/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
 *
 */

/**
 * Marlin Firmware -- G26 - Mesh Validation Tool
 */

#include "MarlinConfig.h"

#if ENABLED(G26_MESH_VALIDATION)

  #include "Marlin.h"
  #include "planner.h"
  #include "stepper.h"
  #include "temperature.h"
  #include "ultralcd.h"
  #include "parser.h"
  #include "serial.h"
  #include "bitmap_flags.h"

  #if ENABLED(MESH_BED_LEVELING)
    #include "mesh_bed_leveling.h"
  #elif ENABLED(AUTO_BED_LEVELING_UBL)
    #include "ubl.h"
  #endif

  #define EXTRUSION_MULTIPLIER 1.0
  #define RETRACTION_MULTIPLIER 1.0
  #define PRIME_LENGTH 10.0
  #define OOZE_AMOUNT 0.3

  #define INTERSECTION_CIRCLE_RADIUS 5
  #define CROSSHAIRS_SIZE 3

  #if CROSSHAIRS_SIZE >= INTERSECTION_CIRCLE_RADIUS
    #error "CROSSHAIRS_SIZE must be less than INTERSECTION_CIRCLE_RADIUS."
  #endif

  #define G26_OK false
  #define G26_ERR true

  /**
   *   G26 Mesh Validation Tool
   *
   *   G26 is a Mesh Validation Tool intended to provide support for the Marlin Unified Bed Leveling System.
   *   In order to fully utilize and benefit from the Marlin Unified Bed Leveling System an accurate Mesh must
   *   be defined. G29 is designed to allow the user to quickly validate the correctness of her Mesh. It will
   *   first heat the bed and nozzle. It will then print lines and circles along the Mesh Cell boundaries and
   *   the intersections of those lines (respectively).
   *
   *   This action allows the user to immediately see where the Mesh is properly defined and where it needs to
   *   be edited. The command will generate the Mesh lines closest to the nozzle's starting position. Alternatively
   *   the user can specify the X and Y position of interest with command parameters. This allows the user to
   *   focus on a particular area of the Mesh where attention is needed.
   *
   *   B #  Bed         Set the Bed Temperature. If not specified, a default of 60 C. will be assumed.
   *
   *   C    Current     When searching for Mesh Intersection points to draw, use the current nozzle location
   *                    as the base for any distance comparison.
   *
   *   D    Disable     Disable the Unified Bed Leveling System. In the normal case the user is invoking this
   *                    command to see how well a Mesh as been adjusted to match a print surface. In order to do
   *                    this the Unified Bed Leveling System is turned on by the G26 command. The D parameter
   *                    alters the command's normal behaviour and disables the Unified Bed Leveling System even if
   *                    it is on.
   *
   *   H #  Hotend      Set the Nozzle Temperature. If not specified, a default of 205 C. will be assumed.
   *
   *   F #  Filament    Used to specify the diameter of the filament being used. If not specified
   *                    1.75mm filament is assumed. If you are not getting acceptable results by using the
   *                    'correct' numbers, you can scale this number up or down a little bit to change the amount
   *                    of filament that is being extruded during the printing of the various lines on the bed.
   *
   *   K    Keep-On     Keep the heaters turned on at the end of the command.
   *
   *   L #  Layer       Layer height. (Height of nozzle above bed)  If not specified .20mm will be used.
   *
   *   O #  Ooooze      How much your nozzle will Ooooze filament while getting in position to print. This
   *                    is over kill, but using this parameter will let you get the very first 'circle' perfect
   *                    so you have a trophy to peel off of the bed and hang up to show how perfectly you have your
   *                    Mesh calibrated. If not specified, a filament length of .3mm is assumed.
   *
   *   P #  Prime       Prime the nozzle with specified length of filament. If this parameter is not
   *                    given, no prime action will take place. If the parameter specifies an amount, that much
   *                    will be purged before continuing. If no amount is specified the command will start
   *                    purging filament until the user provides an LCD Click and then it will continue with
   *                    printing the Mesh. You can carefully remove the spent filament with a needle nose
   *                    pliers while holding the LCD Click wheel in a depressed state. If you do not have
   *                    an LCD, you must specify a value if you use P.
   *
   *   Q #  Multiplier  Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and
   *                    un-retraction is at 1.2mm   These numbers will be scaled by the specified amount
   *
   *   R #  Repeat      Prints the number of patterns given as a parameter, starting at the current location.
   *                    If a parameter isn't given, every point will be printed unless G26 is interrupted.
   *                    This works the same way that the UBL G29 P4 R parameter works.
   *
   *                    NOTE:  If you do not have an LCD, you -must- specify R. This is to ensure that you are
   *                    aware that there's some risk associated with printing without the ability to abort in
   *                    cases where mesh point Z value may be inaccurate. As above, if you do not include a
   *                    parameter, every point will be printed.
   *
   *   S #  Nozzle      Used to control the size of nozzle diameter. If not specified, a .4mm nozzle is assumed.
   *
   *   U #  Random      Randomize the order that the circles are drawn on the bed. The search for the closest
   *                    undrawn cicle is still done. But the distance to the location for each circle has a
   *                    random number of the size specified added to it. Specifying S50 will give an interesting
   *                    deviation from the normal behaviour on a 10 x 10 Mesh.
   *
   *   X #  X Coord.    Specify the starting location of the drawing activity.
   *
   *   Y #  Y Coord.    Specify the starting location of the drawing activity.
   */

  // External references

  extern Planner planner;

  // Private functions

  static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];
  float g26_e_axis_feedrate = 0.025,
        random_deviation = 0.0;

  static bool g26_retracted = false; // Track the retracted state of the nozzle so mismatched
                                     // retracts/recovers won't result in a bad state.

  static float g26_extrusion_multiplier,
               g26_retraction_multiplier,
               g26_layer_height,
               g26_prime_length,
               g26_x_pos, g26_y_pos;

  static int16_t g26_bed_temp,
                 g26_hotend_temp;

  static int8_t g26_prime_flag;

  #if ENABLED(ULTIPANEL)

    /**
     * If the LCD is clicked, cancel, wait for release, return true
     */
    bool user_canceled() {
      if (!is_lcd_clicked()) return false; // Return if the button isn't pressed
      lcd_setstatusPGM(PSTR("Mesh Validation Stopped."), 99);
      #if ENABLED(ULTIPANEL)
        lcd_quick_feedback(true);
      #endif
      wait_for_release();
      return true;
    }

    bool exit_from_g26() {
      lcd_setstatusPGM(PSTR("Leaving G26"), -1);
      wait_for_release();
      return G26_ERR;
    }

  #endif

  void G26_line_to_destination(const float &feed_rate) {
    const float save_feedrate = feedrate_mm_s;
    feedrate_mm_s = feed_rate;
    prepare_move_to_destination();  // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_SEGMENTED
    feedrate_mm_s = save_feedrate;
  }

  void move_to(const float &rx, const float &ry, const float &z, const float &e_delta) {
    float feed_value;
    static float last_z = -999.99;

    bool has_xy_component = (rx != current_position[X_AXIS] || ry != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.

    if (z != last_z) {
      last_z = z;
      feed_value = planner.max_feedrate_mm_s[Z_AXIS]/(3.0);  // Base the feed rate off of the configured Z_AXIS feed rate

      destination[X_AXIS] = current_position[X_AXIS];
      destination[Y_AXIS] = current_position[Y_AXIS];
      destination[Z_AXIS] = z;                          // We know the last_z==z or we wouldn't be in this block of code.
      destination[E_CART] = current_position[E_CART];

      G26_line_to_destination(feed_value);
      set_destination_from_current();
    }

    // Check if X or Y is involved in the movement.
    // Yes: a 'normal' movement. No: a retract() or recover()
    feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5;

    if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);

    destination[X_AXIS] = rx;
    destination[Y_AXIS] = ry;
    destination[E_CART] += e_delta;

    G26_line_to_destination(feed_value);
    set_destination_from_current();
  }

  FORCE_INLINE void move_to(const float where[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); }

  void retract_filament(const float where[XYZE]) {
    if (!g26_retracted) { // Only retract if we are not already retracted!
      g26_retracted = true;
      move_to(where, -1.0 * g26_retraction_multiplier);
    }
  }

  void recover_filament(const float where[XYZE]) {
    if (g26_retracted) { // Only un-retract if we are retracted.
      move_to(where, 1.2 * g26_retraction_multiplier);
      g26_retracted = false;
    }
  }

  /**
   * Prime the nozzle if needed. Return true on error.
   */
  inline bool prime_nozzle() {

    #if ENABLED(ULTIPANEL)
      float Total_Prime = 0.0;

      if (g26_prime_flag == -1) {  // The user wants to control how much filament gets purged

        lcd_external_control = true;
        lcd_setstatusPGM(PSTR("User-Controlled Prime"), 99);
        lcd_chirp();

        set_destination_from_current();

        recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().

        while (!is_lcd_clicked()) {
          lcd_chirp();
          destination[E_CART] += 0.25;
          #ifdef PREVENT_LENGTHY_EXTRUDE
            Total_Prime += 0.25;
            if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;
          #endif
          G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
          set_destination_from_current();
          planner.synchronize();    // Without this synchronize, the purge is more consistent,
                                    // but because the planner has a buffer, we won't be able
                                    // to stop as quickly. So we put up with the less smooth
                                    // action to give the user a more responsive 'Stop'.

          SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
        }

        wait_for_release();

        lcd_setstatusPGM(PSTR("Done Priming"), 99);
        lcd_quick_feedback(true);
        lcd_external_control = false;
      }
      else
    #endif
    {
      #if ENABLED(ULTRA_LCD)
        lcd_setstatusPGM(PSTR("Fixed Length Prime."), 99);
        lcd_quick_feedback(true);
      #endif
      set_destination_from_current();
      destination[E_CART] += g26_prime_length;
      G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
      set_destination_from_current();
      retract_filament(destination);
    }

    return G26_OK;
  }

  mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {
    float closest = 99999.99;
    mesh_index_pair return_val;

    return_val.x_index = return_val.y_index = -1;

    for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
      for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
        if (!is_bitmap_set(circle_flags, i, j)) {
          const float mx = _GET_MESH_X(i),  // We found a circle that needs to be printed
                      my = _GET_MESH_Y(j);

          // Get the distance to this intersection
          float f = HYPOT(X - mx, Y - my);

          // It is possible that we are being called with the values
          // to let us find the closest circle to the start position.
          // But if this is not the case, add a small weighting to the
          // distance calculation to help it choose a better place to continue.
          f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0;

          // Add in the specified amount of Random Noise to our search
          if (random_deviation > 1.0)
            f += random(0.0, random_deviation);

          if (f < closest) {
            closest = f;              // We found a closer location that is still
            return_val.x_index = i;   // un-printed  --- save the data for it
            return_val.y_index = j;
            return_val.distance = closest;
          }
        }
      }
    }
    bitmap_set(circle_flags, return_val.x_index, return_val.y_index);   // Mark this location as done.
    return return_val;
  }

  /**
   * print_line_from_here_to_there() takes two cartesian coordinates and draws a line from one
   * to the other. But there are really three sets of coordinates involved. The first coordinate
   * is the present location of the nozzle. We don't necessarily want to print from this location.
   * We first need to move the nozzle to the start of line segment where we want to print. Once
   * there, we can use the two coordinates supplied to draw the line.
   *
   * Note:  Although we assume the first set of coordinates is the start of the line and the second
   * set of coordinates is the end of the line, it does not always work out that way. This function
   * optimizes the movement to minimize the travel distance before it can start printing. This saves
   * a lot of time and eliminates a lot of nonsensical movement of the nozzle. However, it does
   * cause a lot of very little short retracement of th nozzle when it draws the very first line
   * segment of a 'circle'. The time this requires is very short and is easily saved by the other
   * cases where the optimization comes into play.
   */
  void print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {
    const float dx_s = current_position[X_AXIS] - sx,   // find our distance from the start of the actual line segment
                dy_s = current_position[Y_AXIS] - sy,
                dist_start = HYPOT2(dx_s, dy_s),        // We don't need to do a sqrt(), we can compare the distance^2
                                                        // to save computation time
                dx_e = current_position[X_AXIS] - ex,   // find our distance from the end of the actual line segment
                dy_e = current_position[Y_AXIS] - ey,
                dist_end = HYPOT2(dx_e, dy_e),

                line_length = HYPOT(ex - sx, ey - sy);

    // If the end point of the line is closer to the nozzle, flip the direction,
    // moving from the end to the start. On very small lines the optimization isn't worth it.
    if (dist_end < dist_start && (INTERSECTION_CIRCLE_RADIUS) < ABS(line_length))
      return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);

    // Decide whether to retract & bump

    if (dist_start > 2.0) {
      retract_filament(destination);
      //todo:  parameterize the bump height with a define
      move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0);  // Z bump to minimize scraping
      move_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
    }

    move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump

    const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;

    recover_filament(destination);
    move_to(ex, ey, ez, e_pos_delta);  // Get to the ending point with an appropriate amount of extrusion
  }

  inline bool look_for_lines_to_connect() {
    float sx, sy, ex, ey;

    for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
      for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {

        #if ENABLED(ULTIPANEL)
          if (user_canceled()) return true;     // Check if the user wants to stop the Mesh Validation
        #endif

        if (i < GRID_MAX_POINTS_X) { // We can't connect to anything to the right than GRID_MAX_POINTS_X.
                                     // This is already a half circle because we are at the edge of the bed.

          if (is_bitmap_set(circle_flags, i, j) && is_bitmap_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
            if (!is_bitmap_set(horizontal_mesh_line_flags, i, j)) {

              //
              // We found two circles that need a horizontal line to connect them
              // Print it!
              //
              sx = _GET_MESH_X(  i  ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge
              ex = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edge

              sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);
              sy = ey = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
              ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);

              if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey)) {

                if (g26_debug_flag) {
                  SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
                  SERIAL_ECHOPAIR(", sy=", sy);
                  SERIAL_ECHOPAIR(") -> (ex=", ex);
                  SERIAL_ECHOPAIR(", ey=", ey);
                  SERIAL_CHAR(')');
                  SERIAL_EOL();
                  //debug_current_and_destination(PSTR("Connecting horizontal line."));
                }
                print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);
              }
              bitmap_set(horizontal_mesh_line_flags, i, j);   // Mark it as done so we don't do it again, even if we skipped it
            }
          }

          if (j < GRID_MAX_POINTS_Y) { // We can't connect to anything further back than GRID_MAX_POINTS_Y.
                                           // This is already a half circle because we are at the edge  of the bed.

            if (is_bitmap_set(circle_flags, i, j) && is_bitmap_set(circle_flags, i, j + 1)) { // check if we can do a line straight down
              if (!is_bitmap_set( vertical_mesh_line_flags, i, j)) {
                //
                // We found two circles that need a vertical line to connect them
                // Print it!
                //
                sy = _GET_MESH_Y(  j  ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge
                ey = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edge

                sx = ex = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
                sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
                ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);

                if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey)) {

                  if (g26_debug_flag) {
                    SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
                    SERIAL_ECHOPAIR(", sy=", sy);
                    SERIAL_ECHOPAIR(") -> (ex=", ex);
                    SERIAL_ECHOPAIR(", ey=", ey);
                    SERIAL_CHAR(')');
                    SERIAL_EOL();

                    #if ENABLED(AUTO_BED_LEVELING_UBL)
                      debug_current_and_destination(PSTR("Connecting vertical line."));
                    #endif
                  }
                  print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);
                }
                bitmap_set(vertical_mesh_line_flags, i, j);   // Mark it as done so we don't do it again, even if skipped
              }
            }
          }
        }
      }
    }
    return false;
  }

  /**
   * Turn on the bed and nozzle heat and
   * wait for them to get up to temperature.
   */
  inline bool turn_on_heaters() {
    millis_t next = millis() + 5000UL;
    #if HAS_HEATED_BED
      #if ENABLED(ULTRA_LCD)
        if (g26_bed_temp > 25) {
          lcd_setstatusPGM(PSTR("G26 Heating Bed."), 99);
          lcd_quick_feedback(true);
          #if ENABLED(ULTIPANEL)
            lcd_external_control = true;
          #endif
      #endif
          thermalManager.setTargetBed(g26_bed_temp);
          while (ABS(thermalManager.degBed() - g26_bed_temp) > 3) {

            #if ENABLED(ULTIPANEL)
              if (is_lcd_clicked()) return exit_from_g26();
            #endif

            if (ELAPSED(millis(), next)) {
              next = millis() + 5000UL;
              thermalManager.print_heaterstates();
              SERIAL_EOL();
            }
            idle();
            SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
          }
      #if ENABLED(ULTRA_LCD)
        }
        lcd_setstatusPGM(PSTR("G26 Heating Nozzle."), 99);
        lcd_quick_feedback(true);
      #endif
    #endif

    // Start heating the nozzle and wait for it to reach temperature.
    thermalManager.setTargetHotend(g26_hotend_temp, 0);
    while (ABS(thermalManager.degHotend(0) - g26_hotend_temp) > 3) {

      #if ENABLED(ULTIPANEL)
        if (is_lcd_clicked()) return exit_from_g26();
      #endif

      if (ELAPSED(millis(), next)) {
        next = millis() + 5000UL;
        thermalManager.print_heaterstates();
        SERIAL_EOL();
      }
      idle();

      SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
    }
    #if ENABLED(ULTRA_LCD)
      lcd_reset_status();
      lcd_quick_feedback(true);
    #endif

    return G26_OK;
  }

  float valid_trig_angle(float d) {
    while (d > 360.0) d -= 360.0;
    while (d < 0.0) d += 360.0;
    return d;
  }

  /**
   * G26: Mesh Validation Pattern generation.
   *
   * Used to interactively edit the mesh by placing the
   * nozzle in a problem area and doing a G29 P4 R command.
   *
   * Parameters:
   *
   *  B  Bed Temperature
   *  C  Continue from the Closest mesh point
   *  D  Disable leveling before starting
   *  F  Filament diameter
   *  H  Hotend Temperature
   *  K  Keep heaters on when completed
   *  L  Layer Height
   *  O  Ooze extrusion length
   *  P  Prime length
   *  Q  Retraction multiplier
   *  R  Repetitions (number of grid points)
   *  S  Nozzle Size (diameter) in mm
   *  U  Random deviation (50 if no value given)
   *  X  X position
   *  Y  Y position
   */
  void gcode_G26() {
    SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s).");

    // Don't allow Mesh Validation without homing first,
    // or if the parameter parsing did not go OK, abort
    if (axis_unhomed_error()) return;

    g26_extrusion_multiplier    = EXTRUSION_MULTIPLIER;
    g26_retraction_multiplier   = RETRACTION_MULTIPLIER;
    g26_layer_height            = MESH_TEST_LAYER_HEIGHT;
    g26_prime_length            = PRIME_LENGTH;
    g26_bed_temp                = MESH_TEST_BED_TEMP;
    g26_hotend_temp             = MESH_TEST_HOTEND_TEMP;
    g26_prime_flag              = 0;

    float g26_nozzle            = MESH_TEST_NOZZLE_SIZE,
          g26_filament_diameter = DEFAULT_NOMINAL_FILAMENT_DIA,
          g26_ooze_amount       = parser.linearval('O', OOZE_AMOUNT);

    bool g26_continue_with_closest = parser.boolval('C'),
         g26_keep_heaters_on       = parser.boolval('K');

    if (parser.seenval('B')) {
      g26_bed_temp = parser.value_celsius();
      if (g26_bed_temp && !WITHIN(g26_bed_temp, 40, 140)) {
        SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible (40-140C).");
        return;
      }
    }

    if (parser.seenval('L')) {
      g26_layer_height = parser.value_linear_units();
      if (!WITHIN(g26_layer_height, 0.0, 2.0)) {
        SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible.");
        return;
      }
    }

    if (parser.seen('Q')) {
      if (parser.has_value()) {
        g26_retraction_multiplier = parser.value_float();
        if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) {
          SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible.");
          return;
        }
      }
      else {
        SERIAL_PROTOCOLLNPGM("?Retraction Multiplier must be specified.");
        return;
      }
    }

    if (parser.seenval('S')) {
      g26_nozzle = parser.value_float();
      if (!WITHIN(g26_nozzle, 0.1, 1.0)) {
        SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible.");
        return;
      }
    }

    if (parser.seen('P')) {
      if (!parser.has_value()) {
        #if ENABLED(ULTIPANEL)
          g26_prime_flag = -1;
        #else
          SERIAL_PROTOCOLLNPGM("?Prime length must be specified when not using an LCD.");
          return;
        #endif
      }
      else {
        g26_prime_flag++;
        g26_prime_length = parser.value_linear_units();
        if (!WITHIN(g26_prime_length, 0.0, 25.0)) {
          SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible.");
          return;
        }
      }
    }

    if (parser.seenval('F')) {
      g26_filament_diameter = parser.value_linear_units();
      if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) {
        SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible.");
        return;
      }
    }
    g26_extrusion_multiplier *= sq(1.75) / sq(g26_filament_diameter); // If we aren't using 1.75mm filament, we need to
                                                                      // scale up or down the length needed to get the
                                                                      // same volume of filament

    g26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle size

    if (parser.seenval('H')) {
      g26_hotend_temp = parser.value_celsius();
      if (!WITHIN(g26_hotend_temp, 165, 280)) {
        SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible.");
        return;
      }
    }

    if (parser.seen('U')) {
      randomSeed(millis());
      // This setting will persist for the next G26
      random_deviation = parser.has_value() ? parser.value_float() : 50.0;
    }

    int16_t g26_repeats;
    #if ENABLED(ULTIPANEL)
      g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1);
    #else
      if (!parser.seen('R')) {
        SERIAL_PROTOCOLLNPGM("?(R)epeat must be specified when not using an LCD.");
        return;
      }
      else
        g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1;
    #endif
    if (g26_repeats < 1) {
      SERIAL_PROTOCOLLNPGM("?(R)epeat value not plausible; must be at least 1.");
      return;
    }

    g26_x_pos = parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position[X_AXIS];
    g26_y_pos = parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position[Y_AXIS];
    if (!position_is_reachable(g26_x_pos, g26_y_pos)) {
      SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds.");
      return;
    }

    /**
     * Wait until all parameters are verified before altering the state!
     */
    set_bed_leveling_enabled(!parser.seen('D'));

    if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
      do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
      set_current_from_destination();
    }

    if (turn_on_heaters() != G26_OK) goto LEAVE;

    current_position[E_CART] = 0.0;
    sync_plan_position_e();

    if (g26_prime_flag && prime_nozzle() != G26_OK) goto LEAVE;

    /**
     *  Bed is preheated
     *
     *  Nozzle is at temperature
     *
     *  Filament is primed!
     *
     *  It's  "Show Time" !!!
     */

    ZERO(circle_flags);
    ZERO(horizontal_mesh_line_flags);
    ZERO(vertical_mesh_line_flags);

    // Move nozzle to the specified height for the first layer
    set_destination_from_current();
    destination[Z_AXIS] = g26_layer_height;
    move_to(destination, 0.0);
    move_to(destination, g26_ooze_amount);

    #if ENABLED(ULTIPANEL)
      lcd_external_control = true;
    #endif

    //debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));

    #if DISABLED(ARC_SUPPORT)

      /**
       * Pre-generate radius offset values at 30 degree intervals to reduce CPU load.
       */
      #define A_INT 30
      #define _ANGS (360 / A_INT)
      #define A_CNT (_ANGS / 2)
      #define _IND(A) ((A + _ANGS * 8) % _ANGS)
      #define _COS(A) (trig_table[_IND(A) % A_CNT] * (_IND(A) >= A_CNT ? -1 : 1))
      #define _SIN(A) (-_COS((A + A_CNT / 2) % _ANGS))
      #if A_CNT & 1
        #error "A_CNT must be a positive value. Please change A_INT."
      #endif
      float trig_table[A_CNT];
      for (uint8_t i = 0; i < A_CNT; i++)
        trig_table[i] = INTERSECTION_CIRCLE_RADIUS * cos(RADIANS(i * A_INT));

    #endif // !ARC_SUPPORT

    mesh_index_pair location;
    do {
       location = g26_continue_with_closest
        ? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
        : find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.

      if (location.x_index >= 0 && location.y_index >= 0) {
        const float circle_x = _GET_MESH_X(location.x_index),
                    circle_y = _GET_MESH_Y(location.y_index);

        // If this mesh location is outside the printable_radius, skip it.
        if (!position_is_reachable(circle_x, circle_y)) continue;

        // Determine where to start and end the circle,
        // which is always drawn counter-clockwise.
        const uint8_t xi = location.x_index, yi = location.y_index;
        const bool f = yi == 0, r = xi >= GRID_MAX_POINTS_X - 1, b = yi >= GRID_MAX_POINTS_Y - 1;

        #if ENABLED(ARC_SUPPORT)

          #define ARC_LENGTH(quarters)  (INTERSECTION_CIRCLE_RADIUS * M_PI * (quarters) / 2)
          float sx = circle_x + INTERSECTION_CIRCLE_RADIUS,   // default to full circle
                ex = circle_x + INTERSECTION_CIRCLE_RADIUS,
                sy = circle_y, ey = circle_y,
                arc_length = ARC_LENGTH(4);

          // Figure out where to start and end the arc - we always print counterclockwise
          if (xi == 0) {                             // left edge
            sx = f ? circle_x + INTERSECTION_CIRCLE_RADIUS : circle_x;
            ex = b ? circle_x + INTERSECTION_CIRCLE_RADIUS : circle_x;
            sy = f ? circle_y : circle_y - INTERSECTION_CIRCLE_RADIUS;
            ey = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS;
            arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
          }
          else if (r) {                             // right edge
            sx = b ? circle_x - INTERSECTION_CIRCLE_RADIUS : circle_x;
            ex = f ? circle_x - INTERSECTION_CIRCLE_RADIUS : circle_x;
            sy = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS;
            ey = f ? circle_y : circle_y - INTERSECTION_CIRCLE_RADIUS;
            arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
          }
          else if (f) {
            sx = circle_x + INTERSECTION_CIRCLE_RADIUS;
            ex = circle_x - INTERSECTION_CIRCLE_RADIUS;
            sy = ey = circle_y;
            arc_length = ARC_LENGTH(2);
          }
          else if (b) {
            sx = circle_x - INTERSECTION_CIRCLE_RADIUS;
            ex = circle_x + INTERSECTION_CIRCLE_RADIUS;
            sy = ey = circle_y;
            arc_length = ARC_LENGTH(2);
          }
          const float arc_offset[2] = {
            circle_x - sx,
            circle_y - sy
          };

          const float dx_s = current_position[X_AXIS] - sx,   // find our distance from the start of the actual circle
                      dy_s = current_position[Y_AXIS] - sy,
                      dist_start = HYPOT2(dx_s, dy_s);
          const float endpoint[XYZE] = {
            ex, ey,
            g26_layer_height,
            current_position[E_CART] + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)
          };

          if (dist_start > 2.0) {
            retract_filament(destination);
            //todo:  parameterize the bump height with a define
            move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0);  // Z bump to minimize scraping
            move_to(sx, sy, g26_layer_height + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
          }

          move_to(sx, sy, g26_layer_height, 0.0); // Get to the starting point with no extrusion / un-Z bump

          recover_filament(destination);
          const float save_feedrate = feedrate_mm_s;
          feedrate_mm_s = PLANNER_XY_FEEDRATE() / 10.0;
          plan_arc(endpoint, arc_offset, false);  // Draw a counter-clockwise arc
          feedrate_mm_s = save_feedrate;
          set_destination_from_current();
          #if ENABLED(ULTIPANEL)
            if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
          #endif

        #else // !ARC_SUPPORT

          int8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00)
          if (xi == 0) {                      // Left edge? Just right half.
            start_ind = f ? 0 : -3;           //  03:00 to 12:00 for front-left
            end_ind = b ? 0 : 2;              //  06:00 to 03:00 for back-left
          }
          else if (r) {                       // Right edge? Just left half.
            start_ind = b ? 6 : 3;            //  12:00 to 09:00 for front-right
            end_ind = f ? 5 : 8;              //  09:00 to 06:00 for back-right
          }
          else if (f) {                       // Front edge? Just back half.
            start_ind = 0;                    //  03:00
            end_ind = 5;                      //  09:00
          }
          else if (b) {                       // Back edge? Just front half.
            start_ind = 6;                    //  09:00
            end_ind = 11;                     //  03:00
          }

          for (int8_t ind = start_ind; ind <= end_ind; ind++) {

            #if ENABLED(ULTIPANEL)
              if (user_canceled()) goto LEAVE;          // Check if the user wants to stop the Mesh Validation
            #endif

            float rx = circle_x + _COS(ind),            // For speed, these are now a lookup table entry
                  ry = circle_y + _SIN(ind),
                  xe = circle_x + _COS(ind + 1),
                  ye = circle_y + _SIN(ind + 1);

            #if IS_KINEMATIC
              // Check to make sure this segment is entirely on the bed, skip if not.
              if (!position_is_reachable(rx, ry) || !position_is_reachable(xe, ye)) continue;
            #else                                               // not, we need to skip
              rx = constrain(rx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
              ry = constrain(ry, Y_MIN_POS + 1, Y_MAX_POS - 1);
              xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1);
              ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
            #endif

            print_line_from_here_to_there(rx, ry, g26_layer_height, xe, ye, g26_layer_height);
            SERIAL_FLUSH();  // Prevent host M105 buffer overrun.
          }

        #endif // !ARC_SUPPORT

        if (look_for_lines_to_connect()) goto LEAVE;
      }

      SERIAL_FLUSH(); // Prevent host M105 buffer overrun.

    } while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0);

    LEAVE:
    lcd_setstatusPGM(PSTR("Leaving G26"), -1);

    retract_filament(destination);
    destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;

    //debug_current_and_destination(PSTR("ready to do Z-Raise."));
    move_to(destination, 0); // Raise the nozzle
    //debug_current_and_destination(PSTR("done doing Z-Raise."));

    destination[X_AXIS] = g26_x_pos;                               // Move back to the starting position
    destination[Y_AXIS] = g26_y_pos;
    //destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;            // Keep the nozzle where it is

    move_to(destination, 0); // Move back to the starting position
    //debug_current_and_destination(PSTR("done doing X/Y move."));

    #if ENABLED(ULTIPANEL)
      lcd_external_control = false;     // Give back control of the LCD Panel!
    #endif

    if (!g26_keep_heaters_on) {
      #if HAS_HEATED_BED
        thermalManager.setTargetBed(0);
      #endif
      thermalManager.setTargetHotend(0, 0);
    }
  }

#endif // G26_MESH_VALIDATION
