#ifndef slic3r_GCodeTimeEstimator_hpp_
#define slic3r_GCodeTimeEstimator_hpp_

#include "libslic3r.h"
#include "PrintConfig.hpp"
#include "GCodeReader.hpp"

#define ENABLE_MOVE_STATS 0

namespace Slic3r {

    //
    // Some of the algorithms used by class GCodeTimeEstimator were inpired by
    // Cura Engine's class TimeEstimateCalculator
    // https://github.com/Ultimaker/CuraEngine/blob/master/src/timeEstimate.h
    //
    class GCodeTimeEstimator
    {
    public:
        enum EMode : unsigned char
        {
            Normal,
            Silent
        };

        enum EUnits : unsigned char
        {
            Millimeters,
            Inches
        };

        enum EAxis : unsigned char
        {
            X,
            Y,
            Z,
            E,
            Num_Axis
        };

        enum EPositioningType : unsigned char
        {
            Absolute,
            Relative
        };

    private:
        struct Axis
        {
            float position;         // mm
            float max_feedrate;     // mm/s
            float max_acceleration; // mm/s^2
            float max_jerk;         // mm/s
        };

        struct Feedrates
        {
            float feedrate;                    // mm/s
            float axis_feedrate[Num_Axis];     // mm/s
            float abs_axis_feedrate[Num_Axis]; // mm/s
            float safe_feedrate;               // mm/s

            void reset();
        };

        struct State
        {
            GCodeFlavor dialect;
            EUnits units;
            EPositioningType global_positioning_type;
            EPositioningType e_local_positioning_type;
            Axis axis[Num_Axis];
            float feedrate;                     // mm/s
            float acceleration;                 // mm/s^2
            // hard limit for the acceleration, to which the firmware will clamp.
            float max_acceleration;             // mm/s^2
            float retract_acceleration;         // mm/s^2
            float additional_time;              // s
            float minimum_feedrate;             // mm/s
            float minimum_travel_feedrate;      // mm/s
            float extrude_factor_override_percentage;
            unsigned int g1_line_id;
        };

    public:
        struct Block
        {
#if ENABLE_MOVE_STATS
            enum EMoveType : unsigned char
            {
                Noop,
                Retract,
                Unretract,
                Tool_change,
                Move,
                Extrude,
                Num_Types
            };
#endif // ENABLE_MOVE_STATS

            struct FeedrateProfile
            {
                float entry;  // mm/s
                float cruise; // mm/s
                float exit;   // mm/s
            };

            struct Trapezoid
            {
                float distance;         // mm
                float accelerate_until; // mm
                float decelerate_after; // mm
                FeedrateProfile feedrate;

                float acceleration_time(float acceleration) const;
                float cruise_time() const;
                float deceleration_time(float acceleration) const;
                float cruise_distance() const;

                // This function gives the time needed to accelerate from an initial speed to reach a final distance.
                static float acceleration_time_from_distance(float initial_feedrate, float distance, float acceleration);

                // This function gives the final speed while accelerating at the given constant acceleration from the given initial speed along the given distance.
                static float speed_from_distance(float initial_feedrate, float distance, float acceleration);
            };

            struct Flags
            {
                bool recalculate;
                bool nominal_length;
            };

#if ENABLE_MOVE_STATS
            EMoveType move_type;
#endif // ENABLE_MOVE_STATS
            Flags flags;

            float delta_pos[Num_Axis]; // mm
            float acceleration;        // mm/s^2
            float max_entry_speed;     // mm/s
            float safe_feedrate;       // mm/s

            FeedrateProfile feedrate;
            Trapezoid trapezoid;
            float elapsed_time;

            Block();

            // Returns the length of the move covered by this block, in mm
            float move_length() const;

            // Returns true if this block is a retract/unretract move only
            float is_extruder_only_move() const;

            // Returns true if this block is a move with no extrusion
            float is_travel_move() const;

            // Returns the time spent accelerating toward cruise speed, in seconds
            float acceleration_time() const;

            // Returns the time spent at cruise speed, in seconds
            float cruise_time() const;

            // Returns the time spent decelerating from cruise speed, in seconds
            float deceleration_time() const;

            // Returns the distance covered at cruise speed, in mm
            float cruise_distance() const;

            // Calculates this block's trapezoid
            void calculate_trapezoid();

            // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the 
            // acceleration within the allotted distance.
            static float max_allowable_speed(float acceleration, float target_velocity, float distance);

            // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the given acceleration:
            static float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration);

            // This function gives you the point at which you must start braking (at the rate of -acceleration) if 
            // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
            // a total travel of distance. This can be used to compute the intersection point between acceleration and
            // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
            static float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance);
        };

        typedef std::vector<Block> BlocksList;

#if ENABLE_MOVE_STATS
        struct MoveStats
        {
            unsigned int count;
            float time;

            MoveStats();
        };

        typedef std::map<Block::EMoveType, MoveStats> MovesStatsMap;
#endif // ENABLE_MOVE_STATS

        typedef std::map<unsigned int, unsigned int> G1LineIdToBlockIdMap;

    private:
        EMode _mode;
        GCodeReader _parser;
        State _state;
        Feedrates _curr;
        Feedrates _prev;
        BlocksList _blocks;
        // Map between g1 line id and blocks id, used to speed up export of remaining times
        G1LineIdToBlockIdMap _g1_line_ids;
        // Index of the last block already st_synchronized
        int _last_st_synchronized_block_id;
        float _time; // s

#if ENABLE_MOVE_STATS
        MovesStatsMap _moves_stats;
#endif // ENABLE_MOVE_STATS

    public:
        explicit GCodeTimeEstimator(EMode mode);

        // Adds the given gcode line
        void add_gcode_line(const std::string& gcode_line);

        void add_gcode_block(const char *ptr);
        void add_gcode_block(const std::string &str) { this->add_gcode_block(str.c_str()); }

        // Calculates the time estimate from the gcode lines added using add_gcode_line() or add_gcode_block()
        // start_from_beginning:
        // if set to true all blocks will be used to calculate the time estimate,
        // if set to false only the blocks not yet processed will be used and the calculated time will be added to the current calculated time
        void calculate_time(bool start_from_beginning);

        // Calculates the time estimate from the given gcode in string format
        void calculate_time_from_text(const std::string& gcode);

        // Calculates the time estimate from the gcode contained in the file with the given filename
        void calculate_time_from_file(const std::string& file);

        // Calculates the time estimate from the gcode contained in given list of gcode lines
        void calculate_time_from_lines(const std::vector<std::string>& gcode_lines);

        // Process the gcode contained in the file with the given filename, 
        // placing in it new lines (M73) containing the remaining time, at the given interval in seconds
        // and saving the result back in the same file
        // This time estimator should have been already used to calculate the time estimate for the gcode
        // contained in the given file before to call this method
        bool post_process_remaining_times(const std::string& filename, float interval_sec);

        // Set current position on the given axis with the given value
        void set_axis_position(EAxis axis, float position);

        void set_axis_max_feedrate(EAxis axis, float feedrate_mm_sec);
        void set_axis_max_acceleration(EAxis axis, float acceleration);
        void set_axis_max_jerk(EAxis axis, float jerk);

        // Returns current position on the given axis
        float get_axis_position(EAxis axis) const;

        float get_axis_max_feedrate(EAxis axis) const;
        float get_axis_max_acceleration(EAxis axis) const;
        float get_axis_max_jerk(EAxis axis) const;

        void set_feedrate(float feedrate_mm_sec);
        float get_feedrate() const;

        void set_acceleration(float acceleration_mm_sec2);
        float get_acceleration() const;

        // Maximum acceleration for the machine. The firmware simulator will clamp the M204 Sxxx to this maximum.
        void set_max_acceleration(float acceleration_mm_sec2);
        float get_max_acceleration() const;

        void set_retract_acceleration(float acceleration_mm_sec2);
        float get_retract_acceleration() const;

        void set_minimum_feedrate(float feedrate_mm_sec);
        float get_minimum_feedrate() const;

        void set_minimum_travel_feedrate(float feedrate_mm_sec);
        float get_minimum_travel_feedrate() const;

        void set_extrude_factor_override_percentage(float percentage);
        float get_extrude_factor_override_percentage() const;

        void set_dialect(GCodeFlavor dialect);
        GCodeFlavor get_dialect() const;

        void set_units(EUnits units);
        EUnits get_units() const;

        void set_global_positioning_type(EPositioningType type);
        EPositioningType get_global_positioning_type() const;

        void set_e_local_positioning_type(EPositioningType type);
        EPositioningType get_e_local_positioning_type() const;

        int get_g1_line_id() const;
        void increment_g1_line_id();
        void reset_g1_line_id();

        void add_additional_time(float timeSec);
        void set_additional_time(float timeSec);
        float get_additional_time() const;

        void set_default();

        // Call this method before to start adding lines using add_gcode_line() when reusing an instance of GCodeTimeEstimator
        void reset();

        // Returns the estimated time, in seconds
        float get_time() const;

        // Returns the estimated time, in format DDd HHh MMm SSs
        std::string get_time_dhms() const;

        // Returns the estimated time, in minutes (integer)
        std::string get_time_minutes() const;

    private:
        void _reset();
        void _reset_time();
        void _reset_blocks();

        // Calculates the time estimate
        void _calculate_time();

        // Processes the given gcode line
        void _process_gcode_line(GCodeReader&, const GCodeReader::GCodeLine& line);

        // Move
        void _processG1(const GCodeReader::GCodeLine& line);

        // Dwell
        void _processG4(const GCodeReader::GCodeLine& line);

        // Set Units to Inches
        void _processG20(const GCodeReader::GCodeLine& line);

        // Set Units to Millimeters
        void _processG21(const GCodeReader::GCodeLine& line);

        // Move to Origin (Home)
        void _processG28(const GCodeReader::GCodeLine& line);

        // Set to Absolute Positioning
        void _processG90(const GCodeReader::GCodeLine& line);

        // Set to Relative Positioning
        void _processG91(const GCodeReader::GCodeLine& line);

        // Set Position
        void _processG92(const GCodeReader::GCodeLine& line);

        // Sleep or Conditional stop
        void _processM1(const GCodeReader::GCodeLine& line);

        // Set extruder to absolute mode
        void _processM82(const GCodeReader::GCodeLine& line);

        // Set extruder to relative mode
        void _processM83(const GCodeReader::GCodeLine& line);

        // Set Extruder Temperature and Wait
        void _processM109(const GCodeReader::GCodeLine& line);

        // Set max printing acceleration
        void _processM201(const GCodeReader::GCodeLine& line);

        // Set maximum feedrate
        void _processM203(const GCodeReader::GCodeLine& line);

        // Set default acceleration
        void _processM204(const GCodeReader::GCodeLine& line);

        // Advanced settings
        void _processM205(const GCodeReader::GCodeLine& line);

        // Set extrude factor override percentage
        void _processM221(const GCodeReader::GCodeLine& line);

        // Set allowable instantaneous speed change
        void _processM566(const GCodeReader::GCodeLine& line);

        // Simulates firmware st_synchronize() call
        void _simulate_st_synchronize();

        void _forward_pass();
        void _reverse_pass();

        void _planner_forward_pass_kernel(Block& prev, Block& curr);
        void _planner_reverse_pass_kernel(Block& curr, Block& next);

        void _recalculate_trapezoids();

        // Returns the given time is seconds in format DDd HHh MMm SSs
        static std::string _get_time_dhms(float time_in_secs);

        // Returns the given, in minutes (integer)
        static std::string _get_time_minutes(float time_in_secs);

#if ENABLE_MOVE_STATS
        void _log_moves_stats() const;
#endif // ENABLE_MOVE_STATS
    };

} /* namespace Slic3r */

#endif /* slic3r_GCodeTimeEstimator_hpp_ */