PrusaSlicer-NonPlainar/xs/src/libslic3r/GCode/WipeTowerPrusaMM.cpp

#include "WipeTowerPrusaMM.hpp"

#include <assert.h>
#include <math.h>
#include <fstream>
#include <iostream>
#include <vector>

#if defined(__linux) || defined(__GNUC__ )
#include <strings.h>
#endif /* __linux */

#ifdef _MSC_VER 
#define strcasecmp _stricmp
#endif


namespace Slic3r
{

namespace PrusaMultiMaterial {

class Writer
{
public:
	Writer() : 
		m_current_pos(std::numeric_limits<float>::max(), std::numeric_limits<float>::max()),
		m_current_z(0.f),
		m_current_feedrate(0.f),
		m_extrusion_flow(0.f),
		m_layer_height(0.f),
		m_preview_suppressed(false),
		m_elapsed_time(0.f) {}

	Writer& 			 set_initial_position(const WipeTower::xy &pos) { 
		m_start_pos = pos;
		m_current_pos = pos;
		return *this;
	}

	Writer&				 set_initial_tool(const unsigned int tool) { m_current_tool = tool; return *this; }

	Writer&				 set_z(float z) 
		{ m_current_z = z; return *this; }

	Writer&				 set_layer_height(float layer_height)
		{ m_layer_height = layer_height; return *this; }

	Writer& 			 set_extrusion_flow(float flow)
		{ m_extrusion_flow = flow; return *this; }
		
	Writer&				 set_rotation(WipeTower::xy& pos, float width, float depth, float angle)
		{ m_wipe_tower_pos = pos; m_wipe_tower_width = width; m_wipe_tower_depth=depth; m_angle_deg = angle; return (*this); }

	// Suppress / resume G-code preview in Slic3r. Slic3r will have difficulty to differentiate the various
	// filament loading and cooling moves from normal extrusion moves. Therefore the writer
	// is asked to suppres output of some lines, which look like extrusions.
	Writer& 			 suppress_preview() { m_preview_suppressed = true; return *this; }
	Writer& 			 resume_preview() { m_preview_suppressed = false; return *this; }

	Writer& 			 feedrate(float f)
	{
		if (f != m_current_feedrate)
			m_gcode += "G1" + set_format_F(f) + "\n";
		return *this;
	}

	const std::string&   gcode() const { return m_gcode; }
	const std::vector<WipeTower::Extrusion>& extrusions() const { return m_extrusions; }
	float                x()     const { return m_current_pos.x; }
	float                y()     const { return m_current_pos.y; }
	const WipeTower::xy& pos()   const { return m_current_pos; }
	const WipeTower::xy	 start_pos_rotated() const { return m_start_pos.rotate(m_wipe_tower_pos, m_wipe_tower_width, m_wipe_tower_depth, m_angle_deg); }
	const WipeTower::xy pos_rotated() const { return m_current_pos.rotate(m_wipe_tower_pos, m_wipe_tower_width, m_wipe_tower_depth, m_angle_deg); }
	float 				 elapsed_time() const { return m_elapsed_time; }

	// Extrude with an explicitely provided amount of extrusion.
	Writer& extrude_explicit(float x, float y, float e, float f = 0.f) 
	{
		if (x == m_current_pos.x && y == m_current_pos.y && e == 0.f && (f == 0.f || f == m_current_feedrate))
			// Neither extrusion nor a travel move.
			return *this;

		float dx = x - m_current_pos.x;
		float dy = y - m_current_pos.y;
		double len = sqrt(dx*dx+dy*dy);
		
		// For rotated wipe tower, transform position to printer coordinates
		WipeTower::xy rotated_current_pos(m_current_pos.rotate(m_wipe_tower_pos, m_wipe_tower_width, m_wipe_tower_depth, m_angle_deg));
		WipeTower::xy rot(WipeTower::xy(x,y).rotate(m_wipe_tower_pos, m_wipe_tower_width, m_wipe_tower_depth, m_angle_deg));

		if (! m_preview_suppressed && e > 0.f && len > 0.) {
			// Width of a squished extrusion, corrected for the roundings of the squished extrusions.
			// This is left zero if it is a travel move.
			float width = float(double(e) * m_filament_area / (len * m_layer_height));
			// Correct for the roundings of a squished extrusion.
			width += m_layer_height * float(1. - M_PI / 4.);
			if (m_extrusions.empty() || m_extrusions.back().pos != rotated_current_pos)
				m_extrusions.emplace_back(WipeTower::Extrusion(rotated_current_pos, 0, m_current_tool));
			m_extrusions.emplace_back(WipeTower::Extrusion(WipeTower::xy(rot.x, rot.y), width, m_current_tool));			
		}

		m_gcode += "G1";
		if (rot.x != rotated_current_pos.x)
			m_gcode += set_format_X(rot.x);
		if (rot.y != rotated_current_pos.y)
			m_gcode += set_format_Y(rot.y);
			
		// Transform current position back to wipe tower coordinates (was updated by set_format_X)
		m_current_pos.x = x;
		m_current_pos.y = y;

		if (e != 0.f)
			m_gcode += set_format_E(e);

		if (f != 0.f && f != m_current_feedrate)
			m_gcode += set_format_F(f);
		
		
		
		
		// Update the elapsed time with a rough estimate.
		m_elapsed_time += ((len == 0) ? std::abs(e) : len) / m_current_feedrate * 60.f;
		m_gcode += "\n";
		return *this;
	}

	Writer& extrude_explicit(const WipeTower::xy &dest, float e, float f = 0.f) 
		{ return extrude_explicit(dest.x, dest.y, e, f); }

	// Travel to a new XY position. f=0 means use the current value.
	Writer& travel(float x, float y, float f = 0.f)
		{ return extrude_explicit(x, y, 0.f, f); }

	Writer& travel(const WipeTower::xy &dest, float f = 0.f) 
		{ return extrude_explicit(dest.x, dest.y, 0.f, f); }

	// Extrude a line from current position to x, y with the extrusion amount given by m_extrusion_flow.
	Writer& extrude(float x, float y, float f = 0.f)
	{
		float dx = x - m_current_pos.x;
		float dy = y - m_current_pos.y;
		return extrude_explicit(x, y, sqrt(dx*dx+dy*dy) * m_extrusion_flow, f);
	}

	Writer& extrude(const WipeTower::xy &dest, const float f = 0.f) 
		{ return extrude(dest.x, dest.y, f); }

	Writer& load(float e, float f = 0.f)
	{
		if (e == 0.f && (f == 0.f || f == m_current_feedrate))
			return *this;
		m_gcode += "G1";
		if (e != 0.f)
			m_gcode += set_format_E(e);
		if (f != 0.f && f != m_current_feedrate)
			m_gcode += set_format_F(f);
		m_gcode += "\n";
		return *this;
	}
 
	// Derectract while moving in the X direction.
	// If |x| > 0, the feed rate relates to the x distance,
	// otherwise the feed rate relates to the e distance.
	Writer& load_move_x(float x, float e, float f = 0.f)
		{ return extrude_explicit(x, m_current_pos.y, e, f); }

	Writer& retract(float e, float f = 0.f)
		{ return load(-e, f); }

	// Elevate the extruder head above the current print_z position.
	Writer& z_hop(float hop, float f = 0.f)
	{ 
		m_gcode += std::string("G1") + set_format_Z(m_current_z + hop);
		if (f != 0 && f != m_current_feedrate)
			m_gcode += set_format_F(f);
		m_gcode += "\n";
		return *this;
	}

	// Lower the extruder head back to the current print_z position.
	Writer& z_hop_reset(float f = 0.f) 
		{ return z_hop(0, f); }

	// Move to x1, +y_increment,
	// extrude quickly amount e to x2 with feed f.
	Writer& ram(float x1, float x2, float dy, float e0, float e, float f)
	{
		extrude_explicit(x1, m_current_pos.y + dy, e0, f);
		extrude_explicit(x2, m_current_pos.y, e);
		return *this;
	}

	// Let the end of the pulled out filament cool down in the cooling tube
	// by moving up and down and moving the print head left / right
	// at the current Y position to spread the leaking material.
	Writer& cool(float x1, float x2, float e1, float e2, float f)
	{
		extrude_explicit(x1, m_current_pos.y, e1, f);
		extrude_explicit(x2, m_current_pos.y, e2);
		return *this;
	}

	Writer& set_tool(int tool) 
	{
		char buf[64];
		sprintf(buf, "T%d\n", tool);
		m_gcode += buf;
		m_current_tool = tool;
		return *this;
	}

	// Set extruder temperature, don't wait by default.
	Writer& set_extruder_temp(int temperature, bool wait = false)
	{
		char buf[128];
		sprintf(buf, "M%d S%d\n", wait ? 109 : 104, temperature);
		m_gcode += buf;
		return *this;
	};

	// Set speed factor override percentage.
	Writer& speed_override(int speed) 
	{
		char buf[128];
		sprintf(buf, "M220 S%d\n", speed);
		m_gcode += buf;
		return *this;
	};

	// Set digital trimpot motor
	Writer& set_extruder_trimpot(int current) 
	{
		char buf[128];
		sprintf(buf, "M907 E%d\n", current);
		m_gcode += buf;
		return *this;
	};

	Writer& flush_planner_queue() 
	{ 
		m_gcode += "G4 S0\n"; 
		return *this;
	}

	// Reset internal extruder counter.
	Writer& reset_extruder()
	{ 
		m_gcode += "G92 E0\n";
		return *this;
	}

	Writer& comment_with_value(const char *comment, int value)
	{
		char strvalue[64];
		sprintf(strvalue, "%d", value);
		m_gcode += std::string(";") + comment + strvalue + "\n";
		return *this;
	};

	Writer& comment_material(WipeTowerPrusaMM::material_type material)
	{
		m_gcode += "; material : ";
		switch (material)
		{
		case WipeTowerPrusaMM::PVA:
			m_gcode += "#8 (PVA)";
			break;
		case WipeTowerPrusaMM::SCAFF:
			m_gcode += "#5 (Scaffold)";
			break;
		case WipeTowerPrusaMM::FLEX:
			m_gcode += "#4 (Flex)";
			break;
		default:
			m_gcode += "DEFAULT (PLA)";
			break;
		}
		m_gcode += "\n";
		return *this;
	};

	Writer& append(const char *text) { m_gcode += text; return *this; }

private:
	WipeTower::xy m_start_pos;
	WipeTower::xy m_current_pos;
	float    	  m_current_z;
	float 	  	  m_current_feedrate;
	unsigned int  m_current_tool;
	float 		  m_layer_height;
	float 	  	  m_extrusion_flow;
	bool		  m_preview_suppressed;
	std::string   m_gcode;
	std::vector<WipeTower::Extrusion> m_extrusions;
	float         m_elapsed_time;
	const double  m_filament_area = 0.25*M_PI*1.75*1.75;
	float   	  m_angle_deg = 0;
	WipeTower::xy m_wipe_tower_pos;
	float 		  m_wipe_tower_width;
	float		  m_wipe_tower_depth;

	std::string   set_format_X(float x) {
		char buf[64];
		sprintf(buf, " X%.3f", x);
		m_current_pos.x = x;
		return buf;
	}

	std::string   set_format_Y(float y) {
		char buf[64];
		sprintf(buf, " Y%.3f", y);
		m_current_pos.y = y;
		return buf;
	}

	std::string   set_format_Z(float z) {
		char buf[64];
		sprintf(buf, " Z%.3f", z);
		return buf;
	}

	std::string   set_format_E(float e) {
		char buf[64];
		sprintf(buf, " E%.4f", e);
		return buf;
	}

	std::string   set_format_F(float f) {
		char buf[64];
		sprintf(buf, " F%d", int(floor(f + 0.5f)));
		m_current_feedrate = f;
		return buf;
	}

	Writer& operator=(const Writer &rhs);
};

/*
class Material
{
public:
	std::string 				name;
	std::string 				type;

	struct RammingStep {
//		float length;
		float extrusion_multiplier; // sirka linky
		float extrusion;
		float speed;
	};
	std::vector<RammingStep> 			ramming_sequence;

	// Number and speed of the cooling moves.
	std::vector<float>					cooling_moves;

	// Percentage of the speed overide, in pairs of <z, percentage>
	std::vector<std::pair<float, int>> 	speed_override;
};
*/

}; // namespace PrusaMultiMaterial

WipeTowerPrusaMM::material_type WipeTowerPrusaMM::parse_material(const char *name)
{
	if (strcasecmp(name, "PLA") == 0)
		return PLA;
	if (strcasecmp(name, "ABS") == 0)
		return ABS;
	if (strcasecmp(name, "PET") == 0)
		return PET;
	if (strcasecmp(name, "HIPS") == 0)
		return HIPS;
	if (strcasecmp(name, "FLEX") == 0)
		return FLEX;
	if (strcasecmp(name, "SCAFF") == 0)
		return SCAFF;
	if (strcasecmp(name, "EDGE") == 0)
		return EDGE;
	if (strcasecmp(name, "NGEN") == 0)
		return NGEN;
	if (strcasecmp(name, "PVA") == 0)
		return PVA;
	return INVALID;
}

// Returns gcode to prime the nozzles at the front edge of the print bed.
WipeTower::ToolChangeResult WipeTowerPrusaMM::prime(
	// print_z of the first layer.
	float 						first_layer_height, 
	// Extruder indices, in the order to be primed. The last extruder will later print the wipe tower brim, print brim and the object.
	const std::vector<unsigned int> &tools,
	// If true, the last priming are will be the same as the other priming areas, and the rest of the wipe will be performed inside the wipe tower.
	// If false, the last priming are will be large enough to wipe the last extruder sufficiently.
	bool 						last_wipe_inside_wipe_tower, 
	// May be used by a stand alone post processor.
	Purpose 					purpose)
{
	this->set_layer(first_layer_height, first_layer_height, tools.size(), true, false);

	float wipe_area = m_wipe_area;
	// Calculate the amount of wipe over the wipe tower brim following the prime, decrease wipe_area
	// with the amount of material extruded over the brim.
	// DOESN'T MAKE SENSE NOW, wipe tower dimensions are still unknown at this point
	/*{
		// Simulate the brim extrusions, summ the length of the extrusion.
		float e_length = this->tool_change(0, false, PURPOSE_EXTRUDE).total_extrusion_length_in_plane();
		// Shrink wipe_area by the amount of extrusion extruded by the finish_layer().
		// Y stepping of the wipe extrusions.
		float dy = m_line_width;
		// Number of whole wipe lines, that would be extruded to wipe as much material as the finish_layer().
		// Minimum wipe area is 5mm wide.
		//FIXME calculate the purge_lines_width precisely.
		float purge_lines_width = 1.3f;
		wipe_area = std::max(5.f, m_wipe_area - float(floor(e_length / m_wipe_tower_width)) * dy - purge_lines_width);
	}

	this->set_layer(first_layer_height, first_layer_height, tools.size(), true, false);*/
	this->m_num_layer_changes 	= 0;
	this->m_current_tool 		= tools.front();

    // The Prusa i3 MK2 has a working space of [0, -2.2] to [250, 210].
    // Due to the XYZ calibration, this working space may shrink slightly from all directions,
    // therefore the homing position is shifted inside the bed by 0.2 in the firmware to [0.2, -2.0].
//	box_coordinates cleaning_box(xy(0.5f, - 1.5f), m_wipe_tower_width, wipe_area);
	//FIXME: set the width properly
	constexpr float prime_section_width = 60.f;
	box_coordinates cleaning_box(xy(5.f, 0.f), prime_section_width, wipe_area);

	PrusaMultiMaterial::Writer writer;
	writer.set_extrusion_flow(m_extrusion_flow)
		  .set_z(m_z_pos)
		  .set_layer_height(m_layer_height)
		  .set_initial_tool(m_current_tool)
		  .append(";--------------------\n"
			 	  "; CP PRIMING START\n")
		  .append(";--------------------\n")
		  .speed_override(100);

	// Always move to the starting position.
	writer.set_initial_position(xy(0.f, 0.f))
		  .travel(cleaning_box.ld, 7200)
	// Increase the extruder driver current to allow fast ramming.
		  .set_extruder_trimpot(750);

	if (purpose == PURPOSE_EXTRUDE || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
		float y_end = 0.f;
		for (size_t idx_tool = 0; idx_tool < tools.size(); ++ idx_tool) {
			unsigned int tool = tools[idx_tool];
			// Select the tool, set a speed override for soluble and flex materials.
			toolchange_Change(writer, tool, m_material[tool]);
			// Prime the tool.
			toolchange_Load(writer, cleaning_box);
			if (idx_tool + 1 == tools.size()) {
				// Last tool should not be unloaded, but it should be wiped enough to become of a pure color.
				if (last_wipe_inside_wipe_tower) {
					// Shrink the last wipe area to the area of the other purge areas,
					// remember the last initial wipe width to be purged into the 1st layer of the wipe tower.
					this->m_initial_extra_wipe = std::max(0.f, wipe_area - (y_end + 0.5f * m_line_width - cleaning_box.ld.y));
					cleaning_box.lu.y -= this->m_initial_extra_wipe;
					cleaning_box.ru.y -= this->m_initial_extra_wipe;
				}
				toolchange_Wipe(writer, cleaning_box, false);
			} else {
				// Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.
				writer.travel(writer.x(), writer.y() + m_perimeter_width, 7200);
				// Change the extruder temperature to the temperature of the next filament before starting the cooling moves.
				toolchange_Unload(writer, cleaning_box, m_material[m_current_tool], m_first_layer_temperature[tools[idx_tool+1]]);
				// Save the y end of the non-last priming area.
				y_end = writer.y();
				cleaning_box.translate(prime_section_width, 0.f);
				writer.travel(cleaning_box.ld, 7200);
			}
		    ++ m_num_tool_changes;
		}
	}

	// Reset the extruder current to a normal value.
	writer.set_extruder_trimpot(550)
		  .feedrate(6000)
		  .flush_planner_queue()
		  .reset_extruder()
		  .append("; CP PRIMING END\n"
	 		      ";------------------\n"
				  "\n\n");

	// Force m_idx_tool_change_in_layer to -1, so that tool_change() will know to extrude the wipe tower brim.
	///m_idx_tool_change_in_layer = (unsigned int)(-1);
	m_print_brim = true;

	ToolChangeResult result;
	result.print_z 	  	= this->m_z_pos;
	result.layer_height = this->m_layer_height;
	result.gcode   	  	= writer.gcode();
	result.elapsed_time = writer.elapsed_time();
	result.extrusions 	= writer.extrusions();
	result.start_pos  	= writer.start_pos_rotated();
	result.end_pos 	  	= writer.pos_rotated();
	return result;
}

WipeTower::ToolChangeResult WipeTowerPrusaMM::tool_change(unsigned int tool, bool last_in_layer, Purpose purpose)
{
	// Either it is the last tool unload,
	// or there must be a nonzero wipe tower partitions available.
//	assert(tool < 0 || it_layer_tools->wipe_tower_partitions > 0);

	if ( m_print_brim ) {
	///if (m_idx_tool_change_in_layer == (unsigned int)(-1)) {
		// First layer, prime the extruder.
		return toolchange_Brim(purpose);
	}
	
	float wipe_area = 0.f;
	/*if (++ m_idx_tool_change_in_layer < (unsigned int)m_max_color_changes && last_in_layer) {
		// This tool_change() call will be followed by a finish_layer() call.
		// Try to shrink the wipe_area to save material, as less than usual wipe is required
		// if this step is foolowed by finish_layer() extrusions wiping the same extruder.
		for (size_t iter = 0; iter < 3; ++ iter) {
			// Simulate the finish_layer() extrusions, summ the length of the extrusion.
			float e_length = 0.f;
			{
				unsigned int old_idx_tool_change = m_idx_tool_change_in_layer;
			    float old_wipe_start_y = m_current_wipe_start_y;
			    m_current_wipe_start_y += wipe_area;
				e_length = this->finish_layer(PURPOSE_EXTRUDE).total_extrusion_length_in_plane();
				m_idx_tool_change_in_layer = old_idx_tool_change;
				m_current_wipe_start_y = old_wipe_start_y;
			}
			// Shrink wipe_area by the amount of extrusion extruded by the finish_layer().
			// Y stepping of the wipe extrusions.
			float dy = m_line_width;
			// Number of whole wipe lines, that would be extruded to wipe as much material as the finish_layer().
			float num_lines_extruded = floor(e_length / m_wipe_tower_width);
			// Minimum wipe area is 5mm wide.
			wipe_area = m_wipe_area - num_lines_extruded * dy;
			if (wipe_area < 5.) {
				wipe_area = 5.;
				break;
			}
		}
	}*/

	if (tool != (unsigned int)(-1)) {
		for (const auto &b : m_layer_info->tool_changes)
			if ( b.new_tool == tool )
				wipe_area = b.required_depth;
	}
	else {
		// Otherwise we are going to Unload only. And m_layer_info would be invalid.
	}
	
	box_coordinates cleaning_box(
		m_wipe_tower_pos + xy(0.f, m_current_wipe_start_y + 0.5f * m_perimeter_width),
		m_wipe_tower_width,
		wipe_area - m_perimeter_width);

	PrusaMultiMaterial::Writer writer;
	writer.set_extrusion_flow(m_extrusion_flow)
		.set_z(m_z_pos)
		.set_layer_height(m_layer_height)
		.set_initial_tool(m_current_tool)
		.set_rotation(m_wipe_tower_pos,m_wipe_tower_width,m_wipe_tower_depth,m_wipe_tower_rotation_angle)
		.append(";--------------------\n"
				"; CP TOOLCHANGE START\n")
		.comment_with_value(" toolchange #", m_num_tool_changes)
		.comment_material(m_material[m_current_tool])
		.append(";--------------------\n")
		.speed_override(100);

	xy initial_position = ((m_current_shape == SHAPE_NORMAL) ? cleaning_box.ld : cleaning_box.lu) + 
    	xy(m_perimeter_width, ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_perimeter_width);

	if (purpose == PURPOSE_MOVE_TO_TOWER || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
		// Scaffold leaks terribly, reduce leaking by a full retract when going to the wipe tower.
		float initial_retract = ((m_material[m_current_tool] == SCAFF) ? 1.f : 0.5f) * m_retract;
		writer 	// Lift for a Z hop.
		  	  	.z_hop(m_zhop, 7200)
		  		// Additional retract on move to tower.
		  		.retract(initial_retract, 3600)
		  		// Move to a starting position, one perimeter width inside the cleaning box.
		  		.travel(initial_position, 7200)
		  		// Unlift for a Z hop.
		  		.z_hop_reset(7200)
		  		// Additional retract on move to tower.
		  		.load(initial_retract, 3600)
		  		.load(m_retract, 1500);
	} else {
		// Already at the initial position.
		writer.set_initial_position(initial_position);
	}

	if (purpose == PURPOSE_EXTRUDE || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
		// Increase the extruder driver current to allow fast ramming.
		writer.set_extruder_trimpot(750);
		// Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.

		if (tool != (unsigned int)-1) {
			toolchange_Unload(writer, cleaning_box, m_material[m_current_tool],
				m_is_first_layer ? m_first_layer_temperature[tool] : m_temperature[tool]);
			// This is not the last change.
			// Change the tool, set a speed override for soluble and flex materials.
			toolchange_Change(writer, tool, m_material[tool]);
			toolchange_Load(writer, cleaning_box);
			// Wipe the newly loaded filament until the end of the assigned wipe area.
			toolchange_Wipe(writer, cleaning_box, false);
			// Draw a perimeter around cleaning_box and wipe.
			box_coordinates box = cleaning_box;
			if (m_current_shape == SHAPE_REVERSED) {
				std::swap(box.lu, box.ld);
				std::swap(box.ru, box.rd);
			}
			// Draw a perimeter around cleaning_box.
			writer.travel(box.lu, 7000)
				  .extrude(box.ld, 3200).extrude(box.rd)
				  .extrude(box.ru).extrude(box.lu);
			// Wipe the nozzle.
			//if (purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE)
			// Always wipe the nozzle with a long wipe to reduce stringing when moving away from the wipe tower.
				writer.travel(box.ru, 7200)
			  		  .travel(box.lu);
		} else
			toolchange_Unload(writer, cleaning_box, m_material[m_current_tool], m_temperature[m_current_tool]);

		// Reset the extruder current to a normal value.
		writer.set_extruder_trimpot(550)
			  .feedrate(6000)
			  .flush_planner_queue()
			  .reset_extruder()
			  .append("; CP TOOLCHANGE END\n"
		 		      ";------------------\n"
					  "\n\n");

	    ++ m_num_tool_changes;
	    m_current_wipe_start_y += wipe_area;
	}

	ToolChangeResult result;
	result.print_z 	  	= this->m_z_pos;
	result.layer_height = this->m_layer_height;
	result.gcode   	  	= writer.gcode();
	result.elapsed_time = writer.elapsed_time();
	result.extrusions 	= writer.extrusions();
	result.start_pos  	= writer.start_pos_rotated();
	result.end_pos 	  	= writer.pos_rotated();
	return result;
}

WipeTower::ToolChangeResult WipeTowerPrusaMM::toolchange_Brim(Purpose purpose, bool sideOnly, float y_offset)
{
	const box_coordinates wipeTower_box(
		m_wipe_tower_pos,
		m_wipe_tower_width,
		m_wipe_tower_depth - m_perimeter_width / 2);

	PrusaMultiMaterial::Writer writer;
	writer.set_extrusion_flow(m_extrusion_flow * 1.1f)
		// Let the writer know the current Z position as a base for Z-hop.
		.set_z(m_z_pos)
		.set_layer_height(m_layer_height)
		.set_initial_tool(m_current_tool)
		.set_rotation(m_wipe_tower_pos, m_wipe_tower_width, m_wipe_tower_depth, m_wipe_tower_rotation_angle)
		.append(
			";-------------------------------------\n"
			"; CP WIPE TOWER FIRST LAYER BRIM START\n");

	xy initial_position = wipeTower_box.lu - xy(m_perimeter_width * 6.f, 0);

	if (purpose == PURPOSE_MOVE_TO_TOWER || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE)
		// Move with Z hop.
		writer.z_hop(m_zhop, 7200)
			  .travel(initial_position, 6000)
			  .z_hop_reset(7200);
	else 
		writer.set_initial_position(initial_position);

	if (purpose == PURPOSE_EXTRUDE || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
		// Prime the extruder 10*m_perimeter_width left along the vertical edge of the wipe tower.
		writer.extrude_explicit(wipeTower_box.ld - xy(m_perimeter_width * 6.f, 0), 
			1.5f * m_extrusion_flow * (wipeTower_box.lu.y - wipeTower_box.ld.y), 2400);

		// The tool is supposed to be active and primed at the time when the wipe tower brim is extruded.
		// toolchange_Change(writer, int(tool), m_material[tool]);

		if (sideOnly) {
			float x_offset = m_perimeter_width;
			for (size_t i = 0; i < 4; ++ i, x_offset += m_perimeter_width)
				writer.travel (wipeTower_box.ld + xy(- x_offset,   y_offset), 7000)
					  .extrude(wipeTower_box.lu + xy(- x_offset, - y_offset), 2100);
			writer.travel(wipeTower_box.rd + xy(x_offset, y_offset), 7000);
			x_offset = m_perimeter_width;
			for (size_t i = 0; i < 4; ++ i, x_offset += m_perimeter_width)
				writer.travel (wipeTower_box.rd + xy(x_offset,   y_offset), 7000)
					  .extrude(wipeTower_box.ru + xy(x_offset, - y_offset), 2100);
		} else {
			// Extrude 4 rounds of a brim around the future wipe tower.
			box_coordinates box(wipeTower_box);
			//FIXME why is the box shifted in +Y by 0.5f * m_perimeter_width?
			box.translate(0.f, 0.5f * m_perimeter_width);
			box.expand(0.5f * m_perimeter_width);
			for (size_t i = 0; i < 4; ++ i) {
				writer.travel (box.ld, 7000)
					  .extrude(box.lu, 2100).extrude(box.ru)
					  .extrude(box.rd      ).extrude(box.ld);
				box.expand(m_perimeter_width);
			}
		}

		if (m_initial_extra_wipe > m_perimeter_width * 1.9f) {
			box_coordinates cleaning_box(
				m_wipe_tower_pos + xy(0.f, 0.5f * m_perimeter_width),
				m_wipe_tower_width, 
				m_initial_extra_wipe - m_perimeter_width);
		    writer.travel(cleaning_box.ld + xy(m_perimeter_width, 0.5f * m_perimeter_width), 6000);
			// Wipe the newly loaded filament until the end of the assigned wipe area.
			toolchange_Wipe(writer, cleaning_box, true);
			// Draw a perimeter around cleaning_box.
			writer.travel(cleaning_box.lu, 7000)
				  .extrude(cleaning_box.ld, 3200).extrude(cleaning_box.rd)
				  .extrude(cleaning_box.ru).extrude(cleaning_box.lu);
		    m_current_wipe_start_y = m_initial_extra_wipe;
		}

		// Move to the front left corner.
		writer.travel(wipeTower_box.ld, 7000);

		//if (purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE)
			// Wipe along the front edge.
		// Always wipe the nozzle with a long wipe to reduce stringing when moving away from the wipe tower.
			writer.travel(wipeTower_box.rd)
			      .travel(wipeTower_box.ld);
			  
	    writer.append("; CP WIPE TOWER FIRST LAYER BRIM END\n"
				      ";-----------------------------------\n");

		// Mark the brim as extruded.
		///m_idx_tool_change_in_layer = 0;
		m_print_brim = false;
	}

	ToolChangeResult result;
	result.print_z 	  	= this->m_z_pos;
	result.layer_height = this->m_layer_height;
	result.gcode   	  	= writer.gcode();
	result.elapsed_time = writer.elapsed_time();
	result.extrusions 	= writer.extrusions();
	result.start_pos  	= writer.start_pos_rotated();
	result.end_pos 	  	= writer.pos_rotated();
	return result;
}

// Ram the hot material out of the melt zone, retract the filament into the cooling tubes and let it cool.
void WipeTowerPrusaMM::toolchange_Unload(
	PrusaMultiMaterial::Writer &writer,
	const box_coordinates 	&cleaning_box,
	const material_type		 current_material,
	const int 				 new_temperature)
{
	float xl = cleaning_box.ld.x + 0.5f * m_perimeter_width;
	float xr = cleaning_box.rd.x - 0.5f * m_perimeter_width;
	float y_step = ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_perimeter_width;

	writer.append("; CP TOOLCHANGE UNLOAD\n");

	// Ram the hot material out of the extruder melt zone.
	// Current extruder position is on the left, one perimeter inside the cleaning box in both X and Y.
	float e0 = m_perimeter_width * m_extrusion_flow;
	float e = (xr - xl) * m_extrusion_flow;
	switch (current_material)
	{
	case ABS:
   		// ramming          start                    end                  y increment     amount feedrate
		writer.ram(xl + m_perimeter_width * 2, xr - m_perimeter_width,     y_step * 0.2f, 0,  1.2f  * e, 4000)
			  .ram(xr - m_perimeter_width,     xl + m_perimeter_width,     y_step * 1.2f, e0, 1.6f  * e, 4600)
			  .ram(xl + m_perimeter_width * 2, xr - m_perimeter_width * 2, y_step * 1.2f, e0, 1.8f  * e, 5000)
			  .ram(xr - m_perimeter_width * 2, xl + m_perimeter_width * 2, y_step * 1.2f, e0, 1.8f  * e, 5000);
		break;
	case PVA:
		// Used for the PrimaSelect PVA
		writer.ram(xl + m_perimeter_width * 2, xr - m_perimeter_width,     y_step * 0.2f, 0,  1.75f * e, 4000)
			  .ram(xr - m_perimeter_width,     xl + m_perimeter_width,     y_step * 1.5f, 0,  1.75f * e, 4500)
			  .ram(xl + m_perimeter_width * 2, xr - m_perimeter_width * 2, y_step * 1.5f, 0,  1.75f * e, 4800)
			  .ram(xr - m_perimeter_width,     xl + m_perimeter_width,     y_step * 1.5f, 0,  1.75f * e, 5000);
		break;
	case SCAFF:
		writer.ram(xl + m_perimeter_width * 2, xr - m_perimeter_width,     y_step * 2.f,  0,  1.75f * e, 4000)
			  .ram(xr - m_perimeter_width,     xl + m_perimeter_width,     y_step * 3.f,  0,  2.34f * e, 4600)
			  .ram(xl + m_perimeter_width * 2, xr - m_perimeter_width * 2, y_step * 3.f,  0,  2.63f * e, 5200);
		break;
	default:
		// PLA, PLA/PHA and others
		// Used for the Verbatim BVOH, PET, NGEN, co-polyesters
		writer.ram(xl + m_perimeter_width * 2, xr - m_perimeter_width,     y_step * 0.2f, 0,  1.60f * e, 4000)
			  .ram(xr - m_perimeter_width,     xl + m_perimeter_width,     y_step * 1.2f, e0, 1.65f * e, 4600)
			  .ram(xl + m_perimeter_width * 2, xr - m_perimeter_width * 2, y_step * 1.2f, e0, 1.74f * e, 5200);
	}

	// Pull the filament end into a cooling tube.
	writer.retract(15, 5000).retract(50, 5400).retract(15, 3000).retract(12, 2000);

	if (new_temperature != 0)
		// Set the extruder temperature, but don't wait.
		writer.set_extruder_temp(new_temperature, false);

	// In case the current print head position is closer to the left edge, reverse the direction.
	if (std::abs(writer.x() - xl) < std::abs(writer.x() - xr))
		std::swap(xl, xr);
	// Horizontal cooling moves will be performed at the following Y coordinate:
	writer.travel(xr, writer.y() + y_step * 0.8f, 7200)
		  .suppress_preview();
	switch (current_material)
	{
	case PVA:
		writer.cool(xl, xr, 3, -5, 1600)
			  .cool(xl, xr, 5, -5, 2000)
			  .cool(xl, xr, 5, -5, 2200)
			  .cool(xl, xr, 5, -5, 2400)
			  .cool(xl, xr, 5, -5, 2400)
			  .cool(xl, xr, 5, -3, 2400);
		break;
	case SCAFF:
		writer.cool(xl, xr, 3, -5, 1600)
			  .cool(xl, xr, 5, -5, 2000)
			  .cool(xl, xr, 5, -5, 2200)
			  .cool(xl, xr, 5, -5, 2200)
			  .cool(xl, xr, 5, -3, 2400);
		break;
	default:
		writer.cool(xl, xr, 3, -5, 1600)
			  .cool(xl, xr, 5, -5, 2000)
			  .cool(xl, xr, 5, -5, 2400)
			  .cool(xl, xr, 5, -3, 2400);
	}

	writer.resume_preview()
		  .flush_planner_queue();
}

// Change the tool, set a speed override for solube and flex materials.
void WipeTowerPrusaMM::toolchange_Change(
	PrusaMultiMaterial::Writer &writer,
	const unsigned int 	new_tool, 
	material_type 		new_material)
{
	// Speed override for the material. Go slow for flex and soluble materials.
	int speed_override;
	switch (new_material) {
	case PVA:   speed_override = (m_z_pos < 0.80f) ? 60 : 80; break;
	case SCAFF: speed_override = 35; break;
	case FLEX:  speed_override = 35; break;
	default:    speed_override = 100;
	}
	writer.set_tool(new_tool)
	      .speed_override(speed_override)
	      .flush_planner_queue();
	m_current_tool = new_tool;
}

void WipeTowerPrusaMM::toolchange_Load(
	PrusaMultiMaterial::Writer &writer,
	const box_coordinates  &cleaning_box)
{
	float xl = cleaning_box.ld.x + m_perimeter_width;
	float xr = cleaning_box.rd.x - m_perimeter_width;
	//FIXME flipping left / right side, so that the following toolchange_Wipe will start
	// where toolchange_Load ends. 
	std::swap(xl, xr);

	writer.append("; CP TOOLCHANGE LOAD\n")
	// Load the filament while moving left / right,
	// so the excess material will not create a blob at a single position.
		  .suppress_preview()
		  // Accelerate the filament loading
		  .load_move_x(xr, 20, 1400)
		  // Fast loading phase
		  .load_move_x(xl, 40, 3000)
		  // Slowing down
		  .load_move_x(xr, 20, 1600)
		  .load_move_x(xl, 10, 1000)
		  .resume_preview();

	// Extrude first five lines (just three lines if colorInit is set).
	writer.extrude(xr, writer.y(), 1600);
	bool   colorInit = false;
	size_t pass = colorInit ? 1 : 2;
	float dy = ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_line_width;
	for (int i = 0; i < pass; ++ i) {
		writer.travel (xr, writer.y() + dy, 7200);
		writer.extrude(xl, writer.y(), 		2200);
		writer.travel (xl, writer.y() + dy, 7200);
	 	writer.extrude(xr, writer.y(), 		2200);
	}

	// Reset the extruder current to the normal value.
	writer.set_extruder_trimpot(550);
}

// Wipe the newly loaded filament until the end of the assigned wipe area.
void WipeTowerPrusaMM::toolchange_Wipe(
	PrusaMultiMaterial::Writer &writer,
	const box_coordinates  &cleaning_box,
	bool skip_initial_y_move)
{
	// Increase flow on first layer, slow down print.
	writer.set_extrusion_flow(m_extrusion_flow * (m_is_first_layer ? 1.18f : 1.f))
		  .append("; CP TOOLCHANGE WIPE\n");
	float wipe_coeff = m_is_first_layer ? 0.5f : 1.f;
	float xl = cleaning_box.ld.x + 2.f * m_perimeter_width;
	float xr = cleaning_box.rd.x - 2.f * m_perimeter_width;
	// Wipe speed will increase up to 4800.
	float wipe_speed 	 = 4200.f;
	float wipe_speed_inc = 50.f;
	float wipe_speed_max = 4800.f;
	// Y increment per wipe line.
	float dy = ((m_current_shape == SHAPE_NORMAL) ? 1.f : -1.f) * m_line_width;

	for (bool p = true; 
		// Next wipe line fits the cleaning box (and not forgetting about border)
		((m_current_shape == SHAPE_NORMAL) ?
			(writer.y() <= cleaning_box.lu.y - 1.5f * m_perimeter_width) :
			(writer.y() >= cleaning_box.ld.y + 1.5f * m_perimeter_width));
		p = ! p)
	{
		wipe_speed = std::min(wipe_speed_max, wipe_speed + wipe_speed_inc);
		if (skip_initial_y_move)
			skip_initial_y_move = false;
		else
			writer.extrude(xl - (p ? m_perimeter_width / 2 : m_perimeter_width), writer.y() + dy, wipe_speed * wipe_coeff);
		writer.extrude(xr + (p ? m_perimeter_width : m_perimeter_width * 2), writer.y(), wipe_speed * wipe_coeff);
		// Next wipe line fits the cleaning box.
		if ((m_current_shape == SHAPE_NORMAL) ?
			(writer.y() > cleaning_box.lu.y - m_perimeter_width) :
			(writer.y() < cleaning_box.ld.y + m_perimeter_width))
			break;
		wipe_speed = std::min(wipe_speed_max, wipe_speed + wipe_speed_inc);
		writer.extrude(xr + m_perimeter_width, writer.y() + dy, wipe_speed * wipe_coeff);
		writer.extrude(xl - m_perimeter_width, writer.y());
	}
	// Reset the extrusion flow.
	writer.set_extrusion_flow(m_extrusion_flow);
}




WipeTower::ToolChangeResult WipeTowerPrusaMM::finish_layer(Purpose purpose)
{
	// This should only be called if the layer is not finished yet.
	// Otherwise the caller would likely travel to the wipe tower in vain.
	assert(! this->layer_finished());

	PrusaMultiMaterial::Writer writer;
	writer.set_extrusion_flow(m_extrusion_flow)
		.set_z(m_z_pos)
		.set_layer_height(m_layer_height)
		.set_initial_tool(m_current_tool)
		.set_rotation(m_wipe_tower_pos, m_wipe_tower_width, m_wipe_tower_depth, m_wipe_tower_rotation_angle)
		.append(";--------------------\n"
				"; CP EMPTY GRID START\n")
		// m_num_layer_changes is incremented by set_z, so it is 1 based.
		.comment_with_value(" layer #", m_num_layer_changes - 1);

	// Slow down on the 1st layer.
	float speed_factor = m_is_first_layer ? 0.5f : 1.f;

	float current_depth = m_wipe_tower_depth;
	if (m_is_first_layer)
		current_depth = m_wipe_tower_depth;
	else 
		current_depth = m_layer_info->depth;


	box_coordinates fill_box(m_wipe_tower_pos + xy(0.f, m_current_wipe_start_y),
		m_wipe_tower_width, current_depth - m_current_wipe_start_y);
	fill_box.expand(0.f, - 0.5f * m_perimeter_width);
	

	if (purpose == PURPOSE_MOVE_TO_TOWER || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
		if ( m_layer_info->tool_changes.size() == 0) {
			// There were no tool changes at all in this layer.
			writer.retract(m_retract * 1.5f, 3600)
				  // Jump with retract to fill_box.ld + a random shift in +x.
				  .z_hop(m_zhop, 7200)
				  .travel(fill_box.ld + xy(5.f + 15.f * float(rand()) / RAND_MAX, 0.f), 7000)
				  .z_hop_reset(7200)
				  // Prime the extruder.
				  .load_move_x(fill_box.ld.x, m_retract * 1.5f, 3600);
		} else {
			// Otherwise the extruder is already over the wipe tower.
		}
	} else {
		// The print head is inside the wipe tower. Rather move to the start of the following extrusion.
		// writer.set_initial_position(fill_box.ld);
		writer.set_initial_position(fill_box.ld);
	}

	if (purpose == PURPOSE_EXTRUDE || purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE) {
		// Extrude the first perimeter.
		box_coordinates box = fill_box;
		writer.extrude(box.lu, 2400 * speed_factor)
			  .extrude(box.ru)
			  .extrude(box.rd)
			  .extrude(box.ld + xy(m_perimeter_width / 2, 0));

		// Extrude second perimeter.
		box.expand(- m_perimeter_width / 2);
		writer.extrude(box.lu, 3200 * speed_factor)
			  .extrude(box.ru)
			  .extrude(box.rd)
			  .extrude(box.ld + xy(m_perimeter_width / 2, 0));

		if (m_is_first_layer) {
			// Extrude a dense infill at the 1st layer to improve 1st layer adhesion of the wipe tower.
			box.expand(- m_perimeter_width / 2);
			box.ld.y -= 0.5f * m_perimeter_width;
			box.rd.y  = box.ld.y;
			int   nsteps = int(floor((box.lu.y - box.ld.y) / (2. * (1.0 * m_perimeter_width))));
			float step   = (box.lu.y - box.ld.y) / nsteps;
			//FIXME:
			if (nsteps >= 0)
				for (size_t i = 0; i < nsteps; ++i)	{
					writer.extrude(box.ld.x, writer.y() + 0.5f * step);
					writer.extrude(box.rd.x, writer.y());
					writer.extrude(box.rd.x, writer.y() + 0.5f * step);
					writer.extrude(box.ld.x, writer.y());
				}
		} else {
			// Extrude a sparse infill to support the material to be printed above.

			// Extrude an inverse U at the left of the region.
			writer.extrude(box.ld + xy(m_perimeter_width / 2, m_perimeter_width / 2))
				  .extrude(fill_box.ld + xy(m_perimeter_width * 3,   m_perimeter_width), 2900 * speed_factor)
			      .extrude(fill_box.lu + xy(m_perimeter_width * 3, - m_perimeter_width))
				  .extrude(fill_box.lu + xy(m_perimeter_width * 6, - m_perimeter_width))
				  .extrude(fill_box.ld + xy(m_perimeter_width * 6,   m_perimeter_width));

			/*if (fill_box.lu.y - fill_box.ld.y > 4.f) {
				const float max_bridge_distance = 10.f; // in mm
				size_t zig_zags_num = int((m_wipe_tower_width - m_perimeter_width * 12.f) / ( max_bridge_distance * 2.f ) ) + 1 ;
				float step = (m_wipe_tower_width - m_perimeter_width * 12.f) / (zig_zags_num * 4);
				for (size_t i = 0; i < zig_zags_num; ++ i) {
					writer.extrude(writer.x() + step, fill_box.ld.y + m_perimeter_width * 8, 3200 * speed_factor);
					writer.extrude(writer.x()       , fill_box.lu.y - m_perimeter_width * 8);
					writer.extrude(writer.x() + step, fill_box.lu.y - m_perimeter_width    );
					writer.extrude(writer.x() + step, fill_box.lu.y - m_perimeter_width * 8);
					writer.extrude(writer.x()       , fill_box.ld.y + m_perimeter_width * 8);
					writer.extrude(writer.x() + step, fill_box.ld.y + m_perimeter_width    );
				}
			}
			// Extrude an inverse U at the left of the region.
			writer.extrude(fill_box.ru + xy(-m_perimeter_width * 6, -m_perimeter_width), 2900 * speed_factor)
				  .extrude(fill_box.ru + xy(-m_perimeter_width * 3, -m_perimeter_width))
				  .extrude(fill_box.rd + xy(-m_perimeter_width * 3, m_perimeter_width))
				  .extrude(fill_box.rd + xy(-m_perimeter_width, m_perimeter_width));*/

			const float dy = (fill_box.lu.y - fill_box.ld.y - 2.f * m_perimeter_width);
			if (dy > m_perimeter_width)
			{				
				const float max_bridge_distance = 10.f; // in mm
				const size_t zig_zags_num = (fill_box.rd.x - fill_box.ld.x - m_perimeter_width * 12.f) / max_bridge_distance;
				const float step = (fill_box.rd.x - fill_box.ld.x - m_perimeter_width * 12.f) / (float)zig_zags_num;

				float offsety = std::max(0.f,  dy - m_last_infill_tan * (step - m_perimeter_width));
				if (offsety < m_last_infill_tan * m_perimeter_width + WT_EPSILON || offsety > dy / 2.f)
					offsety = 0.f;
				float offsetx = ( offsety != 0 ? 0 : std::max(0.f, dy / m_last_infill_tan > step / 2.f ? step - dy / m_last_infill_tan : 0.f ) );
				
				for (size_t i = 0; i < zig_zags_num; ++i)
				{
					writer.extrude(writer.x() + offsetx, writer.y(), 3200 * speed_factor);
					if ( offsety != 0 ) {
						writer.extrude(writer.x() + m_perimeter_width, writer.y());
						writer.extrude(writer.x(), writer.y() + offsety);
					}
					writer.extrude(writer.x() + step - offsetx - (offsety==0 ? 0 : m_perimeter_width), fill_box.lu.y - m_perimeter_width);
					writer.extrude(writer.x() , fill_box.ld.y + m_perimeter_width);
				}
				m_last_infill_tan = (dy - offsety) / (step - offsetx - (offsety==0 ? 0 : m_perimeter_width));
			}

			// Extrude an inverse U at the left of the region.
			writer.extrude(fill_box.rd + xy(-m_perimeter_width * 6, m_perimeter_width), 2900 * speed_factor)
				  .extrude(fill_box.rd + xy(-m_perimeter_width * 3, m_perimeter_width))
				  .extrude(fill_box.ru + xy(-m_perimeter_width * 3, -m_perimeter_width))
				  .extrude(fill_box.ru + xy(-m_perimeter_width, -m_perimeter_width));
		}

		// if (purpose == PURPOSE_MOVE_TO_TOWER_AND_EXTRUDE)
		if (true)
	       	// Wipe along the front side of the current wiping box.
			// Always wipe the nozzle with a long wipe to reduce stringing when moving away from the wipe tower.
			writer.travel(fill_box.ld + xy(  m_perimeter_width, m_perimeter_width / 2), 7200)
			  	  .travel(fill_box.rd + xy(- m_perimeter_width, m_perimeter_width / 2));
		else
			writer.feedrate(7200);

		writer.append("; CP EMPTY GRID END\n"
				      ";------------------\n\n\n\n\n\n\n");

		// Indicate that this wipe tower layer is fully covered.
		m_current_wipe_start_y = m_wipe_tower_depth;
	    ///m_idx_tool_change_in_layer = (unsigned int)m_max_color_changes;
		
	}

	ToolChangeResult result;
	result.print_z 	  	= this->m_z_pos;
	result.layer_height = this->m_layer_height;
	result.gcode   	  	= writer.gcode();
	result.elapsed_time = writer.elapsed_time();
	result.extrusions 	= writer.extrusions();
	result.start_pos 	= writer.start_pos_rotated();
	result.end_pos 	  	= writer.pos_rotated();
	return result;
}

// Appends a toolchange into m_plan and calculates neccessary depth of the corresponding box

void WipeTowerPrusaMM::plan_toolchange(float z_par, float layer_height_par, unsigned int old_tool, unsigned int new_tool)
{
	assert(m_plan.back().z <= z_par);	// refuse to add a layer below the last one
	
	// volumes in mm^3 required for ramming
	// hardcoded so far, in future should be calculated by integrating the speed/time curve
	const std::vector<float> ram_volumes = {22,22,22,22};
	
	// volumes in mm^3 required for wipe: {{from 0 to ...},{from 1 to ...},{from 2 to ...},{from 3 to ...}}, usage [from][to]
	const std::vector<std::vector<float>> wipe_volumes = {{  0, 40, 60, 80},
														  {100,  0,120,100},
														  { 80,107,  0,110},
														  { 60, 40, 60,  0}};

	float depth = (wipe_volumes[old_tool][new_tool]) / (m_extrusion_flow * Filament_Area); // length of extrusion
	depth = floor(depth / m_wipe_tower_width + 1);	// number of lines to extrude
	depth += 6; // reserved for ramming
	depth += 2; // reserved for loading
	depth -= 2; // we will also print borders
	depth *= m_perimeter_width; // conversion to distance

	if (m_plan.empty() || m_plan.back().z + WT_EPSILON < z_par) // if we moved to a new layer, we'll add it to m_plan along with the first toolchange
		m_plan.push_back(WipeTowerInfo(z_par, layer_height_par));

	if ( old_tool != new_tool )	{
		if (!m_plan_brim_finished) {	// this toolchange prints brim, we need it in m_plan, but not to count its depth
			m_plan_brim_finished = true;
			depth = 0.f;
		}
		m_plan.back().tool_changes.push_back(WipeTowerInfo::ToolChange(old_tool, new_tool, depth));
	}

	

	// Calculate m_wipe_tower (maximum depth for all the layers) and propagate depths downwards
	// Could be only called when a layer is changed, but do not forget about the last one
	float this_layer_depth = m_plan.back().toolchanges_depth();
	m_plan.back().depth = this_layer_depth;
	
	if (this_layer_depth > m_wipe_tower_depth)
		m_wipe_tower_depth = this_layer_depth;
	for (int i = m_plan.size() - 2; i >= 0 && m_plan[i].depth < this_layer_depth; i-- ) {
		if ( this_layer_depth - m_plan[i].depth < min_layer_difference && !m_plan[i].tool_changes.empty())
			m_plan[i].tool_changes.back().required_depth += this_layer_depth - m_plan[i].depth;
		m_plan[i].depth = this_layer_depth;
	}
}


// Processes vector m_plan and calls respective function to generate G-code for the wipe tower
// Resulting ToolChangeResults are appended into container passed by "result" reference
void WipeTowerPrusaMM::generate(std::vector<std::vector<WipeTower::ToolChangeResult>> &result)
{
	std::vector<WipeTower::ToolChangeResult> layer_result;
	
	for (auto layer : m_plan)
	{

		set_layer(layer.z,layer.height,0,layer.z == m_plan.front().z,layer.z == m_plan.back().z);

		for (const auto &toolchange : layer.tool_changes)
			layer_result.emplace_back(tool_change(toolchange.new_tool, false, WipeTower::PURPOSE_EXTRUDE));

		if (! layer_finished()) {
			layer_result.emplace_back(finish_layer(WipeTower::PURPOSE_EXTRUDE));
			if (layer_result.size() > 1) {
				// Merge the two last tool changes into one.
				WipeTower::ToolChangeResult &tc1 = layer_result[layer_result.size() - 2];
				WipeTower::ToolChangeResult &tc2 = layer_result.back();
				if (tc1.end_pos != tc2.start_pos) {
					// Add a travel move from tc1.end_pos to tc2.start_pos.
					char buf[2048];
					sprintf(buf, "G1 X%.3f Y%.3f F7200\n", tc2.start_pos.x, tc2.start_pos.y);
					tc1.gcode += buf;
				}
				tc1.gcode += tc2.gcode;
				tc1.extrusions.insert(tc1.extrusions.end(), tc2.extrusions.begin(), tc2.extrusions.end());
				tc1.end_pos = tc2.end_pos;
				layer_result.pop_back();
			}			
		}
		else
			m_last_infill_tan = 1000.f; //if the layer was dense, no worries about infill continuity on the next

		result.emplace_back(std::move(layer_result));
		m_is_first_layer = false;
	}
}



}; // namespace Slic3r