REQUIRE  41 VERSION;
Global SAFE Itemvar Array TABLE[0:11,0:19];
Global Item    ON,HEIGHT,BLOB,HIDDEN;
Global Boolean    TAB_INIT;
Global set     BLOBS;
Global Item XFORM, BACKGROUND, REGION, PERIMETER, ENDPT, LINE, DANGLE,
	EDGES, POINT;
Global SAFE Real Array Itemvar Array CURCAM, PREDCM[1:2];
global SAFE integer array camerr, camjob[1:2];
global safe real array pots[1:5,1:2];
GLOBAL INTEGER EYEFLG;
GLOBAL REAL ARRAY DIR_EYE[0:10,1:8];
GLOBAL INTEGER ARRAY LOOK_AT[1:8];
GLOBAL INTEGER FOCFLG;
GLOBAL REAL FOCRANG,FOCDELF;
Global Integer DEB_EDGE,DIS_EDGE,YES_EDGE,TYP_EDGE;
GLOBAL INTEGER DEB_CUR,DIS_CUR,YES_CUR,TYP_CUR;
Global Integer DEB_CAM,DIS_CAM,YES_CAM,TYP_CAM;
Global Integer DEB_VER,DIS_VER,YES_VER,TYP_VER;
Global Integer DEB_COL,DIS_COL,YES_COL,TYP_COL;
Global Integer DEB_DRV,DIS_DRV,YES_DRV,TYP_DRV;
GLOBAL INTEGER DEB_GUN,DIS_GUN,YES_GUN,TYP_GUN;
GLOBAL INTEGER DEB_EYE,DIS_EYE,YES_EYE,TYP_EYE;
GLOBAL INTEGER DEB_HAND,DIS_HAND,YES_HAND,TYP_HAND;
GLOBAL INTEGER DEB_MOVE,DIS_MOVE,YES_MOVE,TYP_MOVE;
Global Integer DEB_FOC,DIS_FOC,YES_FOC,TYP_FOC;
Define mp="Forward Message Procedure";
Define smp="Forward Simple Message Procedure";
global internal integer RUN;
EXTERNAL BOOLEAN TRACING;
GLOBAL ITEM NIL, EVERY;
GLOBAL SAFE INTEGER ARRAY GDISP[0:14];
GLOBAL INTEGER GDISP_INIT;
smp MON_COM(string command);
GLOBAL INTEGER DISDEV;
Global SAFE Real Array Itemvar ITVAR_II;
GLOBAL INTEGER STAT_II;
mp GETDATA ( LIST arg; reference boolean flag);
smp DISK ( string name; reference boolean flag);
smp XEQ ( string command; reference boolean flag);
smp SETVAL ( string name; integer val; reference boolean flag);
MP GLBDMP(SET A);
MP GETSTAT(LIST ARG; REAL TOP,BOT,LEFT,RIGH; REFERENCE BOOLEAN FLAG);
mp FIND ( ITEMVAR arg );
mp RELOOK ( ITEMVAR arg; INTEGER x, y );
mp FIT ( ITEMVAR arg );
mp COMPACT ( ITEMVAR arg );
mp REJECT ( ITEMVAR arg );
MP FINE(ITEMVAR ARG);
mp RESPONSE ( string name; integer arg; integer status );
MP SEND_DATA ( INTEGER COUNT; REAL ARRAY DAT);
MP SEND_STATUS(INTEGER OC;REAL ARRAY S);
MP CURVE_FIT(REAL ARRAY DATA);
GLOBAL SET OLDBLOB;
GLOBAL ITEM SEGM;
mp VERIFY(INTEGER X1, Y1, X2, Y2, TV, COLOR; BOOLEAN FLAG);
MP VER_RESULT(SAFE INTEGER ARRAY RESULT);
GLOBAL REAL CONFID;
SIMPLE mp CAM_UPDATE(INTEGER CAMNUM);
SIMPLE mp CAM_INIT(INTEGER CAMNUM);
SIMPLE mp CHNG_LENS(INTEGER LENS);
SIMPLE mp MOVE_CAM(INTEGER CAMNUM; REAL PAN,TILT);
SIMPLE mp CHNG_FOCUS(INTEGER CAMNUM; REAL RANGE);
SIMPLE mp CHNG_ZOOM(REAL FOC_LGTH);
SIMPLE mp CAM_CENTER(INTEGER LENS,CAMNUM; REAL X,Y,Z,ZOOM);
SIMPLE mp CAM_PRED(INTEGER LENS,CAMNUM; REAL X,Y,Z,ZOOM);
SIMPLE MP CHNG_IRIS(INTEGER CAMNUM; REAL IRIS);
GLOBAL ITEM GUN_EVENT;
SMP G_EDGES(SAFE REAL ARRAY POINTS; INTEGER CAMERA, CNT; REAL SIDLEN);
SMP GUN_COM(STRING COMMAND);
GLOBAL SAFE REAL ARRAY ITEMVAR G_PNTS;
mp CLR_GET ( INTEGER N; REAL ARRAY POINTS);
mp CLR_RESPONSE ( INTEGER ITEMVAR ARRAY GJ);
MP COLOUR_INIT(INTEGER ARRAY TV; INTEGER STEP,CAM,MULT,BC);
MP C_INIT(INTEGER TV, POINTS);
MP COLOUR(INTEGER COL; INTEGER ARRAY POINTS);
MP COLOUR_RECEIVE(INTEGER COL; INTEGER ARRAY COLOUR_MAP);
SIMPLE mp SRCH_IMAGE(INTEGER BKGR,INT,SEARCH; REAL TOLER; REAL ARRAY DIRD);
SIMPLE mp SET_WINDOW;
mp AUTOFOC(REAL EST_RANG,RANGINVAL; INTEGER NCUT);
DEFINE TSX="1.0017",TSY="1.0028";
GLOBAL INTERNAL INTEGER ARM_MOTION,ARM_STATUS,ARM_SEGMENT,ARM_WAIT,
	ARM_TIME,ARM_EXECUTE;
GLOBAL INTERNAL BOOLEAN STOP_ON_TOUCH;
FORWARD MESSAGE SIMPLE PROCEDURE SET_TOUCH(BOOLEAN STOP_ON_TOUCH);
GLOBAL INTERNAL INTEGER ARRAY FELT[1:2,1:4,1:4];
GLOBAL REAL ARRAY ARM_LINK[3:6,1:4,1:4];
GLOBAL REAL GRASP;
SMP ARM_CONO(REAL ARRAY APPROACH,OBJECT;INTEGER DEPROACH_TIME,
	MID_TIME);
SMP TALK_ARM;
SMP SET_TRANS(STRING S;REAL ARRAY T);
SMP SET_VECT(STRING S;REAL ARRAY V);
SMP GET_TRANS(STRING S;REAL ARRAY T);
SMP GET_VECT(STRING S;REAL ARRAY V);
SMP START_TRAJECTORY(STRING FILE;BOOLEAN START_FROM_LAST);
SMP MOVE_ARM(REAL ARRAY JOINT6; REFERENCE INTEGER FLAG);
MP MOVE_INSTANCE(REAL ARRAY ITEMVAR INSTANCE;REAL ARRAY NEW_TRANSFORM,
	INTERMEDIATE_POSITION;REFERENCE INTEGER PLAN);
SMP PARK_ARM;
FORWARD MESSAGE SIMPLE PROCEDURE OPEN_HAND(REAL OPENING);
FORWARD MESSAGE SIMPLE PROCEDURE CLOSE_HAND(REAL MINIMUN_DISTANCE);
FORWARD MESSAGE SIMPLE PROCEDURE PLACE_ARM;
SMP CHANGE_ARM(REAL ARRAY DX_DY_DZ;REAL DIST;REAL ARRAY AXIS;REAL DEG;
	INTEGER TIME;REFERENCE INTEGER FLAG);
FORWARD MESSAGE SIMPLE PROCEDURE WAIT_ARM(STRING ERROR_MESSAGE);
FORWARD MESSAGE SIMPLE PROCEDURE CLOSE_TRAJECTORY;
FORWARD MESSAGE SIMPLE PROCEDURE DO_IT(INTEGER PPPN;STRING FILE);
FORWARD MESSAGE SIMPLE PROCEDURE DO_PROCEED(BOOLEAN REPEAT);
FORWARD SIMPLE MESSAGE PROCEDURE ARM_POSITION(STRING SAVE_CELL);
SMP STOP_ARM(REAL ARRAY F,V);
FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPE(INTEGER ERROR);
FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPN(INTEGER ERROR);
FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPs(INTEGER ERROR);
FORWARD SIMPLE MESSAGE PROCEDURE ARM_JMP(INTEGER N);
FORWARD SIMPLE MESSAGE PROCEDURE MERGE_ARM;
FORWARD SIMPLE MESSAGE PROCEDURE CENTER_HAND(REAL MINIMUM_DISTANCE);
SMP DRIVE_ARM(INTEGER JOINT;REAL DEGREES;INTEGER TIME;
	REFERENCE INTEGER FLAG);
FORWARD SIMPLE MESSAGE PROCEDURE ARM_SAVE(STRING S);
FORWARD SIMPLE MESSAGE PROCEDURE SET_ARM(STRING S;REAL ARRAY P,O);
FORWARD SIMPLE MESSAGE PROCEDURE ARM_RESTORE(STRING S;INTEGER I);
FORWARD SIMPLE MESSAGE PROCEDURE ARM_ASSIGN(STRING S;INTEGER I);
GLOBAL INTERNAL SAFE REAL ARRAY ARM_VECTOR[1:7];
GLOBAL INTERNAL INTEGER ARRAY WAIT_STRING[1:15];
GLOBAL SAFE REAL ARRAY ITEM TEST_BLOCK[1:4,1:4];
GLOBAL INTEGER ARM_PLAN;
GLOBAL SAFE REAL ARRAY FREE_ARM[0:6,1:6];
GLOBAL SAFE REAL ARRAY FORCE_ARM[1:6];
GLOBAL INTERNAL REAL ARRAY TRANS_ARM[1:4,1:4];
GLOBAL REAL ARRAY VECT_ARM[1:4];
GLOBAL INTEGER CURVE_STATUS;
GLOBAL INTERNAL REAL cur_t1,cur_t2,cur_ml,cur_cl,cur_mx,cur_ld,cur_vd;
GLOBAL INTEGER cur_init;
GLOBAL INTEGER FLAG_CAM ;
GLOBAL INTEGER COLFILT_ACC;
GLOBAL INTERNAL INTEGER DAC_ACC;
GLOBAL INTERNAL BOOLEAN CHANGE_ACC;
GLOBAL INTERNAL	BOOLEAN SENSCAL_ACC;
GLOBAL INTERNAL	BOOLEAN AUTOCAL_ACC;
GLOBAL INTERNAL INTEGER AUTO_ACC;
GLOBAL INTEGER SENSIGN_ACC;
GLOBAL SAFE INTERNAL INTEGER ARRAY TABLE_ACC[0:63];
GLOBAL SAFE INTEGER ARRAY FIL_ACC[0:3];
GLOBAL REAL FCALPOTC_ACC,FCALPOTD_ACC,F_ACC,FNUM_ACC,CIRCONFUS_ACC;
GLOBAL BOOLEAN SENSFLAG_ACC;
GLOBAL BOOLEAN SENDWNFG_ACC;