/**
  Copyright (C) 2012-2024 by Autodesk, Inc.
  All rights reserved.

  LinuxCNC (EMC2) post processor configuration.

  $Revision: 44131 932990debebb6682fc2eeec860c18e6e6417efcb $
  $Date: 2024-06-14 09:23:24 $

  FORKID {52A5C3D6-1533-413E-B493-7B93D9E48B30}
*/

description = "LinuxCNC (EMC2)";
vendor = "LinuxCNC";
vendorUrl = "http://www.linuxcnc.org";
longDescription = "Generic milling post for LinuxCNC (EMC2).";

extension = "ngc";

var useM06 = true;

// >>>>> INCLUDED FROM ../common/linuxcnc.cps
legal = "Copyright (C) 2012-2024 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 45917;

setCodePage("ascii");

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

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

// user-defined properties
properties = {
  showSequenceNumbers: {
    title      : "Use sequence numbers",
    description: "'Yes' outputs sequence numbers on each block, 'Only on tool change' outputs sequence numbers on tool change blocks only, and 'No' disables the output of sequence numbers.",
    group      : "formats",
    type       : "enum",
    values     : [
      {title:"Yes", id:"true"},
      {title:"No", id:"false"},
      {title:"Only on tool change", id:"toolChange"}
    ],
    value: "true",
    scope: "post"
  },
  sequenceNumberStart: {
    title      : "Start sequence number",
    description: "The number at which to start the sequence numbers.",
    group      : "formats",
    type       : "integer",
    scope      : "post"
  },
  sequenceNumberIncrement: {
    title      : "Sequence number increment",
    description: "The amount by which the sequence number is incremented by in each block.",
    group      : "formats",
    type       : "integer",
    scope      : "post"
  },
  optionalStop: {
    title      : "Optional stop",
    description: "Outputs optional stop code during when necessary in the code.",
    group      : "preferences",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  separateWordsWithSpace: {
    title      : "Separate words with space",
    description: "Adds spaces between words if 'yes' is selected.",
    group      : "formats",
    type       : "boolean",
    value      : true,
    scope      : "post"
  },
  useRadius: {
    title      : "Radius arcs",
    description: "If yes is selected, arcs are outputted using radius values rather than IJK.",
    group      : "preferences",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  showNotes: {
    title      : "Show notes",
    description: "Writes operation notes as comments in the outputted code.",
    group      : "formats",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  safePositionMethod: {
    title      : "Safe Retracts",
    description: "Select your desired retract option. 'Clearance Height' retracts to the operation clearance height.",
    group      : "homePositions",
    type       : "enum",
    values     : [
      {title:"G28", id:"G28"},
      {title:"G53", id:"G53"},
      {title:"Clearance Height", id:"clearanceHeight"}
    ],
    scope: "post"
  },
  useG95ForTapping: {
    title      : "Use G95 for tapping",
    description: "use IPR/MPR instead of IPM/MPM for tapping",
    group      : "preferences",
    type       : "boolean",
    value      : false,
    scope      : "post"
  },
  useRigidTapping: {
    title      : "Use rigid tapping",
    description: "Disable to use G84/G74 for tapping cycle with the floating head.",
    group      : "preferences",
    type       : "boolean",
    value      : true,
    scope      : "post"
  }
};

// wcs definiton
wcsDefinitions = {
  useZeroOffset: false,
  wcs          : [
    {name:"Standard", format:"G", range:[54, 59]},
    {name:"Extended", format:"G59.", range:[1, 3]}
  ]
};

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

var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var rFormat = xyzFormat; // radius
var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG});
var feedFormat = createFormat({decimals:(unit == MM ? 2 : 3), forceDecimal:true});
var pitchFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var toolFormat = createFormat({decimals:0});
var rpmFormat = createFormat({decimals:0});
var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-99999.999
var taperFormat = createFormat({decimals:1, scale:DEG});

var xOutput = createOutputVariable({onchange:function() {state.retractedX = false;}, prefix:"X"}, xyzFormat);
var yOutput = createOutputVariable({onchange:function() {state.retractedY = false;}, prefix:"Y"}, xyzFormat);
var zOutput = createOutputVariable({onchange:function() {state.retractedZ = false;}, prefix:"Z"}, xyzFormat);
var aOutput = createOutputVariable({prefix:"A"}, abcFormat);
var bOutput = createOutputVariable({prefix:"B"}, abcFormat);
var cOutput = createOutputVariable({prefix:"C"}, abcFormat);
var feedOutput = createOutputVariable({prefix:"F"}, feedFormat);
var pitchOutput = createOutputVariable({prefix:"F", control:CONTROL_FORCE}, pitchFormat);
var sOutput = createOutputVariable({prefix:"S", control:CONTROL_FORCE}, rpmFormat);

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

var gMotionModal = createOutputVariable({}, gFormat); // modal group 1 // G0-G3, ...
var gPlaneModal = createOutputVariable({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
var gAbsIncModal = createOutputVariable({}, gFormat); // modal group 3 // G90-91
var gFeedModeModal = createOutputVariable({}, gFormat); // modal group 5 // G93-94
var gUnitModal = createOutputVariable({}, gFormat); // modal group 6 // G20-21
var gCycleModal = createOutputVariable({}, gFormat); // modal group 9 // G81, ...
var gRetractModal = createOutputVariable({}, gFormat); // modal group 10 // G98-99
var fourthAxisClamp = createOutputVariable({}, mFormat);
var fithAxisClamp = createOutputVariable({}, mFormat);

var settings = {
  coolant: {
    // samples:
    // {id: COOLANT_THROUGH_TOOL, on: 88, off: 89}
    // {id: COOLANT_THROUGH_TOOL, on: [8, 88], off: [9, 89]}
    // {id: COOLANT_THROUGH_TOOL, on: "M88 P3 (myComment)", off: "M89"}
    coolants: [
      {id:COOLANT_FLOOD, on:8},
      {id:COOLANT_MIST, on:7},
      {id:COOLANT_THROUGH_TOOL},
      {id:COOLANT_AIR},
      {id:COOLANT_AIR_THROUGH_TOOL},
      {id:COOLANT_SUCTION},
      {id:COOLANT_FLOOD_MIST},
      {id:COOLANT_FLOOD_THROUGH_TOOL},
      {id:COOLANT_OFF, off:9}
    ],
    singleLineCoolant: false, // specifies to output multiple coolant codes in one line rather than in separate lines
  },
  smoothing: {
    roughing              : 3, // roughing level for smoothing in automatic mode
    semi                  : 2, // semi-roughing level for smoothing in automatic mode
    semifinishing         : 2, // semi-finishing level for smoothing in automatic mode
    finishing             : 1, // finishing level for smoothing in automatic mode
    thresholdRoughing     : toPreciseUnit(0.5, MM), // operations with stock/tolerance above that threshold will use roughing level in automatic mode
    thresholdFinishing    : toPreciseUnit(0.05, MM), // operations with stock/tolerance below that threshold will use finishing level in automatic mode
    thresholdSemiFinishing: toPreciseUnit(0.1, MM), // operations with stock/tolerance above finishing and below threshold roughing that threshold will use semi finishing level in automatic mode

    differenceCriteria: "tolerance", // options: "level", "tolerance", "both". Specifies criteria when output smoothing codes
    autoLevelCriteria : "stock", // use "stock" or "tolerance" to determine levels in automatic mode
    cancelCompensation: false // tool length compensation must be canceled prior to changing the smoothing level
  },
  retract: {
    cancelRotationOnRetracting: false, // specifies that rotations (G68) need to be canceled prior to retracting
    methodXY                  : undefined, // special condition, overwrite retract behavior per axis
    methodZ                   : undefined, // special condition, overwrite retract behavior per axis
    useZeroValues             : ["G28", "G30"], // enter property value id(s) for using "0" value instead of machineConfiguration axes home position values (ie G30 Z0)
    homeXY                    : {onIndexing:false, onToolChange:false, onProgramEnd:false} // Specifies when XY should be homed in XY (sample: onIndexing:[X,Y]). Options can be combined
  },
  parametricFeeds: {
    firstFeedParameter    : 100, // specifies the initial parameter number to be used for parametric feedrate output
    feedAssignmentVariable: "#", // specifies the syntax to define a parameter
    feedOutputVariable    : "F#" // specifies the syntax to output the feedrate as parameter
  },
  machineAngles: { // refer to https://cam.autodesk.com/posts/reference/classMachineConfiguration.html#a14bcc7550639c482492b4ad05b1580c8
    controllingAxis: ABC,
    type           : PREFER_PREFERENCE,
    options        : ENABLE_ALL
  },
  workPlaneMethod: {
    useTiltedWorkplane    : false, // specifies that tilted workplanes should be used (ie. G68.2, G254, PLANE SPATIAL, CYCLE800), can be overwritten by property
    eulerConvention       : EULER_ZXZ_R, // specifies the euler convention (ie EULER_XYZ_R), set to undefined to use machine angles for TWP commands ('undefined' requires machine configuration)
    eulerCalculationMethod: "standard", // ('standard' / 'machine') 'machine' adjusts euler angles to match the machines ABC orientation, machine configuration required
    cancelTiltFirst       : false, // cancel tilted workplane prior to WCS (G54-G59) blocks
    useABCPrepositioning  : false, // position ABC axes prior to tilted workplane blocks
    forceMultiAxisIndexing: false, // force multi-axis indexing for 3D programs
    optimizeType          : undefined // can be set to OPTIMIZE_NONE, OPTIMIZE_BOTH, OPTIMIZE_TABLES, OPTIMIZE_HEADS, OPTIMIZE_AXIS. 'undefined' uses legacy rotations
  },
  comments: {
    permittedCommentChars: " abcdefghijklmnopqrstuvwxyz0123456789.,=_-", // letters are not case sensitive, use option 'outputFormat' below. Set to 'undefined' to allow any character
    prefix               : "(", // specifies the prefix for the comment
    suffix               : ")", // specifies the suffix for the comment
    outputFormat         : "upperCase", // can be set to "upperCase", "lowerCase" and "ignoreCase". Set to "ignoreCase" to write comments without upper/lower case formatting
    maximumLineLength    : 80 // the maximum number of characters allowed in a line, set to 0 to disable comment output
  },
  maximumSequenceNumber: 99999 // the maximum sequence number (Nxxx), use 'undefined' for unlimited
};

//polar ai added here
// Start of polar interpolation
var usePolarMode = true; // controlled by manual NC operation, enables polar interpolation for a single operation
var defaultPolarDirection = new Vector(0, 0, 1); // default direction for polar interpolation (replacing Y axis with C axis)
var polarDirection = defaultPolarDirection; // vector to maintain tool at while in polar interpolation

function activatePolarMode(toler, angle, axis) {
  if (!machineConfiguration.isMultiAxisConfiguration()) {
    return;
  }
  polarDirection = axis;
  if (!usePolarMode) {
    writeBlock("G12.1", "T" + xyzFormat.format(toler), "R" + xyzFormat.format(angle));
  }
  usePolarMode = true;
}

function deactivatePolarMode() {
  if (usePolarMode) {
    writeBlock("G13.1");
    usePolarMode = false;
  }
}

function isPolarModeActive() {
  return usePolarMode;
}

function getPolarPosition(x, y, z) {
  var radius = Math.sqrt(x * x + y * y);
  var angle = Math.atan2(y, x);
  return {
    first: { x: radius, y: 0, z: z },
    second: { x: angle * 180 / Math.PI, y: 0, z: 0 }
  };
}

function setCurrentPositionAndDirection(position) {
  // Implement as needed
}

function setPolarFeedMode(mode) {
  if (machineConfiguration.isMultiAxisConfiguration()) {
    machineConfiguration.setMultiAxisFeedrate(
      !mode ? multiAxisFeedrate.mode : getProperty("useDPMFeeds") ? FEED_DPM : FEED_INVERSE_TIME,
      multiAxisFeedrate.maximum,
      !mode ? multiAxisFeedrate.type : getProperty("useDPMFeeds") ? DPM_COMBINATION : INVERSE_MINUTES,
      multiAxisFeedrate.tolerance,
      multiAxisFeedrate.bpwRatio
    );
    if (!receivedMachineConfiguration) {
      setMachineConfiguration(machineConfiguration);
    }
  }
}


function setPolarMode(section, mode) {
  if (!machineConfiguration.isMultiAxisConfiguration()) {
    return;
  }
  if (mode) {
    activatePolarMode(tolerance / 2, 0, new Vector(0, 0, 1));
  } else {
    deactivatePolarMode();
  }
}
// End of polar interpolation


function onOpen() {
  // define and enable machine configuration
  receivedMachineConfiguration = machineConfiguration.isReceived();
  if (typeof defineMachine == "function") {
    defineMachine(); // hardcoded machine configuration
  }
  activateMachine(); // enable the machine optimizations and settings

  if (getProperty("useRadius")) {
    maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
  }
  if (!getProperty("separateWordsWithSpace")) {
    setWordSeparator("");
  }

  writeln("%");
  writeComment(programName);
  writeComment(programComment);
  writeProgramHeader();

  // absolute coordinates, feed per min, and incremental arc center mode
  writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(94), gPlaneModal.format(17), gFormat.format(91.1));
  writeBlock(gUnitModal.format(unit == MM ? 21 : 20));
  validateCommonParameters();

  activatePolarMode(tolerance / 2, 0, new Vector(0, 0, 1));


}

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

  if (mode) { // enable smoothing
    var _tolerance = xyzFormat.format(smoothing.tolerance);
    switch (getProperty("useSmoothing")) {
    case "0":
      writeBlock(gFormat.format(64));
      break;
    case "1":
      writeBlock(gFormat.format(64), "P" +  _tolerance);
      break;
    case "2":
      writeBlock(gFormat.format(64), "P" +  _tolerance, "Q" + _tolerance);
      break;
    case "3":
      writeBlock(gFormat.format(61));
      break;
    case "4":
      writeBlock(gFormat.format(61.1));
      break;
    }
  } else { // disable smoothing
    // no gcodes to disable smoothing available
  }
  smoothing.isActive = mode;
  smoothing.force = false;
  smoothing.isDifferent = false;
}
//ai polar replaced onsection
function onSection() {
    var forceSectionRestart = optionalSection && !currentSection.isOptional();
    optionalSection = currentSection.isOptional();
    var insertToolCall = isToolChangeNeeded("number") || forceSectionRestart;
    var newWorkOffset = isNewWorkOffset() || forceSectionRestart;
    var newWorkPlane = isNewWorkPlane() || forceSectionRestart;
    initializeSmoothing(); // initialize smoothing mode
  
    if (insertToolCall || newWorkOffset || newWorkPlane || smoothing.cancel) {
      // stop spindle before retract during tool change
      if (insertToolCall && !isFirstSection()) {
        onCommand(COMMAND_STOP_SPINDLE);
      }
      // retract to safe plane
      writeRetract(Z);
      if (smoothing.cancel) {
        setSmoothing(false);
      }
    }
  
    writeComment(getParameter("operation-comment", ""));
  
    if (getProperty("showNotes")) {
      writeSectionNotes();
    }
  
    // tool change
    writeToolCall(tool, insertToolCall);
    startSpindle(tool, insertToolCall);
  
    // Output modal commands here
    writeBlock(gPlaneModal.format(17), gAbsIncModal.format(90), gFeedModeModal.format(94));
  
    // set wcs
    var wcsIsRequired = true;
    if (insertToolCall || operationNeedsSafeStart) {
      currentWorkOffset = undefined; // force work offset when changing tool
      wcsIsRequired = newWorkOffset || insertToolCall || !operationNeedsSafeStart;
    }
    writeWCS(currentSection, wcsIsRequired);
  
    forceXYZ();
  
    setSmoothing(smoothing.isAllowed);
  
    var abc;
    try {
      abc = defineWorkPlane(currentSection, true);
    } catch (e) {
      error("Failed to define work plane: " + e.message);
    }
  
    setCoolant(tool.coolant); // writes the required coolant codes
  
    // prepositioning
    var initialPosition = getFramePosition(currentSection.getInitialPosition());
    var isRequired = insertToolCall || state.retractedZ || !state.lengthCompensationActive || (!isFirstSection() && getPreviousSection().isMultiAxis());
    writeInitialPositioning(initialPosition, isRequired);
  
    // write parametric feedrate table
    if (typeof initializeParametricFeeds == "function") {
      initializeParametricFeeds(insertToolCall);
    }
  
    // Enable polar interpolation
    if (currentSection.machiningType && (currentSection.machiningType == MACHINING_TYPE_POLAR)) {
      usePolarMode = true;
      polarDirection = currentSection.polarDirection;
    }
    setPolarMode(currentSection, true);
  
    initialPosition = isPolarModeActive() ? getCurrentPosition() : getFramePosition(currentSection.getInitialPosition());
    forceAny();
  }
  
  



function onDwell(seconds) {
  var maxValue = 99999.999;
  if (seconds > maxValue) {
    warning(subst(localize("Dwelling time of '%1' exceeds the maximum value of '%2' in operation '%3'"), seconds, maxValue, getParameter("operation-comment", "")));
  }
  writeBlock(gFeedModeModal.format(94), gFormat.format(4), "P" + secFormat.format(seconds));
}

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

function onCycle() {
  writeBlock(gPlaneModal.format(17));
}


//ai polar replaced function
function getCommonCycle(x, y, z, r, c) {
    forceXYZ();
  
    if (isPolarModeActive()) {
      // format polar interpolation position
      var polarPosition = getPolarPosition(x, y, z);
      return [
        xOutput.format(polarPosition.first.x),
        yOutput.format(polarPosition.first.y),
        zOutput.format(polarPosition.first.z),
        aOutput.format(polarPosition.second.x),
        bOutput.format(polarPosition.second.y),
        cOutput.format(polarPosition.second.z),
        "R" + xyzFormat.format(r)
      ];
    }
  
    if (incrementalMode) {
      zOutput.format(c);
      return [
        xOutput.format(x),
        yOutput.format(y),
        "Z" + xyzFormat.format(z - r),
        "R" + xyzFormat.format(r - c)
      ];
    } else {
      return [
        xOutput.format(x),
        yOutput.format(y),
        zOutput.format(z),
        "R" + xyzFormat.format(r)
      ];
    }
  }
  

//ai polar replaced

function onCyclePoint(x, y, z) {
    if (!isSameDirection(machineConfiguration.getSpindleAxis(), getForwardDirection(currentSection))) {
      expandCyclePoint(x, y, z);
      return;
    }
  
    switch (cycleType) {
      case "tapping":
      case "left-tapping":
      case "right-tapping":
        if (getProperty("useRigidTapping")) {
          cycleExpanded = true;
          repositionToCycleClearance(cycle, x, y, z);
          writeBlock(
            gAbsIncModal.format(90), gMotionModal.format(0),
            conditional(gPlaneModal.getCurrent() == 17, zOutput.format(cycle.retract)),
            conditional(gPlaneModal.getCurrent() == 18, yOutput.format(cycle.retract)),
            conditional(gPlaneModal.getCurrent() == 19, xOutput.format(cycle.retract))
          );
          writeBlock(
            gAbsIncModal.format(90), gFormat.format(33.1),
            conditional(gPlaneModal.getCurrent() == 17, zOutput.format(z)),
            conditional(gPlaneModal.getCurrent() == 18, yOutput.format(y)),
            conditional(gPlaneModal.getCurrent() == 19, xOutput.format(x)),
            "K" + pitchFormat.format(tool.threadPitch)
          );
          gMotionModal.reset();
          writeBlock(
            gAbsIncModal.format(90), gMotionModal.format(0),
            conditional(gPlaneModal.getCurrent() == 17, zOutput.format(cycle.clearance)),
            conditional(gPlaneModal.getCurrent() == 18, yOutput.format(cycle.clearance)),
            conditional(gPlaneModal.getCurrent() == 19, xOutput.format(cycle.clearance))
          );
        } else {
          if (cycleType == "tapping") {
            var code = (tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84;
          } else {
            var code = (cycleType == "left-tapping") ? 74 : 84;
          }
          var P = !cycle.dwell ? 0 : clamp(0.001, cycle.dwell, 99999999); // in seconds
          var F;
          if (getProperty("useG95ForTapping")) {
            writeBlock(gFeedModeModal.format(95));
            F = pitchOutput.format(tool.threadPitch);
          } else {
            F = feedOutput.format(tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed));
          }
          writeBlock(
            gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(code),
            getCommonCycle(x, y, z, cycle.retract),
            "P" + secFormat.format(P), F
          );
        }
        return;
  
      // case "tapping-with-chip-breaking":
      // case "left-tapping-with-chip-breaking":
      // case "right-tapping-with-chip-breaking":
    }
  
    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(0.001, cycle.dwell, 99999999); // in seconds
  
      switch (cycleType) {
        case "drilling":
          writeBlock(
            gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(81),
            getCommonCycle(x, y, z, cycle.retract),
            feedOutput.format(F)
          );
          break;
        case "counter-boring":
          if (P > 0) {
            writeBlock(
              gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(82),
              getCommonCycle(x, y, z, cycle.retract),
              "P" + secFormat.format(P),
              feedOutput.format(F)
            );
          } else {
            writeBlock(
              gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(81),
              getCommonCycle(x, y, z, cycle.retract),
              feedOutput.format(F)
            );
          }
          break;
        case "chip-breaking":
          expandCyclePoint(x, y, z);
          break;
        case "deep-drilling":
          if (P > 0) {
            expandCyclePoint(x, y, z);
          } else {
            writeBlock(
              gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(83),
              getCommonCycle(x, y, z, cycle.retract),
              "Q" + xyzFormat.format(cycle.incrementalDepth),
              // conditional(P > 0, "P" + secFormat.format(P)),
              feedOutput.format(F)
            );
          }
          break;
        case "fine-boring":
          expandCyclePoint(x, y, z);
          break;
        // case "back-boring":
        //   var dx = (gPlaneModal.getCurrent() == 19) ? cycle.backBoreDistance : 0;
        //   var dy = (gPlaneModal.getCurrent() == 18) ? cycle.backBoreDistance : 0;
        //   var dz = (gPlaneModal.getCurrent() == 17) ? cycle.backBoreDistance : 0;
        //   writeBlock(
        //     gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(87),
        //     getCommonCycle(x - dx, y - dy, z - dz, cycle.bottom),
        //     "Q" + xyzFormat.format(cycle.shift),
        //     "P" + secFormat.format(P), // not optional
        //     feedOutput.format(F)
        //   );
        //   break;
        case "reaming":
          if (feedFormat.getResultingValue(cycle.feedrate) != feedFormat.getResultingValue(cycle.retractFeedrate)) {
            expandCyclePoint(x, y, z);
            break;
          }
          if (P > 0) {
            writeBlock(
              gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(89),
              getCommonCycle(x, y, z, cycle.retract),
              "P" + secFormat.format(P),
              feedOutput.format(F)
            );
          } else {
            writeBlock(
              gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(85),
              getCommonCycle(x, y, z, cycle.retract),
              feedOutput.format(F)
            );
          }
          break;
        case "stop-boring":
          writeBlock(
            gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(86),
            getCommonCycle(x, y, z, cycle.retract),
            conditional(P > 0, "P" + secFormat.format(P)),
            feedOutput.format(F)
          );
          break;
        case "manual-boring":
          writeBlock(
            gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(88),
            getCommonCycle(x, y, z, cycle.retract),
            "P" + secFormat.format(P), // not optional
            feedOutput.format(F)
          );
          break;
        case "boring":
          if (feedFormat.getResultingValue(cycle.feedrate) != feedFormat.getResultingValue(cycle.retractFeedrate)) {
            expandCyclePoint(x, y, z);
            break;
          }
          if (P > 0) {
            writeBlock(
              gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(89),
              getCommonCycle(x, y, z, cycle.retract),
              "P" + secFormat.format(P), // not optional
              feedOutput.format(F)
            );
          } else {
            writeBlock(
              gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(85),
              getCommonCycle(x, y, z, cycle.retract),
              feedOutput.format(F)
            );
          }
          break;
        default:
          expandCyclePoint(x, y, z);
      }
    } else {
      if (cycleExpanded) {
        expandCyclePoint(x, y, z);
      } else {
        if (isPolarModeActive()) {
          // format polar interpolation position
          var polarPosition = getPolarPosition(x, y, z);
          writeBlock(
            xOutput.format(polarPosition.first.x),
            yOutput.format(polarPosition.first.y),
            zOutput.format(polarPosition.first.z),
            aOutput.format(polarPosition.second.x),
            bOutput.format(polarPosition.second.y),
            cOutput.format(polarPosition.second.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) {
    writeBlock(gCycleModal.format(80), gFeedModeModal.format(94));
    gMotionModal.reset();
  }
}

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

function onCommand(command) {
  switch (command) {
  case COMMAND_COOLANT_OFF:
    setCoolant(COOLANT_OFF);
    return;
  case COMMAND_COOLANT_ON:
    setCoolant(tool.coolant);
    return;
  case COMMAND_STOP:
    writeBlock(mFormat.format(0));
    forceSpindleSpeed = true;
    forceCoolant = true;
    return;
  case COMMAND_OPTIONAL_STOP:
    writeBlock(mFormat.format(1));
    forceSpindleSpeed = true;
    forceCoolant = true;
    return;
  case COMMAND_START_SPINDLE:
    forceSpindleSpeed = false;
    writeBlock(sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4));
    return;
  case COMMAND_LOAD_TOOL:
    writeToolBlock("T" + toolFormat.format(tool.number), conditional(useM06, mFormat.format(6)));
    writeComment(tool.comment);

    var preloadTool = getNextTool(tool.number != getFirstTool().number);
    if (getProperty("preloadTool") && preloadTool) {
      writeBlock("T" + toolFormat.format(preloadTool.number)); // preload next/first tool
    }
    return;
  case COMMAND_LOCK_MULTI_AXIS:
    if (machineConfiguration.isMultiAxisConfiguration()) {
      // writeBlock(fourthAxisClamp.format(25)); // lock 4th axis
      if (machineConfiguration.getNumberOfAxes() > 4) {
        // writeBlock(fithAxisClamp.format(35)); // lock 5th axis
      }
    }
    return;
  case COMMAND_UNLOCK_MULTI_AXIS:
    if (machineConfiguration.isMultiAxisConfiguration()) {
      // writeBlock(fourthAxisClamp.format(26)); // unlock 4th axis
      if (machineConfiguration.getNumberOfAxes() > 4) {
        // writeBlock(fithAxisClamp.format(36)); // unlock 5th 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);
  }
}

//ai replaced polar function
function onSectionEnd() {
    forceXYZ();
    setSmoothing(false);
  
    if (getProperty("outputToolChanges", true) && isToolChangeNeeded("number")) {
      writeToolCall(tool, true);
    }
  
    if (getProperty("outputWorkOffsets", true) && isNewWorkOffset()) {
      writeWCS(currentSection, true);
    }
  
    // Deactivate polar mode
    deactivatePolarMode();
  }
  


function onClose() {
  optionalSection = false;
  onCommand(COMMAND_STOP_SPINDLE);
  onCommand(COMMAND_COOLANT_OFF);
  writeRetract(Z);
  forceWorkPlane();
  setWorkPlane(new Vector(0, 0, 0)); // reset working plane
  if (getSetting("retract.homeXY.onProgramEnd", false)) {
    writeRetract(settings.retract.homeXY.onProgramEnd);
  }
  //polar ai 
  deactivatePolarMode();
  writeBlock(mFormat.format(30)); // program end
  writeln("%");

}

// >>>>> INCLUDED FROM include_files/commonFunctions.cpi
// internal variables, do not change
var receivedMachineConfiguration;
var tcp = {isSupportedByControl:getSetting("supportsTCP", true), isSupportedByMachine:false, isSupportedByOperation:false};
var state = {
  retractedX              : false, // specifies that the machine has been retracted in X
  retractedY              : false, // specifies that the machine has been retracted in Y
  retractedZ              : false, // specifies that the machine has been retracted in Z
  tcpIsActive             : false, // specifies that TCP is currently active
  twpIsActive             : false, // specifies that TWP is currently active
  lengthCompensationActive: !getSetting("outputToolLengthCompensation", true), // specifies that tool length compensation is active
  mainState               : true // specifies the current context of the state (true = main, false = optional)
};
var validateLengthCompensation = getSetting("outputToolLengthCompensation", true); // disable validation when outputToolLengthCompensation is disabled
var multiAxisFeedrate;
var sequenceNumber;
var optionalSection = false;
var currentWorkOffset;
var forceSpindleSpeed = false;
var operationNeedsSafeStart = false; // used to convert blocks to optional for safeStartAllOperations

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

  // setup usage of useTiltedWorkplane
  settings.workPlaneMethod.useTiltedWorkplane = getProperty("useTiltedWorkplane") != undefined ? getProperty("useTiltedWorkplane") :
    getSetting("workPlaneMethod.useTiltedWorkplane", false);
  settings.workPlaneMethod.useABCPrepositioning = getProperty("useABCPrepositioning") != undefined ? getProperty("useABCPrepositioning") :
    getSetting("workPlaneMethod.useABCPrepositioning", false);

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

  // identify if any of the rotary axes has TCP enabled
  var axes = [machineConfiguration.getAxisU(), machineConfiguration.getAxisV(), machineConfiguration.getAxisW()];
  tcp.isSupportedByMachine = axes.some(function(axis) {return axis.isEnabled() && axis.isTCPEnabled();}); // true if TCP is enabled on any rotary axis

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

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

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

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

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

function getFeed(f) {
  if (getProperty("useG95")) {
    return feedOutput.format(f / spindleSpeed); // use feed value
  }
  if (typeof activeMovements != "undefined" && 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 settings.parametricFeeds.feedOutputVariable + (settings.parametricFeeds.firstFeedParameter + feedContext.id);
      }
    }
    currentFeedId = undefined; // force parametric feed next time
  }
  return feedOutput.format(f); // use feed value
}

function validateCommonParameters() {
  validateToolData();
  for (var i = 0; i < getNumberOfSections(); ++i) {
    var section = getSection(i);
    if (getSection(0).workOffset == 0 && section.workOffset > 0) {
      error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
    }
    if (section.isMultiAxis()) {
      if (!section.isOptimizedForMachine() &&
        (!getSetting("workPlaneMethod.useTiltedWorkplane", false) || !getSetting("supportsToolVectorOutput", false))) {
        error(localize("This postprocessor requires a machine configuration for 5-axis simultaneous toolpath."));
      }
      if (machineConfiguration.getMultiAxisFeedrateMode() == FEED_INVERSE_TIME && !getSetting("supportsInverseTimeFeed", true)) {
        error(localize("This postprocessor does not support inverse time feedrates."));
      }
      if (getSetting("supportsToolVectorOutput", false) && !tcp.isSupportedByControl) {
        error(localize("Incompatible postprocessor settings detected." + EOL +
        "Setting 'supportsToolVectorOutput' requires setting 'supportsTCP' to be enabled as well."));
      }
    }
  }
  if (!tcp.isSupportedByControl && tcp.isSupportedByMachine) {
    error(localize("The machine configuration has TCP enabled which is not supported by this postprocessor."));
  }
  if (getProperty("safePositionMethod") == "clearanceHeight") {
    var msg = "-Attention- Property 'Safe Retracts' is set to 'Clearance Height'." + EOL +
      "Ensure the clearance height will clear the part and or fixtures." + EOL +
      "Raise the Z-axis to a safe height before starting the program.";
    warning(msg);
    writeComment(msg);
  }
}

function validateToolData() {
  var _default = 99999;
  var _maximumSpindleRPM = machineConfiguration.getMaximumSpindleSpeed() > 0 ? machineConfiguration.getMaximumSpindleSpeed() :
    settings.maximumSpindleRPM == undefined ? _default : settings.maximumSpindleRPM;
  var _maximumToolNumber = machineConfiguration.isReceived() && machineConfiguration.getNumberOfTools() > 0 ? machineConfiguration.getNumberOfTools() :
    settings.maximumToolNumber == undefined ? _default : settings.maximumToolNumber;
  var _maximumToolLengthOffset = settings.maximumToolLengthOffset == undefined ? _default : settings.maximumToolLengthOffset;
  var _maximumToolDiameterOffset = settings.maximumToolDiameterOffset == undefined ? _default : settings.maximumToolDiameterOffset;

  var header = ["Detected maximum values are out of range.", "Maximum values:"];
  var warnings = {
    toolNumber    : {msg:"Tool number value exceeds the maximum value for tool: " + EOL, max:" Tool number: " + _maximumToolNumber, values:[]},
    lengthOffset  : {msg:"Tool length offset value exceeds the maximum value for tool: " + EOL, max:" Tool length offset: " + _maximumToolLengthOffset, values:[]},
    diameterOffset: {msg:"Tool diameter offset value exceeds the maximum value for tool: " + EOL, max:" Tool diameter offset: " + _maximumToolDiameterOffset, values:[]},
    spindleSpeed  : {msg:"Spindle speed exceeds the maximum value for operation: " + EOL, max:" Spindle speed: " + _maximumSpindleRPM, values:[]}
  };

  var toolIds = [];
  for (var i = 0; i < getNumberOfSections(); ++i) {
    var section = getSection(i);
    if (toolIds.indexOf(section.getTool().getToolId()) === -1) { // loops only through sections which have a different tool ID
      var toolNumber = section.getTool().number;
      var lengthOffset = section.getTool().lengthOffset;
      var diameterOffset = section.getTool().diameterOffset;
      var comment = section.getParameter("operation-comment", "");

      if (toolNumber > _maximumToolNumber && !getProperty("toolAsName")) {
        warnings.toolNumber.values.push(SP + toolNumber + EOL);
      }
      if (lengthOffset > _maximumToolLengthOffset) {
        warnings.lengthOffset.values.push(SP + "Tool " + toolNumber + " (" + comment + "," + " Length offset: " + lengthOffset + ")" + EOL);
      }
      if (diameterOffset > _maximumToolDiameterOffset) {
        warnings.diameterOffset.values.push(SP + "Tool " + toolNumber + " (" + comment + "," + " Diameter offset: " + diameterOffset + ")" + EOL);
      }
      toolIds.push(section.getTool().getToolId());
    }
    // loop through all sections regardless of tool id for idenitfying spindle speeds

    // identify if movement ramp is used in current toolpath, use ramp spindle speed for comparisons
    var ramp = section.getMovements() & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_ZIG_ZAG) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_HELIX));
    var _sectionSpindleSpeed = Math.max(section.getTool().spindleRPM, ramp ? section.getTool().rampingSpindleRPM : 0, 0);
    if (_sectionSpindleSpeed > _maximumSpindleRPM) {
      warnings.spindleSpeed.values.push(SP + section.getParameter("operation-comment", "") + " (" + _sectionSpindleSpeed + " RPM" + ")" + EOL);
    }
  }

  // sort lists by tool number
  warnings.toolNumber.values.sort(function(a, b) {return a - b;});
  warnings.lengthOffset.values.sort(function(a, b) {return a.localeCompare(b);});
  warnings.diameterOffset.values.sort(function(a, b) {return a.localeCompare(b);});

  var warningMessages = [];
  for (var key in warnings) {
    if (warnings[key].values != "") {
      header.push(warnings[key].max); // add affected max values to the header
      warningMessages.push(warnings[key].msg + warnings[key].values.join(""));
    }
  }
  if (warningMessages.length != 0) {
    warningMessages.unshift(header.join(EOL) + EOL);
    warning(warningMessages.join(EOL));
  }
}

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

/** 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();
}

/**
  Writes the specified block.
*/
function writeBlock() {
  var text = formatWords(arguments);
  if (!text) {
    return;
  }
  var prefix = getSetting("sequenceNumberPrefix", "N");
  var suffix = getSetting("writeBlockSuffix", "");
  if ((optionalSection || skipBlocks) && !getSetting("supportsOptionalBlocks", true)) {
    error(localize("Optional blocks are not supported by this post."));
  }
  if (getProperty("showSequenceNumbers") == "true") {
    if (sequenceNumber == undefined || sequenceNumber >= settings.maximumSequenceNumber) {
      sequenceNumber = getProperty("sequenceNumberStart");
    }
    if (optionalSection || skipBlocks) {
      writeWords2("/", prefix + sequenceNumber, text + suffix);
    } else {
      writeWords2(prefix + sequenceNumber, text + suffix);
    }
    sequenceNumber += getProperty("sequenceNumberIncrement");
  } else {
    if (optionalSection || skipBlocks) {
      writeWords2("/", text + suffix);
    } else {
      writeWords(text + suffix);
    }
  }
}

validate(settings.comments, "Setting 'comments' is required but not defined.");
function formatComment(text) {
  var prefix = settings.comments.prefix;
  var suffix = settings.comments.suffix;
  var _permittedCommentChars = settings.comments.permittedCommentChars == undefined ? "" : settings.comments.permittedCommentChars;
  switch (settings.comments.outputFormat) {
  case "upperCase":
    text = text.toUpperCase();
    _permittedCommentChars = _permittedCommentChars.toUpperCase();
    break;
  case "lowerCase":
    text = text.toLowerCase();
    _permittedCommentChars = _permittedCommentChars.toLowerCase();
    break;
  case "ignoreCase":
    _permittedCommentChars = _permittedCommentChars.toUpperCase() + _permittedCommentChars.toLowerCase();
    break;
  default:
    error(localize("Unsupported option specified for setting 'comments.outputFormat'."));
  }
  if (_permittedCommentChars != "") {
    text = filterText(String(text), _permittedCommentChars);
  }
  text = String(text).substring(0, settings.comments.maximumLineLength - prefix.length - suffix.length);
  return text != "" ?  prefix + text + suffix : "";
}

/**
  Output a comment.
*/
function writeComment(text) {
  if (!text) {
    return;
  }
  var comments = String(text).split(EOL);
  for (comment in comments) {
    var _comment = formatComment(comments[comment]);
    if (_comment) {
      if (getSetting("comments.showSequenceNumbers", false)) {
        writeBlock(_comment);
      } else {
        writeln(_comment);
      }
    }
  }
}

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

/**
  Writes the specified block - used for tool changes only.
*/
function writeToolBlock() {
  var show = getProperty("showSequenceNumbers");
  setProperty("showSequenceNumbers", (show == "true" || show == "toolChange") ? "true" : "false");
  writeBlock(arguments);
  setProperty("showSequenceNumbers", show);
}

var skipBlocks = false;
var initialState = JSON.parse(JSON.stringify(state)); // save initial state
var optionalState = JSON.parse(JSON.stringify(state));
var saveCurrentSectionId = undefined;
function writeStartBlocks(isRequired, code) {
  var saveSkipBlocks = skipBlocks;
  var saveMainState = state; // save main state

  if (!isRequired) {
    if (!getProperty("safeStartAllOperations", false)) {
      return; // when safeStartAllOperations is disabled, dont output code and return
    }
    if (saveCurrentSectionId != getCurrentSectionId()) {
      saveCurrentSectionId = getCurrentSectionId();
      forceModals(); // force all modal variables when entering a new section
      optionalState = Object.create(initialState); // reset optionalState to initialState when entering a new section
    }
    skipBlocks = true; // if values are not required, but safeStartAllOperations is enabled - write following blocks as optional
    state = optionalState; // set state to optionalState if skipBlocks is true
    state.mainState = false;
  }
  code(); // writes out the code which is passed to this function as an argument

  state = saveMainState; // restore main state
  skipBlocks = saveSkipBlocks; // restore skipBlocks value
}

var pendingRadiusCompensation = -1;
function onRadiusCompensation() {
  pendingRadiusCompensation = radiusCompensation;
  if (pendingRadiusCompensation >= 0 && !getSetting("supportsRadiusCompensation", true)) {
    error(localize("Radius compensation mode is not supported."));
    return;
  }
}

function onPassThrough(text) {
  var commands = String(text).split(",");
  for (text in commands) {
    writeBlock(commands[text]);
  }
}

function forceModals() {
  if (arguments.length == 0) { // reset all modal variables listed below
    if (typeof gMotionModal != "undefined") {
      gMotionModal.reset();
    }
    if (typeof gPlaneModal != "undefined") {
      gPlaneModal.reset();
    }
    if (typeof gAbsIncModal != "undefined") {
      gAbsIncModal.reset();
    }
    if (typeof gFeedModeModal != "undefined") {
      gFeedModeModal.reset();
    }
  } else {
    for (var i in arguments) {
      arguments[i].reset(); // only reset the modal variable passed to this function
    }
  }
}

/** Helper function to be able to use a default value for settings which do not exist. */
function getSetting(setting, defaultValue) {
  var result = defaultValue;
  var keys = setting.split(".");
  var obj = settings;
  for (var i in keys) {
    if (obj[keys[i]] != undefined) { // setting does exist
      result = obj[keys[i]];
      if (typeof [keys[i]] === "object") {
        obj = obj[keys[i]];
        continue;
      }
    } else { // setting does not exist, use default value
      if (defaultValue != undefined) {
        result = defaultValue;
      } else {
        error("Setting '" + keys[i] + "' has no default value and/or does not exist.");
        return undefined;
      }
    }
  }
  return result;
}

function getForwardDirection(_section) {
  var forward = undefined;
  var _optimizeType = settings.workPlaneMethod && settings.workPlaneMethod.optimizeType;
  if (_section.isMultiAxis()) {
    forward = _section.workPlane.forward;
  } else if (!getSetting("workPlaneMethod.useTiltedWorkplane", false) && machineConfiguration.isMultiAxisConfiguration()) {
    if (_optimizeType == undefined) {
      var saveRotation = getRotation();
      getWorkPlaneMachineABC(_section, true);
      forward = getRotation().forward;
      setRotation(saveRotation); // reset rotation
    } else {
      var abc = getWorkPlaneMachineABC(_section, false);
      var forceAdjustment = settings.workPlaneMethod.optimizeType == OPTIMIZE_TABLES || settings.workPlaneMethod.optimizeType == OPTIMIZE_BOTH;
      forward = machineConfiguration.getOptimizedDirection(_section.workPlane.forward, abc, false, forceAdjustment);
    }
  } else {
    forward = getRotation().forward;
  }
  return forward;
}

function getRetractParameters() {
  var _arguments = typeof arguments[0] === "object" ? arguments[0].axes : arguments;
  var singleLine = arguments[0].singleLine == undefined ? true : arguments[0].singleLine;
  var words = []; // store all retracted axes in an array
  var retractAxes = new Array(false, false, false);
  var method = getProperty("safePositionMethod", "undefined");
  if (method == "clearanceHeight") {
    if (!is3D()) {
      error(localize("Safe retract option 'Clearance Height' is only supported when all operations are along the setup Z-axis."));
    }
    return undefined;
  }
  validate(settings.retract, "Setting 'retract' is required but not defined.");
  validate(_arguments.length != 0, "No axis specified for getRetractParameters().");
  for (i in _arguments) {
    retractAxes[_arguments[i]] = true;
  }
  if ((retractAxes[0] || retractAxes[1]) && !state.retractedZ) { // retract Z first before moving to X/Y home
    error(localize("Retracting in X/Y is not possible without being retracted in Z."));
    return undefined;
  }
  // special conditions
  if (retractAxes[0] || retractAxes[1]) {
    method = getSetting("retract.methodXY", method);
  }
  if (retractAxes[2]) {
    method = getSetting("retract.methodZ", method);
  }
  // define home positions
  var useZeroValues = (settings.retract.useZeroValues && settings.retract.useZeroValues.indexOf(method) != -1);
  var _xHome = machineConfiguration.hasHomePositionX() && !useZeroValues ? machineConfiguration.getHomePositionX() : toPreciseUnit(0, MM);
  var _yHome = machineConfiguration.hasHomePositionY() && !useZeroValues ? machineConfiguration.getHomePositionY() : toPreciseUnit(0, MM);
  var _zHome = machineConfiguration.getRetractPlane() != 0 && !useZeroValues ? machineConfiguration.getRetractPlane() : toPreciseUnit(0, MM);
  for (var i = 0; i < _arguments.length; ++i) {
    switch (_arguments[i]) {
    case X:
      if (!state.retractedX) {
        words.push("X" + xyzFormat.format(_xHome));
        xOutput.reset();
        state.retractedX = true;
      }
      break;
    case Y:
      if (!state.retractedY) {
        words.push("Y" + xyzFormat.format(_yHome));
        yOutput.reset();
        state.retractedY = true;
      }
      break;
    case Z:
      if (!state.retractedZ) {
        words.push("Z" + xyzFormat.format(_zHome));
        zOutput.reset();
        state.retractedZ = true;
      }
      break;
    default:
      error(localize("Unsupported axis specified for getRetractParameters()."));
      return undefined;
    }
  }
  return {method:method, retractAxes:retractAxes, words:words, singleLine:singleLine};
}

/** Returns true when subprogram logic does exist into the post. */
function subprogramsAreSupported() {
  return typeof subprogramState != "undefined";
}
// <<<<< INCLUDED FROM include_files/commonFunctions.cpi
// >>>>> INCLUDED FROM include_files/defineMachine.cpi
var compensateToolLength = false; // add the tool length to the pivot distance for nonTCP rotary heads
function defineMachine() {
  var useTCP = true;
  if (false) { // note: setup your machine here
    var aAxis = createAxis({coordinate:0, table:true, axis:[1, 0, 0], range:[-120, 120], preference:1, tcp:useTCP});
    var cAxis = createAxis({coordinate:2, table:true, axis:[0, 0, 1], range:[-360, 360], preference:0, tcp:useTCP});
    machineConfiguration = new MachineConfiguration(aAxis, cAxis);

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

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

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

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

    /* home positions */
    // machineConfiguration.setHomePositionX(toPreciseUnit(0, IN));
    // machineConfiguration.setHomePositionY(toPreciseUnit(0, IN));
    // machineConfiguration.setRetractPlane(toPreciseUnit(0, IN));
  }
}
// <<<<< INCLUDED FROM include_files/defineMachine.cpi
// >>>>> INCLUDED FROM include_files/defineWorkPlane.cpi
validate(settings.workPlaneMethod, "Setting 'workPlaneMethod' is required but not defined.");

//ai replaced function

function defineWorkPlane(_section, _setWorkPlane) {
    var abc = new Vector(0, 0, 0);
    if (settings.workPlaneMethod.forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) {
      if (isPolarModeActive()) {
        abc = getCurrentDirection();
      } else if (_section.isMultiAxis()) {
        forceWorkPlane();
        cancelTransformation();
        abc = _section.isOptimizedForMachine() ? _section.getInitialToolAxisABC() : _section.getGlobalInitialToolAxis();
      } else if (settings.workPlaneMethod.useTiltedWorkplane && settings.workPlaneMethod.eulerConvention != undefined) {
        if (settings.workPlaneMethod.eulerCalculationMethod == "machine" && machineConfiguration.isMultiAxisConfiguration()) {
          abc = machineConfiguration.getOrientation(getWorkPlaneMachineABC(_section, true)).getEuler2(settings.workPlaneMethod.eulerConvention);
        } else {
          abc = _section.workPlane.getEuler2(settings.workPlaneMethod.eulerConvention);
        }
      } else {
        abc = getWorkPlaneMachineABC(_section, true);
      }
  
      if (_setWorkPlane) {
        if (_section.isMultiAxis() || isPolarModeActive()) { // 4-5x simultaneous operations
          cancelWorkPlane();
          if (_section.isOptimizedForMachine()) {
            positionABC(abc, true);
          } else {
            setCurrentDirection(abc);
          }
        } else { // 3x and/or 3+2x operations
          setWorkPlane(abc);
        }
      }
    } else {
      var remaining = _section.workPlane;
      if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
        error(localize("Tool orientation is not supported."));
        return abc;
      }
      setRotation(remaining);
    }
    tcp.isSupportedByOperation = isTCPSupportedByOperation(_section);
    return abc;
  }
  
  



function isTCPSupportedByOperation(_section) {
  var _tcp = _section.getOptimizedTCPMode() == OPTIMIZE_NONE;
  if (!_section.isMultiAxis() && (settings.workPlaneMethod.useTiltedWorkplane ||
    isSameDirection(machineConfiguration.getSpindleAxis(), getForwardDirection(_section)) ||
    settings.workPlaneMethod.optimizeType == OPTIMIZE_HEADS ||
    settings.workPlaneMethod.optimizeType == OPTIMIZE_TABLES ||
    settings.workPlaneMethod.optimizeType == OPTIMIZE_BOTH)) {
    _tcp = false;
  }
  return _tcp;
}
// <<<<< INCLUDED FROM include_files/defineWorkPlane.cpi
// >>>>> INCLUDED FROM include_files/smoothing.cpi
// collected state below, do not edit
validate(settings.smoothing, "Setting 'smoothing' is required but not defined.");
var smoothing = {
  cancel     : false, // cancel tool length prior to update smoothing for this operation
  isActive   : false, // the current state of smoothing
  isAllowed  : false, // smoothing is allowed for this operation
  isDifferent: false, // tells if smoothing levels/tolerances/both are different between operations
  level      : -1, // the active level of smoothing
  tolerance  : -1, // the current operation tolerance
  force      : false // smoothing needs to be forced out in this operation
};

function initializeSmoothing() {
  var smoothingSettings = settings.smoothing;
  var previousLevel = smoothing.level;
  var previousTolerance = xyzFormat.getResultingValue(smoothing.tolerance);

  // format threshold parameters
  var thresholdRoughing = xyzFormat.getResultingValue(smoothingSettings.thresholdRoughing);
  var thresholdSemiFinishing = xyzFormat.getResultingValue(smoothingSettings.thresholdSemiFinishing);
  var thresholdFinishing = xyzFormat.getResultingValue(smoothingSettings.thresholdFinishing);

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

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

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

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

  // tool length compensation needs to be canceled when smoothing state/level changes
  if (smoothingSettings.cancelCompensation) {
    smoothing.cancel = !isFirstSection() && smoothing.isDifferent;
  }
}
// <<<<< INCLUDED FROM include_files/smoothing.cpi
// >>>>> INCLUDED FROM include_files/writeProgramHeader.cpi
properties.writeMachine = {
  title      : "Write machine",
  description: "Output the machine settings in the header of the program.",
  group      : "formats",
  type       : "boolean",
  value      : true,
  scope      : "post"
};
properties.writeTools = {
  title      : "Write tool list",
  description: "Output a tool list in the header of the program.",
  group      : "formats",
  type       : "boolean",
  value      : true,
  scope      : "post"
};
function writeProgramHeader() {
  // dump machine configuration
  var vendor = machineConfiguration.getVendor();
  var model = machineConfiguration.getModel();
  var mDescription = machineConfiguration.getDescription();
  if (getProperty("writeMachine") && (vendor || model || mDescription)) {
    writeComment(localize("Machine"));
    if (vendor) {
      writeComment("  " + localize("vendor") + ": " + vendor);
    }
    if (model) {
      writeComment("  " + localize("model") + ": " + model);
    }
    if (mDescription) {
      writeComment("  " + localize("description") + ": "  + mDescription);
    }
  }

  // dump tool information
  if (getProperty("writeTools")) {
    if (false) { // set to true to use the post kernel version of the tool list
      writeToolTable(TOOL_NUMBER_COL);
    } else {
      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 = (getProperty("toolAsName") ? "\"" + tool.description.toUpperCase() + "\"" : "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);
        }
      }
    }
  }
}
// <<<<< INCLUDED FROM include_files/writeProgramHeader.cpi
// >>>>> INCLUDED FROM include_files/parametricFeeds.cpi
properties.useParametricFeed = {
  title      : "Parametric feed",
  description: "Specifies that the feedrates should be output using parameters.",
  group      : "preferences",
  type       : "boolean",
  value      : false,
  scope      : "post"
};
var activeMovements;
var currentFeedId;
validate(settings.parametricFeeds, "Setting 'parametricFeeds' is required but not defined.");
function initializeParametricFeeds(insertToolCall) {
  if (getProperty("useParametricFeed") && getParameter("operation-strategy") != "drill" && !currentSection.hasAnyCycle()) {
    if (!insertToolCall && activeMovements && (getCurrentSectionId() > 0) &&
      ((getPreviousSection().getPatternId() == currentSection.getPatternId()) && (currentSection.getPatternId() != 0))) {
      return; // use the current feeds
    }
  } else {
    activeMovements = undefined;
    return;
  }

  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;
      if (!hasParameter("operation:tool_feedTransition")) {
        activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext;
      }
      activeMovements[MOVEMENT_EXTENDED] = feedContext;
    }
    ++id;
    if (movements & (1 << MOVEMENT_PREDRILL)) {
      feedContext = new FeedContext(id, localize("Predrilling"), getParameter("operation:tool_feedCutting"));
      activeMovements[MOVEMENT_PREDRILL] = feedContext;
      activeFeeds.push(feedContext);
    }
    ++id;
  }
  if (hasParameter("operation:finishFeedrate")) {
    if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
      var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:finishFeedrate"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
    }
    ++id;
  } else if (hasParameter("operation:tool_feedCutting")) {
    if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
      var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:tool_feedCutting"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
    }
    ++id;
  }
  if (hasParameter("operation:tool_feedEntry")) {
    if (movements & (1 << MOVEMENT_LEAD_IN)) {
      var feedContext = new FeedContext(id, localize("Entry"), getParameter("operation:tool_feedEntry"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LEAD_IN] = feedContext;
    }
    ++id;
  }
  if (hasParameter("operation:tool_feedExit")) {
    if (movements & (1 << MOVEMENT_LEAD_OUT)) {
      var feedContext = new FeedContext(id, localize("Exit"), getParameter("operation:tool_feedExit"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LEAD_OUT] = feedContext;
    }
    ++id;
  }
  if (hasParameter("operation:noEngagementFeedrate")) {
    if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
      var feedContext = new FeedContext(id, localize("Direct"), getParameter("operation:noEngagementFeedrate"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
    }
    ++id;
  } else if (hasParameter("operation:tool_feedCutting") &&
             hasParameter("operation:tool_feedEntry") &&
             hasParameter("operation:tool_feedExit")) {
    if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
      var feedContext = new FeedContext(id, localize("Direct"), Math.max(getParameter("operation:tool_feedCutting"), getParameter("operation:tool_feedEntry"), getParameter("operation:tool_feedExit")));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
    }
    ++id;
  }
  if (hasParameter("operation:reducedFeedrate")) {
    if (movements & (1 << MOVEMENT_REDUCED)) {
      var feedContext = new FeedContext(id, localize("Reduced"), getParameter("operation:reducedFeedrate"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_REDUCED] = feedContext;
    }
    ++id;
  }
  if (hasParameter("operation:tool_feedRamp")) {
    if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) {
      var feedContext = new FeedContext(id, localize("Ramping"), getParameter("operation:tool_feedRamp"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_RAMP] = feedContext;
      activeMovements[MOVEMENT_RAMP_HELIX] = feedContext;
      activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext;
      activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext;
    }
    ++id;
  }
  if (hasParameter("operation:tool_feedPlunge")) {
    if (movements & (1 << MOVEMENT_PLUNGE)) {
      var feedContext = new FeedContext(id, localize("Plunge"), getParameter("operation:tool_feedPlunge"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_PLUNGE] = feedContext;
    }
    ++id;
  }
  if (true) { // high feed
    if ((movements & (1 << MOVEMENT_HIGH_FEED)) || (highFeedMapping != HIGH_FEED_NO_MAPPING)) {
      var feed;
      if (hasParameter("operation:highFeedrateMode") && getParameter("operation:highFeedrateMode") != "disabled") {
        feed = getParameter("operation:highFeedrate");
      } else {
        feed = this.highFeedrate;
      }
      var feedContext = new FeedContext(id, localize("High Feed"), feed);
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_HIGH_FEED] = feedContext;
      activeMovements[MOVEMENT_RAPID] = feedContext;
    }
    ++id;
  }
  if (hasParameter("operation:tool_feedTransition")) {
    if (movements & (1 << MOVEMENT_LINK_TRANSITION)) {
      var feedContext = new FeedContext(id, localize("Transition"), getParameter("operation:tool_feedTransition"));
      activeFeeds.push(feedContext);
      activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext;
    }
    ++id;
  }

  for (var i = 0; i < activeFeeds.length; ++i) {
    var feedContext = activeFeeds[i];
    var feedDescription = typeof formatComment == "function" ? formatComment(feedContext.description) : feedContext.description;
    writeBlock(settings.parametricFeeds.feedAssignmentVariable + (settings.parametricFeeds.firstFeedParameter + feedContext.id) + "=" + feedFormat.format(feedContext.feed) + SP + feedDescription);
  }
}

function FeedContext(id, description, feed) {
  this.id = id;
  this.description = description;
  this.feed = feed;
}
// <<<<< INCLUDED FROM include_files/parametricFeeds.cpi
// >>>>> INCLUDED FROM include_files/writeWCS.cpi
function writeWCS(section, wcsIsRequired) {
  if (section.workOffset != currentWorkOffset) {
    if (getSetting("workPlaneMethod.cancelTiltFirst", false) && wcsIsRequired) {
      cancelWorkPlane();
    }
    if (typeof forceWorkPlane == "function" && wcsIsRequired) {
      forceWorkPlane();
    }
    writeStartBlocks(wcsIsRequired, function () {
      writeBlock(section.wcs);
    });
    currentWorkOffset = section.workOffset;
  }
}
// <<<<< INCLUDED FROM include_files/writeWCS.cpi
// >>>>> INCLUDED FROM include_files/writeToolCall.cpi
function writeToolCall(tool, insertToolCall) {
  if (!isFirstSection()) {
    writeStartBlocks(!getProperty("safeStartAllOperations") && insertToolCall, function () {
      writeRetract(Z); // write optional Z retract before tool change if safeStartAllOperations is enabled
    });
  }
  writeStartBlocks(insertToolCall, function () {
    writeRetract(Z);
    if (getSetting("retract.homeXY.onToolChange", false)) {
      writeRetract(settings.retract.homeXY.onToolChange);
    }
    if (!isFirstSection() && insertToolCall) {
      if (typeof forceWorkPlane == "function") {
        forceWorkPlane();
      }
      onCommand(COMMAND_COOLANT_OFF); // turn off coolant on tool change
      if (typeof disableLengthCompensation == "function") {
        disableLengthCompensation(false);
      }
    }

    if (tool.manualToolChange) {
      onCommand(COMMAND_STOP);
      writeComment("MANUAL TOOL CHANGE TO T" + toolFormat.format(tool.number));
    } else {
      if (!isFirstSection() && getProperty("optionalStop") && insertToolCall) {
        onCommand(COMMAND_OPTIONAL_STOP);
      }
      onCommand(COMMAND_LOAD_TOOL);
    }
  });
  if (typeof forceModals == "function" && (insertToolCall || getProperty("safeStartAllOperations"))) {
    forceModals();
  }
}
// <<<<< INCLUDED FROM include_files/writeToolCall.cpi
// >>>>> INCLUDED FROM include_files/startSpindle.cpi

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

    writeStartBlocks(spindleSpeedIsRequired, function () {
      if (spindleSpeedIsRequired || operationNeedsSafeStart) {
        onCommand(COMMAND_START_SPINDLE);
      }
    });
  }
}
// <<<<< INCLUDED FROM include_files/startSpindle.cpi
// >>>>> INCLUDED FROM include_files/coolant.cpi
var currentCoolantMode = COOLANT_OFF;
var coolantOff = undefined;
var isOptionalCoolant = false;
var forceCoolant = false;

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

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

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

  if (!m) {
    onUnsupportedCoolant(coolant);
    m = 9;
  } else {
    if (Array.isArray(m)) {
      for (var i in m) {
        multipleCoolantBlocks.push(m[i]);
      }
    } else {
      multipleCoolantBlocks.push(m);
    }
    currentCoolantMode = coolant;
    for (var i in multipleCoolantBlocks) {
      if (typeof multipleCoolantBlocks[i] == "number") {
        multipleCoolantBlocks[i] = mFormat.format(multipleCoolantBlocks[i]);
      }
    }
    if (format == undefined || format) {
      return multipleCoolantBlocks; // return the single formatted coolant value
    } else {
      return m; // return unformatted coolant value
    }
  }
  return undefined;
}
// <<<<< INCLUDED FROM include_files/coolant.cpi
// >>>>> INCLUDED FROM include_files/getWorkPlaneMachineABC.cpi
validate(settings.machineAngles, "Setting 'machineAngles' is required but not defined.");
function getWorkPlaneMachineABC(_section, rotate) {
  var currentABC = isFirstSection() ? new Vector(0, 0, 0) : getCurrentABC();
  var abc = _section.getABCByPreference(machineConfiguration, _section.workPlane, currentABC, settings.machineAngles.controllingAxis, settings.machineAngles.type, settings.machineAngles.options);
  if (!isSameDirection(machineConfiguration.getDirection(abc), _section.workPlane.forward)) {
    error(localize("Orientation not supported."));
  }
  if (rotate) {
    if (settings.workPlaneMethod.optimizeType == undefined || settings.workPlaneMethod.useTiltedWorkplane) { // legacy
      var useTCP = false;
      var R = machineConfiguration.getRemainingOrientation(abc, _section.workPlane);
      setRotation(useTCP ? _section.workPlane : R);
    } else {
      if (!_section.isOptimizedForMachine()) {
        machineConfiguration.setToolLength(compensateToolLength ? _section.getTool().overallLength : 0); // define the tool length for head adjustments
        _section.optimize3DPositionsByMachine(machineConfiguration, abc, settings.workPlaneMethod.optimizeType);
      }
    }
  }
  return abc;
}
// <<<<< INCLUDED FROM include_files/getWorkPlaneMachineABC.cpi
// >>>>> INCLUDED FROM include_files/positionABC.cpi
function positionABC(abc, force) {
  if (!machineConfiguration.isMultiAxisConfiguration()) {
    error("Function 'positionABC' can only be used with multi-axis machine configurations.");
  }
  if (typeof unwindABC == "function") {
    unwindABC(abc);
  }
  if (force) {
    forceABC();
  }
  var a = aOutput.format(abc.x);
  var b = bOutput.format(abc.y);
  var c = cOutput.format(abc.z);
  if (a || b || c) {
    writeRetract(Z);
    if (getSetting("retract.homeXY.onIndexing", false)) {
      writeRetract(settings.retract.homeXY.onIndexing);
    }
    onCommand(COMMAND_UNLOCK_MULTI_AXIS);
    gMotionModal.reset();
    writeBlock(gMotionModal.format(0), a, b, c);

    if (getCurrentSectionId() != -1) {
      setCurrentABC(abc); // required for machine simulation
    }
  }
}
// <<<<< INCLUDED FROM include_files/positionABC.cpi

// >>>>> INCLUDED FROM include_files/onRapid_fanuc.cpi
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();
  }
}
// <<<<< INCLUDED FROM include_files/onRapid_fanuc.cpi
// >>>>> INCLUDED FROM include_files/onLinear_fanuc.cpi
function onLinear(_x, _y, _z, feed) {
  if (pendingRadiusCompensation >= 0) {
    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 = getSetting("outputToolDiameterOffset", true) ? diameterOffsetFormat.format(tool.diameterOffset) : "";
      writeBlock(gPlaneModal.format(17));
      switch (radiusCompensation) {
      case RADIUS_COMPENSATION_LEFT:
        writeBlock(gMotionModal.format(1), gFormat.format(41), x, y, z, d, f);
        break;
      case RADIUS_COMPENSATION_RIGHT:
        writeBlock(gMotionModal.format(1), gFormat.format(42), x, y, z, d, f);
        break;
      default:
        writeBlock(gMotionModal.format(1), gFormat.format(40), x, y, z, f);
      }
    } else {
      writeBlock(gMotionModal.format(1), x, y, z, f);
    }
  } else if (f) {
    if (getNextRecord().isMotion()) { // try not to output feed without motion
      forceFeed(); // force feed on next line
    } else {
      writeBlock(gMotionModal.format(1), f);
    }
  }
}
// <<<<< INCLUDED FROM include_files/onLinear_fanuc.cpi
// >>>>> INCLUDED FROM include_files/onRapid5D_fanuc.cpi
function onRapid5D(_x, _y, _z, _a, _b, _c) {
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation mode cannot be changed at rapid traversal."));
    return;
  }
  if (!currentSection.isOptimizedForMachine()) {
    forceXYZ();
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var a = currentSection.isOptimizedForMachine() ? aOutput.format(_a) : toolVectorOutputI.format(_a);
  var b = currentSection.isOptimizedForMachine() ? bOutput.format(_b) : toolVectorOutputJ.format(_b);
  var c = currentSection.isOptimizedForMachine() ? cOutput.format(_c) : toolVectorOutputK.format(_c);

  if (x || y || z || a || b || c) {
    writeBlock(gMotionModal.format(0), x, y, z, a, b, c);
    forceFeed();
  }
}
// <<<<< INCLUDED FROM include_files/onRapid5D_fanuc.cpi
// >>>>> INCLUDED FROM include_files/onLinear5D_fanuc.cpi
function onLinear5D(_x, _y, _z, _a, _b, _c, feed, feedMode) {
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
    return;
  }
  if (!currentSection.isOptimizedForMachine()) {
    forceXYZ();
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var a = currentSection.isOptimizedForMachine() ? aOutput.format(_a) : toolVectorOutputI.format(_a);
  var b = currentSection.isOptimizedForMachine() ? bOutput.format(_b) : toolVectorOutputJ.format(_b);
  var c = currentSection.isOptimizedForMachine() ? cOutput.format(_c) : toolVectorOutputK.format(_c);
  if (feedMode == FEED_INVERSE_TIME) {
    forceFeed();
  }
  var f = feedMode == FEED_INVERSE_TIME ? inverseTimeOutput.format(feed) : getFeed(feed);
  var fMode = feedMode == FEED_INVERSE_TIME ? 93 : getProperty("useG95") ? 95 : 94;

  if (x || y || z || a || b || c) {
    writeBlock(gFeedModeModal.format(fMode), gMotionModal.format(1), x, y, z, a, b, c, f);
  } else if (f) {
    if (getNextRecord().isMotion()) { // try not to output feed without motion
      forceFeed(); // force feed on next line
    } else {
      writeBlock(gFeedModeModal.format(fMode), gMotionModal.format(1), f);
    }
  }
}
// <<<<< INCLUDED FROM include_files/onLinear5D_fanuc.cpi
// >>>>> INCLUDED FROM include_files/onCircular_fanuc.cpi
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 (getProperty("useRadius") || isHelical()) { // radius mode does not support full arcs
      linearize(tolerance);
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x), jOutput.format(cy - start.y), getFeed(feed));
      break;
    case PLANE_ZX:
      writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x), kOutput.format(cz - start.z), getFeed(feed));
      break;
    case PLANE_YZ:
      writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), jOutput.format(cy - start.y), kOutput.format(cz - start.z), getFeed(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else if (!getProperty("useRadius")) {
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x), jOutput.format(cy - start.y), getFeed(feed));
      break;
    case PLANE_ZX:
      writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x), kOutput.format(cz - start.z), getFeed(feed));
      break;
    case PLANE_YZ:
      writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y), kOutput.format(cz - start.z), getFeed(feed));
      break;
    default:
      if (getProperty("allow3DArcs")) {
        // make sure maximumCircularSweep is well below 360deg
        // we could use G02.4 or G03.4 - direction is calculated
        var ip = getPositionU(0.5);
        writeBlock(gMotionModal.format(clockwise ? 2.4 : 3.4), xOutput.format(ip.x), yOutput.format(ip.y), zOutput.format(ip.z), getFeed(feed));
        writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
      } else {
        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:
      if (getProperty("allow3DArcs")) {
        // make sure maximumCircularSweep is well below 360deg
        // we could use G02.4 or G03.4 - direction is calculated
        var ip = getPositionU(0.5);
        writeBlock(gMotionModal.format(clockwise ? 2.4 : 3.4), xOutput.format(ip.x), yOutput.format(ip.y), zOutput.format(ip.z), getFeed(feed));
        writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
      } else {
        linearize(tolerance);
      }
    }
  }
}
// <<<<< INCLUDED FROM include_files/onCircular_fanuc.cpi
// >>>>> INCLUDED FROM include_files/workPlaneFunctions_fanuc.cpi
var gRotationModal = createOutputVariable({current : 69,
  onchange: function () {
    state.twpIsActive = gRotationModal.getCurrent() != 69;
    if (typeof probeVariables != "undefined") {
      probeVariables.outputRotationCodes = probeVariables.probeAngleMethod == "G68";
    }
  }}, gFormat);

var currentWorkPlaneABC = undefined;
function forceWorkPlane() {
  currentWorkPlaneABC = undefined;
}

function cancelWCSRotation() {
  if (typeof gRotationModal != "undefined" && gRotationModal.getCurrent() == 68) {
    cancelWorkPlane(true);
  }
}

function cancelWorkPlane(force) {
  if (typeof gRotationModal != "undefined") {
    if (force) {
      gRotationModal.reset();
    }
    var command = gRotationModal.format(69);
    if (command) {
      writeBlock(command); // cancel frame
      forceWorkPlane();
    }
  }
}

function setWorkPlane(abc) {
  if (!settings.workPlaneMethod.forceMultiAxisIndexing && is3D() && !machineConfiguration.isMultiAxisConfiguration()) {
    return; // ignore
  }
  var workplaneIsRequired = (currentWorkPlaneABC == undefined) ||
    abcFormat.areDifferent(abc.x, currentWorkPlaneABC.x) ||
    abcFormat.areDifferent(abc.y, currentWorkPlaneABC.y) ||
    abcFormat.areDifferent(abc.z, currentWorkPlaneABC.z);

  writeStartBlocks(workplaneIsRequired, function () {
    writeRetract(Z);
    if (getSetting("retract.homeXY.onIndexing", false)) {
      writeRetract(settings.retract.homeXY.onIndexing);
    }
    if (currentSection.getId() > 0 && (isTCPSupportedByOperation(getSection(currentSection.getId() - 1) || tcp.isSupportedByOperation)) && typeof disableLengthCompensation == "function") {
      disableLengthCompensation(); // cancel TCP
    }

    if (settings.workPlaneMethod.useTiltedWorkplane) {
      onCommand(COMMAND_UNLOCK_MULTI_AXIS);
      cancelWorkPlane();
      if (machineConfiguration.isMultiAxisConfiguration()) {
        var machineABC = abc.isNonZero() ? (currentSection.isMultiAxis() ? getCurrentDirection() : getWorkPlaneMachineABC(currentSection, false)) : abc;
        if (settings.workPlaneMethod.useABCPrepositioning || machineABC.isZero()) {
          positionABC(machineABC, false);
        } else {
          setCurrentABC(machineABC);
        }
      }
      if (abc.isNonZero() || !machineConfiguration.isMultiAxisConfiguration()) {
        gRotationModal.reset();
        writeBlock(
          gRotationModal.format(68.2), "X" + xyzFormat.format(currentSection.workOrigin.x), "Y" + xyzFormat.format(currentSection.workOrigin.y), "Z" + xyzFormat.format(currentSection.workOrigin.z),
          "I" + abcFormat.format(abc.x), "J" + abcFormat.format(abc.y), "K" + abcFormat.format(abc.z)
        ); // set frame
        writeBlock(gFormat.format(53.1)); // turn machine
      }
    } else {
      positionABC(abc, true);
    }
    if (!currentSection.isMultiAxis()) {
      onCommand(COMMAND_LOCK_MULTI_AXIS);
    }
    currentWorkPlaneABC = abc;
  });
}
// <<<<< INCLUDED FROM include_files/workPlaneFunctions_fanuc.cpi
// >>>>> INCLUDED FROM include_files/initialPositioning_fanuc.cpi
/**
 * Writes the initial positioning procedure for a section to get to the start position of the toolpath.
 * @param {Vector} position The initial position to move to
 * @param {boolean} isRequired true: Output full positioning, false: Output full positioning in optional state or output simple positioning only
 * @param {String} codes1 Allows to add additional code to the first positioning line
 * @param {String} codes2 Allows to add additional code to the second positioning line (if applicable)
 * @example
  var myVar1 = formatWords("T" + tool.number, currentSection.wcs);
  var myVar2 = getCoolantCodes(tool.coolant);
  writeInitialPositioning(initialPosition, isRequired, myVar1, myVar2);
*/
function writeInitialPositioning(position, isRequired, codes1, codes2) {
  var motionCode = {single:0, multi:0};
  switch (highFeedMapping) {
  case HIGH_FEED_MAP_ANY:
    motionCode = {single:1, multi:1}; // map all rapid traversals to high feed
    break;
  case HIGH_FEED_MAP_MULTI:
    motionCode = {single:0, multi:1}; // map rapid traversal along more than one axis to high feed
    break;
  }
  var feed = (highFeedMapping != HIGH_FEED_NO_MAPPING) ? getFeed(highFeedrate) : "";
  var hOffset = getSetting("outputToolLengthOffset", true) ? hFormat.format(tool.lengthOffset) : "";
  var additionalCodes = [formatWords(codes1), formatWords(codes2)];

  forceModals(gMotionModal);
  writeStartBlocks(isRequired, function() {
    var modalCodes = formatWords(gAbsIncModal.format(90), gPlaneModal.format(17));
    if (typeof disableLengthCompensation == "function") {
      disableLengthCompensation(!isRequired); // cancel tool length compensation prior to enabling it, required when switching G43/G43.4 modes
    }

    // multi axis prepositioning with TWP
    if (currentSection.isMultiAxis() && getSetting("workPlaneMethod.prepositionWithTWP", true) && getSetting("workPlaneMethod.useTiltedWorkplane", false) &&
      tcp.isSupportedByOperation && getCurrentDirection().isNonZero()) {
      var W = machineConfiguration.isMultiAxisConfiguration() ? machineConfiguration.getOrientation(getCurrentDirection()) :
        Matrix.getOrientationFromDirection(getCurrentDirection());
      var prePosition = W.getTransposed().multiply(position);
      var angles = W.getEuler2(settings.workPlaneMethod.eulerConvention);
      setWorkPlane(angles);
      writeBlock(modalCodes, gMotionModal.format(motionCode.multi), xOutput.format(prePosition.x), yOutput.format(prePosition.y), feed, additionalCodes[0]);
      cancelWorkPlane();
      writeBlock(getOffsetCode(), hOffset, additionalCodes[1]); // omit Z-axis output is desired
      forceAny(); // required to output XYZ coordinates in the following line
    } else {
      if (machineConfiguration.isHeadConfiguration()) {
        writeBlock(modalCodes, gMotionModal.format(motionCode.multi), getOffsetCode(),
          xOutput.format(position.x), yOutput.format(position.y), zOutput.format(position.z),
          hOffset, feed, additionalCodes
        );
      } else {
        writeBlock(modalCodes, gMotionModal.format(motionCode.multi), xOutput.format(position.x), yOutput.format(position.y), feed, additionalCodes[0]);
        writeBlock(gMotionModal.format(motionCode.single), getOffsetCode(), zOutput.format(position.z), hOffset, additionalCodes[1]);
      }
    }
    forceModals(gMotionModal);
    if (isRequired) {
      additionalCodes = []; // clear additionalCodes buffer
    }
  });

  validate(!validateLengthCompensation || state.lengthCompensationActive, "Tool length compensation is not active."); // make sure that lenght compensation is enabled
  if (!isRequired) { // simple positioning
    var modalCodes = formatWords(gAbsIncModal.format(90), gPlaneModal.format(17));
    if (!state.retractedZ && xyzFormat.getResultingValue(getCurrentPosition().z) < xyzFormat.getResultingValue(position.z)) {
      writeBlock(modalCodes, gMotionModal.format(motionCode.single), zOutput.format(position.z), feed);
    }
    forceXYZ();
    writeBlock(modalCodes, gMotionModal.format(motionCode.multi), xOutput.format(position.x), yOutput.format(position.y), feed, additionalCodes);
  }
}

Matrix.getOrientationFromDirection = function (ijk) {
  var forward = ijk;
  var unitZ = new Vector(0, 0, 1);
  var W;
  if (Math.abs(Vector.dot(forward, unitZ)) < 0.5) {
    var imX = Vector.cross(forward, unitZ).getNormalized();
    W = new Matrix(imX, Vector.cross(forward, imX), forward);
  } else {
    var imX = Vector.cross(new Vector(0, 1, 0), forward).getNormalized();
    W = new Matrix(imX, Vector.cross(forward, imX), forward);
  }
  return W;
};
// <<<<< INCLUDED FROM include_files/initialPositioning_fanuc.cpi
// >>>>> INCLUDED FROM include_files/getOffsetCode_fanuc.cpi

//polar ai
var toolLengthCompOutput = createOutputVariable({
  control: CONTROL_FORCE,
  onchange: function() {
    state.tcpIsActive = toolLengthCompOutput.getCurrent() == 43.4 || toolLengthCompOutput.getCurrent() == 43.5;
    state.lengthCompensationActive = toolLengthCompOutput.getCurrent() != 49;
  }
}, gFormat);

function getOffsetCode() {
  if (!getSetting("outputToolLengthCompensation", true) && toolLengthCompOutput.isEnabled()) {
    state.lengthCompensationActive = true; // always assume that length compensation is active
    toolLengthCompOutput.disable();
  }
  var offsetCode = 43;
  if (tcp.isSupportedByOperation) {
    offsetCode = machineConfiguration.isMultiAxisConfiguration() ? 43.4 : 43.5;
  }
  return toolLengthCompOutput.format(offsetCode);
}

// <<<<< INCLUDED FROM include_files/getOffsetCode_fanuc.cpi
// >>>>> INCLUDED FROM include_files/writeRetract_fanuc.cpi

//ai polar replace

function writeRetract() {
  var retract = getRetractParameters.apply(this, arguments);
  if (retract && retract.words.length > 0) {
    if (typeof cancelWCSRotation == "function" && getSetting("retract.cancelRotationOnRetracting", false)) { // cancel rotation before retracting
      cancelWCSRotation();
    }
    if (typeof disableLengthCompensation == "function" && getSetting("allowCancelTCPBeforeRetracting", false) && state.tcpIsActive) {
      disableLengthCompensation(); // cancel TCP before retracting
    }
    for (var i in retract.words) {
      var words = retract.singleLine ? retract.words : retract.words[i];
      switch (retract.method) {
        case "G28":
          forceModals(gMotionModal, gAbsIncModal);
          writeBlock(gFormat.format(28), gAbsIncModal.format(91), words);
          writeBlock(gAbsIncModal.format(90));
          break;
        case "G30":
          forceModals(gMotionModal, gAbsIncModal);
          writeBlock(gFormat.format(30), gAbsIncModal.format(91), words);
          writeBlock(gAbsIncModal.format(90));
          break;
        case "G53":
          forceModals(gMotionModal);
          writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), words);
          break;
        default:
          if (typeof writeRetractCustom == "function") {
            writeRetractCustom(retract);
          } else {
            error(subst(localize("Unsupported safe position method '%1'"), retract.method));
            return;
          }
      }
      if (retract.singleLine) {
        break;
      }
    }
  }
}

// <<<<< INCLUDED FROM include_files/writeRetract_fanuc.cpi

// <<<<< INCLUDED FROM ../common/linuxcnc.cps

properties.preloadTool = {
  title      : "Preload tool",
  description: "Preloads the next tool at a tool change (if any).",
  group      : "preferences",
  type       : "boolean",
  value      : true,
  scope      : "post"
};
properties.useSmoothing = {
  title      : "Use smoothing",
  description: "Defines the smoothing control mode (G64/G61).",
  group      : "preferences",
  type       : "enum",
  values     : [
    {title:"G64", id:"0"},
    {title:"G64 with P", id:"1"},
    {title:"G64 with PQ", id:"2"},
    {title:"G61", id:"3"},
    {title:"G61.1", id:"4"}
  ],
  value: "2",
  scope: "post"
};
properties.sequenceNumberStart.value = 10;
properties.sequenceNumberIncrement.value = 5;
properties.safePositionMethod.value = "G53";