#!/usr/bin/php -q
<?php
// By Erik de Bruijn <reprap@erikdebruijn.nl>
// Description: this script will parse a G-Code file and reformat it to work with the newer RepRap G-Code interpreter firmware.
// Licence: GPLv3 or later
// Documentation can be found at:
// http://objects.reprap.org/wiki/3D-to-5D-Gcode.php
//
/* Changelog:
 * 0.5  Erik		14/07/09	Software anti-backlash (TODO: differentiate between dynamic and static friction)
 * 0.6  Erik		15/07/09	Output to file --output_file filename.gcode Default: out-5D.gcode
 * 0.7  Erik		19/07/09	Condition based actions (change lines based on a list of criteria).
 * 0.8  Erik		20/07/09	Added start and stop conditions in addition to 'while'.
 * 0.9  Erik		11/08/09	Possibly fixed non-incremental extrusion mode. Needs testing though. Siert, tnx for bug report.
 * 0.10 Erik		11/08/09	Several bugfixes. Of course I shouldn't use str_replace this much...
 * 0.11 Erik		17/09/09	Bugfix: order of processing improved. Anti-backlash is applied first, then better distances will be measured
 * 0.12 Erik		17/09/09	Softener of Z-moves was relative and for EVERY Z move, also those that were already slow. This is not based
 *					on the maximum speed the Z-axis should move and if it's high the feedrate is adjusted so that it effectively moves
 *					at this maximum speed along the Z-axis.
 * 0.13 Erik		17/09/09	Bugfix: dZ is used absolute for softening. This is what caused towering to go bad, the printhead has to move down 
 *					(negative Z) but it tends to skip steps when movement speed is not capped to a sensible max.
 * 0.14 Erik		17/09/09	Bugfix: minor problem in anti-backlash. Would sometimes match and replace too many values.
 * 0.15 Erik		17/09/09	Feature: added anti-ooze system for Bowden extruder. Still experimental, stops pullback after a while, WHY?!
 * 0.16 Erik             21/11/09        Feature: status line with progress indication.
 * 0.17 Erik             28/12/09        Feature: can perform a search for the input file in varous directories
 * 0.18 Erik             09/01/10        Feature: can rescale and offset g-code
 * 0.19 Erik             28/02/10        Feature: can put the output on an SD card and safely unmounts it.
 * 0.20 Erik             19/07/10        Feature: preliminary functionality for multiple extruders and device profiles.

Upcoming:
 * ... Erik             ../../..        Feature: can remove the raft if --noraft is set

 */
ini_set('memory_limit','128M');

$version = 0.21;
out("\n( Modified by 3D-to-5D-Gcode v$version on ".date("c").')');
$uTime=microtime(true);
// Settings:

$setting['prepend_gcode'] = "G1 E250 F6000\nG1 Z0.3 F140\n";  	// begin with this Gcode
//$setting['append_gcode'] = "G91\nG1 Z4 F40\nG90\nM104 S200";  // add this Gcode at the end
$setting['append_gcode'] = "G91\nG1 Z4 F140\nG90\nM104 S150";  // add this Gcode at the end
$setting['extrusion_adjust'] = 1.5;  		// factor to adjust extruded distances with
//$setting['extruder_backlash_fwd']=402.0;	// manages tension in the Bowden extruder or for other more flexible material feedstock. Extrusion adjust NOT factored in.
//$setting['extruder_backlash_rev']=400.0;	// The amount to pull it back (see prev, comment)
$setting['reversing_minimum_distance'] = 5; // minimum amount of travel milimeters to reverse extruder for (smaller is slower builds)
$setting['reversing_minimum_extrusion'] = $setting['extruder_backlash_fwd']*.75; // if litle material is extruded, many reverses (pumping action) without much extrusion will transfer heat higher up the heater barrel. The extruder should reverse only when about 75% of the 'backlash' is extruded again.

$setting['extrude_incremental'] = 1;  		// E values are incremental. Better for making small adjustments
//$setting['replace_ereg'] = array('F330.0[^0-9]'=>'F1320.0');  // 
$setting['replace_strings'] = array(
	'Z1.2 F960.0 '=>'Z1.2 F500.0 ', // hugely speed up the raft-making
	//'Z0.9 F1320.0 '=>'Z0.9 F1320.0 ', // hugely speed up the raft-making
	//'F330.0'=>'F1320.0', // hugely speed up the raft-making
	//'F330.0'=>'F430.0', // moderately speed up the raft-making
);  // 
$setting['accelerated_travel'] = false; 		//false = off, 1.0 is base speed, 2.0 is two times faster.
$setting['repeat_M103-M101'] = false; 		// a workaround for BfB v3.1 beta firmware
$setting['switch_extruders'] = false; 		// replace M101 with M201 and vice versa
$setting['accelerated_travel_mindist'] = 7; 	// the minimum distance in milimeters
$setting['accelerated_travel_segments'] = 7;    // should always be an ODD number! 

$setting['remove_redundant_Gcodes'] = true; // save bandwidth and processing power on sanguino/arduino. Set to false to disable.
$setting['actions'] = array(
	//array('while'=>array('match','F330.0'),'actions'=>array('E_mul'=>6,'F_mul'=>0.7)), // raft making: slow down XY-moves, speed up extrusion.
//Z0.39 F330.0
	array('while'=>array('match','Z0.61'),'actions'=>array('E_mul'=>6,'F_mul'=>0.7)), // raft making: slow down XY-moves, speed up extrusion.
	array('while'=>array('match','Z1.05'),'actions'=>array('E_mul'=>1.7,'F_mul'=>1/2.1)), // raft making: slow down XY-moves, speed up extrusion.
	array('while'=>array('match','Z1.16 F1320.0 '),'actions'=>array('E_mul'=>1.7,'F_mul'=>1/2.1)), // raft making: slow down XY-moves, speed up extrusion.
// .22 layer height
	array('while'=>array('match','Z0.44 '),'actions'=>array('E_mul'=>6,'F_mul'=>0.7)), // raft making: slow down XY-moves, speed up extrusion.
	//array('while'=>array('match','F1320.0'),'actions'=>array('E_mul'=>2.2,'F_mul'=>0.8)), // raft making: slow down XY-moves, speed up extrusion.
/*
	array( // raft making: slow down XY-moves, speed up extrusion. Does the same as the above if the raft is set for feedrate 330.0 in skeinforge. This might be more reliable though...
          'condition_start'=>array('match','<layer> 0.5'), // set it to match the foundation layer of your raft.
          'condition_stop'=>array('match','</layer>'),
          'actions'=>array('E_mul'=>15,'F_mul'=>0.75)
        ),
	array( // raft making: the same, but now for interface layer
          'condition_start'=>array('match','<layer> 0.86'), // set it to match the foundation layer of your raft.
          'condition_stop'=>array('match','</layer>'),
          'actions'=>array('E_mul'=>4,'F_mul'=>0.8)
        ),
*/

);
$setting['machine'] = 'charles';
$setting['extension'] = 'gcode';
$setting['add_E_codes'] = true;
$setting['F_max'] = 6000;
$setting['remove_comments'] = true;  // Set true/false to remove comments from input file or not.
$setting['remove_M108s'] = true;
$setting['scale'] = 1;
$setting['offset_x'] = 0;
$setting['offset_y'] = 0;
$setting['remove_M101-M103'] = true;
//$setting['soften_z_move_factor'] = .5;  // this slows down the move in the Z direction to this speed
$setting['anti-backlash'] = array(
//	'X'=>array('fwd_dynamic'=>0.0/*mm*/, 'rev_dynamic'=>0.0/*mm*/,'fwd_static'=>0.20/*mm*/, 'rev_static'=>0.20/*mm*/ ), // Backlash on X-axis
	//'Y'=>array('fwd_dynamic'=>0.00/*mm*/, 'rev_dynamic'=>0.00/*mm*/,'fwd_static'=>0.25/*mm*/, 'rev_static'=>0.25/*mm*/ ), // Backlash on Y-axis
// Y backlash was .30
	//'Y'=>array('fwd_dynamic'=>0.45/*mm*/, 'rev_dynamic'=>0.45/*mm*/,'fwd_static'=>0.1/*mm*/, 'rev_static'=>0.1/*mm*/ ), // Backlash on Y-axis
);
if(my_ereg("^(.+)_export\.".$setting['extension']."$",basename($argv[1]),$regs))
  $setting['output_file'] = $regs[1].'.'.$setting['extension'];
elseif(my_ereg("^(.+)\.".$setting['extension']."$",basename($argv[1]),$regs))
  $setting['output_file'] = $regs[1].'.'.$setting['extension'];
elseif(my_ereg("^([^\.]+)$",basename($argv[1]),$regs))
  $setting['output_file'] = $regs[1].'.'.$setting['extension'];
else
  $setting['output_file'] = 'out-5D.'.$setting['extension']; // null = output directly.
$setting['default_output_path'] = '/home/erik/RepRap/gcode/';

$setting_file = $_SERVER['HOME']."/.reprap/3D-to-5D.settings";
if(file_exists($setting_file))
  $setting = ini_get($setting_file);
else 
  out("\n( Warning: no settings file found in $setting_file using only defaults.)");
// explain defaults
foreach($setting as $sName => $sVal)
{
   $sVal = str_replace("\n"," \\n ",$sVal);
   out("\n( $sName = $sVal )");
  if($aKey = array_search("--".$sName,$argv))
  {
    out("\n( Cmdline override of setting: $sName ".$argv[($aKey+1)].')');
    $setting[$sName] = $argv[$aKey+1];
  }

}

if(isset($setting['machine']) && ($setting['machine'] == 'leo'))
{
  $setting['remove_M101-M103'] = false;

  $setting['prepend_gcode'] = "G90\nG21\nM108 S10.0\nM227 S1000 P800\n";
//\n";// HOME: "G28\n";
//M227 S1000 P800 on extruder stop (M103) reverse the extruder stepper for S turns and on extruder start (M101) prepare (push) filament P steps (available from firmware 1.0.8)
  #$setting['extrusion_adjust'] = 0.13;
  $setting['add_E_codes'] = false;
  $setting['scale'] = array();
  #$setting['scale']['X'] = 0.77;
  #$setting['scale']['Y'] = 0.77;
  #$setting['scale']['Z'] = 1.0;
  #$setting['scale']['F'] = 0.77;
  #$setting['offset_x'] = 120;
  #$setting['offset_y'] = -60;
  $setting['F_max'] = 1900; //maximum feedrate
  $setting['extension']='bfb';
  $setting['output_file'] = str_replace('.gcode','.bfb',$setting['output_file']);
  $setting['remove_redundant_Gcodes'] = false;
  $setting['remove_M108s'] = false;
  $setting['M108factor'] = 0.14;
  init_sd(&$setting);
}
if(isset($setting['machine']) && ($setting['machine'] == 'mini'))
{
  $setting['scale']=array();
  $setting['scale']['X'] = 0.9;
  $setting['scale']['Y'] = 0.9;
  $setting['scale']['Z'] = 2.5; // 8 teeth / 20 teeth = 0.4
  $setting['scale']['F'] = 1.30;
  $setting['offset_x'] = -180;
  $setting['offset_y'] = 150;

  $setting['remove_M101-M103'] = false;
  $setting['prepend_gcode'] = "G90\nG21\nG28\nM221\nM225\nM108 S11.0\n";//\nM227 S1000 P800
  $setting['extension']='bfb';
  $setting['output_file'] = str_replace('.gcode','.bfb',$setting['output_file']);
  $setting['remove_redundant_Gcodes'] = false;
  $setting['remove_M108s'] = false;
  $setting['M108factor'] = 0.15;
  $setting['repeat_M103-M101'] = true;  // a workaround for BfB v3.1 beta firmware
  $setting['switch_extruders'] = true; // replace M101 with M201 and vice versa
  init_sd(&$setting);
}
if(isset($setting['scale'])&&(!is_array($setting['scale']))) // doesn't scale Z by default
{
  $scale = $setting['scale'];
  $setting['scale']=array();

  $setting['scale']['X'] = $scale;
  $setting['scale']['Y'] = $scale;
  
}
if(isset($setting['scale_z'])) $setting['scale']['Z'] = $setting['scale_z'];

echo "=============";
print_r($setting['scale']);
echo "=============";

if(!strstr($setting['output_file'],'/'))
  $setting['output_file'] = $setting['default_output_path'].$setting['output_file'];

$conditionOk = false;

// Accell configuration check:
    if(isset($setting['accelerated_travel_segments']))
      $segs = $setting['accelerated_travel_segments'];
    else $segs = 3;

    if($segs < 3) echo "Error: travel feedrate accelleration is misconfigured, accelerated_travel_segments should be at minimum 3.";

echo "\nOutput file is: ".$setting['output_file']."\n";
  @unlink($setting['output_file']);

// The *OLD*, 3D (lame!) way:
// M108 S200 ; extruder motor speed at 200 PWM
// M101 ; extruder motor forward
// G1 ... ; make your moves...

// *NEW*, Now 5 Dimensionally!
// G1 X0.0 Y0.0 Z0.0
// G1 X1.0 Y1.0 E1.4142 ; Extrude the pythagorian distance (X^2+Y^2)^.5. Assuming just XY plain (2D) moves...
//
$fName = determine_input_file($argv[1]);

bcscale(4);
$lines = file($fName); // ugly mem-sucker... I know. When I have files that are too big I'll improve this ;) 
// if you fix it, please e-mail the update.

// Defaults: (check your firmware!)
$abs = false;
$X = $Y = $Z = "0.0";
$lastX = $lastY = $lastZ = "0.0";
$dist = 0;
$extruder_starting = false;

$hist = -1; // a counter used to keep history of movements

$line_count = count($lines);
$line_nr=0;

out($setting['prepend_gcode']);

foreach($lines as $line)
{

  $line_nr++; // keep track of the line_nr
  // Remove original comments
  if(!($line_nr % 1000)) // every 1000 lines
  {
    echo statusLine();
  }

  // Remove original comments
  if($setting['remove_comments']==true)
  { 
    if($line{0}==';') continue;
    if($line{0}=='\'') continue;
    if($line{0}=='(') continue;
  }
  #my_ereg("[GMEXYZFS]{1

  $comment = '';

  if(my_ereg("M[ ]*108[ ]S([0-9.]+)",$line,$regs))
  {
    $line = trim($line)." ; fw/bck/off";
    $speed = $regs[1];
    if(isset($setting['remove_M108s']) && ($setting['remove_M108s']==false))
    {
      if(isset($setting['M108factor']))
        out("M108 S".trim($regs[1]*$setting['M108factor'])."\n");
    }
    continue;
  }
  
  // Store previous coordinates
  $lastX = $X;
  $lastY = $Y;
  $lastZ = $Z;

  if(my_ereg("X[ ]*(-?[0-9.]+)",$line,$regs))
    $X = $regs[1];
  if(my_ereg("Y[ ]*(-?[0-9.]+)",$line,$regs))
    $Y = $regs[1];
  if(my_ereg("Z[ ]*(-?[0-9.]+)",$line,$regs))
    $Z = $regs[1];
  if(my_ereg("F[ ]*(-?[0-9.]+)",$line,$regs))
    $F = $regs[1];

  if(isset($setting['scale']['X']))
    $line = str_replace("X$X","X".(($X+$setting['offset_x'])*$setting['scale']['X']),$line);
  if(isset($setting['scale']['Y']))
    $line = str_replace("Y$Y","Y".(($Y+$setting['offset_y'])*$setting['scale']['Y']),$line);
  if(isset($setting['scale']['Z']))
    $line = str_replace("Z$Z","Z".($Z*$setting['scale']['Z']),$line);
  if(isset($setting['scale']['F']))
  {
    $F_replace = $F*$setting['scale']['F'];
    if($F_replace > $setting['F_max']) $F_replace = $setting['F_max'];
    $line = str_replace("F$F","F".$F_replace,$line);
  }

  if(my_ereg("M[ ]*10([123])",$line,$regs))
  {
    $last_dir = $dir;//Anti-Ooze
    switch($regs[1])
    {
      case "1":
        $dir = 1;
        $extruder_starting = true;
	if(isset($extrusion_has_started))
	{
          if(isset($setting['extruder_backlash_fwd']))
          {
	    //out("(dist_trav=$distance_traveled)\n");
	    if(($distance_traveled >= $setting['reversing_minimum_distance']) && ($amount_extruded > ($setting['extrusion_adjust']*$setting['reversing_minimum_extrusion'])))
            {
              //////////////////////////////////////////////////
              // Go forward (usually as much as was pulled back)
              //////////////////////////////////////////////////
              out("G1 E".(0.8*$setting['extruder_backlash_fwd']).".0 F19000.0\n");
	      out("G1 E".(0.2*$setting['extruder_backlash_fwd']).".0 F14000.0\n");
	      out("G1 F".($F*1.0)."\n"); // restore previous F
              out('','flush');
            }else
            {
              $buffer = out('','get');
//echo $buffer;
              $buffer_new = ereg_replace('buffstart_reverse(.*)reverse_end','skipped_reversing',$buffer);
//if($buffer != $buffer_new) echo "\nBefore: ======== $buffer ===== \nAfter: ========== $buffer_new\n";
//else echo "\n========".$buffer;
              out($buffer_new,'put');
              out('','flush');
            }
          }
	}
	$extrusion_has_started = true;
        // When starting extrusion, E = 0?
      break;
      case "2";
        $dir = -1;
      break;
      case "3":
        $dir = 0;
        if(isset($setting['extruder_backlash_rev']))
        {
	// start buffered output, reversing is conditional, based on distance we will travel before turning it on again!
	if($last_dir != $dir)
        {
          ////////////////////////////////////////////////////////////////////////
          // Pull back! First start buffering to be able to revert these added codes, then add them.
          //////////////////////////////////////////////////
	  out("(buffstart_reverse)\n",'on');// buffering on
	    #$dist -= $setting['extruder_backlash_rev'];// Needs testing
	    #$line .= "E-".(1.0*$setting['extruder_backlash_rev']);
	    out("G1 E-".(1.0*$setting['extruder_backlash_rev']).".0 F19000.0\n");
            #out("(Turning extruder off. $E)\n");
	    out("G1 F".($F*1.0)."\n"); // restore previous F
	  out("(reverse_end)\n");
	  $distance_traveled = 0; // Reset this var
          $amount_extruded = 0;   //Reset this var
        }
        }
      break;
    }
    //$comment .= " dir $dir";
    //out("(".trim($line).")\n");
    if(($setting['remove_M101-M103']==false) && ($setting['repeat_M103-M101']!=true))
      out("$line");
    continue; // Assuming that M codes are always on a single line... skip this
    
  }
  if($setting['repeat_M103-M101']==true) // BfB bug workaround
  {
    if($dir == 1)
      #out("M103\nM101\n");
      {
        $line = str_replace("\n","\nM103\nM101\n",$line);
        #$line = str_replace("\n","\nM103\nM101\n",$line);
      }
  }


  if(my_ereg("G[ ]*90",$line,$_dummy))
    $abs = true;
  if(my_ereg("G[ ]*91",$line,$_dummy))
    $abs = false;
  // G20 - inches, G21 - mm
  unset($E);
  $comment .= sprintf("dXY=%.2f,%.2f ",$dX,$dY)." lastXY= ".sprintf("%.2f,%.2f",$lastX,$lastY);
  $prev_delta['X']=$dX;
  $prev_delta['Y']=$dY;
  $prev_delta['Z']=$dZ;
  if($abs)
  {
/*    $dX=bcsub($X,$lastX);
    $dY=bcsub($Y,$lastY);
    $dZ=bcsub($Z,$lastZ);
*/
    $dX=(1.0*$X-$lastX);
    $dY=(1.0*$Y-$lastY);
    $dZ=(1.0*$Z-$lastZ);
 
  } else
  {
    $dX=$X;
    $dY=$Y;
    $dZ=$Z;
  }
  $hist++;
  if($hist>9) $hist=0; // keep 9 segments in history
  $moveHist['X'][$hist]=$dX;
  $moveHist['Y'][$hist]=$dY;


    $dist2 = bcsqrt(bcadd(bcpow($dX,2),bcpow($dY,2)));
    $distance_traveled += $dist2;
    if($setting['extrude_incremental'] != 1)
      $dist = bcadd($dist,$dist2);
    else
      $dist = $dist2;
    $comment .= "( dist=sqrt($dX^2+$dY^2)=".bcpow($dX,2).'+'.bcpow($dY,2).'= '.sprintf("%.2f",$dist).')';
  if($dir!=0) 
    $E = bcmul($setting['extrusion_adjust'],$dist);
  $amount_extruded += $E;

  // Only when cartesian coordinates are used???
  //if(my_ereg("[^;(].*[XYZ])",$line,$regs))
  //{}

  $line = trim($line);
  if(false && ($extruder_starting) && ($setting['extrude_incremental'] == 1)) // FIXME: Needs testing. Does the non-incremental work now?
  {
    //$line .= " E0";// Causes multiple E's!
//out ("(starting extruder \$E=$E)\n");

    $dist = 0;
    #echo "\n$E was... now making it ".$setting['extruder_backlash_fwd'];
    //$E += $setting['extruder_backlash_fwd'];
    $extruder_starting = false;
  }
// LET OP, moet misschien IF zijn!??!
  //elseif($E)
if($E && ($setting['add_E_codes']))
  {
    $line .= " E".sprintf("%.2f",bcmul($E,$dir)); // number w/ four decimals
  }
  // Anti-backlash:
  if(is_array($setting['anti-backlash']))
  {
    foreach($setting['anti-backlash'] as $thisAxis => $backlash)
    { //'Y'=>array('fwd_dynamic'=>0.1/*mm*/, 'rev_dynamic'=>0.1/*mm*/,'fwd_static'=>0.1/*mm*/, 'rev_static'=>0.1/*mm*/ ), // Backlash on Y-axis
      // Dynamic or static?
      //$vibration = 0;
      //$vibration += ($moveHist['X'][$hist])/$dist;
      //$vibration += -($moveHist['X'][($hist-1)%10])/$dist;
      //$vibration += (1/$moveHist['X'][($hist-2)%10])/$dist*.8;
      //$vibration += -(1/$moveHist['X'][($hist-3)%10])/$dist*.6;
      //$vibration += (1/$moveHist['X'][($hist-4)%10])/$dist*.4;
      
      extract($backlash);
      if($thisAxis == 'X')
      {
	$axisPos = $X;
        $axisDelta = $dX;
      }
 
      if($thisAxis == 'Y')
      {
	$axisPos = $Y;
        $axisDelta = $dY;
      }
      $newAxisPos = $axisPos;
      if($axisDelta > 0)
      {
        if($lastDelta[$thisAxis]<0) // if previous move was in the other direction, dynamic friction applies?
          $newAxisPos = bcadd($axisPos,$fwd_dynamic);
	else
          $newAxisPos = bcadd($axisPos,$fwd_static);//otherwise, static friction
      }
      elseif($axisDelta < 0)
      {
        if($lastDelta[$thisAxis]>0)
          $newAxisPos = bcsub($axisPos,$rev_dynamic);
        else
          $newAxisPos = bcsub($axisPos,$rev_static);
      }
      // maintain once previous backlash compensation if axis didn't move. After that compensation will be removed (!?)
      //elseif($lastDelta[$thisAxis] > 0)
      //  $newAxisPos = bcadd($axisPos,$fwd_static);
      //elseif($lastDelta[$thisAxis] < 0)
      //  $newAxisPos = bcsub($axisPos,$rev_static);
//if(($axisDelta < 0) && ($lastDelta[$thisAxis]>0)) $line .= " Dyn";
//if(($axisDelta > 0) && ($lastDelta[$thisAxis]<0)) $line .= " Dyn";
 //$line .= "\td$axisDelta";
      $lastDelta[$thisAxis] = $axisDelta; //not used???
      $line = str_replace("$thisAxis$axisPos","$thisAxis$newAxisPos",$line);
      //$line.="\tAcc$thisAxis=".($accelleration[$thisAxis]/$axisDelta);
      //if($thisAxis=='X') $line.="\td$thisAxis=".$dX." Vib=".($vibration);
      //if($thisAxis=='X') $line.="\td$thisAxis=".$dX." Vib=".($vibration);
      //out("(AntiBacklash d$thisAxis=$axisDelta: $thisAxis$axisPos now $newAxisPos)\n");
    }
  }

  // Replace feedrate:
  foreach($setting['replace_strings'] as $oldRate=>$newRate)
  {
    $line = str_replace("$oldRate","$newRate",$line);
  }

  // Accelleration when traveling (not extruding)
  if(isset($setting['accelerated_travel']) && ($setting['accelerated_travel']!=false))
  {
    if(
	($E==0) // extruder should be OFF
        && ($dist > $setting['accelerated_travel_mindist']) // not for very small distances
    )
    {
       //out("\n(Dist: $dist F=$F. Line:\t".$line.")");
       // Segments are spread evenly, but could be improved. e.g. 111222333222111, could be 123333333333321
       //out("\n (dX=$dX, dY=$dY, dZ=$dZ)");
       $segX = $lastX;
       $segY = $lastY;
       $segZ = $lastZ;
       $segspeedfactor=0;
       $segs = 7;
       if($dist > 10) $segs = 15;
       for($segnr=1;$segnr<($segs);$segnr++) // normal line will be added below
       {
         if($segnr<=(($segs+1)/2))
           $segspeedfactor+=$setting['accelerated_travel'];
         else
           $segspeedfactor-=$setting['accelerated_travel'];
         $newF = bcmul($F,$segspeedfactor);
         if($newF > 4500) { $newF = 4500; continue; } // do not output the line 
         out("G1");
         $segX = bcadd($segX,bcdiv($dX,$segs));
         $segY = bcadd($segY,bcdiv($dY,$segs));
         $segZ = bcadd($segZ,bcdiv($dZ,$segs));
	 if($dX)
           out(" X".$segX);
	 if($dY)
           out(" Y".$segY);
	 if($dZ)
           out(" Z".$segZ);
         
         out(" F".intval($newF).".0\n");
	 //out(" ($segspeedfactor speed @ seg$segnr/$segs)\n");
       }

    }
  }
  // Actions:
  $orrigLine = $line;
  foreach($setting['actions'] as $action)
  { //array('condition'=>array('match','F330.0'),'actions'=>array('E_mul'=>2,'F_mul'=>0.5)), // raft making: slow down XY-moves, speed up extrusion.
    // conditions:
    // Implemented: match a string. To implement: match a Z-layer, < > or =.?
    if($action['while'][0]=='match')
    {
      if(isset($action['while']))
        $conditionOk = false;
      if(strpos($orrigLine,$action['while'][1]))
      {
        //echo "(line matches $action[condition]";
        $conditionOk = true;
      }
    } // I know, this is not coded in a very elegant way... EdB
    if(($action['condition_start'][0]=='match') && (strpos($orrigLine,$action['condition_start'][1])))
      $conditionOk = true;
    if(($action['condition_stop'][0]=='match') && (strpos($orrigLine,$action['condition_stop'][1])))
      $conditionOk = false;


    if($conditionOk)
    {
	    foreach($action['actions'] as $actParam => $actVal)
	    {// Todo: eval expressions?
	    //echo "Condit: $conditionOk";
	      if(my_ereg('([XYZFE])_mul',$actParam,$regs))
	      {
		$actOnAxis=$regs[1];
		if(my_ereg("$actOnAxis([0-9\.]+)",$orrigLine,$regs2)) // eval action against original line?
		{
		  $newRate = bcmul($regs2[1],$actVal);
		  $line = str_replace("$actOnAxis$regs2[1]","$actOnAxis$newRate",$line);
		}
	      }

	    }
    }
  }

  if(abs($dZ)>0.1)
  {
    // Smooth-Z: WARNING, is buggy!
/*G1 X23.1300 Y-18.8500 Z22.4 F1080.0 E1.63
G1 X23.0900 Y-18.9200 Z22.51 F73.2727 (smthd) E0.12
G1 X23.5000 Y-18.2900 Z22.64 F24.3076 (smthd) <--- WAY too low! .25 + .25 + .10
G1 X23.5700 Y-18.1700 Z22.75 F126.2727 (smthd)
*/
    if($setting['soften_z_move_factor'])
    { // F  =mm/s
      // (mm/s)/mm = /s
      // mm/(mm/s) = s
      // dZmm/s = ...
        //out("(dist=$dist, dZ=$dZ, F=$regs[1], time=".($dist/$regs[1])."s Z-speed=".($dZ/($dist/$regs[1])).")");
      if(my_ereg("F([0-9\.]+)",$line,$regs))
      {
        //out("(dist=$dist,F=$regs[1])");
        $Zspeed = (abs($dZ)/($dist/$regs[1]));
        if($Zspeed>100)//if($dZ/($dist/$regs[1])>500.0)
        {
        #$newF = bcmul($setting['soften_z_move_factor'],$regs[1]);
        #EXPERIMENTAL: reduce speed so that effective Zspeed is at most 100.
        $newF = bcmul(100/$Zspeed,$regs[1]);
        $Znewspeed = (abs($dZ)/($dist/$newF));
        //if($setting['debug'])
	$oldlline= $line;
        $line = ereg_replace("F[0-9\.]+","F$newF (smthd)",$line);
        //out("(f was SLOWeD DOWN, dist=$dist f/dist=".($regs[1]/$dist)." oldLine: $oldlline, new $line)\n");

        } //else out("(f was slow enough, not softened, dist=$dist f/dist=".($regs[1]/$dist).")\n");
          //out("(Smooth-Z dZ > 0.1 F=$regs[1], newF=$newF. $Zspeed=$Zspeed, now: $Znewspeed )\n");
      } 
    }//end if smooth
  }
 
  out($line);
  if($E > 999)
  {
    out("\nG92 E0 ( set extruder home )");
    $dist = 0;
  }

 //out(" ; ".$comment);
  out("\n");
  //

} // end foreach line

out($setting['append_gcode']);

echo "\n(Gcode processing took: ".number_format((microtime(true)-$uTime),2,'.','')." seconds)";
if($setting['sd_mount'])
{
  echo "Backing up SD card contents to ".$setting['sdbak_dir']."\n";

  echo "Copying to SD card... ";
  if(!copy($setting['output_file'],$setting['sd_mount']."/".basename($setting['output_file'])))
    die("Copying ".$setting['output_file']." to ".$setting['sd_mount']." failed.");
  echo "done\n";
  echo "Syncing filesystem and unmounting...";
  `sync`;
  echo shell_exec("umount ".escapeshellarg($setting['sd_mount']));
  echo "done\n";
}
/*

$fp = fopen($fName,'r');
if(!$fp) die("File $argv[0] could not be opened.");

$go = true;
while($go)
{
if(!strpos($str,"\n"))
{
  $str .= fgets($fp,128);
}
else
{
  $lines = split("\n",$str);
  out($str);
}  
}
*/
function out($str,$buffered = 'nochange') // TODO: writer class
{
  global $setting,$out_buffer,$buffer_status;
  if($buffered == 'flush')
  {
    $tmpvar = out($out_buffer.$str,'off');
    $out_buffer = '';
    $buffer_status = false;
    return $tmpvar;
  }
  if($buffered == 'get')
  {
    return $out_buffer;
  }
  if($buffered == 'put')
  {
    $out_buffer = $str;
    return true;
  }
  if($buffered == 'on')
  {
    $buffer_status = true;
  }
  if($buffered == 'off')// turn off buffering
  {
   #echo $str.'turning off buffering\n';
    $buffer_status = false;
  }
  if($buffer_status == true)
  {
    $out_buffer .= $str;
    return;
  }
  if(isset($setting['remove_redundant_Gcodes']) && $setting['remove_redundant_Gcodes'])
  {
    if(my_ereg("G([0-9]+)[^0-9]",$str,$regs))
    {
      if($setting['last_gcode']==$regs[1]) 
        $str = str_replace("G".$regs[1].' ','',$str);
      $setting['last_gcode'] = $regs[1];
    }
    if(my_ereg("Z([0-9\.]+)[^0-9]",$str,$regs))
    {
      if($setting['last_Z']==$regs[1]) 
        $str = str_replace("Z".$regs[1],'',$str);
      $setting['last_Z'] = $regs[1];
    }
    if(my_ereg("F([0-9\.]+)[^0-9]",$str,$regs))
    {
      if($setting['last_F']==$regs[1]) 
        $str = str_replace("F".$regs[1],'',$str);
      $setting['last_F'] = $regs[1];
    }
    //$str = ereg_replace("[XYZFE]([0-9]+\.[1-9]*)0+ ","\\1 ",$str); // remove unneeded spaces
    //$str = ereg_replace("([XYZFE]^ *)[0]+ ","\\1 ",$str); // remove unneeded spaces
    //$str = ereg_replace(" +","\t",$str); // remove unneeded spaces
  }
  if($setting['switch_extruders'])
  {
    $str = ereg_replace("M10([12348])","m20\\1",$str);
    $str = ereg_replace("M20([12348])","M10\\1",$str);
    $str = ereg_replace("m20([12348])","M20\\1",$str);
  }
  
  if($setting['output_file'] == null)
  {
    echo($str);
  } 
  else 
  {
    if(!isset($setting['firstline']))
    {
      file_put_contents($setting['output_file'],$str);
      $setting['firstline'] = false;
    }
    else
      file_put_contents($setting['output_file'],$str,FILE_APPEND);
  }
}

function statusLine()
{
  global $line_nr,$line_count,$uTime;

  $lines_left = $line_count - $line_nr;
  $lines_per_second = $line_nr / (microtime(true)-$uTime);
  $seconds_left = $lines_left / $lines_per_second;

  $percent = intval($line_nr/$line_count*100);
  $str = "".chr(0x1B)."\r   ".intval($percent)."% done. $lines_left lines or ".Sec2Time($seconds_left)." remaining.                    ";
  return $str;
}


function Sec2Time($time){
  if(is_numeric($time)){
    $value = array(
      "years" => 0, "days" => 0, "hours" => 0,
      "minutes" => 0, "seconds" => 0,
    );
    if($time >= 31556926){
      $str .= $value["years"] = floor($time/31556926);
      $time = ($time%31556926);
      $str .= " years, ";
    }
    if($time >= 86400){
      $str .= $value["days"] = floor($time/86400);
      $time = ($time%86400);
      $str .= " days, ";
    }
    if($time >= 3600){
      $str .= $value["hours"] = floor($time/3600);
      $time = ($time%3600);
      $str .= " hours, ";
    }
    if($time >= 60){
      $str .= $value["minutes"] = floor($time/60);
      $time = ($time%60);
      $str .= " minutes, ";
    }
    $str .= $value["seconds"] = floor($time);
    $str .= " seconds";
    return $str;
    #return (array) $value;
  }else{
    return (bool) FALSE;
  }
}

function determine_input_file($fName='')
{
  if(!$fName)
    die("\nUsage: ".basename($argv[0])." foo.".$setting['extension']." [--setting-name setting-value] [--output_file filename.".$settings['extension']."]\n");

  if(!file_exists($fName))
  {
    echo "Warning, $fName not found. Looking in search paths...\n";

    $tryFile = array(
      "/home/erik/RepRap/obj/$fName",
      "/home/erik/RepRap/obj/${fName}_export.".$setting['extension'],
      "/home/erik/RepRap/obj/$fName*.".$setting['extension'],
      "/home/erik/RepRap/obj/${fName}*_export.".$setting['extension'],

    );
    $fName = '';
    foreach($tryFile as $try)
    {
      $results = glob($try);
      if(count($results)==1)
      {
        $fName = $results[0];
        echo "Notice: found unambiguous matching filename: $fName\n";
        break;
      }
    }
    if($fName=='') die("\nNo input file found in search paths:\n".print_r($tryFile,true));
  }
  return $fName;
}

function init_sd($setting)
{
  $sd_mounted = glob("/media/disk*/RR_SD");
  if($nr_SDs = count($sd_mounted))
    {
      if($nr_SDs > 1)
      {
        echo "Multiple ($nr_SDs) SD cards found. Please mount only one at a time...";
      }
      $setting['sd_mount'] = dirname($sd_mounted[0]);
      echo "Notice: SD mounted on ".dirname($setting['sd_mount'])."\n";
    }
}
function my_ereg($reg,$str,&$regs)
{
  return @ereg($reg,$str,$regs);
}
?>