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

RepRapFirmware - Move

This is all the code to deal with movement and kinematics.

-----------------------------------------------------------------------------------------------------

Version 0.1

18 November 2012

Adrian Bowyer
RepRap Professional Ltd
http://reprappro.com

Licence: GPL

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

#include "RepRapFirmware.h"

Move::Move(Platform* p, GCodes* g)
{
  int8_t i;
  active = false;
  platform = p;
  gCodes = g;
  
  // Build the DDA ring
  
  ddaRingAddPointer = new DDA(this, platform, NULL);
  dda = ddaRingAddPointer;
  for(i = 1; i < DDA_RING_LENGTH; i++)
    dda = new DDA(this, platform, dda);
  ddaRingAddPointer->next = dda;
  
  dda = NULL;
  
  // Build the lookahead ring
  
  lookAheadRingAddPointer = new LookAhead(this, platform, NULL);
  lookAheadRingGetPointer = lookAheadRingAddPointer;
  for(i = 1; i < LOOK_AHEAD_RING_LENGTH; i++)
    lookAheadRingGetPointer = new LookAhead(this, platform, lookAheadRingGetPointer);
  lookAheadRingAddPointer->next = lookAheadRingGetPointer;
  
  // Set the lookahead backwards pointers (some oxymoron, surely?)
  
  lookAheadRingGetPointer = lookAheadRingAddPointer; 
  for(i = 0; i <= LOOK_AHEAD_RING_LENGTH; i++)
  {
    lookAheadRingAddPointer = lookAheadRingAddPointer->Next();
    lookAheadRingAddPointer->previous = lookAheadRingGetPointer;
    lookAheadRingGetPointer = lookAheadRingAddPointer;
  }    
  
  lookAheadDDA = new DDA(this, platform, NULL);
  
}

void Move::Init()
{
  int8_t i, j;
  long ep[DRIVES];
  
  for(i = 0; i < DRIVES; i++)
    platform->SetDirection(i, FORWARDS);
  
  // Empty the rings
  
  ddaRingGetPointer = ddaRingAddPointer; 
  ddaRingLocked = false;
  
  for(i = 0; i <= LOOK_AHEAD_RING_LENGTH; i++)
  {
    lookAheadRingAddPointer->Release();
    lookAheadRingAddPointer = lookAheadRingAddPointer->Next();
  }
  
  lookAheadRingGetPointer = lookAheadRingAddPointer;
  lookAheadRingCount = 0;
  
  addNoMoreMoves = false;

  // Put the origin on the lookahead ring with default velocity in the previous
  // position to the first one that will be used.
  
  lastMove = lookAheadRingAddPointer->Previous();
  
  for(i = 0; i < DRIVES; i++)
  {
	  ep[i] = 0;
	  liveCoordinates[i] = 0.0;
  }

  lastMove->Init(ep, platform->HomeFeedRate(Z_AXIS), platform->InstantDv(Z_AXIS), false, zMove);  // Typically Z is the slowest Axis
  lastMove->Release();
  liveCoordinates[DRIVES] = platform->HomeFeedRate(Z_AXIS);

  checkEndStopsOnNextMove = false;

  SetStepHypotenuse();

  currentFeedrate = -1.0;

  SetIdentityTransform();
  tanXY = 0.0;
  tanYZ = 0.0;
  tanXZ = 0.0;
  zEquationSet = false;

  lastZHit = 0.0;
  zProbing = false;

  for(uint8_t point = 0; point < NUMBER_OF_PROBE_POINTS; point++)
  {
	  xBedProbePoints[point] = (0.2 + 0.6*(float)(point%2))*platform->AxisLength(X_AXIS);
	  yBedProbePoints[point] = (0.2 + 0.6*(float)(point/2))*platform->AxisLength(Y_AXIS);
	  zBedProbePoints[point] = 0.0;
	  probePointSet[point] = unset;
  }

  xRectangle = 1.0/(0.8*platform->AxisLength(X_AXIS));
  yRectangle = xRectangle;

  secondDegreeCompensation = false;

  lastTime = platform->Time();
  longWait = lastTime;
  active = true;  
}

void Move::Exit()
{
  platform->Message(HOST_MESSAGE, "Move class exited.\n");
  active = false;
}

void Move::Spin()
{
  if(!active)
    return;
    
  // Do some look-ahead work, if there's any to do
    
  DoLookAhead();
  
  // If there's space in the DDA ring, and there are completed
  // moves in the look-ahead ring, transfer them.
 
  if(!DDARingFull())
  {
     LookAhead* nextFromLookAhead = LookAheadRingGet();
     if(nextFromLookAhead != NULL)
     {
       if(!DDARingAdd(nextFromLookAhead))
         platform->Message(HOST_MESSAGE, "Can't add to non-full DDA ring!\n"); // Should never happen...
     }
  }
  
  // If we either don't want to, or can't, add to the look-ahead ring, go home.
  
  if(addNoMoreMoves || LookAheadRingFull())
  {
	  platform->ClassReport("Move", longWait);
	  return;
  }
 
  // If there's a G Code move available, add it to the look-ahead
  // ring for processing.

  if(gCodes->ReadMove(nextMove, checkEndStopsOnNextMove))
  {
	Transform(nextMove);

    currentFeedrate = nextMove[DRIVES]; // Might be G1 with just an F field

    for(int8_t drive = 0; drive < DRIVES; drive++)
    	nextMachineEndPoints[drive] = LookAhead::EndPointToMachine(drive, nextMove[drive]);

    int8_t movementType = GetMovementType(lastMove->MachineEndPoints(), nextMachineEndPoints);

    // Throw it away if there's no real movement.
    
    if(movementType == noMove)
    {
       platform->ClassReport("Move", longWait);
       return;
    }
     
    // Real move - record its feedrate with it, not here.
    
    currentFeedrate = -1.0;
    
    // Promote minimum feedrates
    
    if(movementType & xyMove)
      nextMove[DRIVES] = fmax(nextMove[DRIVES], platform->InstantDv(X_AXIS));
    else if(movementType & eMove)
      nextMove[DRIVES] = fmax(nextMove[DRIVES], platform->InstantDv(AXES));
    else
      nextMove[DRIVES] = fmax(nextMove[DRIVES], platform->InstantDv(Z_AXIS));
      
    // Restrict maximum feedrates; assumes xy overrides e overrides z FIXME??
    
    if(movementType & xyMove)
      nextMove[DRIVES] = fmin(nextMove[DRIVES], platform->MaxFeedrate(X_AXIS));  // Assumes X and Y are equal.  FIXME?
    else if(movementType & eMove)
      nextMove[DRIVES] = fmin(nextMove[DRIVES], platform->MaxFeedrate(AXES)); // Picks up the value for the first extruder.  FIXME?
    else // Must be z
      nextMove[DRIVES] = fmin(nextMove[DRIVES], platform->MaxFeedrate(Z_AXIS));
    
    if(!LookAheadRingAdd(nextMachineEndPoints, nextMove[DRIVES], 0.0, checkEndStopsOnNextMove, movementType))
      platform->Message(HOST_MESSAGE, "Can't add to non-full look ahead ring!\n"); // Should never happen...
  }
  platform->ClassReport("Move", longWait);
}

// These are the actual numbers we want in the positions, so don't transform them.

void Move::SetPositions(float move[])
{
	//Transform(move);
	for(uint8_t drive = 0; drive < DRIVES; drive++)
		lastMove->SetDriveCoordinateAndZeroEndSpeed(move[drive], drive);
	lastMove->SetFeedRate(move[DRIVES]);
}


void Move::Diagnostics() 
{
  platform->Message(HOST_MESSAGE, "Move Diagnostics:\n");
/*  if(active)
    platform->Message(HOST_MESSAGE, " active\n");
  else
    platform->Message(HOST_MESSAGE, " not active\n");
  
  platform->Message(HOST_MESSAGE, " look ahead ring count: ");
  snprintf(scratchString, STRING_LENGTH, "%d\n", lookAheadRingCount);
  platform->Message(HOST_MESSAGE, scratchString);
  if(dda == NULL)
    platform->Message(HOST_MESSAGE, " dda: NULL\n");
  else
  {
    if(dda->Active())
      platform->Message(HOST_MESSAGE, " dda: active\n");
    else
      platform->Message(HOST_MESSAGE, " dda: not active\n");
    
  }
  if(ddaRingLocked)
    platform->Message(HOST_MESSAGE, " dda ring is locked\n");
  else
    platform->Message(HOST_MESSAGE, " dda ring is not locked\n");
  if(addNoMoreMoves)
    platform->Message(HOST_MESSAGE, " addNoMoreMoves is true\n\n");
  else
    platform->Message(HOST_MESSAGE, " addNoMoreMoves is false\n\n"); 
    */
}

// This returns false if it is not possible
// to use the result as the basis for the
// next move because the look ahead ring
// is full.  True otherwise.

bool Move::GetCurrentState(float m[])
{
  if(LookAheadRingFull())
    return false;
    
  for(int8_t i = 0; i < DRIVES; i++)
  {
    if(i < AXES)
      m[i] = lastMove->MachineToEndPoint(i);
    else
      m[i] = 0.0;
  }
  if(currentFeedrate >= 0.0)
    m[DRIVES] = currentFeedrate;
  else
    m[DRIVES] = lastMove->FeedRate();
  currentFeedrate = -1.0;
  InverseTransform(m);
  return true;
}

// Classify a move between two points.
// Is it (a combination of):
//   A Z movement?
//   An XY movement?
//   Extruder movements?
// It treats XY moves and Z moves as mutually exclusive, though all may happen together
// of course.  The reason is that they all happen together as a result of the compensation
// for the bed's plane, which means that a move is MAINLY and XY move, or MAINLY a Z move. It
// is the main type of move that is returned.

int8_t Move::GetMovementType(long p0[], long p1[])
{
  int8_t result = noMove;
  long dxy = 0;
  long dz = 0;
  long d;

  for(int8_t drive = 0; drive < DRIVES; drive++)
  {
	  if(drive < AXES)
	  {
		  d = llabs(p1[drive] - p0[drive]);
		  if(drive == Z_AXIS)
			  dz = d;
		  else if(d > dxy)
			  dxy = d;
	  } else
	  {
		  if( p1[drive] )
			  result |= eMove;
	  }
  }
  dxy *= (long)roundf(platform->DriveStepsPerUnit(Z_AXIS)/platform->DriveStepsPerUnit(X_AXIS));
  if(dxy > dz)
	  result |= xyMove;
  else if(dz)
	  result |= zMove;

  return result;
}

void Move::SetStepHypotenuse()
{
	 // The stepDistances arrays are look-up tables of the Euclidean distance
	  // between the start and end of a step.  If the step is just along one axis,
	  // it's just that axis's step length.  If it's more, it is a Pythagoran
	  // sum of all the axis steps that take part.

	  float d, e;
	  int8_t i, j;

	  for(i = 0; i < (1<<AXES); i++)
	  {
	    d = 0.0;
	    for(j = 0; j < AXES; j++)
	    {
	       if(i & (1<<j))
	       {
	          e = 1.0/platform->DriveStepsPerUnit(j);
	          d += e*e;
	       }
	    }
	    stepDistances[i] = sqrt(d);
	  }

	  for(i = 0; i < (1<<(DRIVES-AXES)); i++)
	  {
	    d = 0.0;
	    for(j = 0; j < (DRIVES-AXES); j++)
	    {
	       if(i & (1<<j))
	       {
	          e = 1.0/platform->DriveStepsPerUnit(AXES + j);
	          d += e*e;
	       }
	    }
	    extruderStepDistances[i] = sqrt(d);
	  }

	  // We don't want 0.  If no axes/extruders are moving these should never be used.
	  // But try to be safe.

	  stepDistances[0] = 1.0/platform->DriveStepsPerUnit(AXES);
	  extruderStepDistances[0] = stepDistances[0];
}

// Take an item from the look-ahead ring and add it to the DDA ring, if
// possible.

bool Move::DDARingAdd(LookAhead* lookAhead)
{
  if(GetDDARingLock())
  {
    if(DDARingFull())
    {
      ReleaseDDARingLock();
      return false;
    }
    if(ddaRingAddPointer->Active())  // Should never happen...
    {
      platform->Message(HOST_MESSAGE, "Attempt to alter an active ring buffer entry!\n");
      ReleaseDDARingLock();
      return false;
    }

    // We don't care about Init()'s return value - that should all have been sorted
    // out by LookAhead.
    
    float u, v;
    ddaRingAddPointer->Init(lookAhead, u, v);
    ddaRingAddPointer = ddaRingAddPointer->Next();
    ReleaseDDARingLock();
    return true;
  }
  return false;
}

// Get a movement from the DDA ring, if we can.

DDA* Move::DDARingGet()
{
  DDA* result = NULL;
  if(GetDDARingLock())
  {
    if(DDARingEmpty())
    {
      ReleaseDDARingLock();
      return NULL;
    }
    result = ddaRingGetPointer;
    ddaRingGetPointer = ddaRingGetPointer->Next();
    ReleaseDDARingLock();
    return result;
  }
  return NULL;
}

// Do the look-ahead calculations

void Move::DoLookAhead()
{
  if(LookAheadRingEmpty())
    return;
  
  LookAhead* n0;
  LookAhead* n1;
  LookAhead* n2;
  
  float u, v;
  
  // If there are a reasonable number of moves in there (LOOK_AHEAD), or if we are
  // doing single moves with no other move immediately following on, run up and down
  // the moves using the DDA Init() function to reduce the start or the end speed
  // or both to the maximum that can be achieved because of the requirements of
  // the adjacent moves. 
    
  if(addNoMoreMoves || !gCodes->PrintingAFile() || lookAheadRingCount > LOOK_AHEAD)
  { 
    
    // Run up the moves
    
    n1 = lookAheadRingGetPointer;
    n0 = n1->Previous();
    n2 = n1->Next();
    while(n2 != lookAheadRingAddPointer)
    {
      if(!(n1->Processed() & complete))
      {
        if(n1->Processed() & vCosineSet)
        {
          u = n0->V();
          v = n1->V();
          if(lookAheadDDA->Init(n1, u, v) & change)
          {
            n0->SetV(u);
            n1->SetV(v); 
          }
        }
      }
      n0 = n1;
      n1 = n2;
      n2 = n2->Next();
    }
    
    // Now run down
    
    do
    { 
      if(!(n1->Processed() & complete))
      {
        if(n1->Processed() & vCosineSet)
        {
          u = n0->V();
          v = n1->V();
          if(lookAheadDDA->Init(n1, u, v) & change)
          {
            n0->SetV(u);
            n1->SetV(v); 
          }
          n1->SetProcessed(complete);
        }
      }
      n2 = n1;
      n1 = n0;
      n0 = n0->Previous();      
    }while(n0 != lookAheadRingGetPointer);
    n0->SetProcessed(complete);
  }

  // If there are any new unprocessed moves in there, set their end speeds
  // according to the cosine of the angle between them.
  
  if(addNoMoreMoves || !gCodes->PrintingAFile() || lookAheadRingCount > 1)
  {  
    n1 = lookAheadRingGetPointer;
    n0 = n1->Previous();
    n2 = n1->Next();
    while(n2 != lookAheadRingAddPointer)
    {
      if(n1->Processed() == unprocessed)
      {
        float c = fmin(n1->FeedRate(), n2->FeedRate());
        c = c*n1->Cosine();
        if(c < platform->InstantDv(Z_AXIS))  // Z is typically the slowest.
        {
          int8_t mt = n1->GetMovementType();

          // Assumes xy overrides z overrides e

          if(mt & xyMove)
            c = platform->InstantDv(X_AXIS);
          else if (mt & zMove)
            c = platform->InstantDv(Z_AXIS);
          else
            c = platform->InstantDv(AXES); // value for first extruder FIXME??
        }
        n1->SetV(c);
        n1->SetProcessed(vCosineSet);
      } 
      n0 = n1;
      n1 = n2;
      n2 = n2->Next();
    }
    
    // If we are just doing one isolated move, set its end velocity to InstantDv(Z_AXIS).
    
    if(addNoMoreMoves || !gCodes->PrintingAFile())
    {
      n1->SetV(platform->InstantDv(Z_AXIS));
      n1->SetProcessed(complete);
    }
  }
}

// This is the function that's called by the timer interrupt to step the motors.

void Move::Interrupt()
{
  // Have we got a live DDA?
  
  if(dda == NULL)
  {
    // No - see if a new one is available.
    
    dda = DDARingGet();    
    if(dda != NULL)
      dda->Start(true);  // Yes - got it.  So fire it up.
    return;   
  }
  
  // We have a DDA.  Has it finished?
  
  if(dda->Active())
  {
    // No - it's still live.  Step it and return.
    
    dda->Step();
    return;
  }
  
  // Yes - it's finished.  Throw it away so the code above will then find a new one.
  
  dda = NULL;
}


bool Move::LookAheadRingAdd(long ep[], float feedRate, float vv, bool ce, int8_t mt)
{
    if(LookAheadRingFull())
      return false;
    if(!(lookAheadRingAddPointer->Processed() & released))
      platform->Message(HOST_MESSAGE, "Attempt to alter a non-released lookahead ring entry!\n"); // Should never happen...
    lookAheadRingAddPointer->Init(ep, feedRate, vv, ce, mt);
    lastMove = lookAheadRingAddPointer;
    lookAheadRingAddPointer = lookAheadRingAddPointer->Next();
    lookAheadRingCount++;
    return true;
}


LookAhead* Move::LookAheadRingGet()
{
  LookAhead* result;
  if(LookAheadRingEmpty())
    return NULL;
  result = lookAheadRingGetPointer;
  if(!(result->Processed() & complete))
    return NULL;
  lookAheadRingGetPointer = lookAheadRingGetPointer->Next();
  lookAheadRingCount--;
  return result;
}

// Note that we don't set the tan values to 0 here.  This means that the bed probe
// values will be a fraction of a millimeter out in X and Y, which, as the bed should
// be nearly flat (and the probe doesn't coincide with the nozzle anyway), won't matter.
// But it means that the tan values can be set for the machine
// at the start in the configuration file and be retained, without having to know and reset
// them after every Z probe of the bed.

void Move::SetIdentityTransform()
{
	aX = 0.0;
	aY = 0.0;
	aC = 0.0;
	secondDegreeCompensation = false;
}


void Move::Transform(float xyzPoint[])
{
	xyzPoint[X_AXIS] = xyzPoint[X_AXIS] + tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS];
	xyzPoint[Y_AXIS] = xyzPoint[Y_AXIS] + tanYZ*xyzPoint[Z_AXIS];
	if(secondDegreeCompensation)
		xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] + SecondDegreeTransformZ(xyzPoint[X_AXIS], xyzPoint[Y_AXIS]);
	else
		xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] + aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC;
//	platform->GetLine()->Write(xyzPoint[Y_AXIS]);
//	platform->GetLine()->Write('\n');
}

void Move::InverseTransform(float xyzPoint[])
{
	if(secondDegreeCompensation)
		xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] - SecondDegreeTransformZ(xyzPoint[X_AXIS], xyzPoint[Y_AXIS]);
	else
		xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] - (aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC);
	xyzPoint[Y_AXIS] = xyzPoint[Y_AXIS] - tanYZ*xyzPoint[Z_AXIS];
	xyzPoint[X_AXIS] = xyzPoint[X_AXIS] - (tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS]);
}

void Move::SetProbedBedEquation()
{
	if(NumberOfProbePoints() >= 3)
	{
		secondDegreeCompensation = (NumberOfProbePoints() == 4);
		if(secondDegreeCompensation)
		{
			/*
			 * Transform to a ruled-surface quadratic.  The corner points for interpolation are indexed:
			 *
			 *   ^  [1]      [2]
			 *   |
			 *   Y
			 *   |
			 *   |  [0]      [3]
			 *      -----X---->
			 *
			 *   These are the scaling factors to apply to x and y coordinates to get them into the
			 *   unit interval [0, 1].
			 */
			xRectangle = 1.0/(xBedProbePoints[3] - xBedProbePoints[0]);
			yRectangle = 1.0/(yBedProbePoints[1] - yBedProbePoints[0]);
			zEquationSet = true;
			return;
		}
	} else
	{
		platform->Message(HOST_MESSAGE, "Attempt to set bed compensation before all probe points have been recorded.");
		return;
	}

	float xkj, ykj, zkj;
	float xlj, ylj, zlj;
	float a, b, c, d;   // Implicit plane equation - what we need to do a proper job

	xkj = xBedProbePoints[1] - xBedProbePoints[0];
	ykj = yBedProbePoints[1] - yBedProbePoints[0];
	zkj = zBedProbePoints[1] - zBedProbePoints[0];
	xlj = xBedProbePoints[2] - xBedProbePoints[0];
	ylj = yBedProbePoints[2] - yBedProbePoints[0];
	zlj = zBedProbePoints[2] - zBedProbePoints[0];
	a = ykj*zlj - zkj*ylj;
	b = zkj*xlj - xkj*zlj;
	c = xkj*ylj - ykj*xlj;
	d = -(xBedProbePoints[1]*a + yBedProbePoints[1]*b + zBedProbePoints[1]*c);
	aX = -a/c;
	aY = -b/c;
	aC = -d/c;
	zEquationSet = true;
}

// FIXME
// This function is never normally called.  It is a test to time
// the interrupt function.  To activate it, uncomment the line that calls
// this in Platform.ino.

void Move::InterruptTime()
{
/*  char buffer[50];
  float a[] = {1.0, 2.0, 3.0, 4.0, 5.0};
  float b[] = {2.0, 3.0, 4.0, 5.0, 6.0};
  float u = 50;
  float v = 50;
  lookAheadDDA->Init(a, b, u, v);
  lookAheadDDA->Start(false);
  float t = platform->Time();
  for(long i = 0; i < 100000; i++) 
    lookAheadDDA->Step(false);
  t = platform->Time() - t;
  platform->Message(HOST_MESSAGE, "Time for 100000 calls of the interrupt function: ");
  snprintf(buffer, 50, "%ld", t);
  platform->Message(HOST_MESSAGE, buffer);
  platform->Message(HOST_MESSAGE, " microseconds.\n");*/
}

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

DDA::DDA(Move* m, Platform* p, DDA* n)
{
  active = false;
  move = m;
  platform = p;
  next = n;
}

/*

DDA::Init(...) 

Sets up the DDA to take us between two positions and extrude states.
The start velocity is u, and the end one is v.  The requested maximum feedrate
is in myLookAheadEntry->FeedRate().

Almost everything that needs to be done to set this up is also useful
for GCode look-ahead, so this one function is used for both.  It flags when
u and v cannot be satisfied with the distance available and reduces them 
proportionately to give values that can just be achieved, which is why they
are passed by reference.

The return value is indicates if the move is a trapezium or triangle, and if
the u and u values need to be changed.

Every drive has an acceleration associated with it, so when more than one drive is
moving there have to be rules of precedence that say which acceleration (and which
instantDv value) to use.

The rules are these:

  if X and/or Y are moving
    Use X acceleration
  else if Z is moving
  	  Use Z acceleration
  else
    Use the acceleration for the extruder that's moving.

In the case of multiple extruders moving at once, their minimum acceleration (and its
associated instantDv) are used.  The variables axesMoving and extrudersMoving track what's 
going on.  The bits in the int8_t axesMoving are ORed:

  msb -> 00000ZYX <- lsb
  
a 1 meaning that that axis is moving.  The bits of extrudersMoving contain a similar
pattern for the moving extruders.
    
Note that all this assumes that X and Y accelerations are equal, though in fact there is a 
value stored for each.

In the case of only extruders moving, the distance moved is taken to be the Pythagoran distance in
the configuration space of the extruders.

TODO: Worry about having more than eight extruders; X and Y behaving radically differently...

*/

MovementProfile DDA::AccelerationCalculation(float& u, float& v, MovementProfile result)
{

	// At which DDA step should we stop accelerating?  myLookAheadEntry->FeedRate() gives
	// the desired feedrate.

	float d = 0.5*(myLookAheadEntry->FeedRate()*myLookAheadEntry->FeedRate() - u*u)/acceleration; // d = (v1^2 - v0^2)/2a
	stopAStep = (long)roundf((d*totalSteps)/distance);

	// At which DDA step should we start decelerating?

	d = 0.5*(v*v - myLookAheadEntry->FeedRate()*myLookAheadEntry->FeedRate())/acceleration;  // This should be 0 or negative...
	startDStep = totalSteps + (long)roundf((d*totalSteps)/distance);

	// If acceleration stop is at or after deceleration start, then the distance moved
	// is not enough to get to full speed.

	if(stopAStep >= startDStep)
	{
		result = noFlat;

		// Work out the point at which to stop accelerating and then
		// immediately start decelerating.

		float dCross = 0.5*(0.5*(v*v - u*u)/acceleration + distance);

		if(dCross < 0.0 || dCross > distance)
		{
			// With the acceleration available, it is not possible
			// to satisfy u and v within the distance; reduce u and v
			// proportionately to get ones that work and flag the fact.
			// The result is two velocities that can just be accelerated
			// or decelerated between over the distance to get
			// from one to the other.

			result = change;

			float k = v/u;
			u = 2.0*acceleration*distance/(k*k - 1);
			if(u >= 0.0)
			{
				u = sqrt(u);
				v = k*u;
			} else
			{
				v = sqrt(-u);
				u = v/k;
			}

			dCross = 0.5*(0.5*(v*v - u*u)/acceleration + distance);
		}

		// The DDA steps at which acceleration stops and deceleration starts

		stopAStep = (long)((dCross*totalSteps)/distance);
		startDStep = stopAStep + 1;
	}

	return result;
}


void DDA::SetXYAcceleration() // Slight hack - assumes dY = dX
{
	acceleration = platform->Acceleration(X_AXIS);
	instantDv = platform->InstantDv(X_AXIS);
	timeStep = 1.0/platform->DriveStepsPerUnit(X_AXIS);
}

void DDA::SetEAcceleration(float eDistance)
{
    acceleration = FLT_MAX; // Slight hack
    distance = eDistance;
    for(int8_t drive = AXES; drive < DRIVES; drive++)
    {
      if(delta[drive])
      {
        if(platform->Acceleration(drive) < acceleration)
        {
          acceleration = platform->Acceleration(drive);
          instantDv = platform->InstantDv(drive);
          timeStep = 1.0/platform->DriveStepsPerUnit(drive);
        }
      }
    }
}

MovementProfile DDA::Init(LookAhead* lookAhead, float& u, float& v)
{
  int8_t drive;
  active = false;
  myLookAheadEntry = lookAhead;
  MovementProfile result = moving;
  totalSteps = -1;
  distance = 0.0; // X+Y+Z
  float eDistance = 0.0;
  float d;
  long* targetPosition = myLookAheadEntry->MachineEndPoints();
  v = myLookAheadEntry->V();
  long* positionNow = myLookAheadEntry->Previous()->MachineEndPoints();
  u = myLookAheadEntry->Previous()->V();
  checkEndStops = myLookAheadEntry->CheckEndStops();

  // How far are we going, both in steps and in mm?
  
  for(drive = 0; drive < DRIVES; drive++)
  {
    if(drive < AXES) // XY, Z
    {
      delta[drive] = targetPosition[drive] - positionNow[drive];  //Absolute
      d = myLookAheadEntry->MachineToEndPoint(drive, delta[drive]);
      distance += d*d;
    } else
    {  // E
      delta[drive] = targetPosition[drive];  // Relative
      d = myLookAheadEntry->MachineToEndPoint(drive, delta[drive]);
      eDistance += d*d;
    }
    
    if(delta[drive] >= 0)
      directions[drive] = FORWARDS;
    else
      directions[drive] = BACKWARDS;
    delta[drive] = abs(delta[drive]);  
    
    // Keep track of the biggest drive move in totalSteps
    
    if(delta[drive] > totalSteps)
      totalSteps = delta[drive];    
  }
  
  // Not going anywhere?  Should have been chucked away before we got here.
  
  if(totalSteps <= 0)
  {
	if(reprap.Debug())
		platform->Message(HOST_MESSAGE, "DDA.Init(): Null movement.\n");
    myLookAheadEntry->Release();
    return result;
  }
  
  // Set up the DDA
  
  counter[0] = -totalSteps/2;
  for(drive = 1; drive < DRIVES; drive++)
    counter[drive] = counter[0];
  
  // Acceleration and velocity calculations
  
  distance = sqrt(distance);
  eDistance = sqrt(eDistance);
  
  // Decide the appropriate acceleration and instantDv values
  // timeStep is set here to the distance of the
  // corresponding axis step.  It will be divided
  // by a velocity later.

  int8_t mt = myLookAheadEntry->GetMovementType();

  if(mt & xyMove) // X or Y involved?
  {
	  // If XY (or Z) are moving, then the extruder won't be considered in the
	  // acceleration calculation.  Usually this is OK.  But check that we are not asking
	  // the extruder to accelerate, decelerate, or move too fast.  The common place
	  // for this to happen is when it is moving back from a previous retraction during
	  // an XY move.

	  if(mt & eMove)
	  {
		  if(eDistance > distance)
			  SetEAcceleration(eDistance);
		  else
			  SetXYAcceleration();
	  } else
		  SetXYAcceleration();
  } else if (mt & zMove) // Z involved?
  {
    acceleration = platform->Acceleration(Z_AXIS);
    instantDv = platform->InstantDv(Z_AXIS);
    timeStep = 1.0/platform->DriveStepsPerUnit(Z_AXIS);
  } else // Must be extruders only
	  SetEAcceleration(eDistance);

  // If we are going from an XY move to a Z move, u needs to be platform->InstantDv(Z_AXIS).

  if((myLookAheadEntry->Previous()->GetMovementType() & xyMove) && (mt & zMove))
  {
	  u = platform->InstantDv(Z_AXIS);
	  result = change;
  }

  // if we are going from a Z move to an XY move, v needs to be platform->InstantDv(Z_AXIS),
  // as does instantDv.

  if((myLookAheadEntry->Previous()->GetMovementType() & zMove) && (mt & xyMove))
  {
	  v = platform->InstantDv(Z_AXIS);
	  instantDv = v;
	  result = change;
  }
 
  // If velocity requested is (almost) zero, set it to instantDv
  
  if(v < instantDv) // Set change here?
  {
    v = instantDv;
    result = change;
  }

  if(myLookAheadEntry->FeedRate() < instantDv)
	  myLookAheadEntry->SetFeedRate(instantDv);

  result = AccelerationCalculation(u, v, result);
  
  // The initial velocity
  
  velocity = u;
  
  // Sanity check
  
  if(velocity <= 0.0)
  {
    velocity = 1.0;
//    if(reprap.Debug())
//    	platform->Message(HOST_MESSAGE, "DDA.Init(): Zero or negative initial velocity!\n");
  }
  
  // How far have we gone?
  
  stepCount = 0;
  
  // timeStep is an axis step distance at this point; divide it by the
  // velocity to get time.
  
  timeStep = timeStep/velocity;
  
  return result;
}

void DDA::Start(bool noTest)
{
  for(int8_t drive = 0; drive < DRIVES; drive++)
    platform->SetDirection(drive, directions[drive]);
  if(noTest)
    platform->SetInterrupt(timeStep); // seconds
  active = true;  
}

void DDA::Step()
{
  if(!active)
    return;
  
  if(!move->active)
	  return;

  uint8_t axesMoving = 0;
  uint8_t extrudersMoving = 0;
  
  for(int8_t drive = 0; drive < DRIVES; drive++)
  {
    counter[drive] += delta[drive];
    if(counter[drive] > 0)
    {
      platform->Step(drive);

      counter[drive] -= totalSteps;
      
      if(drive < AXES)
        axesMoving |= 1<<drive;
      else
        extrudersMoving |= 1<<(drive - AXES);
        
      // Hit anything?
  
      if(checkEndStops)
      {
        EndStopHit esh = platform->Stopped(drive);
        if(esh == lowHit)
        {
          move->HitLowStop(drive, myLookAheadEntry, this);
          active = false;
        }
        if(esh == highHit)
        {
          move->HitHighStop(drive, myLookAheadEntry, this);
          active = false;
        }
      }        
    }
  }
  
  // May have hit a stop, so test active here
  
  if(active) 
  {
    if(axesMoving)
      timeStep = move->stepDistances[axesMoving]/velocity;
    else
      timeStep = move->extruderStepDistances[extrudersMoving]/velocity;
      
    // Simple Euler integration to get velocities.
    // Maybe one day do a Runge-Kutta?
  
    if(stepCount < stopAStep)
      velocity += acceleration*timeStep;
    if(stepCount >= startDStep)
      velocity -= acceleration*timeStep;
    
    // Euler is only approximate.
    
    if(velocity < instantDv)
      velocity = instantDv;
      
    stepCount++;
    active = stepCount < totalSteps;
    
    platform->SetInterrupt(timeStep);
  }
  
  if(!active)
  {
	for(int8_t drive = 0; drive < DRIVES; drive++)
		move->liveCoordinates[drive] = myLookAheadEntry->MachineToEndPoint(drive); // Don't use SetLiveCoordinates because that applies the transform
	move->liveCoordinates[DRIVES] = myLookAheadEntry->FeedRate();
    myLookAheadEntry->Release();
    platform->SetInterrupt(STANDBY_INTERRUPT_RATE);
  }
}

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

LookAhead::LookAhead(Move* m, Platform* p, LookAhead* n)
{
  move = m;
  platform = p;
  next = n;
}

void LookAhead::Init(long ep[], float f, float vv, bool ce, int8_t mt)
{
  v = vv;
  movementType = mt;
  feedRate = f;
  for(int8_t i = 0; i < DRIVES; i++)
    endPoint[i] = ep[i];
  
  checkEndStops = ce;
  
  // Cosines are lazily evaluated; flag this
  // as unevaluated
  
  cosine = 2.0;
    
  // Only bother with lookahead when we
  // are printing a file, so set processed
  // complete when we aren't.
  
  if(reprap.GetGCodes()->PrintingAFile())
    processed = unprocessed;
  else
    processed = complete|vCosineSet|upPass;
}


// This returns the cosine of the angle between
// the movement up to this, and the movement
// away from this.  Note that it
// includes Z movements, though Z values will almost always 
// not change.  Uses lazy evaluation.

float LookAhead::Cosine()
{
  if(cosine < 1.5)
    return cosine;
    
  cosine = 0.0;
  float a2 = 0.0;
  float b2 = 0.0;
  float m1;
  float m2;
  for(int8_t i = 0; i < AXES; i++)
  {
	m1 = MachineToEndPoint(i);
    m2 = Next()->MachineToEndPoint(i) - m1;
    m1 = m1 - Previous()->MachineToEndPoint(i);
    a2 += m1*m1;
    b2 += m2*m2;
    cosine += m1*m2;
  }
  
  if(a2 <= 0.0 || b2 <= 0.0)
  {
    cosine = 0.5; // Why not?
    return cosine;
  }
 
  cosine = cosine/( (float)sqrt(a2) * (float)sqrt(b2) );
  return cosine;
}

float LookAhead::MachineToEndPoint(int8_t drive, long coord)
{
	return ((float)coord)/reprap.GetPlatform()->DriveStepsPerUnit(drive);
}

long LookAhead::EndPointToMachine(int8_t drive, float coord)
{
	return  (long)roundf(coord*reprap.GetPlatform()->DriveStepsPerUnit(drive));
}





