blendercam/scripts/addons/cam/nc/iso.py

################################################################################
# iso.py
#
# Simple ISO NC code creator
#
# Hirutso Enni, 2009-01-13

from . import nc
import math
from .format import Format
from .format import *

################################################################################
class Creator(nc.Creator):

	def __init__(self):
		nc.Creator.__init__(self)

		# internal variables
		self.a = 0
		self.b = 0
		self.c = 0
		self.f = Address('F', fmt = Format(number_of_decimal_places = 2))
		self.fh = None
		self.fv = None
		self.fhv = False
		self.g_plane = Address('G', fmt = Format(number_of_decimal_places = 0))
		self.g_list = []
		self.i = 0
		self.j = 0
		self.k = 0
		self.m = []
		self.r = 0
		self.s = AddressPlusMinus('S', fmt = Format(number_of_decimal_places = 2), modal = False)
		self.t = None
		self.x = None
		self.y = None
		self.z = None
		self.g0123_modal = False
		self.drill_modal = False
		self.prev_f = ''
		self.prev_g0123 = ''
		self.prev_drill = ''
		self.prev_retract = ''
		self.prev_z = ''
		self.useCrc = False
		self.useCrcCenterline = False
		self.gCRC = ''
		self.fmt = Format()
		self.absolute_flag = True
		self.ffmt = Format(number_of_decimal_places = 2)
		self.sfmt = Format(number_of_decimal_places = 1)
		self.in_quadrant_splitting = False
		self.in_canned_cycle = False
		self.first_drill_pos = True
		self.shift_x = 0.0
		self.shift_y = 0.0
		self.shift_z = 0.0        
		self.start_of_line = False
		self.internal_coolant_on = None
		self.g98_not_g99 = None # True for G98 ouput, False for G99 output
		self.current_fixture = None
		self.fixture_wanted = '54'
		self.move_done_since_tool_change = False
		self.tool_defn_params = {}
		self.program_id = None
		self.current_sub_id = None
		self.subroutine_files = []
		self.program_name = None
		self.temp_file_to_append_on_close = None
		self.fixture_order = ['54', '55', '56', '57', '58', '59']
		for i in range(1, 50):
			self.fixture_order.append('54.' + str(i))
		self.output_disabled = False
		self.z_for_g43 = None

		# optional settings
		self.arc_centre_absolute = False
		self.arc_centre_positive = False
		self.drillExpanded = False
		self.dwell_allowed_in_G83 = False
		self.can_do_helical_arcs = True
		self.z_for_g53 = None # set this to a value to output G53 Zvalue in tool change and at program end
		self.output_h_and_d_at_tool_change = False
		self.output_block_numbers = True
		self.start_block_number = 10
		self.block_number_increment = 10
		self.block_number_restart_after = None
		self.output_tool_definitions = True
		self.output_g43_on_tool_change_line = False
		self.output_internal_coolant_commands = False
		self.output_g98_and_g99 = True
		self.output_g43_z_before_drilling_if_g98 = False
		self.output_cutviewer_comments = False
		self.output_fixtures = False
		self.use_this_program_id = None
		self.subroutines_in_own_files = False
		self.pattern_done_with_subroutine = False
		self.output_comment_before_tool_change = True
		self.output_arcs_as_lines = False
		self.m_codes_on_their_own_line = False
		
	############################################################################
	##  Codes

	def SPACE_STR(self): return ''
	def SPACE(self):
		if self.start_of_line == True:
			self.start_of_line = False            
			return ''
		else:
			return self.SPACE_STR()
			
	def FORMAT_FEEDRATE(self): return('%.2f') 
	def FORMAT_ANG(self): return('%.1f')
	def FORMAT_TIME(self): return self.fmt

	def BLOCK(self): return('N%i')
	def COMMENT(self,comment): return( ('(%s)' % comment ) )
	def VARIABLE(self): return( '#%i')
	def VARIABLE_SET(self): return( '=%.3f')

	def PROGRAM(self): return( 'O%i')
	def PROGRAM_END(self): return( 'M02')

	def SUBPROG_CALL(self): return( 'M98' + self.SPACE() + 'P%i')
	def SUBPROG_END(self): return( 'M99')

	def STOP_OPTIONAL(self): return('M01')
	def STOP(self): return('M00')

	def IMPERIAL(self): return('G20')
	def METRIC(self): return('G21')
	def ABSOLUTE(self): return('G90')
	def INCREMENTAL(self): return('G91')
	def SET_TEMPORARY_COORDINATE_SYSTEM(self): return('G92')
	def REMOVE_TEMPORARY_COORDINATE_SYSTEM(self): return('G92.1')
	def POLAR_ON(self): return('G16')
	def POLAR_OFF(self): return('G15')
	def PLANE_XY(self): return('17')
	def PLANE_XZ(self): return('18')
	def PLANE_YZ(self): return('19')

	def TOOL(self): return('T%i' + self.SPACE() + 'M06')
	def TOOL_DEFINITION(self): return('G10' + self.SPACE() + 'L1')

	def WORKPLANE(self): return('G%i')
	def WORKPLANE_BASE(self): return(53)

	def SPINDLE_CW(self): return('M03')
	def SPINDLE_CCW(self): return('M04')
	def COOLANT_OFF(self): return('M09')
	def COOLANT_MIST(self): return('M07')
	def COOLANT_FLOOD(self): return('M08')
	def GEAR_OFF(self): return('?')
	def GEAR(self): return('M%i')
	def GEAR_BASE(self): return(37)

	def RAPID(self): return('G00')
	def FEED(self): return('G01')
	def ARC_CW(self): return('G02')
	def ARC_CCW(self): return('G03')
	def DWELL(self, dwell): return('G04' + self.SPACE() + self.TIME() + (self.FORMAT_TIME().string(dwell)))
	def DRILL(self): return('G81')
	def DRILL_WITH_DWELL(self, dwell): return('G82' + self.SPACE() + self.TIME() + (self.FORMAT_TIME().string(dwell)))
	def PECK_DRILL(self): return('G83')
	def PECK_DEPTH(self, depth): return('Q' + (self.fmt.string(depth)))
	def RETRACT(self, height): return('R' + (self.fmt.string(height)))
	def END_CANNED_CYCLE(self): return('G80')
	def TAP(self): return('G84')
	def TAP_DEPTH(self, depth): return('K' + (self.fmt.string(depth)))
	def INTERNAL_COOLANT_ON(self): return('M18')
	def INTERNAL_COOLANT_OFF(self): return('M9')

	def X(self): return('X')
	def Y(self): return('Y')
	def Z(self): return('Z')
	def A(self): return('A')
	def B(self): return('B')
	def C(self): return('C')
	def CENTRE_X(self): return('I')
	def CENTRE_Y(self): return('J')
	def CENTRE_Z(self): return('K')
	def RADIUS(self): return('R')
	def TIME(self): return('P')

	def PROBE_TOWARDS_WITH_SIGNAL(self): return('G38.2')
	def PROBE_TOWARDS_WITHOUT_SIGNAL(self): return('G38.3')
	def PROBE_AWAY_WITH_SIGNAL(self): return('G38.4')
	def PROBE_AWAY_WITHOUT_SIGNAL(self): return('G38.5')

	def MACHINE_COORDINATES(self): return('G53')

	def EXACT_PATH_MODE(self): return('G61')
	def EXACT_STOP_MODE(self): return('G61.1')

	def RETRACT_TO_CLEARANCE(self): return('G98')
	def RETRACT_TO_STANDOFF(self): return('G99')
		
	############################################################################
	##  Internals
	def write(self, s):
		if self.output_disabled == False:
			nc.Creator.write(self, s)
		if '\n' in s:
			self.start_of_line = s[-1] == '\n'

	def write_feedrate(self):
		self.write(self.SPACE())
		self.f.write(self)

	def write_preps(self):
		i = 0
		if self.g_plane.str:
			i += 1
			self.write(self.SPACE())
		self.g_plane.write(self)
		for g in self.g_list:
			if i > 0:
				self.write('\n' if self.m_codes_on_their_own_line else self.SPACE())
			self.write(g)
			i += 1
		self.g_list = []

	def write_misc(self):
		if (len(self.m)):
			self.write('\n' if self.m_codes_on_their_own_line else self.SPACE())
			self.write(self.m.pop())

	def write_spindle(self):
		if self.s.str:
			self.write('\n' if self.m_codes_on_their_own_line else self.SPACE())
		self.s.write(self)

	def output_fixture(self):
		if self.current_fixture != self.fixture_wanted:
			self.current_fixture = self.fixture_wanted            
			self.g_list.append('G' + str(self.current_fixture))

	def increment_fixture(self):
		for i in range(0, len(self.fixture_order) - 1):
			if self.fixture_order[i] == self.fixture_wanted:
				self.fixture_wanted = self.fixture_order[i+1]
				return
		raise 'too many fixtures wanted!'
	
	def get_fixture(self):
		return self.fixture_wanted
	
	def set_fixture(self, fixture):
		self.fixture_wanted = fixture        
		  
	############################################################################
	##  Programs

	def program_begin(self, id, name=''):
		if self.use_this_program_id:
			id = self.use_this_program_id
		if self.PROGRAM() != None:
			self.writem([(self.PROGRAM() % id), self.SPACE(), (self.COMMENT(name))])
			self.write('\n')
		self.program_id = id
		self.program_name = name

	def add_stock(self, type_name, params):
		if self.output_cutviewer_comments:
			self.write("(STOCK/" + type_name)
			for param in params:
				self.write(",")
				self.write(str(param))
			self.write(")\n")

	def program_stop(self, optional=False):
		if (optional) : 
			self.write(self.SPACE() + self.STOP_OPTIONAL() + '\n')
			self.prev_g0123 = ''
		else : 
			self.write(self.STOP() + '\n')
			self.prev_g0123 = ''

	def number_file(self, filename):
		import tempfile
		temp_filename = tempfile.gettempdir()+'/renumbering.txt'
		
		# make a copy of file
		f_in = open(filename, 'r')
		f_out = open(temp_filename, 'w')
		while (True):
			line = f_in.readline()
			if (len(line) == 0) : break
			f_out.write(line)
		f_in.close()
		f_out.close()
				
		# read copy
		f_in = open(temp_filename, 'r')
		f_out = open(filename, 'w')
		n = self.start_block_number
		while (True):
			line = f_in.readline()
		   
			if (len(line) == 0) : break
			f_out.write(self.BLOCK() % n + self.SPACE_STR() + line)
			n += self.block_number_increment
			if self.block_number_restart_after != None:
				if n >= self.block_number_restart_after:
					n = self.start_block_number
		f_in.close()
		f_out.close()

	def program_end(self):
		if self.z_for_g53 != None:
			self.write(self.SPACE() + self.MACHINE_COORDINATES() + self.SPACE() + 'Z' + self.fmt.string(self.z_for_g53) + '\n')
		self.write(self.SPACE() + self.PROGRAM_END() + '\n')

		if self.temp_file_to_append_on_close != None:
			f_in = open(self.temp_file_to_append_on_close, 'r')
			while (True):
				line = f_in.readline()
				if (len(line) == 0) : break
				self.write(line)
			f_in.close()
			
		self.file_close()
			
		if self.output_block_numbers:
			# number every line of the file afterwards
			self.number_file(self.filename)
			
			for f in self.subroutine_files:
				self.number_file(f)

	def flush_nc(self):
		if len(self.g_list) == 0 and len(self.m) == 0: return
		self.write_preps()
		self.write_misc()
		self.write('\n')

	############################################################################
	##  Subprograms
	
	def make_subroutine_name(self, id):
		s = self.filename
		for i in reversed(range(0, len(s))):
			if s[i] == '.':
				return s[0:i] + 'sub' + str(id) + s[i:]
		
		# '.' not found
		return s + 'sub' + str(id)
	
	def sub_begin(self, id, name=None):
		if id == None:
			if self.current_sub_id == None:
				self.current_sub_id = self.program_id
			self.current_sub_id += 1
			id = self.current_sub_id
			
		if name == None:
			name = self.program_name + ' subroutine ' + str(id)
			
		self.save_file = self.file
		if self.subroutines_in_own_files:
			new_name = self.make_subroutine_name(id)
			self.file = open(new_name, 'w')
			self.subroutine_files.append(new_name)
		else:
			## use temporary file
			import tempfile
			temp_filename = tempfile.gettempdir()+'/subroutines.txt'
			if self.temp_file_to_append_on_close == None:
				self.temp_file_to_append_on_close = temp_filename
				self.file = open(temp_filename, 'w')
			else:
				self.file = open(temp_filename, 'a')            
		
		if self.PROGRAM() != None:
			self.write((self.PROGRAM() % id) + self.SPACE() + (self.COMMENT(name)))
			self.write('\n')

	def sub_call(self, id):
		if id == None:
			id = self.current_sub_id
		self.write(self.SPACE() + (self.SUBPROG_CALL() % id) + '\n')

	def sub_end(self):
		self.write(self.SPACE() + self.SUBPROG_END() + '\n')

		self.file.close()
		self.file = self.save_file
		
	def disable_output(self):
		self.output_disabled = True
		
	def enable_output(self):
		self.output_disabled = False
		
	############################################################################
	##  Settings
	
	def imperial(self):
		self.g_list.append(self.IMPERIAL())
		self.fmt.number_of_decimal_places = 4

	def metric(self):
		self.g_list.append(self.METRIC())
		self.fmt.number_of_decimal_places = 3

	def absolute(self):
		self.g_list.append(self.ABSOLUTE())
		self.absolute_flag = True

	def incremental(self):
		self.g_list.append(self.INCREMENTAL())
		self.absolute_flag = False

	def polar(self, on=True):
		if (on) : self.g_list.append(self.POLAR_ON())
		else : self.g_list.append(self.POLAR_OFF())

	def set_plane(self, plane):
		if (plane == 0) : self.g_plane.set(self.PLANE_XY())
		elif (plane == 1) : self.g_plane.set(self.PLANE_XZ())
		elif (plane == 2) : self.g_plane.set(self.PLANE_YZ())

	def set_temporary_origin(self, x=None, y=None, z=None, a=None, b=None, c=None):
		self.write(self.SPACE() + (self.SET_TEMPORARY_COORDINATE_SYSTEM()))
		if (x != None): self.write( self.SPACE() + 'X ' + (self.fmt.string(x + self.shift_x)) )
		if (y != None): self.write( self.SPACE() + 'Y ' + (self.fmt.string(y + self.shift_y)) )
		if (z != None): self.write( self.SPACE() + 'Z ' + (self.fmt.string(z + self.shift_z)) )
		if (a != None): self.write( self.SPACE() + 'A ' + (self.fmt.string(a)) )
		if (b != None): self.write( self.SPACE() + 'B ' + (self.fmt.string(b)) )
		if (c != None): self.write( self.SPACE() + 'C ' + (self.fmt.string(c)) )
		self.write('\n')

	def remove_temporary_origin(self):
		self.write(self.SPACE() + (self.REMOVE_TEMPORARY_COORDINATE_SYSTEM()))
		self.write('\n')
	############################################################################
	##  new graphics origin- make a new coordinate system and snap it onto the geometry
	##  the toolpath generated should be translated 
	def translate(self,x=None, y=None, z=None):
		self.shift_x = -x
		self.shift_y = -y
		self.shift_z = -z

	############################################################################
	##  Tools

	def tool_change(self, id):
		if self.output_comment_before_tool_change:
			if id in self.tool_defn_params:
				self.comment('tool change to ' + self.tool_defn_params[id]['name']);
			
		if self.output_cutviewer_comments:
			import cutviewer
			if id in self.tool_defn_params:
				cutviewer.tool_defn(self, id, self.tool_defn_params[id])
		if (self.t != None) and (self.z_for_g53 != None):
			self.write('G53 Z' + str(self.z_for_g53) + '\n')
		self.write(self.SPACE() + (self.TOOL() % id))
		if self.output_g43_on_tool_change_line == True:
			self.write(self.SPACE() + 'G43')
		self.write('\n')
		if self.output_h_and_d_at_tool_change == True:
			if self.output_g43_on_tool_change_line == False:
				self.write(self.SPACE() + 'G43')
			self.write(self.SPACE() + 'D' + str(id) + self.SPACE() + 'H' + str(id) + '\n')
		self.t = id
		self.move_done_since_tool_change = False

	def tool_defn(self, id, name='',params=None):
		self.tool_defn_params[id] = params
		if self.output_tool_definitions:
			self.write(self.SPACE() + self.TOOL_DEFINITION())
			self.write(self.SPACE() + ('P%i' % id) + ' ')

			if (params['diameter'] != None):
				self.write(self.SPACE() + ('R%.3f' % (float(params['diameter'])/2)))

			if (params['cutting edge height'] != None):
				self.write(self.SPACE() + 'Z%.3f' % float(params['cutting edge height']))

			self.write('\n')

	def offset_radius(self, id, radius=None):
		pass

	def offset_length(self, id, length=None):
		pass

	def current_tool(self):
		return self.t


	############################################################################
	##  Datums
	
	def datum_shift(self, x=None, y=None, z=None, a=None, b=None, c=None):
		pass

	def datum_set(self, x=None, y=None, z=None, a=None, b=None, c=None):
		pass

	# This is the coordinate system we're using.  G54->G59, G59.1, G59.2, G59.3
	# These are selected by values from 1 to 9 inclusive.
	def workplane(self, id):
		if ((id >= 1) and (id <= 6)):
			self.g_list.append(self.WORKPLANE() % (id + self.WORKPLANE_BASE()))
		if ((id >= 7) and (id <= 9)):
			self.g_list.append(((self.WORKPLANE() % (6 + self.WORKPLANE_BASE())) + ('.%i' % (id - 6))))
		

	############################################################################
	##  Rates + Modes

	def feedrate(self, f):
		self.f.set(f)
		self.fhv = False

	def feedrate_hv(self, fh, fv):
		self.fh = fh
		self.fv = fv
		self.fhv = True

	def calc_feedrate_hv(self, h, v):
		if math.fabs(v) > math.fabs(h * 2):
			# some horizontal, so it should be fine to use the horizontal feed rate
			self.f.set(self.fv)
		else:
			# not much, if any horizontal component, so use the vertical feed rate
			self.f.set(self.fh)

	def spindle(self, s, clockwise):
		if clockwise == True:
			self.s.set(s, self.SPINDLE_CW(), self.SPINDLE_CCW())
		else:
			self.s.set(s, self.SPINDLE_CCW(), self.SPINDLE_CW())

	def coolant(self, mode=0):
		if (mode <= 0) : self.m.append(self.COOLANT_OFF())
		elif (mode == 1) : self.m.append(self.COOLANT_MIST())
		elif (mode == 2) : self.m.append(self.COOLANT_FLOOD())

	def gearrange(self, gear=0):
		if (gear <= 0) : self.m.append(self.GEAR_OFF())
		elif (gear <= 4) : self.m.append(self.GEAR() % (gear + GEAR_BASE()))

	############################################################################
	##  Moves

	def rapid(self, x=None, y=None, z=None, a=None, b=None, c=None ):
		if self.same_xyz(x, y, z, a, b, c): return
		self.on_move()

		if self.g0123_modal:
			if self.prev_g0123 != self.RAPID():
				self.write(self.SPACE() + self.RAPID())
				self.prev_g0123 = self.RAPID()
		else:
			self.write(self.SPACE() + self.RAPID())
		self.write_preps()
		if (x != None):
			if (self.absolute_flag ):
				self.write(self.SPACE() + self.X() + (self.fmt.string(x + self.shift_x)))
			else:
				dx = x - self.x
				self.write(self.SPACE() + self.X() + (self.fmt.string(dx)))
			self.x = x
		if (y != None):
			if (self.absolute_flag ):
				self.write(self.SPACE() + self.Y() + (self.fmt.string(y + self.shift_y)))
			else:
				dy = y - self.y
				self.write(self.SPACE() + self.Y() + (self.fmt.string(dy)))

			self.y = y
		if (z != None):
			if (self.absolute_flag ):
				self.write(self.SPACE() + self.Z() + (self.fmt.string(z + self.shift_z)))
			else:
				dz = z - self.z
				self.write(self.SPACE() + self.Z() + (self.fmt.string(dz)))

			self.z = z

		if (a != None):
			if (self.absolute_flag ):
				self.write(self.SPACE() + self.A() + (self.fmt.string(a)))
			else:
				da = a - self.a
				self.write(self.SPACE() + self.A() + (self.fmt.string(da)))
			self.a = a

		if (b != None):
			if (self.absolute_flag ):
				self.write(self.SPACE() + self.B() + (self.fmt.string(b)))
			else:
				db = b - self.b
				self.write(self.SPACE() + self.B() + (self.fmt.string(db)))
			self.b = b

		if (c != None):
			if (self.absolute_flag ):
				self.write(self.SPACE() + self.C() + (self.fmt.string(c)))
			else:
				dc = c - self.c
				self.write(self.SPACE() + self.C() + (self.fmt.string(dc)))
			self.c = c
		self.write_spindle()
		self.write_misc()
		self.write('\n')

	def feed(self, x=None, y=None, z=None, a=None, b=None, c=None):
		if self.same_xyz(x, y, z, a, b, c): return
		self.on_move()
		if self.g0123_modal:
			if self.prev_g0123 != self.FEED():
				self.writem([self.SPACE() , self.FEED()])
				self.prev_g0123 = self.FEED()
		else:
			self.write(self.SPACE() + self.FEED())
		self.write_preps()
		dx = dy = dz = 0
		if (x != None):
			dx = x - self.x
			if (self.absolute_flag ):
				self.writem([self.SPACE() , self.X() , (self.fmt.string(x + self.shift_x))])
			else:
				self.writem([self.SPACE() , self.X() , (self.fmt.string(dx))])
			self.x = x
		if (y != None):
			dy = y - self.y
			if (self.absolute_flag ):
				self.writem([self.SPACE() , self.Y() , (self.fmt.string(y + self.shift_y))])
			else:
				self.writem([self.SPACE() , self.Y() , (self.fmt.string(dy))])

			self.y = y
		if (z != None):
			dz = z - self.z
			if (self.absolute_flag ):
				self.writem([self.SPACE() , self.Z() , (self.fmt.string(z + self.shift_z))])
			else:
				self.writem([self.SPACE() , self.Z() , (self.fmt.string(dz))])

			self.z = z

		if (a != None):
			da = a - self.a
			if (self.absolute_flag ):
				self.writem([self.SPACE() , self.A() , (self.fmt.string(a))])
			else:
				self.writem([self.SPACE() , self.A() , (self.fmt.string(da))])
			self.a = a

		if (b != None):
			db = b - self.b
			if (self.absolute_flag ):
				self.writem([self.SPACE() , self.B() , (self.fmt.string(b))])
			else:
				self.writem([self.SPACE() , self.B() , (self.fmt.string(db))])
			self.b = b

		if (c != None):
			dc = c - self.c
			if (self.absolute_flag ):
				self.writem([self.SPACE() , self.C() , (self.fmt.string(c))])
			else:
				self.writem([self.SPACE() , self.C() , (self.fmt.string(dc))])
			self.c = c

		if (self.fhv) : self.calc_feedrate_hv(math.sqrt(dx*dx+dy*dy), math.fabs(dz))
		self.write_feedrate()
		self.write_spindle()
		self.write_misc()
		self.write('\n')

	def same_xyz(self, x=None, y=None, z=None, a=None, b=None, c=None):
		if (x != None):
			if (self.fmt.string(x + self.shift_x)) != (self.fmt.string(self.x)):
				return False
		if (y != None):
			if (self.fmt.string(y + self.shift_y)) != (self.fmt.string(self.y)):
				return False
		if (z != None):
			if (self.fmt.string(z + self.shift_z)) != (self.fmt.string(self.z)):
				return False
		if (a != None):
			if (self.fmt.string(a)) != (self.fmt.string(self.a)):
				return False
		if (b != None):
			if (self.fmt.string(b)) != (self.fmt.string(self.b)):
				return False
		if (c != None):
			if (self.fmt.string(c)) != (self.fmt.string(self.c)):
				return False   
		return True

	
	def get_quadrant(self, dx, dy):
		if dx < 0:
			if dy < 0:
				return 2
			else:
				return 1

		else:
			if dy < 0:
				return 3
			else:
				return 0
	
	def quadrant_start(self, q, i, j, rad):
		while q > 3: q = q - 4
		if q == 0:
			return i + rad, j
		if q == 1:
			return i, j + rad
		if q == 2:
			return i - rad, j
		return i, j - rad

	def quadrant_end(self, q, i, j, rad):
		return self.quadrant_start(q + 1, i, j, rad)
	
	def get_arc_angle(self, sdx, sdy, edx, edy, cw):
		angle_s = math.atan2(sdy, sdx);        
		angle_e = math.atan2(edy, edx);
		if cw:
			if angle_s < angle_e: angle_s = angle_s + 2 * math.pi
		else:
			if angle_e < angle_s: angle_e = angle_e + 2 * math.pi
		return angle_e - angle_s

	def arc(self, cw, x=None, y=None, z=None, i=None, j=None, k=None, r=None):
		if self.same_xyz(x, y, z): return
		
		if self.output_arcs_as_lines or (self.can_do_helical_arcs == False and self.in_quadrant_splitting == False and (z != None) and (math.fabs(z - self.z) > 0.000001) and (self.fmt.string(z) != self.fmt.string(self.z))):
			# split the helical arc into little line feed moves

			if x == None: x = self.x
			if y == None: y = self.y
			sdx = self.x - i
			sdy = self.y - j
			edx = x - i
			edy = y - j
			radius = math.sqrt(sdx*sdx + sdy*sdy)
			arc_angle = self.get_arc_angle(sdx, sdy, edx, edy, cw)
			angle_start = math.atan2(sdy, sdx);
			tolerance = 0.02
			angle_step = 2.0 * math.atan( math.sqrt ( tolerance /(radius - tolerance) ))
			segments = int(math.fabs(arc_angle / angle_step) + 1)
			angle_step = arc_angle / segments
			angle = angle_start
			if z != None:
				z_step = float(z - self.z)/segments
				next_z = self.z
				
			for p in range(0, segments):
				angle = angle + angle_step
				next_x = i + radius * math.cos(angle)
				next_y = j + radius * math.sin(angle)
				if z == None:
					next_z = None
				else:
					next_z = next_z + z_step
				self.feed(next_x, next_y, next_z)
			return

		if self.arc_centre_positive == True and self.in_quadrant_splitting == False:
			# split in to quadrant arcs
			self.in_quadrant_splitting = True
			
			if x == None: x = self.x
			if y == None: y = self.y
			sdx = self.x - i
			sdy = self.y - j
			edx = x - i
			edy = y - j
			
			qs = self.get_quadrant(sdx, sdy)
			qe = self.get_quadrant(edx, edy)
			
			if qs == qe:
				arc_angle = math.fabs(self.get_arc_angle(sdx, sdy, edx, edy, cw))
				# arc_angle will be either less than pi/2 or greater than 3pi/2
				if arc_angle > 3.14:
					if cw:
						qs = qs + 4
					else:
						qe = qe + 4
						
			if qs == qe:
				self.arc(cw, x, y, z, i, j, k, r)
			else:
				rad = math.sqrt(sdx * sdx + sdy * sdy)
				if cw:
					if qs < qe: qs = qs + 4
				else:
					if qe < qs: qe = qe + 4
					
				q = qs
				while 1:
					x1 = x
					y1 = y
					if q != qe:
						if cw:
							x1, y1 = self.quadrant_start(q, i, j, rad)
						else:
							x1, y1 = self.quadrant_end(q, i, j, rad)
							
					if (self.fmt.string(x1) != self.fmt.string(self.x)) or (self.fmt.string(y1) != self.fmt.string(self.y)):
						if (math.fabs(x1 - self.x) > 0.01) or (math.fabs(y1 - self.y) > 0.01):
							self.arc(cw, x1, y1, z, i, j, k, r)
						else:
							self.feed(x1, y1, z)
					if q == qe:
						break
					if cw:
						q = q - 1
					else:
						q = q + 1
					
			self.in_quadrant_splitting = False
			return
			
		self.on_move()
		arc_g_code = ''
		if cw: arc_g_code = self.ARC_CW()
		else: arc_g_code = self.ARC_CCW()
		if self.g0123_modal:
			if self.prev_g0123 != arc_g_code:
				self.write(self.SPACE() + arc_g_code)
				self.prev_g0123 = arc_g_code
		else:
			self.write(self.SPACE() + arc_g_code)
		self.write_preps()
		if (x != None):
			dx = x - self.x
			if (self.absolute_flag ):
				self.write(self.SPACE() + self.X() + (self.fmt.string(x + self.shift_x)))
			else:
				self.write(self.SPACE() + self.X() + (self.fmt.string(dx)))
		if (y != None):
			dy = y - self.y
			if (self.absolute_flag ):
				self.write(self.SPACE() + self.Y() + (self.fmt.string(y + self.shift_y)))
			else:
				self.write(self.SPACE() + self.Y() + (self.fmt.string(dy)))
		if (z != None):
			dz = z - self.z
			if (self.absolute_flag ):
				self.write(self.SPACE() + self.Z() + (self.fmt.string(z + self.shift_z)))
			else:
				self.write(self.SPACE() + self.Z() + (self.fmt.string(dz)))
		if (i != None):
			if self.arc_centre_absolute == False:
				i = i - self.x
			s = self.fmt.string(i)
			if self.arc_centre_positive == True:
				if s[0] == '-':
					s = s[1:]
			self.write(self.SPACE() + self.CENTRE_X() + s)
		if (j != None):
			if self.arc_centre_absolute == False:
				j = j - self.y
			s = self.fmt.string(j)
			if self.arc_centre_positive == True:
				if s[0] == '-':
					s = s[1:]
			self.write(self.SPACE() + self.CENTRE_Y() + s)
		if (k != None):
			if self.arc_centre_absolute == False:
				k = k - self.z
			s = self.fmt.string(k)
			if self.arc_centre_positive == True:
				if s[0] == '-':
					s = s[1:]
			self.write(self.SPACE() + self.CENTRE_Z() + s)
		if (r != None):
			s = self.fmt.string(r)
			if self.arc_centre_positive == True:
				if s[0] == '-':
					s = s[1:]
			self.write(self.SPACE() + self.RADIUS() + s)
#       use horizontal feed rate
		if (self.fhv) : self.calc_feedrate_hv(1, 0)
		self.write_feedrate()
		self.write_spindle()
		self.write_misc()
		self.write('\n')
		if (x != None):
			self.x = x
		if (y != None):
			self.y = y
		if (z != None):
			self.z = z

	def arc_cw(self, x=None, y=None, z=None, i=None, j=None, k=None, r=None):
		self.arc(True, x, y, z, i, j, k, r)

	def arc_ccw(self, x=None, y=None, z=None, i=None, j=None, k=None, r=None):
		self.arc(False, x, y, z, i, j, k, r)

	def dwell(self, t):
		self.write_preps()
		self.write(self.SPACE() + self.DWELL(t))
		self.write_misc()
		self.write('\n')

	def on_move(self):
		if self.output_fixtures:
			self.output_fixture()
		self.move_done_since_tool_change = True

	def rapid_home(self, x=None, y=None, z=None, a=None, b=None, c=None):
		pass

	def rapid_unhome(self):
		pass

	def set_machine_coordinates(self):
		self.write(self.SPACE() + self.MACHINE_COORDINATES())
		self.prev_g0123 = ''

	############################################################################
	##  CRC
	
	def use_CRC(self):
		return self.useCrc

	def CRC_nominal_path(self):
		return self.useCrcCenterline

	def start_CRC(self, left = True, radius = 0.0):
		# set up prep code, to be output on next line
		if self.t == None:
			raise "No tool specified for start_CRC()"
		if left:
			self.write(self.SPACE() + 'G41')
		else:
			self.write(self.SPACE() + 'G42')
		self.write((self.SPACE() + 'D%i\n') % self.t)

	def end_CRC(self):
		self.write(self.SPACE() + 'G40\n')

	############################################################################
	##  Cycles

	def pattern(self):
		pass

	def pattern_uses_subroutine(self):
		return self.pattern_done_with_subroutine

	def pocket(self):
		pass

	def profile(self):
		pass

	def write_internal_coolant_commands(self, internal_coolant_on):
		if (internal_coolant_on != None) and (self.output_internal_coolant_commands == True):
			if internal_coolant_on == True:
				if self.internal_coolant_on != True:
					self.write(self.SPACE())
					self.write(self.INTERNAL_COOLANT_ON() + '\n')
					self.internal_coolant_on = True
			else:
				if self.internal_coolant_on != False:
					self.write(self.SPACE())
					self.write(self.INTERNAL_COOLANT_OFF() + '\n')
					self.internal_coolant_on = False

	# The drill routine supports drilling (G81), drilling with dwell (G82) and peck drilling (G83).
	# The x,y,z values are INITIAL locations (above the hole to be made.  This is in contrast to
	# the Z value used in the G8[1-3] cycles where the Z value is that of the BOTTOM of the hole.
	# Instead, this routine combines the Z value and the depth value to determine the bottom of
	# the hole.
	#
	# The standoff value is the distance up from the 'z' value (normally just above the surface) where the bit retracts
	# to in order to clear the swarf.  This combines with 'z' to form the 'R' value in the G8[1-3] cycles.
	#
	# The peck_depth value is the incremental depth (Q value) that tells the peck drilling
	# cycle how deep to go on each peck until the full depth is achieved.
	#
	# NOTE: This routine forces the mode to absolute mode so that the values  passed into
	# the G8[1-3] cycles make sense.  I don't know how to find the mode to revert it so I won't
	# revert it.  I must set the mode so that I can be sure the values I'm passing in make
	# sense to the end-machine.
	#
	def drill(self, x=None, y=None, dwell=None, depthparams = None, retract_mode=None, spindle_mode=None, internal_coolant_on=None, rapid_to_clearance=None):
		if (depthparams.clearance_height == None):        
			self.first_drill_pos = False
			return
		
		self.write_internal_coolant_commands(internal_coolant_on)
			
		drillExpanded = self.drillExpanded
		if (depthparams.step_down != 0) and (dwell != 0):
			# pecking and dwell together
			if self.dwell_allowed_in_G83 != True:     
				drillExpanded = True
		  
		if drillExpanded:
			# for machines which don't understand G81, G82 etc.
			peck_depth = depthparams.step_down
			if peck_depth == None:
				peck_depth = depthparams.final_depth
			current_z = depthparams.start_depth
			self.rapid(x, y)
			
			first = True
			last_cut = False
			
			while True:
				next_z = current_z - peck_depth
				if next_z < (depthparams.final_depth + 0.001):
					next_z = depthparams.final_depth
					last_cut = True
				if next_z >= current_z:
					break;
				if first:
					self.rapid(z = depthparams.start_depth + depthparams.rapid_safety_space)
				else:
					self.rapid(z = current_z)
				self.feed(z = next_z)
				if dwell != 0 and last_cut:
					self.dwell(dwell)        
				if last_cut:self.rapid(z = depthparams.clearance_height)
				else:
					if rapid_to_clearance:
						self.rapid(z = depthparams.clearance_height)
					else:
						self.rapid(z = depthparams.start_depth + depthparams.rapid_safety_space)
				current_z = next_z
				first = False
			
			self.first_drill_pos = False
			return

		if self.output_g98_and_g99 == True:
			if rapid_to_clearance == True:
				if self.output_g43_z_before_drilling_if_g98:
					if self.fmt.string(depthparams.clearance_height) != self.z_for_g43:
						self.z_for_g43 = self.fmt.string(depthparams.clearance_height)
						self.write(self.SPACE() + 'G43' + self.SPACE() + 'Z' + self.z_for_g43 + '\n')

			if self.first_drill_pos ==True and rapid_to_clearance == True:
				self.rapid(x, y)            
				self.rapid(z = depthparams.clearance_height)            

		self.in_canned_cycle = True
		self.write_preps()
		
		if (depthparams.step_down != 0):        
			# G83 peck drilling
			if self.drill_modal:
				if self.PECK_DRILL() + self.PECK_DEPTH(depthparams.step_down) != self.prev_drill:
					self.write(self.SPACE() + self.PECK_DRILL() + self.SPACE() + self.PECK_DEPTH(depthparams.step_down))  
					self.prev_drill = self.PECK_DRILL() + self.PECK_DEPTH(depthparams.step_down)
			else:       
				self.write(self.PECK_DRILL() + self.PECK_DEPTH(depthparams.step_down)) 
			
			if (self.dwell != 0) and self.dwell_allowed_in_G83:
				self.write(self.SPACE() + self.TIME() + (self.FORMAT_TIME().string(dwell)))
						  
		else:        
			# We're either just drilling or drilling with dwell.        
			if (dwell == 0):        
				# We're just drilling. 
				if self.drill_modal:       
					if  self.DRILL() != self.prev_drill:
						self.write(self.SPACE() + self.DRILL())  
						self.prev_drill = self.DRILL()
				else:
					self.write(self.SPACE() + self.DRILL())
	  
			else:        
				# We're drilling with dwell.

				if self.drill_modal:       
					if  self.DRILL_WITH_DWELL(dwell) != self.prev_drill:
						self.write(self.SPACE() + self.DRILL_WITH_DWELL(dwell))  
						self.prev_drill = self.DRILL_WITH_DWELL(dwell)
				else:
					self.write(self.SPACE() + self.DRILL_WITH_DWELL(dwell))

		if self.output_g98_and_g99 == True:
			if rapid_to_clearance == True:
				if self.g98_not_g99 != True:
					self.write(self.SPACE() + self.RETRACT_TO_CLEARANCE())
					self.g98_not_g99 = True
			else:
				if self.g98_not_g99 != False:
					self.write(self.SPACE() + self.RETRACT_TO_STANDOFF())
					self.g98_not_g99 = False                    
	
	# Set the retraction point to the 'standoff' distance above the starting z height.        
		retract_height = depthparams.start_depth + depthparams.rapid_safety_space        
		if (x != None):        
			self.write(self.SPACE() + self.X() + (self.fmt.string(x + self.shift_x)))        
			self.x = x 
	   
		if (y != None):        
			self.write(self.SPACE() + self.Y() + (self.fmt.string(y + self.shift_y)))        
			self.y = y
					  
		if self.drill_modal:
			if depthparams.start_depth != self.prev_z:
				self.write(self.SPACE() + self.Z() + (self.fmt.string(depthparams.final_depth)))
				self.prev_z=depthparams.start_depth
		else:             
			self.write(self.SPACE() + self.Z() + (self.fmt.string(depthparams.final_depth)))    # This is the 'z' value for the bottom of the hole.
			self.z = (depthparams.start_depth + depthparams.rapid_safety_space)            # We want to remember where z is at the end (at the top of the hole)

		if self.drill_modal:
			if self.prev_retract  != self.RETRACT(retract_height) :
				self.write(self.SPACE() + self.RETRACT(retract_height))               
				self.prev_retract = self.RETRACT(retract_height)
		else:              
			self.write(self.SPACE() + self.RETRACT(retract_height))
		   
		if (self.fv) :
			self.f.set(self.fv) 

		self.write_feedrate()
		self.write_spindle()            
		self.write_misc()    
		self.write('\n')
		self.first_drill_pos = False

	def end_canned_cycle(self):
		if self.in_canned_cycle == False:
			return
		self.write(self.SPACE() + self.END_CANNED_CYCLE() + '\n')
		self.write_internal_coolant_commands(0)
		self.prev_drill = ''
		self.prev_g0123 = ''
		self.prev_z = ''   
		self.prev_f = '' 
		self.prev_retract = ''
		self.in_canned_cycle = False
		self.first_drill_pos = True
		  
	############################################################################
	##  Misc

	def comment(self, text):
		self.write((self.COMMENT(text) + '\n'))

	def insert(self, text):
		pass

	def block_delete(self, on=False):        
		pass

	def variable(self, id):
		return (self.VARIABLE() % id)

	def variable_set(self, id, value):
		self.write(self.SPACE() + (self.VARIABLE() % id) + self.SPACE() + (self.VARIABLE_SET() % value) + '\n')

	# This routine uses the G92 coordinate system offsets to establish a temporary coordinate
	# system at the machine's current position.  It can then use absolute coordinates relative
	# to this position which makes coding easy.  It then moves to the 'point along edge' which
	# should be above the workpiece but still on one edge.  It then backs off from the edge
	# to the 'retracted point'.  It then plunges down by the depth value specified.  It then
	# probes back towards the 'destination point'.  The probed X,Y location are stored
	# into the 'intersection variable' variables.  Finally the machine moves back to the
	# original location.  This is important so that the results of multiple calls to this
	# routine may be compared meaningfully.
	def probe_single_point(self, point_along_edge_x=None, point_along_edge_y=None, depth=None, retracted_point_x=None, retracted_point_y=None, destination_point_x=None, destination_point_y=None, intersection_variable_x=None, intersection_variable_y=None, probe_offset_x_component=None, probe_offset_y_component=None ):
		self.write(self.SPACE() + (self.SET_TEMPORARY_COORDINATE_SYSTEM() + (' X 0 Y 0 Z 0') + ('\t(Temporarily make this the origin)\n')))

		if (self.fhv) : self.calc_feedrate_hv(1, 0)
		self.write_feedrate()
		self.write('\t(Set the feed rate for probing)\n')

		self.rapid(point_along_edge_x,point_along_edge_y)
		self.rapid(retracted_point_x,retracted_point_y)
		self.feed(z=depth)

		self.write((self.PROBE_TOWARDS_WITH_SIGNAL() + (' X ' + (self.fmt.string(destination_point_x)) + ' Y ' + (self.fmt.string(destination_point_y)) ) + ('\t(Probe towards our destination point)\n')))

		self.comment('Back off the workpiece and re-probe more slowly')
		self.write(self.SPACE() + ('#' + intersection_variable_x + '= [#5061 - [ 0.5 * ' + probe_offset_x_component + ']]\n'))
		self.write(self.SPACE() + ('#' + intersection_variable_y + '= [#5062 - [ 0.5 * ' + probe_offset_y_component + ']]\n'))
		self.write(self.RAPID())
		self.write(self.SPACE() + ' X #' + intersection_variable_x + ' Y #' + intersection_variable_y + '\n')

		self.write(self.SPACE() + self.FEEDRATE() + self.ffmt.string(self.fh / 2.0) + '\n')

		self.write((self.SPACE() + self.PROBE_TOWARDS_WITH_SIGNAL() + (' X ' + (self.fmt.string(destination_point_x)) + ' Y ' + (self.fmt.string(destination_point_y)) ) + ('\t(Probe towards our destination point)\n')))

		self.comment('Store the probed location somewhere we can get it again later')
		self.write(('#' + intersection_variable_x + '=' + probe_offset_x_component + ' (Portion of probe radius that contributes to the X coordinate)\n'))
		self.write(('#' + intersection_variable_x + '=[#' + intersection_variable_x + ' + #5061]\n'))
		self.write(('#' + intersection_variable_y + '=' + probe_offset_y_component + ' (Portion of probe radius that contributes to the Y coordinate)\n'))
		self.write(('#' + intersection_variable_y + '=[#' + intersection_variable_y + ' + #5062]\n'))

		self.comment('Now move back to the original location')
		self.rapid(retracted_point_x,retracted_point_y)
		self.rapid(z=0)
		self.rapid(point_along_edge_x,point_along_edge_y)
		self.rapid(x=0, y=0)

		self.write((self.REMOVE_TEMPORARY_COORDINATE_SYSTEM() + ('\t(Restore the previous coordinate system)\n')))

	def probe_downward_point(self, x=None, y=None, depth=None, intersection_variable_z=None):
		self.write((self.SET_TEMPORARY_COORDINATE_SYSTEM() + (' X 0 Y 0 Z 0') + ('\t(Temporarily make this the origin)\n')))
		if (self.fhv) : self.calc_feedrate_hv(1, 0)
		self.write(self.FEEDRATE() + ' [' + self.ffmt.string(self.fh) + ' / 5.0 ]')
		self.write('\t(Set the feed rate for probing)\n')

		if x != None and y != None:
	   	   self.write(self.RAPID())
	   	   self.write(' X ' + x + ' Y ' + y + '\n')

		self.write((self.PROBE_TOWARDS_WITH_SIGNAL() + ' Z ' + (self.fmt.string(depth)) + ('\t(Probe towards our destination point)\n')))

		self.comment('Store the probed location somewhere we can get it again later')
		self.write(('#' + intersection_variable_z + '= #5063\n'))

		self.comment('Now move back to the original location')
		self.rapid(z=0)
		self.rapid(x=0, y=0)

		self.write((self.REMOVE_TEMPORARY_COORDINATE_SYSTEM() + ('\t(Restore the previous coordinate system)\n')))


	def report_probe_results(self, x1=None, y1=None, z1=None, x2=None, y2=None, z2=None, x3=None, y3=None, z3=None, x4=None, y4=None, z4=None, x5=None, y5=None, z5=None, x6=None, y6=None, z6=None, xml_file_name=None ):
		pass

	def open_log_file(self, xml_file_name=None ):
		pass

	def log_coordinate(self, x=None, y=None, z=None):
		pass

	def log_message(self, message=None):
		pass

	def close_log_file(self):
		pass

	# Rapid movement to the midpoint between the two points specified.
	# NOTE: The points are specified either as strings representing numbers or as strings
	# representing variable names.  This allows the HeeksCNC module to determine which
	# variable names are used in these various routines.
	def rapid_to_midpoint(self, x1=None, y1=None, z1=None, x2=None, y2=None, z2=None):
		self.write(self.RAPID())
		if ((x1 != None) and (x2 != None)):
			self.write((' X ' + '[[[' + x1 + ' - ' + x2 + '] / 2.0] + ' + x2 + ']'))

		if ((y1 != None) and (y2 != None)):
			self.write((' Y ' + '[[[' + y1 + ' - ' + y2 + '] / 2.0] + ' + y2 + ']'))

		if ((z1 != None) and (z2 != None)):
			self.write((' Z ' + '[[[' + z1 + ' - ' + z2 + '] / 2.0] + ' + z2 + ']'))

		self.write('\n')

	# Rapid movement to the intersection of two lines (in the XY plane only). This routine
	# is based on information found in http://local.wasp.uwa.edu.au/~pbourke/geometry/lineline2d/
	# written by Paul Bourke.  The ua_numerator, ua_denominator, ua and ub parameters
	# represent variable names (with the preceding '#' included in them) for use as temporary
	# variables.  They're specified here simply so that HeeksCNC can manage which variables
	# are used in which GCode calculations.
	#
	# As per the notes on the web page, the ua_denominator and ub_denominator formulae are
	# the same so we don't repeat this.  If the two lines are coincident or parallel then
	# no movement occurs.
	#
	# NOTE: The points are specified either as strings representing numbers or as strings
	# representing variable names.  This allows the HeeksCNC module to determine which
	# variable names are used in these various routines.
	def rapid_to_intersection(self, x1, y1, x2, y2, x3, y3, x4, y4, intersection_x, intersection_y, ua_numerator, ua_denominator, ua, ub_numerator, ub):
		self.comment('Find the intersection of the two lines made up by the four probed points')
		self.write(ua_numerator + '=[[[' + x4 + ' - ' + x3 + '] * [' + y1 + ' - ' + y3 + ']] - [[' + y4 + ' - ' + y3 + '] * [' + x1 + ' - ' + x3 + ']]]\n')
		self.write(ua_denominator + '=[[[' + y4 + ' - ' + y3 + '] * [' + x2 + ' - ' + x1 + ']] - [[' + x4 + ' - ' + x3 + '] * [' + y2 + ' - ' + y1 + ']]]\n')
		self.write(ub_numerator + '=[[[' + x2 + ' - ' + x1 + '] * [' + y1 + ' - ' + y3 + ']] - [[' + y2 + ' - ' + y1 + '] * [' + x1 + ' - ' + x3 + ']]]\n')

		self.comment('If they are not parallel')
		self.write('O900 IF [' + ua_denominator + ' NE 0]\n')
		self.comment('And if they are not coincident')
		self.write('O901    IF [' + ua_numerator + ' NE 0 ]\n')

		self.write('       ' + ua + '=[' + ua_numerator + ' / ' + ua_denominator + ']\n')
		self.write('       ' + ub + '=[' + ub_numerator + ' / ' + ua_denominator + ']\n') # NOTE: ub denominator is the same as ua denominator
		self.write('       ' + intersection_x + '=[' + x1 + ' + [[' + ua + ' * [' + x2 + ' - ' + x1 + ']]]]\n')
		self.write('       ' + intersection_y + '=[' + y1 + ' + [[' + ua + ' * [' + y2 + ' - ' + y1 + ']]]]\n')
		self.write('       ' + self.RAPID())
		self.write(' X ' + intersection_x + ' Y ' + intersection_y + '\n')

		self.write('O901    ENDIF\n')
		self.write('O900 ENDIF\n')

	# We need to calculate the rotation angle based on the line formed by the
	# x1,y1 and x2,y2 coordinate pair.  With that angle, we need to move
	# x_offset and y_offset distance from the current (0,0,0) position.
	#
	# The x1,y1,x2 and y2 parameters are all variable names that contain the actual
	# values.
	# The x_offset and y_offset are both numeric (floating point) values
	def rapid_to_rotated_coordinate(self, x1, y1, x2, y2, ref_x, ref_y, x_current, y_current, x_final, y_final):
		self.comment('Rapid to rotated coordinate')
		self.write( '#1 = [atan[' + y2 + ' - ' + y1 + ']/[' + x2 +' - ' + x1 + ']] (nominal_angle)\n')
		self.write( '#2 = [atan[' + ref_y + ']/[' + ref_x + ']] (reference angle)\n')
		self.write( '#3 = [#1 - #2] (angle)\n' )
		self.write( '#4 = [[[' + (self.fmt.string(0)) + ' - ' + (self.fmt.string(x_current)) + '] * COS[ #3 ]] - [[' + (self.fmt.string(0)) + ' - ' + (self.fmt.string(y_current)) + '] * SIN[ #3 ]]]\n' )
		self.write( '#5 = [[[' + (self.fmt.string(0)) + ' - ' + (self.fmt.string(x_current)) + '] * SIN[ #3 ]] + [[' + (self.fmt.string(0)) + ' - ' + (self.fmt.string(y_current)) + '] * COS[ #3 ]]]\n' )

		self.write( '#6 = [[' + (self.fmt.string(x_final)) + ' * COS[ #3 ]] - [' + (self.fmt.string(y_final)) + ' * SIN[ #3 ]]]\n' )
		self.write( '#7 = [[' + (self.fmt.string(y_final)) + ' * SIN[ #3 ]] + [' + (self.fmt.string(y_final)) + ' * COS[ #3 ]]]\n' )

		self.write( self.RAPID() + ' X [ #4 + #6 ] Y [ #5 + #7 ]\n' )

	def BEST_POSSIBLE_SPEED(self, motion_blending_tolerance, naive_cam_tolerance): 
		statement = 'G64'

		if (motion_blending_tolerance > 0):
			statement += ' P ' + str(motion_blending_tolerance)

		if (naive_cam_tolerance > 0):
			statement += ' Q ' + str(naive_cam_tolerance)

		return(statement)
			
	def set_path_control_mode(self, mode, motion_blending_tolerance, naive_cam_tolerance ):
		if (mode == 0):
			self.write( self.EXACT_PATH_MODE() + '\n' )
		if (mode == 1):
			self.write( self.EXACT_STOP_MODE() + '\n' )
		if (mode == 2):
			self.write( self.BEST_POSSIBLE_SPEED( motion_blending_tolerance, naive_cam_tolerance ) + '\n' )
		

################################################################################

nc.creator = Creator()