/**
 * 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"

#if ENABLED(AUTO_BED_LEVELING_UBL)

  //#define UBL_DEVEL_DEBUGGING

  #include "Marlin.h"
  #include "planner.h"
  #include "math.h"
  #include "vector_3.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 { INVALID, REAL, SET_IN_BITMAP };

  // External references

  char *ftostr43sign(const float&, char);
  void home_all_axes();

  extern uint8_t ubl_cnt;

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

  #if ENABLED(ULTRA_LCD)
    extern char lcd_status_message[];
    void lcd_quick_feedback();
  #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(const float&);
        static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
        static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map);
      #endif

      static bool g29_parameter_parsing();
      static void find_mean_mesh_height();
      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);
      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_state();
      static void save_ubl_active_state_and_disable();
      static void restore_ubl_active_state_and_leave();
      static void display_map(const int);
      static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]);
      static mesh_index_pair find_furthest_invalid_mesh_point();
      static void reset();
      static void invalidate();
      static void set_all_mesh_points_to_value(const float);
      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
      constexpr static 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)
                              };

      constexpr static 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)) * (1.0 / (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)) * (1.0 / (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) * 0.5) * (1.0 / (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) * 0.5) * (1.0 / (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
          return NAN;
        }

        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
          return NAN;
        }

        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

        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

      #define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1])
      #define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1))
      #define ZZER(a) (z_values[a][0] == 0)

      FORCE_INLINE bool mesh_is_valid() {
        return !(
          (    CMPZ(0) && CMPZ(1) && CMPZ(2) // adjacent z values all equal?
            && ZZER(0) && ZZER(1) && ZZER(2) // all zero at the edge?
          )
          || isnan(z_values[0][0])
        );
      }
  }; // class unified_bed_leveling

  extern unified_bed_leveling ubl;

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

#endif // AUTO_BED_LEVELING_UBL
#endif // UNIFIED_BED_LEVELING_H
