function m6()

--Non-Random automatic tool changer
--This file assumes that you have G54 X0 Y0 Z0 to be setup as the Y-offset distance from tools and the correct height for picking
--up/dropping a tool as well as the correct X location for entering the tool changer.


----------Variables----------
hregox = mc.mcRegGetHandle(0, "iRegs0/ofsetx")
		valox = mc.mcRegGetValueString(hregox)
		Xofset = tonumber(valox)
	hregoy = mc.mcRegGetHandle(0, "iRegs0/ofsety")
		valoy = mc.mcRegGetValueString(hregoy)
		Yofset = tonumber(valoy)
		local GCode =""
         GCode = GCode ..string.format("G52 X%.4f Y%.4f \n",Xofset,Yofset)       
         
         mc.mcCntlGcodeExecuteWait (0, GCode) 

local hReg = 0

local ToolInColletSig = mc.ISIG_INPUT4 --Toll lock in spindel

local CurrentTool = mc.mcToolGetCurrent(0)

 mc.mcCntlSetLastError(0,  string.format(CurrentTool));
local NextTool = mc.mcToolGetSelected(0)
 mc.mcCntlSetLastError(0,string.format( NextTool));


local YOffsetDistance = 14.25------------DEFINE Y OFFSET DISTANCE 
local numtools = 14
local ToolPosition = {}
local  Zout=-40
local  Zin= -134.37  --  -143.73
local  Yout= 1749
local  Yin=  1857.15--   1894.24
local speed=8000
local speedZ=1000
local NextXPosition=500
local NextXposD=500
local Angeloffset=-27.51  -- 9.16

-----------------------------

function LoadMagazine() 
	
             
	     local inst = mc.mcGetInstance()
         local CSVPath = wx.wxGetCwd() .. "\\Magazine.csv"  
         ToolNum = 0; 
         local ff = io.input(io.open(CSVPath,"r"))  
         local line;
         local counter =0
          
         for line in io.lines(CSVPath) do 

          ToolPosition[counter]={}     
          tkz = wx.wxStringTokenizer(line, ","); 
         local token = tkz:GetNextToken();       
         
           
         ToolPosition[counter][0]=token
          token = tkz:GetNextToken();          
         ToolPosition[counter][1]=token
          token = tkz:GetNextToken();          
         ToolPosition[counter][2]=token
          token = tkz:GetNextToken();          
         ToolPosition[counter][3]=token
          token = tkz:GetNextToken();          
         ToolPosition[counter][4]=token
          token = tkz:GetNextToken();          
         ToolPosition[counter][5]=token
          token = tkz:GetNextToken();          
         ToolPosition[counter][6]=token
          token = tkz:GetNextToken();          
         ToolPosition[counter][7]=token
          token = tkz:GetNextToken();          
         ToolPosition[counter][8]=token
         counter=counter +1
         end 
             
         
end
function WriteToInverterBigSpindle()
	         
	        local path="C:\\AbsEncoder\\MachComand.txt"			
			file = io.open(path, "w")
			file:write("2")
			file:flush (path) --Save written data
			file:close (path) --Close file
			
			local hreg = mc.mcRegGetHandle(0, "iRegs0/BigSpindle") 
	        mc.mcRegSetValueString(hreg, tostring("0"))
            os.execute([[C:\\AbsEncoder\\WpfApp4.application]])

           for i=1,99999999 do             
                 local t=i*2                
                 local It= t/2           
                      
           end
		                 hreg = mc.mcRegGetHandle(0, "iRegs0/BigSpindle")
					     valUpdate1 = mc.mcRegGetValueString(hreg)
						 hreg = mc.mcRegGetHandle(0, "iRegs0/SmallSpindle")
					     valUpdate2 = mc.mcRegGetValueString(hreg) 
						if(valUpdate1=="1" and valUpdate2=="0") then
							local smallhead = mc.OSIG_OUTPUT2
		                    local hsig = mc.mcSignalGetHandle(0, smallhead) 
		                    mc.mcSignalSetState(hsig, 0)
							local bighead = mc.OSIG_OUTPUT3
		                    local hsig = mc.mcSignalGetHandle(0, bighead) 
		                    mc.mcSignalSetState(hsig, 1)							
							return 1
						else
							return 0
						end
						
end

function writeToFileToolChange()
	
	        
		    local inst = mc.mcGetInstance()		
		    
			local path="C:\\T\\MachineStatus.txt"
			
			file = io.open(path, "w")
			file:write("ToolChange")
			file:flush (path) --Save written data
			file:close (path) --Close file
			
			
			
	end
function FindNextX()
	      
		local inst = mc.mcGetInstance()
	    val, rc = mc.mcCntlGetGcodeLineNbr( inst)
        buff, rc = mc.mcCntlGetGcodeLine(		inst, 		val+5)
	      
	    local tmp
	     local xpos=string.find(buff,"X")
	     local ypos=string.find(buff,"Y")
		
		    if (xpos == nil )then
		       mc.mcCntlSetLastError(inst,"go to defoult x position") 
			else  
		      
				   
				NextXPosition=  string.sub(buff,xpos+1,ypos-1)
			    NextXposD=tonumber(NextXPosition)
			    mc.mcCntlSetLastError(inst, NextXPosition)
				local G54x = mc.mcCntlGetPoundVar(inst, 5221)--maybi need 5223
				NextXposD=NextXposD+G54x
                NextXPosition =string.format(NextXposD)
                   mc.mcCntlSetLastError(inst,NextXPosition)
			end	
		
		
        
	end
function ToolExisst(NextTool)
     for i=1,numtools do
             
                 local t=ToolPosition[i][0]                 
                 local It= tonumber(t)
             if It==NextTool then
               
                 return i
             end  
            
           
      end
      return -1
 end
function ServoHoodUp1() 
	   local GCode =""
             GCode = GCode ..string.format("G53 G0 C-3\n")
			local rc= mc.mcCntlGcodeExecuteWait (0, GCode) ---go up out z
 	     if rc ~= mc.MERROR_NOERROR then return "Could not lift servo hood", 20 end
		return 0 
	end
function unload(UnloadPosition)
         local ypos= ToolPosition[UnloadPosition][2]-- get y position
         local Zin=ToolPosition[UnloadPosition][3]-- get y position
         local Xin= ToolPosition[UnloadPosition][1]
		 local Xout= ToolPosition[UnloadPosition][4] 
         --angel=angel+Angeloffset
         local GCode =""
         GCode = GCode ..string.format("G90 G53 G0 Z0 X%.4f Y%.4f\n" ,Xout,ypos)
         mc.mcCntlGcodeExecuteWait (0, GCode) ---go up z and y out
         GCode =""
         GCode = GCode ..string.format("G53 G0 Z%.4f\n",Zin)
         mc.mcCntlGcodeExecuteWait (0, GCode) ---go to z in
         GCode =""
         GCode = GCode ..string.format("G53 G1 x%.4f F%.4f\n",Xin,speed) ---------12_11_2020
           mc.mcCntlGcodeExecuteWait (0, GCode) ---go inside the magazine
		  ---------------------------------------------cheack if stop press   
                hreg = mc.mcRegGetHandle(0, "iRegs0/break")
					     val = mc.mcRegGetValueString(hreg) 
					     val = tonumber(val) 					 
						 if(val==1) then
							 return 100					
                         end
            ----------------------------------------------------------------
             local Sopen = mc.OSIG_OUTPUT8  
             local hsig = mc.mcSignalGetHandle(0, Sopen)  ------open spindel 
             mc.mcSignalSetState(hsig, 1)
			
               --------------------------------------------------=---------
             mc.mcCntlSetLastError(0, "wait spindle open");
			
			    local SensorOpen = mc.ISIG_INPUT2 
                local so = mc.mcSignalGetHandle(0, SensorOpen)  ------cheack if spindle open
			    local  state = mc.mcSignalGetState(so)
				
					if(state==0)then						
						   local dhs= mc.mcSignalWait(0, mc.ISIG_INPUT2, 1, 10);
						         hreg = mc.mcRegGetHandle(0, "iRegs0/break")
					              val = mc.mcRegGetValueString(hreg) 
					              val = tonumber(val) 					 
						           if(val==1) then
							         return 100					
                                    end   
							 if (dhs ~= 0) then--if not rise up in 10 second										
									   
									 wx.wxMessageBox ("Collet not Open")            ------------cheack if sensor open colet on
									 mc.mcCntlSetLastError(0, "ColetNotOpen");
									 return 10 
							 end 
					end 
					
              ---------------------------------------------------------------------
          local GCode =""
		 GCode = GCode ..string.format("G4 P400 \n") --delay        
         GCode = GCode ..string.format("G53 G0 Z%.4f ",Zout)
       local rc= mc.mcCntlGcodeExecuteWait (0, GCode) ---go up out z
 	     if rc ~= mc.MERROR_NOERROR then return "Could not complete GCode motion", false end
		return 0
  end
----------------------------------------------------------------------------------------------------------------------------------------------------
   function load(LoadPosition)
            local zn2=Zin +30
            local ypos= ToolPosition[LoadPosition][2]-- get y position
            local Zin=ToolPosition[LoadPosition][3]-- get y position
            local Xin= ToolPosition[LoadPosition][1]
			local Xout= ToolPosition[LoadPosition][4] 
			       
                
             local GCode =""
             GCode = GCode ..string.format("G53 G0 Y%.4f\n",ypos)
             GCode = GCode ..string.format("G4 P400 \n") --delay            
             GCode = GCode ..string.format("G53 G0 Z%.4f\n",zn2)
             GCode = GCode ..string.format("G53 G1 Z%.4f F%.4f\n",Zin,speedZ)
			----------------------------in case stop been press
			hreg = mc.mcRegGetHandle(0, "iRegs0/break")
					              val = mc.mcRegGetValueString(hreg) 
					              val = tonumber(val) 					 
						           if(val==1) then
							         return 100					
                                    end   
			---------------------------------------------------------
              mc.mcCntlGcodeExecuteWait (0, GCode) 
             local Sopen = mc.OSIG_OUTPUT8  
             local hsig = mc.mcSignalGetHandle(0, Sopen)  ------close spindel 
             mc.mcSignalSetState(hsig, 0)
			-----------------------------------------
			 mc.mcCntlSetLastError(0, "wait spindle close");
			---deley 
			local GCode =""
			GCode = GCode ..string.format("G4 P1000 \n") --delay
			 mc.mcCntlGcodeExecuteWait (0, GCode) 
			 
			    local SensorClose = mc.ISIG_INPUT5 
                local sc = mc.mcSignalGetHandle(0, SensorClose)  ------cheack if spindle close
			    local  state = mc.mcSignalGetState(sc)
			------------------------------------------------------------------------------------	
            if(state==0)then--in case spindle not close need wait 10 sec				
					 dhs= mc.mcSignalWait(0, mc.ISIG_INPUT5, 1, 10);
					  local Sdhs;
							   if (dhs ~= 0) then										
									   
									 wx.wxMessageBox ("Tool not Lock")            ------------cheack if sensor Tool Lock colet on
									  local Sopen = mc.OSIG_OUTPUT8  
                                      local hsig = mc.mcSignalGetHandle(0, Sopen)  ------open spindel 
									  mc.mcSignalSetState(hsig, 1)									  
									  local GCode =""
									  GCode = GCode ..string.format("G4 P1000 \n") --delay        
									  GCode = GCode ..string.format("G53 G0 Z%.4f ",Zout)
									  local rc= mc.mcCntlGcodeExecuteWait (0, GCode) ---go up out z  
									 return 5 
									  
					   end 
			end 
		mc.mcCntlSetLastError(0, " spindle close");
             local GCode =""
         GCode = GCode ..string.format("G53 G0 X%.4f ",Xout)
         mc.mcCntlGcodeExecuteWait (0, GCode) ---go Y out
          GCode =""
         GCode = GCode ..string.format("G53 G0 Z0. ")
         
         mc.mcCntlGcodeExecuteWait (0, GCode) ---go Z out
         return 0
  end 

----------------------------------------------------------------------------------------------------------------------------------------------------
    function openSpindle()
		hreg = mc.mcRegGetHandle(0, "iRegs0/break")
					     val = mc.mcRegGetValueString(hreg) 
					     val = tonumber(val) 					 
						 if(val==1) then
							 return 100					
                         end
            ----------------------------------------------------------------
             local Sopen = mc.OSIG_OUTPUT8  
             local hsig = mc.mcSignalGetHandle(0, Sopen)  ------open spindel 
             mc.mcSignalSetState(hsig, 1)
			
               --------------------------------------------------=---------
             mc.mcCntlSetLastError(0, "wait spindle open");
			
			    local SensorOpen = mc.ISIG_INPUT2 
                local so = mc.mcSignalGetHandle(0, SensorOpen)  ------cheack if spindle open
			    local  state = mc.mcSignalGetState(so)
				
					if(state==0)then						
						   local dhs= mc.mcSignalWait(0, mc.ISIG_INPUT2, 1, 10);
						         hreg = mc.mcRegGetHandle(0, "iRegs0/break")
					              val = mc.mcRegGetValueString(hreg) 
					              val = tonumber(val) 					 
						           if(val==1) then
							         return 100					
                                    end   
							 if (dhs ~= 0) then--if not rise up in 10 second										
									   
									 wx.wxMessageBox ("Collet not Open")            ------------cheack if sensor open colet on
									 mc.mcCntlSetLastError(0, "ColetNotOpen");
									 return 10 
							 end 
					end 
					
				return 0	
	end
    
   

    function ToolChange(NextTool)
             --------------------------test the sensor if tool inside =0
              if (CurrentTool==0)then
	              local SensorClose = mc.ISIG_INPUT5 
                  local sc = mc.mcSignalGetHandle(0, SensorClose)  ------cheack if spindle close
		          local  state = mc.mcSignalGetState(sc)
				if (state==1)then
				          rc = mc.mcCntlCycleStop(0)--stop all gcode because there no match betwen sensor and value 
						  return 30,false  
				end
	         end
			  if (CurrentTool>0)then
	              local SensorClose = mc.ISIG_INPUT5 
                  local sc = mc.mcSignalGetHandle(0, SensorClose)  ------cheack if spindle close
		          local  state = mc.mcSignalGetState(sc)
				if (state==0)then
				          rc = mc.mcCntlCycleStop(0)--stop all gcode because there tool inside but sensor no signa
						  return 40,false  
				end
	         end 
			
            -- HoodUp()
         if NextTool == CurrentTool then
                 return "No need chage Tool", true
                 
         else 
               local errorret= ServoHoodUp1()
			     if(errorret>0) then
					return errorret,false					
				 end  
                 LoadMagazine()				
				-- FindNextX()
                 local LoadPosition = ToolExisst(NextTool) 
                   if LoadPosition < 0 then
					rc = mc.mcCntlCycleStop(0)--stop all gcode because there no such tool on magazine   
                    return "No Tool on Magazine1", false

			       end
			    
                 local UnloadPosition= ToolExisst(CurrentTool) 				
                   if UnloadPosition>0 then	
					   ------------------unload-----------------------   
						local error=unload(UnloadPosition);							   
							if (error>0)then 
								return error,false
							end	
						-----------------------------------------------
						----------------load------------------------
						local  error1=load(LoadPosition);
						   if (error1>0)then 
								return error1,false
							end	
					   -------------------------------------------------
					  
                   end
				   
                   if (CurrentTool==0) then---no tool on spindle  ,only load tool
					   local eror2= openSpindle()
					       if (eror2>0)then 
								return eror2,false
							end	
					    local GCode =""
                         GCode = GCode ..string.format("G90 G53 G0 Z0 X%.4f Y%.4f\n" ,NextXPosition,Yin)
                         mc.mcCntlGcodeExecuteWait (0, GCode) ---go up z and y out   
					         ----------------load------------------------
					      mc.mcCntlSetLastError(0, "no tool in spindle ,only loading");
						local  error1=load(LoadPosition);
						   if (error1>0)then 
								return error1,false
							end	
					   -------------------------------------------------
					end
					ServoHoodUp1()
                 return "Tool change compleate", true
                 
                 
                  
        end
    end


	
	

	-- local invOk= WriteToInverterBigSpindle()
--	if(invOk==0) then
		   -- rc = mc.mcCntlCycleStop(0)
			--mc.mcCntlSetLastError(0,"No com to inverter")
	--	end 
    local a,b = ToolChange(NextTool)
            
               mc.mcCntlSetLastError(0,string.format(a))
			  
			     
			 mc.mcCntlSetLastError(0,"446")   
            if(b == true) then           
                mc.mcToolSetCurrent(0, NextTool)
				--writeToFileToolChange()
				mc.mcCntlSetLastError(0,tostring(b))
            end
			-------------here check the errors and show the messege and stop the gcoode
			  if(b==false) then 
				       rc = mc.mcCntlCycleStop(0)
					  if(a==10)then
						mc.mcCntlSetLastError(0,"tool change not compleate cant open colet")
					  end	
					  if(a==100)then
						mc.mcCntlSetLastError(0,"stop been press tool change not compleate")
					  end
					  if(a==5)then
						mc.mcCntlSetLastError(0,"tool cant clamp tool change not compleate")
					  end	
					  if(a==30)then
						mc.mcCntlSetLastError(0,"tool num 0,but sensor show tool exisst")
					  end	
					  if(a==40)then
						mc.mcCntlSetLastError(0,"tool num more then 0,but sensor show no tool exisst")
					  end
					  if(a==20)then
						mc.mcCntlSetLastError(0,"tool change not compleate servo hood not up")
					  end	  
			
			end
			
	
		
end