00100	REQUIRE  35 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, BACKGROUND, REGION, PERIMETER, ENDPT, LINE, DANGLE;
00700	Global Item PTYPE,RPP,WEDGE,SCENE,CORNER,VERTEX,BODY,POINT,EDGE,
00800		BASE,ATR,OCCLUDER,ABOVE,PARENT,SON,FLAVOR,BOUNDARY,
00900		TJOINT,BADT,MULTI,KJOINT,GOODX,BADX,ARROW,BADARO,GOODY,BADY,
01000		GOODL,BADL;
01100	GLOBAL SET PROTOTYPES;
01200	Global Item INVERSE,CONCAVE,SHAPE,INSTANCE,COLOR,SIZEOBJ,LEFT,RIGHT,
01300		SUPPORTER, EDGES,CENTER,FACE, NORMAL, VISIBLE;
01400	Global Integer Item BLUE,GREEN,RED,WHITE,ORANGE,YELLOW;
01500	GLOBAL ITEM PROTOTYPE;
01600	Global Item RPP114,RPP112,RPP122,RPP124,WEDGE122,WEDGE124,RHOMBOID,LBEAM,
01700		CUBE, BOX;
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 internal 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	Global Real Array Itemvar ITVAR_II;
05500	GLOBAL INTEGER STAT_II;
05600	mp GETDATA ( LIST arg; reference boolean flag);
05700	smp DISK ( string name; reference boolean flag);
05800	smp XEQ ( string command; reference boolean flag);
05900	smp SETVAL ( string name; integer val; reference boolean flag);
06000	MP GLBDMP(SET A);
06100	mp FIND ( ITEMVAR arg );
06200	mp RELOOK ( ITEMVAR arg; INTEGER x, y );
06300	mp FIT ( ITEMVAR arg );
06400	mp COMPACT ( ITEMVAR arg );
06500	mp REJECT ( ITEMVAR arg );
06600	MP FINE(ITEMVAR ARG);
06700	mp RESPONSE ( string name; integer arg; integer status );
06800	MP SEND_DATA ( INTEGER COUNT; REAL ARRAY DAT);
06900	MP CURVE_FIT(REAL ARRAY DATA);
07000	GLOBAL SET OLDBLOB;
07100	mp VERIFY(INTEGER X1, Y1, X2, Y2; REFERENCE REAL CONF);
07200	GLOBAL REAL CONFID;
07300	SIMPLE mp CAM_UPDATE;
07400	SIMPLE mp CAM_INIT ;
07500	SIMPLE mp CHNG_LENS(INTEGER LENS);
07600	SIMPLE mp MOVE_CAM(REAL PAN,TILT);
07700	SIMPLE mp CHNG_FOCUS(REAL RANGE);
07800	SIMPLE mp CAM_CENTER(INTEGER LENS; REAL X,Y,Z);
07900	SIMPLE mp CAM_PRED(INTEGER LENS; REAL X,Y,Z);
08000	mp SIMP_FIT(item blob;reference integer status;
08100		reference real array itemvar x);
08200	mp SIMP_UPDATE(real array itemvar obj;real array trans;
08300		reference integer stat);
08400	FORWARD MESSAGE PROCEDURE ANALYZE(ITEMVAR BLOB);
08500	FORWARD MESSAGE PROCEDURE PREDICT;
08600	FORWARD MESSAGE PROCEDURE SEGMENT(ITEMVAR BLOB);
08700	FORWARD MESSAGE PROCEDURE
08800		CHECK (ITEMVAR BLOB);
08900	mp CLR_GET ( INTEGER N; REAL ARRAY POINTS);
09000	mp CLR_RESPONSE ( INTEGER ITEMVAR ARRAY GJ);
09100	MP COLOUR_INIT(INTEGER ARRAY TV; INTEGER STEP,CAM,MULT,BC);
09200	MP C_INIT(INTEGER TV, POINTS);
09300	MP COLOUR(INTEGER COL; INTEGER ARRAY POINTS);
09400	MP COLOUR_RECEIVE(INTEGER COL; INTEGER ARRAY COLOUR_MAP);
09500	SIMPLE mp SRCH_IMAGE(INTEGER BKGR,INT,SEARCH; REAL TOLER; REAL ARRAY DIRD);
09600	SIMPLE mp SET_WINDOW;
09700	mp AUTOFOC(REAL EST_RANG,RANGINVAL; INTEGER NCUT);
09800	DEFINE TSX="1.0017",TSY="1.0028";
09900	GLOBAL INTERNAL INTEGER ARM_MOTION,ARM_STATUS,ARM_SEGMENT,ARM_WAIT,
10000		ARM_TIME,ARM_EXECUTE;
10100	GLOBAL INTERNAL BOOLEAN STOP_ON_TOUCH;
10200	FORWARD MESSAGE SIMPLE PROCEDURE SET_TOUCH(BOOLEAN STOP_ON_TOUCH);
10300	GLOBAL INTERNAL INTEGER ARRAY FELT[1:2,1:4,1:4];
10400	GLOBAL REAL ARRAY ARM_LINK[3:6,1:4,1:4];
10500	GLOBAL REAL GRASP;
10600	SMP ARM_CONO(REAL ARRAY ARRIVE,DEPART,OBJECT;INTEGER ARRIVE_TIME,
10700		DEPART_TIME);
10800	SMP START_TRAJECTORY(STRING FILE;BOOLEAN START_FROM_LAST);
10900	SMP MOVE_ARM(REAL ARRAY JOINT6; REFERENCE INTEGER FLAG);
11000	MP MOVE_INSTANCE(REAL ARRAY ITEMVAR INSTANCE;REAL ARRAY NEW_TRANSFORM,
11100		INTERMEDIATE_POSITION;REFERENCE INTEGER PLAN);
11200	SMP PARK_ARM;
11300	FORWARD MESSAGE SIMPLE PROCEDURE OPEN_HAND(REAL OPENING);
11400	FORWARD MESSAGE SIMPLE PROCEDURE CLOSE_HAND(REAL MINIMUN_DISTANCE);
11500	FORWARD MESSAGE SIMPLE PROCEDURE PLACE_ARM;
11600	SMP CHANGE_ARM(REAL ARRAY DX_DY_DZ;REAL DIST;REAL ARRAY AXIS;REAL DEG;
11700		INTEGER TIME;REFERENCE INTEGER FLAG);
11800	FORWARD MESSAGE SIMPLE PROCEDURE WAIT_ARM;
11900	FORWARD MESSAGE SIMPLE PROCEDURE CLOSE_TRAJECTORY;
12000	FORWARD MESSAGE SIMPLE PROCEDURE DO_IT(STRING FILE);
12100	FORWARD MESSAGE SIMPLE PROCEDURE DO_PROCEED(BOOLEAN REPEAT);
12200	FORWARD SIMPLE MESSAGE PROCEDURE ARM_POSITION;
12300	SMP STOP_ARM(REAL ARRAY F,V;REFERENCE INTEGER STAT);
12400	FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPE(INTEGER ERROR);
12500	FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPN(INTEGER ERROR);
12600	FORWARD SIMPLE MESSAGE PROCEDURE ARM_SKIPs(INTEGER ERROR);
12700	FORWARD SIMPLE MESSAGE PROCEDURE ARM_JMP(INTEGER N);
12800	FORWARD SIMPLE MESSAGE PROCEDURE MERGE_ARM;
12900	FORWARD SIMPLE MESSAGE PROCEDURE CENTER_HAND(REAL MINIMUM_DISTANCE);
13000	SMP DRIVE_ARM(INTEGER JOINT;REAL DEGREES;INTEGER TIME;
13100		REFERENCE INTEGER FLAG);
13200	FORWARD SIMPLE MESSAGE PROCEDURE ARM_SAVE(INTEGER I);
13300	FORWARD SIMPLE MESSAGE PROCEDURE ARM_RESTORE(INTEGER I);
13400	GLOBAL INTERNAL SAFE REAL ARRAY ARM_VECTOR[1:7];
13500	GLOBAL INTERNAL SAFE REAL ARRAY ARM_TORQUE[1:6];
13600	GLOBAL SAFE REAL ARRAY ITEM TEST_BLOCK[1:4,1:4];
13700	GLOBAL INTEGER ARM_PLAN;
13800	GLOBAL SAFE REAL ARRAY FREE_ARM[0:6,1:6];
13900	GLOBAL SAFE REAL ARRAY FORCE_ARM[1:6];
14000	GLOBAL INTEGER CURVE_STATUS;
14100	GLOBAL INTERNAL REAL cur_t1,cur_t2,cur_ml,cur_cl,cur_mx,cur_ld,cur_vd;
14200	GLOBAL INTEGER cur_init;
14300	GLOBAL INTEGER FLAG_CAM ;
14400	GLOBAL INTEGER COLFILT_ACC;
14500	GLOBAL INTERNAL INTEGER DAC_ACC;
14600	GLOBAL BOOLEAN CHANGE_ACC;
14700	GLOBAL	BOOLEAN SENSCAL_ACC;
14800	GLOBAL	BOOLEAN AUTOCAL_ACC;
14900	GLOBAL INTERNAL INTEGER AUTO_ACC;
15000	GLOBAL	INTEGER SENSIGN_ACC;
15100	GLOBAL INTEGER ARRAY TABLE_ACC[0:63];
15200	GLOBAL INTEGER ARRAY FIL_ACC[0:3];
15300	GLOBAL REAL FCALPOTC_ACC,FCALPOTD_ACC,F_ACC,FNUM_ACC,CIRCONFUS_ACC;
15400	GLOBAL BOOLEAN SENSFLAG_ACC;
15500	GLOBAL BOOLEAN SENDWNFG_ACC;