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

  Mazak post processor configuration.

  $Revision: 43793 b157ddfe2ebfe4ed20cf4d2babec16abcf9aa062 $
  $Date: 2022-05-05 14:10:48 $

  FORKID {62F61C65-979D-4f9f-97B0-C5F9634CC6A7}
*/

// ATTENTION: parameter F86 bit 6 must be on for G43.4

description = "Mazak";
vendor = "Mazak";
vendorUrl = "http://www.autodesk.com";
legal = "Copyright (C) 2012-2022 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 45793;

longDescription = "Generic milling post for Mazak.";

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

capabilities = CAPABILITY_MILLING | CAPABILITY_MACHINE_SIMULATION;
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
probeMultipleFeatures = true;

// user-defined properties
properties = {
  writeMachine: {
    title      : "Write machine",
    description: "Output the machine settings in the header of the code.",
    group      : "formats",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  writeTools: {
    title      : "Write tool list",
    description: "Output a tool list in the header of the code.",
    group      : "formats",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  preloadTool: {
    title      : "Preload tool",
    description: "Preloads the next tool at a tool change (if any).",
    group      : "preferences",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  showSequenceNumbers: {
    title      : "Use sequence numbers",
    description: "Use sequence numbers for each block of outputted code.",
    group      : "formats",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  sequenceNumberStart: {
    title      : "Start sequence number",
    description: "The number at which to start the sequence numbers.",
    group      : "formats",
    type       : "integer",
    value      : 10,
    scope      : "post"
  },
  sequenceNumberIncrement: {
    title      : "Sequence number increment",
    description: "The amount by which the sequence number is incremented by in each block.",
    group      : "formats",
    type       : "integer",
    value      : 5,
    scope      : "post"
  },
  optionalStop: {
    title      : "Optional stop",
    description: "Outputs optional stop code during when necessary in the code.",
    group      : "preferences",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  separateWordsWithSpace: {
    title      : "Separate words with space",
    description: "Adds spaces between words if 'yes' is selected.",
    group      : "formats",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  useRadius: {
    title      : "Radius arcs",
    description: "If yes is selected, arcs are outputted using radius values rather than IJK.",
    group      : "preferences",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  useParametricFeed: {
    title      : "Parametric feed",
    description: "Specifies the feed value that should be output using a Q value.",
    group      : "preferences",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  showNotes: {
    title      : "Show notes",
    description: "Writes operation notes as comments in the outputted code.",
    group      : "formats",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  usePitchForTapping: {
    title      : "Use pitch for tapping",
    description: "Enables the use of pitch instead of feed for the F-word in canned tapping cycles. Your CNC control must be setup for pitch mode!",
    group      : "preferences",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  useG54x4: {
    title      : "Use G54.4",
    description: "Use G54.4 workpiece error compensation for angular probing.",
    group      : "probing",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  safePositionMethod: {
    title      : "Safe Retracts",
    description: "Select your desired retract option. 'Clearance Height' retracts to the operation clearance height.",
    group      : "homePositions",
    type       : "enum",
    values     : [
      // {title: "G28", id: "G28"},
      {title:"G53", id:"G53"},
      {title:"Clearance Height", id:"clearanceHeight"}
    ],
    value: "G53",
    scope: "post"
  },
  singleResultsFile: {
    title      : "Create single results file",
    description: "Set to false if you want to store the measurement results for each probe / inspection toolpath in a separate file",
    group      : "probing",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  useClampCodes: {
    title      : "Use clamp codes",
    description: "Specifies whether clamp codes for rotary axes should be output. For simultaneous toolpaths rotary axes will always get unclamped.",
    group      : "multiAxis",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  useSmoothing: {
    title      : "Use smoothing",
    description: "Specifies if smoothing should be used.",
    group      : "preferences",
    type       : "enum",
    values     : [
      {title:"No", id:"-1"},
      // {title:"Automatic", id:"9999"}
      {title:"Yes", id:"1"},
    ],
    value: "-1",
    scope: "post"
  },
};

// wcs definiton
wcsDefinitions = {
  useZeroOffset: false,
  wcs          : [
    {name:"Standard", format:"G", range:[54, 59]},
    {name:"Extended", format:"G54.1 P", range:[1, 48]}
  ]
};

var singleLineCoolant = false; // specifies to output multiple coolant codes in one line rather than in separate lines
// samples:
// {id: COOLANT_THROUGH_TOOL, on: 88, off: 89}
// {id: COOLANT_THROUGH_TOOL, on: [8, 88], off: [9, 89]}
// {id: COOLANT_THROUGH_TOOL, on: "M88 P3 (myComment)", off: "M89"}
var coolants = [
  {id:COOLANT_FLOOD, on:8},
  {id:COOLANT_MIST, on:7},
  {id:COOLANT_THROUGH_TOOL, on:51},
  {id:COOLANT_AIR, on:52},
  {id:COOLANT_AIR_THROUGH_TOOL, on:130},
  {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", decimals:1});
var mFormat = createFormat({prefix:"M", decimals:0});
var hFormat = createFormat({prefix:"H", decimals:0});
var dFormat = createFormat({prefix:"D", decimals:0});
var probeWCSFormat = createFormat({decimals:0, forceDecimal:true});

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 ? 2 : 3), forceDecimal:true});
var inverseTimeFormat = createFormat({decimals:3, forceDecimal:true});
var pitchFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var toolFormat = createFormat({decimals:0});
var rpmFormat = createFormat({decimals:0});
var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-99999.999
var milliFormat = createFormat({decimals:0}); // milliseconds // range 1-99999999
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 inverseTimeOutput = createVariable({prefix:"F", force:true}, inverseTimeFormat);
var pitchOutput = createVariable({prefix:"F", force:true}, pitchFormat);
var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);
var dOutput = createVariable({}, dFormat);

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

var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ...
var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91
var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G93-94
var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21
var gCycleModal = gMotionModal;
var gRetractModal = createModal({}, gFormat); // modal group 10 // G98-99
var gRotationModal = createModal({
  onchange: function () {
    if (probeVariables.probeAngleMethod == "G68") {
      probeVariables.outputRotationCodes = true;
    }
  }
}, gFormat); // modal group 16 // G68-G69
var mClampModal = createModalGroup(
  {strict:false},
  [
    [44, 43], // 4th axis clamp / unclamp
    [47, 46] // 5th axis clamp / unclamp
  ],
  mFormat
);

// fixed settings
var firstFeedParameter = 100;
var useMultiAxisFeatures = true;
var forceMultiAxisIndexing = false; // force multi-axis indexing for 3D programs
var cancelTiltFirst = true; // 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;

var allowIndexingWCSProbing = false; // specifies that probe WCS with tool orientation is supported
var probeVariables = {
  outputRotationCodes: false, // defines if it is required to output rotation codes
  probeAngleMethod   : "OFF", // OFF, AXIS_ROT, G68, G54.4
  compensationXY     : undefined
};

// collected state
var sequenceNumber;
var currentWorkOffset;
var forceSpindleSpeed = false;
var activeMovements; // do not use by default
var currentFeedId;
var maximumCircularRadiiDifference = toPreciseUnit(0.005, MM);
var retracted = false; // specifies that the tool has been retracted to the safe plane

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

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

function formatComment(text) {
  return "(" + filterText(String(text).toUpperCase(), permittedCommentChars) + ")";
}

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

// Start of machine configuration logic
var compensateToolLength = false; // add the tool length to the pivot distance for nonTCP rotary heads

// internal variables, do not change
var receivedMachineConfiguration;
var operationSupportsTCP;
var multiAxisFeedrate;

function activateMachine() {
  // disable unsupported rotary axes output
  if (!machineConfiguration.isMachineCoordinate(0) && (typeof aOutput != "undefined")) {
    aOutput.disable();
  }
  if (!machineConfiguration.isMachineCoordinate(1) && (typeof bOutput != "undefined")) {
    bOutput.disable();
  }
  if (!machineConfiguration.isMachineCoordinate(2) && (typeof cOutput != "undefined")) {
    cOutput.disable();
  }

  // setup usage of multiAxisFeatures
  useMultiAxisFeatures = getProperty("useMultiAxisFeatures") != undefined ? getProperty("useMultiAxisFeatures") :
    (typeof useMultiAxisFeatures != "undefined" ? useMultiAxisFeatures : false);
  useABCPrepositioning = getProperty("useABCPrepositioning") != undefined ? getProperty("useABCPrepositioning") :
    (typeof useABCPrepositioning != "undefined" ? useABCPrepositioning : false);

  if (!machineConfiguration.isMultiAxisConfiguration()) {
    return; // don't need to modify any settings for 3-axis machines
  }

  // save multi-axis feedrate settings from machine configuration
  var mode = machineConfiguration.getMultiAxisFeedrateMode();
  var type = mode == FEED_INVERSE_TIME ? machineConfiguration.getMultiAxisFeedrateInverseTimeUnits() :
    (mode == FEED_DPM ? machineConfiguration.getMultiAxisFeedrateDPMType() : DPM_STANDARD);
  multiAxisFeedrate = {
    mode     : mode,
    maximum  : machineConfiguration.getMultiAxisFeedrateMaximum(),
    type     : type,
    tolerance: mode == FEED_DPM ? machineConfiguration.getMultiAxisFeedrateOutputTolerance() : 0,
    bpwRatio : mode == FEED_DPM ? machineConfiguration.getMultiAxisFeedrateBpwRatio() : 1
  };

  // setup of retract/reconfigure  TAG: Only needed until post kernel supports these machine config settings
  if (receivedMachineConfiguration && machineConfiguration.performRewinds()) {
    safeRetractDistance = machineConfiguration.getSafeRetractDistance();
    safePlungeFeed = machineConfiguration.getSafePlungeFeedrate();
    safeRetractFeed = machineConfiguration.getSafeRetractFeedrate();
  }
  if (typeof safeRetractDistance == "number" && getProperty("safeRetractDistance") != undefined && getProperty("safeRetractDistance") != 0) {
    safeRetractDistance = getProperty("safeRetractDistance");
  }

  if (machineConfiguration.isHeadConfiguration()) {
    compensateToolLength = typeof compensateToolLength == "undefined" ? false : compensateToolLength;
  }

  if (machineConfiguration.isHeadConfiguration() && compensateToolLength) {
    for (var i = 0; i < getNumberOfSections(); ++i) {
      var section = getSection(i);
      if (section.isMultiAxis()) {
        machineConfiguration.setToolLength(getBodyLength(section.getTool())); // define the tool length for head adjustments
        section.optimizeMachineAnglesByMachine(machineConfiguration, OPTIMIZE_AXIS);
      }
    }
  } else {
    optimizeMachineAngles2(OPTIMIZE_AXIS);
  }
}

function getBodyLength(tool) {
  for (var i = 0; i < getNumberOfSections(); ++i) {
    var section = getSection(i);
    if (tool.number == section.getTool().number) {
      return section.getParameter("operation:tool_overallLength", tool.bodyLength + tool.holderLength);
    }
  }
  return tool.bodyLength + tool.holderLength;
}

function defineMachine() {
  var useTCP = true;
  if (false) { // note: setup your machine here
    var aAxis = createAxis({coordinate:0, table:true, axis:[1, 0, 0], range:[-120, 120], preference:1, tcp:useTCP});
    var cAxis = createAxis({coordinate:2, table:true, axis:[0, 0, 1], range:[-360, 360], preference:0, tcp:useTCP});
    machineConfiguration = new MachineConfiguration(aAxis, cAxis);

    setMachineConfiguration(machineConfiguration);
    if (receivedMachineConfiguration) {
      warning(localize("The provided CAM machine configuration is overwritten by the postprocessor."));
      receivedMachineConfiguration = false; // CAM provided machine configuration is overwritten
    }
  }

  if (!receivedMachineConfiguration) {
    // multiaxis settings
    if (machineConfiguration.isHeadConfiguration()) {
      machineConfiguration.setVirtualTooltip(false); // translate the pivot point to the virtual tool tip for nonTCP rotary heads
    }

    // retract / reconfigure
    var performRewinds = false; // set to true to enable the rewind/reconfigure logic
    if (performRewinds) {
      machineConfiguration.enableMachineRewinds(); // enables the retract/reconfigure logic
      safeRetractDistance = (unit == IN) ? 1 : 25; // additional distance to retract out of stock, can be overridden with a property
      safeRetractFeed = (unit == IN) ? 20 : 500; // retract feed rate
      safePlungeFeed = (unit == IN) ? 10 : 250; // plunge feed rate
      machineConfiguration.setSafeRetractDistance(safeRetractDistance);
      machineConfiguration.setSafeRetractFeedrate(safeRetractFeed);
      machineConfiguration.setSafePlungeFeedrate(safePlungeFeed);
      var stockExpansion = new Vector(toPreciseUnit(0.1, IN), toPreciseUnit(0.1, IN), toPreciseUnit(0.1, IN)); // expand stock XYZ values
      machineConfiguration.setRewindStockExpansion(stockExpansion);
    }

    // multi-axis feedrates
    if (machineConfiguration.isMultiAxisConfiguration()) {
      machineConfiguration.setMultiAxisFeedrate(
        useTCP ? FEED_FPM : getProperty("useDPMFeeds") ? FEED_DPM : FEED_INVERSE_TIME,
        9999.99, // maximum output value for inverse time feed rates
        getProperty("useDPMFeeds") ? DPM_COMBINATION : INVERSE_MINUTES, // INVERSE_MINUTES/INVERSE_SECONDS or DPM_COMBINATION/DPM_STANDARD
        0.5, // tolerance to determine when the DPM feed has changed
        1.0 // ratio of rotary accuracy to linear accuracy for DPM calculations
      );
      setMachineConfiguration(machineConfiguration);
    }

    /* home positions */
    // machineConfiguration.setHomePositionX(toPreciseUnit(0, IN));
    // machineConfiguration.setHomePositionY(toPreciseUnit(0, IN));
    // machineConfiguration.setRetractPlane(toPreciseUnit(0, IN));
  }
}
// End of machine configuration logic

function onOpen() {
  // define and enable machine configuration
  receivedMachineConfiguration = machineConfiguration.isReceived();

  if (typeof defineMachine == "function") {
    defineMachine(); // hardcoded machine configuration
  }
  activateMachine(); // enable the machine optimizations and settings

  if (getProperty("useRadius")) {
    maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
  }
  gRotationModal.format(69); // Default to G69 Rotation Off
  mClampModal.format(44); // Default 4th axis modal code to be clamped
  mClampModal.format(47); // Default 5th axis modal code to be clamped

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

  sequenceNumber = getProperty("sequenceNumberStart");

  if (programName) {
    var programId;
    try {
      programId = getAsInt(programName);
    } catch (e) {
      error(localize("Program name must be a number."));
      return;
    }
    if (!((programId >= 1) && (programId <= 99999999))) {
      error(localize("Program number is out of range."));
      return;
    }
    var o4Format = createFormat({width:4, zeropad:true, decimals:0});
    var o8Format = createFormat({width:8, zeropad:true, decimals:0});
    var oFormat = (programId <= 9999) ? o4Format : o8Format;
    if (programComment) {
      writeln("O" + oFormat.format(programId) + " (" + programComment + ")");
    } else {
      writeln("O" + oFormat.format(programId));
    }
  } else {
    error(localize("Program name has not been specified."));
    return;
  }

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

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

  //Probing Surface Inspection
  if (typeof inspectionWriteVariables == "function") {
    inspectionWriteVariables();
  }

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

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

  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(gAbsIncModal.format(90), gFeedModeModal.format(94), gPlaneModal.format(17), gFormat.format(49));

  switch (unit) {
  case IN:
    writeBlock(gUnitModal.format(20));
    break;
  case MM:
    writeBlock(gUnitModal.format(21));
    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();
}

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();
}

/** Disables length compensation if currently active or if forced. */
var lengthCompensationActive = false;
function disableLengthCompensation(force) {
  if (lengthCompensationActive || force) {
    validate(retracted, "Cannot cancel length compensation if the machine is not fully retracted.");
    writeBlock(gFormat.format(49));
    lengthCompensationActive = false;
  }
}

function getOffsetCode() {
  var offsetCode = 43;
  if (currentSection.isMultiAxis()) {
    if (machineConfiguration.isMultiAxisConfiguration() && operationSupportsTCP) {
      offsetCode = 43.4;
    } else if (!machineConfiguration.isMultiAxisConfiguration()) {
      offsetCode = 43.5;
    }
  }
  return offsetCode;
}

// Start of smoothing logic
var smoothingSettings = {
  roughing          : 1, // roughing level for smoothing in automatic mode
  semi              : 2, // semi-roughing level for smoothing in automatic mode
  finishing         : 3, // finishing level for smoothing in automatic mode
  thresholdRoughing : toPreciseUnit(0.1, MM), // operations with stock/tolerance above that threshold will use roughing level in automatic mode
  thresholdFinishing: toPreciseUnit(0.01, MM), // operations with stock/tolerance below that threshold will use finishing level in automatic mode
  differenceCriteria: "level", // options: "level", "tolerance", "both". Specifies criteria when output smoothing codes
  autoLevelCriteria : "stock", // use "stock" or "tolerance" to determine levels in automatic mode
  cancelCompensation: true // tool length compensation must be canceled prior to changing the smoothing level
};

// collected state below, do not edit
var smoothing = {
  cancel     : false, // cancel tool length prior to update smoothing for this operation
  isActive   : false, // the current state of smoothing
  isAllowed  : false, // smoothing is allowed for this operation
  isDifferent: false, // tells if smoothing levels/tolerances/both are different between operations
  level      : -1, // the active level of smoothing
  tolerance  : -1, // the current operation tolerance
  force      : false // smoothing needs to be forced out in this operation
};

function initializeSmoothing() {
  var previousLevel = smoothing.level;
  var previousTolerance = smoothing.tolerance;

  // determine new smoothing levels and tolerances
  smoothing.level = parseInt(getProperty("useSmoothing"), 10);
  smoothing.level = isNaN(smoothing.level) ? -1 : smoothing.level;
  smoothing.tolerance = Math.max(getParameter("operation:tolerance", 0), 0);

  // automatically determine smoothing level
  if (smoothing.level == 9999) {
    if (smoothingSettings.autoLevelCriteria == "stock") { // determine auto smoothing level based on stockToLeave
      var stockToLeave = xyzFormat.getResultingValue(getParameter("operation:stockToLeave", 0));
      var verticalStockToLeave = xyzFormat.getResultingValue(getParameter("operation:verticalStockToLeave", 0));
      if ((stockToLeave >= smoothingSettings.thresholdRoughing) && (verticalStockToLeave >= smoothingSettings.thresholdRoughing)) {
        smoothing.level = smoothingSettings.roughing; // set roughing level
      } else {
        if ((stockToLeave >= smoothingSettings.thresholdFinishing) && (verticalStockToLeave >= smoothingSettings.thresholdFinishing)) { //???
          smoothing.level = smoothingSettings.semi; // set semi level
        } else {
          smoothing.level = smoothingSettings.finishing; // set finishing level
        }
      }
    } else { // detemine auto smoothing level based on operation tolerance instead of stockToLeave
      smoothing.level = smoothing.tolerance < smoothingSettings.thresholdRoughing ? smoothing.tolerance > smoothingSettings.thresholdFinishing ?
        smoothingSettings.semi : smoothingSettings.finishing : smoothingSettings.roughing;
    }
  }

  if (smoothing.level == -1) { // useSmoothing is disabled
    smoothing.isAllowed = false;
  } else { // do not output smoothing for the following operations
    smoothing.isAllowed = !(currentSection.getTool().type == TOOL_PROBE || currentSection.checkGroup(STRATEGY_DRILLING));
  }
  if (!smoothing.isAllowed) {
    smoothing.level = -1;
    smoothing.tolerance = -1;
  }

  switch (smoothingSettings.differenceCriteria) {
  case "level":
    smoothing.isDifferent = smoothing.level != previousLevel;
    break;
  case "tolerance":
    smoothing.isDifferent = smoothing.tolerance != previousTolerance;
    break;
  case "both":
    smoothing.isDifferent = smoothing.level != previousLevel || smoothing.tolerance != previousTolerance;
    break;
  default:
    error(localize("Unsupported smoothing criteria."));
    return;
  }

  // tool length compensation needs to be canceled when smoothing state/level changes
  if (smoothingSettings.cancelCompensation) {
    smoothing.cancel = !isFirstSection() && smoothing.isDifferent;
  }
}

function setSmoothing(mode) {
  if (mode == smoothing.isActive && (!mode || !smoothing.isDifferent) && !smoothing.force) {
    return; // return if smoothing is already active or is not different
  }
  if (typeof lengthCompensationActive != "undefined" && smoothingSettings.cancelCompensation) {
    validate(!lengthCompensationActive, "Length compensation is active while trying to update smoothing.");
  }

  if (mode) { // enable smoothing
    writeBlock(gFormat.format(5), "P2");
  } else { // disable smoothing
    writeBlock(gFormat.format(5), "P0");
  }
  smoothing.isActive = mode;
  smoothing.force = false;
  smoothing.isDifferent = false;
}
// End of smoothing logic

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(force) {
  if (force) {
    gRotationModal.reset();
  }
  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()) {
      var machineABC = abc.isNonZero() ? getWorkPlaneMachineABC(currentSection.workPlane, false, false) : abc;
      if (useABCPrepositioning || abc.isZero()) {
        gMotionModal.reset();
        writeBlock(
          gMotionModal.format(0),
          conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(machineABC.x)),
          conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(machineABC.y)),
          conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(machineABC.z))
        );
      }
      setCurrentABC(machineABC); // required for machine simulation
    }
    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();
      }
      //G53.1 is not to be called when A0 C0
      //writeBlock(gFormat.format(53.1)); // turn machine
    }
  } else {
    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))
    );
    setCurrentABC(abc); // required for machine simulation
  }
  if (!currentSection.isMultiAxis() && !isPolarModeActive()) {
    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;
}

function printProbeResults() {
  return currentSection.getParameter("printResults", 0) == 1;
}

var probeOutputWorkOffset = 1;

function onParameter(name, value) {
  if (name == "probe-output-work-offset") {
    probeOutputWorkOffset = (value > 0) ? value : 1;
  }
}

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
  // define smoothing mode
  initializeSmoothing();

  if (insertToolCall || newWorkOffset || newWorkPlane || smoothing.cancel) {
    // stop spindle before retract during tool change
    if (insertToolCall && !isFirstSection()) {
      onCommand(COMMAND_STOP_SPINDLE);
    }

    writeRetract(Z);
    if ((insertToolCall && !isFirstSection()) || smoothing.cancel) {
      disableLengthCompensation();
      setSmoothing(false);
    }
  }

  writeln("");

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

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

  if (insertToolCall) {
    forceWorkPlane();

    setCoolant(COOLANT_OFF);

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

    if (tool.number > 100000000) {
      warning(localize("Tool number exceeds maximum value."));
    }

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

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

  var spindleChanged = tool.type != TOOL_PROBE &&
    (insertToolCall || forceSpindleSpeed || isFirstSection() ||
    (rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) ||
    (tool.clockwise != getPreviousSection().getTool().clockwise));
  if (spindleChanged) {
    forceSpindleSpeed = false;

    if (spindleSpeed < 1) {
      error(localize("Spindle speed out of range."));
      return;
    }
    if (spindleSpeed > 99999) {
      warning(localize("Spindle speed exceeds maximum value."));
    }
    writeBlock(
      sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4)
    );

    if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) {
      // writeBlock(mFormat.format(xxx)); // shortest path traverse
    }
  }

  // wcs
  if (insertToolCall) { // force work offset when changing tool
    currentWorkOffset = undefined;
  }

  if (currentSection.workOffset != currentWorkOffset) {
    if (cancelTiltFirst) {
      cancelWorkPlane();
    }
    forceWorkPlane();
    writeBlock(currentSection.wcs);
    currentWorkOffset = currentSection.workOffset;
  }

  forceXYZ();
  defineWorkPlane(currentSection, true);

  setProbeAngle(); // output probe angle rotations if required

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

  setSmoothing(smoothing.isAllowed);

  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 || !lengthCompensationActive || retracted || (!isFirstSection() && getPreviousSection().isMultiAxis())) {
    var lengthOffset = tool.lengthOffset;
    if (lengthOffset > 512) {
      error(localize("Length offset out of range."));
      return;
    }

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

    // cancel compensation prior to enabling it, required when switching G43/G43.4 modes
    disableLengthCompensation(false);

    if (!machineConfiguration.isHeadConfiguration()) {
      writeBlock(
        gAbsIncModal.format(90),
        gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y)
      );
      writeBlock(gMotionModal.format(0), gFormat.format(getOffsetCode()), zOutput.format(initialPosition.z), hFormat.format(lengthOffset));
      lengthCompensationActive = true;
    } else {
      writeBlock(
        gAbsIncModal.format(90),
        gMotionModal.format(0),
        gFormat.format(getOffsetCode()), xOutput.format(initialPosition.x),
        yOutput.format(initialPosition.y),
        zOutput.format(initialPosition.z), hFormat.format(lengthOffset)
      );
      lengthCompensationActive = true;
    }
    gMotionModal.reset();
  } else {
    writeBlock(
      gAbsIncModal.format(90),
      gMotionModal.format(0),
      xOutput.format(initialPosition.x),
      yOutput.format(initialPosition.y)
    );
  }

  validate(lengthCompensationActive, "Length compensation is not active.");

  if (getProperty("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;
  }

  if (isProbeOperation()) {
    validate(probeVariables.probeAngleMethod != "G68", "You cannot probe while G68 Rotation is in effect.");
    validate(probeVariables.probeAngleMethod != "G54.4", "You cannot probe while workpiece setting error compensation G54.4 is enabled.");
    writeBlock(gFormat.format(65), "P" + 9832); // spin the probe on
    inspectionCreateResultsFileHeader();
  } else {
    // surface Inspection
    if (isInspectionOperation() && (typeof inspectionProcessSectionStart == "function")) {
      inspectionProcessSectionStart();
    }
  }
}

function defineWorkPlane(_section, _setWorkPlane) {
  var abc = new Vector(0, 0, 0);
  if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
    // set working plane after datum shift

    if (_section.isMultiAxis()) {
      cancelTransformation();
      if (_setWorkPlane) {
        forceWorkPlane();
      }
      gMotionModal.reset();
      if (machineConfiguration.isMultiAxisConfiguration()) {
        abc = _section.getInitialToolAxisABC();
        if (_setWorkPlane) {
          if (!retracted) {
            writeRetract(Z);
          }
          onCommand(COMMAND_UNLOCK_MULTI_AXIS);
          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))
          );
        }
      } else {
        if (_setWorkPlane) {
          var d = _section.getGlobalInitialToolAxis();
          // position
          writeBlock(
            gAbsIncModal.format(90),
            gMotionModal.format(0),
            "I" + xyzFormat.format(d.x), "J" + xyzFormat.format(d.y), "K" + xyzFormat.format(d.z)
          );
        }
      }
    } else {
      if (useMultiAxisFeatures) {
        var euler = _section.workPlane.getEuler2(EULER_ZXZ_R);
        abc = new Vector(euler.x, euler.y, euler.z);
        cancelTransformation();
      } else {
        abc = getWorkPlaneMachineABC(_section.workPlane, _setWorkPlane, true);
      }
      if (_setWorkPlane) {
        setWorkPlane(abc);
      }
    }
  } else { // pure 3D
    var remaining = _section.workPlane;
    if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
      error(localize("Tool orientation is not supported."));
      return abc;
    }
    setRotation(remaining);
  }
  if (currentSection && (currentSection.getId() == _section.getId())) {
    operationSupportsTCP = (_section.isMultiAxis() || !useMultiAxisFeatures) && _section.getOptimizedTCPMode() == OPTIMIZE_NONE;
  }
  return abc;
}

function onDwell(seconds) {
  if (seconds > 99999.999) {
    warning(localize("Dwelling time is out of range."));
  }
  seconds = clamp(0.001, seconds, 99999.999);
  writeBlock(gFeedModeModal.format(94), gFormat.format(4), "P" + milliFormat.format(seconds * 1000));
}

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)];
}

/** Convert approach to sign. */
function approach(value) {
  validate((value == "positive") || (value == "negative"), "Invalid approach.");
  return (value == "positive") ? 1 : -1;
}

function setProbeAngleMethod() {
  probeVariables.probeAngleMethod = (machineConfiguration.getNumberOfAxes() < 5 || is3D()) ? (getProperty("useG54x4") ? "G54.4" : "G68") : "UNSUPPORTED";
  var axes = [machineConfiguration.getAxisU(), machineConfiguration.getAxisV(), machineConfiguration.getAxisW()];
  for (var i = 0; i < axes.length; ++i) {
    if (axes[i].isEnabled() && isSameDirection((axes[i].getAxis()).getAbsolute(), new Vector(0, 0, 1)) && axes[i].isTable()) {
      probeVariables.probeAngleMethod = "AXIS_ROT";
      break;
    }
  }
  probeVariables.outputRotationCodes = true;
}

/** Output rotation offset based on angular probing cycle. */
function setProbeAngle() {
  if (probeVariables.outputRotationCodes) {
    validate(probeOutputWorkOffset <= 6, "Angular Probing only supports work offsets 1-6.");
    if (probeVariables.probeAngleMethod == "G68" && (Vector.diff(currentSection.getGlobalInitialToolAxis(), new Vector(0, 0, 1)).length > 1e-4)) {
      error(localize("You cannot use multi axis toolpaths while G68 Rotation is in effect."));
    }
    var validateWorkOffset = false;
    switch (probeVariables.probeAngleMethod) {
    case "G54.4":
      var param = 5801 + (probeOutputWorkOffset * 10);
      writeBlock("#" + param + "=#135");
      writeBlock("#" + (param + 1) + "=#136");
      writeBlock("#" + (param + 5) + "=#144");
      writeBlock(gFormat.format(54.4), "P" + probeOutputWorkOffset);
      break;
    case "G68":
      gRotationModal.reset();
      gAbsIncModal.reset();
      var n = xyzFormat.format(0);
      writeBlock(
        gRotationModal.format(68), gAbsIncModal.format(90),
        probeVariables.compensationXY, "Z" + n, "I" + n, "J" + n, "K" + xyzFormat.format(1), "R[#144]"
      );
      validateWorkOffset = true;
      break;
    case "AXIS_ROT":
      var param = 5200 + probeOutputWorkOffset * 20 + 5;
      writeBlock("#" + param + " = " + "[#" + param + " + #144]");
      forceWorkPlane(); // force workplane to rotate ABC in order to apply rotation offsets
      currentWorkOffset = undefined; // force WCS output to make use of updated parameters
      validateWorkOffset = true;
      break;
    default:
      error(localize("Angular Probing is not supported for this machine configuration."));
      return;
    }
    if (validateWorkOffset) {
      for (var i = currentSection.getId(); i < getNumberOfSections(); ++i) {
        if (getSection(i).workOffset != currentSection.workOffset) {
          error(localize("WCS offset cannot change while using angle rotation compensation."));
          return;
        }
      }
    }
    probeVariables.outputRotationCodes = false;
  }
}

function protectedProbeMove(_cycle, x, y, z) {
  var _x = xOutput.format(x);
  var _y = yOutput.format(y);
  var _z = zOutput.format(z);
  if (_z && z >= getCurrentPosition().z) {
    writeBlock(gFormat.format(65), "P" + 9810, _z, getFeed(cycle.feedrate)); // protected positioning move
  }
  if (_x || _y) {
    writeBlock(gFormat.format(65), "P" + 9810, _x, _y, getFeed(highFeedrate)); // protected positioning move
  }
  if (_z && z < getCurrentPosition().z) {
    writeBlock(gFormat.format(65), "P" + 9810, _z, getFeed(cycle.feedrate)); // protected positioning move
  }
}

function onCyclePoint(x, y, z) {
  if (cycleType == "inspect") {
    if (typeof inspectionCycleInspect == "function") {
      inspectionCycleInspect(cycle, x, y, z);
      return;
    } else {
      cycleNotSupported();
    }
  }
  if (!isSameDirection(getRotation().forward, new Vector(0, 0, 1))) {
    expandCyclePoint(x, y, z);
    return;
  }

  if (isProbeOperation()) {
    if (!useMultiAxisFeatures && !isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, 1))) {
      if (!allowIndexingWCSProbing && currentSection.strategy == "probe") {
        error(localize("Updating WCS / work offset using probing is only supported by the CNC in the WCS frame."));
        return;
      }
    }
    if (printProbeResults()) {
      writeProbingToolpathInformation(z - cycle.depth + tool.diameter / 2);
      inspectionWriteCADTransform();
      inspectionWriteWorkplaneTransform();
      if (typeof inspectionWriteVariables == "function") {
        inspectionVariables.pointNumber += 1;
      }
    }
    protectedProbeMove(cycle, x, y, z);
  }

  gRetractModal.reset();
  if (isFirstCyclePoint() || isProbeOperation()) {
    if (!isProbeOperation()) {
      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 : clamp(1, cycle.dwell * 1000, 99999999); // in milliseconds

    switch (cycleType) {
    case "drilling": // use G82
    case "counter-boring":
      var d0 = cycle.retract - cycle.stock;
      writeBlock(
        gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(82),
        getCommonCycle(x, y, z, cycle.retract),
        conditional(P > 0, "P" + milliFormat.format(P)),
        feedOutput.format(F),
        conditional(d0 > 0, "D" + milliFormat.format(d0))
      );
      break;
    case "chip-breaking":
      if (cycle.accumulatedDepth < cycle.depth) {
        expandCyclePoint(x, y, z);
      } else {
        var tz = cycle.incrementalDepth;
        // var d0 = (cycle.chipBreakDistance != undefined) ? cycle.chipBreakDistance : machineParameters.chipBreakingDistance;
        var k0 = cycle.retract - cycle.stock;
        // d0 not supported
        writeBlock(
          gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(73),
          getCommonCycle(x, y, z, cycle.retract),
          "Q" + xyzFormat.format(tz),
          conditional(P > 0, "P" + milliFormat.format(P)),
          feedOutput.format(F),
          // conditional(d0 > 0, "D" + xyzFormat.format(d0)), // use parameter F12
          conditional(k0 > 0, "K" + xyzFormat.format(k0))
        );
      }
      break;
    case "deep-drilling":
      var tz = cycle.incrementalDepth;
      var k0 = cycle.retract - cycle.stock;
      // d0 not supported
      if (cycle.dwell > 0) { // not supported by cycle
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(83),
          getCommonCycle(x, y, z, cycle.retract),
          "Q" + xyzFormat.format(tz),
          feedOutput.format(F),
          conditional(k0 > 0, "K" + xyzFormat.format(k0))
        );
      }
      break;
    case "tapping":
      if (getProperty("usePitchForTapping")) {
        writeBlock(
          gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84),
          getCommonCycle(x, y, z, cycle.retract),
          pitchOutput.format(tool.threadPitch)
        );
        forceFeed();
      } else {
        F = tool.getTappingFeedrate();
        writeBlock(
          gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84),
          getCommonCycle(x, y, z, cycle.retract),
          feedOutput.format(F)
        );
      }
      break;
    case "left-tapping":
      if (getProperty("usePitchForTapping")) {
        writeBlock(
          gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(74),
          getCommonCycle(x, y, z, cycle.retract),
          pitchOutput.format(tool.threadPitch)
        );
        forceFeed();
      } else {
        F = tool.getTappingFeedrate();
        writeBlock(
          gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(74),
          getCommonCycle(x, y, z, cycle.retract),
          feedOutput.format(F)
        );
      }
      break;
    case "right-tapping":
      if (getProperty("usePitchForTapping")) {
        writeBlock(
          gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(84),
          getCommonCycle(x, y, z, cycle.retract),
          pitchOutput.format(tool.threadPitch)
        );
        forceFeed();
      } else {
        F = tool.getTappingFeedrate();
        writeBlock(
          gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(84),
          getCommonCycle(x, y, z, cycle.retract),
          feedOutput.format(F)
        );
      }
      break;
    case "fine-boring":
      // TAG: add support for counterclockwise direction
      var d0 = cycle.retract - cycle.stock;
      writeBlock(
        gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(76),
        getCommonCycle(x, y, z, cycle.retract),
        conditional(P > 0, "P" + milliFormat.format(P)),
        "Q" + xyzFormat.format(cycle.shift),
        feedOutput.format(F),
        conditional(d0 > 0, "D" + xyzFormat.format(d0))
      );
      break;
    case "back-boring":
      var dx = (gPlaneModal.getCurrent() == 19) ? cycle.backBoreDistance : 0;
      var dy = (gPlaneModal.getCurrent() == 18) ? cycle.backBoreDistance : 0;
      var dz = (gPlaneModal.getCurrent() == 17) ? cycle.backBoreDistance : 0;
      writeBlock(
        gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(87),
        getCommonCycle(x - dx, y - dy, z - dz, cycle.bottom),
        feedOutput.format(F),
        conditional(P > 0, "P" + milliFormat.format(P)),
        "Q" + xyzFormat.format(cycle.shift)
      );
      break;
    case "reaming":
      var d0 = cycle.retract - cycle.stock;
      var f1 = cycle.retractFeedrate;
      writeBlock(
        gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(85),
        getCommonCycle(x, y, z, cycle.retract),
        feedOutput.format(F),
        conditional(P > 0, "P" + milliFormat.format(P)),
        conditional(f1 != F, "E" + feedFormat.format(f1)),
        conditional(d0 > 0, "D" + xyzFormat.format(d0))
      );
      break;
    case "stop-boring":
      writeBlock(
        gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(86),
        getCommonCycle(x, y, z, cycle.retract),
        feedOutput.format(F),
        conditional(P > 0, "P" + milliFormat.format(P))
      );
      break;
    case "manual-boring":
      writeBlock(
        gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(88),
        getCommonCycle(x, y, z, cycle.retract),
        feedOutput.format(F),
        conditional(P > 0, "P" + milliFormat.format(P))
      );
      break;
    case "boring":
      writeBlock(
        gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(89),
        getCommonCycle(x, y, z, cycle.retract),
        feedOutput.format(F),
        conditional(P > 0, "P" + milliFormat.format(P))
      );
      break;
    case "probing-x":
      protectedProbeMove(cycle, x, y, z - cycle.depth);
      writeBlock(
        gFormat.format(65), "P" + 9811,
        "X" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-y":
      protectedProbeMove(cycle, x, y, z - cycle.depth);
      writeBlock(
        gFormat.format(65), "P" + 9811,
        "Y" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-z":
      protectedProbeMove(cycle, x, y, Math.min(z - cycle.depth + cycle.probeClearance, cycle.retract));
      writeBlock(
        gFormat.format(65), "P" + 9811,
        "Z" + xyzFormat.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-x-wall":
      protectedProbeMove(cycle, x, y, z);
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "X" + xyzFormat.format(cycle.width1),
        "Z" + xyzFormat.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-y-wall":
      protectedProbeMove(cycle, x, y, z);
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Y" + xyzFormat.format(cycle.width1),
        "Z" + xyzFormat.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-x-channel":
      protectedProbeMove(cycle, x, y, z - cycle.depth);
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "X" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        // not required "R" + xyzFormat.format(cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-x-channel-with-island":
      protectedProbeMove(cycle, x, y, z);
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "X" + xyzFormat.format(cycle.width1),
        "Z" + xyzFormat.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(-cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-y-channel":
      protectedProbeMove(cycle, x, y, z - cycle.depth);
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Y" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        // not required "R" + xyzFormat.format(cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-y-channel-with-island":
      protectedProbeMove(cycle, x, y, z);
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Y" + xyzFormat.format(cycle.width1),
        "Z" + xyzFormat.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(-cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-xy-circular-boss":
      protectedProbeMove(cycle, x, y, z);
      writeBlock(
        gFormat.format(65), "P" + 9814,
        "D" + xyzFormat.format(cycle.width1),
        "Z" + xyzFormat.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-xy-circular-partial-boss":
      protectedProbeMove(cycle, x, y, z);
      writeBlock(
        gFormat.format(65), "P" + 9823,
        "A" + xyzFormat.format(cycle.partialCircleAngleA),
        "B" + xyzFormat.format(cycle.partialCircleAngleB),
        "C" + xyzFormat.format(cycle.partialCircleAngleC),
        "D" + xyzFormat.format(cycle.width1),
        "Z" + xyzFormat.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-xy-circular-hole":
      protectedProbeMove(cycle, x, y, z - cycle.depth);
      writeBlock(
        gFormat.format(65), "P" + 9814,
        "D" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        // not required "R" + xyzFormat.format(cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-xy-circular-partial-hole":
      protectedProbeMove(cycle, x, y, z - cycle.depth);
      writeBlock(
        gFormat.format(65), "P" + 9823,
        "A" + xyzFormat.format(cycle.partialCircleAngleA),
        "B" + xyzFormat.format(cycle.partialCircleAngleB),
        "C" + xyzFormat.format(cycle.partialCircleAngleC),
        "D" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-xy-circular-hole-with-island":
      protectedProbeMove(cycle, x, y, z);
      writeBlock(
        gFormat.format(65), "P" + 9814,
        "Z" + xyzFormat.format(z - cycle.depth),
        "D" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(-cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-xy-circular-partial-hole-with-island":
      protectedProbeMove(cycle, x, y, z);
      writeBlock(
        gFormat.format(65), "P" + 9823,
        "Z" + xyzFormat.format(z - cycle.depth),
        "A" + xyzFormat.format(cycle.partialCircleAngleA),
        "B" + xyzFormat.format(cycle.partialCircleAngleB),
        "C" + xyzFormat.format(cycle.partialCircleAngleC),
        "D" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(-cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-xy-rectangular-hole":
      protectedProbeMove(cycle, x, y, z - cycle.depth);
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "X" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        // not required "R" + xyzFormat.format(-cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Y" + xyzFormat.format(cycle.width2),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        // not required "R" + xyzFormat.format(-cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-xy-rectangular-boss":
      protectedProbeMove(cycle, x, y, z);
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Z" + xyzFormat.format(z - cycle.depth),
        "X" + xyzFormat.format(cycle.width1),
        "R" + xyzFormat.format(cycle.probeClearance),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        getProbingArguments(cycle, true)
      );
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Z" + xyzFormat.format(z - cycle.depth),
        "Y" + xyzFormat.format(cycle.width2),
        "R" + xyzFormat.format(cycle.probeClearance),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-xy-rectangular-hole-with-island":
      protectedProbeMove(cycle, x, y, z);
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Z" + xyzFormat.format(z - cycle.depth),
        "X" + xyzFormat.format(cycle.width1),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(-cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      writeBlock(
        gFormat.format(65), "P" + 9812,
        "Z" + xyzFormat.format(z - cycle.depth),
        "Y" + xyzFormat.format(cycle.width2),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(-cycle.probeClearance),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-xy-inner-corner":
      var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2);
      var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter / 2);
      var cornerI = 0;
      var cornerJ = 0;
      if (cycle.probeSpacing !== undefined) {
        cornerI = cycle.probeSpacing;
        cornerJ = cycle.probeSpacing;
      }
      if ((cornerI != 0) && (cornerJ != 0)) {
        if (currentSection.strategy == "probe") {
          setProbeAngleMethod();
          probeVariables.compensationXY = "X[#135] Y[#136]";
        }
      }
      protectedProbeMove(cycle, x, y, z - cycle.depth);
      writeBlock(
        gFormat.format(65), "P" + 9815, xOutput.format(cornerX), yOutput.format(cornerY),
        conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
        conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-xy-outer-corner":
      var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2);
      var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter / 2);
      var cornerI = 0;
      var cornerJ = 0;
      if (cycle.probeSpacing !== undefined) {
        cornerI = cycle.probeSpacing;
        cornerJ = cycle.probeSpacing;
      }
      if ((cornerI != 0) && (cornerJ != 0)) {
        if (currentSection.strategy == "probe") {
          setProbeAngleMethod();
          probeVariables.compensationXY = "X[#135] Y[#136]";
        }
      }
      protectedProbeMove(cycle, x, y, z - cycle.depth);
      writeBlock(
        gFormat.format(65), "P" + 9816, xOutput.format(cornerX), yOutput.format(cornerY),
        conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
        conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        getProbingArguments(cycle, true)
      );
      break;
    case "probing-x-plane-angle":
      protectedProbeMove(cycle, x, y, z - cycle.depth);
      writeBlock(
        gFormat.format(65), "P" + 9843,
        "X" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
        "D" + xyzFormat.format(cycle.probeSpacing),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "A" + xyzFormat.format(cycle.nominalAngle != undefined ? cycle.nominalAngle : 90),
        getProbingArguments(cycle, false)
      );
      if (currentSection.strategy == "probe") {
        setProbeAngleMethod();
        probeVariables.compensationXY = "X" + xyzFormat.format(0) + " Y" + xyzFormat.format(0);
      }
      break;
    case "probing-y-plane-angle":
      protectedProbeMove(cycle, x, y, z - cycle.depth);
      writeBlock(
        gFormat.format(65), "P" + 9843,
        "Y" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
        "D" + xyzFormat.format(cycle.probeSpacing),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "A" + xyzFormat.format(cycle.nominalAngle != undefined ? cycle.nominalAngle : 0),
        getProbingArguments(cycle, false)
      );
      if (currentSection.strategy == "probe") {
        setProbeAngleMethod();
        probeVariables.compensationXY = "X" + xyzFormat.format(0) + " Y" + xyzFormat.format(0);
      }
      break;
    case "probing-xy-pcd-hole":
      protectedProbeMove(cycle, x, y, z);
      writeBlock(
        gFormat.format(65), "P" + 9819,
        "A" + xyzFormat.format(cycle.pcdStartingAngle),
        "B" + xyzFormat.format(cycle.numberOfSubfeatures),
        "C" + xyzFormat.format(cycle.widthPCD),
        "D" + xyzFormat.format(cycle.widthFeature),
        "K" + xyzFormat.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        getProbingArguments(cycle, false)
      );
      if (cycle.updateToolWear) {
        error(localize("Action -Update Tool Wear- is not supported with this cycle."));
        return;
      }
      break;
    case "probing-xy-pcd-boss":
      protectedProbeMove(cycle, x, y, z);
      writeBlock(
        gFormat.format(65), "P" + 9819,
        "A" + xyzFormat.format(cycle.pcdStartingAngle),
        "B" + xyzFormat.format(cycle.numberOfSubfeatures),
        "C" + xyzFormat.format(cycle.widthPCD),
        "D" + xyzFormat.format(cycle.widthFeature),
        "Z" + xyzFormat.format(z - cycle.depth),
        "Q" + xyzFormat.format(cycle.probeOvertravel),
        "R" + xyzFormat.format(cycle.probeClearance),
        getProbingArguments(cycle, false)
      );
      if (cycle.updateToolWear) {
        error(localize("Action -Update Tool Wear- is not supported with this cycle."));
        return;
      }
      break;
    default:
      expandCyclePoint(x, y, z);
    }
  } else {
    if (cycleExpanded) {
      expandCyclePoint(x, y, z);
    } else {
      var _x = xOutput.format(x);
      var _y = yOutput.format(y);
      var _z = zOutput.format(z);
      if (!_x && !_y && !_z) {
        switch (gPlaneModal.getCurrent()) {
        case 17: // XY
          xOutput.reset(); // at least one axis is required
          _x = xOutput.format(x);
          break;
        case 18: // ZX
          zOutput.reset(); // at least one axis is required
          _z = zOutput.format(z);
          break;
        case 19: // YZ
          yOutput.reset(); // at least one axis is required
          _y = yOutput.format(y);
          break;
        }
      }
      writeBlock(_x, _y, _z);
    }
  }
}

function getProbingArguments(cycle, updateWCS) {
  var outputWCSCode = updateWCS && currentSection.strategy == "probe";
  if (outputWCSCode) {
    validate(probeOutputWorkOffset <= 99, "Work offset is out of range.");
    var nextWorkOffset = hasNextSection() ? getNextSection().workOffset == 0 ? 1 : getNextSection().workOffset : -1;
    if (probeOutputWorkOffset == nextWorkOffset) {
      currentWorkOffset = undefined;
    }
  }
  return [
    (cycle.angleAskewAction == "stop-message" ? "B" + xyzFormat.format(cycle.toleranceAngle ? cycle.toleranceAngle : 0) : undefined),
    ((cycle.updateToolWear && cycle.toolWearErrorCorrection < 100) ? "F" + xyzFormat.format(cycle.toolWearErrorCorrection ? cycle.toolWearErrorCorrection / 100 : 100) : undefined),
    (cycle.wrongSizeAction == "stop-message" ? "H" + xyzFormat.format(cycle.toleranceSize ? cycle.toleranceSize : 0) : undefined),
    (cycle.outOfPositionAction == "stop-message" ? "M" + xyzFormat.format(cycle.tolerancePosition ? cycle.tolerancePosition : 0) : undefined),
    ((cycle.updateToolWear && cycleType == "probing-z") ? "T" + xyzFormat.format(cycle.toolLengthOffset) : undefined),
    ((cycle.updateToolWear && cycleType !== "probing-z") ? "T" + xyzFormat.format(cycle.toolDiameterOffset) : undefined),
    (cycle.updateToolWear ? "V" + xyzFormat.format(cycle.toolWearUpdateThreshold ? cycle.toolWearUpdateThreshold : 0) : undefined),
    (cycle.printResults ? "W" + xyzFormat.format(1 + cycle.incrementComponent) : undefined), // 1 for advance feature, 2 for reset feature count and advance component number. first reported result in a program should use W2.
    conditional(outputWCSCode, "S" + probeWCSFormat.format(probeOutputWorkOffset > 6 ? (probeOutputWorkOffset - 6 + 100) : probeOutputWorkOffset))
  ];
}

function onCycleEnd() {
  if (isProbeOperation()) {
    zOutput.reset();
    gMotionModal.reset();
    writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(cycle.retract)); // protected retract move
  } else {
    if (!cycleExpanded) {
      writeBlock(gCycleModal.format(80));
      gMotionModal.reset();
    }
  }
}

var pendingRadiusCompensation = -1;

function onRadiusCompensation() {
  pendingRadiusCompensation = radiusCompensation;
}

function onRapid(_x, _y, _z) {
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      error(localize("Radius compensation mode cannot be changed at rapid traversal."));
      return;
    }
    writeBlock(gMotionModal.format(0), x, y, z);
    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 > 512) {
        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()) {
    forceXYZ();
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var a = currentSection.isOptimizedForMachine() ? aOutput.format(_a) : "I" + ijkFormat.format(_a);
  var b = currentSection.isOptimizedForMachine() ? bOutput.format(_b) : "J" + ijkFormat.format(_b);
  var c = currentSection.isOptimizedForMachine() ? cOutput.format(_c) : "K" + ijkFormat.format(_c);

  writeBlock(gMotionModal.format(0), x, y, z, a, b, c);
  forceFeed();
}

function onLinear5D(_x, _y, _z, _a, _b, _c, feed, feedMode) {
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
    return;
  }
  if (!currentSection.isOptimizedForMachine()) {
    forceXYZ();
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var a = currentSection.isOptimizedForMachine() ? aOutput.format(_a) : "I" + ijkFormat.format(_a);
  var b = currentSection.isOptimizedForMachine() ? bOutput.format(_b) : "J" + ijkFormat.format(_b);
  var c = currentSection.isOptimizedForMachine() ? cOutput.format(_c) : "K" + ijkFormat.format(_c);
  if (feedMode == FEED_INVERSE_TIME) {
    forceFeed();
  }
  var f = feedMode == FEED_INVERSE_TIME ? inverseTimeOutput.format(feed) : getFeed(feed);
  var fMode = feedMode == FEED_INVERSE_TIME ? 93 : 94;

  if (x || y || z || a || b || c) {
    writeBlock(gFeedModeModal.format(fMode), gMotionModal.format(1), x, y, z, a, b, c, f);
  } else if (f) {
    if (getNextRecord().isMotion()) { // try not to output feed without motion
      forceFeed(); // force feed on next line
    } else {
      writeBlock(gFeedModeModal.format(fMode), gMotionModal.format(1), f);
    }
  }
}

function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
  if (isSpiral()) {
    var startRadius = getCircularStartRadius();
    var endRadius = getCircularRadius();
    var dr = Math.abs(endRadius - startRadius);
    if (dr > maximumCircularRadiiDifference) { // maximum limit
      linearize(tolerance); // or alternatively use other G-codes for spiral motion
      return;
    }
  }

  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
    return;
  }

  var start = getCurrentPosition();

  if (isFullCircle()) {
    if (getProperty("useRadius") || isHelical()) { // radius mode does not support full arcs
      linearize(tolerance);
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(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(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(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 (!getProperty("useRadius")) {
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(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(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(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;
var forceCoolant = false;

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

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

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

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

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

function onCommand(command) {
  switch (command) {
  case COMMAND_STOP:
    writeBlock(mFormat.format(0));
    forceSpindleSpeed = true;
    forceCoolant = true;
    return;
  case COMMAND_OPTIONAL_STOP:
    writeBlock(mFormat.format(1));
    forceSpindleSpeed = true;
    forceCoolant = true;
    return;
  case COMMAND_COOLANT_ON:
    setCoolant(COOLANT_FLOOD);
    return;
  case COMMAND_COOLANT_OFF:
    setCoolant(COOLANT_OFF);
    return;
  case COMMAND_START_SPINDLE:
    onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
    return;
  case COMMAND_LOCK_MULTI_AXIS:
    if (machineConfiguration.isMultiAxisConfiguration() && (machineConfiguration.getNumberOfAxes() >= 4)) {
      writeBlock(mClampModal.format(44)); // lock 4th-axis motion
      if (machineConfiguration.getNumberOfAxes() == 5) {
        writeBlock(mClampModal.format(47)); // lock 5th-axis motion
      }
    }
    return;
  case COMMAND_UNLOCK_MULTI_AXIS:
    var outputClampCodes = getProperty("useClampCodes") || currentSection.isMultiAxis();
    if (outputClampCodes && machineConfiguration.isMultiAxisConfiguration() && (machineConfiguration.getNumberOfAxes() >= 4)) {
      writeBlock(mClampModal.format(43)); // unlock 4th-axis motion
      if (machineConfiguration.getNumberOfAxes() == 5) {
        writeBlock(mClampModal.format(46)); // unlock 5th-axis motion
      }
    }
    return;
  case COMMAND_START_CHIP_TRANSPORT:
    return;
  case COMMAND_STOP_CHIP_TRANSPORT:
    return;
  case COMMAND_BREAK_CONTROL:
    return;
  case COMMAND_TOOL_MEASURE:
    return;
  case COMMAND_PROBE_ON:
    return;
  case COMMAND_PROBE_OFF:
    return;
  }

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

function onSectionEnd() {
  if (typeof inspectionProcessSectionEnd == "function") {
    inspectionProcessSectionEnd();
  }

  if (currentSection.isMultiAxis()) {
    writeBlock(gFeedModeModal.format(94)); // inverse time feed off
  }

  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();
  }

  if (isProbeOperation()) {
    writeBlock(gFormat.format(65), "P" + 9833); // spin the probe off
    if (probeVariables.probeAngleMethod != "G68") {
      setProbeAngle(); // output probe angle rotations if required
    }
  }
  forceAny();
}

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

  for (i in arguments) {
    retractAxes[arguments[i]] = true;
  }
  if ((retractAxes[0] || retractAxes[1]) && !retracted) { // retract Z first before moving to X/Y home
    error(localize("Retracting in X/Y is not possible without being retracted in Z."));
    return;
  }
  // special conditions
  /*
  if (retractAxes[2]) { // Z doesn't use G53
    method = "G28";
  }
  */
  if (gRotationModal.getCurrent() == 68) { // cancel G68 before retracting
    cancelWorkPlane(true);
  }

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

var isDPRNTopen = false;
function inspectionCreateResultsFileHeader() {
  if (isDPRNTopen) {
    if (!getProperty("singleResultsFile")) {
      writeln("DPRNT[END]");
      writeBlock("PCLOS");
      isDPRNTopen = false;
    }
  }

  if (isProbeOperation() && !printProbeResults()) {
    return; // if print results is not desired by probe/ probeWCS
  }

  if (!isDPRNTopen) {
    writeBlock("PCLOS");
    writeBlock("POPEN");
    // check for existence of none alphanumeric characters but not spaces
    var resFile;
    if (getProperty("singleResultsFile")) {
      resFile = getParameter("job-description") + "-RESULTS";
    } else {
      resFile = getParameter("operation-comment") + "-RESULTS";
    }
    resFile = resFile.replace(/:/g, "-");
    resFile = resFile.replace(/[^a-zA-Z0-9 -]/g, "");
    resFile = resFile.replace(/\s/g, "-");
    writeln("DPRNT[START]");
    writeln("DPRNT[RESULTSFILE*" + resFile + "]");
    if (hasGlobalParameter("document-id")) {
      writeln("DPRNT[DOCUMENTID*" + getGlobalParameter("document-id") + "]");
    }
    if (hasGlobalParameter("model-version")) {
      writeln("DPRNT[MODELVERSION*" + getGlobalParameter("model-version") + "]");
    }
  }
  if (isProbeOperation() && printProbeResults()) {
    isDPRNTopen = true;
  }
}

function getPointNumber() {
  if (typeof inspectionWriteVariables == "function") {
    return (inspectionVariables.pointNumber);
  } else {
    return ("#122[60]");
  }
}

function inspectionWriteCADTransform() {
  var cadOrigin = currentSection.getModelOrigin();
  var cadWorkPlane = currentSection.getModelPlane().getTransposed();
  var cadEuler = cadWorkPlane.getEuler2(EULER_XYZ_S);
  writeln(
    "DPRNT[G331" +
    "*N" + getPointNumber() +
    "*A" + abcFormat.format(cadEuler.x) +
    "*B" + abcFormat.format(cadEuler.y) +
    "*C" + abcFormat.format(cadEuler.z) +
    "*X" + xyzFormat.format(-cadOrigin.x) +
    "*Y" + xyzFormat.format(-cadOrigin.y) +
    "*Z" + xyzFormat.format(-cadOrigin.z) +
    "]"
  );
}

function inspectionWriteWorkplaneTransform() {
  var orientation = (machineConfiguration.isMultiAxisConfiguration() && currentMachineABC != undefined) ? machineConfiguration.getOrientation(currentMachineABC) : currentSection.workPlane;
  var abc = orientation.getEuler2(EULER_XYZ_S);
  writeln("DPRNT[G330" +
    "*N" + getPointNumber() +
    "*A" + abcFormat.format(abc.x) +
    "*B" + abcFormat.format(abc.y) +
    "*C" + abcFormat.format(abc.z) +
    "*X0*Y0*Z0*I0*R0]"
  );
}

function writeProbingToolpathInformation(cycleDepth) {
  writeln("DPRNT[TOOLPATHID*" + getParameter("autodeskcam:operation-id") + "]");
  if (isInspectionOperation()) {
    writeln("DPRNT[TOOLPATH*" + getParameter("operation-comment") + "]");
  } else {
    writeln("DPRNT[CYCLEDEPTH*" + xyzFormat.format(cycleDepth) + "]");
  }
}

// Start of onRewindMachine logic
/** Allow user to override the onRewind logic. */
function onRewindMachineEntry(_a, _b, _c) {
  return false;
}

/** Retract to safe position before indexing rotaries. */
function onMoveToSafeRetractPosition() {
  writeRetract(Z);
  // cancel TCP so that tool doesn't follow rotaries
  if (currentSection.isMultiAxis() && operationSupportsTCP) {
    disableLengthCompensation(false, "TCPC OFF");
  }
}

/** Rotate axes to new position above reentry position */
function onRotateAxes(_x, _y, _z, _a, _b, _c) {
  // position rotary axes
  xOutput.disable();
  yOutput.disable();
  zOutput.disable();
  invokeOnRapid5D(_x, _y, _z, _a, _b, _c);
  setCurrentABC(new Vector(_a, _b, _c));
  xOutput.enable();
  yOutput.enable();
  zOutput.enable();
}

/** Return from safe position after indexing rotaries. */
function onReturnFromSafeRetractPosition(_x, _y, _z) {
  // reinstate TCP / tool length compensation
  if (!lengthCompensationActive) {
    writeBlock(gFormat.format(getOffsetCode()), hFormat.format(tool.lengthOffset));
    lengthCompensationActive = true;
  }

  // position in XY
  forceXYZ();
  xOutput.reset();
  yOutput.reset();
  zOutput.disable();
  invokeOnRapid(_x, _y, _z);

  // position in Z
  zOutput.enable();
  invokeOnRapid(_x, _y, _z);
}
// End of onRewindMachine logic

function onClose() {
  if (isDPRNTopen) {
    writeln("DPRNT[END]");
    writeBlock("PCLOS");
    isDPRNTopen = false;
    if (typeof inspectionProcessSectionEnd == "function") {
      inspectionProcessSectionEnd();
    }
  }

  if (probeVariables.probeAngleMethod == "G68") {
    cancelWorkPlane();
  }
  writeln("");

  onCommand(COMMAND_STOP_SPINDLE);
  onCommand(COMMAND_COOLANT_OFF);

  writeRetract(Z);
  disableLengthCompensation(true);

  setSmoothing(false);

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

  if (probeVariables.probeAngleMethod == "G54.4") {
    writeBlock(gFormat.format(54.4), "P0");
  }

  onImpliedCommand(COMMAND_END);
  onImpliedCommand(COMMAND_STOP_SPINDLE);
  writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
}

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