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

  UCCNC post processor configuration.

  $Revision: 42145 3ef6ef136f68132df4d932bf16f29ac1ec1b893b $
  $Date: 2018-09-28 16:13:20 $
  
  FORKID {9076F4FE-2652-48D2-9DAD-1A22C240A8B8}
*/

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

longDescription = "Generic post for STEPCRAFT machines using UCCNC control software. If you are using a fourth axis, make sure to select which axis it is mounted along. If you have an automatic tool changer, enable the property 'useToolChanger'. For laser cutting, set your desired power setting by using property 'laserPowerPrecentage'.";

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

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

minimumChordLength = spatial(0.25, MM);
minimumCircularRadius = spatial(0.01, MM);
maximumCircularRadius = spatial(1000, MM);
minimumCircularSweep = toRad(0.01);
maximumCircularSweep = toRad(90);
allowHelicalMoves = true;
allowedCircularPlanes = 1 << PLANE_XY; // allow only XY circular motion


// user-defined properties
properties = {
  writeMachine: true, // write machine
  writeTools: true, // writes the tools
  showSequenceNumbers: false, // show sequence numbers
  sequenceNumberStart: 10, // first sequence number
  sequenceNumberIncrement: 1, // increment for sequence numbers
  separateWordsWithSpace: true, // specifies that the words should be separated with a white space
  useToolChanger: false, // specifies that a tool changer is available
  toolChangePositionX: 0, // specifies the tool change position for X
  toolChangePositionY: 0, // specifies the tool change position for Y
  fourthAxisAround: "none", // specifies the fourth axis if mounted
  useSmoothing: true, // specifies to use constant velocity mode
  useParametricFeed: false, // specifies that feed should be output using parameters
  laserPowerPrecentage: 25 // set the laser power in %
  /*referenceRun: true*/ // move to reference point first at the beginning of the program
};

// user-defined property definitions
propertyDefinitions = {
  writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
  writeTools: {title:"Write tool list", description:"Output a tool list in the header of the code.", group:0, type:"boolean"},
  showSequenceNumbers: {title:"Use sequence numbers", description:"Use sequence numbers for each block of outputted code.", group:1, type:"boolean"},
  sequenceNumberStart: {title:"Start sequence number", description:"The number at which to start the sequence numbers.", group:1, type:"integer"},
  sequenceNumberIncrement: {title:"Sequence number increment", description:"The amount by which the sequence number is incremented by in each block.", group:1, type:"integer"},
  separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
  useToolChanger: {title:"Use tool changer", description:"Specifies that a tool changer is available.", type:"boolean"},
  toolChangePositionX: {title:"Tool change position X", description:"X-axis tool change position.", type:"number"},
  toolChangePositionY: {title:"Tool change position Y", description:"Y-axis tool change position.", type:"number"},
  fourthAxisAround: {title:"Fourth axis mounted along", description:"Specifies which axis the fourth axis is mounted on.", type:"enum", values:[{id:"none", title:"None"}, {id:"x", title:"Along X"}, {id:"y", title:"Along Y"}]},
  useSmoothing: {title:"Use smoothing", description:"Specifies if smoothing should be used or not.", type:"boolean"},
  useParametricFeed:  {title:"Parametric feed", description:"Specifies the feed value that should be output using a Q value.", type:"boolean"},
  laserPowerPrecentage: {title:"Laser power percentage", description:"Sets the laser power in percentage.", type:"number"}
};

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

var gFormat = createFormat({prefix:"G", decimals:1});
var mFormat = createFormat({prefix:"M", decimals:0});
var hFormat = createFormat({prefix:"H", decimals:0});
var qFormat = createFormat({prefix:"Q", decimals:0});

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

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

// 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 // G20-22
var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...
var gRetractModal = createModal({}, gFormat); // modal group 10 // G98-99

var WARNING_WORK_OFFSET = 0;

// fixed settings
var firstFeedParameter = 1;

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

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

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

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

function onOpen() {

  if (properties.fourthAxisAround != "none") {
    var aAxis = createAxis({coordinate:0, table:true, axis:[(properties.fourthAxisAround == "x" ? 1 : 0), (properties.fourthAxisAround == "y" ? 1 : 0), 0], cyclic:true, preference:0});
    machineConfiguration = new MachineConfiguration(aAxis);

    setMachineConfiguration(machineConfiguration);
    optimizeMachineAngles2(1); // map tip mode
  }

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

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

  sequenceNumber = properties.sequenceNumberStart;

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

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

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

  // 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);
        if (!tool.jetTool) {
          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 ((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;
      }
    }
  }

  if ((properties.fourthAxisAround != "none") && !is3D()) {
    warning(localize("4th axis operations detected. Make sure that your WCS origin is placed on the rotary axis."));
  }

  // absolute coordinates and feed per min
  writeBlock(gAbsIncModal.format(90));

/*
  if (properties.referenceRun) {
    writeBlock(gFormat.format(28.1));
  }
*/

/* not supported on UCCNC
  switch (unit) {
  case IN:
    writeBlock(gUnitModal.format(20));
    break;
  case MM:
    writeBlock(gUnitModal.format(22)); // G21 is cm
    break;
  }
*/
}

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

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

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

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

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

function onParameter(name, value) {
}

var currentWorkPlaneABC = undefined;

function forceWorkPlane() {
  currentWorkPlaneABC = undefined;
}

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

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

  onCommand(COMMAND_UNLOCK_MULTI_AXIS);

  // NOTE: add retract here
  gMotionModal.reset();
  writeBlock(
    gMotionModal.format(0),
    conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(abc.x)),
    conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(abc.y)),
    conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(abc.z))
  );

  onCommand(COMMAND_LOCK_MULTI_AXIS);

  currentWorkPlaneABC = abc;
}

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

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

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

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

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

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

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

  return abc;
}

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)) {
      var feedContext = new FeedContext(id, localize("High Feed"), this.highFeedrate);
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_HIGH_FEED] = 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));
  }
}

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

var jetMode = false;

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

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

  jetMode = currentSection.getType() == TYPE_JET;
  
  if (!isFirstSection() && (currentSection.getType() != getPreviousSection().getType())) {
    writeBlock(mFormat.format(0), formatComment(localize("Pause program for changing milling/laser aggregate.")));
  }

  if (jetMode) {
    zOutput.disable();
    sOutput.disable();
  } else {
    zOutput.enable();
    sOutput.enable();
  }
  
  if (insertToolCall || newWorkOffset || newWorkPlane) {
    if (!jetMode) {
      // retract to safe plane
      writeRetract(Z);
    }
  }

  writeln("");

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

  if (insertToolCall && !jetMode) {
    forceWorkPlane();

    if (!isFirstSection()) {
      setCoolant(COOLANT_OFF);
    }

    if (properties.useToolChanger) {
      writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6));
    } else {
      if (!isFirstSection()) {
        onCommand(COMMAND_STOP_SPINDLE);
        writeComment(localize("Move to tool change position"));
        writeBlock(gMotionModal.format(0), gFormat.format(53), "X" + xyzFormat.format(properties.toolChangePositionX), "Y" + xyzFormat.format(properties.toolChangePositionY));
        writeBlock(mFormat.format(0), formatComment(localize("Pause program for tool change")));
      }
      writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6) + " (" + getToolTypeName(tool.type) + " D=" + xyzFormat.format(tool.diameter) + (tool.description ? " " + tool.description : "") + ")");
    }
    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 (!jetMode) {
      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));
    } else {
      writeBlock(mFormat.format(3)); // signal active for uccnc
    }
  }
  
  if (properties.useParametricFeed &&
      hasParameter("operation-strategy") &&
      (getParameter("operation-strategy") != "drill") && // legacy
      !(currentSection.hasAnyCycle && currentSection.hasAnyCycle())) {
    if (!insertToolCall &&
        activeMovements &&
        (getCurrentSectionId() > 0) &&
        ((getPreviousSection().getPatternId() == currentSection.getPatternId()) && (currentSection.getPatternId() != 0))) {
      // use the current feeds
    } else {
      initializeActiveFeeds();
    }
  } else {
    activeMovements = undefined;
  }
  
  if (properties.useSmoothing && !jetMode) {
    if (hasParameter("operation-strategy") && (getParameter("operation-strategy") == "drill")) {
      writeBlock(gFormat.format(61));
    } else {
      writeBlock(gFormat.format(64));
    }
  }

  // wcs
  if (insertToolCall) { // force work offset when changing tool
    currentWorkOffset = undefined;
  }
  var workOffset = currentSection.workOffset;
  if (workOffset == 0) {
    warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET);
    workOffset = 1;
  }
  if (workOffset > 0) {
    if (workOffset > 6) {
      error(localize("Work offset out of range."));
      return;
    } else {
      if (workOffset != currentWorkOffset) {
        writeBlock(gFormat.format(53 + workOffset)); // G54->G59
        currentWorkOffset = workOffset;
      }
    }
  }

  forceXYZ();

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

    var abc = new Vector(0, 0, 0);
    if (currentSection.isMultiAxis()) {
      forceWorkPlane();
      cancelTransformation();
      abc = currentSection.getInitialToolAxisABC();
    } else {
      abc = getWorkPlaneMachineABC(currentSection.workPlane);
    }
    setWorkPlane(abc);
  } else { // pure 3D
    var remaining = currentSection.workPlane;
    if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
      error(localize("Tool orientation is not supported."));
      return;
    }
    setRotation(remaining);
  }

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

  forceAny();

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

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

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

function onPower(power) {
  var cuttingPower = 255 * (properties.laserPowerPrecentage / 100);
  if ((qFormat.getResultingValue(cuttingPower) > 255) || (qFormat.getResultingValue(cuttingPower) < 64)) {
    error(localize("Property 'laserPowerPrecentage' is out of range. Only 25% to 100% is allowed."));
    return;
  }
  writeBlock(mFormat.format(power ? 10 : 11), conditional(power, qFormat.format(cuttingPower)));
}

var currentCoolantMode = COOLANT_OFF;
var coolantOff = undefined;

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

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

  if (isProbeOperation()) { // avoid coolant output for probing
    coolant = COOLANT_OFF;
  }

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

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

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

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

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


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), "P" + milliFormat.format(seconds * 1000));
}

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

function onCycle() {
  if (jetMode) {
    error(localize("Drilling is not supported for laser cutting."));
    return;
  }
}

function getCommonCycle(x, y, z, r) {
  forceXYZ();
  return [xOutput.format(x), yOutput.format(y),
    zOutput.format(z),
    (r !== undefined) ? "R" + xyzFormat.format(r) : ""];
}

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

  var forceCycle = false;
  switch (cycleType) {
  case "tapping":
  case "left-tapping":
  case "right-tapping":
  case "tapping-with-chip-breaking":
  case "left-tapping-with-chip-breaking":
  case "right-tapping-with-chip-breaking":
    if (!isFirstCyclePoint()) {
      onCommand(COMMAND_STOP_SPINDLE);
    }
    forceCycle = true;
  }

  if (forceCycle || 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

    writeBlock(gAbsIncModal.format(90));

    switch (cycleType) {
    case "drilling":
      writeBlock(
        gRetractModal.format(98), gCycleModal.format(81),
        getCommonCycle(x, y, z, cycle.retract),
        feedOutput.format(F)
      );
      break;
    case "counter-boring":
      if (P > 0) {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(82),
          getCommonCycle(x, y, z, cycle.retract),
          "P" + milliFormat.format(P),
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(81),
          getCommonCycle(x, y, z, cycle.retract),
          feedOutput.format(F)
        );
      }
      break;
    case "chip-breaking":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(73),
          getCommonCycle(x, y, z, cycle.retract),
          "Q" + xyzFormat.format(cycle.incrementalDepth),
          feedOutput.format(F)
        );
      }
      break;
    case "deep-drilling":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(83),
          getCommonCycle(x, y, z, cycle.retract),
          "Q" + xyzFormat.format(cycle.incrementalDepth),
          feedOutput.format(F)
        );
      }
      break;
    case "tapping":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        if (!isFirstCyclePoint()) {
          writeBlock(sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4));
        }
        writeBlock(
          gRetractModal.format(98), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 33.2 : 33.1),
          zOutput.format(z),
          pitchOutput.format(tool.threadPitch)
        );
        gCycleModal.reset();
      }
      break;
    case "left-tapping":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        if (!isFirstCyclePoint()) {
          writeBlock(sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4));
        }
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(33.2),
          zOutput.format(z),
          pitchOutput.format(tool.threadPitch)
        );
        gCycleModal.reset();
      }
      break;
    case "right-tapping":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        if (!isFirstCyclePoint()) {
          writeBlock(sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4));
        }
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(33.1),
          zOutput.format(z),
          pitchOutput.format(tool.threadPitch)
        );
        gCycleModal.reset();
      }
      break;
    case "tapping-with-chip-breaking":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        if (!isFirstCyclePoint()) {
          writeBlock(sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4));
        }
        writeBlock(
          gRetractModal.format(98), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 33.2 : 33.1),
          zOutput.format(z),
          pitchOutput.format(tool.threadPitch),
          "Q" + xyzFormat.format(cycle.incrementalDepth)
        );
        gCycleModal.reset();
      }
      break;
    case "right-tapping-with-chip-breaking":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        if (!isFirstCyclePoint()) {
          writeBlock(sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4));
        }
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(33.1),
          zOutput.format(z),
          pitchOutput.format(tool.threadPitch),
          "Q" + xyzFormat.format(cycle.incrementalDepth)
        );
        gCycleModal.reset();
      }
      break;
    case "left-tapping-with-chip-breaking":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        if (!isFirstCyclePoint()) {
          writeBlock(sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4));
        }
        writeBlock(
          gRetractModal.format(98), gCycleModal.format(33.2),
          zOutput.format(z),
          pitchOutput.format(tool.threadPitch),
          "Q" + xyzFormat.format(cycle.incrementalDepth)
        );
        gCycleModal.reset();
      }
      break;
    default:
      expandCyclePoint(x, y, z);
    }
  } else {
    if (cycleExpanded) {
      expandCyclePoint(x, y, z);
    } else {
      var _x = xOutput.format(x);
      var _y = yOutput.format(y);
      if (!_x && !_y) {
        xOutput.reset(); // at least one axis is required
        _x = xOutput.format(x);
      }
      writeBlock(_x, _y);
    }
  }
  if (forceCycle) {
    sOutput.reset();
  }
}

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

var pendingRadiusCompensation = -1;

function onRadiusCompensation() {
  pendingRadiusCompensation = radiusCompensation;
  error(localize("Radius compensation is not supported for UCCNC. Please change the compensation type to 'in computer' for the toolpath."));
  return;
}

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) {
  // 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 = getFeed(feed);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      pendingRadiusCompensation = -1;
      var d = tool.diameterOffset;
      switch (radiusCompensation) {
      case RADIUS_COMPENSATION_LEFT:
        writeBlock(
          gMotionModal.format(1), gFormat.format(41), x, y, z,
          conditional(properties.useToolChanger, "O" + xyzFormat.format(tool.diameter/2)), f
        );
        break;
      case RADIUS_COMPENSATION_RIGHT:
        writeBlock(
          gMotionModal.format(1), gFormat.format(42), x, y, z,
          conditional(properties.useToolChanger, "O" + xyzFormat.format(tool.diameter/2)), 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 (!currentSection.isOptimizedForMachine()) {
    error(localize("This post configuration has not been customized for 5-axis simultaneous toolpath."));
    return;
  }
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation mode cannot be changed at rapid traversal."));
    return;
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var a = aOutput.format(_a);
  var b = bOutput.format(_b);
  var c = cOutput.format(_c);
  writeBlock(gMotionModal.format(0), x, y, z, a, b, c);
  forceFeed();
}

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

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

  var start = getCurrentPosition();

  if (isFullCircle()) {
    if (isHelical()) {
      linearize(tolerance);
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else {
    switch (getCircularPlane()) {
    case PLANE_XY:
      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), getFeed(feed));
      break;
    default:
      linearize(tolerance);
    }
  }
}

var mapCommand = {
};

function onCommand(command) {
  switch (command) {
  case COMMAND_POWER_ON:
    return;
  case COMMAND_POWER_OFF:
    return;
  case COMMAND_STOP:
    writeBlock(mFormat.format(2));
    return;
  case COMMAND_OPTIONAL_STOP:
    writeBlock(mFormat.format(1));
    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_SPINDLE_CLOCKWISE:
    writeBlock(mFormat.format(3));
    return;
  case COMMAND_SPINDLE_COUNTERCLOCKWISE:
    writeBlock(mFormat.format(4));
    return;
  case COMMAND_STOP_SPINDLE:
    writeBlock(mFormat.format(5));
    return;
  case COMMAND_ORIENTATE_SPINDLE:
    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() {
  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) {
    writeBlock(gMotionModal.format(0), gFormat.format(53), words); // retract
  }
  zOutput.reset();
}

function onClose() {
  onCommand(COMMAND_COOLANT_OFF);
  onCommand(COMMAND_STOP_SPINDLE);
  
  if (!jetMode) {
    writeRetract(Z);
  }

  setWorkPlane(new Vector(0, 0, 0)); // reset working plane
  // writeBlock(gFormat.format(28)); // retract
  writeBlock(mFormat.format(30));
  zOutput.reset();
}