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

  MultiCam ISO post processor configuration.

  $Revision: 42145 3ef6ef136f68132df4d932bf16f29ac1ec1b893b $
  $Date: 2018-09-28 16:13:20 $
  
  FORKID {2B4EEF1D-EEE3-46ed-87F8-CC90E06689A3}
*/

description = "MultiCam ISO";
vendor = "MultiCam";
vendorUrl = "http://www.multicam.com";
legal = "Copyright (C) 2012-2018 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 40783;

longDescription = "Generic ISO post for MultiCam. You can set the property 'retractZlevel' to a non-zero value to make the machine retract to the given Z-level between operations.";

extension = "cnc";
setCodePage("ascii");

capabilities = CAPABILITY_MILLING;
tolerance = spatial(0.002, MM);
minimumChordLength = spatial(0.25, MM);
minimumCircularRadius = spatial(0.01, MM);
maximumCircularRadius = spatial(1000, MM);
minimumCircularSweep = toRad(0.01);
maximumCircularSweep = toRad(180);
allowHelicalMoves = true;
allowedCircularPlanes = undefined; // allow any circular motion



// user-defined properties
properties = {
  writeHeader: true, // write additional header information
  writeMachine: true, // write machine
  writeTools: true, // writes the tools
  showSequenceNumbers: true, // show sequence numbers
  showSequenceNumbersAtToolChange: false, // only show sequence numbers at tool change
  sequenceNumberStart: 10, // first sequence number
  sequenceNumberIncrement: 5, // increment for sequence numbers
  optionalStop: false, // optional stop
  separateWordsWithSpace: true, // specifies that the words should be separated with a white space
  retractZlevel: 0, // safe retract Z-level. 0 means disabled.
  useIPS: false, // Output IPM feed as IPS
  useCycles: true // enable to output drilling cycles
};

// user-defined property definitions
propertyDefinitions = {
  writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
  writeHeader: {title:"Write header information", description:"If enabled, additional header information will be output.", group:0, type:"boolean"},
  writeTools: {title:"Write tool list", description:"Output a tool list in the header of the code.", group:0, type:"boolean"},
  showSequenceNumbers: {title:"Use sequence numbers", description:"Use sequence numbers for each block of outputted code.", group:1, type:"boolean"},
  showSequenceNumbersAtToolChange: {title:"Sequence number only on tool change", description:"If enabled, sequence numbers are only outputted when a toolchange is called.", type:"boolean"},
  sequenceNumberStart: {title:"Start sequence number", description:"The number at which to start the sequence numbers.", group:1, type:"integer"},
  sequenceNumberIncrement: {title:"Sequence number increment", description:"The amount by which the sequence number is incremented by in each block.", group:1, type:"integer"},
  optionalStop: {title:"Optional stop", description:"Outputs optional stop code during when necessary in the code.", type:"boolean"},
  separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
  retractZlevel: {title:"Retract Z level", description:"Sets the safe retracts Z level. 0 = disabled.", type:"number"},
  useIPS: {title:"Output IPM feed as IPS.", type:"boolean"},
  useCycles: {title:"Use cycles", description:"Specifies if canned drilling cycles should be used.", type:"boolean"}
};

var numberOfToolSlots = 9999;

var WARNING_WORK_OFFSET = 0;
var WARNING_COOLANT = 1;



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

var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var zFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:-1});
var feedFormat = createFormat({decimals:(unit == MM ? 1 : 2)});
var toolFormat = createFormat({decimals:0});
var rpmFormat = createFormat({decimals:0});
var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-1000
var taperFormat = createFormat({decimals:1, scale:DEG});

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

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

var gMotionModal = createModal({force:true}, gFormat); // modal group 1 // G0-G3, ...
var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91
var gCycleModal = createModal({force:true}, gFormat); // modal group 9 // G81, ...

// collected state
var sequenceNumber;
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 (properties.showSequenceNumbers && !properties.showSequenceNumbersAtToolChange) {
    writeWords2("N" + sequenceNumber, arguments);
    sequenceNumber += properties.sequenceNumberIncrement;
  } else {
    writeWords(arguments);
  }
}

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

function onOpen() {

  if (properties.retractZlevel != 0) {
    machineConfiguration.setRetractPlane(properties.retractZlevel);
  }

  if (!properties.separateWordsWithSpace) {
    setWordSeparator("");
  }

  sequenceNumber = properties.sequenceNumberStart;
  writeBlock(mFormat.format(90));

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

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

    writeComment("Multicam Router");

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


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

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

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

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

  writeBlock(gAbsIncModal.format(90)); // absolute coordinates
  writeBlock(gFormat.format(74)); // incremental arc mode
  writeBlock(gPlaneModal.format(17));
}

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

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

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

function onParameter(name, value) {
}

function onSection() {
  var insertToolCall = isFirstSection() ||
    currentSection.getForceToolChange && currentSection.getForceToolChange() ||
    (tool.number != getPreviousSection().getTool().number);
  
  retracted = false;
  if (isFirstSection() || insertToolCall) {
    if (machineConfiguration.getRetractPlane() != 0) {
      // retract to safe plane
      writeRetract(Z);
    }
  }

  writeln("");
  
  if (insertToolCall) {
    if ((tool.type == TOOL_TAP_LEFT_HAND) || (tool.type == TOOL_TAP_RIGHT_HAND)) {
      writeBlock(gFormat.format(98), "P126", "D1");
    }
    
    onCommand(COMMAND_COOLANT_OFF);
  
    if (!isFirstSection() && properties.optionalStop) {
      onCommand(COMMAND_OPTIONAL_STOP);
    }

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

    if (properties.showSequenceNumbers && properties.showSequenceNumbersAtToolChange) {
      writeBlock("N" + sequenceNumber, gFormat.format(0), "T" + toolFormat.format(tool.number));
      sequenceNumber += properties.sequenceNumberIncrement;
    } else {
      writeBlock(gFormat.format(0), "T" + toolFormat.format(tool.number));
    }
    if (tool.comment) {
      writeComment(tool.comment);
    }
    var showToolZMin = false;
    if (showToolZMin) {
      if (is3D()) {
        var numberOfSections = getNumberOfSections();
        var zRange = currentSection.getGlobalZRange();
        var number = tool.number;
        for (var i = currentSection.getId() + 1; i < numberOfSections; ++i) {
          var section = getSection(i);
          if (section.getTool().number != number) {
            break;
          }
          zRange.expandToRange(section.getGlobalZRange());
        }
        writeComment(localize("ZMIN") + "=" + zRange.getMinimum());
      }
    }
  }
  
  if (insertToolCall ||
      isFirstSection() ||
      (rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) ||
      (tool.clockwise != getPreviousSection().getTool().clockwise)) {
    if (spindleSpeed < 1) {
      error(localize("Spindle speed out of range."));
    }
    if (spindleSpeed > 99999) {
      warning(localize("Spindle speed exceeds maximum value."));
    }
    writeBlock(gFormat.format(97), sOutput.format(((tool.type == TOOL_TAP_LEFT_HAND) ? -1 : 1) * spindleSpeed));
  }

  // wcs
  if (currentSection.workOffset != 0) {
    warningOnce(localize("Work offset is not supported."), WARNING_WORK_OFFSET);
  }

  forceXYZ();

  if (tool.coolant != COOLANT_OFF) {
    warningOnce(localize("Coolant not supported."), WARNING_COOLANT);
  }

  forceAny();

  {
    var remaining = currentSection.workPlane;
    if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
      error(localize("Tool orientation is not supported."));
      return;
    }
    setRotation(remaining);
  }

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

  if (insertToolCall) {
    gMotionModal.reset();
    writeBlock(gPlaneModal.format(17));
    
    writeBlock(
      gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y)
    );
    writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z));
  } else {
    writeBlock(
      gAbsIncModal.format(90),
      gMotionModal.format(0),
      xOutput.format(initialPosition.x),
      yOutput.format(initialPosition.y)
    );
  }

  writeBlock(mFormat.format(12));
}

function onDwell(seconds) {
  if (seconds > 99999.999) {
    warning(localize("Dwelling time is out of range."));
  }
  seconds = clamp(0.001, seconds, 99999.999);
  writeBlock(gFormat.format(4), "F" + secFormat.format(seconds));
}

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

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."));
    }
    writeBlock(gMotionModal.format(0), x, y, z);
    feedOutput.reset();
  }
}

function onLinear(_x, _y, _z, feed) {
  // Convert IPM to IPS
  if (properties.useIPS) {
	feed = (feed/60);
  }
  // at least one axis is required
  if (pendingRadiusCompensation >= 0) {
    // ensure that we end at desired position when compensation is turned off
    xOutput.reset();
    yOutput.reset();
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var f = feedOutput.format(feed);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      pendingRadiusCompensation = -1;
      writeBlock(gPlaneModal.format(17));
      switch (radiusCompensation) {
      case RADIUS_COMPENSATION_LEFT:
        writeBlock(gFormat.format(41));
        writeBlock(gMotionModal.format(1), x, y, z, f);
        break;
      case RADIUS_COMPENSATION_RIGHT:
        writeBlock(gFormat.format(42));
        writeBlock(gMotionModal.format(1), x, y, z, f);
        break;
      default:
        writeBlock(gFormat.format(40));
        writeBlock(gMotionModal.format(1), x, y, z, f);
      }
    } else {
      writeBlock(gMotionModal.format(1), x, y, z, f);
    }
  } else if (f) {
    if (getNextRecord().isMotion()) { // try not to output feed without motion
      feedOutput.reset(); // force feed on next line
    } else {
      writeBlock(gMotionModal.format(1), f);
    }
  }
}

function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
  if (properties.useIPS) {
        feed = (feed/60);
  }
  if (isHelical()) {
    var t = tolerance;
    if (hasParameter("operation:tolerance")) {
      t = getParameter("operation:tolerance");
    }
    linearize(t);
    return;
  }

  // one of X/Y and I/J are required and likewise
  
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
    return;
  }

  var start = getCurrentPosition();

  switch (getCircularPlane()) {
  case PLANE_XY:
    writeBlock(gPlaneModal.format(17));
    writeBlock(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), feedOutput.format(feed));
    break;
  case PLANE_ZX:
    writeBlock(gPlaneModal.format(18));
    writeBlock(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), feedOutput.format(feed));
    break;
  case PLANE_YZ:
    writeBlock(gPlaneModal.format(19));
    writeBlock(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), feedOutput.format(feed));
    break;
  default:
    var t = tolerance;
    if (hasParameter("operation:tolerance")) {
      t = getParameter("operation:tolerance");
    }
    linearize(t);
  }
}

function onCycle() {
  if (properties.useCycles) {
    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),
    "Z" + xyzFormat.format(z),
    "R" + xyzFormat.format(r)];
}

function onCyclePoint(x, y, z) {
  if (!isSameDirection(getRotation().forward, new Vector(0, 0, 1))) {
    expandCyclePoint(x, y, z);
    return;
  }
  if (!properties.useCycles) {
    expandCyclePoint(x, y, z);
    return;
  }
  
  if (isFirstCyclePoint()) {
    repositionToCycleClearance(cycle, x, y, z);
  }

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

  var F = cycle.feedrate;
  var P = !cycle.dwell ? 0 : clamp(1, cycle.dwell * 1000, 99999999); // in milliseconds

  switch (cycleType) {
  case "drilling":
      writeBlock(
        gAbsIncModal.format(90), gFormat.format(83),
        getCommonCycle(x, y, cycle.retract - cycle.bottom, -cycle.retract),
        feedOutput.format(F)
      );
	break;

case "deep-drilling":
      writeBlock(
        gAbsIncModal.format(90), gFormat.format(83),
        getCommonCycle(x, y, cycle.retract - cycle.bottom, -cycle.retract),
	"D" + xyzFormat.format(cycle.incrementalDepth),
        feedOutput.format(F)
      );
    break;
  case "counter-boring":
    if (P > 0) {
      expandCyclePoint(x, y, z);
    } else {
      if (isFirstCyclePoint()) {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(81),
          getCommonCycle(x, y, cycle.retract - cycle.bottom, cycle.retract),
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gAbsIncModal.format(90), gCycleModal.format(81),
          xOutput.format(x), yOutput.format(y)
        );
      }
    }
    break;

  case "tapping":
  case "left-tapping": // attention: spindle speed will be negative
  case "right-tapping":
    F = tool.getTappingFeedrate();
    if (isFirstCyclePoint()) {
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(84),
        getCommonCycle(x, y, cycle.retract - cycle.bottom, cycle.retract),
        feedOutput.format(F)
      );
    } else {
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(84),
        xOutput.format(x), yOutput.format(y)
      );
    }
    break;
  default:
    expandCyclePoint(x, y, z);
  }
}

function onCycleEnd() {
}

var mapCommand = {
  COMMAND_STOP:0,
  COMMAND_OPTIONAL_STOP:1,
  COMMAND_END:2,
  COMMAND_SPINDLE_CLOCKWISE:3,
  COMMAND_SPINDLE_COUNTERCLOCKWISE:4,
  COMMAND_STOP_SPINDLE:5
};

function onCommand(command) {
  switch (command) {
  case COMMAND_COOLANT_OFF:
    return; // ignore
  case COMMAND_START_SPINDLE:
    onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
    return;
  case COMMAND_LOCK_MULTI_AXIS:
    return;
  case COMMAND_UNLOCK_MULTI_AXIS:
    return;
  case COMMAND_BREAK_CONTROL:
    return;
  case COMMAND_TOOL_MEASURE:
    return;
  }

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

function onSectionEnd() {
  writeBlock(mFormat.format(22));
  forceAny();
}

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

function onClose() {
  writeln("");
  onCommand(COMMAND_COOLANT_OFF);

  if (machineConfiguration.getRetractPlane() != 0) {
    writeRetract(Z);
  }

//  writeRetract(X, Y);

  onImpliedCommand(COMMAND_END);
  onImpliedCommand(COMMAND_STOP_SPINDLE);
  writeBlock(mFormat.format(2)); // stop program, spindle stop, coolant off
}