/**
  Copyright (C) 2012-2018 by Autodesk, Inc.
  All rights reserved.

  Bridgeport post processor configuration.

  $Revision: 41960 008441bba96f8a0a2230dac71d544bca3ae8b70e $
  $Date: 2018-05-01 11:19:56 $
  
  FORKID {BC36A48C-4200-4129-9E97-F317B7A79C8A}
*/

description = "Bridgeport DX-32";
vendor = "Bridgeport";
vendorUrl = "http://www.bpt.com";
legal = "Copyright (C) 2012-2018 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 24000;

longDescription = "Generic milling post for Bridgeport Torq-Cut DX-32.";

extension = "txt";
programNameIsInteger = false;
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(180);
allowHelicalMoves = true;
allowedCircularPlanes = undefined; // allow any circular motion



// user-defined properties
properties = {
  writeMachine: true, // write machine
  writeTools: true, // writes the tools
  writeHeader: true, // write additional header information
  preloadTool: false, // preloads next tool on tool change if any
  showSequenceNumbers: false, // show sequence numbers
  sequenceNumberStart: 1, // first sequence number
  sequenceNumberIncrement: 1, // increment for sequence numbers
  sequenceNumberOperation: true, // output sequence numbers on start of operation only
  optionalStop: true, // optional stop
  separateWordsWithSpace: true, // specifies that the words should be separated with a white space
  useToolChanger: true, // specifies that a tool changer is available
  useRigidTapping: true, // rigid tapping vs floating tapping
  usePitchForTapping: true, // enable to use G95 pitch mode for tapping
  serialDNC: false, // include percent symbol at start and end
  decelerationOverride: false, // outputs G08/G09 codes
  useM26: false // Use M26 Tool Change Goto Clear Point
};

// user-defined property definitions
propertyDefinitions = {
  writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
  writeTools: {title:"Write tool list", description:"Output a tool list in the header of the code.", group:0, type:"boolean"},
  writeHeader: {title:"Write header information", description:"If enabled, additional header information will be output.", group:0, type:"boolean"},
  preloadTool: {title:"Preload tool", description:"Preloads the next tool at a tool change (if any).", group:1, type:"boolean"},
  showSequenceNumbers: {title:"Use sequence numbers", description:"Use sequence numbers for each block of outputted code.", group:1, type:"boolean"},
  sequenceNumberStart: {title:"Start sequence number", description:"The number at which to start the sequence numbers.", group:1, type:"integer"},
  sequenceNumberIncrement: {title:"Sequence number increment", description:"The amount by which the sequence number is incremented by in each block.", group:1, type:"integer"},
  sequenceNumberOperation: {title:"Sequence number at operation only", description:"Use sequence numbers at start of operation only.", group:1, type:"boolean"},
  optionalStop: {title:"Optional stop", description:"Outputs optional stop code during when necessary in the code.", type:"boolean"},
  separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
  useToolChanger: {title:"Use tool changer", description:"Specifies that a tool changer is available.", type:"boolean"},
  useRigidTapping:{title:"Use rigid tapping", description:"Enable to allow rigid tapping (M29).", type:"boolean"},
  usePitchForTapping: {title:"Use pitch for tapping", description:"Enables the use of pitch (G95) instead of feed (G94) for tapping cycles.", type:"boolean"},
  serialDNC: {title:"Use serial DNC for transfer", description:"Outputs start and end of program % character.", type:"boolean"},
  decelerationOverride: {title:"Use G08/G09 deceleration", description:"Output G08/G09 deceleration override codes.", type:"boolean"},
  useM26: {title:"Use M26 Goto Clear Point for tool change", description:"Output M26 tool change command instead of M6.", type:"boolean"}
};

var numberOfToolSlots = 24;

// samples:
// throughTool: {on: 88, off: 89}
// throughTool: {on: [8, 88], off: [9, 89]}
var coolants = {
  flood: {on: 8},
  mist: {on: 7},
  throughTool: {},
  air: {},
  airThroughTool: {},
  suction: {},
  floodMist: {},
  floodThroughTool: {},
  off: 9
};

var gFormat = createFormat({prefix:"G", decimals:0});
var mFormat = createFormat({prefix:"M", decimals:0});

var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG});
var feedFormat = createFormat({decimals:(unit == MM ? 1 : 2), forceDecimal:true});
var pitchOutput = createFormat({prefix:"F", decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var toolFormat = createFormat({decimals:0});
var rpmFormat = createFormat({decimals:0});
var secFormat = createFormat({decimals:2, forceDecimal:true}); // seconds - range 0.01-1000
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);

// 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 4 // G94-95
var gUnitModal = createModal({}, gFormat); // modal group 5 // G70-71
var gCycleModal = createModal({}, gFormat); // modal group 6 // G81, ...
var gDecelModal = createModal({}, gFormat); // modal group 7 // G8-9

var WARNING_WORK_OFFSET = 0;

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

/**
  Writes the specified block.
*/
function writeBlock() {
  var text = formatWords(arguments);
  if (!text) {
    return;
  }
  var show = properties.showSequenceNumbers || showSequenceNumberNext;
  // use / for optional blocks
  if (show) {
    if (text) {
      writeWords2("N" + (sequenceNumber % 10000), text);
      sequenceNumber += properties.sequenceNumberIncrement;
      showSequenceNumberNext = false;
    }
  } else {
    writeWords(arguments);
  }
}

function formatComment(text) {
  return ";(" + String(text).replace(/[\(\)]/g, "") + ")";
}

/**
  Output a comment.
*/
function writeComment(text) {
  writeln(formatComment(text));
}

function onOpen() {
  if (!machineConfiguration.isMachineCoordinate(0)) {
    aOutput.disable();
  }
  if (!machineConfiguration.isMachineCoordinate(1)) {
    bOutput.disable();
  }
  if (!machineConfiguration.isMachineCoordinate(2)) {
    cOutput.disable();
  }
  
  if (!properties.separateWordsWithSpace) {
    setWordSeparator("");
  }

  if (properties.sequenceNumberOperation) {
    properties.showSequenceNumbers = false;
  }
  sequenceNumber = properties.sequenceNumberStart;

  if (properties.serialDNC) {
    writeln("%");
  }

  if (programName) {
   writeComment(programName);
  }
  if (programComment) {
    writeComment(programComment);
  }

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

  if (properties.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);
    }
  }

  // Write model and post details
  if (properties.writeHeader) {

    writeComment("Bridgeport DX-32");

    if (hasGlobalParameter("generated-by")) {
      var value = getGlobalParameter("generated-by");
      writeComment(value);
    }
    if (hasGlobalParameter("generated-at")) {
      var value = getGlobalParameter("generated-at");
      var date = new Date(value + " UTC");
      writeComment(date.toString());
    }
    if (hasGlobalParameter("username")) {
      var value = getGlobalParameter("username");
      writeComment(value);
    }
    if (hasGlobalParameter("document-path")) {
      var value = getGlobalParameter("document-path");
      writeComment(value);
    }
    if (hasGlobalParameter("job-description")) {
      var value = getGlobalParameter("job-description");
      writeComment(value);
    }
  }

  // dump tool information
  if (properties.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
  // G0, G17, G30, G40, G45, G54, G70 or G71, G72, G75, G90, G96
  writeBlock(gFormat.format(0), gFormat.format(17), gFormat.format(30), gFormat.format(40), gFeedModeModal.format(45), gFormat.format(72), gFormat.format(75), gFormat.format(80), gAbsIncModal.format(90), gFormat.format(96));

  if(properties.decelerationOverride) {
    writeBlock(gDecelModal.format(8));
  }

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

  onCommand(COMMAND_START_CHIP_TRANSPORT);
}

function onComment(message) {
  writeComment(message);
}

/** 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 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
  }

  onCommand(COMMAND_UNLOCK_MULTI_AXIS);

  // NOTE: add retract here
  /* if (!retracted) {
    writeRetract(Z);
  } */

  writeBlock(
    gMotionModal.format(0),
    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))
  );
  
  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 onSection() {
  var insertToolCall = isFirstSection() ||
    currentSection.getForceToolChange && currentSection.getForceToolChange() ||
    (tool.number != getPreviousSection().getTool().number);
  
  retracted = false;
  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) {
      
    // retract to safe plane
  }
  
  if (properties.sequenceNumberOperation) {
    showSequenceNumberNext = true;
  }

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

  if (insertToolCall) {
    forceWorkPlane();
    
    retracted = true;
    setCoolant(COOLANT_OFF);

    if (properties.useToolChanger) {
      if (!isFirstSection() && properties.optionalStop) {
        onCommand(COMMAND_OPTIONAL_STOP);
      }
    }

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

    if (properties.useToolChanger) {
      if (properties.useM26) {
        writeBlock("G0T" + toolFormat.format(tool.number), mFormat.format(26));
        writeBlock(mFormat.format(25));
      } else {  
        writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6));
      }
      // writeBlock("T" + toolFormat.format(tool.number) + "/" + xyzFormat.format(tool.bodyLength) + "/" + xyzFormat.format(tool.cutterDiameter), mFormat.format(6));
    } else {
      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");
      }
      comment += " - " + getToolTypeName(tool.type);
      writeComment(comment);
    }
    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 (properties.useToolChanger && properties.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));
        }
      }
    }
    
    if (!properties.useToolChanger) {
      onCommand(COMMAND_STOP);
    }
  }
  
  if (insertToolCall ||
      isFirstSection() ||
      (rpmFormat.areDifferent(tool.spindleRPM, sOutput.getCurrent())) ||
      (tool.clockwise != getPreviousSection().getTool().clockwise)) {
    if (tool.spindleRPM < 1) {
      error(localize("Spindle speed out of range."));
    }
    if (tool.spindleRPM > 99999) {
      warning(localize("Spindle speed exceeds maximum value."));
    }
    writeBlock(
      sOutput.format(tool.spindleRPM), mFormat.format(tool.clockwise ? 3 : 4)
    );
  }

  // wcs
  if (insertToolCall) { // force work offset when changing tool
    currentWorkOffset = undefined;
  }
  var workOffset = currentSection.workOffset;
  if (workOffset == 0) {
    warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET);
    workOffset = 1;
  }
  if (workOffset > 0 && workOffset < 7) {
    if (workOffset != currentWorkOffset) {
      writeBlock(gFormat.format(53 + workOffset)); // G54->G59
      currentWorkOffset = workOffset;
    }
  } else {
    error(localize("Work offset out of range."));
    return;
  }
  forceXYZ();

  if (machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
    // set working plane after datum shift

    var abc = new Vector(0, 0, 0);
    if (currentSection.isMultiAxis()) {
      forceWorkPlane();
      cancelTransformation();
    } 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();

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

  if (insertToolCall || retracted) {
    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), zOutput.format(initialPosition.z));
    } else {
      writeBlock(
        gAbsIncModal.format(90),
        gMotionModal.format(0),
        xOutput.format(initialPosition.x),
        yOutput.format(initialPosition.y),
        zOutput.format(initialPosition.z)
      );
    }
  } else {
    writeBlock(
      gAbsIncModal.format(90),
      gMotionModal.format(0),
      xOutput.format(initialPosition.x),
      yOutput.format(initialPosition.y)
    );
  }
}

function onDwell(seconds) {
  if (seconds > 99999.999) {
    warning(localize("Dwelling time is out of range."));
  }
  seconds = clamp(0.01, seconds, 99999.99);
  writeBlock(gFormat.format(4), "/" + secFormat.format(seconds));
}

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

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

function getCommonCycle(x, y, z, r) {
  forceXYZ();
  return [xOutput.format(x), yOutput.format(y),
    "Z" + xyzFormat.format(r - z)];
}

function onCyclePoint(x, y, z) {
  if (isFirstCyclePoint()) {
    repositionToCycleClearance(cycle, x, y, z);
    
    // return to initial Z which is clearance plane and set absolute mode

    var F = cycle.feedrate;
    // var P = (cycle.dwell == 0) ? 0 : clamp(1, cycle.dwell, 99999.999); // in seconds

    switch (cycleType) {
    case "drilling":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(81),
        getCommonCycle(x, y, z, cycle.clearance),
        feedOutput.format(F)
      );
      break;
    case "counter-boring":
      if (false) {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(82),
          getCommonCycle(x, y, z, cycle.clearance),
          // "P" + secFormat.format(P), // not optional
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(81),
          getCommonCycle(x, y, z, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
    case "chip-breaking":
      if (false) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(87),
          getCommonCycle(x, y, z, cycle.clearance),
          "Z" + xyzFormat.format(cycle.incrementalDepth),
          feedOutput.format(F)
        );
      }
      break;
    case "deep-drilling":
      if (false) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(83),
          getCommonCycle(x, y, z, cycle.clearance),
          "Z" + xyzFormat.format(cycle.incrementalDepth),
          feedOutput.format(F)
        );
      }
      break;
    case "tapping":
      if (!F) {
        F = tool.getTappingFeedrate();
      }
      if (properties.useRigidTapping) {
        writeBlock(mFormat.format(29));
      }
      if (properties.usePitchForTapping) {
        writeBlock(
          gAbsIncModal.format(90), gFeedModeModal.format(95), gCycleModal.format(84),
          getCommonCycle(x, y, z, cycle.clearance),
          pitchOutput.format(F / spindleSpeed)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(84),
          getCommonCycle(x, y, z, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
    case "right-tapping":
      if (!F) {
        F = tool.getTappingFeedrate();
      }
      if (properties.useRigidTapping) {
        writeBlock(mFormat.format(29));
      }
      if (properties.usePitchForTapping) {
        writeBlock(
          gAbsIncModal.format(90), gFeedModeModal.format(95), gCycleModal.format(84),
          getCommonCycle(x, y, z, cycle.clearance),
          pitchOutput.format(F / spindleSpeed)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(84),
          getCommonCycle(x, y, z, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
    case "left-tapping":
      if (!F) {
        F = tool.getTappingFeedrate();
      }
      if (properties.useRigidTapping) {
        writeBlock(mFormat.format(29));
      }
      if (properties.usePitchForTapping) {
        writeBlock(
          gAbsIncModal.format(90), gFeedModeModal.format(95), gCycleModal.format(84),
          getCommonCycle(x, y, z, cycle.clearance),
          pitchOutput.format(F / spindleSpeed)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(84),
          getCommonCycle(x, y, z, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
    case "fine-boring": // not supported
      expandCyclePoint(x, y, z);
      break;
    case "back-boring":
      if (false) {
        expandCyclePoint(x, y, z);
      } else {
        var I = cycle.shift * 1;
        var J = cycle.shift * 0;
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(87),
          getCommonCycle(x, y, z, cycle.clearance),
          "I" + xyzFormat.format(I),
          "J" + xyzFormat.format(J),
          "K" + xyzFormat.format(cycle.bottom - cycle.backBoreDistance),
          feedOutput.format(F)
        );
      }
      break;
    case "reaming":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(85),
        getCommonCycle(x, y, z, cycle.clearance),
        feedOutput.format(F)
      );
      break;
    case "stop-boring":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(86),
        getCommonCycle(x, y, z, cycle.clearance),
        feedOutput.format(F)
        // conditional(P > 0, "P" + secFormat.format(P)),
        // "P" + secFormat.format(P) // not optional
      );
      break;
    case "manual-boring":
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(88),
        getCommonCycle(x, y, z, cycle.clearance),
        // "P" + secFormat.format(P), // not optional
        feedOutput.format(F)
      );
      break;
    case "boring":
      if (false) {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(89),
          getCommonCycle(x, y, z, cycle.clearance),
          // "P" + secFormat.format(P), // not optional
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(85),
          getCommonCycle(x, y, z, cycle.clearance),
          feedOutput.format(F)
        );
      }
      break;
    default:
      expandCyclePoint(x, y, z);
    }
  } else {
    if (cycleExpanded) {
      expandCyclePoint(x, y, z);
    } else {
      var _x = xOutput.format(x);
      var _y = yOutput.format(y);
      if (!_x && !_y) {
        xOutput.reset(); // at least one axis is required
        _x = xOutput.format(x);
      }
      writeBlock(_x, _y);
    }
  }
}

function onCycleEnd() {
  if (!cycleExpanded) {
    if (cycleType.match(/tapping/g)) {
      if (properties.useRigidTapping) {
        writeBlock(mFormat.format(28));
      }
      writeBlock(gFeedModeModal.format(94));
    }
    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."));
    }
    if(properties.decelerationOverride) {
      writeBlock(gDecelModal.format(8));
    }
    writeBlock(gMotionModal.format(0), x, y, z);
    feedOutput.reset();
  }
}

function onLinear(_x, _y, _z, feed) {
  // at least one axis is required
  if (pendingRadiusCompensation >= 0) {
    // ensure that we end at desired position when compensation is turned off
    xOutput.reset();
    yOutput.reset();
  }
  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(properties.decelerationOverride) {
      writeBlock(gDecelModal.format(9));
    }
    if (pendingRadiusCompensation >= 0) {
      pendingRadiusCompensation = -1;
      var d = tool.diameterOffset;
      var xx = "X" + xyzFormat.format(getCurrentPosition().x);
      var yy = "Y" + xyzFormat.format(getCurrentPosition().y);
      var makeSharpCorners = false;
      if (hasParameter("operation:makeSharpCorners")) {
        var makeSharpCorners = getParameter("operation:makeSharpCorners");
      }
      if (d > numberOfToolSlots) {
        warning(localize("The diameter offset exceeds the maximum value."));
      }
      switch (radiusCompensation) {
      case RADIUS_COMPENSATION_LEFT:
        gMotionModal.reset();
        writeBlock(gPlaneModal.format(17), gMotionModal.format(1), xx, yy);
        writeBlock(gCycleModal.format(makeSharpCorners ? 48 : 49));
        writeBlock(gFormat.format(41), xx, yy);
        writeBlock(gFormat.format(1), x, y, z, f);
        break;
      case RADIUS_COMPENSATION_RIGHT:
        gMotionModal.reset();
        writeBlock(gPlaneModal.format(17), gMotionModal.format(1), xx, yy);
        writeBlock(gCycleModal.format(makeSharpCorners ? 48 : 49));
        writeBlock(gFormat.format(42), xx, yy);
        writeBlock(gFormat.format(1), x, y, z, f);
        break;
      default:
        writeBlock(gMotionModal.format(1), x, y, z, f);
        writeBlock(gFormat.format(40));
      }
    } 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;
  }
  // at least one axis is required
  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) {
  // one of X/Y and I/J are required and likewise
  // XY might need to be force when using R-word - only <180deg arcs allowed
  
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
    return;
  }

  if (isFullCircle()) {
    if (isHelical()) {
      linearize(tolerance);
      return;
    }
    // TAG: are 360deg arcs supported
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), iOutput.format(cx), jOutput.format(cy), feedOutput.format(feed));
      break;
    case PLANE_ZX:
      writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), zOutput.format(z), iOutput.format(cx), kOutput.format(cz), feedOutput.format(feed));
      break;
    case PLANE_YZ:
      writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), yOutput.format(y), jOutput.format(cy), kOutput.format(cz), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else {
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(
        gPlaneModal.format(17),
        gMotionModal.format((isHelical() ? 10 : 0) + (clockwise ? 2 : 3)),
        xOutput.format(x),
        yOutput.format(y),
        zOutput.format(z),
        iOutput.format(cx),
        jOutput.format(cy),
        feedOutput.format(feed)
      );
      break;
    case PLANE_ZX:
      if (isHelical()) {
        linearize(tolerance);
      } else {
        writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx), kOutput.format(cz), feedOutput.format(feed));
      }
      break;
    case PLANE_YZ:
      if (isHelical()) {
        linearize(tolerance);
      } else {
        writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy), kOutput.format(cz), feedOutput.format(feed));
      }
      break;
    default:
      linearize(tolerance);
    }
  }
}

var currentCoolantMode = undefined;
var coolantOff = undefined;

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

function getCoolantCodes(coolant) {
  if (!coolants) {
    error(localize("Coolants have not been defined."));
  }
  if (!coolantOff) { // use the default coolant off command when an 'off' value is not specified for the previous coolant mode
    coolantOff = coolants.off;
  }

  if (coolant == currentCoolantMode) {
    return undefined; // coolant is already active
  }

  var multipleCoolantBlocks = new Array(); // create a formatted array to be passed into the outputted line
  if ((coolant != COOLANT_OFF) && (currentCoolantMode != COOLANT_OFF)) {
    multipleCoolantBlocks.push(mFormat.format(coolantOff));
  }

  var m;
  if (coolant == COOLANT_OFF) {
    m = coolantOff;
    coolantOff = coolants.off;
  }

  switch (coolant) {
  case COOLANT_FLOOD:
    if (!coolants.flood) {
      break;
    }
    m = coolants.flood.on;
    coolantOff = coolants.flood.off;
    break;
  case COOLANT_THROUGH_TOOL:
    if (!coolants.throughTool) {
      break;
    }
    m = coolants.throughTool.on;
    coolantOff = coolants.throughTool.off;
    break;
  case COOLANT_AIR:
    if (!coolants.air) {
      break;
    }
    m = coolants.air.on;
    coolantOff = coolants.air.off;
    break;
  case COOLANT_AIR_THROUGH_TOOL:
    if (!coolants.airThroughTool) {
      break;
    }
    m = coolants.airThroughTool.on;
    coolantOff = coolants.airThroughTool.off;
    break;
  case COOLANT_FLOOD_MIST:
    if (!coolants.floodMist) {
      break;
    }
    m = coolants.floodMist.on;
    coolantOff = coolants.floodMist.off;
    break;
  case COOLANT_MIST:
    if (!coolants.mist) {
      break;
    }
    m = coolants.mist.on;
    coolantOff = coolants.mist.off;
    break;
  case COOLANT_SUCTION:
    if (!coolants.suction) {
      break;
    }
    m = coolants.suction.on;
    coolantOff = coolants.suction.off;
    break;
  case COOLANT_FLOOD_THROUGH_TOOL:
    if (!coolants.floodThroughTool) {
      break;
    }
    m = coolants.floodThroughTool.on;
    coolantOff = coolants.floodThroughTool.off;
    break;
  }
  
  if (!m) {
    onUnsupportedCoolant(coolant);
    m = 9;
  }

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


var mapCommand = {
  COMMAND_STOP:0,
  COMMAND_OPTIONAL_STOP:1,
  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_START_SPINDLE:
    onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
    return;
  case COMMAND_LOCK_MULTI_AXIS:
    return;
  case COMMAND_UNLOCK_MULTI_AXIS:
    return;
  case COMMAND_BREAK_CONTROL:
    return;
  case COMMAND_TOOL_MEASURE:
    return;
  case COMMAND_START_CHIP_TRANSPORT:
    return;
  case COMMAND_STOP_CHIP_TRANSPORT:
    return;
  }

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

function onSectionEnd() {
  writeBlock(gPlaneModal.format(17));
  forceAny();
}

/** Output block to do safe retract and/or move to home position. */
function writeRetract() {
  if (arguments.length == 0) {
    error(localize("No axis specified for writeRetract()."));
    return;
  }
  var words = []; // store all retracted axes in an array
  for (var i = 0; i < arguments.length; ++i) {
    let instances = 0; // checks for duplicate retract calls
    for (var j = 0; j < arguments.length; ++j) {
      if (arguments[i] == arguments[j]) {
        ++instances;
      }
    }
    if (instances > 1) { // error if there are multiple retract calls for the same axis
      error(localize("Cannot retract the same axis twice in one line"));
      return;
    }
    switch (arguments[i]) {
    case X:
      words.push("X" + xyzFormat.format(machineConfiguration.hasHomePositionX() ? machineConfiguration.getHomePositionX() : 0));
      break;
    case Y:
      words.push("Y" + xyzFormat.format(machineConfiguration.hasHomePositionY() ? machineConfiguration.getHomePositionY() : 0));
      break;
    case Z:
      words.push("Z" + xyzFormat.format(machineConfiguration.getRetractPlane()));
      retracted = true; // specifies that the tool has been retracted to the safe plane
      break;
    default:
      error(localize("Bad axis specified for writeRetract()."));
      return;
    }
  }
  if (words.length > 0) {
    gMotionModal.reset();
      writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), words); // retract
  }
  zOutput.reset();
}

function onClose() {
  setCoolant(COOLANT_OFF);

  setWorkPlane(new Vector(0, 0, 0)); // reset working plane

  onCommand(COMMAND_STOP_CHIP_TRANSPORT);
  onImpliedCommand(COMMAND_END);
  onCommand(COMMAND_STOP_SPINDLE);
  writeBlock(gFormat.format(90));
  writeBlock(mFormat.format(22)); // end of program, stop spindle, coolant off

  if (properties.serialDNC) {
    writeln("%");
  }
}