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/**

 * Marlin 3D Printer Firmware

 * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]

 *

 * Based on Sprinter and grbl.

 * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm

 *

 * This program is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 *

 * This program is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with this program.  If not, see <http://www.gnu.org/licenses/>.

 *

 */

/**

 * fwretract.cpp - Implement firmware-based retraction

 */

#include "MarlinConfig.h"

#if ENABLED(FWRETRACT)

#include "fwretract.h"

#include "Marlin.h"

#include "planner.h"

#include "stepper.h"

FWRetract fwretract; // Single instance - this calls the constructor

// private:

#if EXTRUDERS > 1

  bool FWRetract::retracted_swap[EXTRUDERS];         // Which extruders are swap-retracted

#endif

// public:

bool FWRetract::autoretract_enabled,                 // M209 S - Autoretract switch

     FWRetract::retracted[EXTRUDERS];                // Which extruders are currently retracted

float FWRetract::retract_length,                     // M207 S - G10 Retract length

      FWRetract::retract_feedrate_mm_s,              // M207 F - G10 Retract feedrate

      FWRetract::retract_zlift,                      // M207 Z - G10 Retract hop size

      FWRetract::retract_recover_length,             // M208 S - G11 Recover length

      FWRetract::retract_recover_feedrate_mm_s,      // M208 F - G11 Recover feedrate

      FWRetract::swap_retract_length,                // M207 W - G10 Swap Retract length

      FWRetract::swap_retract_recover_length,        // M208 W - G11 Swap Recover length

      FWRetract::swap_retract_recover_feedrate_mm_s, // M208 R - G11 Swap Recover feedrate

      FWRetract::hop_amount;

void FWRetract::reset() {

  autoretract_enabled = false;

  retract_length = RETRACT_LENGTH;

  retract_feedrate_mm_s = RETRACT_FEEDRATE;

  retract_zlift = RETRACT_ZLIFT;

  retract_recover_length = RETRACT_RECOVER_LENGTH;

  retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;

  swap_retract_length = RETRACT_LENGTH_SWAP;

  swap_retract_recover_length = RETRACT_RECOVER_LENGTH_SWAP;

  swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP;

  hop_amount = 0.0;

  for (uint8_t i = 0; i < EXTRUDERS; ++i) {

    retracted[i] = false;

    #if EXTRUDERS > 1

      retracted_swap[i] = false;

    #endif

  }

}

/**

 * Retract or recover according to firmware settings

 *

 * This function handles retract/recover moves for G10 and G11,

 * plus auto-retract moves sent from G0/G1 when E-only moves are done.

 *

 * To simplify the logic, doubled retract/recover moves are ignored.

 *

 * Note: Z lift is done transparently to the planner. Aborting

 *       a print between G10 and G11 may corrupt the Z position.

 *

 * Note: Auto-retract will apply the set Z hop in addition to any Z hop

 *       included in the G-code. Use M207 Z0 to to prevent double hop.

 */

void FWRetract::retract(const bool retracting

  #if EXTRUDERS > 1

    , bool swapping /* =false */

  #endif

) {

  static float hop_amount = 0.0;  // Total amount lifted, for use in recover

  // Prevent two retracts or recovers in a row

  if (retracted[active_extruder] == retracting) return;

  // Prevent two swap-retract or recovers in a row

  #if EXTRUDERS > 1

    // Allow G10 S1 only after G10

    if (swapping && retracted_swap[active_extruder] == retracting) return;

    // G11 priority to recover the long retract if activated

    if (!retracting) swapping = retracted_swap[active_extruder];

  #else

    constexpr bool swapping = false;

  #endif

  /* // debugging

    SERIAL_ECHOLNPAIR("retracting ", retracting);

    SERIAL_ECHOLNPAIR("swapping ", swapping);

    SERIAL_ECHOLNPAIR("active extruder ", active_extruder);

    for (uint8_t i = 0; i < EXTRUDERS; ++i) {

      SERIAL_ECHOPAIR("retracted[", i);

      SERIAL_ECHOLNPAIR("] ", retracted[i]);

      #if EXTRUDERS > 1

        SERIAL_ECHOPAIR("retracted_swap[", i);

        SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);

      #endif

    }

    SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);

    SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_CART]);

    SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);

  //*/

  const float old_feedrate_mm_s = feedrate_mm_s,

              renormalize = RECIPROCAL(planner.e_factor[active_extruder]),

              base_retract = swapping ? swap_retract_length : retract_length,

              old_z = current_position[Z_AXIS],

              old_e = current_position[E_CART];

  // The current position will be the destination for E and Z moves

  set_destination_from_current();

  if (retracting) {

    // Retract by moving from a faux E position back to the current E position

    feedrate_mm_s = retract_feedrate_mm_s;

    destination[E_CART] -= base_retract * renormalize;

    prepare_move_to_destination();                        // set_current_to_destination

    // Is a Z hop set, and has the hop not yet been done?

    if (retract_zlift > 0.01 && !hop_amount) {            // Apply hop only once

      hop_amount += retract_zlift;                        // Add to the hop total (again, only once)

      destination[Z_AXIS] += retract_zlift;               // Raise Z by the zlift (M207 Z) amount

      feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];  // Maximum Z feedrate

      prepare_move_to_destination();                      // Raise up, set_current_to_destination

    }

  }

  else {

    // If a hop was done and Z hasn't changed, undo the Z hop

    if (hop_amount) {

      current_position[Z_AXIS] += hop_amount;             // Restore the actual Z position

      SYNC_PLAN_POSITION_KINEMATIC();                     // Unspoof the position planner

      feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];  // Z feedrate to max

      prepare_move_to_destination();                      // Lower Z, set_current_to_destination

      hop_amount = 0.0;                                   // Clear the hop amount

    }

    destination[E_CART] += (base_retract + (swapping ? swap_retract_recover_length : retract_recover_length)) * renormalize;

    feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;

    prepare_move_to_destination();                        // Recover E, set_current_to_destination

  }

  feedrate_mm_s = old_feedrate_mm_s;                      // Restore original feedrate

  current_position[Z_AXIS] = old_z;                       // Restore Z and E positions

  current_position[E_CART] = old_e;

  SYNC_PLAN_POSITION_KINEMATIC();                         // As if the move never took place

  retracted[active_extruder] = retracting;                // Active extruder now retracted / recovered

  // If swap retract/recover update the retracted_swap flag too

  #if EXTRUDERS > 1

    if (swapping) retracted_swap[active_extruder] = retracting;

  #endif

  /* // debugging

    SERIAL_ECHOLNPAIR("retracting ", retracting);

    SERIAL_ECHOLNPAIR("swapping ", swapping);

    SERIAL_ECHOLNPAIR("active_extruder ", active_extruder);

    for (uint8_t i = 0; i < EXTRUDERS; ++i) {

      SERIAL_ECHOPAIR("retracted[", i);

      SERIAL_ECHOLNPAIR("] ", retracted[i]);

      #if EXTRUDERS > 1

        SERIAL_ECHOPAIR("retracted_swap[", i);

        SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);

      #endif

    }

    SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);

    SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_CART]);

    SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);

  //*/

}

#endif // FWRETRACT