text: /**
   * Marlin 3D Printer Firmware
   * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
   *
   */
  
  //
  // Motion Menu
  //
  
  #include "../../inc/MarlinConfigPre.h"
  
  #if HAS_LCD_MENU
  
  #define LARGE_AREA_TEST ((X_BED_SIZE) >= 1000 || (Y_BED_SIZE) >= 1000 || (Z_MAX_POS) >= 1000)
  
  #include "menu_item.h"
  #include "menu_addon.h"
  
  #include "../../module/motion.h"
  #include "../../gcode/parser.h" // for inch support
  
  #if ENABLED(DELTA)
    #include "../../module/delta.h"
  #endif
  
  #if ENABLED(PREVENT_COLD_EXTRUSION)
    #include "../../module/temperature.h"
  #endif
  
  #if HAS_LEVELING
    #include "../../module/planner.h"
    #include "../../feature/bedlevel/bedlevel.h"
  #endif
  
  #if ENABLED(MANUAL_E_MOVES_RELATIVE)
    float manual_move_e_origin = 0;
  #endif
  
  //
  // "Motion" > "Move Axis" submenu
  //
  
  static void _lcd_move_xyz(PGM_P const name, const AxisEnum axis) {
    if (ui.use_click()) return ui.goto_previous_screen_no_defer();
    if (ui.encoderPosition && !ui.manual_move.processing) {
      // Get motion limit from software endstops, if any
      float min, max;
      soft_endstop.get_manual_axis_limits(axis, min, max);
  
      // Delta limits XY based on the current offset from center
      // This assumes the center is 0,0
      #if ENABLED(DELTA)
        if (axis != Z_AXIS) {
          max = SQRT(sq((float)(DELTA_PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis])); // (Y_AXIS - axis) == the other axis
          min = -max;
        }
      #endif
  
      // Get the new position
      const float diff = float(int32_t(ui.encoderPosition)) * ui.manual_move.menu_scale;
      (void)ui.manual_move.apply_diff(axis, diff, min, max);
      ui.manual_move.soon(axis);
      ui.refresh(LCDVIEW_REDRAW_NOW);
    }
    ui.encoderPosition = 0;
    if (ui.should_draw()) {
      const float pos = ui.manual_move.axis_value(axis);
      if (parser.using_inch_units()) {
        const float imp_pos = LINEAR_UNIT(pos);
        MenuEditItemBase::draw_edit_screen(name, ftostr63(imp_pos));
      }
      else
        MenuEditItemBase::draw_edit_screen(name, ui.manual_move.menu_scale >= 0.1f ? (LARGE_AREA_TEST ? ftostr51sign(pos) : ftostr41sign(pos)) : ftostr63(pos));
    }
  }
  void lcd_move_x() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_X), X_AXIS); }
  #if HAS_Y_AXIS
    void lcd_move_y() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_Y), Y_AXIS); }
  #endif
  #if HAS_Z_AXIS
    void lcd_move_z() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_Z), Z_AXIS); }
  #endif
  #if HAS_I_AXIS
    void lcd_move_i() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_I), I_AXIS); }
  #endif
  #if HAS_J_AXIS
    void lcd_move_j() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_J), J_AXIS); }
  #endif
  #if HAS_K_AXIS
    void lcd_move_k() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_K), K_AXIS); }
  #endif
  
  #if E_MANUAL
  
    static void lcd_move_e(TERN_(MULTI_E_MANUAL, const int8_t eindex=active_extruder)) {
      if (ui.use_click()) return ui.goto_previous_screen_no_defer();
      if (ui.encoderPosition) {
        if (!ui.manual_move.processing) {
          const float diff = float(int32_t(ui.encoderPosition)) * ui.manual_move.menu_scale;
          TERN(IS_KINEMATIC, ui.manual_move.offset, current_position.e) += diff;
          ui.manual_move.soon(E_AXIS OPTARG(MULTI_E_MANUAL, eindex));
          ui.refresh(LCDVIEW_REDRAW_NOW);
        }
        ui.encoderPosition = 0;
      }
      if (ui.should_draw()) {
        TERN_(MULTI_E_MANUAL, MenuItemBase::init(eindex));
        MenuEditItemBase::draw_edit_screen(
          GET_TEXT(TERN(MULTI_E_MANUAL, MSG_MOVE_EN, MSG_MOVE_E)),
          ftostr41sign(current_position.e
            PLUS_TERN0(IS_KINEMATIC, ui.manual_move.offset)
            MINUS_TERN0(MANUAL_E_MOVES_RELATIVE, manual_move_e_origin)
          )
        );
      } // should_draw
    }
  
  #endif // E_MANUAL
  
  #if EITHER(PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION)
  
    void _goto_manual_move_z(const_float_t scale) {
      ui.manual_move.menu_scale = scale;
      ui.goto_screen(lcd_move_z);
    }
  
  #endif
  
  //
  // "Motion" > "Move Xmm" > "Move XYZ" submenu
  //
  
  #ifndef FINE_MANUAL_MOVE
    #define FINE_MANUAL_MOVE 0.025
  #endif
  
  screenFunc_t _manual_move_func_ptr;
  
  void _goto_manual_move(const_float_t scale) {
    ui.defer_status_screen();
    ui.manual_move.menu_scale = scale;
    ui.goto_screen(_manual_move_func_ptr);
  }
  
  void _menu_move_distance(const AxisEnum axis, const screenFunc_t func, const int8_t eindex=active_extruder) {
    _manual_move_func_ptr = func;
    START_MENU();
    if (LCD_HEIGHT >= 4) {
      switch (axis) {
        case X_AXIS: STATIC_ITEM(MSG_MOVE_X, SS_DEFAULT|SS_INVERT); break;
        case Y_AXIS: STATIC_ITEM(MSG_MOVE_Y, SS_DEFAULT|SS_INVERT); break;
        case Z_AXIS: STATIC_ITEM(MSG_MOVE_Z, SS_DEFAULT|SS_INVERT); break;
        default:
          TERN_(MANUAL_E_MOVES_RELATIVE, manual_move_e_origin = current_position.e);
          STATIC_ITEM(MSG_MOVE_E, SS_DEFAULT|SS_INVERT);
          break;
      }
    }
  
    BACK_ITEM(MSG_MOVE_AXIS);
    if (parser.using_inch_units()) {
      if (LARGE_AREA_TEST) SUBMENU(MSG_MOVE_1IN, []{ _goto_manual_move(IN_TO_MM(1.000f)); });
      SUBMENU(MSG_MOVE_01IN,   []{ _goto_manual_move(IN_TO_MM(0.100f)); });
      SUBMENU(MSG_MOVE_001IN,  []{ _goto_manual_move(IN_TO_MM(0.010f)); });
      SUBMENU(MSG_MOVE_0001IN, []{ _goto_manual_move(IN_TO_MM(0.001f)); });
    }
    else {
      if (LARGE_AREA_TEST) SUBMENU(MSG_MOVE_100MM, []{ _goto_manual_move(100); });
      SUBMENU(MSG_MOVE_10MM, []{ _goto_manual_move(10);    });
      SUBMENU(MSG_MOVE_1MM,  []{ _goto_manual_move( 1);    });
      SUBMENU(MSG_MOVE_01MM, []{ _goto_manual_move( 0.1f); });
      if (axis == Z_AXIS && (FINE_MANUAL_MOVE) > 0.0f && (FINE_MANUAL_MOVE) < 0.1f) {
        // Determine digits needed right of decimal
        constexpr uint8_t digs = !UNEAR_ZERO((FINE_MANUAL_MOVE) * 1000 - int((FINE_MANUAL_MOVE) * 1000)) ? 4 :
                                 !UNEAR_ZERO((FINE_MANUAL_MOVE) *  100 - int((FINE_MANUAL_MOVE) *  100)) ? 3 : 2;
        PGM_P const label = GET_TEXT(MSG_MOVE_N_MM);
        char tmp[strlen_P(label) + 10 + 1], numstr[10];
        sprintf_P(tmp, label, dtostrf(FINE_MANUAL_MOVE, 1, digs, numstr));
        #if DISABLED(HAS_GRAPHICAL_TFT)
          SUBMENU_P(NUL_STR, []{ _goto_manual_move(float(FINE_MANUAL_MOVE)); });
          MENU_ITEM_ADDON_START(0 + ENABLED(HAS_MARLINUI_HD44780));
          lcd_put_u8str(tmp);
          MENU_ITEM_ADDON_END();
        #else
          SUBMENU_P(tmp, []{ _goto_manual_move(float(FINE_MANUAL_MOVE)); });
        #endif
      }
    }
    END_MENU();
  }
  
  #if E_MANUAL
  
    inline void _goto_menu_move_distance_e() {
      ui.goto_screen([]{ _menu_move_distance(E_AXIS, []{ lcd_move_e(); }); });
    }
  
    inline void _menu_move_distance_e_maybe() {
      #if ENABLED(PREVENT_COLD_EXTRUSION)
        const bool too_cold = thermalManager.tooColdToExtrude(active_extruder);
        if (too_cold) {
          ui.goto_screen([]{
            MenuItem_confirm::select_screen(
              GET_TEXT(MSG_BUTTON_PROCEED), GET_TEXT(MSG_BACK),
              _goto_menu_move_distance_e, nullptr,
              GET_TEXT(MSG_HOTEND_TOO_COLD), (const char *)nullptr, PSTR("!")
            );
          });
          return;
        }
      #endif
      _goto_menu_move_distance_e();
    }
  
  #endif // E_MANUAL
  
  void menu_move() {
    START_MENU();
    BACK_ITEM(MSG_MOTION);
  
    #if BOTH(HAS_SOFTWARE_ENDSTOPS, SOFT_ENDSTOPS_MENU_ITEM)
      EDIT_ITEM(bool, MSG_LCD_SOFT_ENDSTOPS, &soft_endstop._enabled);
    #endif
  
    if (NONE(IS_KINEMATIC, NO_MOTION_BEFORE_HOMING) || all_axes_homed()) {
      if (TERN1(DELTA, current_position.z <= delta_clip_start_height)) {
        SUBMENU(MSG_MOVE_X, []{ _menu_move_distance(X_AXIS, lcd_move_x); });
        #if HAS_Y_AXIS
          SUBMENU(MSG_MOVE_Y, []{ _menu_move_distance(Y_AXIS, lcd_move_y); });
        #endif
      }
      #if ENABLED(DELTA)
        else
          ACTION_ITEM(MSG_FREE_XY, []{ line_to_z(delta_clip_start_height); ui.synchronize(); });
      #endif
  
      #if HAS_Z_AXIS
        SUBMENU(MSG_MOVE_Z, []{ _menu_move_distance(Z_AXIS, lcd_move_z); });
      #endif
      #if HAS_I_AXIS
        SUBMENU(MSG_MOVE_I, []{ _menu_move_distance(I_AXIS, lcd_move_i); });
      #endif
      #if HAS_J_AXIS
        SUBMENU(MSG_MOVE_J, []{ _menu_move_distance(J_AXIS, lcd_move_j); });
      #endif
      #if HAS_K_AXIS
        SUBMENU(MSG_MOVE_K, []{ _menu_move_distance(K_AXIS, lcd_move_k); });
      #endif
    }
    else
      GCODES_ITEM(MSG_AUTO_HOME, G28_STR);
  
    #if ANY(SWITCHING_EXTRUDER, SWITCHING_NOZZLE, MAGNETIC_SWITCHING_TOOLHEAD)
  
      #if EXTRUDERS >= 4
        switch (active_extruder) {
          case 0: GCODES_ITEM_N(1, MSG_SELECT_E, PSTR("T1")); break;
          case 1: GCODES_ITEM_N(0, MSG_SELECT_E, PSTR("T0")); break;
          case 2: GCODES_ITEM_N(3, MSG_SELECT_E, PSTR("T3")); break;
          case 3: GCODES_ITEM_N(2, MSG_SELECT_E, PSTR("T2")); break;
          #if EXTRUDERS == 6
            case 4: GCODES_ITEM_N(5, MSG_SELECT_E, PSTR("T5")); break;
            case 5: GCODES_ITEM_N(4, MSG_SELECT_E, PSTR("T4")); break;
          #endif
        }
      #elif EXTRUDERS == 3
        if (active_extruder < 2) {
          if (active_extruder)
            GCODES_ITEM_N(0, MSG_SELECT_E, PSTR("T0"));
          else
            GCODES_ITEM_N(1, MSG_SELECT_E, PSTR("T1"));
        }
      #else
        if (active_extruder)
          GCODES_ITEM_N(0, MSG_SELECT_E, PSTR("T0"));
        else
          GCODES_ITEM_N(1, MSG_SELECT_E, PSTR("T1"));
      #endif
  
    #elif ENABLED(DUAL_X_CARRIAGE)
  
      if (active_extruder)
        GCODES_ITEM_N(0, MSG_SELECT_E, PSTR("T0"));
      else
        GCODES_ITEM_N(1, MSG_SELECT_E, PSTR("T1"));
  
    #endif
  
    #if E_MANUAL
  
      // The current extruder
      SUBMENU(MSG_MOVE_E, []{ _menu_move_distance_e_maybe(); });
  
      #define SUBMENU_MOVE_E(N) SUBMENU_N(N, MSG_MOVE_EN, []{ _menu_move_distance(E_AXIS, []{ lcd_move_e(MenuItemBase::itemIndex); }, MenuItemBase::itemIndex); });
  
      #if EITHER(SWITCHING_EXTRUDER, SWITCHING_NOZZLE)
  
        // ...and the non-switching
        #if E_MANUAL == 7 || E_MANUAL == 5 || E_MANUAL == 3
          SUBMENU_MOVE_E(E_MANUAL - 1);
        #endif
  
      #elif MULTI_E_MANUAL
  
        // Independent extruders with one E-stepper per hotend
        LOOP_L_N(n, E_MANUAL) SUBMENU_MOVE_E(n);
  
      #endif
  
    #endif // E_MANUAL
  
    END_MENU();
  }
  
  #if ENABLED(INDIVIDUAL_AXIS_HOMING_SUBMENU)
    //
    // "Motion" > "Homing" submenu
    //
    void menu_home() {
      START_MENU();
      BACK_ITEM(MSG_MOTION);
  
      GCODES_ITEM(MSG_AUTO_HOME, G28_STR);
      GCODES_ITEM_N(X_AXIS, MSG_AUTO_HOME_A, PSTR("G28X"));
      #if HAS_Y_AXIS
        GCODES_ITEM_N(Y_AXIS, MSG_AUTO_HOME_A, PSTR("G28Y"));
      #endif
      #if HAS_Z_AXIS
        GCODES_ITEM_N(Z_AXIS, MSG_AUTO_HOME_A, PSTR("G28Z"));
      #endif
      #if HAS_I_AXIS
        GCODES_ITEM_N(I_AXIS, MSG_AUTO_HOME_A, PSTR("G28" STR_I));
      #endif
      #if HAS_J_AXIS
        GCODES_ITEM_N(J_AXIS, MSG_AUTO_HOME_A, PSTR("G28" STR_J));
      #endif
      #if HAS_K_AXIS
        GCODES_ITEM_N(K_AXIS, MSG_AUTO_HOME_A, PSTR("G28" STR_K));
      #endif
  
      END_MENU();
    }
  #endif
  
  #if ENABLED(AUTO_BED_LEVELING_UBL)
    void _lcd_ubl_level_bed();
  #elif ENABLED(LCD_BED_LEVELING)
    void menu_bed_leveling();
  #endif
  
  #if ENABLED(ASSISTED_TRAMMING_WIZARD)
    void goto_tramming_wizard();
  #endif
  
  void menu_motion() {
    START_MENU();
  
    //
    // ^ Main
    //
    BACK_ITEM(MSG_MAIN);
  
    //
    // Move Axis
    //
    if (TERN1(DELTA, all_axes_homed()))
      SUBMENU(MSG_MOVE_AXIS, menu_move);
  
    //
    // Auto Home
    //
    #if ENABLED(INDIVIDUAL_AXIS_HOMING_SUBMENU)
      SUBMENU(MSG_HOMING, menu_home);
    #else
      GCODES_ITEM(MSG_AUTO_HOME, G28_STR);
      #if ENABLED(INDIVIDUAL_AXIS_HOMING_MENU)
        GCODES_ITEM_N(X_AXIS, MSG_AUTO_HOME_A, PSTR("G28X"));
        #if HAS_Y_AXIS
          GCODES_ITEM_N(Y_AXIS, MSG_AUTO_HOME_A, PSTR("G28Y"));
        #endif
        #if HAS_Z_AXIS
          GCODES_ITEM_N(Z_AXIS, MSG_AUTO_HOME_A, PSTR("G28Z"));
        #endif
        #if HAS_I_AXIS
          GCODES_ITEM_N(I_AXIS, MSG_AUTO_HOME_A, PSTR("G28" STR_I));
        #endif
        #if HAS_J_AXIS
          GCODES_ITEM_N(J_AXIS, MSG_AUTO_HOME_A, PSTR("G28" STR_J));
        #endif
        #if HAS_K_AXIS
          GCODES_ITEM_N(K_AXIS, MSG_AUTO_HOME_A, PSTR("G28" STR_K));
        #endif
      #endif
    #endif
  
    //
    // Auto-calibration
    //
    #if ENABLED(CALIBRATION_GCODE)
      GCODES_ITEM(MSG_AUTO_CALIBRATE, PSTR("G425"));
    #endif
  
    //
    // Auto Z-Align
    //
    #if EITHER(Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
      GCODES_ITEM(MSG_AUTO_Z_ALIGN, PSTR("G34"));
    #endif
  
    //
    // Assisted Bed Tramming
    //
    #if ENABLED(ASSISTED_TRAMMING_WIZARD)
      SUBMENU(MSG_TRAMMING_WIZARD, goto_tramming_wizard);
    #endif
  
    //
    // Level Bed
    //
    #if ENABLED(AUTO_BED_LEVELING_UBL)
  
      SUBMENU(MSG_UBL_LEVEL_BED, _lcd_ubl_level_bed);
  
    #elif ENABLED(LCD_BED_LEVELING)
  
      if (!g29_in_progress)
        SUBMENU(MSG_BED_LEVELING, menu_bed_leveling);
  
    #elif HAS_LEVELING && DISABLED(SLIM_LCD_MENUS)
  
      #if DISABLED(PROBE_MANUALLY)
        GCODES_ITEM(MSG_LEVEL_BED, PSTR("G29N"));
      #endif
  
      if (all_axes_homed() && leveling_is_valid()) {
        bool show_state = planner.leveling_active;
        EDIT_ITEM(bool, MSG_BED_LEVELING, &show_state, _lcd_toggle_bed_leveling);
      }
  
      #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
        editable.decimal = planner.z_fade_height;
        EDIT_ITEM_FAST(float3, MSG_Z_FADE_HEIGHT, &editable.decimal, 0, 100, []{ set_z_fade_height(editable.decimal); });
      #endif
  
    #endif
  
    #if ENABLED(LEVEL_BED_CORNERS) && DISABLED(LCD_BED_LEVELING)
      SUBMENU(MSG_BED_TRAMMING, _lcd_level_bed_corners);
    #endif
  
    #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
      GCODES_ITEM(MSG_M48_TEST, PSTR("G28O\nM48 P10"));
    #endif
  
    //
    // Disable Steppers
    //
    GCODES_ITEM(MSG_DISABLE_STEPPERS, PSTR("M84"));
  
    END_MENU();
  }
  
  #endif // HAS_LCD_MENU
  