/**
  Copyright (C) 2012-2017 by Autodesk, Inc.
  All rights reserved.

  LinuxCNC Lathe post processor configuration.
  Edit Ukrainets Aleksandr, 2018

  $Revision: 41737 4165666c790e6a3803d29dece556b848471d74c8 $
  $Date: 2017-12-11 14:12:47 $
  
  FORKID {D3E630A8-AFCC-46E6-BEF1-6AD5A6FA5483}
*/

description = "Kflop Dynomotion";
vendorUrl = "http://www.dynomotion.com";
legal = "Copyright (C) 2012-2017 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 24000;

longDescription = "Turning post for Kflop.";

extension = "ngc";
programNameIsInteger = false;
setCodePage("ascii");

capabilities = CAPABILITY_TURNING;
tolerance = spatial(0.002, MM);

minimumChordLength = spatial(0.01, MM);
minimumCircularRadius = spatial(0.01, MM);
maximumCircularRadius = spatial(1000, MM);
minimumCircularSweep = toRad(0.01);
maximumCircularSweep = toRad(359);
allowHelicalMoves = true;
allowedCircularPlanes = undefined; // allow any circular motion



// user-defined properties
properties = {
  writeMachine: false, // write machine
  // preloadTool: false, // preloads next tool on tool change if any
  showSequenceNumbers: true, // show sequence numbers
  sequenceNumberStart: 10, // first sequence number
  sequenceNumberIncrement: 1, // increment for sequence numbers
  optionalStop: true, // optional stop
  separateWordsWithSpace: true, // specifies that the words should be separated with a white space
  useRadius: false, // specifies that arcs should be output using the radius (R word) instead of the I, J, and K words.
  maximumSpindleSpeed: 3500, // specifies the maximum spindle speed, 5C high speed 3500rpm, D1-4 low speed 2500rpm
  showNotes: false, // specifies that operation notes should be output.
  useGangTooling: false, // specifies if gang tooling should be used, if yes X is scaled with -2.
  useQCTP: false, // specifies if the machine has Quick Change Tool Post Set installed or not, if yes it will scale X with -2.
  g53HomePositionX: 0, // home position for X-axis
  g53HomePositionZ: 0 // home position for Z-axis
};

// user-defined property definitions
propertyDefinitions = {
  writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
  //preloadTool: {title:"Preload tool", description:"Preloads the next tool at a tool change (if any).", type:"boolean"},
  showSequenceNumbers: {title:"Use sequence numbers", description:"Use sequence numbers for each block of outputted code.", group:1, type:"boolean"},
  sequenceNumberStart: {title:"Start sequence number", description:"The number at which to start the sequence numbers.", group:1, type:"integer"},
  sequenceNumberIncrement: {title:"Sequence number increment", description:"The amount by which the sequence number is incremented by in each block.", group:1, type:"integer"},
  optionalStop: {title:"Optional stop", description:"Outputs optional stop code during when necessary in the code.", type:"boolean"},
  separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
  useRadius: {title:"Radius arcs", description:"If yes is selected, arcs are outputted using radius values rather than IJK.", type:"boolean"},
  maximumSpindleSpeed: {title:"Max spindle speed", description:"Defines the maximum spindle speed allowed by your machines.", type:"integer", range:[0, 999999999]},
  showNotes: {title:"Show notes", description:"Writes operation notes as comments in the outputted code.", type:"boolean"},
  useGangTooling: {title:"Use gang tooling", description:"Specifies if gang tooling should be used, if yes X is scaled with -2.", type:"boolean"},
  useQCTP: {title:"Use QCTP", description:"Specifies if the machine has Quick Change Tool Post Set installed or not, if yes it will scale X with -2.", type:"boolean"},
  g53HomePositionX: {title:"G53 home position X", description:"G53 X-axis home position.", type:"number"},
  g53HomePositionZ: {title:"G53 home position Z", description:"G53 Z-axis home position.", type:"number"}
};

var permittedCommentChars = " ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,=_-";

var gFormat = createFormat({prefix:"G", decimals:1});
var mFormat = createFormat({prefix:"M", decimals:1, zeropad:true});
var hFormat = createFormat({prefix:"H", decimals:1});//*********************
var spatialFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var xFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:2}); // diameter mode
var yFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var zFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var rFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true}); // radius
var feedFormat = createFormat({decimals:(unit == MM ? 4 : 5), 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 1-9999
var taperFormat = createFormat({decimals:1, scale:DEG});

var xOutput = createVariable({prefix:"X"}, xFormat);
var yOutput = createVariable({prefix:"Y"}, yFormat);
var zOutput = createVariable({prefix:"Z"}, zFormat);
var feedOutput = createVariable({prefix:"F"}, feedFormat);
var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);

// circular output
var kOutput = createReferenceVariable({prefix:"K"}, zFormat);
var iOutput = createReferenceVariable({prefix:"I"}, rFormat); // radius mode

var g92ROutput = createVariable({prefix:"R"}, zFormat); // no scaling

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 // G94-95
var gSpindleModeModal = createModal({}, gFormat); // modal group 5 // G96-97
var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21
var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...
var gRetractModal = createModal({}, gFormat); // modal group 10 // G98-99

// fixed settings
var gotSecondarySpindle = false;

var WARNING_WORK_OFFSET = 0;

// collected state
var sequenceNumber;
var currentWorkOffset;
var optionalSection = false;
var forceSpindleSpeed = false;
var currentFeedId;

function getCode(code) {
  switch(code) {
  // case "PART_CATCHER_ON":
    // return mFormat.format(SPECIFY YOUR CODE HERE);
  // case "PART_CATCHER_OFF":
    // return mFormat.format(SPECIFY YOUR CODE HERE);
  // case "TAILSTOCK_ON":
    // return mFormat.format(SPECIFY YOUR CODE HERE);
  // case "TAILSTOCK_OFF":
    // return mFormat.format(SPECIFY YOUR CODE HERE);
  // case "ENGAGE_C_AXIS":
    // machineState.cAxisIsEngaged = true;
    // return cAxisEngageModal.format(SPECIFY YOUR CODE HERE);
  // case "DISENGAGE_C_AXIS":
    // machineState.cAxisIsEngaged = false;
    // return cAxisEngageModal.format(SPECIFY YOUR CODE HERE);
  // case "POLAR_INTERPOLATION_ON":
    // return gPolarModal.format(SPECIFY YOUR CODE HERE);
  // case "POLAR_INTERPOLATION_OFF":
    // return gPolarModal.format(SPECIFY YOUR CODE HERE);
  // case "STOP_LIVE_TOOL":
    // machineState.liveToolIsActive = false;
    // return mFormat.format(SPECIFY YOUR CODE HERE);
  // case "STOP_MAIN_SPINDLE":
    // machineState.mainSpindleIsActive = false;
    // return mFormat.format(SPECIFY YOUR CODE HERE);
  // case "STOP_SUB_SPINDLE":
    // machineState.subSpindleIsActive = false;
    // return mFormat.format(SPECIFY YOUR CODE HERE);
  // case "START_LIVE_TOOL_CW":
    // machineState.liveToolIsActive = true;
    // return mFormat.format(SPECIFY YOUR CODE HERE);
  // case "START_LIVE_TOOL_CCW":
    // machineState.liveToolIsActive = true;
    // return mFormat.format(SPECIFY YOUR CODE HERE);
  case "START_MAIN_SPINDLE_CW":
    // machineState.mainSpindleIsActive = true;
    return mFormat.format(3);
  case "START_MAIN_SPINDLE_CCW":
    // machineState.mainSpindleIsActive = true;
    return mFormat.format(4);
  // case "START_SUB_SPINDLE_CW":
    // machineState.subSpindleIsActive = true;
    // return mFormat.format(SPECIFY YOUR CODE HERE);
  // case "START_SUB_SPINDLE_CCW":
    // machineState.subSpindleIsActive = true;
    // return mFormat.format(SPECIFY YOUR CODE HERE);
  // case "MAIN_SPINDLE_BRAKE_ON":
    // machineState.mainSpindleBrakeIsActive = true;
    // return cAxisBrakeModal.format(SPECIFY YOUR CODE HERE);
  // case "MAIN_SPINDLE_BRAKE_OFF":
    // machineState.mainSpindleBrakeIsActive = false;
    // return cAxisBrakeModal.format(SPECIFY YOUR CODE HERE);
  // case "SUB_SPINDLE_BRAKE_ON":
    // machineState.subSpindleBrakeIsActive = true;
    // return cAxisBrakeModal.format(SPECIFY YOUR CODE HERE);
  // case "SUB_SPINDLE_BRAKE_OFF":
    // machineState.subSpindleBrakeIsActive = false;
    // return cAxisBrakeModal.format(SPECIFY YOUR CODE HERE);
  case "FEED_MODE_UNIT_REV":
    return gFeedModeModal.format(95);
  case "FEED_MODE_UNIT_MIN":
    return gFeedModeModal.format(94);
  case "CONSTANT_SURFACE_SPEED_ON":
    return gSpindleModeModal.format(97);
  case "CONSTANT_SURFACE_SPEED_OFF":
    return gSpindleModeModal.format(96);
/*
  case "MAINSPINDLE_AIR_BLAST_ON":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "MAINSPINDLE_AIR_BLAST_OFF":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "SUBSPINDLE_AIR_BLAST_ON":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "SUBSPINDLE_AIR_BLAST_OFF":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "CLAMP_PRIMARY_CHUCK":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "UNCLAMP_PRIMARY_CHUCK":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "CLAMP_SECONDARY_CHUCK":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "UNCLAMP_SECONDARY_CHUCK":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "SPINDLE_SYNCHRONIZATION_ON":
    machineState.spindleSynchronizationIsActive = true;
    return gSynchronizedSpindleModal.format(SPECIFY YOUR CODE HERE);
  case "SPINDLE_SYNCHRONIZATION_OFF":
    machineState.spindleSynchronizationIsActive = false;
    return gSynchronizedSpindleModal.format(SPECIFY YOUR CODE HERE);
  case "START_CHIP_TRANSPORT":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "STOP_CHIP_TRANSPORT":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "OPEN_DOOR":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "CLOSE_DOOR":
    return mFormat.format(SPECIFY YOUR CODE HERE);
*/
  case "COOLANT_FLOOD_ON":
    return mFormat.format(8);
  case "COOLANT_FLOOD_OFF":
    return mFormat.format(9);
/*
  case "COOLANT_AIR_ON":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "COOLANT_AIR_OFF":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "COOLANT_THROUGH_TOOL_ON":
    return mFormat.format(SPECIFY YOUR CODE HERE);
  case "COOLANT_THROUGH_TOOL_OFF":
    return mFormat.format(SPECIFY YOUR CODE HERE);
*/
  case "COOLANT_MIST_ON":
    return mFormat.format(7);
  case "COOLANT_MIST_OFF":
    return mFormat.format(9);
  case "COOLANT_OFF":
    return mFormat.format(9);
  default:
    error(localize("Command " + code + " is not defined."));
    return 0;
  }
}

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

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

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

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

function onOpen() {
  if (properties.useRadius) {
    maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
  }

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

  sequenceNumber = properties.sequenceNumberStart;
  writeln("%");

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

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

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

  //writeBlock(gFormat.format(7)); // Diameter mode
  writeBlock(gPlaneModal.format(18)); // XZ plane
  writeBlock(gFormat.format(90)); // Absolute mode

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

  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;
      }
    }
  }

  // properties.maximumSpindleSpeed // not supported
  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();
}

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

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

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

function getFeed(f) {
  return feedOutput.format(f); // use feed value
}

function getSpindle() {
  if (getNumberOfSections() == 0) {
    return SPINDLE_PRIMARY;
  }
  if (getCurrentSectionId() < 0) {
    return getSection(getNumberOfSections() - 1).spindle == 0;
  }
  if (currentSection.getType() == TYPE_TURNING) {
    return currentSection.spindle;
  } else {
    if (isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, 1))) {
      return SPINDLE_PRIMARY;
    } else if (isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, -1))) {
      if (!gotSecondarySpindle) {
        error(localize("Secondary spindle is not available."));
      }
      return SPINDLE_SECONDARY;
    } else {
      return SPINDLE_PRIMARY;
    }
  }
}

function onSection() {

  // turning using rear tool
  if (properties.useGangTooling || properties.useQCTP) {
    // writeComment("Approach from below");
    xFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:-2}); // diameter mode
  } else {
    // writeComment("Approach from above");
    xFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:2}); // diameter mode
  }

  if (currentSection.getType() != TYPE_TURNING) {
    if (!hasParameter("operation-strategy") || (getParameter("operation-strategy") != "drill")) {
      if (currentSection.getType() == TYPE_MILLING) {
        error(localize("Milling toolpath is not supported."));
      } else {
        error(localize("Non-turning toolpath is not supported."));
      }
      return;
    }
  }

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

  var turning = (currentSection.getType() == TYPE_TURNING);
  
  var insertToolCall = forceToolAndRetract || isFirstSection() ||
    currentSection.getForceToolChange && currentSection.getForceToolChange() ||
    (tool.number != getPreviousSection().getTool().number);
  
  var retracted = false; // specifies that the tool has been retracted to the safe plane
  var newSpindle = isFirstSection() ||
    (getPreviousSection().spindle != currentSection.spindle);
  var newWorkOffset = isFirstSection() ||
    (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
  if (insertToolCall || newSpindle || newWorkOffset) {
    // retract to safe plane
    retracted = true;
    if (!isFirstSection() && insertToolCall) {
      onCommand(COMMAND_COOLANT_OFF);
    }
    // writeBlock(gFormat.format(30), "Z#5422"); // retract/park
    forceXYZ();
  }

  writeln("");

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

  if (!isFirstSection() && properties.optionalStop) {
    onCommand(COMMAND_COOLANT_OFF);
    onCommand(COMMAND_STOP_SPINDLE);
    onCommand(COMMAND_OPTIONAL_STOP);
  }
  
  if (insertToolCall) {
    retracted = true;
//var lengthOffset = tool.lengthOffset;//**********************
    if (tool.number > 99) {
      warning(localize("Tool number exceeds maximum value."));
    }

    var compensationOffset = tool.isTurningTool() ? tool.compensationOffset : tool.lengthOffset;
    if (compensationOffset > 99) {
      error(localize("Compensation offset is out of range."));
      return;
    }
    writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6));
    writeBlock(gFormat.format(43), hFormat.format(tool.number));
    //conditional( tool.manualToolChange)
    //writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6),zOutput.format(initialPosition.z));**************************
    if (tool.comment) {
      writeComment(tool.comment);
    }

/*
    if (properties.preloadTool) {
      var nextTool = getNextTool(tool.number);
      if (nextTool) {
        var compensationOffset = nextTool.isTurningTool() ? nextTool.compensationOffset : nextTool.lengthOffset;
        if (compensationOffset > 99) {
          error(localize("Compensation offset is out of range."));
          return;
        }
        writeBlock("T" + toolFormat.format(nextTool.number * 100 + compensationOffset));
      } else {
        preload first tool
        var section = getSection(0);
        var firstTool = section.getTool().number;
        if (tool.number != firstTool.number) {
          var compensationOffset = firstTool.isTurningTool() ? firstTool.compensationOffset : firstTool.lengthOffset;
          if (compensationOffset > 99) {
            error(localize("Compensation offset is out of range."));
            return;
          }
          writeBlock("T" + toolFormat.format(firstTool.number * 100 + compensationOffset));
        }
      }
    }
*/
  }

  // 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;
      }
    }
  }

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

  forceAny();
  gMotionModal.reset();

  // writeBlock(getCode(currentSection.tailstock ? "TAILSTOCK_ON" : "TAILSTOCK_OFF"));

  var mSpindle = getCode(tool.clockwise ? "START_MAIN_SPINDLE_CW" : "START_MAIN_SPINDLE_CCW");
  
  gSpindleModeModal.reset();
  if (currentSection.getTool().getSpindleMode() == SPINDLE_CONSTANT_SURFACE_SPEED) {
    var maximumSpindleSpeed = (tool.maximumSpindleSpeed > 0) ? Math.min(tool.maximumSpindleSpeed, properties.maximumSpindleSpeed) : properties.maximumSpindleSpeed;
    writeBlock(getCode("CONSTANT_SURFACE_SPEED_ON"), "D" + rpmFormat.format(maximumSpindleSpeed), sOutput.format(tool.surfaceSpeed * ((unit == MM) ? 1/1000.0 : 1/12.0)), mSpindle);
  } else {
    writeBlock(getCode("CONSTANT_SURFACE_SPEED_OFF"), sOutput.format(tool.spindleRPM), mSpindle);
  }
  
  gFeedModeModal.reset();
  if (currentSection.feedMode == FEED_PER_REVOLUTION) {
    writeBlock(getCode("FEED_MODE_UNIT_REV"));
  } else {
    writeBlock(getCode("FEED_MODE_UNIT_MIN"));
  }
  
  setRotation(currentSection.workPlane);

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

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

  if (currentSection.partCatcher) {
    engagePartCatcher(true);
  }

  if (insertToolCall || retracted) {
    gPlaneModal.reset();
  }
}

function onDwell(seconds) {
  if (seconds > 99999.999) {
    warning(localize("Dwelling time is out of range."));
  }
  milliseconds = clamp(1, seconds * 1000, 99999999);
  writeBlock(/*gFeedModeModal.format(94),*/ gFormat.format(4), "P" + milliFormat.format(milliseconds));
}

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) {
      pendingRadiusCompensation = -1;
      switch (radiusCompensation) {
      case RADIUS_COMPENSATION_LEFT:
        writeBlock(gMotionModal.format(0), gFormat.format(41), x, y, z);
        break;
      case RADIUS_COMPENSATION_RIGHT:
        writeBlock(gMotionModal.format(0), gFormat.format(42), x, y, z);
        break;
      default:
        writeBlock(gMotionModal.format(0), gFormat.format(40), x, y, z);
      }
    } else {
      writeBlock(gMotionModal.format(0), x, y, z);
    }
    forceFeed();
  }
}

function onLinear(_x, _y, _z, feed) {
  if (isSpeedFeedSynchronizationActive()) {
    error(localize("Threading not supported using synchronization of feed-spindle."));
    return;
  }

  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;
      writeBlock(gPlaneModal.format(18));
      switch (radiusCompensation) {
      case RADIUS_COMPENSATION_LEFT:
        writeBlock(gMotionModal.format(1), gFormat.format(41), x, y, z, f);
        break;
      case RADIUS_COMPENSATION_RIGHT:
        writeBlock(gMotionModal.format(1), gFormat.format(42), x, y, z, 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 onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
  if (isSpeedFeedSynchronizationActive()) {
    error(localize("Speed-feed synchronization is not supported for circular moves."));
    return;
  }
  
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
    return;
  }

  var start = getCurrentPosition();

  if (isFullCircle()) {
    if (properties.useRadius || isHelical()) { // radius mode does not support full arcs
      linearize(tolerance);
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
      break;
    case PLANE_ZX:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
      break;
    case PLANE_YZ:
      writeBlock(gAbsIncModal.format(90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else if (!properties.useRadius) {
    switch (getCircularPlane()) {
    case PLANE_XY:
      error(localize("XY plane not allowed"));
      break;
    case PLANE_ZX:
      writeBlock(gAbsIncModal.format(90), 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:
      error(localize("XZ plane not allowed"));
      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);
    }
  }
}

function onCycle() {
}

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" + spatialFormat.format(r)];
}

function onCyclePoint(x, y, z) {
/*
  if (isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, 1)) ||
      isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, -1))) {
    writeBlock(gPlaneModal.format(17)); // XY plane
  } else {
    expandCyclePoint(x, y, z);
    return;
  }
*/

  switch (cycleType) {
  case "thread-turning":
    var r = -cycle.incrementalX; // positive if taper goes down - delta radius
    var threadsPerInch = 1.0/cycle.pitch; // per mm for metric
    var f = 1/threadsPerInch;
    writeBlock(
      gMotionModal.format(76),
      xOutput.format(x - cycle.incrementalX),
      yOutput.format(y),
      zOutput.format(z),
      conditional(zFormat.isSignificant(r), g92ROutput.format(r)),
      feedOutput.format(f)
    );
    return;
  }

  if (isFirstCyclePoint()) {
    switch (gPlaneModal.getCurrent()) {
    case 17:
      writeBlock(gMotionModal.format(0), zOutput.format(cycle.clearance));
      break;
    case 18:
      writeBlock(gMotionModal.format(0), yOutput.format(cycle.clearance));
      break;
    case 19:
      writeBlock(gMotionModal.format(0), xOutput.format(cycle.clearance));
      break;
    default:
      error(localize("Unsupported drilling orientation."));
      return;
    }

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

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

    switch (cycleType) {
    case "drilling":
    case "counter-boring":
    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 onCycleEnd() {
  if (!cycleExpanded) {
    switch (cycleType) {
    case "thread-turning":
      forceFeed();
      xOutput.reset();
      zOutput.reset();
      g92ROutput.reset();
      break;
    default:
      writeBlock(gCycleModal.format(80));
    }
  }
}

var currentCoolantMode = COOLANT_OFF;

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

  var m = undefined;
  if (coolant == COOLANT_OFF) {
    writeBlock((currentCoolantMode == COOLANT_MIST) ? getCode("COOLANT_MIST_OFF") : getCode("COOLANT_OFF"));
    currentCoolantMode = COOLANT_OFF;
    return;
  }


  switch (coolant) {
  case COOLANT_FLOOD:
    m = getCode("COOLANT_FLOOD_ON");
    break;
  case COOLANT_MIST:
    m = getCode("COOLANT_MIST_ON");
    break;
  default:
    onUnsupportedCoolant(coolant);
    m = getCode("COOLANT_OFF");
  }
  
  if (m) {
    writeBlock(m);
    currentCoolantMode = coolant;
  }
}

function onCommand(command) {
  switch (command) {
  case COMMAND_COOLANT_OFF:
    setCoolant(COOLANT_OFF);
    return;
  case COMMAND_COOLANT_ON:
    setCoolant(COOLANT_FLOOD);
    return;
  case COMMAND_LOCK_MULTI_AXIS:
    return;
  case COMMAND_UNLOCK_MULTI_AXIS:
    return;
  case COMMAND_START_CHIP_TRANSPORT:
    return;
  case COMMAND_STOP_CHIP_TRANSPORT:
    return;
  case COMMAND_BREAK_CONTROL:
    return;
  case COMMAND_TOOL_MEASURE:
    return;
  case COMMAND_ACTIVATE_SPEED_FEED_SYNCHRONIZATION:
    return;
  case COMMAND_DEACTIVATE_SPEED_FEED_SYNCHRONIZATION:
    return;

  case COMMAND_STOP:
    writeBlock(mFormat.format(0));
    forceSpindleSpeed = true;
    break;
  case COMMAND_OPTIONAL_STOP:
    writeBlock(mFormat.format(1));
    break;
  case COMMAND_END:
    writeBlock(mFormat.format(2));
    break;
  case COMMAND_SPINDLE_CLOCKWISE:
    switch (currentSection.spindle) {
    case SPINDLE_PRIMARY:
      writeBlock(mFormat.format(3));
      break;
    case SPINDLE_SECONDARY:
      error(localize("Secondary spindle not available."));
      break;
    }
    break;
  case COMMAND_SPINDLE_COUNTERCLOCKWISE:
    switch (currentSection.spindle) {
    case SPINDLE_PRIMARY:
      writeBlock(mFormat.format(4));
      break;
    case SPINDLE_SECONDARY:
      error(localize("Secondary spindle not available."));
      break;
    }
    break;
  case COMMAND_START_SPINDLE:
    onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
    return;
  case COMMAND_STOP_SPINDLE:
    switch (currentSection.spindle) {
    case SPINDLE_PRIMARY:
      writeBlock(mFormat.format(5));
      break;
    case SPINDLE_SECONDARY:
      error(localize("Secondary spindle not available."));
      break;
    }
    break;
  case COMMAND_ORIENTATE_SPINDLE:
    if (getSpindle() == 0) {
      writeBlock(mFormat.format(19)); // use P or R to set angle (optional)
    } else {
      error(localize("Secondary spindle not available."));
    }
    break;
  //case COMMAND_CLAMP: // add support for clamping
  //case COMMAND_UNCLAMP: // add support for clamping
  default:
    onUnsupportedCommand(command);
  }
}

function engagePartCatcher(engage) {
  if (engage) {
    // catch part here
    writeBlock(getCode("PART_CATCHER_ON"), formatComment(localize("PART CATCHER ON")));
  } else {
    onCommand(COMMAND_COOLANT_OFF);
    writeBlock(gFormat.format(53), gMotionModal.format(0), "X" + xFormat.format(properties.g53HomePositionX)); // retract
    writeBlock(gFormat.format(53), gMotionModal.format(0), "Z" + zFormat.format(properties.g53HomePositionZ)); // retract
    writeBlock(getCode("PART_CATCHER_OFF"), formatComment(localize("PART CATCHER OFF")));
    forceXYZ();
  }
}

function onSectionEnd() {

  if (currentSection.partCatcher) {
    engagePartCatcher(false);
  }

  forceAny();

  if (hasParameter("operation-strategy") && (getParameter("operation-strategy") == "turningPart")) {
    // handle parting here if desired
  }
}

function onClose() {
  writeln("");

  optionalSection = false;

  onCommand(COMMAND_COOLANT_OFF);
  onCommand(COMMAND_STOP_SPINDLE);

  // we might want to retract in Z before X
  // writeBlock(gFormat.format(30), "Z#5422"); // retract/park

  forceXYZ();
  if (!machineConfiguration.hasHomePositionX() && !machineConfiguration.hasHomePositionY()) {
    // writeBlock(gFormat.format(28)); // return to home
  } else {
    var homeX;
    if (machineConfiguration.hasHomePositionX()) {
      homeX = xOutput.format(machineConfiguration.getHomePositionX());
    }
    var homeY;
    if (yOutput.isEnabled() && machineConfiguration.hasHomePositionY()) {
      homeY = yOutput.format(machineConfiguration.getHomePositionY());
    }
    writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), homeX, homeY, zOutput.format(machineConfiguration.getRetractPlane()));
  }

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