0].startswith("/dev/ttyUSB"):
             ebb_port = port[0]  # Success; EBB found by name match.
             break  # stop searching-- we are done.
+        elif port[0].startswith("COM"):
+            ebb_port = port[0]  # Success; EBB found by name match.
+            break  # stop searching-- we are done.
     for port in com_ports_list:
         if port[1].startswith("EiBotBoard"):
             ebb_port = port[0]  # Success; EBB found by name match.
@@ -215,6 +218,8 @@ def listEBBports():
         port_has_ebb = False
         if port[0].startswith("/dev/ttyUSB"):
             port_has_ebb = True
+        elif port[0].startswith("COM"):
+            port_has_ebb = True
         elif port[1].startswith("EiBotBoard"):
             port_has_ebb = True
         elif port[2].startswith("USB VID:PID=04D8:FD92"):

platformio.ini

@@ -8,34 +8,45 @@
 ; Please visit documentation for the other options and examples
 ; https://docs.platformio.org/page/projectconf.html
 
-[env:uno]
+[platformio]
+default_envs = uno_linux
+extra_configs = platformio_override.ini
+
+[env]
 platform = platformio/espressif32
 board = esp32dev
 framework = arduino
 monitor_speed = 115200
-upload_speed = 576000
-upload_port = /dev/ttyUSB*
-extra_scripts = post:scripts/package_firmware.py
 lib_deps =
     arminjo/ServoEasing
     madhephaestus/ESP32Servo@^3.0.6
     bblanchon/ArduinoJson@^6.21.5
-	gin66/FastAccelStepper@^0.33.13
-	h2zero/NimBLE-Arduino@^2.3.6
     links2004/WebSockets@^2.6.1
 
-[env:uno_macos]
-platform = platformio/espressif32
-board = esp32dev
-framework = arduino
-monitor_speed = 115200
-monitor_port = /dev/cu.usb*
-upload_port = /dev/cu.usb*
-extra_scripts = post:scripts/package_firmware.py
+[env:uno_linux]
+upload_speed = 576000
+upload_port = /dev/ttyUSB*
 lib_deps =
-	arminjo/ServoEasing
-	madhephaestus/ESP32Servo@^3.0.6
-	bblanchon/ArduinoJson@^6.21.5
+    ${env.lib_deps}
+    gin66/FastAccelStepper@^0.33.13
+    h2zero/NimBLE-Arduino@^2.3.6
+
+[env:uno_windows]
+extra_scripts = pre:scripts/patch_legacy_esp32_libs.py
+build_flags =
+    -DEGGDUINO_WINDOWS_BUILD_FIXES=1
+    -include $PROJECT_INCLUDE_DIR/ArduinoEsp32Compat.h
+monitor_port = COM*
+upload_port = COM8
+lib_deps =
+    ${env.lib_deps}
+    gin66/FastAccelStepper@0.30.15
+    h2zero/NimBLE-Arduino@2.2.3
+
+[env:uno_macos]
+monitor_port = /dev/cu.usb*
+upload_port = /dev/cu.usb*
+lib_deps =
+    ${env.lib_deps}
     gin66/FastAccelStepper@^0.33.13
     h2zero/NimBLE-Arduino@^2.3.6
-	links2004/WebSockets@^2.6.1

platformio_override_example.ini

@@ -0,0 +1,5 @@
+# Copy file to platformio_override.ini and change default_envs to your needs.
+# In this example file it uses the mac configuration.
+
+[platformio]
+default_envs = uno_mac

scripts/patch_legacy_esp32_libs.py

@@ -0,0 +1,98 @@
+from pathlib import Path
+
+Import("env")
+
+
+def patch_nimble_address() -> None:
+    libdeps_dir = Path(env.subst("$PROJECT_LIBDEPS_DIR"))
+    env_name = env.subst("$PIOENV")
+    source_path = libdeps_dir / env_name / "NimBLE-Arduino" / "src" / "NimBLEAddress.cpp"
+
+    if not source_path.exists():
+        return
+
+    original = source_path.read_text(encoding="utf-8")
+    updated = original
+
+    include_old = '# include <algorithm>\n'
+    include_new = '# include <algorithm>\n# include <cstdlib>\n'
+    if include_old in updated and "# include <cstdlib>\n" not in updated:
+        updated = updated.replace(include_old, include_new, 1)
+
+    call_old = "        uint64_t address = std::stoull(mac, nullptr, 16);"
+    call_new = "        uint64_t address = strtoull(mac.c_str(), nullptr, 16);"
+    updated = updated.replace(call_old, call_new, 1)
+
+    if updated != original:
+        source_path.write_text(updated, encoding="utf-8")
+        print("Patched NimBLE-Arduino for legacy ESP32 toolchain compatibility")
+
+
+def patch_nimble_device() -> None:
+    libdeps_dir = Path(env.subst("$PROJECT_LIBDEPS_DIR"))
+    env_name = env.subst("$PIOENV")
+    source_path = libdeps_dir / env_name / "NimBLE-Arduino" / "src" / "NimBLEDevice.cpp"
+
+    if not source_path.exists():
+        return
+
+    original = source_path.read_text(encoding="utf-8")
+    updated = original
+
+    updated = updated.replace(
+        "    ble_sm_io pkey{.action = BLE_SM_IOACT_INPUT, .passkey = passkey};\n",
+        "    ble_sm_io pkey{};\n"
+        "    pkey.action = BLE_SM_IOACT_INPUT;\n"
+        "    pkey.passkey = passkey;\n",
+        1,
+    )
+    updated = updated.replace(
+        "    ble_sm_io pkey{.action = BLE_SM_IOACT_NUMCMP, .numcmp_accept = accept};\n",
+        "    ble_sm_io pkey{};\n"
+        "    pkey.action = BLE_SM_IOACT_NUMCMP;\n"
+        "    pkey.numcmp_accept = accept;\n",
+        1,
+    )
+
+    if updated != original:
+        source_path.write_text(updated, encoding="utf-8")
+        print("Patched NimBLEDevice.cpp for legacy ESP32 toolchain compatibility")
+
+
+def patch_websockets_client() -> None:
+    libdeps_dir = Path(env.subst("$PROJECT_LIBDEPS_DIR"))
+    env_name = env.subst("$PIOENV")
+    source_path = libdeps_dir / env_name / "WebSockets" / "src" / "WebSocketsClient.cpp"
+
+    if not source_path.exists():
+        return
+
+    original = source_path.read_text(encoding="utf-8")
+    updated = original
+
+    old = (
+        "#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 4)\n"
+        "                _client.ssl->setCACertBundle(_CA_bundle, _CA_bundle_size);\n"
+        "#else\n"
+        "                _client.ssl->setCACertBundle(_CA_bundle);\n"
+        "#endif\n"
+    )
+    new = (
+        "#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 4)\n"
+        "                _client.ssl->setCACertBundle(_CA_bundle, _CA_bundle_size);\n"
+        "#else\n"
+        "                // Arduino-ESP32 1.x has no CA bundle API; the project only uses\n"
+        "                // WebSocketsServer, so keep the client path buildable with insecure TLS.\n"
+        "                _client.ssl->setInsecure();\n"
+        "#endif\n"
+    )
+    updated = updated.replace(old, new, 1)
+
+    if updated != original:
+        source_path.write_text(updated, encoding="utf-8")
+        print("Patched WebSocketsClient.cpp for legacy ESP32 toolchain compatibility")
+
+
+patch_nimble_address()
+patch_nimble_device()
+patch_websockets_client()

src/Config_Web.cpp

@@ -3,6 +3,8 @@
 #include <DNSServer.h>
 #include <string.h>
 
+ String g_strConnectionState = "No Wifi connection";
+
 namespace
 {
 	const char *kConfigPath = "/config.json";
@@ -594,7 +596,8 @@ void startWebInterface()
 		staConnectionKnown = staConnected;
 		if (staConnected)
 		{
-			Serial.println(String("Connected: http://") + WiFi.localIP().toString());
+         g_strConnectionState = String("Connected: http://") + WiFi.localIP().toString();
+			Serial.println(g_strConnectionState);
 		}
 		else
 		{
@@ -620,7 +623,8 @@ void startWebInterface()
 		{
 			apModeActive = true;
 			dnsServer.start(kDnsPort, "*", WiFi.softAPIP());
-			Serial.println(String("AP aktiv: ") + hostName + " / http://" + WiFi.softAPIP().toString() + " (Name: " + hostName + ")");
+         g_strConnectionState = String("AP aktiv: http://" + WiFi.softAPIP().toString() + " (" + hostName + ")");
+         Serial.println(g_strConnectionState);
 		}
 		else
 		{

src/Functions.cpp

@@ -144,9 +144,7 @@ void setPen()
 {
    Log(__FUNCTION__);
 	int cmd;
-	int value;
 	char *arg;
-	char cstrMsg[20];
 
 	// moveToDestination();
 
@@ -172,7 +170,7 @@ void setPen()
 	val = nextCommandArg();
 	if (val != NULL)
 	{
-		value = atoi(val);
+		(void)atoi(val);
 		sendAck();
 		// delay(value);
 	}
@@ -189,8 +187,7 @@ void setPen()
 void togglePen()
 {
    Log(__FUNCTION__);
-	char *arg;
-	arg = nextCommandArg();
+	(void)nextCommandArg();
 
 	doTogglePen();
 	sendAck();
@@ -322,10 +319,11 @@ void stepperModeConfigure()
 void sendVersion()
 {
 	Log(__FUNCTION__);
-	protocolWrite(initSting);
+	protocolWrite("EBB: " + g_strConnectionState);
 	protocolWrite("\r\n");
 }
 
+
 void unrecognized(const char *command)
 {
    Log(__FUNCTION__);

src/esp_timer_compat.c

@@ -0,0 +1,13 @@
+#if defined(EGGDUINO_WINDOWS_BUILD_FIXES)
+#include <ArduinoEsp32Compat.h>
+
+#if defined(ESP32) && EGGDUINO_LEGACY_ARDUINO_ESP32
+#include <esp_timer.h>
+
+int esp_timer_is_active(esp_timer_handle_t timer)
+{
+    (void)timer;
+    return 0;
+}
+#endif
+#endif

svg/chicken.svg

@@ -0,0 +1,669 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   id="svg6435"
+   version="1.1"
+   viewBox="0 0 3200 1024"
+   sodipodi:docname="chicken.svg"
+   inkscape:version="1.2.2 (b0a8486541, 2022-12-01)"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg">
+  <sodipodi:namedview
+     id="namedview287"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:showpageshadow="2"
+     inkscape:pageopacity="0.0"
+     inkscape:pagecheckerboard="0"
+     inkscape:deskcolor="#d1d1d1"
+     showgrid="false"
+     inkscape:zoom="0.30819089"
+     inkscape:cx="1489.3367"
+     inkscape:cy="340.69794"
+     inkscape:window-width="3454"
+     inkscape:window-height="2088"
+     inkscape:window-x="386"
+     inkscape:window-y="0"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg6435" />
+  <!-- Generator: Adobe Illustrator 30.2.1, SVG Export Plug-In . SVG Version: 2.1.1 Build 1)  -->
+  <defs
+     id="defs4">
+    <style
+       id="style2">
+      .st0 {
+        stroke-miterlimit: 4;
+        stroke-width: 1px;
+      }
+
+      .st0, .st1 {
+        fill: none;
+        stroke: #000;
+      }
+    </style>
+  </defs>
+  <g
+     id="g34">
+    <path
+       class="st1"
+       d="M624.26,266.87s183.01,17.85,435.95,214.26c0,0-116.06,324.36-369,226.16-252.94-98.2-66.96-440.42-66.96-440.42h.01Z"
+       id="path6" />
+    <path
+       class="st1"
+       d="M645.19,260.45s13.96-95.11,53.22-89.87c0,0,15.28-.66,12.06,22.14,0,0-.72,19.74,12.37,6.65,13.09-13.09,20.94-14.83,30.54-10.47s0,19.2,0,19.2c0,0-3.49,16.37,11.34,7.31s25.1-7.39,30.54,0,9.6,18.86-14.83,35.44c-24.43,16.58-44.39,27.05-59.28,35.77"
+       id="path8" />
+    <path
+       class="st1"
+       d="M569.95,333.83s-49.41,44.04-39.21,76.81c10.21,32.76,42.43-24.72,46.19-69.29"
+       id="path10" />
+    <path
+       class="st1"
+       d="M682.48,460.32s-46.3,168.45,147.76,151.7c0,0,93.58-13.79,129.05-80.78"
+       id="path12" />
+    <path
+       class="st1"
+       d="M677.65,708.56l-98.5,61.08-34.58-43.82s-9.71-8.07-15.19-2.17"
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+    <path
+       class="st1"
+       d="M591.33,799.49s6.32-7.16,4.21-11.8-16.4-18.06-16.4-18.06"
+       id="path16" />
+    <path
+       id="line18"
+       class="st1"
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