Initial tutorial project
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# Build results
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[Bb]in/
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[Oo]bj/
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build/
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artifacts/
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# Visual Studio / Rider / VS Code
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.vs/
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.idea/
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.vscode/
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*.user
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*.suo
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*.rsuser
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*.userosscache
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*.sln.docstates
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# .NET generated files
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project.assets.json
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project.nuget.cache
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*.nuget.g.props
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*.nuget.g.targets
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*.AssemblyInfo.cs
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*.GeneratedMSBuildEditorConfig.editorconfig
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*.GlobalUsings.g.cs
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*.FileListAbsolute.txt
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*.CoreCompileInputs.cache
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*.AssemblyReference.cache
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*.assets.cache
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# Test and coverage output
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TestResults/
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coverage/
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*.coverage
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*.coveragexml
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coverage*.json
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# Logs, diagnostics, and temporary files
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*.log
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*.tlog
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*.binlog
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*.pdb
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*.cache
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*.tmp
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*.temp
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*.swp
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*.bak
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# Local runtime configuration
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cartparams.json
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appsettings.Development.json
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*.local.json
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# OS files
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Thumbs.db
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.DS_Store
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using CartActivator;
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namespace DiffWheelM;
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[UseManualController(manualController = typeof(Remote))]
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[UseLadderLogic(logic = typeof(MotorRoutine), scanInterval = 50)]
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public class CartDefinition : CartActivator.CartDefinition
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{
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[AsUpperIO(desc = "左轮下发速度", timeOutReset = true)]
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[Sandbox]
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public float SpeedLeft;
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[AsUpperIO(desc = "右轮下发速度", timeOutReset = true)]
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[Sandbox]
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public float SpeedRight;
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[AsLowerIO(desc = "左轮实际速度")]
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[Sandbox]
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public float ActualSpeedLeft;
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[AsLowerIO(desc = "右轮实际速度")]
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[Sandbox]
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public float ActualSpeedRight;
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[AsInitParam(desc = "手动最大轮速(m/s)")]
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public float MaxManualSpeed = 0.3f;
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public override void Init()
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{
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Console.WriteLine("[DiffWheelM] Minimal Medulla cart initialized.");
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}
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}
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<Project Sdk="Microsoft.NET.Sdk">
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<PropertyGroup>
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<TargetFramework>net8.0</TargetFramework>
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<ImplicitUsings>enable</ImplicitUsings>
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<Nullable>enable</Nullable>
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<Platforms>AnyCPU</Platforms>
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<AppendTargetFrameworkToOutputPath>false</AppendTargetFrameworkToOutputPath>
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<OutputPath>..\build\Medulla\plugins\</OutputPath>
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</PropertyGroup>
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<ItemGroup>
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<Reference Include="CartActivator">
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<HintPath>D:\MDCS\Dependencies\Medulla\RefCartActivator.dll</HintPath>
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<Private>False</Private>
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</Reference>
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<Reference Include="MedullaCore">
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<HintPath>D:\MDCS\Dependencies\Medulla\RefMedullaCore.dll</HintPath>
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<Private>False</Private>
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</Reference>
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<Reference Include="Medulla">
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<HintPath>D:\MDCS\Dependencies\Medulla\RefMedulla2.dll</HintPath>
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<Private>False</Private>
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</Reference>
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<Reference Include="FundamentalLib">
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<HintPath>D:\MDCS\Dependencies\deps\RefFundamentalLib.dll</HintPath>
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<Private>False</Private>
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</Reference>
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</ItemGroup>
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</Project>
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using CartActivator;
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namespace DiffWheelM;
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public class MotorRoutine : LadderLogic<CartDefinition>
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{
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public override void Operation(int iteration)
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{
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}
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}
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using CartActivator;
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namespace DiffWheelM;
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public class Remote : ManualController<CartDefinition>
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{
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[AsControlItem(name = "速度摇杆", keyboard = "Up,Down,Left,Right", joystick = "Axis0,Axis1")]
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public Stick Direction;
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[AsControlItem(name = "速度比例", keyboard = "Q,W")]
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public Throttle SpeedRatio;
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public override void Operation()
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{
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var maxSpeed = Math.Max(0, cart.MaxManualSpeed);
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var speedRatio = Math.Clamp(SpeedRatio.val, 0, 1);
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var left = Direction.y - Direction.x;
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var right = Direction.y + Direction.x;
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var wheelScale = Math.Max(1, Math.Max(Math.Abs(left), Math.Abs(right)));
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left = left / wheelScale * maxSpeed * speedRatio;
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right = right / wheelScale * maxSpeed * speedRatio;
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cart.SpeedLeft = Math.Clamp(left, -maxSpeed, maxSpeed);
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cart.SpeedRight = Math.Clamp(right, -maxSpeed, maxSpeed);
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statusText = $"L={cart.SpeedLeft:0.000}m/s, R={cart.SpeedRight:0.000}m/s";
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}
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}
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using CartActivator;
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using CommonUsage.Chassis;
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using System.Numerics;
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namespace MultiWheelM;
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[UseManualController(manualController = typeof(Remote))]
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[UseLadderLogic(logic = typeof(MotorRoutine), scanInterval = 50)]
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public class CartDefinition : CartActivator.CartDefinition
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{
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[AsUpperIO(desc = "左前轮速度", timeOutReset = true)]
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[Playground]
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public float SpeedLeftFront;
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[AsUpperIO(desc = "左后轮速度", timeOutReset = true)]
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[Playground]
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public float SpeedLeftRear;
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[AsUpperIO(desc = "右前轮速度", timeOutReset = true)]
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[Playground]
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public float SpeedRightFront;
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[AsUpperIO(desc = "右后轮速度", timeOutReset = true)]
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[Playground]
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public float SpeedRightRear;
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[AsLowerIO(desc = "左前轮速度反馈")]
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[Playground]
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public float ActualSpeedLeftFront;
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[AsLowerIO(desc = "左后轮速度反馈")]
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[Playground]
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public float ActualSpeedLeftRear;
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[AsLowerIO(desc = "右前轮速度反馈")]
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[Playground]
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public float ActualSpeedRightFront;
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[AsLowerIO(desc = "右后轮速度反馈")]
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[Playground]
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public float ActualSpeedRightRear;
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[AsUpperIO(desc = "左前轮转向角度", timeOutReset = true)]
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[Playground]
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public float ThLeftFront;
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[AsUpperIO(desc = "左后轮转向角度", timeOutReset = true)]
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[Playground]
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public float ThLeftRear;
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[AsUpperIO(desc = "右前轮转向角度", timeOutReset = true)]
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[Playground]
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public float ThRightFront;
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[AsUpperIO(desc = "右后轮转向角度", timeOutReset = true)]
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[Playground]
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public float ThRightRear;
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[AsLowerIO(desc = "左前轮转向角度反馈")]
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[Playground]
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public float ActualThLeftFront;
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[AsLowerIO(desc = "左后轮转向角度反馈")]
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[Playground]
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public float ActualThLeftRear;
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[AsLowerIO(desc = "右前轮转向角度反馈")]
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[Playground]
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public float ActualThRightFront;
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[AsLowerIO(desc = "右后轮转向角度反馈")]
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[Playground]
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public float ActualThRightRear;
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[AsLowerIO(desc = "遥控模式")]
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public int ManualMode = -1;
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[AsInitParam(desc = "手动最大速度(m/s)")]
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public float MaxManualSpeed = 0.3f;
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[AsInitParam(desc = "手动最大自旋角速度(deg/s)")]
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public float MaxManualAngularSpeed = 45f;
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[AsInitParam(desc = "手动最大转向角度(deg)")]
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public float MaxManualTheta = 45f;
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[AsInitParam(desc = "遥控转向输入幂数")]
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public float ManualThetaPow = 2f;
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[AsInitParam(desc = "舵轮前后半轴距(mm)")]
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public float WheelBaseHalfLength = 750f;
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[AsInitParam(desc = "舵轮左右半轮距(mm)")]
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public float WheelTrackHalfWidth = 500f;
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[AsInitParam(desc = "舵轮最小角度(deg)")]
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public float WheelAngleLowerLimit = -120f;
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[AsInitParam(desc = "舵轮最大角度(deg)")]
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public float WheelAngleUpperLimit = 120f;
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[AsInitParam(desc = "底盘速度加速度(m/s^2)")]
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public float ChassisAccPerSecond = 0.3f;
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[AsInitParam(desc = "底盘速度减速度(m/s^2)")]
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public float ChassisDeAccPerSecond = 0.5f;
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[AsInitParam(desc = "转向最低速度系数")]
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public float ChassisMinTurnSpeedFac = 0.25f;
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[AsInitParam(desc = "几何控制点半径(mm)")]
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public float ChassisControlPointRadius = 500f;
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||||||
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[AsInitParam(desc = "几何控制点转角速度(deg/s)")]
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public float ChassisGcpThetaPerSecond = 10f;
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[AsInitParam(desc = "阿克曼最小转向角(deg)")]
|
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public float ChassisMinimumTurningAngleForAckermann = 60f;
|
||||||
|
|
||||||
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public MultiWheelChassis Chassis = null!;
|
||||||
|
|
||||||
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public override void Init()
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||||||
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{
|
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Chassis = new MultiWheelChassis
|
||||||
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{
|
||||||
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MaxSpeed = MaxManualSpeed,
|
||||||
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AccPerSecond = ChassisAccPerSecond,
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DeAccPerSecond = ChassisDeAccPerSecond,
|
||||||
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MinTurnSpeedFac = ChassisMinTurnSpeedFac,
|
||||||
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ControlPointRadius = ChassisControlPointRadius,
|
||||||
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GcpThetaPerSecond = ChassisGcpThetaPerSecond,
|
||||||
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MinimumTurningAngleForAckermann = ChassisMinimumTurningAngleForAckermann
|
||||||
|
};
|
||||||
|
|
||||||
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Chassis.AddWheel(new SteerWheel(
|
||||||
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new Vector2(WheelBaseHalfLength, WheelTrackHalfWidth),
|
||||||
|
WheelAngleLowerLimit,
|
||||||
|
WheelAngleUpperLimit,
|
||||||
|
speed => SpeedLeftFront = speed,
|
||||||
|
() => ActualSpeedLeftFront,
|
||||||
|
angle => ThLeftFront = angle,
|
||||||
|
() => ActualThLeftFront));
|
||||||
|
|
||||||
|
Chassis.AddWheel(new SteerWheel(
|
||||||
|
new Vector2(-WheelBaseHalfLength, WheelTrackHalfWidth),
|
||||||
|
WheelAngleLowerLimit,
|
||||||
|
WheelAngleUpperLimit,
|
||||||
|
speed => SpeedLeftRear = speed,
|
||||||
|
() => ActualSpeedLeftRear,
|
||||||
|
angle => ThLeftRear = angle,
|
||||||
|
() => ActualThLeftRear));
|
||||||
|
|
||||||
|
Chassis.AddWheel(new SteerWheel(
|
||||||
|
new Vector2(WheelBaseHalfLength, -WheelTrackHalfWidth),
|
||||||
|
WheelAngleLowerLimit,
|
||||||
|
WheelAngleUpperLimit,
|
||||||
|
speed => SpeedRightFront = speed,
|
||||||
|
() => ActualSpeedRightFront,
|
||||||
|
angle => ThRightFront = angle,
|
||||||
|
() => ActualThRightFront));
|
||||||
|
|
||||||
|
Chassis.AddWheel(new SteerWheel(
|
||||||
|
new Vector2(-WheelBaseHalfLength, -WheelTrackHalfWidth),
|
||||||
|
WheelAngleLowerLimit,
|
||||||
|
WheelAngleUpperLimit,
|
||||||
|
speed => SpeedRightRear = speed,
|
||||||
|
() => ActualSpeedRightRear,
|
||||||
|
angle => ThRightRear = angle,
|
||||||
|
() => ActualThRightRear));
|
||||||
|
|
||||||
|
Chassis.Initialize();
|
||||||
|
|
||||||
|
Console.WriteLine("[MultiWheelM] Minimal multi-wheel Medulla cart initialized with CommonUsage chassis geometry.");
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,11 @@
|
|||||||
|
using CartActivator;
|
||||||
|
|
||||||
|
namespace MultiWheelM;
|
||||||
|
|
||||||
|
public class MotorRoutine : LadderLogic<CartDefinition>
|
||||||
|
{
|
||||||
|
public override void Operation(int iteration)
|
||||||
|
{
|
||||||
|
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,34 @@
|
|||||||
|
<Project Sdk="Microsoft.NET.Sdk">
|
||||||
|
|
||||||
|
<PropertyGroup>
|
||||||
|
<TargetFramework>net8.0</TargetFramework>
|
||||||
|
<ImplicitUsings>enable</ImplicitUsings>
|
||||||
|
<Nullable>enable</Nullable>
|
||||||
|
<Platforms>AnyCPU</Platforms>
|
||||||
|
<AppendTargetFrameworkToOutputPath>false</AppendTargetFrameworkToOutputPath>
|
||||||
|
<OutputPath>..\build\Medulla\plugins\</OutputPath>
|
||||||
|
</PropertyGroup>
|
||||||
|
|
||||||
|
<ItemGroup>
|
||||||
|
<Reference Include="CartActivator">
|
||||||
|
<HintPath>D:\MDCS\Release\Medulla\RefCartActivator.dll</HintPath>
|
||||||
|
<Private>False</Private>
|
||||||
|
</Reference>
|
||||||
|
<Reference Include="MedullaCore">
|
||||||
|
<HintPath>D:\MDCS\Release\Medulla\RefMedullaCore.dll</HintPath>
|
||||||
|
<Private>False</Private>
|
||||||
|
</Reference>
|
||||||
|
<Reference Include="Medulla">
|
||||||
|
<HintPath>D:\MDCS\Release\Medulla\RefMedulla2.dll</HintPath>
|
||||||
|
<Private>False</Private>
|
||||||
|
</Reference>
|
||||||
|
<Reference Include="FundamentalLib">
|
||||||
|
<HintPath>D:\MDCS\Dependencies\deps\RefFundamentalLib.dll</HintPath>
|
||||||
|
<Private>False</Private>
|
||||||
|
</Reference>
|
||||||
|
<Reference Include="CommonUsage">
|
||||||
|
<HintPath>D:\MDCS\Dependencies\Commons\CommonUsage.dll</HintPath>
|
||||||
|
</Reference>
|
||||||
|
</ItemGroup>
|
||||||
|
|
||||||
|
</Project>
|
||||||
@@ -0,0 +1,70 @@
|
|||||||
|
using CartActivator;
|
||||||
|
|
||||||
|
namespace MultiWheelM;
|
||||||
|
|
||||||
|
public class Remote : ManualController<CartDefinition>
|
||||||
|
{
|
||||||
|
[AsControlItem(name = "速度摇杆", keyboard = "Up,Down,Left,Right", joystick = "Axis0,Axis1")]
|
||||||
|
public Stick SpeedPad;
|
||||||
|
|
||||||
|
[AsControlItem(name = "速度比例", keyboard = "Q,W")]
|
||||||
|
public Throttle SpeedRatio;
|
||||||
|
|
||||||
|
[AsControlItem(name = "旋转模式", keyboard = "R")]
|
||||||
|
public Switch SpinMode;
|
||||||
|
|
||||||
|
[AsControlItem(name = "横移模式", keyboard = "C")]
|
||||||
|
public Switch CrabMode;
|
||||||
|
|
||||||
|
[AsControlItem(name = "斜行模式", keyboard = "S")]
|
||||||
|
public Switch SwayMode;
|
||||||
|
|
||||||
|
[AsControlItem(name = "车头方向", keyboard = "A,D")]
|
||||||
|
public DThrottle FrontDirection;
|
||||||
|
|
||||||
|
public override void Operation()
|
||||||
|
{
|
||||||
|
var speedThreshold = Math.Clamp(SpeedRatio.val, 0, 1) * Math.Max(0, cart.MaxManualSpeed);
|
||||||
|
var speed = Math.Clamp(SpeedPad.y, -1, 1) * speedThreshold;
|
||||||
|
var steerInput = Math.Clamp(SpeedPad.x, -1, 1);
|
||||||
|
var steering = (float)Math.Pow(Math.Abs(steerInput), cart.ManualThetaPow) * Math.Sign(steerInput);
|
||||||
|
var frontTh = -steering * cart.MaxManualTheta;
|
||||||
|
var rearTh = steering * cart.MaxManualTheta;
|
||||||
|
var frontDirection = Math.Clamp(FrontDirection.dval, -1, 1) * 180;
|
||||||
|
|
||||||
|
if (SpinMode.on)
|
||||||
|
{
|
||||||
|
var direction = steerInput == 0 ? Math.Sign(speed) : steerInput;
|
||||||
|
cart.Chassis.SendRotateMotion(direction * cart.MaxManualAngularSpeed * Math.Clamp(SpeedRatio.val, 0, 1));
|
||||||
|
cart.ManualMode = 1;
|
||||||
|
statusText = $"spin, w={direction * cart.MaxManualAngularSpeed:0.0}deg/s";
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (CrabMode.on)
|
||||||
|
{
|
||||||
|
cart.Chassis.SetOriginBias(0, 0, 90);
|
||||||
|
cart.Chassis.SendMotion(speed, frontTh, rearTh);
|
||||||
|
cart.ManualMode = 2;
|
||||||
|
statusText = $"crab, v={speed:0.000}, front={frontTh:0.0}, rear={rearTh:0.0}";
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (SwayMode.on)
|
||||||
|
{
|
||||||
|
cart.Chassis.SetOriginBias(0, 0, frontDirection);
|
||||||
|
cart.Chassis.SendMotion(speed, frontTh, -rearTh);
|
||||||
|
cart.ManualMode = 3;
|
||||||
|
statusText = $"sway, v={speed:0.000}, front={frontTh:0.0}, rear={-rearTh:0.0}";
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
cart.Chassis.SetOriginBias(0, 0, frontDirection);
|
||||||
|
cart.Chassis.SendMotion(speed, frontTh, rearTh);
|
||||||
|
cart.ManualMode = 0;
|
||||||
|
statusText = $"normal, v={speed:0.000}, front={frontTh:0.0}, rear={rearTh:0.0}";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@@ -0,0 +1,72 @@
|
|||||||
|
# Tutorial Medulla Plugins
|
||||||
|
|
||||||
|
本仓库用于放置最小 Medulla 插件示例，方便从产品化项目中抽离出底盘 IO 与遥控器逻辑。示例不引用 `MDCSToolBox`；其中 `MultiWheelM` 为了使用底盘几何模型，会额外引用 `CommonUsage`。
|
||||||
|
|
||||||
|
## 目录结构
|
||||||
|
|
||||||
|
```text
|
||||||
|
Tutorial/
|
||||||
|
Tutorial.sln
|
||||||
|
DiffWheelM/
|
||||||
|
差速底盘最小 Medulla 插件
|
||||||
|
MultiWheelM/
|
||||||
|
多舵轮底盘最小 Medulla 插件
|
||||||
|
```
|
||||||
|
|
||||||
|
`build/`、`obj/` 和 `.vs/` 是本地构建或调试输出，已在 `.gitignore` 中忽略。
|
||||||
|
|
||||||
|
## DiffWheelM
|
||||||
|
|
||||||
|
`DiffWheelM` 参考 `StandardKivaM`，保留差速底盘最小 IO：
|
||||||
|
|
||||||
|
- `SpeedLeft` / `SpeedRight`: 左右轮下发速度，`AsUpperIO`，超时自动复位
|
||||||
|
- `ActualSpeedLeft` / `ActualSpeedRight`: 左右轮实际速度反馈，`AsLowerIO`
|
||||||
|
- `MaxManualSpeed`: 手动最大轮速初始化参数，默认 `0.3m/s`
|
||||||
|
|
||||||
|
遥控器使用 `Up,Down,Left,Right` 控制前后与转向，`Q,W` 控制速度比例。
|
||||||
|
|
||||||
|
## MultiWheelM
|
||||||
|
|
||||||
|
`MultiWheelM` 参考 `StandardMultiWheelLifterM`，保留多舵轮底盘最小 IO：
|
||||||
|
|
||||||
|
- 四个舵轮速度：`SpeedLeftFront`、`SpeedLeftRear`、`SpeedRightFront`、`SpeedRightRear`
|
||||||
|
- 四个舵轮转角：`ThLeftFront`、`ThLeftRear`、`ThRightFront`、`ThRightRear`
|
||||||
|
- 对应的实际速度与实际转角反馈
|
||||||
|
- `MaxManualSpeed`、`MaxManualAngularSpeed`、`MaxManualTheta` 初始化参数
|
||||||
|
- 舵轮几何参数：`WheelBaseHalfLength`、`WheelTrackHalfWidth`、`WheelAngleLowerLimit`、`WheelAngleUpperLimit`
|
||||||
|
|
||||||
|
遥控器支持普通转向、旋转、横移和斜行几个最小模式：
|
||||||
|
|
||||||
|
- `Up,Down,Left,Right`: 速度摇杆
|
||||||
|
- `Q,W`: 速度比例
|
||||||
|
- `R`: 旋转模式
|
||||||
|
- `C`: 横移模式
|
||||||
|
- `S`: 斜行模式
|
||||||
|
- `A,D`: 车头方向偏置
|
||||||
|
|
||||||
|
当前多舵轮示例使用 `CommonUsage.Chassis.MultiWheelChassis` 做遥控几何分解，不接真实下位机，`MotorRoutine` 会把下发速度/角度镜像到实际反馈变量，便于 Medulla UI 或 Clumsy 侧观察。
|
||||||
|
|
||||||
|
## 构建
|
||||||
|
|
||||||
|
```powershell
|
||||||
|
dotnet build .\Tutorial.sln
|
||||||
|
```
|
||||||
|
|
||||||
|
默认输出目录：
|
||||||
|
|
||||||
|
```text
|
||||||
|
build\Medulla\plugins\
|
||||||
|
```
|
||||||
|
|
||||||
|
## 依赖
|
||||||
|
|
||||||
|
两个插件都只引用：
|
||||||
|
|
||||||
|
- `D:\MDCS\Dependencies\Medulla\RefCartActivator.dll`
|
||||||
|
- `D:\MDCS\Dependencies\Medulla\RefMedullaCore.dll`
|
||||||
|
- `D:\MDCS\Dependencies\Medulla\RefMedulla2.dll`
|
||||||
|
- `D:\MDCS\Dependencies\deps\RefFundamentalLib.dll`
|
||||||
|
|
||||||
|
`MultiWheelM` 额外引用：
|
||||||
|
|
||||||
|
- `D:\MDCS\Dependencies\Commons\CommonUsage.dll`
|
||||||
@@ -0,0 +1,31 @@
|
|||||||
|
|
||||||
|
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||||
|
# Visual Studio Version 17
|
||||||
|
VisualStudioVersion = 17.5.33424.131
|
||||||
|
MinimumVisualStudioVersion = 10.0.40219.1
|
||||||
|
Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "DiffWheelM", "DiffWheelM\DiffWheelM.csproj", "{7C6F23A7-2B4D-45C2-98E9-6C55FBB0F1B8}"
|
||||||
|
EndProject
|
||||||
|
Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "MultiWheelM", "MultiWheelM\MultiWheelM.csproj", "{B7B53B6B-98B5-4B6F-9B09-598F7B8166C9}"
|
||||||
|
EndProject
|
||||||
|
Global
|
||||||
|
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||||
|
Debug|Any CPU = Debug|Any CPU
|
||||||
|
Release|Any CPU = Release|Any CPU
|
||||||
|
EndGlobalSection
|
||||||
|
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||||
|
{7C6F23A7-2B4D-45C2-98E9-6C55FBB0F1B8}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||||
|
{7C6F23A7-2B4D-45C2-98E9-6C55FBB0F1B8}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||||
|
{7C6F23A7-2B4D-45C2-98E9-6C55FBB0F1B8}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||||
|
{7C6F23A7-2B4D-45C2-98E9-6C55FBB0F1B8}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||||
|
{B7B53B6B-98B5-4B6F-9B09-598F7B8166C9}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||||
|
{B7B53B6B-98B5-4B6F-9B09-598F7B8166C9}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||||
|
{B7B53B6B-98B5-4B6F-9B09-598F7B8166C9}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||||
|
{B7B53B6B-98B5-4B6F-9B09-598F7B8166C9}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||||
|
EndGlobalSection
|
||||||
|
GlobalSection(SolutionProperties) = preSolution
|
||||||
|
HideSolutionNode = FALSE
|
||||||
|
EndGlobalSection
|
||||||
|
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||||
|
SolutionGuid = {EF6B92D5-5691-42DE-8B38-C17AE7DD7418}
|
||||||
|
EndGlobalSection
|
||||||
|
EndGlobal
|
||||||
Reference in New Issue
Block a user