text: /**
   * MK4duo Firmware for 3D Printer, Laser and CNC
   *
   * Based on Marlin, Sprinter and grbl
   * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
   * Copyright (C) 2019 Alberto Cotronei @MagoKimbra
   *
   * 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/>.
   *
   */
  #pragma once
  
  //#define UBL_DEVEL_DEBUGGING
  
  #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
  
  #if ENABLED(UBL_DEVEL_DEBUGGING)
    void debug_current_and_destination(PGM_P const title);
  #else
    FORCE_INLINE void debug_current_and_destination(PGM_P const title) { UNUSED(title); }
  #endif
  
  // ubl_G29.cpp
  
  enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP };
  
  // External references
  
  #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 HAS_LCD_MENU
        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, const 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 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();
  
      #if ENABLED(UBL_DEVEL_DEBUGGING)
        static void g29_what_command();
        static void g29_eeprom_dump();
        static void g29_compare_current_mesh_to_stored_mesh();
      #endif
  
    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];
  
      #if HAS_LCD_MENU
        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) * 0.5) * (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) * 0.5) * (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.
       */
      static inline 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 (printer.debugFeature()) {
            DEBUG_STR( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1_i") : PSTR("yi") );
            DEBUG_MV(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0);
            DEBUG_MV(",x1_i=", x1_i);
            DEBUG_MV(",yi=", yi);
            DEBUG_CHR(')');
            DEBUG_EOL();
          }
  
          // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
          return (
            #if ENABLED(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)) * (1.0f / (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
      //
      static inline 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 (printer.debugFeature()) {
            DEBUG_STR( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("y1_i") );
            DEBUG_MV(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0);
            DEBUG_MV(", xi=", xi);
            DEBUG_MV(", y1_i=", y1_i);
            DEBUG_CHR(')');
            DEBUG_EOL();
          }
  
          // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN.
          return (
            #if ENABLED(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)) * (1.0f / (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.
         */
        #if ENABLED(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 (printer.debugMesh()) {
          DEBUG_MV(" raw get_z_correction(", rx0);
          DEBUG_CHR(',');
          DEBUG_VAL(ry0);
          DEBUG_MV(") = ", z0, 6);
        }
  
        if (printer.debugMesh()) DEBUG_EMV(" >>>---> ", z0, 6);
  
        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 (printer.debugMesh()) {
            DEBUG_MV("??? Yikes!  NAN in get_z_correction(", rx0);
            DEBUG_CHR(',');
            DEBUG_VAL(ry0);
            DEBUG_CHR(')');
            DEBUG_EOL();
          }
  
        }
        return z0;
      }
  
      static inline float mesh_index_to_xpos(const uint8_t i) {
        return MESH_MIN_X + i * (MESH_X_DIST);
      }
  
      static inline float mesh_index_to_ypos(const uint8_t i) {
        return MESH_MIN_Y + i * (MESH_Y_DIST);
      }
  
      #if UBL_DELTA
        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
  
      static inline 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;
  
  #define _GET_MESH_X(I)  ubl.mesh_index_to_xpos(I)
  #define _GET_MESH_Y(J)  ubl.mesh_index_to_ypos(J)
  #define Z_VALUES_ARR    ubl.z_values
  