/**
  Copyright (C) 2012-2020 by Autodesk, Inc.
  All rights reserved.

  Laguna CNC post processor configuration.

  $Revision: 42858 7ffb30ac59c74f4de10060d458e61f87481d7b5d $
  $Date: 2020-07-20 05:18:37 $
  
  FORKID {09DC4A40-CFD9-4D89-91D5-70118B5F727E}
*/

description = "Laguna CNC";
vendor = "Laguna";
vendorUrl = "http://www.lagunatools.com/cnc";
legal = "Copyright (C) 2012-2020 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 40783;

longDescription = "Generic post for Laguna CNC routers.";

extension = "PRG";
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(90);
allowHelicalMoves = false;
allowedCircularPlanes = (1 << PLANE_XY); // allow XY plane only

// user-defined properties
properties = {
  writeTools: true, // writes the tools
  showSequenceNumbers: true, // show sequence numbers
  sequenceNumberStart: 10, // first sequence number
  sequenceNumberIncrement: 1, // increment for sequence numbers
  optionalStop: false, // optional stop
  separateWordsWithSpace: true, // specifies that the words should be separated with a white space
  useRadius: false, // specifies that arcs should be output using the radius (R word) instead of the I, J, and K words
  showNotes: false, // specifies that operation notes should be output.
  rotaryTableAxis: "none", // none, X, Y, Z, -X, -Y, -Z
  useInverseTime: true, // use Inverse Time feed rates for multi-axis moves
  useG28: "false", // specifies the desired safe retract option
  dragKnife: false //Disable spindle M3/M4 and force clearanceHeight Safe Retract
};

// user-defined property definitions
propertyDefinitions = {
  writeTools: {title:"Write tool list", description:"Output a tool list in the header of the code.", group:0, 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"},
  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"},
  useRadius: {title:"Radius arcs", description:"If yes is selected, arcs are outputted using radius values rather than IJK.", type:"boolean"},
  showNotes: {title:"Show notes", description:"Writes operation notes as comments in the outputted code.", type:"boolean"},
  rotaryTableAxis: {
    title: "Rotary table axis",
    description: "Select rotary table axis. Check the table direction on the machine and use the (Reversed) selection if the table is moving in the opposite direction.",
    type: "enum",
    values:[
      {title:"No rotary", id:"none"},
      {title:"X", id:"x"},
      {title:"Y", id:"y"},
      {title:"Z", id:"z"},
      {title:"X (Reversed)", id:"-x"},
      {title:"Y (Reversed)", id:"-y"},
      {title:"Z (Reversed)", id:"-z"}
    ]
  },
  useInverseTime: {title:"Use inverse time feedrates", description:"'Yes' enables inverse time feedrates, 'No' outputs DPM feedrates.", type:"boolean"},
  useG28: {
    title: "Safe Retracts",
    description: "Select your desired retract option. 'Clearance Height' retracts to the operation clearance height.",
    type: "enum",
    values:[
      //{title:"G28", id:"true"},
      {title:"G53", id:"false"},
      {title:"Clearance Height", id:"clearanceHeight"}
    ]
  },
  dragKnife: {title:"Drag Knife", description:"If yes is selected, spindle is disabled and clearanceHeight Safe Retract", type:"boolean"}
};

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]}
var coolants = [
  {id: COOLANT_FLOOD, on: 8},
  {id: COOLANT_MIST},
  {id: COOLANT_THROUGH_TOOL},
  {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 permittedCommentChars = " ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,=_-";

var gFormat = createFormat({prefix:"G", width:2, zeropad:true, decimals:1});
var mFormat = createFormat({prefix:"M", width:2, zeropad:true, decimals:1});
var hFormat = createFormat({prefix:"H", width:2, zeropad:true, decimals:1});
var dFormat = createFormat({prefix:"D", width:2, zeropad:true, decimals:1});

var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var ijkFormat = createFormat({decimals:6, forceDecimal:true}); // unitless
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({decimals:0});
var rpmFormat = createFormat({decimals:0});
var secFormat = createFormat({decimals:3}); // seconds - range 0.001-99999.999
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 = createReferenceVariable({prefix:"I"}, xyzFormat);
var jOutput = createReferenceVariable({prefix:"J"}, xyzFormat);
var kOutput = createReferenceVariable({prefix:"K"}, xyzFormat);

var gMotionModal = createModal({force:true}, 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 // G94-95
var gUnitModal = createModal({force:true}, gFormat); // modal group 6 // G70-71
var gCycleModal = createModal({force:true}, gFormat); // modal group 9 // G81, ...
var gRetractModal = createModal({force:true}, gFormat); // modal group 10 // G98-99
var gRotationModal = createModal({}, gFormat); // modal group 16 // G68-G69

// fixed settings
var firstFeedParameter = 500;
var useMultiAxisFeatures = false;
var forceMultiAxisIndexing = false; // force multi-axis indexing for 3D programs
var cancelTiltFirst = false; // cancel G68.2 with G69 prior to G54-G59 WCS block
var useABCPrepositioning = false; // position ABC axes prior to G68.2 block

var WARNING_WORK_OFFSET = 0;

// collected state
var sequenceNumber;
var currentWorkOffset;
var optionalSection = false;
var forceSpindleSpeed = false;
var activeMovements; // do not use by default
var currentFeedId;
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;
  }
  if (properties.showSequenceNumbers) {
    if (optionalSection) {
      if (text) {
        writeWords("/", "N" + sequenceNumber, text);
      }
    } else {
      writeWords2("N" + sequenceNumber, arguments);
    }
    sequenceNumber += properties.sequenceNumberIncrement;
  } else {
    if (optionalSection) {
      writeWords2("/", arguments);
    } else {
      writeWords(arguments);
    }
  }
}

/**
  Writes the specified optional block.
*/
function writeOptionalBlock() {
  if (properties.showSequenceNumbers) {
    var words = formatWords(arguments);
    if (words) {
      writeWords("/", "N" + sequenceNumber, words);
      sequenceNumber += properties.sequenceNumberIncrement;
    }
  } else {
    writeWords2("/", arguments);
  }
}

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

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

function onOpen() {
  if (properties.useRadius) {
    maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
  }
  gRotationModal.format(69); // Default to G69 Rotation Off

  // Define rotary attributes from properties
  var rotary = parseChoice(properties.rotaryTableAxis, "-Z", "-Y", "-X", "NONE", "X", "Y", "Z");
  if (rotary < 0) {
    error(localize("Valid rotaryTableAxis values are: None, X, Y, Z, -X, -Y, -Z"));
    return;
  }
  rotary -= 3;

  // Define Master (carrier) axis
  var masterAxis = Math.abs(rotary) - 1;
  if (masterAxis >= 0) {
    var rotaryVector = [0, 0, 0];
    rotaryVector[masterAxis] = rotary / Math.abs(rotary);
    var aAxis = createAxis({coordinate:masterAxis, table:true, axis:rotaryVector, cyclic:true, preference:0});
    machineConfiguration = new MachineConfiguration(aAxis);

    setMachineConfiguration(machineConfiguration);
    // Single rotary does not use TCP mode
    optimizeMachineAngles2(1); // 0 = TCP Mode ON, 1 = TCP Mode OFF
  }

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

  sequenceNumber = properties.sequenceNumberStart;

  writeBlock("(Program name: " + filterText(String(programName).toUpperCase(), permittedCommentChars) + ")");
  writeBlock("(Program comment: " + filterText(String(programComment).toUpperCase(), permittedCommentChars) + ")");
  
  // 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);
      }
    }
  }
  
  if (false) {
    // check for duplicate tool number
    for (var i = 0; i < getNumberOfSections(); ++i) {
      var sectioni = getSection(i);
      var tooli = sectioni.getTool();
      for (var j = i + 1; j < getNumberOfSections(); ++j) {
        var sectionj = getSection(j);
        var toolj = sectionj.getTool();
        if (tooli.number == toolj.number) {
          if (xyzFormat.areDifferent(tooli.diameter, toolj.diameter) ||
              xyzFormat.areDifferent(tooli.cornerRadius, toolj.cornerRadius) ||
              abcFormat.areDifferent(tooli.taperAngle, toolj.taperAngle) ||
              (tooli.numberOfFlutes != toolj.numberOfFlutes)) {
            error(
              subst(
                localize("Using the same tool number for different cutter geometry for operation '%1' and '%2'."),
                sectioni.hasParameter("operation-comment") ? sectioni.getParameter("operation-comment") : ("#" + (i + 1)),
                sectionj.hasParameter("operation-comment") ? sectionj.getParameter("operation-comment") : ("#" + (j + 1))
              )
            );
            return;
          }
        }
      }
    }
  }

  if ((getNumberOfSections() > 0) && (getSection(0).workOffset == 0)) {
    for (var i = 0; i < getNumberOfSections(); ++i) {
      if (getSection(i).workOffset > 0) {
        error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
        return;
      }
    }
  }

  // absolute coordinates and feed per min
  writeBlock(gPlaneModal.format(17), gFormat.format(40), gAbsIncModal.format(90));

  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();
}

function forceFeed() {
  currentFeedId = undefined;
  feedOutput.reset();
}

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

function FeedContext(id, description, feed) {
  this.id = id;
  this.description = description;
  this.feed = feed;
}

function getFeed(f) {
  if (activeMovements) {
    var feedContext = activeMovements[movement];
    if (feedContext != undefined) {
      if (!feedFormat.areDifferent(feedContext.feed, f)) {
        if (feedContext.id == currentFeedId) {
          return ""; // nothing has changed
        }
        forceFeed();
        currentFeedId = feedContext.id;
        return "F#" + (firstFeedParameter + feedContext.id);
      }
    }
    currentFeedId = undefined; // force Q feed next time
  }
  return feedOutput.format(f); // use feed value
}

function initializeActiveFeeds() {
  activeMovements = new Array();
  var movements = currentSection.getMovements();
  
  var id = 0;
  var activeFeeds = new Array();
  if (hasParameter("operation:tool_feedCutting")) {
    if (movements & ((1 << MOVEMENT_CUTTING) | (1 << MOVEMENT_LINK_TRANSITION) | (1 << MOVEMENT_EXTENDED))) {
      var feedContext = new FeedContext(id, localize("Cutting"), getParameter("operation:tool_feedCutting"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_CUTTING] = feedContext;
      activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext;
      activeMovements[MOVEMENT_EXTENDED] = feedContext;
    }
    ++id;
    if (movements & (1 << MOVEMENT_PREDRILL)) {
      feedContext = new FeedContext(id, localize("Predrilling"), getParameter("operation:tool_feedCutting"));
      activeMovements[MOVEMENT_PREDRILL] = feedContext;
      activeFeeds.push(feedContext);
    }
    ++id;
  }
  
  if (hasParameter("operation:finishFeedrate")) {
    if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
      var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:finishFeedrate"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
    }
    ++id;
  } else if (hasParameter("operation:tool_feedCutting")) {
    if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
      var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:tool_feedCutting"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
    }
    ++id;
  }
  
  if (hasParameter("operation:tool_feedEntry")) {
    if (movements & (1 << MOVEMENT_LEAD_IN)) {
      var feedContext = new FeedContext(id, localize("Entry"), getParameter("operation:tool_feedEntry"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LEAD_IN] = feedContext;
    }
    ++id;
  }

  if (hasParameter("operation:tool_feedExit")) {
    if (movements & (1 << MOVEMENT_LEAD_OUT)) {
      var feedContext = new FeedContext(id, localize("Exit"), getParameter("operation:tool_feedExit"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LEAD_OUT] = feedContext;
    }
    ++id;
  }

  if (hasParameter("operation:noEngagementFeedrate")) {
    if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
      var feedContext = new FeedContext(id, localize("Direct"), getParameter("operation:noEngagementFeedrate"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
    }
    ++id;
  } else if (hasParameter("operation:tool_feedCutting") &&
             hasParameter("operation:tool_feedEntry") &&
             hasParameter("operation:tool_feedExit")) {
    if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
      var feedContext = new FeedContext(id, localize("Direct"), Math.max(getParameter("operation:tool_feedCutting"), getParameter("operation:tool_feedEntry"), getParameter("operation:tool_feedExit")));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
    }
    ++id;
  }
  
  if (hasParameter("operation:reducedFeedrate")) {
    if (movements & (1 << MOVEMENT_REDUCED)) {
      var feedContext = new FeedContext(id, localize("Reduced"), getParameter("operation:reducedFeedrate"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_REDUCED] = feedContext;
    }
    ++id;
  }

  if (hasParameter("operation:tool_feedRamp")) {
    if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) {
      var feedContext = new FeedContext(id, localize("Ramping"), getParameter("operation:tool_feedRamp"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_RAMP] = feedContext;
      activeMovements[MOVEMENT_RAMP_HELIX] = feedContext;
      activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext;
      activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext;
    }
    ++id;
  }
  if (hasParameter("operation:tool_feedPlunge")) {
    if (movements & (1 << MOVEMENT_PLUNGE)) {
      var feedContext = new FeedContext(id, localize("Plunge"), getParameter("operation:tool_feedPlunge"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_PLUNGE] = feedContext;
    }
    ++id;
  }
  if (true) { // high feed
    if ((movements & (1 << MOVEMENT_HIGH_FEED)) || (highFeedMapping != HIGH_FEED_NO_MAPPING)) {
      var feed;
      if (hasParameter("operation:highFeedrateMode") && getParameter("operation:highFeedrateMode") != "disabled") {
        feed = getParameter("operation:highFeedrate");
      } else {
        feed = this.highFeedrate;
      }
      var feedContext = new FeedContext(id, localize("High Feed"), feed);
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_HIGH_FEED] = feedContext;
      activeMovements[MOVEMENT_RAPID] = feedContext;
    }
    ++id;
  }
  
  for (var i = 0; i < activeFeeds.length; ++i) {
    var feedContext = activeFeeds[i];
    writeBlock("#" + (firstFeedParameter + feedContext.id) + "=" + feedFormat.format(feedContext.feed), formatComment(feedContext.description));
  }
}

var currentWorkPlaneABC = undefined;

function forceWorkPlane() {
  currentWorkPlaneABC = undefined;
}

function cancelWorkPlane() {
  writeBlock(gRotationModal.format(69)); // cancel frame
  forceWorkPlane();
}

function setWorkPlane(abc) {
  if (!forceMultiAxisIndexing && is3D() && !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);
  if (!retracted) {
    writeRetract(Z);
  }

  if (useMultiAxisFeatures) {
    if (cancelTiltFirst) {
      cancelWorkPlane();
    }
    if (machineConfiguration.isMultiAxisConfiguration() && useABCPrepositioning) {
      var angles = abc.isNonZero() ? getWorkPlaneMachineABC(currentSection.workPlane, false, false) : abc;
      gMotionModal.reset();
      writeBlock(
        gMotionModal.format(0),
        conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(angles.x)),
        conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(angles.y)),
        conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(angles.z))
      );
    }
    if (abc.isNonZero()) {
      gRotationModal.reset();
      writeBlock(gRotationModal.format(68.2), "X" + xyzFormat.format(0), "Y" + xyzFormat.format(0), "Z" + xyzFormat.format(0), "I" + abcFormat.format(abc.x), "J" + abcFormat.format(abc.y), "K" + abcFormat.format(abc.z)); // set frame
      writeBlock(gFormat.format(53.1)); // turn machine
    } else {
      if (!cancelTiltFirst) {
        cancelWorkPlane();
      }
    }
  } else {
    gMotionModal.reset();
    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, _setWorkPlane, rotate) {
  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);
    if (_setWorkPlane) {
      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))
    );
  }

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

/**
  Compare a text string to acceptable choices.

  Returns -1 if there is no match.
*/
function parseChoice() {
  for (var i = 1; i < arguments.length; ++i) {
    if (String(arguments[0]).toUpperCase() == String(arguments[i]).toUpperCase()) {
      return i - 1;
    }
  }
  return -1;
}

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

function onSection() {
  var forceToolAndRetract = optionalSection && !currentSection.isOptional();
  optionalSection = currentSection.isOptional();

  var insertToolCall = forceToolAndRetract || 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) {
    
    // stop spindle before retract during tool change
    if (insertToolCall && !isFirstSection()) {
      onCommand(COMMAND_STOP_SPINDLE);
    }
    
    // retract to safe plane
    writeRetract(Z);
    currentWorkOffset = undefined;
    forceXYZ();
  }

  writeln("");

  if (hasParameter("operation-comment")) {
    var comment = getParameter("operation-comment");
    if (comment) {
      writeComment(comment);
    }
  }
  
  if (properties.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() && properties.optionalStop) {
      onCommand(COMMAND_OPTIONAL_STOP);
    }
    writeRetract(X, "M5");
    writeRetract(Y);
    // writeComment("We could do M0 here to halt if supported");
    // writeComment("Manual tool change");

    if (tool.number > 99) {
      warning(localize("Tool number exceeds maximum value."));
    }
    writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6));
    writeBlock("D" + toolFormat.format(tool.number));
    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.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));
        }
      }
    }
*/
  }
  
  // wcs
  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 != currentWorkOffset) {
    if (cancelTiltFirst) {
      cancelWorkPlane();
    }
    forceWorkPlane();
  }
  if (workOffset > 0) {
    if (workOffset > 6) {
      error(localize("Work offset out of range."));
    } else {
      if (workOffset != currentWorkOffset) {
        writeBlock(gFormat.format(53 + workOffset)); // G54->G59
        currentWorkOffset = workOffset;
      }
    }
  }

  if (insertToolCall ||
      forceSpindleSpeed ||
      isFirstSection() ||
      (rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) ||
      (tool.clockwise != getPreviousSection().getTool().clockwise)) {
    forceSpindleSpeed = false;
    
    if (spindleSpeed < 1) {
      error(localize("Spindle speed out of range."));
      return;
    }
    if (spindleSpeed > 99999) {
      warning(localize("Spindle speed exceeds maximum value."));
    }
    if (!properties.dragKnife) {
      writeBlock(
        mFormat.format(tool.clockwise ? 3 : 4), sOutput.format(spindleSpeed)
      );
      onDwell(5);
    }
    onCommand(COMMAND_START_CHIP_TRANSPORT);
    if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) {
      // writeBlock(mFormat.format(xxx)); // shortest path traverse
    }

  }

  forceXYZ();

  if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
    // set working plane after datum shift

    if (currentSection.isMultiAxis()) {
      forceWorkPlane();
      cancelTransformation();
    } else {
      var abc = new Vector(0, 0, 0);
      if (useMultiAxisFeatures) {
        var euler = currentSection.workPlane.getEuler2(EULER_ZXZ_R);
        abc = new Vector(euler.x, euler.y, euler.z);
        cancelTransformation();
      } else {
        abc = getWorkPlaneMachineABC(currentSection.workPlane, true, true);
      }
      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));
    
    // assumes a Head configuration uses TCP on a Fanuc controller
    var offsetCode = 43;
    if (currentSection.isMultiAxis()) {
      if (machineConfiguration.isMultiAxisConfiguration() && (currentSection.getOptimizedTCPMode() == 0)) {
        offsetCode = 43.4;
      } else if (!machineConfiguration.isMultiAxisConfiguration()) {
        offsetCode = 43.5;
      }
    }

    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),
        gFormat.format(offsetCode),
        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)
    );
  }

/*
  if (properties.useParametricFeed &&
      hasParameter("operation-strategy") &&
      (getParameter("operation-strategy") != "drill") && // legacy
      !(currentSection.hasAnyCycle && currentSection.hasAnyCycle())) {
    if (!insertToolCall &&
        activeMovements &&
        (getCurrentSectionId() > 0) &&
        ((getPreviousSection().getPatternId() == currentSection.getPatternId()) && (currentSection.getPatternId() != 0))) {
      // use the current feeds
    } else {
      initializeActiveFeeds();
    }
  } else {
    activeMovements = undefined;
  }
*/
}

function onDwell(seconds) {
  if (seconds > 99999.999) {
    warning(localize("Dwelling time is out of range."));
  }
  writeBlock(/*gFeedModeModal.format(94),*/ 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(); // force xyz on first drill hole of any cycle
  return [xOutput.format(x), yOutput.format(y),
    zOutput.format(z),
    "R" + xyzFormat.format(r)];
}

function onCyclePoint(x, y, z) {
  // this control does not support drilling canned cycles G81-86
  expandCyclePoint(x, y, z);
}

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);
    forceFeed();
  }
}

function onLinear(_x, _y, _z, feed) {
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var f = getFeed(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."));
      }
      writeBlock(gPlaneModal.format(17));
      switch (radiusCompensation) {
      case RADIUS_COMPENSATION_LEFT:
        dOutput.reset();
        writeBlock(gMotionModal.format(1), gFormat.format(41), x, y, z, dOutput.format(d), f);
        break;
      case RADIUS_COMPENSATION_RIGHT:
        dOutput.reset();
        writeBlock(gMotionModal.format(1), gFormat.format(42), x, y, z, dOutput.format(d), 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
      forceFeed(); // force feed on next line
    } else {
      writeBlock(gMotionModal.format(1), f);
    }
  }
}

function onRapid5D(_x, _y, _z, _a, _b, _c) {
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation mode cannot be changed at rapid traversal."));
    return;
  }
  if (currentSection.isOptimizedForMachine()) {
    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);
  } else {
    forceXYZ();
    var x = xOutput.format(_x);
    var y = yOutput.format(_y);
    var z = zOutput.format(_z);
    var i = ijkFormat.format(_a);
    var j = ijkFormat.format(_b);
    var k = ijkFormat.format(_c);
    writeBlock(gMotionModal.format(0), x, y, z, "I" + i, "J" + j, "K" + k);
  }
  forceFeed();
}

function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
    return;
  }

  if (currentSection.isOptimizedForMachine()) {
    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);

    // get feedrate number
    var f = {frn:0, fmode:0};
    if (a || b || c) {
      f = getMultiaxisFeed(_x, _y, _z, _a, _b, _c, feed);
      if (properties.useInverseTime) {
        f.frn = inverseTimeOutput.format(f.frn);
      } else {
        f.frn = feedOutput.format(f.frn);
      }
    } else {
      f.frn = getFeed(feed);
      f.fmode = 94;
    }

    if (x || y || z || a || b || c) {
      writeBlock(gFeedModeModal.format(f.fmode), gMotionModal.format(1), x, y, z, a, b, c, f.frn);
    } else if (f) {
      if (getNextRecord().isMotion()) { // try not to output feed without motion
        forceFeed(); // force feed on next line
      } else {
        writeBlock(gFeedModeModal.format(f.fmode), gMotionModal.format(1), f.frn);
      }
    }
  } else {
    forceXYZ();
    var x = xOutput.format(_x);
    var y = yOutput.format(_y);
    var z = zOutput.format(_z);
    var i = ijkFormat.format(_a);
    var j = ijkFormat.format(_b);
    var k = ijkFormat.format(_c);
    var f = getFeed(feed);
    if (x || y || z || i || j || k) {
      writeBlock(gMotionModal.format(1), x, y, z, "I" + i, "J" + j, "K" + k, f);
    } else if (f) {
      if (getNextRecord().isMotion()) { // try not to output feed without motion
        forceFeed(); // force feed on next line
      } else {
        writeBlock(gMotionModal.format(1), f);
      }
    }
  }
}

// Start of multi-axis feedrate logic
/***** You can add 'properties.useInverseTime' if desired. *****/
/***** 'previousABC' can be added throughout to maintain previous rotary positions. Required for Mill/Turn machines. *****/
/***** 'headOffset' should be defined when a head rotary axis is defined. *****/
/***** The feedrate mode must be included in motion block output (linear, circular, etc.) for Inverse Time feedrate support. *****/
//var dpmBPW; // ratio of rotary accuracy to linear accuracy for DPM calculations
var dpmBPW = unit == MM ? 1.0 : 0.1; // ratio of rotary accuracy to linear accuracy for DPM calculations
var inverseTimeUnits = 1.0; // 1.0 = minutes, 60.0 = seconds
var maxInverseTime = 99999.9999; // maximum value to output for Inverse Time feeds
var maxDPM = 9999.99; // maximum value to output for DPM feeds
var useInverseTimeFeed = false; // use 1/T feeds
var inverseTimeFormat = createFormat({decimals:4}); // inverse time register format
var inverseTimeOutput = createVariable({prefix:"F", force:true}, inverseTimeFormat);
var previousDPMFeed = 0; // previously output DPM feed
var dpmFeedToler = 0.5; // tolerance to determine when the DPM feed has changed
// var previousABC = new Vector(0, 0, 0); // previous ABC position if maintained in post, don't define if not used
var forceOptimized = undefined; // used to override optimized-for-angles points (XZC-mode)

/** Calculate the multi-axis feedrate number. */
function getMultiaxisFeed(_x, _y, _z, _a, _b, _c, feed) {
  var f = {frn:0, fmode:0};
  if (feed <= 0) {
    error(localize("Feedrate is less than or equal to 0."));
    return f;
  }
  
  var length = getMoveLength(_x, _y, _z, _a, _b, _c);
  
  if (properties.useInverseTime) { // inverse time
    f.frn = getInverseTime(length.tool, feed);
    f.fmode = 93;
    forceFeed();
  } else { // degrees per minute
    f.frn = getFeedDPM(length, feed);
    f.fmode = 94;
  }
  return f;
}

/** Returns point optimization mode. */
function getOptimizedMode() {
  if (forceOptimized != undefined) {
    return forceOptimized;
  }
  // return (currentSection.getOptimizedTCPMode() != 0); // TAG:doesn't return correct value
  return true; // always return false for non-TCP based heads
}
  
/** Calculate the DPM feedrate number. */
function getFeedDPM(_moveLength, _feed) {
  if ((_feed == 0) || (_moveLength.tool < 0.0001) || (toDeg(_moveLength.abcLength) < 0.0005)) {
    previousDPMFeed = 0;
    return _feed;
  }
  var moveTime = _moveLength.tool / _feed;
  if (moveTime == 0) {
    previousDPMFeed = 0;
    return _feed;
  }

  var dpmFeed;
  var tcp = false; // !getOptimizedMode() && (forceOptimized == undefined);   // set to false for rotary heads
  if (tcp) { // TCP mode is supported, output feed as FPM
    dpmFeed = _feed;
  } else if (false) { // standard DPM
    dpmFeed = Math.min(toDeg(_moveLength.abcLength) / moveTime, maxDPM);
    if (Math.abs(dpmFeed - previousDPMFeed) < dpmFeedToler) {
      dpmFeed = previousDPMFeed;
    }
  } else if (true) { // combination FPM/DPM
    var length = Math.sqrt(Math.pow(_moveLength.xyzLength, 2.0) + Math.pow((toDeg(_moveLength.abcLength) * dpmBPW), 2.0));
    dpmFeed = Math.min((length / moveTime), maxDPM);
    if (Math.abs(dpmFeed - previousDPMFeed) < dpmFeedToler) {
      dpmFeed = previousDPMFeed;
    }
  } else { // machine specific calculation
    dpmFeed = _feed;
  }
  previousDPMFeed = dpmFeed;
  return dpmFeed;
}

/** Calculate the Inverse time feedrate number. */
function getInverseTime(_length, _feed) {
  var inverseTime;
  if (_length < 1.e-6) { // tool doesn't move
    if (typeof maxInverseTime === "number") {
      inverseTime = maxInverseTime;
    } else {
      inverseTime = 999999;
    }
  } else {
    inverseTime = _feed / _length / inverseTimeUnits;
    if (typeof maxInverseTime === "number") {
      if (inverseTime > maxInverseTime) {
        inverseTime = maxInverseTime;
      }
    }
  }
  return inverseTime;
}

/** Calculate radius for each rotary axis. */
function getRotaryRadii(startTool, endTool, startABC, endABC) {
  var radii = new Vector(0, 0, 0);
  var startRadius;
  var endRadius;
  var axis = new Array(machineConfiguration.getAxisU(), machineConfiguration.getAxisV(), machineConfiguration.getAxisW());
  for (var i = 0; i < 3; ++i) {
    if (axis[i].isEnabled()) {
      var startRadius = getRotaryRadius(axis[i], startTool, startABC);
      var endRadius = getRotaryRadius(axis[i], endTool, endABC);
      radii.setCoordinate(axis[i].getCoordinate(), Math.max(startRadius, endRadius));
    }
  }
  return radii;
}

/** Calculate the distance of the tool position to the center of a rotary axis. */
function getRotaryRadius(axis, toolPosition, abc) {
  if (!axis.isEnabled()) {
    return 0;
  }

  var direction = axis.getEffectiveAxis();
  var normal = direction.getNormalized();
  // calculate the rotary center based on head/table
  var center;
  var radius;
  if (axis.isHead()) {
    var pivot;
    if (typeof headOffset === "number") {
      pivot = headOffset;
    } else {
      pivot = tool.getBodyLength();
    }
    if (axis.getCoordinate() == machineConfiguration.getAxisU().getCoordinate()) { // rider
      center = Vector.sum(toolPosition, Vector.product(machineConfiguration.getDirection(abc), pivot));
      center = Vector.sum(center, axis.getOffset());
      radius = Vector.diff(toolPosition, center).length;
    } else { // carrier
      var angle = abc.getCoordinate(machineConfiguration.getAxisU().getCoordinate());
      radius = Math.abs(pivot * Math.sin(angle));
      radius += axis.getOffset().length;
    }
  } else {
    center = axis.getOffset();
    var d1 = toolPosition.x - center.x;
    var d2 = toolPosition.y - center.y;
    var d3 = toolPosition.z - center.z;
    var radius = Math.sqrt(
      Math.pow((d1 * normal.y) - (d2 * normal.x), 2.0) +
      Math.pow((d2 * normal.z) - (d3 * normal.y), 2.0) +
      Math.pow((d3 * normal.x) - (d1 * normal.z), 2.0)
    );
  }
  return radius;
}
  
/** Calculate the linear distance based on the rotation of a rotary axis. */
function getRadialDistance(radius, startABC, endABC) {
  // calculate length of radial move
  var delta = Math.abs(endABC - startABC);
  if (delta > Math.PI) {
    delta = 2 * Math.PI - delta;
  }
  var radialLength = (2 * Math.PI * radius) * (delta / (2 * Math.PI));
  return radialLength;
}
  
/** Calculate tooltip, XYZ, and rotary move lengths. */
function getMoveLength(_x, _y, _z, _a, _b, _c) {
  // get starting and ending positions
  var moveLength = {};
  var startTool;
  var endTool;
  var startXYZ;
  var endXYZ;
  var startABC;
  if (typeof previousABC !== "undefined") {
    startABC = new Vector(previousABC.x, previousABC.y, previousABC.z);
  } else {
    startABC = getCurrentDirection();
  }
  var endABC = new Vector(_a, _b, _c);
    
  if (!getOptimizedMode()) { // calculate XYZ from tool tip
    startTool = getCurrentPosition();
    endTool = new Vector(_x, _y, _z);
    startXYZ = startTool;
    endXYZ = endTool;

    // adjust points for tables
    if (!machineConfiguration.getTableABC(startABC).isZero() || !machineConfiguration.getTableABC(endABC).isZero()) {
      startXYZ = machineConfiguration.getOrientation(machineConfiguration.getTableABC(startABC)).getTransposed().multiply(startXYZ);
      endXYZ = machineConfiguration.getOrientation(machineConfiguration.getTableABC(endABC)).getTransposed().multiply(endXYZ);
    }

    // adjust points for heads
    if (machineConfiguration.getAxisU().isEnabled() && machineConfiguration.getAxisU().isHead()) {
      if (typeof getOptimizedHeads === "function") { // use post processor function to adjust heads
        startXYZ = getOptimizedHeads(startXYZ.x, startXYZ.y, startXYZ.z, startABC.x, startABC.y, startABC.z);
        endXYZ = getOptimizedHeads(endXYZ.x, endXYZ.y, endXYZ.z, endABC.x, endABC.y, endABC.z);
      } else { // guess at head adjustments
        var startDisplacement = machineConfiguration.getDirection(startABC);
        startDisplacement.multiply(headOffset);
        var endDisplacement = machineConfiguration.getDirection(endABC);
        endDisplacement.multiply(headOffset);
        startXYZ = Vector.sum(startTool, startDisplacement);
        endXYZ = Vector.sum(endTool, endDisplacement);
      }
    }
  } else { // calculate tool tip from XYZ, heads are always programmed in TCP mode, so not handled here
    startXYZ = getCurrentPosition();
    endXYZ = new Vector(_x, _y, _z);
    startTool = machineConfiguration.getOrientation(machineConfiguration.getTableABC(startABC)).multiply(startXYZ);
    endTool = machineConfiguration.getOrientation(machineConfiguration.getTableABC(endABC)).multiply(endXYZ);
  }

  // calculate axes movements
  moveLength.xyz = Vector.diff(endXYZ, startXYZ).abs;
  moveLength.xyzLength = moveLength.xyz.length;
  moveLength.abc = Vector.diff(endABC, startABC).abs;
  for (var i = 0; i < 3; ++i) {
    if (moveLength.abc.getCoordinate(i) > Math.PI) {
      moveLength.abc.setCoordinate(i, 2 * Math.PI - moveLength.abc.getCoordinate(i));
    }
  }
  moveLength.abcLength = moveLength.abc.length;

  // calculate radii
  moveLength.radius = getRotaryRadii(startTool, endTool, startABC, endABC);
  
  // calculate the radial portion of the tool tip movement
  var radialLength = Math.sqrt(
    Math.pow(getRadialDistance(moveLength.radius.x, startABC.x, endABC.x), 2.0) +
    Math.pow(getRadialDistance(moveLength.radius.y, startABC.y, endABC.y), 2.0) +
    Math.pow(getRadialDistance(moveLength.radius.z, startABC.z, endABC.z), 2.0)
  );
  
  // calculate the tool tip move length
  // tool tip distance is the move distance based on a combination of linear and rotary axes movement
  moveLength.tool = moveLength.xyzLength + radialLength;

  // debug
  if (false) {
    writeComment("DEBUG - tool   = " + moveLength.tool);
    writeComment("DEBUG - xyz    = " + moveLength.xyz);
    var temp = Vector.product(moveLength.abc, 180 / Math.PI);
    writeComment("DEBUG - abc    = " + temp);
    writeComment("DEBUG - radius = " + moveLength.radius);
  }
  return moveLength;
}
// End of multi-axis feedrate logic

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;
  }

  var start = getCurrentPosition();

  if (isFullCircle()) {
    if (properties.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 - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
      break;
    case PLANE_ZX:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
      break;
    case PLANE_YZ:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else if (!properties.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 - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(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 - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(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 - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else { // use radius mode
    var r = getCircularRadius();
    if (toDeg(getCircularSweep()) > (180 + 1e-9)) {
      r = -r; // allow up to <360 deg arcs
    }
    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), getFeed(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), getFeed(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), getFeed(feed));
      break;
    default:
      linearize(tolerance);
    }
  }
}

var currentCoolantMode = COOLANT_OFF;
var coolantOff = undefined;

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 (isProbeOperation()) { // avoid coolant output for probing
    coolant = COOLANT_OFF;
  }
  if (coolant == currentCoolantMode) {
    return undefined; // coolant is already active
  }
  if ((coolant != COOLANT_OFF) && (currentCoolantMode != COOLANT_OFF) && (coolantOff != undefined)) {
    if (Array.isArray(coolantOff)) {
      for (var i in coolantOff) {
        multipleCoolantBlocks.push(mFormat.format(coolantOff[i]));
      }
    } else {
      multipleCoolantBlocks.push(mFormat.format(coolantOff));
    }
  }

  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(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
};

function onCommand(command) {
  switch (command) {
  case COMMAND_STOP:
    writeBlock(mFormat.format(0));
    forceSpindleSpeed = true;
    return;
  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_START_CHIP_TRANSPORT:
    return;
  case COMMAND_STOP_CHIP_TRANSPORT:
    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() {
  writeBlock(gPlaneModal.format(17));
  if (!isLastSection() && (getNextSection().getTool().coolant != tool.coolant)) {
    setCoolant(COOLANT_OFF);
  }
  if (((getCurrentSectionId() + 1) >= getNumberOfSections()) ||
      (tool.number != getNextSection().getTool().number)) {
    onCommand(COMMAND_BREAK_CONTROL);
  }

  // the code below gets the machine angles from previous operation.  closestABC must also be set to true
  if (currentSection.isMultiAxis() && currentSection.isOptimizedForMachine()) {
    currentMachineABC = currentSection.getFinalToolAxisABC();
  }

  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 _xyzMoved = new Array(false, false, false);
  var _useG28 = false;
  if (properties.dragKnife) {
    properties.useG28 = "clearanceHeight";
  }
  if (properties.useG28 == "true") {
    _useG28 = true;
  } else if (properties.useG28 == "clearanceHeight") {
    if (!is3D()) {
      error(localize("Retract option 'Clearance Height' is not supported for multi-axis machining."));
    }
    return; // G28 and G53 output is not desired
  }

  if (arguments.length == 0) {
    error(localize("No axis specified for writeRetract()."));
    return;
  }
  for (i in arguments) {
    _xyzMoved[arguments[i]] = true;
  }
  if ((_xyzMoved[0] || _xyzMoved[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 (_xyzMoved[2]) { // Z doesn't use G53
    _useG28 = true;
  }

  // define home positions
  var _xHome;
  var _yHome;
  var _zHome;
  if (_useG28) {
    _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;
    case "M5":
      words.push(mFormat.format(5));
      break;
    default:
      error(localize("Bad axis specified for writeRetract()."));
      return;
    }
  }
  if (words.length > 0) {
    if (_useG28) {
      writeBlock("D0");
      writeBlock(gMotionModal.format(0), words);
    } else {
      gMotionModal.reset();
      writeBlock(gFormat.format(53));
      writeBlock(gMotionModal.format(0), words);
    }
    currentWorkOffset = undefined;
  }
}

function onClose() {
  writeln("");
  optionalSection = false;

  writeRetract(Z);
  writeRetract(X, "M5");
  writeRetract(Y);
  onImpliedCommand(COMMAND_END);
  onImpliedCommand(COMMAND_STOP_SPINDLE);
  writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
}