text: #include "GCodeWriter.hpp"
  #include <algorithm>
  #include <iomanip>
  #include <iostream>
  #include <map>
  
  #define FLAVOR_IS(val) this->config.gcode_flavor == val
  #define FLAVOR_IS_NOT(val) this->config.gcode_flavor != val
  #define COMMENT(comment) if (this->config.gcode_comments && !comment.empty()) gcode << " ; " << comment;
  #define PRECISION(val, precision) std::fixed << std::setprecision(precision) << val
  #define XYZF_NUM(val) PRECISION(val, 3)
  #define E_NUM(val) PRECISION(val, 5)
  
  namespace Slic3r {
  
  Extruder*
  GCodeWriter::extruder()
  {
      return this->_extruder;
  }
  
  std::string
  GCodeWriter::extrusion_axis() const
  {
      return this->_extrusion_axis;
  }
  
  void
  GCodeWriter::apply_print_config(const PrintConfig &print_config)
  {
      this->config.apply(print_config, true);
      this->_extrusion_axis = this->config.get_extrusion_axis();
  }
  
  void
  GCodeWriter::set_extruders(const std::vector<unsigned int> &extruder_ids)
  {
      for (std::vector<unsigned int>::const_iterator i = extruder_ids.begin(); i != extruder_ids.end(); ++i) {
          this->extruders.insert( std::pair<unsigned int,Extruder>(*i, Extruder(*i, &this->config)) );
      }
      
      /*  we enable support for multiple extruder if any extruder greater than 0 is used
          (even if prints only uses that one) since we need to output Tx commands
          first extruder has index 0 */
      this->multiple_extruders = (*std::max_element(extruder_ids.begin(), extruder_ids.end())) > 0;
  }
  
  std::string
  GCodeWriter::preamble()
  {
      std::ostringstream gcode;
      
      if (FLAVOR_IS_NOT(gcfMakerWare)) {
          gcode << "G21 ; set units to millimeters\n";
          gcode << "G90 ; use absolute coordinates\n";
      }
      if (FLAVOR_IS(gcfRepRap) || FLAVOR_IS(gcfTeacup) || FLAVOR_IS(gcfSmoothie)) {
          if (this->config.use_relative_e_distances) {
              gcode << "M83 ; use relative distances for extrusion\n";
          } else {
              gcode << "M82 ; use absolute distances for extrusion\n";
          }
          gcode << this->reset_e(true);
      }
      
      return gcode.str();
  }
  
  std::string
  GCodeWriter::postamble() const
  {
      std::ostringstream gcode;
      if (FLAVOR_IS(gcfMachinekit))
            gcode << "M2 ; end of program\n";
      return gcode.str();
  }
  
  std::string
  GCodeWriter::set_temperature(unsigned int temperature, bool wait, int tool) const
  {
      if (wait && (FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)))
          return "";
      
      std::string code, comment;
      if (wait && FLAVOR_IS_NOT(gcfTeacup)) {
          code = "M109";
          comment = "set temperature and wait for it to be reached";
      } else {
          code = "M104";
          comment = "set temperature";
      }
      
      std::ostringstream gcode;
      gcode << code << " ";
      if (FLAVOR_IS(gcfMach3) || FLAVOR_IS(gcfMachinekit)) {
          gcode << "P";
      } else {
          gcode << "S";
      }
      gcode << temperature;
      if (tool != -1 && (this->multiple_extruders || FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish))) {
          gcode << " T" << tool;
      }
      gcode << " ; " << comment << "\n";
      
      if (FLAVOR_IS(gcfTeacup) && wait)
          gcode << "M116 ; wait for temperature to be reached\n";
      
      return gcode.str();
  }
  
  std::string
  GCodeWriter::set_bed_temperature(unsigned int temperature, bool wait) const
  {
      std::string code, comment;
      if (wait && FLAVOR_IS_NOT(gcfTeacup)) {
          if (FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)) {
              code = "M109";
          } else {
              code = "M190";
          }
          comment = "set bed temperature and wait for it to be reached";
      } else {
          code = "M140";
          comment = "set bed temperature";
      }
      
      std::ostringstream gcode;
      gcode << code << " ";
      if (FLAVOR_IS(gcfMach3) || FLAVOR_IS(gcfMachinekit)) {
          gcode << "P";
      } else {
          gcode << "S";
      }
      gcode << temperature << " ; " << comment << "\n";
      
      if (FLAVOR_IS(gcfTeacup) && wait)
          gcode << "M116 ; wait for bed temperature to be reached\n";
      
      return gcode.str();
  }
  
  std::string
  GCodeWriter::set_fan(unsigned int speed, bool dont_save)
  {
      std::ostringstream gcode;
      if (this->_last_fan_speed != speed || dont_save) {
          if (!dont_save) this->_last_fan_speed = speed;
          
          if (speed == 0) {
              if (FLAVOR_IS(gcfTeacup)) {
                  gcode << "M106 S0";
              } else if (FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)) {
                  gcode << "M127";
              } else {
                  gcode << "M107";
              }
              if (this->config.gcode_comments) gcode << " ; disable fan";
              gcode << "\n";
          } else {
              if (FLAVOR_IS(gcfMakerWare) || FLAVOR_IS(gcfSailfish)) {
                  gcode << "M126";
              } else {
                  gcode << "M106 ";
                  if (FLAVOR_IS(gcfMach3) || FLAVOR_IS(gcfMachinekit)) {
                      gcode << "P";
                  } else {
                      gcode << "S";
                  }
                  gcode << (255.0 * speed / 100.0);
              }
              if (this->config.gcode_comments) gcode << " ; enable fan";
              gcode << "\n";
          }
      }
      return gcode.str();
  }
  
  std::string
  GCodeWriter::set_acceleration(unsigned int acceleration)
  {
      if (acceleration == 0 || acceleration == this->_last_acceleration)
          return "";
      
      this->_last_acceleration = acceleration;
      
      std::ostringstream gcode;
      gcode << "M204 S" << acceleration;
      if (this->config.gcode_comments) gcode << " ; adjust acceleration";
      gcode << "\n";
      
      return gcode.str();
  }
  
  std::string
  GCodeWriter::reset_e(bool force)
  {
      if (FLAVOR_IS(gcfMach3)
          || FLAVOR_IS(gcfMakerWare)
          || FLAVOR_IS(gcfSailfish))
          return "";
      
      if (this->_extruder != NULL) {
          if (this->_extruder->E == 0 && !force) return "";
          this->_extruder->E = 0;
      }
      
      if (!this->_extrusion_axis.empty() && !this->config.use_relative_e_distances) {
          std::ostringstream gcode;
          gcode << "G92 " << this->_extrusion_axis << "0";
          if (this->config.gcode_comments) gcode << " ; reset extrusion distance";
          gcode << "\n";
          return gcode.str();
      } else {
          return "";
      }
  }
  
  std::string
  GCodeWriter::update_progress(unsigned int num, unsigned int tot, bool allow_100) const
  {
      if (FLAVOR_IS_NOT(gcfMakerWare) && FLAVOR_IS_NOT(gcfSailfish))
          return "";
      
      unsigned int percent = 100.0 * num / tot;
      if (!allow_100) percent = std::min(percent, (unsigned int)99);
      
      std::ostringstream gcode;
      gcode << "M73 P" << percent;
      if (this->config.gcode_comments) gcode << " ; update progress";
      gcode << "\n";
      return gcode.str();
  }
  
  bool
  GCodeWriter::need_toolchange(unsigned int extruder_id) const
  {
      // return false if this extruder was already selected
      return (this->_extruder == NULL) || (this->_extruder->id != extruder_id);
  }
  
  std::string
  GCodeWriter::set_extruder(unsigned int extruder_id)
  {
      if (!this->need_toolchange(extruder_id)) return "";
      return this->toolchange(extruder_id);
  }
  
  std::string
  GCodeWriter::toolchange(unsigned int extruder_id)
  {
      // set the new extruder
      this->_extruder = &this->extruders.find(extruder_id)->second;
      
      // return the toolchange command
      // if we are running a single-extruder setup, just set the extruder and return nothing
      std::ostringstream gcode;
      if (this->multiple_extruders) {
          if (FLAVOR_IS(gcfMakerWare)) {
              gcode << "M135 T";
          } else if (FLAVOR_IS(gcfSailfish)) {
              gcode << "M108 T";
          } else {
              gcode << "T";
          }
          gcode << extruder_id;
          if (this->config.gcode_comments) gcode << " ; change extruder";
          gcode << "\n";
          
          gcode << this->reset_e(true);
      }
      return gcode.str();
  }
  
  std::string
  GCodeWriter::set_speed(double F, const std::string &comment,
                         const std::string &cooling_marker) const
  {
      std::ostringstream gcode;
      gcode << "G1 F" << F;
      COMMENT(comment);
      gcode << cooling_marker;
      gcode << "\n";
      return gcode.str();
  }
  
  std::string
  GCodeWriter::travel_to_xy(const Pointf &point, const std::string &comment)
  {
      this->_pos.x = point.x;
      this->_pos.y = point.y;
      
      std::ostringstream gcode;
      gcode << "G1 X" << XYZF_NUM(point.x)
            <<   " Y" << XYZF_NUM(point.y)
            <<   " F" << XYZF_NUM(this->config.travel_speed.value * 60.0);
      COMMENT(comment);
      gcode << "\n";
      return gcode.str();
  }
  
  std::string
  GCodeWriter::travel_to_xyz(const Pointf3 &point, const std::string &comment)
  {
      /*  If target Z is lower than current Z but higher than nominal Z we
          don't perform the Z move but we only move in the XY plane and
          adjust the nominal Z by reducing the lift amount that will be 
          used for unlift. */
      if (!this->will_move_z(point.z)) {
          double nominal_z = this->_pos.z - this->_lifted;
          this->_lifted = this->_lifted - (point.z - nominal_z);
          return this->travel_to_xy(point);
      }
      
      /*  In all the other cases, we perform an actual XYZ move and cancel
          the lift. */
      this->_lifted = 0;
      this->_pos = point;
      
      std::ostringstream gcode;
      gcode << "G1 X" << XYZF_NUM(point.x)
            <<   " Y" << XYZF_NUM(point.y)
            <<   " Z" << XYZF_NUM(point.z)
            <<   " F" << XYZF_NUM(this->config.travel_speed.value * 60.0);
      COMMENT(comment);
      gcode << "\n";
      return gcode.str();
  }
  
  std::string
  GCodeWriter::travel_to_z(double z, const std::string &comment)
  {
      /*  If target Z is lower than current Z but higher than nominal Z
          we don't perform the move but we only adjust the nominal Z by
          reducing the lift amount that will be used for unlift. */
      if (!this->will_move_z(z)) {
          double nominal_z = this->_pos.z - this->_lifted;
          this->_lifted = this->_lifted - (z - nominal_z);
          return "";
      }
      
      /*  In all the other cases, we perform an actual Z move and cancel
          the lift. */
      this->_lifted = 0;
      return this->_travel_to_z(z, comment);
  }
  
  std::string
  GCodeWriter::_travel_to_z(double z, const std::string &comment)
  {
      this->_pos.z = z;
      
      std::ostringstream gcode;
      gcode << "G1 Z" << XYZF_NUM(z)
            <<   " F" << XYZF_NUM(this->config.travel_speed.value * 60.0);
      COMMENT(comment);
      gcode << "\n";
      return gcode.str();
  }
  
  bool
  GCodeWriter::will_move_z(double z) const
  {
      /* If target Z is lower than current Z but higher than nominal Z
          we don't perform an actual Z move. */
      if (this->_lifted > 0) {
          double nominal_z = this->_pos.z - this->_lifted;
          if (z >= nominal_z && z <= this->_pos.z)
              return false;
      }
      return true;
  }
  
  std::string
  GCodeWriter::extrude_to_xy(const Pointf &point, double dE, const std::string &comment)
  {
      this->_pos.x = point.x;
      this->_pos.y = point.y;
      this->_extruder->extrude(dE);
      
      std::ostringstream gcode;
      gcode << "G1 X" << XYZF_NUM(point.x)
            <<   " Y" << XYZF_NUM(point.y)
            <<    " " << this->_extrusion_axis << E_NUM(this->_extruder->E);
      COMMENT(comment);
      gcode << "\n";
      return gcode.str();
  }
  
  std::string
  GCodeWriter::extrude_to_xyz(const Pointf3 &point, double dE, const std::string &comment)
  {
      this->_pos = point;
      this->_lifted = 0;
      this->_extruder->extrude(dE);
      
      std::ostringstream gcode;
      gcode << "G1 X" << XYZF_NUM(point.x)
            <<   " Y" << XYZF_NUM(point.y)
            <<   " Z" << XYZF_NUM(point.z)
            <<    " " << this->_extrusion_axis << E_NUM(this->_extruder->E);
      COMMENT(comment);
      gcode << "\n";
      return gcode.str();
  }
  
  std::string
  GCodeWriter::retract()
  {
      return this->_retract(
          this->_extruder->retract_length(),
          this->_extruder->retract_restart_extra(),
          "retract"
      );
  }
  
  std::string
  GCodeWriter::retract_for_toolchange()
  {
      return this->_retract(
          this->_extruder->retract_length_toolchange(),
          this->_extruder->retract_restart_extra_toolchange(),
          "retract for toolchange"
      );
  }
  
  std::string
  GCodeWriter::_retract(double length, double restart_extra, const std::string &comment)
  {
      std::ostringstream gcode;
      
      /*  If firmware retraction is enabled, we use a fake value of 1
          since we ignore the actual configured retract_length which 
          might be 0, in which case the retraction logic gets skipped. */
      if (this->config.use_firmware_retraction) length = 1;
      
      // If we use volumetric E values we turn lengths into volumes */
      if (this->config.use_volumetric_e) {
          double d = this->_extruder->filament_diameter();
          double area = d * d * PI/4;
          length = length * area;
          restart_extra = restart_extra * area;
      }
  
      double dE = this->_extruder->retract(length, restart_extra);
      if (dE != 0) {
          if (this->config.use_firmware_retraction) {
              if (FLAVOR_IS(gcfMachinekit))
                  gcode << "G22 ; retract\n";
              else
                  gcode << "G10 ; retract\n";
          } else {
              gcode << "G1 " << this->_extrusion_axis << E_NUM(this->_extruder->E)
                             << " F" << this->_extruder->retract_speed_mm_min;
              COMMENT(comment);
              gcode << "\n";
          }
      }
      
      if (FLAVOR_IS(gcfMakerWare))
          gcode << "M103 ; extruder off\n";
      
      return gcode.str();
  }
  
  std::string
  GCodeWriter::unretract()
  {
      std::ostringstream gcode;
      
      if (FLAVOR_IS(gcfMakerWare))
          gcode << "M101 ; extruder on\n";
      
      double dE = this->_extruder->unretract();
      if (dE != 0) {
          if (this->config.use_firmware_retraction) {
              if (FLAVOR_IS(gcfMachinekit))
                   gcode << "G23 ; unretract\n";
              else
                   gcode << "G11 ; unretract\n";
              gcode << this->reset_e();
          } else {
              // use G1 instead of G0 because G0 will blend the restart with the previous travel move
              gcode << "G1 " << this->_extrusion_axis << E_NUM(this->_extruder->E)
                             << " F" << this->_extruder->retract_speed_mm_min;
              if (this->config.gcode_comments) gcode << " ; unretract";
              gcode << "\n";
          }
      }
      
      return gcode.str();
  }
  
  /*  If this method is called more than once before calling unlift(),
      it will not perform subsequent lifts, even if Z was raised manually
      (i.e. with travel_to_z()) and thus _lifted was reduced. */
  std::string
  GCodeWriter::lift()
  {
      // check whether the above/below conditions are met
      double target_lift = 0;
      {
          double above = this->config.retract_lift_above.get_at(0);
          double below = this->config.retract_lift_below.get_at(0);
          if (this->_pos.z >= above && (below == 0 || this->_pos.z <= below))
              target_lift = this->config.retract_lift.get_at(0);
      }
      if (this->_lifted == 0 && target_lift > 0) {
          this->_lifted = target_lift;
          return this->_travel_to_z(this->_pos.z + target_lift, "lift Z");
      }
      return "";
  }
  
  std::string
  GCodeWriter::unlift()
  {
      std::string gcode;
      if (this->_lifted > 0) {
          gcode += this->_travel_to_z(this->_pos.z - this->_lifted, "restore layer Z");
          this->_lifted = 0;
      }
      return gcode;
  }
  
  Pointf3
  GCodeWriter::get_position() const
  {
      return this->_pos;
  }
  
  }
  