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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G76_M871.cpp - Temperature calibration/compensation for z-probing
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(PROBE_TEMP_COMPENSATION)
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+#include "../../module/planner.h"
+#include "../../module/probe.h"
+#include "../../feature/bedlevel/bedlevel.h"
+#include "../../module/temperature.h"
+#include "../../module/probe.h"
+#include "../../feature/probe_temp_comp.h"
+
+#include "../../lcd/marlinui.h"
+#include "../../MarlinCore.h" // for wait_for_heatup, idle()
+
+#if ENABLED(PRINTJOB_TIMER_AUTOSTART)
+  #include "../../module/printcounter.h"
+#endif
+
+#if ENABLED(PRINTER_EVENTS_LEDS)
+  #include "../../feature/leds/leds.h"
+#endif
+
+/**
+ * G76: calibrate probe and/or bed temperature offsets
+ *  Notes:
+ *  - When calibrating probe, bed temperature is held constant.
+ *    Compensation values are deltas to first probe measurement at probe temp. = 30°C.
+ *  - When calibrating bed, probe temperature is held constant.
+ *    Compensation values are deltas to first probe measurement at bed temp. = 60°C.
+ *  - The hotend will not be heated at any time.
+ *  - On my Průša MK3S clone I put a piece of paper between the probe and the hotend
+ *    so the hotend fan would not cool my probe constantly. Alternativly you could just
+ *    make sure the fan is not running while running the calibration process.
+ *
+ *  Probe calibration:
+ *  - Moves probe to cooldown point.
+ *  - Heats up bed to 100°C.
+ *  - Moves probe to probing point (1mm above heatbed).
+ *  - Waits until probe reaches target temperature (30°C).
+ *  - Does a z-probing (=base value) and increases target temperature by 5°C.
+ *  - Waits until probe reaches increased target temperature.
+ *  - Does a z-probing (delta to base value will be a compensation value) and increases target temperature by 5°C.
+ *  - Repeats last two steps until max. temperature reached or timeout (i.e. probe does not heat up any further).
+ *  - Compensation values of higher temperatures will be extrapolated (using linear regression first).
+ *    While this is not exact by any means it is still better than simply using the last compensation value.
+ *
+ *  Bed calibration:
+ *  - Moves probe to cooldown point.
+ *  - Heats up bed to 60°C.
+ *  - Moves probe to probing point (1mm above heatbed).
+ *  - Waits until probe reaches target temperature (30°C).
+ *  - Does a z-probing (=base value) and increases bed temperature by 5°C.
+ *  - Moves probe to cooldown point.
+ *  - Waits until probe is below 30°C and bed has reached target temperature.
+ *  - Moves probe to probing point and waits until it reaches target temperature (30°C).
+ *  - Does a z-probing (delta to base value will be a compensation value) and increases bed temperature by 5°C.
+ *  - Repeats last four points until max. bed temperature reached (110°C) or timeout.
+ *  - Compensation values of higher temperatures will be extrapolated (using linear regression first).
+ *    While this is not exact by any means it is still better than simply using the last compensation value.
+ *
+ *  G76 [B | P]
+ *  - no flag - Both calibration procedures will be run.
+ *  - `B` - Run bed temperature calibration.
+ *  - `P` - Run probe temperature calibration.
+ */
+
+static void say_waiting_for()               { SERIAL_ECHOPGM("Waiting for "); }
+static void say_waiting_for_probe_heating() { say_waiting_for(); SERIAL_ECHOLNPGM("probe heating."); }
+static void say_successfully_calibrated()   { SERIAL_ECHOPGM("Successfully calibrated"); }
+static void say_failed_to_calibrate()       { SERIAL_ECHOPGM("!Failed to calibrate"); }
+
+void GcodeSuite::G76() {
+  // Check if heated bed is available and z-homing is done with probe
+  #if TEMP_SENSOR_BED == 0 || !(HOMING_Z_WITH_PROBE)
+    return;
+  #endif
+
+  auto report_temps = [](millis_t &ntr, millis_t timeout=0) {
+    idle_no_sleep();
+    const millis_t ms = millis();
+    if (ELAPSED(ms, ntr)) {
+      ntr = ms + 1000;
+      thermalManager.print_heater_states(active_extruder);
+    }
+    return (timeout && ELAPSED(ms, timeout));
+  };
+
+  auto wait_for_temps = [&](const float tb, const float tp, millis_t &ntr, const millis_t timeout=0) {
+    say_waiting_for(); SERIAL_ECHOLNPGM("bed and probe temperature.");
+    while (fabs(thermalManager.degBed() - tb) > 0.1f || thermalManager.degProbe() > tp)
+      if (report_temps(ntr, timeout)) return true;
+    return false;
+  };
+
+  auto g76_probe = [](const TempSensorID sid, uint16_t &targ, const xy_pos_t &nozpos) {
+    do_z_clearance(5.0); // Raise nozzle before probing
+    const float measured_z = probe.probe_at_point(nozpos, PROBE_PT_STOW, 0, false);  // verbose=0, probe_relative=false
+    if (isnan(measured_z))
+      SERIAL_ECHOLNPGM("!Received NAN. Aborting.");
+    else {
+      SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
+      if (targ == cali_info_init[sid].start_temp)
+        temp_comp.prepare_new_calibration(measured_z);
+      else
+        temp_comp.push_back_new_measurement(sid, measured_z);
+      targ += cali_info_init[sid].temp_res;
+    }
+    return measured_z;
+  };
+
+  #if ENABLED(BLTOUCH)
+    // Make sure any BLTouch error condition is cleared
+    bltouch_command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY);
+    set_bltouch_deployed(false);
+  #endif
+
+  bool do_bed_cal = parser.boolval('B'), do_probe_cal = parser.boolval('P');
+  if (!do_bed_cal && !do_probe_cal) do_bed_cal = do_probe_cal = true;
+
+  // Synchronize with planner
+  planner.synchronize();
+
+  const xyz_pos_t parkpos = temp_comp.park_point,
+            probe_pos_xyz = xyz_pos_t(temp_comp.measure_point) + xyz_pos_t({ 0.0f, 0.0f, PTC_PROBE_HEATING_OFFSET }),
+              noz_pos_xyz = probe_pos_xyz - probe.offset_xy;  // Nozzle position based on probe position
+
+  if (do_bed_cal || do_probe_cal) {
+    // Ensure park position is reachable
+    bool reachable = position_is_reachable(parkpos) || WITHIN(parkpos.z, Z_MIN_POS - fslop, Z_MAX_POS + fslop);
+    if (!reachable)
+      SERIAL_ECHOLNPGM("!Park");
+    else {
+      // Ensure probe position is reachable
+      reachable = probe.can_reach(probe_pos_xyz);
+      if (!reachable) SERIAL_ECHOLNPGM("!Probe");
+    }
+
+    if (!reachable) {
+      SERIAL_ECHOLNPGM(" position unreachable - aborting.");
+      return;
+    }
+
+    process_subcommands_now_P(G28_STR);
+  }
+
+  remember_feedrate_scaling_off();
+
+
+  /******************************************
+   * Calibrate bed temperature offsets
+   ******************************************/
+
+  // Report temperatures every second and handle heating timeouts
+  millis_t next_temp_report = millis() + 1000;
+
+  auto report_targets = [&](const uint16_t tb, const uint16_t tp) {
+    SERIAL_ECHOLNPAIR("Target Bed:", tb, " Probe:", tp);
+  };
+
+  if (do_bed_cal) {
+
+    uint16_t target_bed = cali_info_init[TSI_BED].start_temp,
+             target_probe = temp_comp.bed_calib_probe_temp;
+
+    say_waiting_for(); SERIAL_ECHOLNPGM(" cooling.");
+    while (thermalManager.degBed() > target_bed || thermalManager.degProbe() > target_probe)
+      report_temps(next_temp_report);
+
+    // Disable leveling so it won't mess with us
+    TERN_(HAS_LEVELING, set_bed_leveling_enabled(false));
+
+    for (;;) {
+      thermalManager.setTargetBed(target_bed);
+
+      report_targets(target_bed, target_probe);
+
+      // Park nozzle
+      do_blocking_move_to(parkpos);
+
+      // Wait for heatbed to reach target temp and probe to cool below target temp
+      if (wait_for_temps(target_bed, target_probe, next_temp_report, millis() + MIN_TO_MS(15))) {
+        SERIAL_ECHOLNPGM("!Bed heating timeout.");
+        break;
+      }
+
+      // Move the nozzle to the probing point and wait for the probe to reach target temp
+      do_blocking_move_to(noz_pos_xyz);
+      say_waiting_for_probe_heating();
+      SERIAL_EOL();
+      while (thermalManager.degProbe() < target_probe)
+        report_temps(next_temp_report);
+
+      const float measured_z = g76_probe(TSI_BED, target_bed, noz_pos_xyz);
+      if (isnan(measured_z) || target_bed > BED_MAX_TARGET) break;
+    }
+
+    SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
+    if (temp_comp.finish_calibration(TSI_BED)) {
+      say_successfully_calibrated();
+      SERIAL_ECHOLNPGM(" bed.");
+    }
+    else {
+      say_failed_to_calibrate();
+      SERIAL_ECHOLNPGM(" bed. Values reset.");
+    }
+
+    // Cleanup
+    thermalManager.setTargetBed(0);
+    TERN_(HAS_LEVELING, set_bed_leveling_enabled(true));
+  } // do_bed_cal
+
+  /********************************************
+   * Calibrate probe temperature offsets
+   ********************************************/
+
+  if (do_probe_cal) {
+
+    // Park nozzle
+    do_blocking_move_to(parkpos);
+
+    // Initialize temperatures
+    const uint16_t target_bed = temp_comp.probe_calib_bed_temp;
+    thermalManager.setTargetBed(target_bed);
+
+    uint16_t target_probe = cali_info_init[TSI_PROBE].start_temp;
+
+    report_targets(target_bed, target_probe);
+
+    // Wait for heatbed to reach target temp and probe to cool below target temp
+    wait_for_temps(target_bed, target_probe, next_temp_report);
+
+    // Disable leveling so it won't mess with us
+    TERN_(HAS_LEVELING, set_bed_leveling_enabled(false));
+
+    bool timeout = false;
+    for (;;) {
+      // Move probe to probing point and wait for it to reach target temperature
+      do_blocking_move_to(noz_pos_xyz);
+
+      say_waiting_for_probe_heating();
+      SERIAL_ECHOLNPAIR(" Bed:", target_bed, " Probe:", target_probe);
+      const millis_t probe_timeout_ms = millis() + SEC_TO_MS(900UL);
+      while (thermalManager.degProbe() < target_probe) {
+        if (report_temps(next_temp_report, probe_timeout_ms)) {
+          SERIAL_ECHOLNPGM("!Probe heating timed out.");
+          timeout = true;
+          break;
+        }
+      }
+      if (timeout) break;
+
+      const float measured_z = g76_probe(TSI_PROBE, target_probe, noz_pos_xyz);
+      if (isnan(measured_z) || target_probe > cali_info_init[TSI_PROBE].end_temp) break;
+    }
+
+    SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
+    if (temp_comp.finish_calibration(TSI_PROBE))
+      say_successfully_calibrated();
+    else
+      say_failed_to_calibrate();
+    SERIAL_ECHOLNPGM(" probe.");
+
+    // Cleanup
+    thermalManager.setTargetBed(0);
+    TERN_(HAS_LEVELING, set_bed_leveling_enabled(true));
+
+    SERIAL_ECHOLNPGM("Final compensation values:");
+    temp_comp.print_offsets();
+  } // do_probe_cal
+
+  restore_feedrate_and_scaling();
+}
+
+/**
+ * M871: Report / reset temperature compensation offsets.
+ *       Note: This does not affect values in EEPROM until M500.
+ *
+ *   M871 [ R | B | P | E ]
+ *
+ *    No Parameters - Print current offset values.
+ *
+ * Select only one of these flags:
+ *    R - Reset all offsets to zero (i.e., disable compensation).
+ *    B - Manually set offset for bed
+ *    P - Manually set offset for probe
+ *    E - Manually set offset for extruder
+ *
+ * With B, P, or E:
+ *    I[index] - Index in the array
+ *    V[value] - Adjustment in µm
+ */
+void GcodeSuite::M871() {
+
+  if (parser.seen('R')) {
+    // Reset z-probe offsets to factory defaults
+    temp_comp.clear_all_offsets();
+    SERIAL_ECHOLNPGM("Offsets reset to default.");
+  }
+  else if (parser.seen("BPE")) {
+    if (!parser.seenval('V')) return;
+    const int16_t offset_val = parser.value_int();
+    if (!parser.seenval('I')) return;
+    const int16_t idx = parser.value_int();
+    const TempSensorID mod = (parser.seen('B') ? TSI_BED :
+                                #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+                                  parser.seen('E') ? TSI_EXT :
+                                #endif
+                                TSI_PROBE
+                              );
+    if (idx > 0 && temp_comp.set_offset(mod, idx - 1, offset_val))
+      SERIAL_ECHOLNPAIR("Set value: ", offset_val);
+    else
+      SERIAL_ECHOLNPGM("!Invalid index. Failed to set value (note: value at index 0 is constant).");
+
+  }
+  else // Print current Z-probe adjustments. Note: Values in EEPROM might differ.
+    temp_comp.print_offsets();
+}
+
+/**
+ * M192: Wait for probe temperature sensor to reach a target
+ *
+ * Select only one of these flags:
+ *    R - Wait for heating or cooling
+ *    S - Wait only for heating
+ */
+void GcodeSuite::M192() {
+  if (DEBUGGING(DRYRUN)) return;
+
+  const bool no_wait_for_cooling = parser.seenval('S');
+  if (!no_wait_for_cooling && ! parser.seenval('R')) {
+    SERIAL_ERROR_MSG("No target temperature set.");
+    return;
+  }
+
+  const float target_temp = parser.value_celsius();
+  ui.set_status_P(thermalManager.isProbeBelowTemp(target_temp) ? GET_TEXT(MSG_PROBE_HEATING) : GET_TEXT(MSG_PROBE_COOLING));
+  thermalManager.wait_for_probe(target_temp, no_wait_for_cooling);
+}
+
+#endif // PROBE_TEMP_COMPENSATION