var LearnPathTable_Line_Arr=new Array();
var LearnPathTable_Line_Arr_Front=new Array();
var LearnPathTable_Line_Arr_Reverse=new Array();
var LearnPathTable_Arc_Arr=new Array();
var LearnPathTable_Arc_Arr_Front=new Array();
var LearnPathTable_Arc_Arr_Reverse=new Array();
var LearnPathTable_Bezier_Arr=new Array();
var LearnPathTable_Bezier_Arr_Front=new Array();
var LearnPathTable_Bezier_Arr_Reverse=new Array();
var LearnPathTable_WayPoint_Arr=new Array();
var LearnPathTable_WayPoint_Arr_Front=new Array();
var LearnPathTable_WayPoint_Arr_Reverse=new Array();
var LearnPathTable_OriginTurn_Arr=new Array();
var LearnPathTable_OriginTurn_Arr_Front=new Array();
var LearnPathTable_OriginTurn_Arr_Reverse=new Array();
var LearnNodePointManagerTable_PathNode_Arr=new Array();
var LearnNodePoint_Map=new Map();
var LearnPointCloud;
var LearnPointCloud_Map=new Map();
var LearnPointCloud_Arr=new Array();
//////////////////////////////////////////////////////////////
function Lu_Parse_LearnPathTable(str){
    var str_line_arr=str.split(/[(\r\n)\r\n]+/);
    for (let i = 0; i < str_line_arr.length; i++) {
        var str_line=str_line_arr[i];
        Lu_Parse_LearnPathTableLine(str_line);
    }
    LearnPathTable_Line_Arr=LearnPathTable_Line_Arr_Front.concat(LearnPathTable_Line_Arr_Reverse);
    LearnPathTable_Arc_Arr=LearnPathTable_Arc_Arr_Front.concat(LearnPathTable_Arc_Arr_Reverse);
    LearnPathTable_Bezier_Arr=LearnPathTable_Bezier_Arr_Front.concat(LearnPathTable_Bezier_Arr_Reverse);
    LearnPathTable_WayPoint_Arr=LearnPathTable_WayPoint_Arr_Front.concat(LearnPathTable_WayPoint_Arr_Reverse);
    LearnPathTable_OriginTurn_Arr=LearnPathTable_OriginTurn_Arr_Front.concat(LearnPathTable_OriginTurn_Arr_Reverse);
}

function Lu_Parse_LearnPathTableLine(str){
    var PathInfo_str0="";
    var PathInfo_StringParam1="";
    var PathInfo_StringParam2="";
    var PathInfo_StringParam3="";
    var PathInfo_StringParam4="";
    var item_arr0=str.split('<');
    if(item_arr0.length<1)return;
    PathInfo_str0=item_arr0[0];

    if(item_arr0.length<2)return;
    var tmp_str1=item_arr0[1];
    var tmp_str2=tmp_str1.split('>');
    PathInfo_StringParam1=tmp_str2[0];


    if(item_arr0.length<3)return;
    tmp_str1=item_arr0[2];
    tmp_str2=tmp_str1.split('>');
    PathInfo_StringParam2=tmp_str2[0];


    if(item_arr0.length<4)return;
    tmp_str1=item_arr0[3];
    tmp_str2=tmp_str1.split('>');
    PathInfo_StringParam3=tmp_str2[0];

    if(item_arr0.length<5)return;
    tmp_str1=item_arr0[4];
    tmp_str2=tmp_str1.split('>');
    PathInfo_StringParam4=tmp_str2[0];

    //console.log("PathInfo_str0:"+PathInfo_str0+"\n");
    //console.log("PathInfo_StringParam1:"+PathInfo_StringParam1+"\n");
    //console.log("PathInfo_StringParam2:"+PathInfo_StringParam2+"\n");
    //console.log("PathInfo_StringParam3:"+PathInfo_StringParam3+"\n");
    //console.log("PathInfo_StringParam4:"+PathInfo_StringParam4+"\n");

    //var obj = new Object();
    //obj.x=Math.floor(x);
    //obj.y=Math.floor(y);

    var PathInfo0=Lu_Parse_PathInfo_str0(PathInfo_str0);

    switch(PathInfo0.PathType){
        case "Line":{
            //console.log(PathInfo0.PathType);
            var PathTable_StringParam1_Line=Lu_Parse_Line_PathInfo_StringParam1(PathInfo_StringParam1);
            var PathTable_Line=Lu_Trans_Line_PathInfo1_To_Paper_Line(PathTable_StringParam1_Line,PathInfo0);

            if(PathInfo0.RunDirection=="Front")LearnPathTable_Line_Arr_Front.push(PathTable_Line);
            else LearnPathTable_Line_Arr_Reverse.push(PathTable_Line);
            //LearnPathTable_Line_Arr.push(PathTable_Line);
        }break;

        case "Arc":{
            //console.log(PathInfo0.PathType);
            var PathTable_StringParam1_Arc=Lu_Parse_Arc_PathInfo_StringParam1(PathInfo_StringParam1);
            var PathTable_Arc=Lu_Trans_Arc_PathInfo1_To_Paper_Arc(PathTable_StringParam1_Arc,PathInfo0);
            if(PathInfo0.RunDirection=="Front")LearnPathTable_Arc_Arr_Front.push(PathTable_Arc);
            else LearnPathTable_Arc_Arr_Reverse.push(PathTable_Arc);
        }break;

        case "Bezier":{
            var PathTable_StringParam1_Bezier=Lu_Parse_Bezier_PathInfo_StringParam1(PathInfo_StringParam1);
            var PathTable_Bezier=Lu_Trans_Bezier_PathInfo1_To_Paper_Line(PathTable_StringParam1_Bezier,PathInfo0);
            //LearnPathTable_Bezier_Arr.push(PathTable_Bezier);
            if(PathInfo0.RunDirection=="Front")LearnPathTable_Bezier_Arr_Front.push(PathTable_Bezier);
            else LearnPathTable_Bezier_Arr_Reverse.push(PathTable_Bezier);
            //console.log(PathTable_Bezier);
        }break;
        case "WayPoint":{
            var PathTable_StringParam1_WayPoint=Lu_Parse_WayPoint_PathInfo_StringParam1(PathInfo_StringParam1);
            var PathTable_WayPoint=Lu_Trans_WayPoint_PathInfo1_To_Paper_Line(PathTable_StringParam1_WayPoint,PathInfo0);
            //console.log(PathInfo0);
            if(PathInfo0.RunDirection=="Front")LearnPathTable_WayPoint_Arr_Front.push(PathTable_WayPoint);
            else LearnPathTable_WayPoint_Arr_Reverse.push(PathTable_WayPoint);
            //LearnPathTable_WayPoint_Arr.push(PathTable_WayPoint);
        }break;

        case "OriginTurn":{
            var PathTable_StringParam1_OriginTurn=Lu_Parse_OriginTurn_PathInfo_StringParam1(PathInfo_StringParam1);
            var PathTable_OriginTurn=Lu_Trans_OriginTurn_PathInfo1_To_Paper_OriginTurn(PathTable_StringParam1_OriginTurn,PathInfo0);
            if(PathInfo0.RunDirection=="Front")LearnPathTable_OriginTurn_Arr_Front.push(PathTable_OriginTurn);
            else LearnPathTable_OriginTurn_Arr_Reverse.push(PathTable_OriginTurn);
            //console.log(PathTable_OriginTurn);
        }break;
        /*
        case "OriginTurn":{
            var PathTable_StringParam1_OriginTurn=Lu_Parse_OriginTurn_PathInfo_StringParam1(PathInfo_StringParam1);
            //console.log(PathTable_StringParam1_OriginTurn);
            var PathTable_OriginTurn=Lu_Trans_OriginTurn_PathInfo1_To_Paper_OriginTurn(PathTable_StringParam1_OriginTurn);
            LearnPathTable_OriginTurn_Arr.push(PathTable_OriginTurn);
            //console.log(PathTable_OriginTurn);
        }break;
         */
        default:
            break;
    }
}


function Lu_Parse_PathInfo_str0(str){
    var PathID=0;
    var LayerID=0;
    var RunDirection="";
    var StartNode=0;
    var EndNode=0;
    var PropNode=0;
    var ModeType="";
    var Select=0;
    var PathType="";

    var item_arr=str.split(' ');
    if(item_arr.length<1)return;
    PathID=item_arr[0];


    if(item_arr.length<2)return;
    LayerID=item_arr[1];

    if(item_arr.length<3)return;
    RunDirection=item_arr[2];

    if(item_arr.length<4)return;
    StartNode=item_arr[3];

    if(item_arr.length<5)return;
    EndNode=item_arr[4];

    if(item_arr.length<6)return;
    PropNode=item_arr[5];

    if(item_arr.length<7)return;
    ModeType=item_arr[6];

    if(item_arr.length<8)return;
    Select=item_arr[7];

    if(item_arr.length<9)return;
    PathType=item_arr[8];


    var PathInfo0 = new Object();
    PathInfo0.PathID=PathID;
    PathInfo0.LayerID=LayerID;
    PathInfo0.RunDirection=RunDirection;
    PathInfo0.StartNode=StartNode;
    PathInfo0.EndNode=EndNode;
    PathInfo0.PropNode=PropNode;
    PathInfo0.ModeType=ModeType;
    PathInfo0.Select=Select;
    PathInfo0.PathType=PathType;
    return PathInfo0;
}


function Lu_Parse_Line_PathInfo_StringParam1(str){
    var start_point=new Point(0.0,0.0);
    var end_point=new Point(0.0,0.0);
    var thetax=0.0;
    var item_arr=str.split(' ');
    if(item_arr.length<1)return;
    start_point.x=parseFloat(item_arr[0]);

    if(item_arr.length<2)return;
    start_point.y=parseFloat(item_arr[1]);

    if(item_arr.length<3)return;
    end_point.x=parseFloat(item_arr[2]);

    if(item_arr.length<4)return;
    end_point.y=parseFloat(item_arr[3]);

    if(item_arr.length<5)return;
    thetax=parseFloat(item_arr[4]);

    var Line_PathInfo1=new Object();
    Line_PathInfo1.start_point=start_point;
    Line_PathInfo1.end_point=end_point;
    Line_PathInfo1.thetax=thetax;
    return Line_PathInfo1;

}


function Lu_Parse_OriginTurn_PathInfo_StringParam1(str){
    var arcpathclockwisedir=0;
    var centerpoint=new Point(0.0,0.0);
    var startanglex=0.0;
    var endanglex=0.0;
    var item_arr=str.split(' ');
    if(item_arr.length<1)return;
    arcpathclockwisedir=item_arr[0];

    if(item_arr.length<2)return;
    centerpoint.x=parseFloat(item_arr[1]);

    if(item_arr.length<3)return;
    centerpoint.y=parseFloat(item_arr[2]);

    if(item_arr.length<4)return;
    startanglex=parseFloat(item_arr[3]);

    if(item_arr.length<5)return;
    endanglex=parseFloat(item_arr[4]);

    var OriginTurn_PathInfo1=new Object();
    OriginTurn_PathInfo1.arcpathclockwisedir=arcpathclockwisedir;
    OriginTurn_PathInfo1.centerpoint=centerpoint;
    OriginTurn_PathInfo1.startanglex=startanglex;
    OriginTurn_PathInfo1.endanglex=endanglex;
    return OriginTurn_PathInfo1;
}

function Lu_Parse_Arc_PathInfo_StringParam1(str){
    var arcpathclockwisedir=0;
    var centerpoint=new Point(0.0,0.0);
    var radius=0.0;
    var startangle=0.0;
    var endangle=0.0;
    var item_arr=str.split(' ');
    if(item_arr.length<1)return;
    arcpathclockwisedir=item_arr[0];

    if(item_arr.length<2)return;
    centerpoint.x=parseFloat(item_arr[1]);

    if(item_arr.length<3)return;
    centerpoint.y=parseFloat(item_arr[2]);

    if(item_arr.length<4)return;
    radius=parseFloat(item_arr[3]);

    if(item_arr.length<5)return;
    startangle=parseFloat(item_arr[4]);

    if(item_arr.length<6)return;
    endangle=parseFloat(item_arr[5]);

    var Arc_PathInfo1=new Object();
    Arc_PathInfo1.arcpathclockwisedir=arcpathclockwisedir;
    Arc_PathInfo1.centerpoint=centerpoint;
    Arc_PathInfo1.radius=radius;
    Arc_PathInfo1.startangle=startangle;
    Arc_PathInfo1.endangle=endangle;
    return Arc_PathInfo1;
}

function Lu_Parse_Bezier_PathInfo_StringParam1(str){
    var Bezier_Point_List_str="";
    var Point_List_str="";
    var item_arr=str.split('[Point_List');
    if(item_arr.length<2)return;

    var tmp0=item_arr[1];
    var item_arr0=tmp0.split(']');
    var Point_List_str=item_arr0[0];
    //console.log("Point_List_str:"+Point_List_str);

    var tmp1=item_arr[0];
    var item_arr1=tmp1.split(']|');
    Bezier_Point_List_str=item_arr1[0];
    //console.log(Bezier_Point_List_str);

    var item_arr2=Bezier_Point_List_str.split(':');
    if(item_arr2.length<1)return;
    var tmp2=item_arr2[1];
    var item_arr3=tmp2.split('@');
    var Bezier_Point_List_Num=item_arr3[0];
    //console.log(Bezier_Point_List_Num);

    var Bezier_Point_List_Str=item_arr3[1];
    //console.log(Bezier_Point_List_Str);

    var item_arr4=Bezier_Point_List_Str.split('#');
    if(item_arr4.length<Bezier_Point_List_Num)return;
    //console.log(item_arr4);

    var Bezier_Point_List=new Array();
    for(i=0;i<item_arr4.length;i++){
        var Point_Tmp_Str=item_arr4[i];
        if(!Point_Tmp_Str) item_arr4.splice(i,1);//删除空项
        else{
            var item_arr5=Point_Tmp_Str.split(' ');
            var p=new Point(0.0,0.0);
            p.x=parseFloat(item_arr5[0]);
            p.y=parseFloat(item_arr5[1]);
            Bezier_Point_List.push(p);
        }
    }
    //console.log(Bezier_Point_List);

    var item_arr5=Point_List_str.split('$');
    //console.log(item_arr5);
    if(item_arr5.length<1)return;
    var Point_List_Num=item_arr5[0];
    //console.log(Point_List_Num);
    var Point_List_Data_str=item_arr5[1];
    var item_arr6=Point_List_Data_str.split('%');
    if(item_arr6.length<Point_List_Num)return;
    var Point_List=new Array();
    for(j=0;j<item_arr6.length;j++){
        var Point_Tmp_Str=item_arr6[j];
        if(!Point_Tmp_Str)item_arr6.splice(i,1);//删除空项
        else{
            var item_arr7=Point_Tmp_Str.split(' ');
            var P=new Object();
            P.x=parseFloat(item_arr7[0]);
            P.y=parseFloat(item_arr7[1]);
            P.thetadeg=parseFloat(item_arr7[2]);
            P.curvrate=parseFloat(item_arr7[3]);
            Point_List.push(P);
        }
    }
    //console.log(Point_List);
    var Bezier_PathInfo1=new Object();
    Bezier_PathInfo1.Bezier_Point_List=Bezier_Point_List;
    Bezier_PathInfo1.Point_List=Point_List;
    return Bezier_PathInfo1;
}

function Lu_Parse_WayPoint_PathInfo_StringParam1(str){
    var WayPoint_List_str="";
    var WayPointBezierList_Vector_str="";
    var WayPointBezierPointList_Vector_str="";
    var item_arr=str.split('|');
    if(item_arr.l<3)return;

    WayPoint_List_str=item_arr[0];
    WayPointBezierList_Vector_str=item_arr[1];
    WayPointBezierPointList_Vector_str=item_arr[2];

    var WPL_Str=WayPoint_List_str.split('@');
    if(WPL_Str.length<2)return;
    var WayPoint_List_Num=WPL_Str[0];
    var WPL_Data_Str=WPL_Str[1];
    WPL_Data_Str=WPL_Data_Str.split(']')[0];
    var WPL_Sub_Data_Str = WPL_Data_Str.split('#');
    if(WPL_Sub_Data_Str.length<WayPoint_List_Num)return;

    var WayPoint_List=new Array();
    for(let i=0;i<WPL_Sub_Data_Str.length;i++){
        var WPL_Sub_Data_Info_Str=WPL_Sub_Data_Str[i];
        //console.log(WPL_Sub_Data_Info_Str);
        if(!WPL_Sub_Data_Info_Str) WPL_Sub_Data_Str.splice(i,1);//删除空项
        else{
            var item_WPL=WPL_Sub_Data_Info_Str.split(' ');
            var P=new Object();
            P.x=parseFloat(item_WPL[0]);
            P.y=parseFloat(item_WPL[1]);
            P.thetadeg=parseFloat(item_WPL[2]);
            WayPoint_List.push(P);
        }
    }

    var WayPointBezierList_Vector=new Array();
    var WayPointBezierList_Str=WayPointBezierList_Vector_str.split(',');
    for(let l=0;l<WayPointBezierList_Str.length;l++){
        var WayPointBezierListi_Str=WayPointBezierList_Str[l];
        if(!WayPointBezierListi_Str) WayPointBezierList_Str.splice(l,1);//删除空项
        else {
            var BPL_Str = WayPointBezierListi_Str.split('@');
            if(BPL_Str.length<2)return;
            var BPL_Data_Num = BPL_Str[0];
            var BPL_Data_Str = BPL_Str[1];
            BPL_Data_Str=BPL_Data_Str.split(']')[0];
            var BPL_Sub_Data_Str = BPL_Data_Str.split('#');
            if(BPL_Sub_Data_Str.length<BPL_Data_Num)return;
            var Bezier_Point_List=new Array();
            for(let i=0;i<BPL_Sub_Data_Str.length;i++){
                var BPL_Sub_Data_Info_Str=BPL_Sub_Data_Str[i];
                if(!BPL_Sub_Data_Info_Str) BPL_Sub_Data_Str.splice(i,1);//删除空项
                else{
                    var item_BPL=BPL_Sub_Data_Info_Str.split(' ');
                    var p=new Point(0.0,0.0);
                    p.x=parseFloat(item_BPL[0]);
                    p.y=parseFloat(item_BPL[1]);
                    Bezier_Point_List.push(p);
                }
            }
            WayPointBezierList_Vector.push(Bezier_Point_List);
        }
    }

    var WayPointBezierPointList_Vector=new Array();
    var WayPointBezierPointList_Str=WayPointBezierPointList_Vector_str.split(',');
    for(let l=0;l<WayPointBezierPointList_Str.length;l++){
        var WayPointBezierPointListi_Str=WayPointBezierPointList_Str[l];
        if(!WayPointBezierPointListi_Str) WayPointBezierPointList_Str.splice(l,1);//删除空项
        else{
            var PL_Str = WayPointBezierPointListi_Str.split('$');
            if(PL_Str.length<2)return;
            var PL_Data_Num = PL_Str[0];
            var PL_Data_Str = PL_Str[1];
            PL_Data_Str=PL_Data_Str.split(']')[0];
            var PL_Sub_Data_Str = PL_Data_Str.split('%');
            if(PL_Sub_Data_Str.length<PL_Data_Num)return;
            var Point_List=new Array();
            for(let i=0;i<PL_Sub_Data_Str.length;i++){
                var PL_Sub_Data_Info_Str=PL_Sub_Data_Str[i];
                if(!PL_Sub_Data_Info_Str)PL_Sub_Data_Str.splice(i,1);//删除空项
                else{
                    var item_PL=PL_Sub_Data_Info_Str.split(' ');
                    var P=new Object();
                    P.x=parseFloat(item_PL[0]);
                    P.y=parseFloat(item_PL[1]);
                    P.thetadeg=parseFloat(item_PL[2]);
                    P.curvrate=parseFloat(item_PL[3]);
                    Point_List.push(P);
                }
            }
            WayPointBezierPointList_Vector.push(Point_List);
        }
    }

    var WayPoint_PathInfo1=new Object();
    WayPoint_PathInfo1.WayPoint_List=WayPoint_List;
    WayPoint_PathInfo1.WayPointBezierList_Vector=WayPointBezierList_Vector;
    WayPoint_PathInfo1.WayPointBezierPointList_Vector=WayPointBezierPointList_Vector;
    return WayPoint_PathInfo1;
}


function Lu_Trans_WayPoint_PathInfo1_To_Paper_Line(WayPoint_PathInfo1,PathInfo0){
    var WayPointBezierPointList_Vector=WayPoint_PathInfo1.WayPointBezierPointList_Vector;
    //console.log(WayPointBezierPointList_Vector);
    var WayPoint_Line_List=new Array();
    for(let i=0;i<WayPointBezierPointList_Vector.length;i++){
        var Point_List=WayPointBezierPointList_Vector[i];
        for(let j=0;j<Point_List.length-1;j++){
            var PS=new Point(0.0,0.0);
            PS.x=Point_List[j].x;
            PS.y=Point_List[j].y;
            var PE=new Point(0.0,0.0);
            PE.x=Point_List[j+1].x;
            PE.y=Point_List[j+1].y;
            var Line=new Object();
            Line.startpoint=PS;
            Line.endpoint=PE;
            Line.rundirection=PathInfo0.RunDirection;
            WayPoint_Line_List.push(Line);
        }
    }
    return WayPoint_Line_List;
}

function Lu_Trans_Bezier_PathInfo1_To_Paper_Line(Bezier_PathInfo1,PathInfo0){
    var Point_List=Bezier_PathInfo1.Point_List;
    var Bezier_Line_List=new Array();
    for(i=0;i<Point_List.length-1;i++){
        var PS=new Point(0.0,0.0);
        PS.x=Point_List[i].x;
        PS.y=Point_List[i].y;
        var PE=new Point(0.0,0.0);
        PE.x=Point_List[i+1].x;
        PE.y=Point_List[i+1].y;
        var Line=new Object();
        Line.startpoint=PS;
        Line.endpoint=PE;
        Line.rundirection=PathInfo0.RunDirection;
        Bezier_Line_List.push(Line);
    }
    return Bezier_Line_List;
}


function Lu_Trans_OriginTurn_PathInfo1_To_Paper_OriginTurn(OriginTurn_PathInfo1,PathInfo0){
    var arcpathclockwisedir=OriginTurn_PathInfo1.arcpathclockwisedir;
    var centerpoint=OriginTurn_PathInfo1.centerpoint;
    var startangle=parseFloat(OriginTurn_PathInfo1.startanglex)+90.0;
    var endangle=parseFloat(OriginTurn_PathInfo1.endanglex)+90.0;
    var frompoint=new Point(0.0,0.0);
    var topoint=new Point(0.0,0.0);
    var throughpoint=new Point(0.0,0.0);
    var radius=1.0;

    //console.log(startangle);
    //console.log(endangle);
    if(arcpathclockwisedir==0){//Anticlockwise = 0,//逆时针
        frompoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,startangle,radius);

        topoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,endangle,radius);

        var endangle_normal=Lu_Normal_Deg(startangle,startangle+360.0,endangle);

        var midangle=(startangle+endangle_normal)/2.0;

        throughpoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,midangle,radius);
    }
    else{//Clockwise = 1,//顺时针

        frompoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,startangle,radius);

        topoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,endangle,radius);

        frompoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,startangle,radius);
        topoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,endangle,radius);
        var endangle_normal=Lu_Normal_Deg(startangle,startangle+360.0,endangle);
        var midangle=(startangle+endangle_normal)/2.0+180.0;
        throughpoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,midangle,radius);

    }

    var PathTable_OriginTurn=new Object();
    PathTable_OriginTurn.frompoint=frompoint;
    PathTable_OriginTurn.topoint=topoint;
    PathTable_OriginTurn.throughpoint=throughpoint;
    PathTable_OriginTurn.centerpoint=centerpoint;
    PathTable_OriginTurn.rundirection=PathInfo0.RunDirection;
    //console.log(PathTable_OriginTurn);
    return PathTable_OriginTurn;
}

function Lu_Trans_Arc_PathInfo1_To_Paper_Arc(Arc_PathInfo1,PathInfo0){
    var arcpathclockwisedir=Arc_PathInfo1.arcpathclockwisedir;
    var centerpoint=Arc_PathInfo1.centerpoint;
    var radius=Arc_PathInfo1.radius;
    var startangle=Arc_PathInfo1.startangle;
    var endangle=Arc_PathInfo1.endangle;
    var frompoint=new Point(0.0,0.0);
    var topoint=new Point(0.0,0.0);
    var throughpoint=new Point(0.0,0.0);

    if(arcpathclockwisedir==0){//Anticlockwise = 0,//逆时针
        frompoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,startangle,radius);

        topoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,endangle,radius);

        var endangle_normal=Lu_Normal_Deg(startangle,startangle+360.0,endangle);

        var midangle=(startangle+endangle_normal)/2.0;

        throughpoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,midangle,radius);
    }
    else{//Clockwise = 1,//顺时针

        frompoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,startangle,radius);

        topoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,endangle,radius);

        frompoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,startangle,radius);
        topoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,endangle,radius);
        var endangle_normal=Lu_Normal_Deg(startangle,startangle+360.0,endangle);
        var midangle=(startangle+endangle_normal)/2.0+180.0;
        throughpoint=Lu_GetNextPoint_By_xs_ys_dirdeg(centerpoint.x,centerpoint.y,midangle,radius);

    }

    var PathTable_Arc=new Object();
    PathTable_Arc.frompoint=frompoint;
    PathTable_Arc.topoint=topoint;
    PathTable_Arc.throughpoint=throughpoint;
    PathTable_Arc.rundirection=PathInfo0.RunDirection;
    //console.log(PathTable_Arc);
    return PathTable_Arc;
}

function Lu_Trans_Line_PathInfo1_To_Paper_Line(Line_PathInfo1,PathInfo0){
    var Line_PathInfo=new Object();
    Line_PathInfo.start_point=Line_PathInfo1.start_point;
    Line_PathInfo.end_point=Line_PathInfo1.end_point;
    Line_PathInfo.thetax=Line_PathInfo1.thetax;
    Line_PathInfo.rundirection=PathInfo0.RunDirection;
    return Line_PathInfo;
}
///////////////////////////////////////////////////////////////////////////////
function Lu_Parse_LearnNodePointManagerTable(str){
    var str_line_arr=str.split(/[(\r\n)\r\n]+/);
    for (let i = 0; i < str_line_arr.length; i++) {
        var str_line=str_line_arr[i];
        Lu_Parse_LearnNodePointManagerTableLine(str_line);
    }
}

function Lu_Parse_LearnNodePointManagerTableLine(str){
    var NodeKeyID_str0="";
    var NodeID_str1="";
    var Select_str2="";
    var Node_x_str3="";
    var Node_y_str4="";
    var Node_thetax_str5="";
    var Node_z_str6="";
    var NodeParallelLift_str7="";
    var NodeFrontLift_str8="";
    var PrePathNode_str9="";
    var NodeType_str10="";
    var NPMStringParam1_str11="";
    var NPMStringParam2_str12="";

    var item_arr0=str.split(' ');
    if(item_arr0.length<1)return;
    NodeKeyID_str0=item_arr0[0];
    var NodeKeyID=parseInt(NodeKeyID_str0,10);

    if(item_arr0.length<2)return;
    NodeID_str1=item_arr0[1];
    var NodeID=parseInt(NodeID_str1,10);

    if(item_arr0.length<3)return;
    Select_str2=item_arr0[2];
    var Select=parseInt(Select_str2,10);

    if(item_arr0.length<4)return;
    Node_x_str3=item_arr0[3];
    var Node_x=parseFloat(Node_x_str3);

    if(item_arr0.length<5)return;
    Node_y_str4=item_arr0[4];
    var Node_y=parseFloat(Node_y_str4);

    if(item_arr0.length<6)return;
    Node_thetax_str5=item_arr0[5];
    var Node_thetax=parseFloat(Node_thetax_str5);

    if(item_arr0.length<7)return;
    Node_z_str6=item_arr0[6];
    var Node_z=parseFloat(Node_z_str6);

    if(item_arr0.length<8)return;
    NodeParallelLift_str7=item_arr0[7];
    var NodeParallelLift=parseFloat(NodeParallelLift_str7);

    if(item_arr0.length<9)return;
    NodeFrontLift_str8=item_arr0[8];
    var NodeFrontLift=parseFloat(NodeFrontLift_str8);

    if(item_arr0.length<10)return;
    PrePathNode_str9=item_arr0[9];
    var PrePathNode=parseInt(PrePathNode_str9,10);

    if(item_arr0.length<11)return;
    NodeType_str10=item_arr0[10];
    var NodeType=NodeType_str10;

    var item_arr1=str.split('<');
    if(item_arr1.length<2)return;
    var tmp_str1=item_arr1[1];
    var tmp_str2=tmp_str1.split('>');
    NPMStringParam1_str11=tmp_str2[0];
    var NPMStringParam1=NPMStringParam1_str11;

    if(item_arr1.length<3)return;
    tmp_str1=item_arr1[2];
    tmp_str2=tmp_str1.split('>');
    NPMStringParam2_str12=tmp_str2[0];
    var NPMStringParam2=NPMStringParam2_str12;

    var NodePointInfo=new Object();
    NodePointInfo.NodeKeyID=NodeKeyID;
    NodePointInfo.NodeID=NodeID;
    NodePointInfo.NodeName="";
    NodePointInfo.Select=Select;
    NodePointInfo.Node_x=Node_x;
    NodePointInfo.Node_y=Node_y;
    NodePointInfo.Node_thetax=Node_thetax;
    NodePointInfo.Node_z=Node_z;
    NodePointInfo.NodeParallelLift=NodeParallelLift;
    NodePointInfo.NodeFrontLift=NodeFrontLift;
    NodePointInfo.PrePathNode=PrePathNode;
    NodePointInfo.NodeType=NodeType;
    NodePointInfo.NPMStringParam1=NPMStringParam1;
    NodePointInfo.NPMStringParam2=NPMStringParam2;
    LearnNodePointManagerTable_PathNode_Arr.push(NodePointInfo);
    if(LearnNodePoint_Map.has(NodePointInfo)==false){
        LearnNodePoint_Map.set(NodeID,NodePointInfo);
    }
}
function Lu_Parse_LearnPointCloud(str){
    if(str!="") {
        var pointcloud = JSON.parse(str);
        LearnPointCloud = pointcloud;
        for (let i = 0; i < pointcloud.data.length; i++) {
            //console.log("x:" + pointcloud.data[i].x + " y:" + pointcloud.data[i].y);
            var x = pointcloud.data[i].x / 0.2;
            var y = pointcloud.data[i].y / 0.2;

            var point = new Point(parseInt(x), parseInt(y));
            //console.log("point:" + point);
            if (LearnPointCloud_Map.has(point.toString()) == true) {
                //console.log("has point");
            } else {
                //console.log("no point");
                LearnPointCloud_Map.set(point.toString(), pointcloud.data[i]);
                LearnPointCloud_Arr.push(pointcloud.data[i]);
            }
        }
        //for(let i=0;i<pointcloud.data.length;i++){

        //console.log("i:"+i+" x:"+pointcloud.data[i].x+" y:"+pointcloud.data[i].y);
        //var point=new Point(parseInt((pointcloud.data[i].x)/100),parseInt((pointcloud.data[i].y)/100));
        /*
        if(PointCloud_Map.has(point)){

        }
        else{
            PointCloud_Map.set(point,pointcloud.data[i]);
            PointCloud_Arr.push(pointcloud.data[i]);
        }*/
        //}
        console.log("PointCloud_Arr_size:" + LearnPointCloud_Arr.length);
    }
    return pointcloud;
}