408 lines
16 KiB
HTML
408 lines
16 KiB
HTML
<!DOCTYPE html>
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<html lang="en" id="container" onmousedown="startDrag(event)" onmouseup="stopDrag(event)" onmousemove="dragging(event)" style="overflow-x: hidden;
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overflow-y: hidden; ">
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<head>
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<meta charset="UTF-8">
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<script src="../jquery-2.1.0.min.js"></script>
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<script src="../jquery.cookie.js"></script>
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<script type="text/javascript" src="../Lu_Math_Driver.js"></script>
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<script type="text/javascript">
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var WayPoint4RecArr=new Array();
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var WayPoint4RecSch=0;
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var LearnWayPointAB4_Sch=0;
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var PointA_rx=0;
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var PointA_ry=0;
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var PointA_rt=0;
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var PointA_Ref_NodeID=0;
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var PointB_rx=0;
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var PointB_ry=0;
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var PointB_rt=0;
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var PointB_Ref_NodeID=0;
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var StartNode=0;
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var EndNode=0;
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var Direction="Front";
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var LayerType="Normal";
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var CreatePairDirectionEnable="true";
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var S300_1_Enable="false";
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var S300_1_Case=0;
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var S300_2_Enable="false";
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var S300_2_Case=0;
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var TIM_1_Enable="false";
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var TIM_1_Case=0;
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var TIM_2_Enable="false";
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var TIM_2_Case=0;
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var SpeedType=0;
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var last_rx_tmp=0;
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var last_ry_tmp=0;
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var last_rt_tmp=0;
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var Tmp_Speed_Direction=0;
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var Tmp_Speed_Direction_Rec=0;
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var Last_Tmp_Speed_Direction_Rec=0;
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var Last_Tmp_Speed_rx=0;
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var Last_Tmp_Speed_ry=0;
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var Last_Tmp_Speed_rt=0;
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var Speed_Direction_Sum=0;
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var Car_Global_rx=0;
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var Car_Global_ry=0;
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var Car_Global_Theta=0;
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var Last_Rec_Car_Global_rx=0;
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var Last_Rec_Car_Global_ry=0;
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var Last_Rec_Car_Global_Theta=0;
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var LastRecWayPoint3=false;
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function SketchLeftLearnWayPointAB4MainPostMessage(str){
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parent.window.postMessage(
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str,
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"*" //or "www.parentpage.com"
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);
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}
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function LearnWayPointAB4_Main_Init(){
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LearnWayPointAB4_Sch=0;
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PointA_rx=0;
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PointA_ry=0;
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PointA_rt=0;
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PointA_Ref_NodeID=0;
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PointB_rx=0;
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PointB_ry=0;
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PointB_rt=0;
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PointB_Ref_NodeID=0;
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StartNode=0;
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EndNode=0;
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Direction="Front";
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LayerType="Normal";
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CreatePairDirectionEnable="true";
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S300_1_Enable="false";
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S300_1_Case=0;
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S300_2_Enable="false";
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S300_2_Case=0;
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TIM_1_Enable="false";
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TIM_1_Case=0;
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TIM_2_Enable="false";
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TIM_2_Case=0;
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SpeedType=0;
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last_rx_tmp=0;
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last_ry_tmp=0;
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last_rt_tmp=0;
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Tmp_Speed_Direction=0;
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Speed_Direction_Sum=0;
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LastRecWayPoint4=false;
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}
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function client_request_left_learnwaypointab4_main(str){
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window.parent.parent.postMessage(
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{
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event_id: 'client_request_left_learnwaypointab4_main',
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data: {
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v1: str
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}
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},
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"*" //or "www.parentpage.com"
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);
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}
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function receiveMessage(event){
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//console.log(event);
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if(event.data.event_id=="client_response_left_learnwaypointab4_main"){
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document.getElementById('LeftLearnWayPointAB4Iframe').contentWindow.postMessage(
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event.data
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);
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return;
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}
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var frame=event.data.split('#');
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var head=frame[0].split(':');
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switch(head[0]){
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case 'LearnWayPointAB4Sch0':
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{
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//var info=head[1].split('#');
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var data=head[1].split(',');
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PointA_rx=parseFloat(data[0]);
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PointA_ry=parseFloat(data[1]);
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PointA_rt=parseFloat(data[2]);
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PointA_Ref_NodeID=parseInt(data[3]);
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LearnWayPointAB4_Sch=1;
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window.open('HMI_Sketch_Left_LearnWayPointAB4_Sch1.html', 'LeftLearnWayPointAB4Iframe');
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}break;
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case 'LearnWayPointAB4Sch1':{
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var data=head[1].split(',');
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PointB_rx=parseFloat(data[0]);
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PointB_ry=parseFloat(data[1]);
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PointB_rt=parseFloat(data[2]);
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PointB_Ref_NodeID=parseInt(data[3]);
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LearnWayPointAB4_Sch=2;
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window.open('HMI_Sketch_Left_LearnWayPointAB4_Sch2.html', 'LeftLearnWayPointAB4Iframe');
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}break;
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case 'LearnWayPointAB4Sch2':{
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console.log("AAALearnWayPointAB4Sch2");
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var data=head[1].split(',');
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StartNode=parseInt(data[0]);
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EndNode=parseInt(data[1]);
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Direction=data[2];
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S300_1_Enable=data[3];
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S300_1_Case=parseInt(data[4]);
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S300_2_Enable=data[5];
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S300_2_Case=parseInt(data[6]);
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TIM_1_Enable=data[7];
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TIM_1_Case=parseInt(data[8]);
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TIM_2_Enable=data[9];
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TIM_2_Case=parseInt(data[10]);
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SpeedType=parseInt(data[11]);
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CreatePairDirectionEnable=data[12];
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var str="CheckNode:"+
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StartNode+";"+
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+PointA_rx+";"
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+PointA_ry+";"
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+PointA_rt+";"
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+EndNode+";"
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+PointB_rx+";"
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+PointB_ry+";"
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+PointB_rt+";"
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//client(str);
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client_request_left_learnwaypointab4_main(str);
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}break;
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case 'LearnWayPointAB4Sch2_CheckNodeOK':{
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LearnWayPointAB4_Sch=3;
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window.open('HMI_Sketch_Left_LearnWayPointAB4_Sch3.html', 'LeftLearnWayPointAB4Iframe');
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}break;
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case 'LearnWayPointAB4Sch3':{
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var data=head[1];
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if(data=="OK"){
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var str="LearnWayPointAB_V42:"
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//var str="LearnWayPointAB_V31:"
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//var str="LearnWayPointAB_V3:"
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//var str="LearnWayPointAB_V4:"
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+StartNode+";"
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+EndNode+";"
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+Direction+";"
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+LayerType+";"
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+CreatePairDirectionEnable+";"
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+S300_1_Enable+";"
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+S300_1_Case+";"
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+S300_2_Enable+";"
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+S300_2_Case+";"
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+TIM_1_Enable+";"
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+TIM_1_Case+";"
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+TIM_2_Enable+";"
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+TIM_2_Case+";"
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+SpeedType+";";
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for(let i=0;i<WayPoint4RecArr.length;i++){
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if(i==0){
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var dist=Lu_Get_Dist(WayPoint4RecArr[i].Car_Global_rx,WayPoint4RecArr[i].Car_Global_ry,PointA_rx,PointA_ry);
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if(dist<1.0) {
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WayPoint4RecArr[i].Car_Global_rx = PointA_rx;
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WayPoint4RecArr[i].Car_Global_ry = PointA_ry;
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WayPoint4RecArr[i].Car_Global_Theta = PointA_rt;
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}
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}
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else if(i==WayPoint4RecArr.length-1){
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var dist=Lu_Get_Dist(WayPoint4RecArr[i].Car_Global_rx,WayPoint4RecArr[i].Car_Global_ry,PointB_rx,PointB_ry);
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if(dist<1.0) {
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WayPoint4RecArr[i].Car_Global_rx = PointB_rx;
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WayPoint4RecArr[i].Car_Global_ry = PointB_ry;
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WayPoint4RecArr[i].Car_Global_Theta = PointB_rt;
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}
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}
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str=str+"Point"+"@"+WayPoint4RecArr[i].Car_Global_rx+","+WayPoint4RecArr[i].Car_Global_ry+","+WayPoint4RecArr[i].Car_Global_Theta+";";
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}
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str=str+"#";
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//client(str);
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client_request_left_learnwaypointab4_main(str);
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}
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LearnWayPointAB4_Sch=4;
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window.open('HMI_Sketch_Left_LearnWayPointAB4_Sch4.html', 'LeftLearnWayPointAB4Iframe');
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}break;
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case 'LearnWayPointAB4Sch4':{
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var data=head[1];
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if(data=="Continue") {
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LearnWayPointAB4_Main_Init();
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window.open('HMI_Sketch_Left_LearnWayPointAB4_Sch0.html', 'LeftLearnWayPointAB4Iframe');
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}
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else{
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LearnWayPointAB4_Main_Init();
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SketchLeftLearnWayPointAB4MainPostMessage("Main");
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}
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}break;
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}
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}
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window.addEventListener("message", receiveMessage, false);
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function Lu_Judge_Last_Speed_Direction(rx,ry,rt){
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var run_dist = Lu_Get_Dist(rx,ry,last_rx_tmp,last_ry_tmp);
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if(run_dist>0.2){
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var a = Lu_Judge_StartToEnd_SpeedDirection(last_rx_tmp,last_ry_tmp,rx,ry,rt);
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last_rx_tmp=rx;
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last_ry_tmp=ry;
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last_rt_tmp=rt;
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return a;
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}
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else{
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return 0;
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}
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}
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function Refresh(){
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//var Car_Global_rx2=parseFloat(getCookie('Car_Global_rx')).toFixed(3);
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//var Car_Global_ry2=parseFloat(getCookie('Car_Global_ry')).toFixed(3);
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//var Car_Global_Theta2=parseFloat(getCookie('Car_Global_Theta')).toFixed(3);
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Car_Global_rx=parseFloat($.cookie('Car_Global_rx'));//Car_Global_rx=parseFloat(getCookie('Car_Global_rx'));
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Car_Global_ry=parseFloat($.cookie('Car_Global_ry'));//Car_Global_ry=parseFloat(getCookie('Car_Global_ry'));
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Car_Global_Theta=parseFloat($.cookie('Car_Global_Theta'));//Car_Global_Theta=parseFloat(getCookie('Car_Global_Theta'));
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//console.log("x:"+Car_Global_rx+" "+Car_Global_rx2);
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//console.log("y:"+Car_Global_ry+" "+Car_Global_ry2);
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//console.log("t:"+Car_Global_Theta+" "+Car_Global_Theta2);
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if(LearnWayPointAB4_Sch==1){
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Tmp_Speed_Direction=Lu_Judge_Last_Speed_Direction(Car_Global_rx,Car_Global_ry,Car_Global_Theta);
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Speed_Direction_Sum=Speed_Direction_Sum+Tmp_Speed_Direction;
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if(Speed_Direction_Sum>=0)Direction="Front";
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else Direction="Reverse";
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if(Tmp_Speed_Direction==0 && Tmp_Speed_Direction_Rec!=0){
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Last_Tmp_Speed_rx=Car_Global_rx;
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Last_Tmp_Speed_ry=Car_Global_ry;
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Last_Tmp_Speed_rt=Car_Global_Theta;
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console.log("Last_Tmp_Speed rx:"+Last_Tmp_Speed_rx+" ry:"+Last_Tmp_Speed_ry+" rt:"+Last_Tmp_Speed_rt);
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}
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if(Tmp_Speed_Direction!=0)Tmp_Speed_Direction_Rec=Tmp_Speed_Direction;
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console.log(Tmp_Speed_Direction_Rec);
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}
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//console.log(Speed_Direction_Sum);
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//console.log(Direction);
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document.getElementById('StartNode').innerText = 'StartNode=' + StartNode;
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document.getElementById('EndNode').innerText = 'EndNode=' + EndNode;
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document.getElementById('Direction').innerText = 'Direction=' + Direction;
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if(LearnWayPointAB4_Sch>0){
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WayPoint4RecSch=1;
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}
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else{
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WayPoint4RecSch=0;
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}
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if(WayPoint4RecSch==0){
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WayPoint4RecArr=[];
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LastRecWayPoint4=false;
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}
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else if(WayPoint4RecSch==1){
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var dist=Lu_Get_Dist(Car_Global_rx,Car_Global_ry,Last_Rec_Car_Global_rx,Last_Rec_Car_Global_ry);
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if(LearnWayPointAB4_Sch==1&&(dist>1.0||WayPoint4RecArr.length==0)){
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var Rec_WP=new Object();
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Rec_WP.Car_Global_rx=Car_Global_rx.toFixed(3);
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Rec_WP.Car_Global_ry=Car_Global_ry.toFixed(3);
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Rec_WP.Car_Global_Theta=Car_Global_Theta.toFixed(3);
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WayPoint4RecArr.push(Rec_WP);
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Last_Rec_Car_Global_rx=Car_Global_rx;
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Last_Rec_Car_Global_ry=Car_Global_ry;
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Last_Rec_Car_Global_Theta=Car_Global_Theta;
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}
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else if(WayPoint4RecArr.length>2 && Last_Tmp_Speed_Direction_Rec!=Tmp_Speed_Direction_Rec){
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var Rec_WP=new Object();
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Rec_WP.Car_Global_rx=Last_Tmp_Speed_rx.toFixed(3);
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Rec_WP.Car_Global_ry=Last_Tmp_Speed_ry.toFixed(3);
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Rec_WP.Car_Global_Theta=Last_Tmp_Speed_rt.toFixed(3);
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WayPoint4RecArr.push(Rec_WP);
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//Last_Tmp_Speed_Direction_Rec=Tmp_Speed_Direction_Rec;
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}
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if(Last_Tmp_Speed_Direction_Rec!=Tmp_Speed_Direction_Rec) {
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Last_Tmp_Speed_Direction_Rec = Tmp_Speed_Direction_Rec;
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}
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/*
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if(LearnWayPointAB3_Sch==1&&(WayPoint3RecArr.length>0 && Last_Tmp_Speed_Direction_Rec!=Tmp_Speed_Direction_Rec)){
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WayPoint3RecArr.pop();
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var Rec_WP=new Object();
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Rec_WP.Car_Global_rx=Last_Tmp_Speed_rx.toFixed(3);
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Rec_WP.Car_Global_ry=Last_Tmp_Speed_ry.toFixed(3);
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Rec_WP.Car_Global_Theta=Last_Tmp_Speed_rt.toFixed(3);
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WayPoint3RecArr.push(Rec_WP);
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Rec_WP.Car_Global_rx=Car_Global_rx.toFixed(3);
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Rec_WP.Car_Global_ry=Car_Global_ry.toFixed(3);
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Rec_WP.Car_Global_Theta=Car_Global_Theta.toFixed(3);
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WayPoint3RecArr.push(Rec_WP);
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Last_Rec_Car_Global_rx=Car_Global_rx;
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Last_Rec_Car_Global_ry=Car_Global_ry;
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Last_Rec_Car_Global_Theta=Car_Global_Theta;
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Last_Tmp_Speed_Direction_Rec=Tmp_Speed_Direction_Rec;
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}
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*/
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else if(LearnWayPointAB4_Sch==2&& LastRecWayPoint4==false){
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var Rec_WP=new Object();
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Rec_WP.Car_Global_rx=Car_Global_rx.toFixed(3);
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Rec_WP.Car_Global_ry=Car_Global_ry.toFixed(3);
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Rec_WP.Car_Global_Theta=Car_Global_Theta.toFixed(3);
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WayPoint4RecArr.push(Rec_WP);
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LastRecWayPoint4=true;
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}
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}
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var str="LearnWayPointAB4_Sch:"+LearnWayPointAB4_Sch+";";
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for(let i=0;i<WayPoint4RecArr.length;i++){
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str=str+"Point"+":"+WayPoint4RecArr[i].Car_Global_rx+","+WayPoint4RecArr[i].Car_Global_ry+","+WayPoint4RecArr[i].Car_Global_Theta+";";
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}
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str=str+"Direction:"+Direction+"#";
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$.cookie("LearnWayPointAB4_Sch",encodeURIComponent(str),{secure: true});//setCookie("LearnWayPointAB_Sch",encodeURIComponent(str),1000);
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}
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function Timer(){
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Refresh();
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//console.log(LearnWayPointAB3_Sch);
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//console.log(WayPoint3RecArr);
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}
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window.setInterval("Timer()",100);
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</script>
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<title>Title</title>
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</head>
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<body>
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<div id='LearnWayPointAB4_Sch'> </div>
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<div>
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<iframe id="LeftLearnWayPointAB4Iframe" name="LeftLearnWayPointAB4Iframe" width=400 height=560 src="HMI_Sketch_Left_LearnWayPointAB4_Sch0.html" frameborder="2" scrolling="auto"></iframe>
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</div>
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<div id='PointA_rx'></div>
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<div id='PointA_ry'></div>
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<div id='PointA_rt'></div>
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<div id='PointB_rx'></div>
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<div id='PointB_ry'></div>
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<div id='PointB_rt'></div>
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<div id='StartNode'></div>
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<div id='EndNode'></div>
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<div id='Direction'></div>
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</body>
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<script src="../js/drag.js"></script>
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</html> |