00100	REQUIRE  34 VERSION;
00200	Global 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,INSIDE_EDGES,BOUNDARY;
00700	Global Item SCENE,BACKGROUND,REGION,CORNER,ENDPT,PERIMETER;
00800	Global Item VERTEX,BODY,LINE,POINT,EDGE;
00900	GLOBAL ITEM BASE,ATR,OCCLUDER,ABOVE,PARENT,SON,FLAVOR;
01000	GLOBAL ITEM TJOINT,BADT,MULTI,KJOINT,GOODX,BADX,ARROW,BADARO,GOODY,BADY;
01100	GLOBAL ITEM GOODL,BADL, DANGLE;
01200	GLOBAL SET PROTOTYPES;
01300	Global Item	INVERSE,CONCAVE,SHAPE,INSTANCE,COLOR,SIZEOBJ,LEFT,RIGHT,SUPPORTER;
01400	Global Integer Item BLUE,GREEN,RED,WHITE,ORANGE,YELLOW,NORMAL,VISIBLE;
01500	GLOBAL ITEM EDGES,CENTER,FACE;
01600	GLOBAL ITEM PROTOTYPE;
01700	Global Item RPP114,RPP112,RPP122,RPP124,WEDGE122,WEDGE124,RHOMBOID,LBEAM,CUBE;
01800	Global Integer GOT_MODELS;
01900	Global Real Array CAMERA_MODEL,CAMERA_PREDI[1:10,1:3];
02000	GLOBAL INTEGER CAMFLG,CAMLENS;
02100	GLOBAL REAL CAMPAN,CAMTIL,CAMRANG;
02200	Global Real Array Itemvar CURCAM;
02300	GLOBAL REAL ARRAY A_REC,AI_REC[1:3,1:3],LENS_REC[1:3];
02400	Global Real PANPOT,TILPOT,FOCPOT;
02500	GLOBAL INTEGER EYEFLG;
02600	GLOBAL REAL ARRAY DIR_EYE[0:10,1:8];
02700	GLOBAL INTEGER ARRAY LOOK_AT[1:8];
02800	GLOBAL INTEGER FOCFLG;
02900	GLOBAL REAL FOCRANG,FOCDELF;
03000	Global Integer DEB_EDGE,DIS_EDGE,YES_EDGE,TYP_EDGE;
03100	GLOBAL INTEGER DEB_CUR,DIS_CUR,YES_CUR,TYP_CUR;
03200	Global Integer DEB_SIMP,DIS_SIMP,YES_SIMP,TYP_SIMP;
03300	Global Integer DEB_CAM,DIS_CAM,YES_CAM,TYP_CAM;
03400	Global Integer DEB_VER,DIS_VER,YES_VER,TYP_VER;
03500	Global Integer DEB_COL,DIS_COL,YES_COL,TYP_COL;
03600	Global Integer DEB_II,DIS_II,YES_II,TYP_II;
03700	GLOBAL INTEGER DEB_GUN,DIS_GUN,YES_GUN,TYP_GUN;
03800	GLOBAL INTEGER DEB_EYE,DIS_EYE,YES_EYE,TYP_EYE;
03900	GLOBAL INTEGER DEB_HAND,DIS_HAND,YES_HAND,TYP_HAND;
04000	GLOBAL INTEGER DEB_MOVE,DIS_MOVE,YES_MOVE,TYP_MOVE;
04100	Global Integer DEB_SEG,DIS_SEG,YES_SEG,TYP_SEG;
04200	Global Integer DEB_REC,DIS_REC,YES_REC,TYP_REC;
04300	Global Integer DEB_PRED,DIS_PRED,YES_PRED,TYP_PRED;
04400	Global Integer DEB_FOC,DIS_FOC,YES_FOC,TYP_FOC;
04500	Define mp="Forward Message Procedure";
04600	Define smp="Forward Simple Message Procedure";
04700	global integer RUN;
04800	EXTERNAL BOOLEAN TRACING;
04900	GLOBAL ITEM NIL, EVERY;
05000	GLOBAL INTEGER ARRAY GDISP[0:14];
05100	GLOBAL INTEGER GDISP_INIT;
05200	smp MON_COM(string command);
05300	GLOBAL INTEGER DISDEV;
05400	mp GETDATA ( ITEMVAR arg; reference boolean flag);
05500	smp DISK ( string name; reference boolean flag);
05600	smp TV;
05700	smp XEQ ( string command; reference boolean flag);
05800	smp DEBUG ( string name; string val; reference boolean flag);
05900	smp RESTART_KKP;
06000	smp SETVAL ( string name; integer val; reference boolean flag);
06100	MP GLBDMP(SET A);
06200	mp FIND ( ITEMVAR arg );
06300	mp RELOOK ( ITEMVAR arg; INTEGER x, y );
06400	mp FIT ( ITEMVAR arg );
06500	mp INSIDE ( ITEMVAR arg );
06600	mp COMPACT ( ITEMVAR arg );
06700	mp INSCAN(integer a,b,c,d;REFERENCE INTEGER Z);
06800	mp REJECT ( ITEMVAR arg );
06900	MP FINE(ITEMVAR ARG);
07000	mp GUNTRACE ( set blobs; integer file);
07100	mp RESPONSE ( string name; integer arg; integer status );
07200	mp DATA ( integer file;reference integer fname);
07300	MP SEND_DATA ( INTEGER COUNT; REAL ARRAY DAT);
07400	mp EDGE_DATA ( integer size; real array arrx );
07500	MP CURVE_FIT(REAL ARRAY DATA);
07600	mp VERIFY(INTEGER X1, Y1, X2, Y2; REFERENCE REAL CONF);
07700	GLOBAL REAL CONFID;
07800	SIMPLE mp CAM_UPDATE;
07900	SIMPLE mp CAM_INIT ;
08000	SIMPLE mp CHNG_LENS(INTEGER LENS);
08100	SIMPLE mp MOVE_CAM(REAL PAN,TILT);
08200	SIMPLE mp CHNG_FOCUS(REAL RANGE);
08300	SIMPLE mp CAM_CENTER(INTEGER LENS; REAL X,Y,Z);
08400	SIMPLE mp CAM_PRED(INTEGER LENS; REAL X,Y,Z);
08500	mp SIMP_FIT ( item blob ;reference integer status; reference real array itemvar x);
08600	mp SIMP_UPDATE ( real array itemvar obj; real array trans; reference integer stat);
08700	FORWARD MESSAGE PROCEDURE ANALYZE(ITEMVAR SCENE);
08800	FORWARD MESSAGE PROCEDURE PREDICT;
08900	FORWARD MESSAGE PROCEDURE SEGMENT;
09000	FORWARD MESSAGE PROCEDURE
09100		CHECK (ITEMVAR SCENE);
09200	mp CLR_GET ( INTEGER N; REAL ARRAY POINTS);
09300	mp CLR_RESPONSE ( INTEGER ITEMVAR ARRAY GJ);
09400	SIMPLE mp SRCH_IMAGE(INTEGER BKGR,INT,SEARCH; REAL TOLER; REAL ARRAY DIRD);
09500	SIMPLE mp SET_WINDOW;
09600	mp AUTOFOC(REAL EST_RANG,RANGINVAL; INTEGER NCUT);
09700	DEFINE TSX="1.0017",TSY="1.0028";
09800	GLOBAL INTERNAL INTEGER ARM_MOTION,ARM_STATUS,ARM_SEGMENT,ARM_WAIT,ARM_TIME,ARM_EXECUTE;
09900	GLOBAL INTERNAL BOOLEAN STOP_ON_TOUCH;
10000	FORWARD MESSAGE SIMPLE PROCEDURE SET_TOUCH(BOOLEAN STOP_ON_TOUCH);
10100	GLOBAL INTERNAL INTEGER ARRAY FELT[1:2,1:4,1:4];
10200	GLOBAL REAL ARRAY ARM_LINK[3:6,1:4,1:4];
10300	GLOBAL REAL GRASP;
10400	FORWARD MESSAGE SIMPLE PROCEDURE ARM_CONO(REAL ARRAY ARRIVE,DEPART,OBJECT;INTEGER ARRIVE_TIME,DEPART_TIME);
10500	FORWARD MESSAGE SIMPLE PROCEDURE START_TRAJECTORY(STRING FILE;BOOLEAN START_FROM_LAST);
10600	FORWARD MESSAGE SIMPLE PROCEDURE MOVE_ARM(REAL ARRAY JOINT6; REFERENCE INTEGER FLAG);
10700	FORWARD MESSAGE PROCEDURE MOVE_INSTANCE
10800	(REAL ARRAY ITEMVAR INSTANCE;REAL ARRAY NEW_TRANSFORM,INTERMEDIATE_POSITION;
10900		REFERENCE INTEGER PLAN);
11000	FORWARD MESSAGE SIMPLE PROCEDURE PARK_ARM;
11100	FORWARD MESSAGE SIMPLE PROCEDURE OPEN_HAND(REAL OPENING);
11200	FORWARD MESSAGE SIMPLE PROCEDURE CLOSE_HAND(REAL MINIMUN_DISTANCE);
11300	FORWARD MESSAGE SIMPLE PROCEDURE PLACE_ARM;
11400	FORWARD MESSAGE SIMPLE PROCEDURE CHANGE_ARM(REAL ARRAY DX_DY_DZ;REAL DIST;
11500		REAL ARRAY AXIS;REAL DEG;INTEGER TIME;REFERENCE INTEGER FLAG);
11600	FORWARD MESSAGE SIMPLE PROCEDURE WAIT_ARM;
11700	FORWARD MESSAGE SIMPLE PROCEDURE CLOSE_TRAJECTORY;
11800	FORWARD MESSAGE SIMPLE PROCEDURE DO_IT(STRING FILE);
11900	FORWARD MESSAGE SIMPLE PROCEDURE DO_PROCEED;
12000	FORWARD SIMPLE MESSAGE PROCEDURE ARM_POSITION;
12100	FORWARD MESSAGE SIMPLE PROCEDURE STOP_ARM(REAL ARRAY F,V;REFERENCE INTEGER STAT);
12200	FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPE(INTEGER ERROR);
12300	FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPN(INTEGER ERROR);
12400	FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPs(INTEGER ERROR);
12500	FORWARD SIMPLE MESSAGE PROCEDURE ARM_JMP(INTEGER N);
12600	FORWARD SIMPLE MESSAGE PROCEDURE MERGE_ARM;
12700	FORWARD SIMPLE MESSAGE PROCEDURE CENTER_HAND(REAL MINIMUM_DISTANCE);
12800	FORWARD SIMPLE MESSAGE PROCEDURE DRIVE_ARM(INTEGER JOINT;REAL DEGREES;INTEGER TIME;REFERENCE INTEGER FLAG);
12900	FORWARD SIMPLE MESSAGE PROCEDURE ARM_SAVE(INTEGER I);
13000	FORWARD SIMPLE MESSAGE PROCEDURE ARM_RESTORE(INTEGER I);
13100	GLOBAL INTEGER CURVE_STATUS;
13200	GLOBAL INTEGER FLAG_CAM ;
13300	GLOBAL INTEGER COLFILT_ACC;
13400	GLOBAL INTERNAL INTEGER DAC_ACC;
13500	GLOBAL BOOLEAN CHANGE_ACC;
13600	GLOBAL	BOOLEAN SENSCAL_ACC;
13700	GLOBAL	BOOLEAN AUTOCAL_ACC;
13800	GLOBAL INTERNAL INTEGER AUTO_ACC;
13900	GLOBAL	INTEGER SENSIGN_ACC;
14000	GLOBAL INTEGER ARRAY TABLE_ACC[0:63];
14100	GLOBAL INTEGER ARRAY FIL_ACC[0:3];
14200	GLOBAL REAL FCALPOTC_ACC,FCALPOTD_ACC,F_ACC,FNUM_ACC,CIRCONFUS_ACC;
14300	GLOBAL BOOLEAN SENSFLAG_ACC;
14400	GLOBAL BOOLEAN SENDWNFG_ACC;
14500	Global Real Array Itemvar ITVAR_II;
14600	GLOBAL ITEM SOLUTION;
14700	GLOBAL INTEGER STAT_II;
14800	GLOBAL INTEGER ARRAY ARM_STAT[1:10];
14900	GLOBAL SET OLDBLOB;
15000	GLOBAL INTEGER FNAME;
15100	GLOBAL INTERNAL SAFE REAL ARRAY ARM_VECTOR[1:7];
15200	GLOBAL INTERNAL SAFE REAL ARRAY ARM_TORQUE[1:6];
15300	GLOBAL SAFE REAL ARRAY ITEM TEST_BLOCK[1:4,1:4];
15400	GLOBAL INTEGER ARM_PLAN;
15500	GLOBAL SAFE REAL ARRAY FREE_ARM[0:6,1:6];
15600	GLOBAL SAFE REAL ARRAY FORCE_ARM[1:6];
15700	GLOBAL ITEM PTYPE;
15800	GLOBAL ITEM RPP,WEDGE,BOX,SLAB;