/**
 * 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/>.
 *
 */
#pragma once

/**
 * feature/runout.h - Runout sensor support
 */

#include "../sd/cardreader.h"
#include "../module/printcounter.h"
#include "../module/planner.h"
#include "../module/stepper.h" // for block_t
#include "../gcode/queue.h"
#include "pause.h" // for did_pause_print

#include "../inc/MarlinConfig.h"

#if ENABLED(EXTENSIBLE_UI)
  #include "../lcd/extui/ui_api.h"
#endif

//#define FILAMENT_RUNOUT_SENSOR_DEBUG
#ifndef FILAMENT_RUNOUT_THRESHOLD
  #define FILAMENT_RUNOUT_THRESHOLD 5
#endif

#if ENABLED(FILAMENT_MOTION_SENSOR)
  #define HAS_FILAMENT_MOTION 1
  #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
    #define HAS_FILAMENT_SWITCH 1
  #endif
#else
  #define HAS_FILAMENT_SWITCH 1
#endif

#define FILAMENT_IS_OUT(N...) (READ(FIL_RUNOUT##N##_PIN) == FIL_RUNOUT##N##_STATE)

typedef Flags<
          #if NUM_MOTION_SENSORS > NUM_RUNOUT_SENSORS
            NUM_MOTION_SENSORS
          #else
            NUM_RUNOUT_SENSORS
          #endif
        > runout_flags_t;

void event_filament_runout(const uint8_t extruder);
inline bool should_monitor_runout() { return did_pause_print || marlin.printingIsActive(); }

template<class RESPONSE_T, class SENSOR_T>
class TFilamentMonitor;
class FilamentSensor;
class RunoutResponseDelayed;
class RunoutResponseDebounced;

/********************************* TEMPLATE SPECIALIZATION *********************************/

typedef TFilamentMonitor<
          TERN(HAS_FILAMENT_RUNOUT_DISTANCE, RunoutResponseDelayed, RunoutResponseDebounced),
          FilamentSensor
        > FilamentMonitor;

extern FilamentMonitor runout;

/*******************************************************************************************/

class FilamentMonitorBase {
  public:
    static bool enabled, filament_ran_out;

    #if ENABLED(HOST_ACTION_COMMANDS)
      static bool host_handling;
    #else
      static constexpr bool host_handling = false;
    #endif
};

template<class RESPONSE_T, class SENSOR_T>
class TFilamentMonitor : public FilamentMonitorBase {
  private:
    typedef RESPONSE_T response_t;
    typedef SENSOR_T   sensor_t;
    static  response_t response;
    static  sensor_t   sensor;

  public:
    static void setup() {
      sensor.setup();
      reset();
    }

    static void reset() {
      filament_ran_out = false;
      response.reset();
    }

    // Call this method when filament is present,
    // so the response can reset its counter.
    static void filament_present(const uint8_t extruder) {
      response.filament_present(extruder);
    }
    #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
      static void filament_motion_present(const uint8_t extruder) {
        response.filament_motion_present(extruder);
      }
      static float& motion_distance() { return response.motion_distance_mm; }
      static void set_motion_distance(const float mm) { response.motion_distance_mm = mm; }
    #endif

    #if HAS_FILAMENT_RUNOUT_DISTANCE
      static float& runout_distance() { return response.runout_distance_mm; }
      static void set_runout_distance(const float mm) { response.runout_distance_mm = mm; }
    #endif

    // Handle a block completion. RunoutResponseDelayed uses this to
    // add up the length of filament moved while the filament is out.
    // Called from ISR context!
    static void block_completed(const block_t * const b) {
      if (enabled) {
        response.block_completed(b);
        sensor.block_completed(b);
      }
    }

    // Give the response a chance to update its counter.
    static void run() {
      if (!enabled || filament_ran_out || !should_monitor_runout()) return;
      TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, cli()); // Prevent RunoutResponseDelayed::block_completed from accumulating here
      response.run();
      sensor.run();
      const runout_flags_t runout_flags = response.has_run_out();
      TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, sei());
      #if MULTI_FILAMENT_SENSOR
        #if ENABLED(WATCH_ALL_RUNOUT_SENSORS)
          const bool ran_out = bool(runout_flags);  // any sensor triggers
          uint8_t extruder = 0;
          if (ran_out) while (!runout_flags.test(extruder)) extruder++;
        #else
          const bool ran_out = runout_flags[active_extruder];  // suppress non active extruders
          uint8_t extruder = active_extruder;
        #endif
      #else
        const bool ran_out = bool(runout_flags);
        uint8_t extruder = active_extruder;
      #endif

      if (!ran_out) return;

      #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
        SERIAL_ECHOPGM("Runout Sensors: ");
        for (uint8_t i = 0; i < 8; ++i) SERIAL_CHAR('0' + char(runout_flags[i]));
        SERIAL_ECHOLNPGM(" -> ", extruder, " RUN OUT");
      #endif

      filament_ran_out = true;
      event_filament_runout(extruder);
      planner.synchronize();
    }

    // Reset after a filament runout or upon resuming a job
    static void init_for_restart(const bool onoff=true) {
      response.init_for_restart(onoff);
    }

};

/*************************** FILAMENT PRESENCE SENSORS ***************************/

class FilamentSensorBase {
  protected:
    /**
     * Called by FilamentSensorSwitch::run when filament is detected.
     * Called by FilamentSensorEncoder::block_completed when motion is detected.
     */
    static void filament_present(const uint8_t extruder) {
      runout.filament_present(extruder); // ...which calls response.filament_present(extruder)
    }
    #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
      static void filament_motion_present(const uint8_t extruder) {
        runout.filament_motion_present(extruder); // ...which calls response.filament_motion_present(extruder)
      }
    #endif

  public:
    static void setup() {
      #define _INIT_RUNOUT_PIN(P,S,U,D) do{ if (ENABLED(U)) SET_INPUT_PULLUP(P); else if (ENABLED(D)) SET_INPUT_PULLDOWN(P); else SET_INPUT(P); }while(0);
      #define  INIT_RUNOUT_PIN(N) _INIT_RUNOUT_PIN(FIL_RUNOUT##N##_PIN, FIL_RUNOUT##N##_STATE, FIL_RUNOUT##N##_PULLUP, FIL_RUNOUT##N##_PULLDOWN);
      REPEAT_1(NUM_RUNOUT_SENSORS, INIT_RUNOUT_PIN)
      #undef INIT_RUNOUT_PIN

      #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
        #define INIT_MOTION_PIN(N) _INIT_RUNOUT_PIN(FIL_MOTION##N##_PIN, FIL_MOTION##N##_STATE, FIL_MOTION##N##_PULLUP, FIL_MOTION##N##_PULLDOWN);
        REPEAT_1(NUM_MOTION_SENSORS, INIT_MOTION_PIN)
        #undef  INIT_MOTION_PIN
      #endif
      #undef _INIT_RUNOUT_PIN
    }

    // Return a bitmask of runout pin states
    static uint8_t poll_runout_pins() {
      #define _OR_RUNOUT(N) | (READ(FIL_RUNOUT##N##_PIN) ? _BV((N) - 1) : 0)
      return (0 REPEAT_1(NUM_RUNOUT_SENSORS, _OR_RUNOUT));
      #undef _OR_RUNOUT
    }

    // Return a bitmask of runout flag states (1 bits always indicates runout)
    static uint8_t poll_runout_states() {
      #define _INVERT_BIT(N) | (FIL_RUNOUT##N##_STATE ? 0 : _BV(N - 1))
      return poll_runout_pins() ^ uint8_t(0 REPEAT_1(NUM_RUNOUT_SENSORS, _INVERT_BIT));
      #undef _INVERT_BIT
    }

    #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
      // Return a bitmask of motion pin states
      static uint8_t poll_motion_pins() {
        #define _OR_MOTION(N) | (READ(FIL_MOTION##N##_PIN) ? _BV((N) - 1) : 0)
        return (0 REPEAT_1(NUM_MOTION_SENSORS, _OR_MOTION));
        #undef _OR_MOTION
      }

      // Return a bitmask of motion flag states (1 bits always indicates runout)
      static uint8_t poll_motion_states() {
        #define _OR_MOTION(N) | (FIL_MOTION##N##_STATE ? 0 : _BV(N - 1))
        return poll_motion_pins() ^ uint8_t(0 REPEAT_1(NUM_MOTION_SENSORS, _OR_MOTION));
        #undef _OR_MOTION
      }
    #endif
};

#if HAS_FILAMENT_MOTION

  /**
   * This sensor uses a magnetic encoder disc and a Hall effect
   * sensor (or a slotted disc and optical sensor). The state
   * will toggle between 0 and 1 on filament movement. It can detect
   * filament runout and stripouts or jams.
   */
  class FilamentSensorEncoder : public FilamentSensorBase {
    private:
      static uint8_t motion_detected;

      static void poll_motion_sensor() {
        static uint8_t old_state;
        const uint8_t new_state = TERN(FILAMENT_SWITCH_AND_MOTION, poll_motion_pins, poll_runout_pins)(),
                      change    = old_state ^ new_state;
        old_state = new_state;

        #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
          if (change) {
            SERIAL_ECHOPGM("Motion detected:");
            for (uint8_t e = 0; e < TERN(FILAMENT_SWITCH_AND_MOTION, NUM_MOTION_SENSORS, NUM_RUNOUT_SENSORS); ++e)
              if (TEST(change, e)) SERIAL_CHAR(' ', '0' + e);
            SERIAL_EOL();
          }
        #endif

        motion_detected |= change;
      }

    public:
      // Called from ISR context to indicate a block was completed
      static void block_completed(const block_t * const b) {
        // If the sensor wheel has moved since the last call to
        // this method reset the runout counter for the extruder.
        if (TEST(motion_detected, b->extruder))
          TERN(FILAMENT_SWITCH_AND_MOTION, filament_motion_present, filament_present)(b->extruder);

        // Clear motion triggers for next block
        motion_detected = 0;
      }

      static void run() { poll_motion_sensor(); }
  };

#endif // HAS_FILAMENT_MOTION

#if HAS_FILAMENT_SWITCH

  /**
   * This is a simple endstop switch in the path of the filament.
   * It can detect filament runout, but not stripouts or jams.
   */
  class FilamentSensorSwitch : public FilamentSensorBase {
    private:
      static bool poll_runout_state(const uint8_t extruder) {
        const uint8_t runout_states = poll_runout_states();
        #if MULTI_FILAMENT_SENSOR
          if ( !TERN0(DUAL_X_CARRIAGE, idex_is_duplicating())
            && !TERN0(MULTI_NOZZLE_DUPLICATION, extruder_duplication_enabled)
          ) return TEST(runout_states, extruder); // A specific extruder ran out
        #else
          UNUSED(extruder);
        #endif
        return !!runout_states;                   // Any extruder ran out
      }

    public:
      // Called from ISR context to indicate a block was completed
      static void block_completed(const block_t * const) {}

      static void run() {
        for (uint8_t s = 0; s < NUM_RUNOUT_SENSORS; ++s) {
          const bool out = poll_runout_state(s);
          if (!out) filament_present(s);
          #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
            static uint8_t was_out; // = 0
            if (out != TEST(was_out, s)) {
              TBI(was_out, s);
              SERIAL_ECHOLN(F("Filament Sensor "), AS_DIGIT(s), out ? F(" OUT") : F(" IN"));
            }
          #endif
        }
      }
  };

 #endif // HAS_FILAMENT_SWITCH

  /**
   * This is a simple endstop switch in the path of the filament.
   * It can detect filament runout, but not stripouts or jams.
   */
  class FilamentSensor : public FilamentSensorBase {
    private:
      TERN_(HAS_FILAMENT_MOTION, static FilamentSensorEncoder encoder_sensor);
      TERN_(HAS_FILAMENT_SWITCH, static FilamentSensorSwitch switch_sensor);

    public:
      // Called from ISR context to indicate a block was completed
      static void block_completed(const block_t * const b) {
        TERN_(HAS_FILAMENT_MOTION, encoder_sensor.block_completed(b));
        TERN_(HAS_FILAMENT_SWITCH, switch_sensor.block_completed(b));
      }

      static void run() {
        TERN_(HAS_FILAMENT_MOTION, encoder_sensor.run());
        TERN_(HAS_FILAMENT_SWITCH, switch_sensor.run());
      }
  };

/********************************* RESPONSE TYPE *********************************/

#if HAS_FILAMENT_RUNOUT_DISTANCE

  typedef struct {
    float runout[NUM_RUNOUT_SENSORS];
    Flags<NUM_RUNOUT_SENSORS> runout_reset;    // Reset runout later
    #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
      float motion[NUM_MOTION_SENSORS];
      Flags<NUM_MOTION_SENSORS> motion_reset;  // Reset motion later
    #endif
  } countdown_t;

  // RunoutResponseDelayed triggers a runout event only if the length
  // of filament specified by FILAMENT_RUNOUT_DISTANCE_MM has been fed
  // during a runout condition.
  class RunoutResponseDelayed {
    private:
      static countdown_t mm_countdown;
      #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
        static bool ignore_motion;  // Flag to ignore the encoder
      #endif

    public:
      static float runout_distance_mm;

      #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
        static float motion_distance_mm;
      #endif

      static void set_ignore_motion(const bool ignore=true) {
        UNUSED(ignore);
        TERN_(FILAMENT_SWITCH_AND_MOTION, ignore_motion = ignore);
      }

      static void reset() {
        for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i) filament_present(i);
        #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
          for (uint8_t i = 0; i < NUM_MOTION_SENSORS; ++i) filament_motion_present(i);
        #endif
        set_ignore_motion(false);
      }

      static void run() {
        #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
          static millis_t t = 0;
          const millis_t ms = millis();
          if (PENDING(ms, t)) return;
          t = ms + 1000UL;
          for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i)
            SERIAL_ECHO(i ? F(", ") : F("Runout remaining mm: "), mm_countdown.runout[i]);
          #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
            for (uint8_t i = 0; i < NUM_MOTION_SENSORS; ++i)
              SERIAL_ECHO(i ? F(", ") : F("Motion remaining mm: "), mm_countdown.motion[i]);
          #endif
          SERIAL_EOL();
        #endif
      }

      // Get runout status for all presence sensors and motion sensors
      static runout_flags_t has_run_out() {
        runout_flags_t runout_flags{0};

        #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
          // Runout based on filament motion
          if (!ignore_motion) {
            for (uint8_t i = 0; i < NUM_MOTION_SENSORS; ++i) {
              if (mm_countdown.motion[i] < 0) {
                runout_flags.set(i);
                mm_countdown.runout[i] = -1;  // For a filament jam don't wait for runout_distance_mm!
              }
            }
          }
        #endif

        // Runout based on filament presence
        for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i)
          if (mm_countdown.runout[i] < 0)
            runout_flags.set(i);

        return runout_flags;
      }

      static void filament_present(const uint8_t extruder) {
        if (mm_countdown.runout[extruder] < runout_distance_mm || did_pause_print) {
          // Reset runout only if it is smaller than runout_distance or printing is paused.
          // On Bowden systems retract may be larger than runout_distance_mm, so if retract
          // was added leave it in place, or the following unretract will cause runout event.
          mm_countdown.runout[extruder] = runout_distance_mm;
          mm_countdown.runout_reset.clear(extruder);
        }
        else {
          // If runout is larger than runout distance, we cannot reset right now, as Bowden and retract
          // distance larger than runout_distance_mm leads to negative runout right after unretract.
          // But we cannot ignore filament_present event. After unretract, runout will become smaller
          // than runout_distance_mm and should be reset after that. So activate delayed reset.
          mm_countdown.runout_reset.set(extruder);
        }
      }

      #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
        static void filament_motion_present(const uint8_t extruder) {
          // Same logic as filament_present
          if (mm_countdown.motion[extruder] < motion_distance_mm || did_pause_print) {
            mm_countdown.motion[extruder] = motion_distance_mm;
            mm_countdown.motion_reset.clear(extruder);
          }
          else
            mm_countdown.motion_reset.set(extruder);
        }
      #endif

      // Called from ISR context to indicate a block was completed
      static void block_completed(const block_t * const b) {
        // No calculation unless paused or printing
        if (!should_monitor_runout()) return;

        // Only extrusion moves are examined
        const int32_t esteps = b->steps.e;
        if (!esteps) return;

        // No need to ignore retract/unretract movement since they complement each other
        const uint8_t e = b->extruder;
        const float mm = (b->direction_bits.e ? esteps : -esteps) * planner.mm_per_step[E_AXIS_N(e)];

        // Apply E distance to runout countdown, reset if flagged
        if (e < NUM_RUNOUT_SENSORS) {
          mm_countdown.runout[e] -= mm;
          if (mm_countdown.runout_reset[e]) filament_present(e);          // Reset pending. Try to reset.
        }

        #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
          // Apply E distance to motion countdown, reset if flagged
          if (!ignore_motion && e < NUM_MOTION_SENSORS) {
            mm_countdown.motion[e] -= mm;
            if (mm_countdown.motion_reset[e]) filament_motion_present(e); // Reset pending. Try to reset.
          }
        #endif
      }

      // Reset after a filament runout or upon resuming a job
      static void init_for_restart(const bool onoff=true) {
        UNUSED(onoff);
        #if ENABLED(FILAMENT_SWITCH_AND_MOTION)
          reset(); // also calls set_ignore_motion(false)
          set_ignore_motion(!onoff);
        #endif
      }
  };

#else // !HAS_FILAMENT_RUNOUT_DISTANCE

  // RunoutResponseDebounced triggers a runout event after a runout
  // condition has been detected runout_threshold times in a row.

  class RunoutResponseDebounced {
    private:
      static constexpr int8_t runout_threshold = FILAMENT_RUNOUT_THRESHOLD;
      static int8_t runout_count[NUM_RUNOUT_SENSORS];

    public:
      static void reset() {
        for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i) filament_present(i);
      }

      static void run() {
        for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i) if (runout_count[i] >= 0) runout_count[i]--;
      }

      static runout_flags_t has_run_out() {
        runout_flags_t runout_flags{0};
        for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i) if (runout_count[i] < 0) runout_flags.set(i);
        return runout_flags;
      }

      // Called from ISR context to indicate a block was completed
      static void block_completed(const block_t * const) { }

      static void filament_present(const uint8_t extruder) {
        runout_count[extruder] = runout_threshold;
      }

      // Reset after a filament runout or upon resuming a job
      static void init_for_restart(const bool=true) { reset(); }
  };

#endif // !HAS_FILAMENT_RUNOUT_DISTANCE
