/**
  Copyright (C) 2012-2016 by Autodesk, Inc.
  All rights reserved.

  KOSY post processor configuration.

  $Revision: 41601 2e6200651f01fad70bd72491303b9729cd57fc6e $
  $Date: 2017-09-14 12:02:56 $
  
  FORKID {793B9330-BD83-4d9c-B9A2-DB45CFF321E5}
*/

description = "KOSY - WABECO";
vendor = "MaxComputer";
vendorUrl = "http://www.max-computer.de";
legal = "Copyright (C) 2012-2016 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 24000;

longDescription = "This is a post for the KOSY CNC-Wabeco CNC. Tuned by and for eirlab, see eirlab.org";

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

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

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



// user-defined properties
properties = {
  writeMachine: true, // write machine
  writeTools: true, // writes the tools
  separateWordsWithSpace: true, // specifies that the words should be separated with a white space
  writeComments: true, // enable to write comments
  disableToolCode: false //
  // maxRpm: 7500 //
};

// user-defined property definitions
propertyDefinitions = {
  writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
  writeTools: {title:"Write tool list", description:"Output a tool list in the header of the code.", group:0, type:"boolean"},
  separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
  writeComments: {title:"Output comments", description:"Enable to allow the usage of comments", type:"boolean"},
  disableToolCode: {title:"Disable Tool Change", description:"Disable gcode for autotool change", type:"boolean"},
  //maxRpm: {title:"Machine Max RPM", description:"Enter your machine maximum spindle speed", type:"float"}
};


isTapping=false;
tappingWay= 0 ; // 0 down, 1 is up

var gFormat = createFormat({prefix:"G", decimals:0});
var mFormat = createFormat({prefix:"M", zeropad:true, width:2, decimals:0});

rpmUFormat = createFormat({prefix:"U",decimals:2,scale:1}); // convert rpm to voltage

rpmRecords= [ [ 89.6 ,  1 ],
              [ 90.6 ,  2 ],
              [ 123  ,  3 ],
              [ 374  ,  3.5 ],
              [ 628  ,  4 ],
              [ 861  ,  4.5 ],
              [ 1150 , 5 ],
              [ 1400 , 5.5 ],
              [ 1635 , 6 ],
              [ 1880 , 6.5 ],
              [ 2120 , 7 ],
              [ 2370 , 7.5],
              [ 2620 , 8 ],
              [ 3090 , 9 ],
              [ 3625 , 10],
              [ 4125 , 11],
              [ 4590 , 12 ],
              [ 5090 , 13 ],
              [ 5570 , 14 ],
              [ 6109 , 15 ],
              [ 6588 , 16 ],
              [ 7040 , 17 ],
              [ 7490 , 18 ],
              [ 7500 , 25 ] ]; 

function convertAndCheckRpmToVoltage(rpm){
   if (rpm<rpmRecords[0][0])
   	error("RPM value below minimum machine limit!");
   if (rpm>machineConfiguration.getMaximumSpindleSpeed())
    	error("rpm value above maximum machine limit!");
   i=0
   while(rpmRecords[i][0]<rpm) i=i+1;
   //alert("","i is "+i + " : "+rpmRecords[i][0] + " / " + rpm);
   if (rpmRecords[i][0]==rpm) u=rpmRecords[i][1];
   else
   	u= (rpmRecords[i-1][1] * ( rpmRecords[i][0]-rpm) + rpmRecords[i][1]*(rpm-rpmRecords[i-1][0])) / (rpmRecords[i][0] - rpmRecords[i-1][0]);
   return rpmUFormat.format(u);
}

var xyzFormat = createFormat({decimals:(unit == MM ? 2 : 3), forceDecimal:true});
var feedFormat = createFormat({decimals:(unit == MM ? 1 : 2),scale:1.0/6.0, forceDecimal:true});  // feed is input from CAM in mm/min, kosy expect in 10^2mm/s
var toolFormat = createFormat({prefix:"T",decimals:0});
var rpmFormat = createFormat({decimals:2,scale:1}); // convert rpm to voltage
var m30Format = createFormat({decimals:0}); // 1/18th seconds
var taperFormat = createFormat({decimals:1, scale:DEG});

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

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

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

var WARNING_WORK_OFFSET = 0;

// collected state
var currentWorkOffset;

/**
  Writes the specified block.
*/
function writeBlock() {
  writeWords(arguments);
}

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

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

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

  // required header
  writeBlock("_");
  writeBlock("_");

  if (programName) {
    writeComment(programName);
  }
  if (programComment) {
    writeComment(programComment);
  }
  // check for machine setup
  if ((machineConfiguration.getVendor()!="Wabeco") || (machineConfiguration.getModel()!="CC-F1220 HS"))
	error("This postprocess is only for Wabeco CC-F1220HS machine, please set machine in setup or see eirlab.org for details");


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

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

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

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


    // check tool come from eirlab library
    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 (tool.getComment()!="eirlab")
	    alert("tool","warning: tool "+tool.number+" is not from eirlab library!");
      }
    }

 // writeBlock(gFormat.format(76)); // this go to home position...
  
  // absolute coordinates
  writeBlock(gAbsIncModal.format(90));

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

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

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

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

function onSection() {
  
  if (tool.type==TOOL_TAP_RIGHT_HAND){
  	if (tool.getHolderProductId()!="JSN7-B16")
	  	error("don't know how to tap with this older! Please check your tap tool");
	isTapping=true;
	tappingWay=0;
  } else
  isTapping=false;
  
  if (tool.coolant == COOLANT_MIST){
    writeBlock(mFormat.format(10), "O2.1"); // activate coolant switch
  }
  
  var insertToolCall = isFirstSection() ||
    currentSection.getForceToolChange && currentSection.getForceToolChange() ||
    (tool.number != getPreviousSection().getTool().number);
  
  var retracted = false; // specifies that the tool has been retracted to the safe plane
  var newWorkOffset = isFirstSection() ||
    (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
  var newWorkPlane = isFirstSection() ||
    !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis());
  if (insertToolCall || newWorkOffset || newWorkPlane) {

/*
    // stop spindle before retract during tool change
    if (insertToolCall && !isFirstSection()) {
      onCommand(COMMAND_STOP_SPINDLE);
    }
*/

    // retract to safe plane
/*
    retracted = true;
    writeBlock(gFormat.format(76)); // retract
    zOutput.reset();
*/
  }
  
  if (hasParameter("operation-comment")) {
    var comment = getParameter("operation-comment");
    if (comment) {
      writeComment(comment);
    }
  }

  if (insertToolCall) {
    writeComment("T" + toolFormat.format(tool.number));
    if (tool.comment) {
      writeComment(tool.comment);
    }
    if (properties.disableToolCode == false) {
      writeBlock(mFormat.format(6),toolFormat.format(tool.number));
    } else {
      writeComment("gcode M06 "+toolFormat.format(tool.number)+" disable by property");
    }
    var showToolZMin = false;
    if (showToolZMin) {
      if (is3D()) {
        var numberOfSections = getNumberOfSections();
        var zRange = currentSection.getGlobalZRange();
        var number = tool.number;
        for (var i = currentSection.getId() + 1; i < numberOfSections; ++i) {
          var section = getSection(i);
          if (section.getTool().number != number) {
            break;
          }
          zRange.expandToRange(section.getGlobalZRange());
        }
        writeComment(localize("ZMIN") + "=" + zRange.getMinimum());
      }
    }

    if (!isFirstSection()) {
    	writeComment("Please check the right tool is in the spindle before hitting enter");
      onCommand(COMMAND_STOP); // allow manual tool change or check tool change is correctly done!
    }
  }
  
  if (insertToolCall ||
      isFirstSection() ||
      (rpmFormat.areDifferent(tool.spindleRPM, sOutput.getCurrent())) ||
      (tool.clockwise != getPreviousSection().getTool().clockwise)) {
      
    if (tool.spindleRPM < 1) {
      error(localize("Spindle speed out of range: too low!."));
    }
    sOutput.format(tool.spindleRPM);
    writeBlock(
      mFormat.format(tool.clockwise ? 25 : 0), convertAndCheckRpmToVoltage(tool.spindleRPM)
    );
  }


  onCommand(COMMAND_START_SPINDLE);

/*
  // wcs
  if (insertToolCall) { // force work offset when changing tool
    currentWorkOffset = undefined;
  }
  var workOffset = currentSection.workOffset;
  if (workOffset == 0) {
    warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET);
    workOffset = 1;
  }
  if (workOffset > 0) {
    if (workOffset > 6) {
      var code = workOffset - 6;
      if (code > 3) {
        error(localize("Work offset out of range."));
        return;
      }
      if (workOffset != currentWorkOffset) {
        writeBlock(gFormat.format(59) + "." + code);
        currentWorkOffset = workOffset;
      }
    } else {
      if (workOffset != currentWorkOffset) {
        writeBlock(gFormat.format(53 + workOffset)); // G54->G59
        currentWorkOffset = workOffset;
      }
    }
  }
*/

  forceXYZ();

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

  forceAny();

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

  if (insertToolCall || retracted) {
  
    gMotionModal.reset();

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

function onDwell(seconds) {
  if (seconds > 99999.999) {
    warning(localize("Dwelling time is out of range."));
  }
  seconds = Math.ceil(seconds * 18);
  writeBlock(mFormat.format(30), "P" + m30Format.format(seconds));
}

//function onSpindleSpeed(spindleSpeed) {
//
//  writeBlock(
//    mFormat.format(tool.clockwise ? 25 : 0), sOutput.format(spindleSpeed)
//  );
//
//}

function onCycle() {
}

function getCommonCycle(z, r) {
  forceXYZ();
  return [ zOutput.format(-z),    // NCCAD expect Z as a positive number for G81 drilling cycle
    "B" + xyzFormat.format(r)]; // NCCAD expect B as a positive number!
}

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

    switch (cycleType) {
    case "drilling":
      var _z = zOutput.format(0);
      writeBlock(gFormat.format(0), _z );
      writeBlock(
        gAbsIncModal.format(90), gCycleModal.format(81),
        getCommonCycle(z, cycle.retract),
        feedOutput.format(cycle.feedrate)
      );      
      var _x = xOutput.format(x);
      var _y = yOutput.format(y);
      writeBlock(gFormat.format(79), _x, _y);
      break;
    default:
      expandCyclePoint(x, y, z);
    }
  } else {
    if (cycleExpanded) {
      expandCyclePoint(x, y, z);
    } else {
      var _x = xOutput.format(x);
      var _y = yOutput.format(y);
      if (!_x && !_y) {
        xOutput.reset(); // at least one axis is required
        _x = xOutput.format(x);
      }
      writeBlock(gFormat.format(79), _x, _y);
    }
  }
}

function onCycleEnd() {
  if (!cycleExpanded) {
    zOutput.reset();
  }
}

var pendingRadiusCompensation = -1;

function onRadiusCompensation() {
  pendingRadiusCompensation = radiusCompensation;
}

function onRapid(_x, _y, _z) {
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      error(localize("Radius compensation mode cannot be changed at rapid traversal."));
      return;
    }
    writeBlock(gMotionModal.format(0), x, y, z);
    feedOutput.reset();
  }
}

function onLinear(_x, _y, _z, feed) {
//writeComment("onLinear"+_x+";"+_y+";"+_z+" : feed:"+feed);

if (isTapping){
feed=tool.getThreadPitch() * tool.getSpindleRPM();
if (tappingWay==1){
feed=feed*1.6;
}
}

// check feed is into admissible machine capacity
if (feed > machineConfiguration.getMaximumFeedrate()){
error("request for a feed of "+feed+" that is above machine limit ("+machineConfiguration.getMaximumFeedrate()+")");
}

  // at least one axis is required
  if (pendingRadiusCompensation >= 0) {
    // ensure that we end at desired position when compensation is turned off
    xOutput.reset();
    yOutput.reset();
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var f = feedOutput.format(feed);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      error(localize("Radius compensation mode is not supported by CNC machine."));
      pendingRadiusCompensation = -1;
      switch (radiusCompensation) {
      case RADIUS_COMPENSATION_LEFT:
        writeBlock(gMotionModal.format(1), gFormat.format(41), x, y, z, f);
        break;
      case RADIUS_COMPENSATION_RIGHT:
        writeBlock(gMotionModal.format(1), gFormat.format(42), x, y, z, f);
        break;
      default:
        writeBlock(gMotionModal.format(1), gFormat.format(40), x, y, z, f);
      }
    } else {
      writeBlock(gMotionModal.format(1), x, y, z, f);
    }
  } else if (f) {
    if (getNextRecord().isMotion()) { // feed is not allowed without motion
      feedOutput.reset(); // force feed on next line
    } else {
      writeBlock(gMotionModal.format(1), f);
    }
  }
}

function onParameter(name,value){
//writeComment("param "+name+" has value "+value);
}

function onRapid5D(_x, _y, _z, _a, _b, _c) {
  error(localize("Multi-axis toolpath is not supported by CNC machine."));
}

function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
  error(localize("Multi-axis toolpath is not supported by CNC machine."));
}

function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
  // force both X/Y for G2/G3
  
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
    return;
  }

  var start = getCurrentPosition();

  if (isFullCircle()) {
    if (isHelical()) {
      linearize(tolerance);
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      xOutput.reset();
      yOutput.reset();
      writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else {
    switch (getCircularPlane()) {
    case PLANE_XY:
      xOutput.reset();
      yOutput.reset();
      var _z=zOutput.format(z);
      if (_z){
      	writeBlock(gMotionModal.format(1), _z, feedOutput.format(feed));
      }
      writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y) , iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  }
}

var mapCommand = {
  COMMAND_STOP:1,
  COMMAND_OPTIONAL_STOP:5
};

function onCommand(command) {
//writeComment("new command "+getCommandStringId(command));
ignore=false;
  switch (command) {
  case COMMAND_START_SPINDLE:
    onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
    return;
  case COMMAND_SPINDLE_CLOCKWISE:
    writeBlock(mFormat.format(10), "O6.1");
    if (isTapping) tappingWay=0;
    return;
  // case COMMAND_SPINDLE_COUNTERCLOCKWISE: // not supported
  //  return;
  case COMMAND_STOP_SPINDLE:
    if (tool.spindleRPM>3000){    	
    	writeBlock(
      		mFormat.format(tool.clockwise ? 25 : 0), convertAndCheckRpmToVoltage(2500)
    	);
    	onDwell(3);
    }
    writeBlock(mFormat.format(10), "O6.0");
    return;
  case COMMAND_LOCK_MULTI_AXIS:
    return;
  case COMMAND_UNLOCK_MULTI_AXIS:
    return;
  case COMMAND_BREAK_CONTROL:
    return;
  case COMMAND_TOOL_MEASURE:
    return;
  case COMMAND_ACTIVATE_SPEED_FEED_SYNCHRONIZATION:
  if (isTapping) {
  	onCommand(COMMAND_STOP_SPINDLE);
	writeComment("check tapping tool and hit enter");
	onCommand(COMMAND_STOP);
	onCommand(COMMAND_START_SPINDLE);
	ignore=true;
	}
  else ignore=False;
  break;
  case COMMAND_DEACTIVATE_SPEED_FEED_SYNCHRONIZATION:
  if (isTapping) {
	ignore=true;
	}
  else ignore=False;
  break;
  case COMMAND_SPINDLE_COUNTERCLOCKWISE: // not supported
  if (isTapping) {
  	tappingWay=1;
  	onDwell(2);
     ignore=true;
     }
  else ignore=False;
  break;
  }
  
  if(ignore)
  return;
  
  
  var stringId = getCommandStringId(command);
  var mcode = mapCommand[stringId];
  if (mcode != undefined) {
    writeBlock(mFormat.format(mcode));
  } else {
    onUnsupportedCommand(command);
  }
}

function onSectionEnd() {

  if (tool.coolant == COOLANT_MIST){
    writeBlock(mFormat.format(10), "O2.0"); // activate coolant switch
  }
  forceAny();
}

function onClose() {

  onCommand(COMMAND_STOP_SPINDLE);

  // writeBlock(gFormat.format(76)); // retract
  // zOutput.reset();

  if (!machineConfiguration.hasHomePositionX() && !machineConfiguration.hasHomePositionY()) {
    //writeBlock(gFormat.format(77)); // return to home
  } else {
    var homeX;
    if (machineConfiguration.hasHomePositionX()) {
      homeX = "X" + xyzFormat.format(machineConfiguration.getHomePositionX());
    }
    var homeY;
    if (machineConfiguration.hasHomePositionY()) {
      homeY = "Y" + xyzFormat.format(machineConfiguration.getHomePositionY());
    }
    //writeBlock(gAbsIncModal.format(90), gMotionModal.format(0), homeX, homeY);
  }

  writeBlock(gFormat.format(99)); // end of program
}