/*
  report.c - reporting and messaging methods
  Part of Grbl

  Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC

  Grbl 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.

  Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
*/

/*
  This file functions as the primary feedback interface for Grbl. Any outgoing data, such
  as the protocol status messages, feedback messages, and status reports, are stored here.
  For the most part, these functions primarily are called from protocol.c methods. If a
  different style feedback is desired (i.e. JSON), then a user can change these following
  methods to accomodate their needs.
*/

#include "grbl.h"


// Internal report utilities to reduce flash with repetitive tasks turned into functions.
void report_util_setting_prefix(uint8_t n) { serial_write('$'); print_uint8_base10(n); serial_write('='); }
static void report_util_line_feed() { printPgmString(PSTR("\r\n")); }
static void report_util_feedback_line_feed() { serial_write(']'); report_util_line_feed(); }
// static void report_util_comment_line_feed() { serial_write(')'); report_util_line_feed(); }
static void report_util_axis_values(float *axis_value) {
  uint8_t idx;
  for (idx=0; idx<N_AXIS; idx++) {
    printFloat_CoordValue(axis_value[idx]);
    if (idx < (N_AXIS-1)) { serial_write(','); }
  }
}

// static void report_util_setting_string(uint8_t n) {
//   serial_write(' ');
//   serial_write('(');
//   switch(n) {
//     case 0: printPgmString(PSTR("stp pulse:us")); break;
//     case 1: printPgmString(PSTR("idl delay:ms")); break; 
//     case 2: printPgmString(PSTR("stp inv:msk")); break;
//     case 3: printPgmString(PSTR("dir inv:msk")); break;
//     case 4: printPgmString(PSTR("stp enbl inv")); break;
//     case 5: printPgmString(PSTR("lim inv")); break;
//     case 6: printPgmString(PSTR("prb inv")); break;
//     case 10: printPgmString(PSTR("rpt:msk")); break;
//     case 11: printPgmString(PSTR("jnc dev:mm")); break;
//     case 12: printPgmString(PSTR("arc tol:mm")); break;
//     case 13: printPgmString(PSTR("rpt inch")); break;
//     case 20: printPgmString(PSTR("sft lim")); break;
//     case 21: printPgmString(PSTR("hrd lim")); break;
//     case 22: printPgmString(PSTR("hm cyc")); break;
//     case 23: printPgmString(PSTR("hm dir inv:msk")); break;
//     case 24: printPgmString(PSTR("hm feed:mm/min")); break;
//     case 25: printPgmString(PSTR("hm seek:mm/min")); break;
//     case 26: printPgmString(PSTR("hm delay:ms")); break;
//     case 27: printPgmString(PSTR("hm off:mm")); break;
//     case 30: printPgmString(PSTR("rpm max")); break;
//     case 31: printPgmString(PSTR("rpm min")); break;
//     case 32: printPgmString(PSTR("laser")); break;
//     default:
//       n -= AXIS_SETTINGS_START_VAL;
//       uint8_t idx = 0;
//       while (n < 10) {
//         if (n<10) {
//           print_uint8_base10(n+idx);
//           switch (idx) {
//             case 0: printPgmString(PSTR(":stp/mm")); break;
//             case 1: printPgmString(PSTR(":mm/min")); break;
//             case 2: printPgmString(PSTR(":mm/s^2")); break;
//             case 3: printPgmString(PSTR(":mm max")); break;
//           }
//         } else {
//           n -= 10;
//           idx++;
//         }
//       }
//   }
//   report_util_comment_line_feed();
// }

static void report_util_uint8_setting(uint8_t n, int val) { 
  report_util_setting_prefix(n); 
  print_uint8_base10(val); 
  report_util_line_feed();
//   report_util_setting_string(n); 
}
static void report_util_float_setting(uint8_t n, float val, uint8_t n_decimal) { 
  report_util_setting_prefix(n); 
  printFloat(val,n_decimal);
  report_util_line_feed();
//   report_util_setting_string(n);
}


// Handles the primary confirmation protocol response for streaming interfaces and human-feedback.
// For every incoming line, this method responds with an 'ok' for a successful command or an
// 'error:'  to indicate some error event with the line or some critical system error during
// operation. Errors events can originate from the g-code parser, settings module, or asynchronously
// from a critical error, such as a triggered hard limit. Interface should always monitor for these
// responses.
// NOTE: In REPORT_GUI_MODE, all error codes are greater than zero.
void report_status_message(uint8_t status_code)
{
  switch(status_code) {
    case STATUS_OK: // STATUS_OK
      printPgmString(PSTR("ok\r\n")); break;
    default:
      #ifdef REPORT_GUI_MODE
        printPgmString(PSTR("error:"));
        print_uint8_base10(status_code);
      #else
        printPgmString(PSTR("error: "));
        switch(status_code) {
          case STATUS_EXPECTED_COMMAND_LETTER:
            printPgmString(PSTR("Expected command letter")); break;
          case STATUS_BAD_NUMBER_FORMAT:
            printPgmString(PSTR("Bad number format")); break;
          case STATUS_INVALID_STATEMENT:
            printPgmString(PSTR("Invalid statement")); break;
          case STATUS_NEGATIVE_VALUE:
            printPgmString(PSTR("Value < 0")); break;
          case STATUS_SETTING_DISABLED:
            printPgmString(PSTR("Setting disabled")); break;
          case STATUS_SETTING_STEP_PULSE_MIN:
            printPgmString(PSTR("Value < 3 usec")); break;
          case STATUS_SETTING_READ_FAIL:
            printPgmString(PSTR("EEPROM read fail. Using defaults")); break;
          case STATUS_IDLE_ERROR:
            printPgmString(PSTR("Not idle")); break;
          case STATUS_SYSTEM_GC_LOCK:
            printPgmString(PSTR("G-code lock")); break;
          case STATUS_SOFT_LIMIT_ERROR:
            printPgmString(PSTR("Homing not enabled")); break;
          case STATUS_OVERFLOW:
            printPgmString(PSTR("Line overflow")); break;
          #ifdef MAX_STEP_RATE_HZ
            case STATUS_MAX_STEP_RATE_EXCEEDED:
              printPgmString(PSTR("Step rate > 30kHz")); break;
          #endif
          case STATUS_CHECK_DOOR:
            printPgmString(PSTR("Check Door")); break;
          // case STATUS_LINE_LENGTH_EXCEEDED: // Supported on Grbl-Mega only.
          //  printPgmString(PSTR("Line length exceeded")); break;
          case STATUS_TRAVEL_EXCEEDED:
            printPgmString(PSTR("Travel exceeded")); break;
          case STATUS_INVALID_JOG_COMMAND:
            printPgmString(PSTR("Invalid jog command")); break;
          // Common g-code parser errors.
          case STATUS_GCODE_UNSUPPORTED_COMMAND:
            printPgmString(PSTR("Unsupported command")); break;
          case STATUS_GCODE_MODAL_GROUP_VIOLATION:
            printPgmString(PSTR("Modal group violation")); break;
          case STATUS_GCODE_UNDEFINED_FEED_RATE:
            printPgmString(PSTR("Undefined feed rate")); break;
          default:
            // Remaining g-code parser errors with error codes
            printPgmString(PSTR("Invalid gcode ID:"));
            print_uint8_base10(status_code); // Print error code for user reference
        }
      #endif
      report_util_line_feed();
  }
}

// Prints alarm messages.
void report_alarm_message(int8_t alarm_code)
{
  #ifdef REPORT_GUI_MODE
    printPgmString(PSTR("ALARM:"));
    print_uint8_base10(alarm_code);
  #else
    printPgmString(PSTR("ALARM: "));
    switch (alarm_code) {
      case ALARM_HARD_LIMIT_ERROR:
        printPgmString(PSTR("Hard limit")); break;
      case ALARM_SOFT_LIMIT_ERROR:
        printPgmString(PSTR("Soft limit")); break;
      case ALARM_ABORT_CYCLE:
        printPgmString(PSTR("Abort during cycle")); break;
      case ALARM_PROBE_FAIL_INITIAL:
      case ALARM_PROBE_FAIL_CONTACT:
        printPgmString(PSTR("Probe fail")); break;
      case ALARM_HOMING_FAIL_RESET:
      case ALARM_HOMING_FAIL_DOOR:
      case ALARM_HOMING_FAIL_PULLOFF:
      case ALARM_HOMING_FAIL_APPROACH:
        printPgmString(PSTR("Homing fail")); break;
    }
  #endif
  report_util_line_feed();
  delay_ms(500); // Force delay to ensure message clears serial write buffer.
}

// Prints feedback messages. This serves as a centralized method to provide additional
// user feedback for things that are not of the status/alarm message protocol. These are
// messages such as setup warnings, switch toggling, and how to exit alarms.
// NOTE: For interfaces, messages are always placed within brackets. And if silent mode
// is installed, the message number codes are less than zero.
void report_feedback_message(uint8_t message_code)
{
  printPgmString(PSTR("[MSG:"));
  switch(message_code) {
    case MESSAGE_CRITICAL_EVENT:
      printPgmString(PSTR("Reset to continue")); break;
    case MESSAGE_ALARM_LOCK:
      printPgmString(PSTR("'$H'|'$X' to unlock")); break;
    case MESSAGE_ALARM_UNLOCK:
      printPgmString(PSTR("Caution: Unlocked")); break;
    case MESSAGE_ENABLED:
      printPgmString(PSTR("Enabled")); break;
    case MESSAGE_DISABLED:
      printPgmString(PSTR("Disabled")); break;
    case MESSAGE_SAFETY_DOOR_AJAR:
      printPgmString(PSTR("Check Door")); break;
    case MESSAGE_CHECK_LIMITS:
      printPgmString(PSTR("Check Limits")); break;
    case MESSAGE_PROGRAM_END:
      printPgmString(PSTR("Pgm End")); break;
    case MESSAGE_RESTORE_DEFAULTS:
      printPgmString(PSTR("Restoring defaults")); break;
    case MESSAGE_SPINDLE_RESTORE:
      printPgmString(PSTR("Restoring spindle")); break;
    case MESSAGE_SLEEP_MODE:
      printPgmString(PSTR("Sleeping")); break;
  }
  report_util_feedback_line_feed();
}


// Welcome message
void report_init_message()
{
  printPgmString(PSTR("\r\nGrbl " GRBL_VERSION " ['$' for help]\r\n"));
}

// Grbl help message
void report_grbl_help() {
  #ifdef REPORT_GUI_MODE
    printPgmString(PSTR("[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $SLP $C $X $H ~ ! ? ctrl-x]\r\n"));
  #else
    printPgmString(PSTR("$$ (view Grbl settings)\r\n"
                        "$# (view # parameters)\r\n"
                        "$G (view parser state)\r\n"
                        "$I (view build info)\r\n"
                        "$N (view startup blocks)\r\n"
                        "$x=value (save Grbl setting)\r\n"
                        "$Nx=line (save startup block)\r\n"
                        "$J=line (jog)\r\n"
                        "$SLP (sleep mode)\r\n"
                        "$C (check gcode mode)\r\n"
                        "$X (kill alarm lock)\r\n"
                        "$H (run homing cycle)\r\n"
                        "~ (cycle start)\r\n"
                        "! (feed hold)\r\n"
                        "? (current status)\r\n"
                        "ctrl-x (reset Grbl)\r\n"));
  #endif
}


// Grbl global settings print out.
// NOTE: The numbering scheme here must correlate to storing in settings.c
void report_grbl_settings() {
  // Print Grbl settings.
  #ifdef REPORT_GUI_MODE

    report_util_uint8_setting(0,settings.pulse_microseconds);
    report_util_uint8_setting(1,settings.stepper_idle_lock_time);
    report_util_uint8_setting(2,settings.step_invert_mask);
    report_util_uint8_setting(3,settings.dir_invert_mask);
    report_util_uint8_setting(4,bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
    report_util_uint8_setting(5,bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
    report_util_uint8_setting(6,bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
    report_util_uint8_setting(10,settings.status_report_mask);
    report_util_float_setting(11,settings.junction_deviation,N_DECIMAL_SETTINGVALUE);
    report_util_float_setting(12,settings.arc_tolerance,N_DECIMAL_SETTINGVALUE);
    report_util_uint8_setting(13,bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
    report_util_uint8_setting(20,bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
    report_util_uint8_setting(21,bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
    report_util_uint8_setting(22,bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
    report_util_uint8_setting(23,settings.homing_dir_mask);
    report_util_float_setting(24,settings.homing_feed_rate,N_DECIMAL_SETTINGVALUE);
    report_util_float_setting(25,settings.homing_seek_rate,N_DECIMAL_SETTINGVALUE);
    report_util_uint8_setting(26,settings.homing_debounce_delay);
    report_util_float_setting(27,settings.homing_pulloff,N_DECIMAL_SETTINGVALUE);
    report_util_float_setting(30,settings.rpm_max,N_DECIMAL_RPMVALUE);
    report_util_float_setting(31,settings.rpm_min,N_DECIMAL_RPMVALUE);
    #ifdef VARIABLE_SPINDLE
      report_util_uint8_setting(32,bit_istrue(settings.flags,BITFLAG_LASER_MODE));
    #else
      report_util_uint8_setting(32,0);
    #endif
    // Print axis settings
    uint8_t idx, set_idx;
    uint8_t val = AXIS_SETTINGS_START_VAL;
    for (set_idx=0; set_idx<AXIS_N_SETTINGS; set_idx++) {
      for (idx=0; idx<N_AXIS; idx++) {
        switch (set_idx) {
          case 0: report_util_float_setting(val+idx,settings.steps_per_mm[idx],N_DECIMAL_SETTINGVALUE); break;
          case 1: report_util_float_setting(val+idx,settings.max_rate[idx],N_DECIMAL_SETTINGVALUE); break;
          case 2: report_util_float_setting(val+idx,settings.acceleration[idx]/(60*60),N_DECIMAL_SETTINGVALUE); break;
          case 3: report_util_float_setting(val+idx,-settings.max_travel[idx],N_DECIMAL_SETTINGVALUE); break;
        }
      }
      val += AXIS_SETTINGS_INCREMENT;
    }

  #else

    printPgmString(PSTR("$0=")); print_uint8_base10(settings.pulse_microseconds);
    printPgmString(PSTR(" (step pulse, usec)\r\n$1=")); print_uint8_base10(settings.stepper_idle_lock_time);
    printPgmString(PSTR(" (step idle delay, msec)\r\n$2=")); print_uint8_base10(settings.step_invert_mask);
    printPgmString(PSTR(" (step port invert mask)\r\n$3=")); print_uint8_base10(settings.dir_invert_mask);
    printPgmString(PSTR(" (dir port invert mask)\r\n$4=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
    printPgmString(PSTR(" (step enable invert, bool)\r\n$5=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
    printPgmString(PSTR(" (limit pins invert, bool)\r\n$6=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
    printPgmString(PSTR(" (probe pin invert, bool)\r\n$10=")); print_uint8_base10(settings.status_report_mask);
    printPgmString(PSTR(" (status report mask)\r\n$11=")); printFloat_SettingValue(settings.junction_deviation);
    printPgmString(PSTR(" (junction deviation, mm)\r\n$12=")); printFloat_SettingValue(settings.arc_tolerance);
    printPgmString(PSTR(" (arc tolerance, mm)\r\n$13=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
    printPgmString(PSTR(" (report inches, bool)\r\n$20=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
    printPgmString(PSTR(" (soft limits, bool)\r\n$21=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
    printPgmString(PSTR(" (hard limits, bool)\r\n$22=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
    printPgmString(PSTR(" (homing cycle, bool)\r\n$23=")); print_uint8_base10(settings.homing_dir_mask);
    printPgmString(PSTR(" (homing dir invert mask\r\n$24=")); printFloat_SettingValue(settings.homing_feed_rate);
    printPgmString(PSTR(" (homing feed, mm/min)\r\n$25=")); printFloat_SettingValue(settings.homing_seek_rate);
    printPgmString(PSTR(" (homing seek, mm/min)\r\n$26=")); print_uint8_base10(settings.homing_debounce_delay);
    printPgmString(PSTR(" (homing debounce, msec)\r\n$27=")); printFloat_SettingValue(settings.homing_pulloff);
    printPgmString(PSTR(" (homing pull-off, mm)\r\n$30=")); printFloat_RPMValue(settings.rpm_max);
    printPgmString(PSTR(" (rpm max)\r\n$31=")); printFloat_RPMValue(settings.rpm_min);
    #ifdef VARIABLE_SPINDLE
      printPgmString(PSTR(" (rpm min)\r\n$32=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_LASER_MODE));
      printPgmString(PSTR(" (laser mode, bool)\r\n"));
    #else
      printPgmString(PSTR(" (rpm min)\r\n$32=0 (laser mode, bool)\r\n"));
    #endif
    // Print axis settings
    uint8_t idx, set_idx;
    uint8_t val = AXIS_SETTINGS_START_VAL;
    for (set_idx=0; set_idx<AXIS_N_SETTINGS; set_idx++) {
      for (idx=0; idx<N_AXIS; idx++) {
        serial_write('$');
        print_uint8_base10(val+idx);
        serial_write('=');
        switch (set_idx) {
          case 0: printFloat_SettingValue(settings.steps_per_mm[idx]); break;
          case 1: printFloat_SettingValue(settings.max_rate[idx]); break;
          case 2: printFloat_SettingValue(settings.acceleration[idx]/(60*60)); break;
          case 3: printFloat_SettingValue(-settings.max_travel[idx]); break;
        }
        serial_write(' ');
        serial_write('(');
        switch (idx) {
          case X_AXIS: printPgmString(PSTR("x")); break;
          case Y_AXIS: printPgmString(PSTR("y")); break;
          case Z_AXIS: printPgmString(PSTR("z")); break;
        }
        switch (set_idx) {
          case 0: printPgmString(PSTR(", step/mm")); break;
          case 1: printPgmString(PSTR(" max rate, mm/min")); break;
          case 2: printPgmString(PSTR(" accel, mm/sec^2")); break;
          case 3: printPgmString(PSTR(" max travel, mm")); break;
        }
        printPgmString(PSTR(")\r\n"));
      }
      val += AXIS_SETTINGS_INCREMENT;
    }

  #endif
}


// Prints current probe parameters. Upon a probe command, these parameters are updated upon a
// successful probe or upon a failed probe with the G38.3 without errors command (if supported).
// These values are retained until Grbl is power-cycled, whereby they will be re-zeroed.
void report_probe_parameters()
{
  // Report in terms of machine position.
  printPgmString(PSTR("[PRB:"));
  float print_position[N_AXIS];
  system_convert_array_steps_to_mpos(print_position,sys_probe_position);
  report_util_axis_values(print_position);
  serial_write(':');
  print_uint8_base10(sys.probe_succeeded);
  report_util_feedback_line_feed();
}


// Prints Grbl NGC parameters (coordinate offsets, probing)
void report_ngc_parameters()
{
  float coord_data[N_AXIS];
  uint8_t coord_select;
  for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
    if (!(settings_read_coord_data(coord_select,coord_data))) {
      report_status_message(STATUS_SETTING_READ_FAIL);
      return;
    }
    printPgmString(PSTR("[G"));
    switch (coord_select) {
      case 6: printPgmString(PSTR("28")); break;
      case 7: printPgmString(PSTR("30")); break;
      default: print_uint8_base10(coord_select+54); break; // G54-G59
    }
    serial_write(':');
    report_util_axis_values(coord_data);
    report_util_feedback_line_feed();
  }
  printPgmString(PSTR("[G92:")); // Print G92,G92.1 which are not persistent in memory
  report_util_axis_values(gc_state.coord_offset);
  report_util_feedback_line_feed();
  printPgmString(PSTR("[TLO:")); // Print tool length offset value
  printFloat_CoordValue(gc_state.tool_length_offset);
  report_util_feedback_line_feed();
  report_probe_parameters(); // Print probe parameters. Not persistent in memory.
}


// Print current gcode parser mode state
void report_gcode_modes()
{
  printPgmString(PSTR("[GC:G"));
  switch (gc_state.modal.motion) {
    case MOTION_MODE_SEEK : serial_write('0'); break;
    case MOTION_MODE_LINEAR : serial_write('1'); break;
    case MOTION_MODE_CW_ARC : serial_write('2'); break;
    case MOTION_MODE_CCW_ARC : serial_write('3'); break;
    case MOTION_MODE_NONE : printPgmString(PSTR("80")); break;
    default:
      printPgmString(PSTR("38."));
      print_uint8_base10(gc_state.modal.motion - (MOTION_MODE_PROBE_TOWARD-2));
  }

  printPgmString(PSTR(" G"));
  print_uint8_base10(gc_state.modal.coord_select+54);

  printPgmString(PSTR(" G1"));
  switch (gc_state.modal.plane_select) {
    case PLANE_SELECT_XY : serial_write('7'); break;
    case PLANE_SELECT_ZX : serial_write('8'); break;
    case PLANE_SELECT_YZ : serial_write('9'); break;
  }

  printPgmString(PSTR(" G2"));
  if (gc_state.modal.units == UNITS_MODE_MM) { serial_write('1'); }
  else { serial_write('0'); }

  printPgmString(PSTR(" G9"));
  if (gc_state.modal.distance == DISTANCE_MODE_ABSOLUTE) { serial_write('0'); }
  else { serial_write('1'); }

  printPgmString(PSTR(" G9"));
  if (gc_state.modal.feed_rate == FEED_RATE_MODE_INVERSE_TIME) { serial_write('3'); }
  else { serial_write('4'); }

  printPgmString(PSTR(" M"));
  switch (gc_state.modal.program_flow) {
    case PROGRAM_FLOW_RUNNING : serial_write('0'); break;
    case PROGRAM_FLOW_PAUSED : serial_write('1'); break;
    case PROGRAM_FLOW_COMPLETED : serial_write('2'); break;
  }

  printPgmString(PSTR(" M"));
  switch (gc_state.modal.spindle) {
    case SPINDLE_ENABLE_CW : serial_write('3'); break;
    case SPINDLE_ENABLE_CCW : serial_write('4'); break;
    case SPINDLE_DISABLE : serial_write('5'); break;
  }

  printPgmString(PSTR(" M"));
  #ifdef ENABLE_M7
    if (gc_state.modal.coolant) { // Note: Multiple coolant states may be active at the same time.
      if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_MIST) { serial_write('7'); }
      if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_FLOOD) { serial_write('8'); }
    } else { serial_write('9'); }
  #else
    if (gc_state.modal.coolant) { serial_write('8'); }
    else { serial_write('9'); }
  #endif

  printPgmString(PSTR(" T"));
  print_uint8_base10(gc_state.tool);

  printPgmString(PSTR(" F"));
  printFloat_RateValue(gc_state.feed_rate);

  #ifdef VARIABLE_SPINDLE
    printPgmString(PSTR(" S"));
    printFloat(gc_state.spindle_speed,N_DECIMAL_RPMVALUE);
  #endif

  report_util_feedback_line_feed();
}

// Prints specified startup line
void report_startup_line(uint8_t n, char *line)
{
  printPgmString(PSTR("$N"));
  print_uint8_base10(n);
  serial_write('=');
  printString(line);
  report_util_line_feed();
}

void report_execute_startup_message(char *line, uint8_t status_code)
{
  serial_write('>');
  printString(line);
  serial_write(':');
  report_status_message(status_code);
}

// Prints build info line
void report_build_info(char *line)
{
  printPgmString(PSTR("[VER:" GRBL_VERSION "." GRBL_VERSION_BUILD ":"));
  printString(line);
  report_util_feedback_line_feed();
}


// Prints the character string line Grbl has received from the user, which has been pre-parsed,
// and has been sent into protocol_execute_line() routine to be executed by Grbl.
void report_echo_line_received(char *line)
{
  printPgmString(PSTR("[echo: ")); printString(line);
  report_util_feedback_line_feed();
}


 // Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
 // and the actual location of the CNC machine. Users may change the following function to their
 // specific needs, but the desired real-time data report must be as short as possible. This is
 // requires as it minimizes the computational overhead and allows grbl to keep running smoothly,
 // especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
void report_realtime_status()
{
  #ifdef USE_CLASSIC_REALTIME_REPORT

    uint8_t idx;
    int32_t current_position[N_AXIS]; // Copy current state of the system position variable
    memcpy(current_position,sys_position,sizeof(sys_position));
    float print_position[N_AXIS];

    // Report current machine state
    switch (sys.state) {
      case STATE_IDLE: printPgmString(PSTR("<Idle")); break;
      case STATE_CYCLE: printPgmString(PSTR("<Run")); break;
      case STATE_HOLD:
        if (!(sys.suspend & SUSPEND_JOG_CANCEL)) {
          printPgmString(PSTR("<Hold"));
          break;
        } // Continues to print jog state during jog cancel.
      case STATE_JOG: printPgmString(PSTR("<Jog")); break;
      case STATE_HOMING: printPgmString(PSTR("<Home")); break;
      case STATE_ALARM: printPgmString(PSTR("<Alarm")); break;
      case STATE_CHECK_MODE: printPgmString(PSTR("<Check")); break;
      case STATE_SAFETY_DOOR:
        if (!(sys.suspend & SUSPEND_RETRACT_COMPLETE)) {
          printPgmString(PSTR("<Door"));
        } else {
          if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) { printPgmString(PSTR("<Door")); }
          else { printPgmString(PSTR("<Hold")); }
        }
        break;
      case STATE_SLEEP: printPgmString(PSTR("<Sleep")); break;        
    }

    // If reporting a position, convert the current step count (current_position) to millimeters.
    if (bit_istrue(settings.status_report_mask,(BITFLAG_RT_STATUS_MACHINE_POSITION | BITFLAG_RT_STATUS_WORK_POSITION))) {
      system_convert_array_steps_to_mpos(print_position,current_position);
    }

    // Report machine position
    if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_MACHINE_POSITION)) {
      printPgmString(PSTR(",MPos:"));
      for (idx=0; idx< N_AXIS; idx++) {
        printFloat_CoordValue(print_position[idx]);
        if (idx < (N_AXIS-1)) { serial_write(','); }
      }
    }

    // Report work position
    if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_WORK_POSITION)) {
      printPgmString(PSTR(",WPos:"));
      for (idx=0; idx< N_AXIS; idx++) {
        // Apply work coordinate offsets and tool length offset to current position.
        print_position[idx] -= gc_state.coord_system[idx]+gc_state.coord_offset[idx];
        if (idx == TOOL_LENGTH_OFFSET_AXIS) { print_position[idx] -= gc_state.tool_length_offset; }
        printFloat_CoordValue(print_position[idx]);
        if (idx < (N_AXIS-1)) { serial_write(','); }
      }
    }

    // Returns the number of active blocks are in the planner buffer.
    if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_PLANNER_BUFFER)) {
      printPgmString(PSTR(",Buf:"));
      print_uint8_base10(plan_get_block_buffer_count());
    }

    // Report serial read buffer status
    if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_SERIAL_RX)) {
      printPgmString(PSTR(",RX:"));
      print_uint8_base10(serial_get_rx_buffer_count());
    }

    #ifdef USE_LINE_NUMBERS
      // Report current line number
      printPgmString(PSTR(",Ln:"));
      int32_t ln=0;
      plan_block_t * pb = plan_get_current_block();
      if(pb != NULL) {
        ln = pb->line_number;
      }
      printInteger(ln);
    #endif

    #ifdef REPORT_REALTIME_RATE
      // Report realtime rate
      printPgmString(PSTR(",F:"));
      printFloat_RateValue(st_get_realtime_rate());
    #endif

    #ifdef REPORT_ALL_PIN_STATES
      if (bit_istrue(settings.status_report_mask,
            ( BITFLAG_RT_STATUS_LIMIT_PINS| BITFLAG_RT_STATUS_PROBE_PIN | BITFLAG_RT_STATUS_CONTROL_PINS ))) {
        printPgmString(PSTR(",Pin:"));
        if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_LIMIT_PINS)) {
          print_uint8_base2_ndigit(limits_get_state(),N_AXIS);
        }
        printPgmString(PSTR("|"));
        if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_PROBE_PIN)) {
          if (probe_get_state()) { printPgmString(PSTR("1")); }
          else { printPgmString(PSTR("0")); }
        }
        printPgmString(PSTR("|"));
        if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_CONTROL_PINS)) {
          print_uint8_base2_ndigit(system_control_get_state(),N_CONTROL_PIN);
        }
      }
    #else
      if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_LIMIT_PINS)) {
        printPgmString(PSTR(",Lim:"));
        print_uint8_base2_ndigit(limits_get_state(),N_AXIS);
      }
    #endif

    if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_OVERRIDES)) {
      printPgmString(PSTR(",Ov:"));
      print_uint8_base10(sys.f_override);
      serial_write(',');
      print_uint8_base10(sys.r_override);
      serial_write(',');
      print_uint8_base10(sys.spindle_speed_ovr);
      if (sys.toggle_ovr_mask) {
        printPgmString(PSTR("|T:"));
        if (sys.toggle_ovr_mask & TOGGLE_OVR_STOP_ACTIVE_MASK) { serial_write('S'); }
        if (sys.toggle_ovr_mask & TOGGLE_OVR_FLOOD_COOLANT) { serial_write('F'); }
        #ifdef ENABLE_M7
          if (sys.toggle_ovr_mask & TOGGLE_OVR_MIST_COOLANT) { serial_write('M'); }
        #endif
        bit_false(sys.toggle_ovr_mask, (TOGGLE_OVR_FLOOD_COOLANT|TOGGLE_OVR_FLOOD_COOLANT));
      }
    }

    printPgmString(PSTR(">\r\n"));

  #else

    uint8_t idx;
    int32_t current_position[N_AXIS]; // Copy current state of the system position variable
    memcpy(current_position,sys_position,sizeof(sys_position));
    float print_position[N_AXIS];
    system_convert_array_steps_to_mpos(print_position,current_position);

    // Report current machine state and sub-states
    serial_write('<');
    switch (sys.state) {
      case STATE_IDLE: printPgmString(PSTR("Idle")); break;
      case STATE_CYCLE: printPgmString(PSTR("Run")); break;
      case STATE_HOLD:
        if (!(sys.suspend & SUSPEND_JOG_CANCEL)) {
          printPgmString(PSTR("Hold:"));
          if (sys.suspend & SUSPEND_HOLD_COMPLETE) { serial_write('0'); } // Ready to resume
          else { serial_write('1'); } // Actively holding
          break;
        } // Continues to print jog state during jog cancel.
      case STATE_JOG: printPgmString(PSTR("Jog")); break;
      case STATE_HOMING: printPgmString(PSTR("Home")); break;
      case STATE_ALARM: printPgmString(PSTR("Alarm")); break;
      case STATE_CHECK_MODE: printPgmString(PSTR("Check")); break;
      case STATE_SAFETY_DOOR:
        printPgmString(PSTR("Door:"));
        if (sys.suspend & SUSPEND_INITIATE_RESTORE) {
          serial_write('3'); // Restoring
        } else {
          if (sys.suspend & SUSPEND_RETRACT_COMPLETE) {
            if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) {
              serial_write('1'); // Door ajar
            } else {
              serial_write('0');
            } // Door closed and ready to resume
          } else {
            serial_write('2'); // Retracting
          }
        }
        break;
      case STATE_SLEEP: printPgmString(PSTR("Sleep")); break;
    }

    float wco[N_AXIS];
    if (bit_isfalse(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE) ||
        (sys.report_wco_counter >= REPORT_WCO_REFRESH_BUSY_COUNT) ) {
      for (idx=0; idx< N_AXIS; idx++) {
        // Apply work coordinate offsets and tool length offset to current position.
        wco[idx] = gc_state.coord_system[idx]+gc_state.coord_offset[idx];
        if (idx == TOOL_LENGTH_OFFSET_AXIS) { wco[idx] += gc_state.tool_length_offset; }
        if (bit_isfalse(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
          print_position[idx] -= wco[idx];
        }
      }
    }

    // Report machine position
    if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
      printPgmString(PSTR("|MPos:"));
    } else {
      printPgmString(PSTR("|WPos:"));
    }
    report_util_axis_values(print_position);

    // Returns planner and serial read buffer states.
    #ifdef REPORT_FIELD_BUFFER_STATE
      if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_BUFFER_STATE)) {
        printPgmString(PSTR("|Bf:"));
        print_uint8_base10(plan_get_block_buffer_available());
        serial_write(',');
        print_uint8_base10(serial_get_rx_buffer_available());
      }
    #endif

    #ifdef USE_LINE_NUMBERS
      #ifdef REPORT_FIELD_LINE_NUMBERS
        // Report current line number
        plan_block_t * cur_block = plan_get_current_block();
        if (cur_block != NULL) {
          uint32_t ln = cur_block->line_number;
          if (ln > 0) {
            printPgmString(PSTR("|Ln:"));
            printInteger(ln);
          }
        }
      #endif
    #endif

    // Report realtime rate
    #ifdef REPORT_FIELD_CURRENT_RATE
      printPgmString(PSTR("|F:"));
      printFloat_RateValue(st_get_realtime_rate());
    #endif

    #ifdef REPORT_FIELD_PIN_STATE
      uint8_t lim_pin_state = limits_get_state();
      uint8_t ctrl_pin_state = system_control_get_state();
      uint8_t prb_pin_state = probe_get_state();
      if (lim_pin_state | ctrl_pin_state | prb_pin_state) {
        printPgmString(PSTR("|Pn:"));
        if (prb_pin_state) { serial_write('P'); }
        if (lim_pin_state) {
          if (bit_istrue(lim_pin_state,bit(X_AXIS))) { serial_write('X'); }
          if (bit_istrue(lim_pin_state,bit(Y_AXIS))) { serial_write('Y'); }
          if (bit_istrue(lim_pin_state,bit(Z_AXIS))) { serial_write('Z'); }
        }
        if (ctrl_pin_state) {
          #ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
            if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_SAFETY_DOOR)) { serial_write('D'); }
          #endif
          if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_RESET)) { serial_write('R'); }
          if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_FEED_HOLD)) { serial_write('H'); }
          if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_CYCLE_START)) { serial_write('S'); }
        }
      }
    #endif

    #ifdef REPORT_FIELD_WORK_COORD_OFFSET
      if (sys.report_wco_counter++ >= REPORT_WCO_REFRESH_BUSY_COUNT) {
        if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
          sys.report_wco_counter = 1; // Reset counter for slow refresh
        } else { sys.report_wco_counter = (REPORT_WCO_REFRESH_BUSY_COUNT-REPORT_WCO_REFRESH_IDLE_COUNT+1); }
        if (sys.report_ovr_counter >= REPORT_OVR_REFRESH_BUSY_COUNT) {
          sys.report_ovr_counter = (REPORT_OVR_REFRESH_BUSY_COUNT-1); // Set override on next report.
        }
        printPgmString(PSTR("|WCO:"));
        report_util_axis_values(wco);
      }
    #endif

    #ifdef REPORT_FIELD_OVERRIDES
      if (sys.report_ovr_counter++ >= REPORT_OVR_REFRESH_BUSY_COUNT) {
        if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
          sys.report_ovr_counter = 1; // Reset counter for slow refresh
        } else { sys.report_ovr_counter = (REPORT_OVR_REFRESH_BUSY_COUNT-REPORT_OVR_REFRESH_IDLE_COUNT+1); }
        printPgmString(PSTR("|Ov:"));
        print_uint8_base10(sys.f_override);
        serial_write(',');
        print_uint8_base10(sys.r_override);
        serial_write(',');
        print_uint8_base10(sys.spindle_speed_ovr);

        if (sys.toggle_ovr_mask) {
          printPgmString(PSTR("|T:"));
          if (sys.toggle_ovr_mask & TOGGLE_OVR_STOP_ACTIVE_MASK) { serial_write('S'); }
          if (sys.toggle_ovr_mask & TOGGLE_OVR_FLOOD_COOLANT) { serial_write('F'); }
          #ifdef ENABLE_M7
            if (sys.toggle_ovr_mask & TOGGLE_OVR_MIST_COOLANT) { serial_write('M'); }
          #endif
          bit_false(sys.toggle_ovr_mask, (TOGGLE_OVR_FLOOD_COOLANT|TOGGLE_OVR_FLOOD_COOLANT));
        }
      }
    #endif

    serial_write('>');
    report_util_line_feed();

  #endif
}


#ifdef DEBUG
  void report_realtime_debug()
  {

  }
#endif