/**
  Copyright (C) 2012-2022 by Autodesk, Inc.
  All rights reserved.

  NUM post processor configuration.

  $Revision: 43811 9402f830a000e97e8885d344dcc12dc65bf77998 $
  $Date: 2022-05-20 14:56:40 $

  FORKID {8B1FC740-38BD-4cb2-9CD5-94A55CBE87A5}
*/

description = "NUM";
vendor = "NUM";
vendorUrl = "http://www.num.com";
legal = "Copyright (C) 2012-2022 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 45702;

longDescription = "Generic milling post for NUM.";

extension = "nc";
programNameIsInteger = true;
setCodePage("ascii");

capabilities = CAPABILITY_MILLING;
tolerance = spatial(0.002, MM);

minimumChordLength = spatial(0.25, MM);
minimumCircularRadius = spatial(0.01, MM);
maximumCircularRadius = spatial(1000, MM);
minimumCircularSweep = toRad(0.01);
maximumCircularSweep = toRad(5400);
allowHelicalMoves = true;
allowedCircularPlanes = undefined; // allow any circular motion

// user-defined properties
properties = {
  writeMachine: {
    title      : "Write machine",
    description: "Output the machine settings in the header of the code.",
    group      : "formats",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  writeTools: {
    title      : "Write tool list",
    description: "Output a tool list in the header of the code.",
    group      : "formats",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  preloadTool: {
    title      : "Preload tool",
    description: "Preloads the next tool at a tool change (if any).",
    group      : "preferences",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  showSequenceNumbers: {
    title      : "Use sequence numbers",
    description: "'Yes' outputs sequence numbers on each block, 'Only on tool change' outputs sequence numbers on tool change blocks only, and 'No' disables the output of sequence numbers.",
    group      : "formats",
    type       : "enum",
    values     : [
      {title:"Yes", id:"true"},
      {title:"No", id:"false"},
      {title:"Only on tool change", id:"toolChange"}
    ],
    value: "true",
    scope: "post"
  },
  sequenceNumberStart: {
    title      : "Start sequence number",
    description: "The number at which to start the sequence numbers.",
    group      : "formats",
    type       : "integer",
    value      : 10,
    scope      : "post"
  },
  sequenceNumberIncrement: {
    title      : "Sequence number increment",
    description: "The amount by which the sequence number is incremented by in each block.",
    group      : "formats",
    type       : "integer",
    value      : 5,
    scope      : "post"
  },
  optionalStop: {
    title      : "Optional stop",
    description: "Outputs optional stop code during when necessary in the code.",
    group      : "preferences",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  separateWordsWithSpace: {
    title      : "Separate words with space",
    description: "Adds spaces between words if 'yes' is selected.",
    group      : "formats",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  useRadius: {
    title      : "Radius arcs",
    description: "If yes is selected, arcs are outputted using radius values rather than IJK.",
    group      : "preferences",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  showNotes: {
    title      : "Show notes",
    description: "Writes operation notes as comments in the outputted code.",
    group      : "formats",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  safePositionMethod: {
    title      : "Safe Retracts",
    description: "Select your desired retract option. 'Clearance Height' retracts to the operation clearance height.",
    group      : "homePositions",
    type       : "enum",
    values     : [
      {title:"Clearance Height", id:"clearanceHeight"},
      {title:"G52", id:"G52"}
    ],
    value: "G52",
    scope: "post"
  },
  controllerType: {
    title      : "Controller version",
    description: "Select the family of controller.",
    group      : "configuration",
    type       : "enum",
    values     : [
      {title:"NUM 7xx", id:"NUM7x0"},
      {title:"NUM 10xx", id:"NUM10x0"}
    ],
    value: "NUM7x0",
    scope: "post"
  }
};

// wcs definiton
wcsDefinitions = {
  useZeroOffset: false,
  wcs          : [
    {name:"Standard", format:"#", range:[1, 1]}
  ]
};

var permittedCommentChars = " ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,=_-";

var singleLineCoolant = false; // specifies to output multiple coolant codes in one line rather than in separate lines
// samples:
// {id: COOLANT_THROUGH_TOOL, on: 88, off: 89}
// {id: COOLANT_THROUGH_TOOL, on: [8, 88], off: [9, 89]}
// {id: COOLANT_THROUGH_TOOL, on: "M88 P3 (myComment)", off: "M89"}
var coolants = [
  {id:COOLANT_FLOOD, on:8},
  {id:COOLANT_MIST},
  {id:COOLANT_THROUGH_TOOL, on:7},
  {id:COOLANT_AIR},
  {id:COOLANT_AIR_THROUGH_TOOL},
  {id:COOLANT_SUCTION},
  {id:COOLANT_FLOOD_MIST},
  {id:COOLANT_FLOOD_THROUGH_TOOL},
  {id:COOLANT_OFF, off:9}
];

var gFormat = createFormat({prefix:"G", width:2, zeropad:true, decimals:0});
var mFormat = createFormat({prefix:"M", width:2, zeropad:true, decimals:0});
var hFormat = createFormat({prefix:"H", width:2, zeropad:true, decimals:0});
var dFormat = createFormat({prefix:"D", width:2, zeropad:true, decimals:0});

var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var rFormat = xyzFormat; // radius
var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG});
var feedFormat = createFormat({decimals:(unit == MM ? 0 : 1), forceDecimal:true});
var toolFormat = createFormat({width:2, zeropad:true, decimals:0});
var rpmFormat = createFormat({decimals:0});
var secFormat = createFormat({decimals:2, forceDecimal:true}); // seconds - range 0.01-99.99
var taperFormat = createFormat({decimals:1, scale:DEG});

var xOutput = createVariable({prefix:"X"}, xyzFormat);
var yOutput = createVariable({prefix:"Y"}, xyzFormat);
var zOutput = createVariable({onchange:function () {retracted = false;}, prefix:"Z"}, xyzFormat);
var aOutput = createVariable({prefix:"A"}, abcFormat);
var bOutput = createVariable({prefix:"B"}, abcFormat);
var cOutput = createVariable({prefix:"C"}, abcFormat);
var feedOutput = createVariable({prefix:"F"}, feedFormat);
var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);
var dOutput = createVariable({}, dFormat);

// circular output
var iOutput = createVariable({prefix:"I", force:true}, xyzFormat);
var jOutput = createVariable({prefix:"J", force:true}, xyzFormat);
var kOutput = createVariable({prefix:"K", force:true}, xyzFormat);

var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ...
var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91
var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G93-94
var gUnitModal = createModal({}, gFormat); // modal group 6 // G70-71
var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...
var gRetractModal = createModal({}, gFormat); // modal group 10 // G98-99

// collected state
var sequenceNumber;
var forceSpindleSpeed = false;
var currentWorkOffset;
var retracted = false; // specifies that the tool has been retracted to the safe plane

/**
  Writes the specified block.
*/
function writeBlock() {
  if (!formatWords(arguments)) {
    return;
  }
  if (getProperty("showSequenceNumbers") == "true") {
    writeWords2("N" + sequenceNumber, arguments);
    sequenceNumber += getProperty("sequenceNumberIncrement");
  } else {
    writeWords(arguments);
  }
}

/**
  Writes the specified block - used for tool changes only.
*/
function writeToolBlock() {
  var show = getProperty("showSequenceNumbers");
  setProperty("showSequenceNumbers", (show == "true" || show == "toolChange") ? "true" : "false");
  writeBlock(arguments);
  setProperty("showSequenceNumbers", show);
}

/**
  Output a comment.
*/
function writeComment(text) {
  writeln("(" + filterText(String(text).toUpperCase(), permittedCommentChars) + ")");
}

function onOpen() {
  if (getProperty("useRadius")) {
    maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
  }

  if (false) { // note: setup your machine here
    var aAxis = createAxis({coordinate:0, table:false, axis:[1, 0, 0], range:[-360, 360], preference:1});
    var cAxis = createAxis({coordinate:2, table:false, axis:[0, 0, 1], range:[-360, 360], preference:1});
    machineConfiguration = new MachineConfiguration(aAxis, cAxis);

    setMachineConfiguration(machineConfiguration);
    optimizeMachineAngles2(0); // TCP mode
  }

  if (!machineConfiguration.isMachineCoordinate(0)) {
    aOutput.disable();
  }
  if (!machineConfiguration.isMachineCoordinate(1)) {
    bOutput.disable();
  }
  if (!machineConfiguration.isMachineCoordinate(2)) {
    cOutput.disable();
  }

  if (!getProperty("separateWordsWithSpace")) {
    setWordSeparator("");
  }

  sequenceNumber = getProperty("sequenceNumberStart");

  if (programName) {
    var programId;
    try {
      programId = getAsInt(programName);
    } catch (e) {
      error(localize("Program name must be a number."));
      return;
    }
    if (programId > 9000) {
      warning(localize("Using NUM reserved program number."));
    }
    if (programComment) {
      writeln("%" + programId + " (" + filterText(String(programComment).toUpperCase(), permittedCommentChars) + ")");
    } else {
      writeln("%" + programId);
    }
  } else {
    writeln("%");
  }

  // dump machine configuration
  var vendor = machineConfiguration.getVendor();
  var model = machineConfiguration.getModel();
  var description = machineConfiguration.getDescription();

  if (getProperty("writeMachine") && (vendor || model || description)) {
    writeComment(localize("Machine"));
    if (vendor) {
      writeComment("  " + localize("vendor") + ": " + vendor);
    }
    if (model) {
      writeComment("  " + localize("model") + ": " + model);
    }
    if (description) {
      writeComment("  " + localize("description") + ": "  + description);
    }
  }

  // dump tool information
  if (getProperty("writeTools")) {
    var zRanges = {};
    if (is3D()) {
      var numberOfSections = getNumberOfSections();
      for (var i = 0; i < numberOfSections; ++i) {
        var section = getSection(i);
        var zRange = section.getGlobalZRange();
        var tool = section.getTool();
        if (zRanges[tool.number]) {
          zRanges[tool.number].expandToRange(zRange);
        } else {
          zRanges[tool.number] = zRange;
        }
      }
    }

    var tools = getToolTable();
    if (tools.getNumberOfTools() > 0) {
      for (var i = 0; i < tools.getNumberOfTools(); ++i) {
        var tool = tools.getTool(i);
        var comment = "T" + toolFormat.format(tool.number) + "  " +
          "D=" + xyzFormat.format(tool.diameter) + " " +
          localize("CR") + "=" + xyzFormat.format(tool.cornerRadius);
        if ((tool.taperAngle > 0) && (tool.taperAngle < Math.PI)) {
          comment += " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg");
        }
        if (zRanges[tool.number]) {
          comment += " - " + localize("ZMIN") + "=" + xyzFormat.format(zRanges[tool.number].getMinimum());
        }
        comment += " - " + getToolTypeName(tool.type);
        writeComment(comment);
      }
    }
  }

  // absolute coordinates and feed per min
  writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(94), gPlaneModal.format(17));

  switch (unit) {
  case IN:
    writeBlock(gUnitModal.format(70));
    break;
  case MM:
    writeBlock(gUnitModal.format(71));
    break;
  }
}

function onComment(message) {
  var comments = String(message).split(";");
  for (comment in comments) {
    writeComment(comments[comment]);
  }
}

/** Force output of X, Y, and Z. */
function forceXYZ() {
  xOutput.reset();
  yOutput.reset();
  zOutput.reset();
}

/** Force output of A, B, and C. */
function forceABC() {
  aOutput.reset();
  bOutput.reset();
  cOutput.reset();
}

/** Force output of X, Y, Z, A, B, C, and F on next output. */
function forceAny() {
  forceXYZ();
  forceABC();
  feedOutput.reset();
}

function onParameter(name, value) {
}

var currentWorkPlaneABC = undefined;

function forceWorkPlane() {
  currentWorkPlaneABC = undefined;
}

function positionABC(abc, force) {
  if (typeof unwindABC == "function") {
    unwindABC(abc, false);
  }
  if (force) {
    forceABC();
  }
  var a = aOutput.format(abc.x);
  var b = bOutput.format(abc.y);
  var c = cOutput.format(abc.z);
  if (a || b || c) {
    if (!retracted) {
      if (typeof moveToSafeRetractPosition == "function") {
        moveToSafeRetractPosition();
      } else {
        writeRetract(Z);
      }
    }
    onCommand(COMMAND_UNLOCK_MULTI_AXIS);
    writeBlock(gMotionModal.format(0), a, b, c);
    currentMachineABC = new Vector(abc);
    setCurrentABC(abc); // required for machine simulation
  }
}

function setWorkPlane(abc) {
  if (!machineConfiguration.isMultiAxisConfiguration()) {
    return; // ignore
  }

  if (!((currentWorkPlaneABC == undefined) ||
        abcFormat.areDifferent(abc.x, currentWorkPlaneABC.x) ||
        abcFormat.areDifferent(abc.y, currentWorkPlaneABC.y) ||
        abcFormat.areDifferent(abc.z, currentWorkPlaneABC.z))) {
    return; // no change
  }

  positionABC(abc, true);
  onCommand(COMMAND_LOCK_MULTI_AXIS);
  currentWorkPlaneABC = abc;
}

var closestABC = false; // choose closest machine angles
var currentMachineABC;

function getWorkPlaneMachineABC(workPlane) {
  var W = workPlane; // map to global frame

  var abc = machineConfiguration.getABC(W);
  if (closestABC) {
    if (currentMachineABC) {
      abc = machineConfiguration.remapToABC(abc, currentMachineABC);
    } else {
      abc = machineConfiguration.getPreferredABC(abc);
    }
  } else {
    abc = machineConfiguration.getPreferredABC(abc);
  }

  try {
    abc = machineConfiguration.remapABC(abc);
    currentMachineABC = abc;
  } catch (e) {
    error(
      localize("Machine angles not supported") + ":"
      + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
      + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
      + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
    );
  }

  var direction = machineConfiguration.getDirection(abc);
  if (!isSameDirection(direction, W.forward)) {
    error(localize("Orientation not supported."));
  }

  if (!machineConfiguration.isABCSupported(abc)) {
    error(
      localize("Work plane is not supported") + ":"
      + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
      + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
      + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
    );
  }

  var tcp = true;
  if (tcp) {
    setRotation(W); // TCP mode
  } else {
    var O = machineConfiguration.getOrientation(abc);
    var R = machineConfiguration.getRemainingOrientation(abc, W);
    setRotation(R);
  }

  return abc;
}

function isProbeOperation() {
  return (hasParameter("operation-strategy") &&
    getParameter("operation-strategy") == "probe");
}

function onSection() {
  var insertToolCall = isFirstSection() ||
    currentSection.getForceToolChange && currentSection.getForceToolChange() ||
    (tool.number != getPreviousSection().getTool().number);

  retracted = false; // specifies that the tool has been retracted to the safe plane
  var newWorkOffset = isFirstSection() ||
    (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
  var newWorkPlane = isFirstSection() ||
    !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis()) ||
    (currentSection.isOptimizedForMachine() && getPreviousSection().isOptimizedForMachine() &&
      Vector.diff(getPreviousSection().getFinalToolAxisABC(), currentSection.getInitialToolAxisABC()).length > 1e-4) ||
    (!machineConfiguration.isMultiAxisConfiguration() && currentSection.isMultiAxis()) ||
    (!getPreviousSection().isMultiAxis() && currentSection.isMultiAxis() ||
      getPreviousSection().isMultiAxis() && !currentSection.isMultiAxis()); // force newWorkPlane between indexing and simultaneous operations
  if (insertToolCall || newWorkOffset || newWorkPlane) {

    // stop spindle before retract during tool change
    if (insertToolCall && !isFirstSection()) {
      onCommand(COMMAND_STOP_SPINDLE);
    }

    // retract to safe plane
    writeRetract(Z);
    zOutput.reset();
  }

  if (hasParameter("operation-comment")) {
    var comment = getParameter("operation-comment");
    if (comment) {
      writeComment(comment);
    }
  }

  if (getProperty("showNotes") && hasParameter("notes")) {
    var notes = getParameter("notes");
    if (notes) {
      var lines = String(notes).split("\n");
      var r1 = new RegExp("^[\\s]+", "g");
      var r2 = new RegExp("[\\s]+$", "g");
      for (line in lines) {
        var comment = lines[line].replace(r1, "").replace(r2, "");
        if (comment) {
          writeComment(comment);
        }
      }
    }
  }

  if (insertToolCall) {
    forceWorkPlane();

    setCoolant(COOLANT_OFF);

    if (!isFirstSection() && getProperty("optionalStop")) {
      onCommand(COMMAND_OPTIONAL_STOP);
    }

    if (tool.number > 99) {
      warning(localize("Tool number exceeds maximum value."));
    }

    writeToolBlock("T" + toolFormat.format(tool.number), ("D" + toolFormat.format(tool.diameterOffset)), mFormat.format(6));
	//writeToolBlock("T" + toolFormat.format(tool.number), mFormat.format(6));
    if (tool.comment) {
      writeComment(tool.comment);
    }
    var showToolZMin = false;
    if (showToolZMin) {
      if (is3D()) {
        var numberOfSections = getNumberOfSections();
        var zRange = currentSection.getGlobalZRange();
        var number = tool.number;
        for (var i = currentSection.getId() + 1; i < numberOfSections; ++i) {
          var section = getSection(i);
          if (section.getTool().number != number) {
            break;
          }
          zRange.expandToRange(section.getGlobalZRange());
        }
        writeComment(localize("ZMIN") + "=" + zRange.getMinimum());
      }
    }

    if (getProperty("preloadTool")) {
      var nextTool = getNextTool(tool.number);
      if (nextTool) {
        writeBlock("T" + toolFormat.format(nextTool.number));
      } else {
        // preload first tool
        var section = getSection(0);
        var firstToolNumber = section.getTool().number;
        if (tool.number != firstToolNumber) {
          writeBlock("T" + toolFormat.format(firstToolNumber));
        }
      }
    }
  }

  var spindleChanged = tool.type != TOOL_PROBE &&
    (insertToolCall || forceSpindleSpeed || isFirstSection() ||
    (rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) ||
    (tool.clockwise != getPreviousSection().getTool().clockwise));
  if (spindleChanged) {
    forceSpindleSpeed = false;
    if (spindleSpeed < 1) {
      error(localize("Spindle speed out of range."));
      return;
    }
    if (spindleSpeed > 99999) {
      warning(localize("Spindle speed exceeds maximum value."));
    }
    if (tool.type == TOOL_TAP_LEFT_HAND) {
      writeBlock(
        gFormat.format(97), sOutput.format(spindleSpeed), mFormat.format(4)
      );
    } else {
      writeBlock(
        gFormat.format(97), sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4)
      );
    }
  }
  // wcs
  var workOffset = currentSection.workOffset;
  if (!isFirstSection() && (getPreviousSection().workOffset != workOffset)) { // work offset changes)
    error(localize("Multiple work offsets are not supported."));
    return;
  }

  // writeBlock(currentSection.wcs);

  forceXYZ();

  if (machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
    var abc = new Vector(0, 0, 0);
    if (currentSection.isMultiAxis()) {
      forceWorkPlane();
      cancelTransformation();
      if (currentSection.isOptimizedForMachine()) {
        abc = currentSection.getInitialToolAxisABC();
        positionABC(abc, true);
      }
    } else {
      abc = getWorkPlaneMachineABC(currentSection.workPlane);
      setWorkPlane(abc);
    }
  } else { // pure 3D
    var remaining = currentSection.workPlane;
    if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
      error(localize("Tool orientation is not supported."));
      return;
    }
    setRotation(remaining);
  }

  // set coolant after we have positioned at Z
  setCoolant(tool.coolant);

  forceAny();
  gMotionModal.reset();

  var initialPosition = getFramePosition(currentSection.getInitialPosition());
  if (!retracted && !insertToolCall) {
    if (getCurrentPosition().z < initialPosition.z) {
      writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z));
    }
  }

  if (insertToolCall || retracted || (!isFirstSection() && getPreviousSection().isMultiAxis())) {
    var lengthOffset = tool.lengthOffset;
    if (lengthOffset > 99) {
      error(localize("Length offset out of range."));
      return;
    }

    gMotionModal.reset();
    writeBlock(gPlaneModal.format(17));

    if (!machineConfiguration.isHeadConfiguration()) {
      writeBlock(
        gAbsIncModal.format(90),
        gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y)
      );
      writeBlock(gMotionModal.format(0), /*gFormat.format(43),*/ zOutput.format(initialPosition.z) /*, hFormat.format(lengthOffset)*/);
    } else {
      writeBlock(
        gAbsIncModal.format(90),
        gMotionModal.format(0),
        /*gFormat.format(43),*/ xOutput.format(initialPosition.x),
        yOutput.format(initialPosition.y),
        zOutput.format(initialPosition.z) /*, hFormat.format(lengthOffset)*/
      );
    }

    gMotionModal.reset();
  } else {
    writeBlock(
      gAbsIncModal.format(90),
      gMotionModal.format(0),
      xOutput.format(initialPosition.x),
      yOutput.format(initialPosition.y)
    );
  }
}

function onDwell(seconds) {
  if (seconds > 99.99) {
    warning(localize("Dwelling time is out of range."));
  }
  seconds = clamp(0.01, seconds, 99.99);
  writeBlock(gFormat.format(4), "F" + secFormat.format(seconds));
}

function onSpindleSpeed(spindleSpeed) {
  writeBlock(sOutput.format(spindleSpeed));
}

function onCycle() {
  writeBlock(gPlaneModal.format(17));
}

function getCommonCycle(x, y, z, er, cl) {
  forceXYZ();
  if (getProperty("controllerType") == "NUM10x0") {
    return [xOutput.format(x), yOutput.format(y),
      zOutput.format(z),
      "EH" + xyzFormat.format(er),
      "ER" + xyzFormat.format(cl)];
  } else {
    return [xOutput.format(x), yOutput.format(y),
      zOutput.format(z),
      "ER" + xyzFormat.format(er)];
  }
}

function onCyclePoint(x, y, z) {
  if (!isSameDirection(getRotation().forward, new Vector(0, 0, 1))) {
    expandCyclePoint(x, y, z);
    return;
  }
  // check if we can group the drilling or not
  var cycleRequiresRetract = xyzFormat.areDifferent(cycle.retract, cycle.clearance);
  if (getProperty("controllerType") == "NUM10x0") {
    cycleRequiresRetract = false; // retract handled by EH/ER
  }

  if (isFirstCyclePoint() || cycleRequiresRetract) {
    repositionToCycleClearance(cycle, getCurrentPosition().x, getCurrentPosition().y, z);

    // return to initial Z which is clearance plane and set absolute mode

    var F = cycle.feedrate;
    var EF = (cycle.dwell == 0) ? 0 : clamp(0.01, cycle.dwell, 99.99); // in seconds

    switch (cycleType) {
    case "drilling":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(81),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        feedOutput.format(F)
      );
      break;
    case "counter-boring":
      if (EF > 0) {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(82),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "EF" + secFormat.format(EF),
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(81),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
    case "chip-breaking":
      if (cycle.accumulatedDepth < cycle.depth) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(87),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "P" + xyzFormat.format(cycle.incrementalDepth),
          conditional(EF > 0, "EF" + secFormat.format(EF)),
          feedOutput.format(F)
        );
      }
      break;
    case "deep-drilling":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(83),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        "P" + xyzFormat.format(cycle.incrementalDepth),
        conditional(EF > 0, "EF" + secFormat.format(EF)),
        feedOutput.format(F)
      );
      break;
    case "tapping":
    case "left-tapping":
    case "right-tapping":
      if (!F) {
        F = tool.getTappingFeedrate();
      }
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(84),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        "EF" + secFormat.format(EF),
        feedOutput.format(F)
      );
      break;
    case "fine-boring":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(86),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        // "EC" + xyzFormat.format(...),
        feedOutput.format(F)
      );
      break;
    case "reaming":
      if (EF > 0) {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(89),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "EF" + secFormat.format(EF),
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(85),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          feedOutput.format(F),
          "EF" + feedFormat.format(cycle.retractFeedrate)
        );
      }
      break;
    case "stop-boring":
      if (EF > 0) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(86),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
    case "manual-boring":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(88),
        getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
        "EF" + secFormat.format(EF), // not optional
        feedOutput.format(F)
      );
      break;
    case "boring":
      if (EF > 0) {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(89),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          "EF" + secFormat.format(EF),
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(85),
          getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
          feedOutput.format(F),
          "EF" + feedFormat.format(cycle.retractFeedrate)
        );
      }
      break;
    default:
      expandCyclePoint(x, y, z);
    }
    if (cycleRequiresRetract && !cycleExpanded) {
      writeBlock(gCycleModal.format(80));
      gMotionModal.reset();
    }
  } else {
    if (cycleExpanded) {
      expandCyclePoint(x, y, z);
    } else {
      writeBlock(xOutput.format(x), yOutput.format(y));
    }
  }
}

function onCycleEnd() {
  if (!cycleExpanded) {
    writeBlock(gCycleModal.format(80));
    zOutput.reset();
  }
}

var pendingRadiusCompensation = -1;

function onRadiusCompensation() {
  pendingRadiusCompensation = radiusCompensation;
}

function onRapid(_x, _y, _z) {
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      error(localize("Radius compensation mode cannot be changed at rapid traversal."));
      return;
    }
    writeBlock(gMotionModal.format(0), x, y, z);
    feedOutput.reset();
  }
}

function onLinear(_x, _y, _z, feed) {
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var f = feedOutput.format(feed);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      pendingRadiusCompensation = -1;
      var d = tool.diameterOffset;
      if (d > 99) {
        warning(localize("The diameter offset exceeds the maximum value."));
      }
      switch (radiusCompensation) {
      case RADIUS_COMPENSATION_LEFT:
        dOutput.reset();
        writeBlock(gPlaneModal.format(17), dOutput.format(d), gMotionModal.format(1), gFormat.format(41), x, y, z, f);
        break;
      case RADIUS_COMPENSATION_RIGHT:
        dOutput.reset();
        writeBlock(gPlaneModal.format(17), dOutput.format(d), gMotionModal.format(1), gFormat.format(42), x, y, z, f);
        break;
      default:
        writeBlock(gMotionModal.format(1), gFormat.format(40), x, y, z, f);
      }
    } else {
      writeBlock(gMotionModal.format(1), x, y, z, f);
    }
  } else if (f) {
    if (getNextRecord().isMotion()) { // try not to output feed without motion
      feedOutput.reset(); // force feed on next line
    } else {
      writeBlock(gMotionModal.format(1), f);
    }
  }
}

function onRapid5D(_x, _y, _z, _a, _b, _c) {
  if (!currentSection.isOptimizedForMachine()) {
    error(localize("This post configuration has not been customized for 5-axis simultaneous toolpath."));
    return;
  }
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation mode cannot be changed at rapid traversal."));
    return;
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var a = aOutput.format(_a);
  var b = bOutput.format(_b);
  var c = cOutput.format(_c);
  writeBlock(gMotionModal.format(0), x, y, z, a, b, c);
  feedOutput.reset();
}

function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
  if (!currentSection.isOptimizedForMachine()) {
    error(localize("This post configuration has not been customized for 5-axis simultaneous toolpath."));
    return;
  }
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
    return;
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var a = aOutput.format(_a);
  var b = bOutput.format(_b);
  var c = cOutput.format(_c);
  var f = feedOutput.format(feed);
  if (x || y || z || a || b || c) {
    writeBlock(gMotionModal.format(1), x, y, z, a, b, c, f);
  } else if (f) {
    if (getNextRecord().isMotion()) { // try not to output feed without motion
      feedOutput.reset(); // force feed on next line
    } else {
      writeBlock(gMotionModal.format(1), f);
    }
  }
}

function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
    return;
  }

  switch (getCircularPlane()) {
  case PLANE_XY:
    xOutput.reset();
    yOutput.reset();
    break;
  case PLANE_ZX:
    xOutput.reset();
    zOutput.reset();
    break;
  case PLANE_YZ:
    yOutput.reset();
    zOutput.reset();
    break;
  }

  // the maximum allowed radius difference is 20um
  if (isFullCircle()) {
    if (getProperty("useRadius") || isHelical()) { // radius mode does not support full arcs
      linearize(tolerance);
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx), jOutput.format(cy), feedOutput.format(feed));
      break;
    case PLANE_ZX:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx), kOutput.format(cz), feedOutput.format(feed));
      break;
    case PLANE_YZ:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), jOutput.format(cy), kOutput.format(cz), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else if (!getProperty("useRadius")) {
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx), jOutput.format(cy), conditional(isHelical(), "K" + xyzFormat.format(getHelicalPitch())), feedOutput.format(feed));
      break;
    case PLANE_ZX:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx), kOutput.format(cz), conditional(isHelical(), "J" + xyzFormat.format(getHelicalPitch())), feedOutput.format(feed));
      break;
    case PLANE_YZ:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy), kOutput.format(cz), conditional(isHelical(), "I" + xyzFormat.format(getHelicalPitch())), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else { // use radius mode
    var r = getCircularRadius();
    if (toDeg(getCircularSweep()) > (180 + 1e-9)) {
      error(localize("Circular interpolation over 180 degrees cannot be handled by radius programming. Set property 'Radius arcs' to 'No'."));
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), conditional(isHelical(), "K" + xyzFormat.format(getHelicalPitch())), feedOutput.format(feed));
      break;
    case PLANE_ZX:
      writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), conditional(isHelical(), "J" + xyzFormat.format(getHelicalPitch())), feedOutput.format(feed));
      break;
    case PLANE_YZ:
      writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), conditional(isHelical(), "I" + xyzFormat.format(getHelicalPitch())), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  }
}

var currentCoolantMode = COOLANT_OFF;
var coolantOff = undefined;
var forceCoolant = false;

function setCoolant(coolant) {
  var coolantCodes = getCoolantCodes(coolant);
  if (Array.isArray(coolantCodes)) {
    if (singleLineCoolant) {
      writeBlock(coolantCodes.join(getWordSeparator()));
    } else {
      for (var c in coolantCodes) {
        writeBlock(coolantCodes[c]);
      }
    }
    return undefined;
  }
  return coolantCodes;
}

function getCoolantCodes(coolant) {
  var multipleCoolantBlocks = new Array(); // create a formatted array to be passed into the outputted line
  if (!coolants) {
    error(localize("Coolants have not been defined."));
  }
  if (tool.type == TOOL_PROBE) { // avoid coolant output for probing
    coolant = COOLANT_OFF;
  }
  if (coolant == currentCoolantMode && (!forceCoolant || coolant == COOLANT_OFF)) {
    return undefined; // coolant is already active
  }
  if ((coolant != COOLANT_OFF) && (currentCoolantMode != COOLANT_OFF) && (coolantOff != undefined) && !forceCoolant) {
    if (Array.isArray(coolantOff)) {
      for (var i in coolantOff) {
        multipleCoolantBlocks.push(coolantOff[i]);
      }
    } else {
      multipleCoolantBlocks.push(coolantOff);
    }
  }
  forceCoolant = false;

  var m;
  var coolantCodes = {};
  for (var c in coolants) { // find required coolant codes into the coolants array
    if (coolants[c].id == coolant) {
      coolantCodes.on = coolants[c].on;
      if (coolants[c].off != undefined) {
        coolantCodes.off = coolants[c].off;
        break;
      } else {
        for (var i in coolants) {
          if (coolants[i].id == COOLANT_OFF) {
            coolantCodes.off = coolants[i].off;
            break;
          }
        }
      }
    }
  }
  if (coolant == COOLANT_OFF) {
    m = !coolantOff ? coolantCodes.off : coolantOff; // use the default coolant off command when an 'off' value is not specified
  } else {
    coolantOff = coolantCodes.off;
    m = coolantCodes.on;
  }

  if (!m) {
    onUnsupportedCoolant(coolant);
    m = 9;
  } else {
    if (Array.isArray(m)) {
      for (var i in m) {
        multipleCoolantBlocks.push(m[i]);
      }
    } else {
      multipleCoolantBlocks.push(m);
    }
    currentCoolantMode = coolant;
    for (var i in multipleCoolantBlocks) {
      if (typeof multipleCoolantBlocks[i] == "number") {
        multipleCoolantBlocks[i] = mFormat.format(multipleCoolantBlocks[i]);
      }
    }
    return multipleCoolantBlocks; // return the single formatted coolant value
  }
  return undefined;
}

var mapCommand = {
  COMMAND_END                     : 2,
  COMMAND_SPINDLE_CLOCKWISE       : 3,
  COMMAND_SPINDLE_COUNTERCLOCKWISE: 4,
  COMMAND_STOP_SPINDLE            : 5,
  COMMAND_ORIENTATE_SPINDLE       : 19,
  COMMAND_LOAD_TOOL               : 6
};

function onCommand(command) {
  switch (command) {
  case COMMAND_STOP:
    writeBlock(mFormat.format(0));
    forceSpindleSpeed = true;
    forceCoolant = true;
    return;
  case COMMAND_OPTIONAL_STOP:
    writeBlock(mFormat.format(1));
    forceSpindleSpeed = true;
    forceCoolant = true;
    return;
  case COMMAND_COOLANT_ON:
    return;
  case COMMAND_COOLANT_OFF:
    return;
  case COMMAND_START_SPINDLE:
    onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
    return;
  case COMMAND_LOCK_MULTI_AXIS:
    writeBlock(mFormat.format(10));
    return;
  case COMMAND_UNLOCK_MULTI_AXIS:
    writeBlock(mFormat.format(11));
    return;
  case COMMAND_BREAK_CONTROL:
    return;
  case COMMAND_TOOL_MEASURE:
    return;
  }

  var stringId = getCommandStringId(command);
  var mcode = mapCommand[stringId];
  if (mcode != undefined) {
    writeBlock(mFormat.format(mcode));
  } else {
    onUnsupportedCommand(command);
  }
}

function onSectionEnd() {
  if (currentSection.isMultiAxis()) {
    writeBlock(gMotionModal.format(49));
    // the code below gets the machine angles from previous operation.  closestABC must also be set to true
    if (currentSection.isOptimizedForMachine()) {
      currentMachineABC = currentSection.getFinalToolAxisABC();
    }
  }
  if (!isLastSection() && (getNextSection().getTool().coolant != tool.coolant)) {
    setCoolant(COOLANT_OFF);
  }
  writeBlock(gPlaneModal.format(17));
  forceAny();
}

/** Output block to do safe retract and/or move to home position. */
function writeRetract() {
  var words = []; // store all retracted axes in an array
  var retractAxes = new Array(false, false, false);
  var method = getProperty("safePositionMethod");
  if (method == "clearanceHeight") {
    if (!is3D()) {
      error(localize("Safe retract option 'Clearance Height' is only supported when all operations are along the setup Z-axis."));
    }
    return;
  }
  validate(arguments.length != 0, "No axis specified for writeRetract().");

  for (i in arguments) {
    retractAxes[arguments[i]] = true;
  }
  if ((retractAxes[0] || retractAxes[1]) && !retracted) { // retract Z first before moving to X/Y home
    error(localize("Retracting in X/Y is not possible without being retracted in Z."));
    return;
  }
  // special conditions
  /*
  if (retractAxes[2]) { // Z doesn't use G53
    method = "G28";
  }
  */

  // define home positions
  var _xHome;
  var _yHome;
  var _zHome;
  if (method == "G28") {
    _xHome = toPreciseUnit(0, MM);
    _yHome = toPreciseUnit(0, MM);
    _zHome = toPreciseUnit(0, MM);
  } else {
    _xHome = machineConfiguration.hasHomePositionX() ? machineConfiguration.getHomePositionX() : toPreciseUnit(0, MM);
    _yHome = machineConfiguration.hasHomePositionY() ? machineConfiguration.getHomePositionY() : toPreciseUnit(0, MM);
    _zHome = machineConfiguration.getRetractPlane() != 0 ? machineConfiguration.getRetractPlane() : toPreciseUnit(0, MM);
  }
  for (var i = 0; i < arguments.length; ++i) {
    switch (arguments[i]) {
    case X:
      words.push("X" + xyzFormat.format(_xHome));
      xOutput.reset();
      break;
    case Y:
      words.push("Y" + xyzFormat.format(_yHome));
      yOutput.reset();
      break;
    case Z:
      words.push("Z" + xyzFormat.format(_zHome));
      zOutput.reset();
      retracted = true;
      break;
    default:
      error(localize("Unsupported axis specified for writeRetract()."));
      return;
    }
  }
  if (words.length > 0) {
    switch (method) {
    case "G28":
      gMotionModal.reset();
      gAbsIncModal.reset();
      writeBlock(gFormat.format(28), gAbsIncModal.format(91), words);
      writeBlock(gAbsIncModal.format(90));
      break;
    case "G53":
      gMotionModal.reset();
      writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), words);
      break;
    case "G52":
      gMotionModal.reset();
      writeBlock(gAbsIncModal.format(90), gFormat.format(52), gMotionModal.format(0), words);
      break;
    default:
      error(localize("Unsupported safe position method."));
      return;
    }
  }
}

function onClose() {
  setCoolant(COOLANT_OFF);
  writeRetract(Z);
  zOutput.reset();
  setWorkPlane(new Vector(0, 0, 0)); // reset working plane
  writeRetract(X, Y);
  writeBlock(mFormat.format(2)); // stop program
  writeln(DC3); // XOFF
}

function setProperty(property, value) {
  properties[property].current = value;
}