/**
  Copyright (C) 2012-2021 by Autodesk, Inc.
  All rights reserved.

  Grbl post processor configuration.

  $Revision: 43182 08c79bb5b30997ccb5fb33ab8e7c8c26981be334 $
  $Date: 2021-02-18 16:25:13 $
  
  FORKID {154F7C00-6549-4c77-ADE0-79375FE5F2AA}
*/

description = "Grbl";
vendor = "grbl";
vendorUrl = "https://github.com/gnea/grbl/wiki";
longDescription = "Generic milling post for Grbl. Use 'Split file' property to split files by tool for tool changes.";

// >>>>> INCLUDED FROM ../common/grbl.cps
legal = "Copyright (C) 2012-2021 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 45702;

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

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

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

// user-defined properties
properties = {
  writeMachine: {
    title: "Write machine",
    description: "Output the machine settings in the header of the code.",
    group: 0,
    type: "boolean",
    value: true,
    scope: "post"
  },
  writeTools: {
    title: "Write tool list",
    description: "Output a tool list in the header of the code.",
    group: 0,
    type: "boolean",
    value: true,
    scope: "post"
  },
  safePositionMethod: {
    title: "Safe Retracts",
    description: "Select your desired retract option. 'Clearance Height' retracts to the operation clearance height.",
    type: "enum",
    values: [
      {title: "G28", id: "G28"},
      {title: "G53", id: "G53"},
      {title: "Clearance Height", id: "clearanceHeight"}
    ],
    value: "G28",
    scope: "post"
  },
  showSequenceNumbers: {
    title: "Use sequence numbers",
    description: "Use sequence numbers for each block of outputted code.",
    group: 1,
    type: "boolean",
    value: false,
    scope: "post"
  },
  sequenceNumberStart: {
    title: "Start sequence number",
    description: "The number at which to start the sequence numbers.",
    group: 1,
    type: "integer",
    value: 10,
    scope: "post"
  },
  sequenceNumberIncrement: {
    title: "Sequence number increment",
    description: "The amount by which the sequence number is incremented by in each block.",
    group: 1,
    type: "integer",
    value: 1,
    scope: "post"
  },
  separateWordsWithSpace: {
    title: "Separate words with space",
    description: "Adds spaces between words if 'yes' is selected.",
    type: "boolean",
    value: true,
    scope: "post"
  },
  useToolChanger: {
    title: "Output tool number",
    description: "Disable to disallow the output of tool numbers (Txx).",
    type: "boolean",
    value: true,
    scope: "post"
  },
  useM06: {
    title: "Output M6",
    description: "Disable to disallow the output of M6 on tool changes.",
    type: "boolean",
    value: false,
    scope: "post"
  },
  splitFile: {
    title: "Split file",
    description: "Select your desired file splitting option.",
    type: "enum",
    values: [
      {title: "No splitting", id: "none"},
      {title: "Split by tool", id: "tool"},
      {title: "Split by toolpath", id: "toolpath"}
    ],
    value: "none",
    scope: "post"
  }
};

var numberOfToolSlots = 9999;
var subprograms = new Array();

var singleLineCoolant = false; // specifies to output multiple coolant codes in one line rather than in separate lines
// samples:
// {id: COOLANT_THROUGH_TOOL, on: 88, off: 89}
// {id: COOLANT_THROUGH_TOOL, on: [8, 88], off: [9, 89]}
var coolants = [
  {id: COOLANT_FLOOD, on: 8},
  {id: COOLANT_MIST},
  {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}
];

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

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

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

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

var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ...
var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91
var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G93-94
var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21

var WARNING_WORK_OFFSET = 0;

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

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

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

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

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

  sequenceNumber = getProperty("sequenceNumberStart");

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

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

  if (getProperty("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 (getProperty("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);
      }
    }
  }

  if ((getNumberOfSections() > 0) && (getSection(0).workOffset == 0)) {
    for (var i = 0; i < getNumberOfSections(); ++i) {
      if (getSection(i).workOffset > 0) {
        error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
        return;
      }
    }
  }

  if (getProperty("splitFile") != "none") {
    writeComment(localize("***THIS FILE DOES NOT CONTAIN NC CODE***"));
    return;
  }

  // absolute coordinates and feed per min
  writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(94));
  writeBlock(gPlaneModal.format(17));

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

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

  var splitHere = getProperty("splitFile") == "toolpath" || (getProperty("splitFile") == "tool" && insertToolCall);
  
  retracted = false; // specifies that the tool has been retracted to the safe plane
  var newWorkOffset = isFirstSection() ||
    (getPreviousSection().workOffset != currentSection.workOffset) ||
    splitHere; // work offset changes
  var newWorkPlane = isFirstSection() ||
    !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis()) ||
    (currentSection.isOptimizedForMachine() && getPreviousSection().isOptimizedForMachine() &&
      Vector.diff(getPreviousSection().getFinalToolAxisABC(), currentSection.getInitialToolAxisABC()).length > 1e-4) ||
    (!machineConfiguration.isMultiAxisConfiguration() && currentSection.isMultiAxis()) ||
    (!getPreviousSection().isMultiAxis() && currentSection.isMultiAxis() ||
      getPreviousSection().isMultiAxis() && !currentSection.isMultiAxis()) ||
      splitHere; // force newWorkPlane between indexing and simultaneous operations
  if (insertToolCall || newWorkOffset || newWorkPlane) {
    // stop spindle before retract during tool change
    if (insertToolCall && !isFirstSection()) {
      onCommand(COMMAND_STOP_SPINDLE);
    }
    if (getProperty("splitFile") == "none" || isRedirecting()) {
      writeRetract(Z);
    }
  }

  writeln("");

  if (splitHere) {
    if (!isFirstSection()) {
      setCoolant(COOLANT_OFF);
    
      writeRetract(X, Y);
    
      onImpliedCommand(COMMAND_END);
      onCommand(COMMAND_STOP_SPINDLE);
      writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
      if (isRedirecting()) {
        closeRedirection();
      }
    }

    var subprogram;
    if (getProperty("splitFile") == "toolpath") {
      var comment;
      if (hasParameter("operation-comment")) {
        comment = getParameter("operation-comment");
        
      } else {
        comment = getCurrentSectionId();
      }
      subprogram = programName + "_" + (subprograms.length + 1) + "_" + comment + "_" + "T" + tool.number;
    } else {
      subprogram = programName + "_" + (subprograms.length + 1) + "_" + "T" + tool.number;
    }

    // var index = 0;
    // var _subprogram = subprogram;
    // while (subprograms.indexOf(_subprogram) !== -1) {
    //   index++;
    //   _subprogram = subprogram + "_" + index;
    // }
    // subprogram = _subprogram;
    subprograms.push(subprogram);
    
    var path = FileSystem.getCombinedPath(FileSystem.getFolderPath(getOutputPath()), String(subprogram).replace(/[<>:"/\\|?*]/g, "") + "." + extension);
    
    writeComment(localize("Load tool number " + tool.number + " and subprogram " + subprogram));

    redirectToFile(path);

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

    // absolute coordinates and feed per min
    writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(94));
    writeBlock(gPlaneModal.format(17));

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

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

  if (insertToolCall) {
    setCoolant(COOLANT_OFF);

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

    if (getProperty("useToolChanger")) {
      writeBlock("T" + toolFormat.format(tool.number), conditional(getProperty("useM06"), mFormat.format(6)));
      if (!isFirstSection() && !getProperty("useM06")) {
        writeComment(localize("CHANGE TO T") + tool.number);
      }
    } else if (getProperty("useM06")) {
      writeBlock(mFormat.format(6));
    }
    if (tool.comment) {
      writeComment(tool.comment);
    }
    var showToolZMin = false;
    if (showToolZMin) {
      if (is3D()) {
        var numberOfSections = getNumberOfSections();
        var zRange = currentSection.getGlobalZRange();
        var number = tool.number;
        for (var i = currentSection.getId() + 1; i < numberOfSections; ++i) {
          var section = getSection(i);
          if (section.getTool().number != number) {
            break;
          }
          zRange.expandToRange(section.getGlobalZRange());
        }
        writeComment(localize("ZMIN") + "=" + zRange.getMinimum());
      }
    }
  }
  
  if (insertToolCall ||
      isFirstSection() ||
      (rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) ||
      (tool.clockwise != getPreviousSection().getTool().clockwise)) {
    if (spindleSpeed < 1) {
      error(localize("Spindle speed out of range."));
    }
    if (spindleSpeed > 99999) {
      warning(localize("Spindle speed exceeds maximum value."));
    }
    writeBlock(
      sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4)
    );
  }

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

  forceXYZ();

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

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

  forceAny();

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

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

    gMotionModal.reset();
    writeBlock(gPlaneModal.format(17));

    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 = clamp(0.001, seconds, 99999.999);
  writeBlock(gFormat.format(4), "P" + secFormat.format(seconds));
}

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

var pendingRadiusCompensation = -1;

function onRadiusCompensation() {
  pendingRadiusCompensation = radiusCompensation;
}

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

function onLinear(_x, _y, _z, feed) {
  // at least one axis is required
  if (pendingRadiusCompensation >= 0) {
    // ensure that we end at desired position when compensation is turned off
    xOutput.reset();
    yOutput.reset();
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var f = feedOutput.format(feed);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      error(localize("Radius compensation mode is not supported."));
      return;
    } else {
      writeBlock(gMotionModal.format(1), x, y, z, f);
    }
  } else if (f) {
    if (getNextRecord().isMotion()) { // try not to output feed without motion
      feedOutput.reset(); // force feed on next line
    } else {
      writeBlock(gMotionModal.format(1), f);
    }
  }
}

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

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

function forceCircular(plane) {
  switch (plane) {
  case PLANE_XY:
    xOutput.reset();
    yOutput.reset();
    iOutput.reset();
    jOutput.reset();
    break;
  case PLANE_ZX:
    zOutput.reset();
    xOutput.reset();
    kOutput.reset();
    iOutput.reset();
    break;
  case PLANE_YZ:
    yOutput.reset();
    zOutput.reset();
    jOutput.reset();
    kOutput.reset();
    break;
  }
}

function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
  // one of X/Y and I/J are required and likewise
  
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
    return;
  }

  var start = getCurrentPosition();

  if (isFullCircle()) {
    if (isHelical()) {
      linearize(tolerance);
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      forceCircular(getCircularPlane());
      writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), iOutput.format(cx - start.x), jOutput.format(cy - start.y), feedOutput.format(feed));
      break;
    case PLANE_ZX:
      forceCircular(getCircularPlane());
      writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), zOutput.format(z), iOutput.format(cx - start.x), kOutput.format(cz - start.z), feedOutput.format(feed));
      break;
    case PLANE_YZ:
      forceCircular(getCircularPlane());
      writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), yOutput.format(y), jOutput.format(cy - start.y), kOutput.format(cz - start.z), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else {
    switch (getCircularPlane()) {
    case PLANE_XY:
      forceCircular(getCircularPlane());
      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), feedOutput.format(feed));
      break;
    case PLANE_ZX:
      forceCircular(getCircularPlane());
      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), feedOutput.format(feed));
      break;
    case PLANE_YZ:
      forceCircular(getCircularPlane());
      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), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  }
}

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

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

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

function onSectionEnd() {
  writeBlock(gPlaneModal.format(17));
  if (!isLastSection() && (getNextSection().getTool().coolant != tool.coolant)) {
    setCoolant(COOLANT_OFF);
  }
  forceAny();
}

/** Output block to do safe retract and/or move to home position. */
function writeRetract() {
  var words = []; // store all retracted axes in an array
  var retractAxes = new Array(false, false, false);
  var method = getProperty("safePositionMethod");
  if (method == "clearanceHeight") {
    if (!is3D()) {
      error(localize("Retract option 'Clearance Height' is not supported for multi-axis machining."));
    }
    return;
  }
  validate(arguments.length != 0, "No axis specified for writeRetract().");

  for (i in arguments) {
    retractAxes[arguments[i]] = true;
  }
  if ((retractAxes[0] || retractAxes[1]) && !retracted) { // retract Z first before moving to X/Y home
    error(localize("Retracting in X/Y is not possible without being retracted in Z."));
    return;
  }
  // special conditions
  if (retractAxes[2]) { // Z doesn't use G53
    method = "G28";
  }

  // define home positions
  var _xHome;
  var _yHome;
  var _zHome;
  if (method == "G28") {
    _xHome = toPreciseUnit(0, MM);
    _yHome = toPreciseUnit(0, MM);
    _zHome = toPreciseUnit(0, MM);
  } else {
    _xHome = machineConfiguration.hasHomePositionX() ? machineConfiguration.getHomePositionX() : toPreciseUnit(0, MM);
    _yHome = machineConfiguration.hasHomePositionY() ? machineConfiguration.getHomePositionY() : toPreciseUnit(0, MM);
    _zHome = machineConfiguration.getRetractPlane() != 0 ? machineConfiguration.getRetractPlane() : toPreciseUnit(0, MM);
  }
  for (var i = 0; i < arguments.length; ++i) {
    switch (arguments[i]) {
    case X:
      words.push("X" + xyzFormat.format(_xHome));
      xOutput.reset();
      break;
    case Y:
      words.push("Y" + xyzFormat.format(_yHome));
      yOutput.reset();
      break;
    case Z:
      words.push("Z" + xyzFormat.format(_zHome));
      zOutput.reset();
      retracted = true;
      break;
    default:
      error(localize("Unsupported axis specified for writeRetract()."));
      return;
    }
  }
  if (words.length > 0) {
    switch (method) {
    case "G28":
      gMotionModal.reset();
      gAbsIncModal.reset();
      writeBlock(gFormat.format(28), gAbsIncModal.format(91), words);
      writeBlock(gAbsIncModal.format(90));
      break;
    case "G53":
      gMotionModal.reset();
      writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), words);
      break;
    default:
      error(localize("Unsupported safe position method."));
      return;
    }
  }
}

var currentCoolantMode = COOLANT_OFF;
var coolantOff = undefined;

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

function getCoolantCodes(coolant) {
  var multipleCoolantBlocks = new Array(); // create a formatted array to be passed into the outputted line
  if (!coolants) {
    error(localize("Coolants have not been defined."));
  }
  if (isProbeOperation()) { // avoid coolant output for probing
    coolant = COOLANT_OFF;
  }
  if (coolant == currentCoolantMode) {
    return undefined; // coolant is already active
  }
  if ((coolant != COOLANT_OFF) && (currentCoolantMode != COOLANT_OFF) && (coolantOff != undefined)) {
    if (Array.isArray(coolantOff)) {
      for (var i in coolantOff) {
        multipleCoolantBlocks.push(mFormat.format(coolantOff[i]));
      }
    } else {
      multipleCoolantBlocks.push(mFormat.format(coolantOff));
    }
  }

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

function onClose() {
  setCoolant(COOLANT_OFF);

  writeRetract(Z);

  writeRetract(X, Y);

  onImpliedCommand(COMMAND_END);
  onCommand(COMMAND_STOP_SPINDLE);
  writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
  if (isRedirecting()) {
    closeRedirection();
  }
}

function setProperty(property, value) {
  properties[property].current = value;
}
// <<<<< INCLUDED FROM ../common/grbl.cps