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/**

 * Marlin 3D Printer Firmware

 * Copyright (C) 2016, 2017 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/>.

 *

 */

#ifndef UNIFIED_BED_LEVELING_H

#define UNIFIED_BED_LEVELING_H

#include "MarlinConfig.h"

//#define UBL_DEVEL_DEBUGGING

#include "Marlin.h"

#include "planner.h"

#include "math.h"

#include "configuration_store.h"

#define UBL_VERSION "1.01"

#define UBL_OK false

#define UBL_ERR true

#define USE_NOZZLE_AS_REFERENCE 0

#define USE_PROBE_AS_REFERENCE 1

// ubl_motion.cpp

#if ENABLED(UBL_DEVEL_DEBUGGING)

  void debug_current_and_destination(const char * const title);

#else

  FORCE_INLINE void debug_current_and_destination(const char * const title) { UNUSED(title); }

#endif

// ubl_G29.cpp

enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP };

// External references

char *ftostr43sign(const float&, char);

extern uint8_t ubl_cnt;

///////////////////////////////////////////////////////////////////////////////////////////////////////

#if ENABLED(ULTRA_LCD)

  void lcd_quick_feedback(const bool clear_buttons);

#endif

#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))

#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))

class unified_bed_leveling {

  private:

    static int    g29_verbose_level,

                  g29_phase_value,

                  g29_repetition_cnt,

                  g29_storage_slot,

                  g29_map_type;

    static bool   g29_c_flag, g29_x_flag, g29_y_flag;

    static float  g29_x_pos, g29_y_pos,

                  g29_card_thickness,

                  g29_constant;

    #if HAS_BED_PROBE

      static int  g29_grid_size;

    #endif

    #if ENABLED(NEWPANEL)

      static void move_z_with_encoder(const float &multiplier);

      static float measure_point_with_encoder();

      static float measure_business_card_thickness(float in_height);

      static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool) _O0;

      static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) _O0;

    #endif

    static bool g29_parameter_parsing() _O0;

    static void shift_mesh_height();

    static void probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest) _O0;

    static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);

    static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);

    static void g29_what_command();

    static void g29_eeprom_dump();

    static void g29_compare_current_mesh_to_stored_mesh();

    static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);

    static void smart_fill_mesh();

  public:

    static void echo_name();

    static void report_current_mesh();

    static void report_state();

    static void save_ubl_active_state_and_disable();

    static void restore_ubl_active_state_and_leave();

    static void display_map(const int) _O0;

    static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]) _O0;

    static mesh_index_pair find_furthest_invalid_mesh_point() _O0;

    static void reset();

    static void invalidate();

    static void set_all_mesh_points_to_value(const float value);

    static void adjust_mesh_to_mean(const bool cflag, const float value);

    static bool sanity_check();

    static void G29() _O0;                          // O0 for no optimization

    static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560

    static int8_t storage_slot;

    static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];

    // 15 is the maximum nubmer of grid points supported + 1 safety margin for now,

    // until determinism prevails

    static constexpr float _mesh_index_to_xpos[16] PROGMEM = {

                              MESH_MIN_X +  0 * (MESH_X_DIST), MESH_MIN_X +  1 * (MESH_X_DIST),

                              MESH_MIN_X +  2 * (MESH_X_DIST), MESH_MIN_X +  3 * (MESH_X_DIST),

                              MESH_MIN_X +  4 * (MESH_X_DIST), MESH_MIN_X +  5 * (MESH_X_DIST),

                              MESH_MIN_X +  6 * (MESH_X_DIST), MESH_MIN_X +  7 * (MESH_X_DIST),

                              MESH_MIN_X +  8 * (MESH_X_DIST), MESH_MIN_X +  9 * (MESH_X_DIST),

                              MESH_MIN_X + 10 * (MESH_X_DIST), MESH_MIN_X + 11 * (MESH_X_DIST),

                              MESH_MIN_X + 12 * (MESH_X_DIST), MESH_MIN_X + 13 * (MESH_X_DIST),

                              MESH_MIN_X + 14 * (MESH_X_DIST), MESH_MIN_X + 15 * (MESH_X_DIST)

                            };

    static constexpr float _mesh_index_to_ypos[16] PROGMEM = {

                              MESH_MIN_Y +  0 * (MESH_Y_DIST), MESH_MIN_Y +  1 * (MESH_Y_DIST),

                              MESH_MIN_Y +  2 * (MESH_Y_DIST), MESH_MIN_Y +  3 * (MESH_Y_DIST),

                              MESH_MIN_Y +  4 * (MESH_Y_DIST), MESH_MIN_Y +  5 * (MESH_Y_DIST),

                              MESH_MIN_Y +  6 * (MESH_Y_DIST), MESH_MIN_Y +  7 * (MESH_Y_DIST),

                              MESH_MIN_Y +  8 * (MESH_Y_DIST), MESH_MIN_Y +  9 * (MESH_Y_DIST),

                              MESH_MIN_Y + 10 * (MESH_Y_DIST), MESH_MIN_Y + 11 * (MESH_Y_DIST),

                              MESH_MIN_Y + 12 * (MESH_Y_DIST), MESH_MIN_Y + 13 * (MESH_Y_DIST),

                              MESH_MIN_Y + 14 * (MESH_Y_DIST), MESH_MIN_Y + 15 * (MESH_Y_DIST)

                            };

    #if ENABLED(ULTIPANEL)

      static bool lcd_map_control;

    #endif

    static volatile int encoder_diff; // Volatile because it's changed at interrupt time.

    unified_bed_leveling();

    FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }

    static int8_t get_cell_index_x(const float &x) {

      const int8_t cx = (x - (MESH_MIN_X)) * (1.0f / (MESH_X_DIST));

      return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1);   // -1 is appropriate if we want all movement to the X_MAX

    }                                                     // position. But with this defined this way, it is possible

                                                          // to extrapolate off of this point even further out. Probably

                                                          // that is OK because something else should be keeping that from

                                                          // happening and should not be worried about at this level.

    static int8_t get_cell_index_y(const float &y) {

      const int8_t cy = (y - (MESH_MIN_Y)) * (1.0f / (MESH_Y_DIST));

      return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1);   // -1 is appropriate if we want all movement to the Y_MAX

    }                                                     // position. But with this defined this way, it is possible

                                                          // to extrapolate off of this point even further out. Probably

                                                          // that is OK because something else should be keeping that from

                                                          // happening and should not be worried about at this level.

    static int8_t find_closest_x_index(const float &x) {

      const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5f) * (1.0f / (MESH_X_DIST));

      return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;

    }

    static int8_t find_closest_y_index(const float &y) {

      const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5f) * (1.0f / (MESH_Y_DIST));

      return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;

    }

    /**

     *                           z2   --|

     *                 z0        |      |

     *                  |        |      + (z2-z1)

     *   z1             |        |      |

     * ---+-------------+--------+--  --|

     *   a1            a0        a2

     *    |<---delta_a---------->|

     *

     *  calc_z0 is the basis for all the Mesh Based correction. It is used to

     *  find the expected Z Height at a position between two known Z-Height locations.

     *

     *  It is fairly expensive with its 4 floating point additions and 2 floating point

     *  multiplications.

     */

    FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {

      return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);

    }

    /**

     * z_correction_for_x_on_horizontal_mesh_line is an optimization for

     * the case where the printer is making a vertical line that only crosses horizontal mesh lines.

     */

    inline static float z_correction_for_x_on_horizontal_mesh_line(const float &rx0, const int x1_i, const int yi) {

      if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {

        #if ENABLED(DEBUG_LEVELING_FEATURE)

          if (DEBUGGING(LEVELING)) {

            serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1_i") : PSTR("yi") );

            SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0);

            SERIAL_ECHOPAIR(",x1_i=", x1_i);

            SERIAL_ECHOPAIR(",yi=", yi);

            SERIAL_CHAR(')');

            SERIAL_EOL();

          }

        #endif

        // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.

        return (

          #ifdef UBL_Z_RAISE_WHEN_OFF_MESH

            UBL_Z_RAISE_WHEN_OFF_MESH

          #else

            NAN

          #endif

        );

      }

      const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),

                  z1 = z_values[x1_i][yi];

      return z1 + xratio * (z_values[MIN(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array

                                                                                      // If it is, it is clamped to the last element of the

                                                                                      // z_values[][] array and no correction is applied.

    }

    //

    // See comments above for z_correction_for_x_on_horizontal_mesh_line

    //

    inline static float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) {

      if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {

        #if ENABLED(DEBUG_LEVELING_FEATURE)

          if (DEBUGGING(LEVELING)) {

            serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("y1_i") );

            SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0);

            SERIAL_ECHOPAIR(", xi=", xi);

            SERIAL_ECHOPAIR(", y1_i=", y1_i);

            SERIAL_CHAR(')');

            SERIAL_EOL();

          }

        #endif

        // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.

        return (

          #ifdef UBL_Z_RAISE_WHEN_OFF_MESH

            UBL_Z_RAISE_WHEN_OFF_MESH

          #else

            NAN

          #endif

        );

      }

      const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),

                  z1 = z_values[xi][y1_i];

      return z1 + yratio * (z_values[xi][MIN(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array

                                                                                      // If it is, it is clamped to the last element of the

                                                                                      // z_values[][] array and no correction is applied.

    }

    /**

     * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first

     * does a linear interpolation along both of the bounding X-Mesh-Lines to find the

     * Z-Height at both ends. Then it does a linear interpolation of these heights based

     * on the Y position within the cell.

     */

    static float get_z_correction(const float &rx0, const float &ry0) {

      const int8_t cx = get_cell_index_x(rx0),

                   cy = get_cell_index_y(ry0); // return values are clamped

      /**

       * Check if the requested location is off the mesh.  If so, and

       * UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned.

       */

      #ifdef UBL_Z_RAISE_WHEN_OFF_MESH

        if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y))

          return UBL_Z_RAISE_WHEN_OFF_MESH;

      #endif

      const float z1 = calc_z0(rx0,

                               mesh_index_to_xpos(cx), z_values[cx][cy],

                               mesh_index_to_xpos(cx + 1), z_values[MIN(cx, GRID_MAX_POINTS_X - 2) + 1][cy]);

      const float z2 = calc_z0(rx0,

                               mesh_index_to_xpos(cx), z_values[cx][MIN(cy, GRID_MAX_POINTS_Y - 2) + 1],

                               mesh_index_to_xpos(cx + 1), z_values[MIN(cx, GRID_MAX_POINTS_X - 2) + 1][MIN(cy, GRID_MAX_POINTS_Y - 2) + 1]);

      float z0 = calc_z0(ry0,

                         mesh_index_to_ypos(cy), z1,

                         mesh_index_to_ypos(cy + 1), z2);

      #if ENABLED(DEBUG_LEVELING_FEATURE)

        if (DEBUGGING(MESH_ADJUST)) {

          SERIAL_ECHOPAIR(" raw get_z_correction(", rx0);

          SERIAL_CHAR(',');

          SERIAL_ECHO(ry0);

          SERIAL_ECHOPGM(") = ");

          SERIAL_ECHO_F(z0, 6);

        }

      #endif

      #if ENABLED(DEBUG_LEVELING_FEATURE)

        if (DEBUGGING(MESH_ADJUST)) {

          SERIAL_ECHOPGM(" >>>---> ");

          SERIAL_ECHO_F(z0, 6);

          SERIAL_EOL();

        }

      #endif

      if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN

        z0 = 0.0;      // in ubl.z_values[][] and propagate through the

                       // calculations. If our correction is NAN, we throw it out

                       // because part of the Mesh is undefined and we don't have the

                       // information we need to complete the height correction.

        #if ENABLED(DEBUG_LEVELING_FEATURE)

          if (DEBUGGING(MESH_ADJUST)) {

            SERIAL_ECHOPAIR("??? Yikes!  NAN in get_z_correction(", rx0);

            SERIAL_CHAR(',');

            SERIAL_ECHO(ry0);

            SERIAL_CHAR(')');

            SERIAL_EOL();

          }

        #endif

      }

      return z0;

    }

    FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) {

      return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST);

    }

    FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) {

      return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);

    }

    #if UBL_SEGMENTED

      static bool prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate);

    #else

      static void line_to_destination_cartesian(const float &fr, const uint8_t e);

    #endif

    inline static bool mesh_is_valid() {

      for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)

        for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)

          if (isnan(z_values[x][y])) return false;

      return true;

    }

}; // class unified_bed_leveling

extern unified_bed_leveling ubl;

FORCE_INLINE void gcode_G29() { ubl.G29(); }

#endif // UNIFIED_BED_LEVELING_H