00100	REQUIRE  40 VERSION;
00200	Global SAFE Itemvar Array TABLE[0:11,0:19];
00300	Global Item    ON,HEIGHT,BLOB,HIDDEN;
00400	Global Boolean    TAB_INIT;
00500	Global set     BLOBS;
00600	Global Item XFORM, BACKGROUND, REGION, PERIMETER, ENDPT, LINE, DANGLE,
00700		EDGES, POINT;
00800	Global SAFE Real Array Itemvar Array CURCAM, PREDCM[1:2];
00900	global SAFE integer array camerr, camjob[1:2];
01000	global safe real array pots[1:5,1:2];
01100	GLOBAL INTEGER EYEFLG;
01200	GLOBAL REAL ARRAY DIR_EYE[0:10,1:8];
01300	GLOBAL INTEGER ARRAY LOOK_AT[1:8];
01400	GLOBAL INTEGER FOCFLG;
01500	GLOBAL REAL FOCRANG,FOCDELF;
01600	Global Integer DEB_EDGE,DIS_EDGE,YES_EDGE,TYP_EDGE;
01700	GLOBAL INTEGER DEB_CUR,DIS_CUR,YES_CUR,TYP_CUR;
01800	Global Integer DEB_CAM,DIS_CAM,YES_CAM,TYP_CAM;
01900	Global Integer DEB_VER,DIS_VER,YES_VER,TYP_VER;
02000	Global Integer DEB_COL,DIS_COL,YES_COL,TYP_COL;
02100	Global Integer DEB_DRV,DIS_DRV,YES_DRV,TYP_DRV;
02200	GLOBAL INTEGER DEB_GUN,DIS_GUN,YES_GUN,TYP_GUN;
02300	GLOBAL INTEGER DEB_EYE,DIS_EYE,YES_EYE,TYP_EYE;
02400	GLOBAL INTEGER DEB_HAND,DIS_HAND,YES_HAND,TYP_HAND;
02500	GLOBAL INTEGER DEB_MOVE,DIS_MOVE,YES_MOVE,TYP_MOVE;
02600	Global Integer DEB_FOC,DIS_FOC,YES_FOC,TYP_FOC;
02700	Define mp="Forward Message Procedure";
02800	Define smp="Forward Simple Message Procedure";
02900	global internal integer RUN;
03000	EXTERNAL BOOLEAN TRACING;
03100	GLOBAL ITEM NIL, EVERY;
03200	GLOBAL SAFE INTEGER ARRAY GDISP[0:14];
03300	GLOBAL INTEGER GDISP_INIT;
03400	smp MON_COM(string command);
03500	GLOBAL INTEGER DISDEV;
03600	Global SAFE Real Array Itemvar ITVAR_II;
03700	GLOBAL INTEGER STAT_II;
03800	mp GETDATA ( LIST arg; reference boolean flag);
03900	smp DISK ( string name; reference boolean flag);
04000	smp XEQ ( string command; reference boolean flag);
04100	smp SETVAL ( string name; integer val; reference boolean flag);
04200	MP GLBDMP(SET A);
04300	MP GETSTAT(LIST ARG; REAL TOP,BOT,LEFT,RIGH; REFERENCE BOOLEAN FLAG);
04400	mp FIND ( ITEMVAR arg );
04500	mp RELOOK ( ITEMVAR arg; INTEGER x, y );
04600	mp FIT ( ITEMVAR arg );
04700	mp COMPACT ( ITEMVAR arg );
04800	mp REJECT ( ITEMVAR arg );
04900	MP FINE(ITEMVAR ARG);
05000	mp RESPONSE ( string name; integer arg; integer status );
05100	MP SEND_DATA ( INTEGER COUNT; REAL ARRAY DAT);
05200	MP SEND_STATUS(INTEGER OC;REAL ARRAY S);
05300	MP CURVE_FIT(REAL ARRAY DATA);
05400	GLOBAL SET OLDBLOB;
05500	GLOBAL ITEM SEGM;
05600	mp VERIFY(INTEGER X1, Y1, X2, Y2, TV, COLOR; BOOLEAN FLAG);
05700	MP VER_RESULT(SAFE INTEGER ARRAY RESULT);
05800	GLOBAL REAL CONFID;
05900	SIMPLE mp CAM_UPDATE(INTEGER CAMNUM);
06000	SIMPLE mp CAM_INIT(INTEGER CAMNUM);
06100	SIMPLE mp CHNG_LENS(INTEGER LENS);
06200	SIMPLE mp MOVE_CAM(INTEGER CAMNUM; REAL PAN,TILT);
06300	SIMPLE mp CHNG_FOCUS(INTEGER CAMNUM; REAL RANGE);
06400	SIMPLE mp CHNG_ZOOM(REAL FOC_LGTH);
06500	SIMPLE mp CAM_CENTER(INTEGER LENS,CAMNUM; REAL X,Y,Z,ZOOM);
06600	SIMPLE mp CAM_PRED(INTEGER LENS,CAMNUM; REAL X,Y,Z,ZOOM);
06700	SIMPLE MP CHNG_IRIS(INTEGER CAMNUM; REAL IRIS);
06800	GLOBAL ITEM GUN_EVENT;
06900	SMP G_EDGES(SAFE REAL ARRAY POINTS; INTEGER CAMERA, CNT; REAL SIDLEN);
07000	SMP GUN_COM(STRING COMMAND);
07100	GLOBAL SAFE REAL ARRAY ITEMVAR G_PNTS;
07200	mp CLR_GET ( INTEGER N; REAL ARRAY POINTS);
07300	mp CLR_RESPONSE ( INTEGER ITEMVAR ARRAY GJ);
07400	MP COLOUR_INIT(INTEGER ARRAY TV; INTEGER STEP,CAM,MULT,BC);
07500	MP C_INIT(INTEGER TV, POINTS);
07600	MP COLOUR(INTEGER COL; INTEGER ARRAY POINTS);
07700	MP COLOUR_RECEIVE(INTEGER COL; INTEGER ARRAY COLOUR_MAP);
07800	SIMPLE mp SRCH_IMAGE(INTEGER BKGR,INT,SEARCH; REAL TOLER; REAL ARRAY DIRD);
07900	SIMPLE mp SET_WINDOW;
08000	mp AUTOFOC(REAL EST_RANG,RANGINVAL; INTEGER NCUT);
08100	DEFINE TSX="1.0017",TSY="1.0028";
08200	GLOBAL INTERNAL INTEGER ARM_MOTION,ARM_STATUS,ARM_SEGMENT,ARM_WAIT,
08300		ARM_TIME,ARM_EXECUTE;
08400	GLOBAL INTERNAL BOOLEAN STOP_ON_TOUCH;
08500	FORWARD MESSAGE SIMPLE PROCEDURE SET_TOUCH(BOOLEAN STOP_ON_TOUCH);
08600	GLOBAL INTERNAL INTEGER ARRAY FELT[1:2,1:4,1:4];
08700	GLOBAL REAL ARRAY ARM_LINK[3:6,1:4,1:4];
08800	GLOBAL REAL GRASP;
08900	SMP ARM_CONO(REAL ARRAY APPROACH,OBJECT;INTEGER DEPROACH_TIME,
09000		MID_TIME);
09100	SMP TALK_ARM;
09200	SMP START_TRAJECTORY(STRING FILE;BOOLEAN START_FROM_LAST);
09300	SMP MOVE_ARM(REAL ARRAY JOINT6; REFERENCE INTEGER FLAG);
09400	MP MOVE_INSTANCE(REAL ARRAY ITEMVAR INSTANCE;REAL ARRAY NEW_TRANSFORM,
09500		INTERMEDIATE_POSITION;REFERENCE INTEGER PLAN);
09600	SMP PARK_ARM;
09700	FORWARD MESSAGE SIMPLE PROCEDURE OPEN_HAND(REAL OPENING);
09800	FORWARD MESSAGE SIMPLE PROCEDURE CLOSE_HAND(REAL MINIMUN_DISTANCE);
09900	FORWARD MESSAGE SIMPLE PROCEDURE PLACE_ARM;
10000	SMP CHANGE_ARM(REAL ARRAY DX_DY_DZ;REAL DIST;REAL ARRAY AXIS;REAL DEG;
10100		INTEGER TIME;REFERENCE INTEGER FLAG);
10200	FORWARD MESSAGE SIMPLE PROCEDURE WAIT_ARM(STRING ERROR_MESSAGE);
10300	FORWARD MESSAGE SIMPLE PROCEDURE CLOSE_TRAJECTORY;
10400	FORWARD MESSAGE SIMPLE PROCEDURE DO_IT(INTEGER PPPN;STRING FILE);
10500	FORWARD MESSAGE SIMPLE PROCEDURE DO_PROCEED(BOOLEAN REPEAT);
10600	FORWARD SIMPLE MESSAGE PROCEDURE ARM_POSITION;
10700	SMP STOP_ARM(REAL ARRAY F,V);
10800	FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPE(INTEGER ERROR);
10900	FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPN(INTEGER ERROR);
11000	FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPs(INTEGER ERROR);
11100	FORWARD SIMPLE MESSAGE PROCEDURE ARM_JMP(INTEGER N);
11200	FORWARD SIMPLE MESSAGE PROCEDURE MERGE_ARM;
11300	FORWARD SIMPLE MESSAGE PROCEDURE CENTER_HAND(REAL MINIMUM_DISTANCE);
11400	SMP DRIVE_ARM(INTEGER JOINT;REAL DEGREES;INTEGER TIME;
11500		REFERENCE INTEGER FLAG);
11600	FORWARD SIMPLE MESSAGE PROCEDURE ARM_SAVE(STRING S);
11700	FORWARD SIMPLE MESSAGE PROCEDURE SET_ARM(STRING S;REAL ARRAY P,O);
11800	FORWARD SIMPLE MESSAGE PROCEDURE ARM_RESTORE(STRING S;INTEGER I);
11900	FORWARD SIMPLE MESSAGE PROCEDURE ARM_ASSIGN(STRING S;INTEGER I);
12000	GLOBAL INTERNAL SAFE REAL ARRAY ARM_VECTOR[1:7];
12100	GLOBAL INTERNAL SAFE REAL ARRAY WAIT_STRING[1:15];
12200	GLOBAL SAFE REAL ARRAY ITEM TEST_BLOCK[1:4,1:4];
12300	GLOBAL INTEGER ARM_PLAN;
12400	GLOBAL SAFE REAL ARRAY FREE_ARM[0:6,1:6];
12500	GLOBAL SAFE REAL ARRAY FORCE_ARM[1:6];
12600	GLOBAL INTEGER CURVE_STATUS;
12700	GLOBAL INTERNAL REAL cur_t1,cur_t2,cur_ml,cur_cl,cur_mx,cur_ld,cur_vd;
12800	GLOBAL INTEGER cur_init;
12900	GLOBAL INTEGER FLAG_CAM ;
13000	GLOBAL INTEGER COLFILT_ACC;
13100	GLOBAL INTERNAL INTEGER DAC_ACC;
13200	GLOBAL INTERNAL BOOLEAN CHANGE_ACC;
13300	GLOBAL INTERNAL	BOOLEAN SENSCAL_ACC;
13400	GLOBAL INTERNAL	BOOLEAN AUTOCAL_ACC;
13500	GLOBAL INTERNAL INTEGER AUTO_ACC;
13600	GLOBAL INTEGER SENSIGN_ACC;
13700	GLOBAL SAFE INTERNAL INTEGER ARRAY TABLE_ACC[0:63];
13800	GLOBAL SAFE INTEGER ARRAY FIL_ACC[0:3];
13900	GLOBAL REAL FCALPOTC_ACC,FCALPOTD_ACC,F_ACC,FNUM_ACC,CIRCONFUS_ACC;
14000	GLOBAL BOOLEAN SENSFLAG_ACC;
14100	GLOBAL BOOLEAN SENDWNFG_ACC;