This commit is contained in:
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parent
d9d13224e8
commit
0abafb4ed0
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@ -12,7 +12,7 @@ s.connect((host, port))
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# print(s)
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def send_data(data):
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response = None
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if data["reqType"] != 'AddRCC':
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# if data["reqType"] != 'AddRCC':
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s.send(str.encode(json.dumps(data)))
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response_data = s.recv(1024)
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response = json.loads(response_data)
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@ -50,21 +50,21 @@ print('world', world_coord)
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print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
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def make_world_step(type, p):
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speed= 10.0
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speed= 80.0
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smooth= 9
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step = {
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"oneshot": "1",
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"oneshot": "0",
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"delay":"0.0",
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"speed":str(speed),"smooth":str(smooth),
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"coord":"0","tool":"1",
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"ckStatus":"0xFF",
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"ckStatus":"0x3F",
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}
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if type == 'line':
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m0,m1,m2,m3,m4,m5=p
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step.update({
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"action": "10",
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"m0": x + m0, "m1": y + m1, "m2": z + m2,
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"m3": u + m3, "m4": v + m4, "m5": w + m5,
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"m0": round(x + m0,3), "m1": round(y + m1,3), "m2": round(z + m2,3),
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"m3": round(u + m3,3), "m4": round(v + m4,3), "m5": round(w + m5,3),
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"m6": 0, "m7": 0,
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})
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elif type == 'curve':
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@ -82,30 +82,6 @@ def make_world_step(type, p):
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for s in step:
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step[s] = str(step[s])
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return step
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k = 4
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# data = [
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# ('line',(10*k, 10*k, 0,
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# 0, 0, 0)),
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# ('line',(0, 20*k, 0,
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# 0, 0, 0)),
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# ('line',(-10*k, 10*k, 0,
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# 0, 0, 0)),
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# ('line',(0, 0, 0,
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# 0, 0, 0)),
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# ('line',(0, 0, 0,
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# 0, -10, 0)),
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# ('curve',(0, -10*k, 0,
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# -10, 0, 0,
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# -20*k, -10*k, 0,
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# 0, -10, 0)),
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# ('line',(-20*k, -10*k, 0,
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# 0, 0, 0)),
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# ('curve',(0, -20*k, 0,
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# 0, 0, 0,
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# 0, -10*k, 0,
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# 0, 0, 0)),
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# ]
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result = []
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with open('data/half-sphere.nc.result', 'r') as fp:
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for line in fp:
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@ -114,7 +90,7 @@ with open('data/half-sphere.nc.result', 'r') as fp:
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for item in data:
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prep[item[:1]] = float(item[1:])
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result.append(
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(
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make_world_step(
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'line',
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(
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prep.get('X', 0), prep.get('Y', 0), prep.get('Z', 0),
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@ -123,23 +99,23 @@ with open('data/half-sphere.nc.result', 'r') as fp:
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)
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)
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# Изменили глобальную скорость на 11%
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send_data(make_command_data(['modifyGSPD', str(20 * 10)]))
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send_data(make_command_data(['modifyGSPD', str(50 * 10)]))
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# Поставили Y026 в TRUE
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# send_data(make_addrcc_data([
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# {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"15"},
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# {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"15", "delay":"1"},
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# ]))
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send_data(make_addrcc_data(
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[
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# {"oneshot":"0", "action":"200","type":"0","io_status":"1", "point":"14"},
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send_data(make_addrcc_data([
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{"oneshot":"0", "action":"200","type":"0","io_status":"1", "point":"14"},
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# {"oneshot":"0", "action":"51","isUse":"1","speed":str(8*1000)}
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]
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+[make_world_step(*p) for p in result]
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+[
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]))
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for r in result:
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send_data(make_addrcc_data([r], '0'))
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# send_data(make_addrcc_data(result[10:20]))
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send_data(make_addrcc_data([
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{"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"14"},
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# {"oneshot":"0", "action":"51","isUse":"0"},
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# {"oneshot":"0", "action":"200","type":"0","io_status":"0", "point":"14"},
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]
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))
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], '0'))
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print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
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send_data(make_command_data(['actionSingleCycle']))
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# send_data(make_command_data(['actionStop']))
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@ -1,89 +1,89 @@
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X115.708 Y-36.446 Z-0.642
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X116.491 Y-33.849 U-9826.202
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X117.134 Y-31.563 U-9825.081
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X117.807 Y-28.934 U-9823.799
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X118.35 Y-26.622 U-9822.677
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X118.849 Y-24.3 U-9821.555
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X119.367 Y-21.635 U-9820.273
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X119.818 Y-18.957 U-9818.991
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X120.165 Y-16.607 U-9817.869
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X120.468 Y-14.251 U-9816.746
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X120.726 Y-11.889 U-9815.624
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X120.938 Y-9.522 U-9814.502
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X121.099 Y-7.151 U-9813.379
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X121.214 Y-4.777 U-9812.257
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X121.284 Y-2.401 U-9811.134
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X121.308 Y-0.035 U-9810.017
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X121.287 Y2.323 U-9808.903
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X121.222 Y4.679 U-9807.789
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X121.105 Y7.034 U-9806.676
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X120.944 Y9.387 U-9805.562
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X120.739 Y11.736 U-9804.448
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X120.488 Y14.081 U-9803.334
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X120.193 Y16.421 U-9802.22
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X119.853 Y18.755 U-9801.106
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X119.464 Y21.081 U-9799.992
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X119.03 Y23.4 U-9798.878
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X118.552 Y25.71 U-9797.764
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X118.03 Y28.011 U-9796.649
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X117.464 Y30.302 U-9795.535
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X116.855 Y32.581 U-9794.421
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X116.197 Y34.847 U-9793.306
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X115.495 Y37.101 U-9792.191
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X114.726 Y39.417 U-9791.039
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X113.876 Y41.82 U-9789.835
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X112.914 Y44.34 U-9788.561
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X112.03 Y46.528 U-9787.446
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X111.104 Y48.7 U-9786.331
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X110.136 Y50.853 U-9785.216
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X109.128 Y52.988 U-9784.101
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X108.074 Y55.1 U-9782.986
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X106.98 Y57.193 U-9781.87
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X105.846 Y59.264 U-9780.755
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X104.673 Y61.313 U-9779.64
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X103.461 Y63.34 U-9778.525
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X102.21 Y65.343 U-9777.409
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X100.728 Y67.599 U-9776.134
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X99.392 Y69.547 U-9775.019
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X98.02 Y71.469 U-9773.903
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X96.611 Y73.365 U-9772.787
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X95.166 Y75.234 U-9771.672
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X93.681 Y77.071 U-9770.556
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X92.161 Y78.88 U-9769.44
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X90.607 Y80.659 U-9768.324
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X89.019 Y82.409 U-9767.208
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X87.398 Y84.128 U-9766.092
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X85.745 Y85.816 U-9764.976
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X83.811 Y87.701 U-9763.701
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X82.086 Y89.317 U-9762.584
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X80.331 Y90.899 U-9761.468
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X78.546 Y92.448 U-9760.352
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X76.731 Y93.962 U-9759.236
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X74.884 Y95.438 U-9758.119
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X73.01 Y96.877 U-9757.003
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X71.108 Y98.281 U-9755.886
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X69.18 Y99.649 U-9754.77
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X67.225 Y100.979 U-9753.653
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X65.246 Y102.272 U-9752.537
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X62.95 Y103.696 U-9751.26
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X60.917 Y104.903 U-9750.144
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X58.861 Y106.071 U-9749.027
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X56.783 Y107.199 U-9747.91
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X54.684 Y108.288 U-9746.793
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X52.562 Y109.331 U-9745.676
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X50.42 Y110.334 U-9744.559
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X48.259 Y111.295 U-9743.442
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X46.08 Y112.215 U-9742.325
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X43.884 Y113.094 U-9741.208
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X41.672 Y113.93 U-9740.091
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X39.442 Y114.719 U-9738.974
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X37.197 Y115.464 U-9737.856
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X34.938 Y116.167 U-9736.739
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X32.646 Y116.835 U-9735.611
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X30.357 Y117.452 U-9734.492
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X28.06 Y118.02 U-9733.374
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X25.753 Y118.543 U-9732.257
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X23.436 Y119.022 U-9731.139
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X21.11 Y119.457 U-9730.021
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X18.776 Y119.848 U-9728.904
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X16.435 Y120.193 U-9727.786
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X116.491 Y-33.849 U-98.26201999999999
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X117.134 Y-31.563 U-98.25081
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X117.807 Y-28.934 U-98.23799000000001
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X118.35 Y-26.622 U-98.22677
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X118.849 Y-24.3 U-98.21555000000001
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X119.367 Y-21.635 U-98.20272999999999
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X119.818 Y-18.957 U-98.18991
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X120.165 Y-16.607 U-98.17869
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X120.468 Y-14.251 U-98.16745999999999
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X120.726 Y-11.889 U-98.15624
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X120.938 Y-9.522 U-98.14502
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X121.099 Y-7.151 U-98.13379
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X121.214 Y-4.777 U-98.12257
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X121.284 Y-2.401 U-98.11134
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X121.308 Y-0.035 U-98.10016999999999
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X121.287 Y2.323 U-98.08903000000001
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X121.222 Y4.679 U-98.07789000000001
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X121.105 Y7.034 U-98.06675999999999
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X120.944 Y9.387 U-98.05562
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X120.739 Y11.736 U-98.04448000000001
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X120.488 Y14.081 U-98.03334000000001
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X120.193 Y16.421 U-98.0222
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X119.853 Y18.755 U-98.01106
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X119.464 Y21.081 U-97.99992
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X119.03 Y23.4 U-97.98878
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X118.552 Y25.71 U-97.97764
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X118.03 Y28.011 U-97.96649
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X117.464 Y30.302 U-97.95535
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X116.855 Y32.581 U-97.94421
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X116.197 Y34.847 U-97.93306000000001
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X115.495 Y37.101 U-97.92191000000001
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X114.726 Y39.417 U-97.91039
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X113.876 Y41.82 U-97.89835
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X112.914 Y44.34 U-97.88561
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X112.03 Y46.528 U-97.87446
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X111.104 Y48.7 U-97.86331
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X110.136 Y50.853 U-97.85216
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X109.128 Y52.988 U-97.84101000000001
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X108.074 Y55.1 U-97.82986000000001
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X106.98 Y57.193 U-97.8187
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X105.846 Y59.264 U-97.80754999999999
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X104.673 Y61.313 U-97.79639999999999
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X103.461 Y63.34 U-97.78524999999999
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X102.21 Y65.343 U-97.77409
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X100.728 Y67.599 U-97.76134
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X99.392 Y69.547 U-97.75019
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X98.02 Y71.469 U-97.73903
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X96.611 Y73.365 U-97.72787
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X95.166 Y75.234 U-97.71672000000001
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X93.681 Y77.071 U-97.70556
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X92.161 Y78.88 U-97.6944
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X90.607 Y80.659 U-97.68324000000001
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X89.019 Y82.409 U-97.67208000000001
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X87.398 Y84.128 U-97.66092
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X85.745 Y85.816 U-97.64976
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X83.811 Y87.701 U-97.63700999999999
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X82.086 Y89.317 U-97.62584000000001
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X80.331 Y90.899 U-97.61468
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X78.546 Y92.448 U-97.60352
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X76.731 Y93.962 U-97.59236000000001
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X74.884 Y95.438 U-97.58119
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X73.01 Y96.877 U-97.57003
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X71.108 Y98.281 U-97.55886000000001
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X69.18 Y99.649 U-97.5477
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X67.225 Y100.979 U-97.53653
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X65.246 Y102.272 U-97.52537000000001
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X62.95 Y103.696 U-97.5126
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X60.917 Y104.903 U-97.50144
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X58.861 Y106.071 U-97.49027
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X56.783 Y107.199 U-97.4791
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X54.684 Y108.288 U-97.46793
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X52.562 Y109.331 U-97.45675999999999
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X50.42 Y110.334 U-97.44559
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X48.259 Y111.295 U-97.43441999999999
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X46.08 Y112.215 U-97.42325000000001
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X43.884 Y113.094 U-97.41208
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X41.672 Y113.93 U-97.40091000000001
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X39.442 Y114.719 U-97.38974
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X37.197 Y115.464 U-97.37856
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X34.938 Y116.167 U-97.36739
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X32.646 Y116.835 U-97.35611
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X30.357 Y117.452 U-97.34492
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X28.06 Y118.02 U-97.33373999999999
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X25.753 Y118.543 U-97.32257
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X23.436 Y119.022 U-97.31138999999999
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X21.11 Y119.457 U-97.30021
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X18.776 Y119.848 U-97.28904
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X16.435 Y120.193 U-97.27786
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@ -25,7 +25,7 @@ with open(file, 'r') as fp:
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step = prep['G']
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if step == '01':
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if 'C' in prep:
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prep['U'] = prep.pop('C')
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prep['U'] = float(prep.pop('C')) / 100
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result.append([f"{p}{prep[p]}" for p in prep if p in ['X', 'Y', 'Z', 'U', 'V', 'W']])
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with open(f"{file}.result", 'w') as fp:
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