/*
  System.h - Header for system level commands and real-time processes
  Part of Grbl-Advanced

  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
  Copyright (c) 2017-2020 Patrick F.

  Grbl-Advanced 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.

  Grbl-Advanced 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 Grbl-Advanced.  If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef SYSTEM_H
#define SYSTEM_H

#include <stdint.h>
#include "util.h"


// Define system executor bit map. Used internally by realtime protocol as realtime command flags,
// which notifies the main program to execute the specified realtime command asynchronously.
// NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default
// flags are always false, so the realtime protocol only needs to check for a non-zero value to
// know when there is a realtime command to execute.
#define EXEC_STATUS_REPORT                  BIT(0)
#define EXEC_CYCLE_START                    BIT(1)
#define EXEC_CYCLE_STOP                     BIT(2)
#define EXEC_FEED_HOLD                      BIT(3)
#define EXEC_RESET                          BIT(4)
#define EXEC_SAFETY_DOOR                    BIT(5)
#define EXEC_MOTION_CANCEL                  BIT(6)
#define EXEC_SLEEP                          BIT(7)

#define EXEC_FEED_DWELL                     BIT(8)
#define EXEC_TOOL_CHANGE                    BIT(9)

// Alarm executor codes. Valid values (1-255). Zero is reserved.
#define EXEC_ALARM_HARD_LIMIT               1
#define EXEC_ALARM_SOFT_LIMIT               2
#define EXEC_ALARM_ABORT_CYCLE              3
#define EXEC_ALARM_PROBE_FAIL_INITIAL       4
#define EXEC_ALARM_PROBE_FAIL_CONTACT       5
#define EXEC_ALARM_HOMING_FAIL_RESET        6
#define EXEC_ALARM_HOMING_FAIL_DOOR         7
#define EXEC_ALARM_HOMING_FAIL_PULLOFF      8
#define EXEC_ALARM_HOMING_FAIL_APPROACH     9

#define EXEC_ALARM_HARD_LIMIT_X1            21
#define EXEC_ALARM_HARD_LIMIT_X2            22
#define EXEC_ALARM_HARD_LIMIT_Y1            23
#define EXEC_ALARM_HARD_LIMIT_Y2            24
#define EXEC_ALARM_HARD_LIMIT_Z1            25
#define EXEC_ALARM_HARD_LIMIT_Z2            26

// Override bit maps. Realtime bitflags to control feed, rapid, spindle, and coolant overrides.
// Spindle/coolant and feed/rapids are separated into two controlling flag variables.
#define EXEC_FEED_OVR_RESET                 BIT(0)
#define EXEC_FEED_OVR_COARSE_PLUS           BIT(1)
#define EXEC_FEED_OVR_COARSE_MINUS          BIT(2)
#define EXEC_FEED_OVR_FINE_PLUS             BIT(3)
#define EXEC_FEED_OVR_FINE_MINUS            BIT(4)
#define EXEC_RAPID_OVR_RESET                BIT(5)
#define EXEC_RAPID_OVR_MEDIUM               BIT(6)
#define EXEC_RAPID_OVR_LOW                  BIT(7)
//#define EXEC_RAPID_OVR_EXTRA_LOW          BIT(*) // *NOT SUPPORTED*

#define EXEC_SPINDLE_OVR_RESET              BIT(0)
#define EXEC_SPINDLE_OVR_COARSE_PLUS        BIT(1)
#define EXEC_SPINDLE_OVR_COARSE_MINUS       BIT(2)
#define EXEC_SPINDLE_OVR_FINE_PLUS          BIT(3)
#define EXEC_SPINDLE_OVR_FINE_MINUS         BIT(4)
#define EXEC_SPINDLE_OVR_STOP               BIT(5)
#define EXEC_COOLANT_FLOOD_OVR_TOGGLE       BIT(6)
#define EXEC_COOLANT_MIST_OVR_TOGGLE        BIT(7)

// Define system state bit map. The state variable primarily tracks the individual functions
// of Grbl to manage each without overlapping. It is also used as a messaging flag for
// critical events.
#define STATE_IDLE                          0      // Must be zero. No flags.
#define STATE_ALARM                         BIT(0) // In alarm state. Locks out all g-code processes. Allows settings access.
#define STATE_CHECK_MODE                    BIT(1) // G-code check mode. Locks out planner and motion only.
#define STATE_HOMING                        BIT(2) // Performing homing cycle
#define STATE_CYCLE                         BIT(3) // Cycle is running or motions are being executed.
#define STATE_HOLD                          BIT(4) // Active feed hold
#define STATE_JOG                           BIT(5) // Jogging mode.
#define STATE_SAFETY_DOOR                   BIT(6) // Safety door is ajar. Feed holds and de-energizes system.
#define STATE_SLEEP                         BIT(7) // Sleep state.

#define STATE_FEED_DWELL                    BIT(8)  // Dwell
#define STATE_TOOL_CHANGE                   BIT(9)  // Tool change in progress

// Define system suspend flags. Used in various ways to manage suspend states and procedures.
#define SUSPEND_DISABLE                     0      // Must be zero.
#define SUSPEND_HOLD_COMPLETE               BIT(0) // Indicates initial feed hold is complete.
#define SUSPEND_RESTART_RETRACT             BIT(1) // Flag to indicate a retract from a restore parking motion.
#define SUSPEND_RETRACT_COMPLETE            BIT(2) // (Safety door only) Indicates retraction and de-energizing is complete.
#define SUSPEND_INITIATE_RESTORE            BIT(3) // (Safety door only) Flag to initiate resume procedures from a cycle start.
#define SUSPEND_RESTORE_COMPLETE            BIT(4) // (Safety door only) Indicates ready to resume normal operation.
#define SUSPEND_SAFETY_DOOR_AJAR            BIT(5) // Tracks safety door state for resuming.
#define SUSPEND_MOTION_CANCEL               BIT(6) // Indicates a canceled resume motion. Currently used by probing routine.
#define SUSPEND_JOG_CANCEL                  BIT(7) // Indicates a jog cancel in process and to reset buffers when complete.

// Define step segment generator state flags.
#define STEP_CONTROL_NORMAL_OP              0  // Must be zero.
#define STEP_CONTROL_END_MOTION             BIT(0)
#define STEP_CONTROL_EXECUTE_HOLD           BIT(1)
#define STEP_CONTROL_EXECUTE_SYS_MOTION     BIT(2)
#define STEP_CONTROL_UPDATE_SPINDLE_PWM     BIT(3)

// Define control pin index for Grbl internal use. Pin maps may change, but these values don't.
#define N_CONTROL_PIN 4
#define CONTROL_PIN_INDEX_SAFETY_DOOR       BIT(0)
#define CONTROL_PIN_INDEX_RESET             BIT(1)
#define CONTROL_PIN_INDEX_FEED_HOLD         BIT(2)
#define CONTROL_PIN_INDEX_CYCLE_START       BIT(3)

// Define spindle stop override control states.
#define SPINDLE_STOP_OVR_DISABLED           0  // Must be zero.
#define SPINDLE_STOP_OVR_ENABLED            BIT(0)
#define SPINDLE_STOP_OVR_INITIATE           BIT(1)
#define SPINDLE_STOP_OVR_RESTORE            BIT(2)
#define SPINDLE_STOP_OVR_RESTORE_CYCLE      BIT(3)



// Define global system variables
typedef struct
{
    uint16_t state;               // Tracks the current system state of Grbl.
    uint8_t abort;               // System abort flag. Forces exit back to main loop for reset.
    uint8_t suspend;             // System suspend bitflag variable that manages holds, cancels, and safety door.
    uint8_t soft_limit;          // Tracks soft limit errors for the state machine. (boolean)
    uint8_t step_control;        // Governs the step segment generator depending on system state.
    uint8_t probe_succeeded;     // Tracks if last probing cycle was successful.
    uint8_t homing_axis_lock;    // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
    uint8_t f_override;          // Feed rate override value in percent
    uint8_t r_override;          // Rapids override value in percent
    uint8_t spindle_speed_ovr;   // Spindle speed value in percent
    uint8_t spindle_stop_ovr;    // Tracks spindle stop override states
    uint8_t report_ovr_counter;  // Tracks when to add override data to status reports.
    uint8_t report_wco_counter;  // Tracks when to add work coordinate offset data to status reports.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
    uint8_t override_ctrl;      // Tracks override control states.
#endif
    float spindle_speed;
    uint8_t is_homed;
    uint8_t sync_move;
    float x_pos;                // Current x-position of tool (for G96)
} System_t;

extern System_t sys;

// NOTE: These position variables may need to be declared as volatiles, if problems arise.
extern int32_t sys_position[N_AXIS];      // Real-time machine (aka home) position vector in steps.
extern int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.

extern volatile uint8_t sys_probe_state;   // Probing state value.  Used to coordinate the probing cycle with stepper ISR.
extern volatile uint16_t sys_rt_exec_state;   // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
extern volatile uint8_t sys_rt_exec_alarm;   // Global realtime executor bitflag variable for setting various alarms.
extern volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
extern volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.


// Initialize the serial protocol
void System_Init(void);

void System_Clear(void);

void System_ResetPosition(void);

// Returns bitfield of control pin states, organized by CONTROL_PIN_INDEX. (1=triggered, 0=not triggered).
uint8_t System_GetControlState(void);

// Returns if safety door is open or closed, based on pin state.
uint8_t System_CheckSafetyDoorAjar(void);

// Executes an internal system command, defined as a string starting with a '$'
uint8_t System_ExecuteLine(char *line);

// Execute the startup script lines stored in EEPROM upon initialization
void System_ExecuteStartup(char *line);

void System_FlagWcoChange(void);

// Returns machine position of axis 'idx'. Must be sent a 'step' array.
float System_ConvertAxisSteps2Mpos(const int32_t *steps, const uint8_t idx);

// Updates a machine 'position' array based on the 'step' array sent.
void System_ConvertArraySteps2Mpos(float *position, const int32_t *steps);

// CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
#ifdef COREXY
int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps);
int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps);
#endif

// Checks and reports if target array exceeds machine travel limits.
uint8_t System_CheckTravelLimits(float *target);

// Special handlers for setting and clearing Grbl's real-time execution flags.
void System_SetExecStateFlag(uint16_t mask);
void System_ClearExecStateFlag(uint16_t mask);
void System_SetExecAlarm(uint8_t code);
void System_ClearExecAlarm(void);
void System_SetExecMotionOverrideFlag(uint8_t mask);
void System_SetExecAccessoryOverrideFlag(uint8_t mask);
void System_ClearExecMotionOverride(void);
void System_ClearExecAccessoryOverrides(void);


#endif // SYSTEM_H