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/>.
   *
   */
  
  #include "../../../inc/MarlinConfigPre.h"
  
  #if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)
  
  #include "../../gcode.h"
  #include "../../../MarlinCore.h"
  #include "../../../module/motion.h"
  #include "../../../module/temperature.h"
  #include "../../../feature/pause.h"
  #include "../../../lcd/marlinui.h"
  
  #if HAS_MULTI_EXTRUDER
    #include "../../../module/tool_change.h"
  #endif
  
  #if HAS_PRUSA_MMU2
    #include "../../../feature/mmu/mmu2.h"
  #endif
  
  #if ENABLED(MIXING_EXTRUDER)
    #include "../../../feature/mixing.h"
  #endif
  
  /**
   * M701: Load filament
   *
   *  T<extruder> - Extruder number. Required for mixing extruder.
   *                For non-mixing, current extruder if omitted.
   *  Z<distance> - Move the Z axis by this distance
   *  L<distance> - Extrude distance for insertion (positive value) (manual reload)
   *
   *  Default values are used for omitted arguments.
   */
  void GcodeSuite::M701() {
    xyz_pos_t park_point = NOZZLE_PARK_POINT;
  
    // Don't raise Z if the machine isn't homed
    if (TERN0(NO_MOTION_BEFORE_HOMING, axes_should_home())) park_point.z = 0;
  
    #if ENABLED(MIXING_EXTRUDER)
      const int8_t target_e_stepper = get_target_e_stepper_from_command();
      if (target_e_stepper < 0) return;
  
      const uint8_t old_mixing_tool = mixer.get_current_vtool();
      mixer.T(MIXER_DIRECT_SET_TOOL);
  
      MIXER_STEPPER_LOOP(i) mixer.set_collector(i, (i == (uint8_t)target_e_stepper) ? 1.0 : 0.0);
      mixer.normalize();
  
      const int8_t target_extruder = active_extruder;
    #else
      const int8_t target_extruder = get_target_extruder_from_command();
      if (target_extruder < 0) return;
    #endif
  
    // Z axis lift
    if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
  
    // Show initial "wait for load" message
    ui.pause_show_message(PAUSE_MESSAGE_LOAD, PAUSE_MODE_LOAD_FILAMENT, target_extruder);
  
    #if HAS_MULTI_EXTRUDER && (HAS_PRUSA_MMU1 || !HAS_MMU)
      // Change toolhead if specified
      uint8_t active_extruder_before_filament_change = active_extruder;
      if (active_extruder != target_extruder)
        tool_change(target_extruder, false);
    #endif
  
    auto move_z_by = [](const_float_t zdist) {
      if (zdist) {
        destination = current_position;
        destination.z += zdist;
        prepare_internal_move_to_destination(NOZZLE_PARK_Z_FEEDRATE);
      }
    };
  
    // Raise the Z axis (with max limit)
    const float park_raise = _MIN(park_point.z, (Z_MAX_POS) - current_position.z);
    move_z_by(park_raise);
  
    // Load filament
    #if HAS_PRUSA_MMU2
      mmu2.load_filament_to_nozzle(target_extruder);
    #else
      constexpr float     purge_length = ADVANCED_PAUSE_PURGE_LENGTH,
                      slow_load_length = FILAMENT_CHANGE_SLOW_LOAD_LENGTH;
          const float fast_load_length = ABS(parser.seen('L') ? parser.value_axis_units(E_AXIS)
                                                              : fc_settings[active_extruder].load_length);
      load_filament(
        slow_load_length, fast_load_length, purge_length,
        FILAMENT_CHANGE_ALERT_BEEPS,
        true,                                           // show_lcd
        thermalManager.still_heating(target_extruder),  // pause_for_user
        PAUSE_MODE_LOAD_FILAMENT                        // pause_mode
        OPTARG(DUAL_X_CARRIAGE, target_extruder)        // Dual X target
      );
    #endif
  
    // Restore Z axis
    move_z_by(-park_raise);
  
    #if HAS_MULTI_EXTRUDER && (HAS_PRUSA_MMU1 || !HAS_MMU)
      // Restore toolhead if it was changed
      if (active_extruder_before_filament_change != active_extruder)
        tool_change(active_extruder_before_filament_change, false);
    #endif
  
    TERN_(MIXING_EXTRUDER, mixer.T(old_mixing_tool)); // Restore original mixing tool
  
    // Show status screen
    ui.pause_show_message(PAUSE_MESSAGE_STATUS);
  }
  
  /**
   * M702: Unload filament
   *
   *  T<extruder> - Extruder number. Required for mixing extruder.
   *                For non-mixing, if omitted, current extruder
   *                (or ALL extruders with FILAMENT_UNLOAD_ALL_EXTRUDERS).
   *  Z<distance> - Move the Z axis by this distance
   *  U<distance> - Retract distance for removal (manual reload)
   *
   *  Default values are used for omitted arguments.
   */
  void GcodeSuite::M702() {
    xyz_pos_t park_point = NOZZLE_PARK_POINT;
  
    // Don't raise Z if the machine isn't homed
    if (TERN0(NO_MOTION_BEFORE_HOMING, axes_should_home())) park_point.z = 0;
  
    #if ENABLED(MIXING_EXTRUDER)
      const uint8_t old_mixing_tool = mixer.get_current_vtool();
  
      #if ENABLED(FILAMENT_UNLOAD_ALL_EXTRUDERS)
        float mix_multiplier = 1.0;
        const bool seenT = parser.seenval('T');
        if (!seenT) {
          mixer.T(MIXER_AUTORETRACT_TOOL);
          mix_multiplier = MIXING_STEPPERS;
        }
      #else
        constexpr bool seenT = true;
      #endif
  
      if (seenT) {
        const int8_t target_e_stepper = get_target_e_stepper_from_command();
        if (target_e_stepper < 0) return;
        mixer.T(MIXER_DIRECT_SET_TOOL);
        MIXER_STEPPER_LOOP(i) mixer.set_collector(i, (i == (uint8_t)target_e_stepper) ? 1.0 : 0.0);
        mixer.normalize();
      }
  
      const int8_t target_extruder = active_extruder;
    #else
      const int8_t target_extruder = get_target_extruder_from_command();
      if (target_extruder < 0) return;
    #endif
  
    // Z axis lift
    if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
  
    // Show initial "wait for unload" message
    ui.pause_show_message(PAUSE_MESSAGE_UNLOAD, PAUSE_MODE_UNLOAD_FILAMENT, target_extruder);
  
    #if HAS_MULTI_EXTRUDER && (HAS_PRUSA_MMU1 || !HAS_MMU)
      // Change toolhead if specified
      uint8_t active_extruder_before_filament_change = active_extruder;
      if (active_extruder != target_extruder)
        tool_change(target_extruder, false);
    #endif
  
    // Lift Z axis
    if (park_point.z > 0)
      do_blocking_move_to_z(_MIN(current_position.z + park_point.z, Z_MAX_POS), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
  
    // Unload filament
    #if HAS_PRUSA_MMU2
      mmu2.unload();
    #else
      #if BOTH(HAS_MULTI_EXTRUDER, FILAMENT_UNLOAD_ALL_EXTRUDERS)
        if (!parser.seenval('T')) {
          HOTEND_LOOP() {
            if (e != active_extruder) tool_change(e, false);
            unload_filament(-fc_settings[e].unload_length, true, PAUSE_MODE_UNLOAD_FILAMENT);
          }
        }
        else
      #endif
      {
        // Unload length
        const float unload_length = -ABS(parser.seen('U') ? parser.value_axis_units(E_AXIS)
                                                          : fc_settings[target_extruder].unload_length);
  
        unload_filament(unload_length, true, PAUSE_MODE_UNLOAD_FILAMENT
          #if ALL(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER)
            , mix_multiplier
          #endif
        );
      }
    #endif
  
    // Restore Z axis
    if (park_point.z > 0)
      do_blocking_move_to_z(_MAX(current_position.z - park_point.z, 0), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
  
    #if HAS_MULTI_EXTRUDER && (HAS_PRUSA_MMU1 || !HAS_MMU)
      // Restore toolhead if it was changed
      if (active_extruder_before_filament_change != active_extruder)
        tool_change(active_extruder_before_filament_change, false);
    #endif
  
    TERN_(MIXING_EXTRUDER, mixer.T(old_mixing_tool)); // Restore original mixing tool
  
    // Show status screen
    ui.pause_show_message(PAUSE_MESSAGE_STATUS);
  }
  
  #endif // ADVANCED_PAUSE_FEATURE
  