Cleanup and refactor EXTENSIBLE_UI (#12227)

- Add `axis_t`, `extruder_t`, `heater_t`, and `fan_t` to eliminate ambiguity, improve type safety.
- Regularized getter/setter argument order and naming.
- `setAxisPosition` no longer stacks moves in the buffer, allowing it to be called repeatedly on each touch ui tap.
- Implement better manual moves for `EXTENSIBLE_UI` (#12205)
- Calling `setAxisPosition_mm` no longer buffers the entire move to the new position, but instead causes small moves towards it to be made during the idle loop. This allows the user to adjust the destination even after the move has started and makes the UI feel much more responsive.
- As suggested by @ejtagle, the new code keeps the planner buffer full to ensure smooth motion without stops and starts.
- Change `En`, `Hn` and `FANn` to zero-based indices.
- Labels consistent with the rest of Marlin code.

Marlin/src/lcd/extensible_ui/ui_api.cpp

@@ -68,9 +68,6 @@
 #if ENABLED(PRINTCOUNTER)
   #include "../../core/utility.h"
   #include "../../module/printcounter.h"
-  #define IFPC(A,B) (A)
-#else
-  #define IFPC(A,B) (B)
 #endif
 
 #include "ui_api.h"
@@ -90,7 +87,10 @@ inline float clamp(const float value, const float minimum, const float maximum)
   return MAX(MIN(value, maximum), minimum);
 }
 
-static bool printer_killed = false;
+static struct {
+  uint8_t printer_killed  : 1;
+  uint8_t manual_motion : 1;
+} flags;
 
 namespace UI {
   #ifdef __SAM3X8E__
@@ -102,7 +102,7 @@ namespace UI {
      */
     uint32_t safe_millis() {
       // Not killed? Just call millis()
-      if (!printer_killed) return millis();
+      if (!flags.printer_killed) return millis();
 
       static uint32_t currTimeHI = 0; /* Current time */
 
@@ -145,186 +145,256 @@ namespace UI {
   }
 
   void delay_ms(unsigned long ms) {
-    if (printer_killed)
+    if (flags.printer_killed)
       DELAY_US(ms * 1000);
     else
       safe_delay(ms);
   }
 
   void yield() {
-    if (!printer_killed)
+    if (!flags.printer_killed)
       thermalManager.manage_heater();
   }
 
-  float getActualTemp_celsius(const uint8_t extruder) {
-    return extruder ?
-      thermalManager.degHotend(extruder - 1) :
+  float getActualTemp_celsius(const heater_t heater) {
+    return heater == BED ?
       #if HAS_HEATED_BED
         thermalManager.degBed()
       #else
         0
       #endif
-    ;
+      : thermalManager.degHotend(heater - H0);
+  }
+
+  float getActualTemp_celsius(const extruder_t extruder) {
+    return thermalManager.degHotend(extruder - E0);
   }
 
-  float getTargetTemp_celsius(const uint8_t extruder) {
-    return extruder ?
-      thermalManager.degTargetHotend(extruder - 1) :
+  float getTargetTemp_celsius(const heater_t heater) {
+    return heater == BED ?
       #if HAS_HEATED_BED
         thermalManager.degTargetBed()
       #else
         0
       #endif
-    ;
+      : thermalManager.degTargetHotend(heater - H0);
+  }
+
+  float getTargetTemp_celsius(const extruder_t extruder) {
+    return thermalManager.degTargetHotend(extruder - E0);
   }
 
-  float getFan_percent(const uint8_t fan) { return ((float(fan_speed[fan]) + 1) * 100) / 256; }
+  float getFan_percent(const fan_t fan) { return ((float(fan_speed[fan - FAN0]) + 1) * 100) / 256; }
 
   float getAxisPosition_mm(const axis_t axis) {
-    switch (axis) {
-      case X: case Y: case Z:
-        return current_position[axis];
-      case E0: case E1: case E2: case E3: case E4: case E5:
-        return current_position[E_AXIS];
-      default: return 0;
-    }
+    return flags.manual_motion ? destination[axis] : current_position[axis];
   }
 
-  void setAxisPosition_mm(const axis_t axis, float position, float _feedrate_mm_s) {
-    #if EXTRUDERS > 1
-      const int8_t old_extruder = active_extruder;
-    #endif
-    switch (axis) {
-      case X: case Y: case Z: break;
-      case E0: case E1: case E2: case E3: case E4: case E5:
-        #if EXTRUDERS > 1
-          active_extruder = axis - E0;
-        #endif
-        break;
-      default: return;
-    }
-    set_destination_from_current();
-    switch (axis) {
-      case X: case Y: case Z:
-        destination[axis] = position;
-        break;
-      case E0: case E1: case E2: case E3: case E4: case E5:
-        destination[E_AXIS] = position;
-        break;
-    }
+  float getAxisPosition_mm(const extruder_t extruder) {
+    return flags.manual_motion ? destination[E_AXIS] : current_position[E_AXIS];
+  }
+
+  void setAxisPosition_mm(const float position, const axis_t axis) {
+    // Start with no limits to movement
+    float min = current_position[axis] - 1000,
+          max = current_position[axis] + 1000;
 
-    const float old_feedrate = feedrate_mm_s;
-    feedrate_mm_s = _feedrate_mm_s;
-    prepare_move_to_destination();
-    feedrate_mm_s = old_feedrate;
-    #if EXTRUDERS > 1
-      active_extruder = old_extruder;
+    // Limit to software endstops, if enabled
+    #if ENABLED(MIN_SOFTWARE_ENDSTOPS) || ENABLED(MAX_SOFTWARE_ENDSTOPS)
+      if (soft_endstops_enabled) switch (axis) {
+        case X_AXIS:
+          #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
+            min = soft_endstop_min[X_AXIS];
+          #endif
+          #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
+            max = soft_endstop_max[X_AXIS];
+          #endif
+          break;
+        case Y_AXIS:
+          #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
+            min = soft_endstop_min[Y_AXIS];
+          #endif
+          #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
+            max = soft_endstop_max[Y_AXIS];
+          #endif
+          break;
+        case Z_AXIS:
+          #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
+            min = soft_endstop_min[Z_AXIS];
+          #endif
+          #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
+            max = soft_endstop_max[Z_AXIS];
+          #endif
+        default: break;
+      }
+    #endif // MIN_SOFTWARE_ENDSTOPS || MAX_SOFTWARE_ENDSTOPS
+
+    // Delta limits XY based on the current offset from center
+    // This assumes the center is 0,0
+    #if ENABLED(DELTA)
+      if (axis != Z_AXIS) {
+        max = SQRT(sq((float)(DELTA_PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis])); // (Y_AXIS - axis) == the other axis
+        min = -max;
+      }
     #endif
+
+    if (!flags.manual_motion)
+      set_destination_from_current();
+    destination[axis] = clamp(position, min, max);
+    flags.manual_motion = true;
+  }
+
+  void setAxisPosition_mm(const float position, const extruder_t extruder) {
+    setActiveTool(extruder, true);
+
+    if (!flags.manual_motion)
+      set_destination_from_current();
+    destination[E_AXIS] = position;
+    flags.manual_motion = true;
+  }
+
+  void _processManualMoveToDestination() {
+    // Lower max_response_lag makes controls more responsive, but makes CPU work harder
+    constexpr float   max_response_lag = 0.1; // seconds
+    constexpr uint8_t segments_to_buffer = 4; // keep planner filled with this many segments
+
+    if (flags.manual_motion && planner.movesplanned() < segments_to_buffer) {
+      float saved_destination[XYZ];
+      COPY(saved_destination, destination);
+      // Compute direction vector from current_position towards destination.
+      destination[X_AXIS] -= current_position[X_AXIS];
+      destination[Y_AXIS] -= current_position[Y_AXIS];
+      destination[Z_AXIS] -= current_position[Z_AXIS];
+      const float inv_length = RSQRT(sq(destination[X_AXIS]) + sq(destination[Y_AXIS]) + sq(destination[Z_AXIS]));
+      // Find move segment length so that all segments can execute in less time than max_response_lag
+      const float scale = inv_length * feedrate_mm_s * max_response_lag / segments_to_buffer;
+      if (scale < 1) {
+        // Move a small bit towards the destination.
+        destination[X_AXIS] = scale * destination[X_AXIS] + current_position[X_AXIS];
+        destination[Y_AXIS] = scale * destination[Y_AXIS] + current_position[Y_AXIS];
+        destination[Z_AXIS] = scale * destination[Z_AXIS] + current_position[Z_AXIS];
+        prepare_move_to_destination();
+        COPY(destination, saved_destination);
+      }
+      else {
+        // We are close enough to finish off the move.
+        COPY(destination, saved_destination);
+        prepare_move_to_destination();
+        flags.manual_motion = false;
+      }
+    }
   }
 
-  void setActiveTool(uint8_t extruder, bool no_move) {
-    extruder--; // Make zero based
+  void setActiveTool(const extruder_t extruder, bool no_move) {
+    const uint8_t e = extruder - E0;
     #if DO_SWITCH_EXTRUDER || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
-      if (extruder != active_extruder)
-        tool_change(extruder, 0, no_move);
-    #endif
-    #if EXTRUDERS > 1
-      active_extruder = extruder;
+      if (e != active_extruder)
+        tool_change(e, 0, no_move);
     #endif
+    active_extruder = e;
   }
 
-  uint8_t getActiveTool() { return active_extruder + 1; }
+  extruder_t getActiveTool() {
+    switch (active_extruder) {
+      case 5:  return E5;
+      case 4:  return E4;
+      case 3:  return E3;
+      case 2:  return E2;
+      case 1:  return E1;
+      default: return E0;
+    }
+  }
 
   bool isMoving() { return planner.has_blocks_queued(); }
 
-  float getAxisSteps_per_mm(const axis_t axis) {
+  bool canMove(const axis_t axis) {
     switch (axis) {
-      case X: case Y: case Z:
-        return planner.settings.axis_steps_per_mm[axis];
-      case E0: case E1: case E2: case E3: case E4: case E5:
-        return planner.settings.axis_steps_per_mm[E_AXIS_N(axis - E0)];
-      default: return 0;
+      #if IS_KINEMATIC || ENABLED(NO_MOTION_BEFORE_HOMING)
+        case X: return TEST(axis_homed, X_AXIS);
+        case Y: return TEST(axis_homed, Y_AXIS);
+        case Z: return TEST(axis_homed, Z_AXIS);
+      #else
+        case X: case Y: case Z: return true;
+      #endif
+      default: return false;
     }
   }
 
-  void setAxisSteps_per_mm(const axis_t axis, const float steps_per_mm) {
-    switch (axis) {
-      case X: case Y: case Z:
-        planner.settings.axis_steps_per_mm[axis] = steps_per_mm;
-        break;
-      case E0: case E1: case E2: case E3: case E4: case E5:
-        planner.settings.axis_steps_per_mm[E_AXIS_N(axis - E0)] = steps_per_mm;
-        break;
-    }
+  bool canMove(const extruder_t extruder) {
+    return !thermalManager.tooColdToExtrude(extruder - E0);
+  }
+
+  float getAxisSteps_per_mm(const axis_t axis) {
+    return planner.settings.axis_steps_per_mm[axis];
+  }
+
+  float getAxisSteps_per_mm(const extruder_t extruder) {
+    return planner.settings.axis_steps_per_mm[E_AXIS_N(extruder - E0)];
+  }
+
+  void setAxisSteps_per_mm(const float value, const axis_t axis) {
+    planner.settings.axis_steps_per_mm[axis] = value;
+  }
+
+  void setAxisSteps_per_mm(const float value, const extruder_t extruder) {
+    planner.settings.axis_steps_per_mm[E_AXIS_N(axis - E0)] = value;
   }
 
   float getAxisMaxFeedrate_mm_s(const axis_t axis) {
-    switch (axis) {
-      case X: case Y: case Z:
-        return planner.settings.max_feedrate_mm_s[axis];
-      case E0: case E1: case E2: case E3: case E4: case E5:
-        return planner.settings.max_feedrate_mm_s[E_AXIS_N(axis - E0)];
-      default: return 0;
-    }
+    return planner.settings.max_feedrate_mm_s[axis];
   }
 
-  void setAxisMaxFeedrate_mm_s(const axis_t axis, const float max_feedrate_mm_s) {
-    switch (axis) {
-      case X: case Y: case Z:
-        planner.settings.max_feedrate_mm_s[axis] = max_feedrate_mm_s;
-        break;
-      case E0: case E1: case E2: case E3: case E4: case E5:
-        planner.settings.max_feedrate_mm_s[E_AXIS_N(axis - E0)] = max_feedrate_mm_s;
-        break;
-      default: return;
-    }
+  float getAxisMaxFeedrate_mm_s(const extruder_t extruder) {
+    return planner.settings.max_feedrate_mm_s[E_AXIS_N(axis - E0)];
+  }
+
+  void setAxisMaxFeedrate_mm_s(const float value, const axis_t axis) {
+    planner.settings.max_feedrate_mm_s[axis] = value;
+  }
+
+  void setAxisMaxFeedrate_mm_s(const float value, const extruder_t extruder) {
+    planner.settings.max_feedrate_mm_s[E_AXIS_N(axis - E0)] = value;
   }
 
   float getAxisMaxAcceleration_mm_s2(const axis_t axis) {
-    switch (axis) {
-      case X: case Y: case Z:
-        return planner.settings.max_acceleration_mm_per_s2[axis];
-      case E0: case E1: case E2: case E3: case E4: case E5:
-        return planner.settings.max_acceleration_mm_per_s2[E_AXIS_N(axis - E0)];
-      default: return 0;
-    }
+    return planner.settings.max_acceleration_mm_per_s2[axis];
   }
 
-  void setAxisMaxAcceleration_mm_s2(const axis_t axis, const float max_acceleration_mm_per_s2) {
-    switch (axis) {
-      case X: case Y: case Z:
-        planner.settings.max_acceleration_mm_per_s2[axis] = max_acceleration_mm_per_s2;
-        break;
-      case E0: case E1: case E2: case E3: case E4: case E5:
-        planner.settings.max_acceleration_mm_per_s2[E_AXIS_N(axis - E0)] = max_acceleration_mm_per_s2;
-        break;
-      default: return;
-    }
+  float getAxisMaxAcceleration_mm_s2(const extruder_t extruder) {
+    return planner.settings.max_acceleration_mm_per_s2[E_AXIS_N(extruder - E0)];
+  }
+
+  void setAxisMaxAcceleration_mm_s2(const float value, const axis_t axis) {
+    planner.settings.max_acceleration_mm_per_s2[axis] = value;
+  }
+
+  void setAxisMaxAcceleration_mm_s2(const float value, const extruder_t extruder) {
+    planner.settings.max_acceleration_mm_per_s2[E_AXIS_N(extruder - E0)] = value;
   }
 
   #if ENABLED(FILAMENT_RUNOUT_SENSOR)
-    bool isFilamentRunoutEnabled()              { return runout.enabled; }
-    void toggleFilamentRunout(const bool state) { runout.enabled = state; }
+    bool getFilamentRunoutEnabled()                 { return runout.enabled; }
+    void setFilamentRunoutEnabled(const bool value) { runout.enabled = value; }
 
     #if FILAMENT_RUNOUT_DISTANCE_MM > 0
       float getFilamentRunoutDistance_mm() {
         return RunoutResponseDelayed::runout_distance_mm;
       }
 
-      void setFilamentRunoutDistance_mm(const float distance) {
-        RunoutResponseDelayed::runout_distance_mm = clamp(distance, 0, 999);
+      void setFilamentRunoutDistance_mm(const float value) {
+        RunoutResponseDelayed::runout_distance_mm = clamp(value, 0, 999);
       }
     #endif
   #endif
 
   #if ENABLED(LIN_ADVANCE)
-    float getLinearAdvance_mm_mm_s(const uint8_t extruder) {
-      return (extruder < EXTRUDERS) ? planner.extruder_advance_K[extruder] : 0;
+    float getLinearAdvance_mm_mm_s(const extruder_t extruder) {
+      return (extruder < EXTRUDERS) ? planner.extruder_advance_K[extruder - E0] : 0;
     }
 
-    void setLinearAdvance_mm_mm_s(const uint8_t extruder, const float k) {
+    void setLinearAdvance_mm_mm_s(const float value, const extruder_t extruder) {
       if (extruder < EXTRUDERS)
-        planner.extruder_advance_K[extruder] = clamp(k, 0, 999);
+        planner.extruder_advance_K[extruder - E0] = clamp(value, 0, 999);
     }
   #endif
 
@@ -333,39 +403,35 @@ namespace UI {
       return planner.junction_deviation_mm;
     }
 
-    void setJunctionDeviation_mm(const float junc_dev) {
-      planner.junction_deviation_mm = clamp(junc_dev, 0.01, 0.3);
+    void setJunctionDeviation_mm(const float value) {
+      planner.junction_deviation_mm = clamp(value, 0.01, 0.3);
       planner.recalculate_max_e_jerk();
     }
   #else
     float getAxisMaxJerk_mm_s(const axis_t axis) {
-      switch (axis) {
-        case X: case Y: case Z:
-          return planner.max_jerk[axis];
-        case E0: case E1: case E2: case E3: case E4: case E5:
-          return planner.max_jerk[E_AXIS];
-        default: return 0;
-      }
+        return planner.max_jerk[axis];
     }
 
-    void setAxisMaxJerk_mm_s(const axis_t axis, const float max_jerk) {
-      switch (axis) {
-        case X: case Y: case Z:
-          planner.max_jerk[axis] = max_jerk;
-          break;
-        case E0: case E1: case E2: case E3: case E4: case E5:
-          planner.max_jerk[E_AXIS] = max_jerk;
-          break;
-        default: return;
-      }
+    float getAxisMaxJerk_mm_s(const extruder_t extruder) {
+        return planner.max_jerk[E_AXIS];
+    }
+
+    void setAxisMaxJerk_mm_s(const float value, const axis_t axis) {
+      planner.max_jerk[axis] = value;
+    }
+
+    void setAxisMaxJerk_mm_s(const float value, const extruder_t extruder) {
+      planner.max_jerk[E_AXIS] = value;
     }
   #endif
 
+  float getFeedrate_mm_s()                            { return feedrate_mm_s; }
   float getMinFeedrate_mm_s()                         { return planner.settings.min_feedrate_mm_s; }
   float getMinTravelFeedrate_mm_s()                   { return planner.settings.min_travel_feedrate_mm_s; }
   float getPrintingAcceleration_mm_s2()               { return planner.settings.acceleration; }
   float getRetractAcceleration_mm_s2()                { return planner.settings.retract_acceleration; }
   float getTravelAcceleration_mm_s2()                 { return planner.settings.travel_acceleration; }
+  void setFeedrate_mm_s(const float fr)               { feedrate_mm_s = fr; }
   void setMinFeedrate_mm_s(const float fr)            { planner.settings.min_feedrate_mm_s = fr; }
   void setMinTravelFeedrate_mm_s(const float fr)      { planner.settings.min_travel_feedrate_mm_s = fr; }
   void setPrintingAcceleration_mm_s2(const float acc) { planner.settings.acceleration = acc; }
@@ -382,12 +448,12 @@ namespace UI {
           return zprobe_zoffset;
     }
 
-    void setZOffset_mm(const float zoffset_mm) {
-      const float diff = (zoffset_mm - getZOffset_mm()) / planner.steps_to_mm[Z_AXIS];
-      incrementZOffset_steps(diff > 0 ? ceil(diff) : floor(diff));
+    void setZOffset_mm(const float value) {
+      const float diff = (value - getZOffset_mm()) / planner.steps_to_mm[Z_AXIS];
+      addZOffset_steps(diff > 0 ? ceil(diff) : floor(diff));
     }
 
-    void incrementZOffset_steps(int16_t babystep_increment) {
+    void addZOffset_steps(int16_t babystep_increment) {
       #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
         const bool do_probe = (active_extruder == 0);
       #else
@@ -415,28 +481,28 @@ namespace UI {
   #endif // ENABLED(BABYSTEP_ZPROBE_OFFSET)
 
   #if HOTENDS > 1
-    float getNozzleOffset_mm(const axis_t axis, uint8_t extruder) {
-      if (extruder >= HOTENDS) return 0;
-      return hotend_offset[axis][extruder];
+    float getNozzleOffset_mm(const axis_t axis, const extruder_t extruder) {
+      if (extruder - E0 >= HOTENDS) return 0;
+      return hotend_offset[axis][extruder - E0];
     }
 
-    void setNozzleOffset_mm(const axis_t axis, uint8_t extruder, float offset) {
-      if (extruder >= HOTENDS) return;
-      hotend_offset[axis][extruder] = offset;
+    void setNozzleOffset_mm(const float value, const axis_t axis, const extruder_t extruder) {
+      if (extruder - E0 >= HOTENDS) return;
+      hotend_offset[axis][extruder - E0] = value;
     }
   #endif
 
   #if ENABLED(BACKLASH_GCODE)
-    float getAxisBacklash_mm(const axis_t axis)       {return backlash_distance_mm[axis];}
-    void setAxisBacklash_mm(const axis_t axis, float distance)
-                                                      {backlash_distance_mm[axis] = clamp(distance,0,5);}
+    float getAxisBacklash_mm(const axis_t axis)       { return backlash_distance_mm[axis]; }
+    void setAxisBacklash_mm(const float value, const axis_t axis)
+                                                      { backlash_distance_mm[axis] = clamp(value,0,5); }
 
-    float getBacklashCorrection_percent()             {return backlash_correction*100;}
-    void setBacklashCorrection_percent(float percent) {backlash_correction = clamp(percent, 0, 100)/100;}
+    float getBacklashCorrection_percent()             { return backlash_correction * 100; }
+    void setBacklashCorrection_percent(const float value) { backlash_correction = clamp(value, 0, 100) / 100.0f; }
 
     #ifdef BACKLASH_SMOOTHING_MM
-      float getBacklashSmoothing_mm()                 {return backlash_smoothing_mm;}
-      void setBacklashSmoothing_mm(float distance)    {backlash_smoothing_mm = clamp(distance,0,999);}
+      float getBacklashSmoothing_mm()                 { return backlash_smoothing_mm; }
+      void setBacklashSmoothing_mm(const float value) { backlash_smoothing_mm = clamp(value, 0, 999); }
     #endif
   #endif
 
@@ -445,7 +511,8 @@ namespace UI {
   }
 
   uint32_t getProgress_seconds_elapsed() {
-    return IFPC(print_job_timer.duration() / 1000UL, 0);
+    const duration_t elapsed = print_job_timer.duration();
+    return elapsed.value;
   }
 
   #if ENABLED(PRINTCOUNTER)
@@ -460,46 +527,43 @@ namespace UI {
     }
   #endif
 
-  float getFeedRate_percent() {
-    return feedrate_percentage;
-  }
+  float getFeedrate_percent() { return feedrate_percentage; }
 
   void enqueueCommands(progmem_str gcode) {
     enqueue_and_echo_commands_P((PGM_P)gcode);
   }
 
   bool isAxisPositionKnown(const axis_t axis) {
-    switch (axis) {
-      case X: case Y: case Z:
-        return TEST(axis_known_position, axis);
-      default: return true;
-    }
+    return TEST(axis_known_position, axis);
   }
 
-  progmem_str getFirmwareName() {
+  progmem_str getFirmwareName_str() {
     return F("Marlin " SHORT_BUILD_VERSION);
   }
 
-  void setTargetTemp_celsius(const uint8_t extruder, float temp) {
-    if (extruder)
-      thermalManager.setTargetHotend(clamp(temp,0,500), extruder-1);
+  void setTargetTemp_celsius(float value, const heater_t heater) {
     #if HAS_HEATED_BED
-      else
-        thermalManager.setTargetBed(clamp(temp,0,200));
+    if (heater == BED)
+      thermalManager.setTargetBed(clamp(value,0,200));
     #endif
+      thermalManager.setTargetHotend(clamp(value,0,500), heater - H0);
+  }
+
+  void setTargetTemp_celsius(float value, const extruder_t extruder) {
+    thermalManager.setTargetHotend(clamp(value,0,500), extruder - E0);
   }
 
-  void setFan_percent(const uint8_t fan, float percent) {
+  void setFan_percent(float value, const fan_t fan) {
     if (fan < FAN_COUNT)
-      fan_speed[fan] = clamp(round(percent * 255 / 100), 0, 255);
+      fan_speed[fan - FAN0] = clamp(round(value * 255 / 100), 0, 255);
   }
 
-  void setFeedrate_percent(const float percent) {
-    feedrate_percentage = clamp(percent, 10, 500);
+  void setFeedrate_percent(const float value) {
+    feedrate_percentage = clamp(value, 10, 500);
   }
 
   void printFile(const char *filename) {
-    IFSD(card.openAndPrintFile(filename), 0);
+    IFSD(card.openAndPrintFile(filename), NOOP);
   }
 
   bool isPrintingFromMediaPaused() {
@@ -511,7 +575,7 @@ namespace UI {
   }
 
   bool isPrinting() {
-    return (planner.movesplanned() || IFSD(IS_SD_PRINTING(), false) || isPrintingFromMedia());
+    return (planner.movesplanned() || IS_SD_PRINTING() || isPrintingFromMedia());
   }
 
   bool isMediaInserted() {
@@ -521,9 +585,7 @@ namespace UI {
   void pausePrint() {
     #if ENABLED(SDSUPPORT)
       card.pauseSDPrint();
-      #if ENABLED(PRINTCOUNTER)
-        print_job_timer.pause();
-      #endif
+      print_job_timer.pause();
       #if ENABLED(PARK_HEAD_ON_PAUSE)
         enqueue_and_echo_commands_P(PSTR("M125"));
       #endif
@@ -537,9 +599,7 @@ namespace UI {
         enqueue_and_echo_commands_P(PSTR("M24"));
       #else
         card.startFileprint();
-        #if ENABLED(PRINTCOUNTER)
-          print_job_timer.start();
-        #endif
+        print_job_timer.start();
       #endif
       UI::onStatusChanged(PSTR(MSG_PRINTING));
     #endif
@@ -553,13 +613,9 @@ namespace UI {
     #endif
   }
 
-  FileList::FileList() {
-    refresh();
-  }
+  FileList::FileList() { refresh(); }
 
-  void FileList::refresh() {
-    num_files = 0xFFFF;
-  }
+  void FileList::refresh() { num_files = 0xFFFF; }
 
   bool FileList::seek(uint16_t pos, bool skip_range_check) {
     #if ENABLED(SDSUPPORT)
@@ -645,39 +701,41 @@ void lcd_update() {
       else {
         const bool ok = card.cardOK;
         card.release();
-        if (ok)
-          UI::onMediaRemoved();
+        if (ok) UI::onMediaRemoved();
       }
     }
   #endif // SDSUPPORT
+  UI::_processManualMoveToDestination();
   UI::onIdle();
 }
 
-bool lcd_hasstatus()                                                             { return true; }
-bool lcd_detected()                                                              { return true; }
-void lcd_reset_alert_level()                                                     {}
-void lcd_refresh()                                                               {}
+bool lcd_hasstatus() { return true; }
+bool lcd_detected() { return true; }
+void lcd_reset_alert_level() { }
+void lcd_refresh() { }
 void lcd_setstatus(const char * const message, const bool persist /* = false */) { UI::onStatusChanged(message); }
 void lcd_setstatusPGM(const char * const message, int8_t level /* = 0 */)        { UI::onStatusChanged((progmem_str)message); }
 void lcd_setalertstatusPGM(const char * const message)                           { lcd_setstatusPGM(message, 0); }
+
 void lcd_reset_status() {
   static const char paused[] PROGMEM = MSG_PRINT_PAUSED;
   static const char printing[] PROGMEM = MSG_PRINTING;
   static const char welcome[] PROGMEM = WELCOME_MSG;
   PGM_P msg;
-  if (IFPC(print_job_timer.isPaused(), false))
+  if (print_job_timer.isPaused())
     msg = paused;
   #if ENABLED(SDSUPPORT)
     else if (card.sdprinting)
       return lcd_setstatus(card.longest_filename(), true);
   #endif
-  else if (IFPC(print_job_timer.isRunning(), false))
+  else if (print_job_timer.isRunning())
     msg = printing;
   else
     msg = welcome;
 
   lcd_setstatusPGM(msg, -1);
 }
+
 void lcd_status_printf_P(const uint8_t level, const char * const fmt, ...) {
   char buff[64];
   va_list args;
@@ -689,8 +747,8 @@ void lcd_status_printf_P(const uint8_t level, const char * const fmt, ...) {
 }
 
 void kill_screen(PGM_P msg) {
-  if (!printer_killed) {
-    printer_killed = true;
+  if (!flags.printer_killed) {
+    flags.printer_killed = true;
     UI::onPrinterKilled(msg);
   }
 }

Marlin/src/lcd/extensible_ui/ui_api.h

@@ -49,147 +49,180 @@ typedef const __FlashStringHelper *progmem_str;
 
 namespace UI {
 
-  enum axis_t : uint8_t { X, Y, Z, E0, E1, E2, E3, E4, E5 };
+  enum axis_t     : uint8_t { X, Y, Z };
+  enum extruder_t : uint8_t { E0, E1, E2, E3, E4, E5 };
+  enum heater_t   : uint8_t { H0, H1, H2, H3, H4, H5, BED };
+  enum fan_t      : uint8_t { FAN0, FAN1, FAN2, FAN3, FAN4, FAN5 };
 
   constexpr uint8_t extruderCount = EXTRUDERS;
+  constexpr uint8_t hotendCount   = HOTENDS;
   constexpr uint8_t fanCount      = FAN_COUNT;
 
-  // The following methods should be used by the extension module to
-  // query or change Marlin's state.
-
-  progmem_str getFirmwareName();
-
-  bool isAxisPositionKnown(const axis_t axis);
   bool isMoving();
-
-  float getActualTemp_celsius(const uint8_t extruder);
-  float getTargetTemp_celsius(const uint8_t extruder);
-  float getFan_percent(const uint8_t fan);
-  float getAxisPosition_mm(const axis_t axis);
-  float getAxisSteps_per_mm(const axis_t axis);
-  float getAxisMaxFeedrate_mm_s(const axis_t axis);
-  float getAxisMaxAcceleration_mm_s2(const axis_t axis);
+  bool isAxisPositionKnown(const axis_t);
+  bool canMove(const axis_t);
+  bool canMove(const extruder_t);
+  void enqueueCommands(progmem_str);
+
+  /**
+   * Getters and setters
+   * Should be used by the EXTENSIBLE_UI to query or change Marlin's state.
+   */
+  progmem_str getFirmwareName_str();
+
+  float getActualTemp_celsius(const heater_t);
+  float getActualTemp_celsius(const extruder_t);
+  float getTargetTemp_celsius(const heater_t);
+  float getTargetTemp_celsius(const extruder_t);
+  float getFan_percent(const fan_t);
+  float getAxisPosition_mm(const axis_t);
+  float getAxisPosition_mm(const extruder_t);
+  float getAxisSteps_per_mm(const axis_t);
+  float getAxisSteps_per_mm(const extruder_t);
+  float getAxisMaxFeedrate_mm_s(const axis_t);
+  float getAxisMaxFeedrate_mm_s(const extruder_t);
+  float getAxisMaxAcceleration_mm_s2(const axis_t);
+  float getAxisMaxAcceleration_mm_s2(const extruder_t);
   float getMinFeedrate_mm_s();
   float getMinTravelFeedrate_mm_s();
   float getPrintingAcceleration_mm_s2();
   float getRetractAcceleration_mm_s2();
   float getTravelAcceleration_mm_s2();
-  float getFeedRate_percent();
+  float getFeedrate_percent();
   uint8_t getProgress_percent();
   uint32_t getProgress_seconds_elapsed();
 
   #if ENABLED(PRINTCOUNTER)
-    char *getTotalPrints_str(char buffer[21]);
-    char *getFinishedPrints_str(char buffer[21]);
-    char *getTotalPrintTime_str(char buffer[21]);
-    char *getLongestPrint_str(char buffer[21]);
-    char *getFilamentUsed_str(char buffer[21]);
+    char* getTotalPrints_str(char buffer[21]);
+    char* getFinishedPrints_str(char buffer[21]);
+    char* getTotalPrintTime_str(char buffer[21]);
+    char* getLongestPrint_str(char buffer[21]);
+    char* getFilamentUsed_str(char buffer[21]);
   #endif
 
-  void setTargetTemp_celsius(const uint8_t extruder, float temp);
-  void setFan_percent(const uint8_t fan, const float percent);
-  void setAxisPosition_mm(const axis_t axis, float position, float _feedrate_mm_s);
-  void setAxisSteps_per_mm(const axis_t axis, const float steps_per_mm);
-  void setAxisMaxFeedrate_mm_s(const axis_t axis, const float max_feedrate_mm_s);
-  void setAxisMaxAcceleration_mm_s2(const axis_t axis, const float max_acceleration_mm_per_s2);
-  void setMinFeedrate_mm_s(const float min_feedrate_mm_s);
-  void setMinTravelFeedrate_mm_s(const float min_travel_feedrate_mm_s);
-  void setPrintingAcceleration_mm_s2(const float acceleration);
-  void setRetractAcceleration_mm_s2(const float retract_acceleration);
-  void setTravelAcceleration_mm_s2(const float travel_acceleration);
-  void setFeedrate_percent(const float percent);
+  void setTargetTemp_celsius(const float, const heater_t);
+  void setTargetTemp_celsius(const float, const extruder_t);
+  void setFan_percent(const float, const fan_t);
+  void setAxisPosition_mm(const float, const axis_t);
+  void setAxisPosition_mm(const float, const extruder_t);
+  void setAxisSteps_per_mm(const float, const axis_t);
+  void setAxisSteps_per_mm(const float, const extruder_t);
+  void setAxisMaxFeedrate_mm_s(const float, const axis_t);
+  void setAxisMaxFeedrate_mm_s(const float, const extruder_t);
+  void setAxisMaxAcceleration_mm_s2(const float, const axis_t);
+  void setAxisMaxAcceleration_mm_s2(const float, const extruder_t);
+  void setFeedrate_mm_s(const float);
+  void setMinFeedrate_mm_s(const float);
+  void setMinTravelFeedrate_mm_s(const float);
+  void setPrintingAcceleration_mm_s2(const float);
+  void setRetractAcceleration_mm_s2(const float);
+  void setTravelAcceleration_mm_s2(const float);
+  void setFeedrate_percent(const float);
 
   #if ENABLED(LIN_ADVANCE)
-    float getLinearAdvance_mm_mm_s(const uint8_t extruder);
-    void setLinearAdvance_mm_mm_s(const uint8_t extruder, const float k);
+    float getLinearAdvance_mm_mm_s(const extruder_t);
+    void setLinearAdvance_mm_mm_s(const float, const extruder_t);
   #endif
 
   #if ENABLED(JUNCTION_DEVIATION)
     float getJunctionDeviation_mm();
-    void setJunctionDeviation_mm(const float junc_dev);
+    void setJunctionDeviation_mm(const float);
   #else
-    float getAxisMaxJerk_mm_s(const axis_t axis);
-    void setAxisMaxJerk_mm_s(const axis_t axis, const float max_jerk);
+    float getAxisMaxJerk_mm_s(const axis_t);
+    float getAxisMaxJerk_mm_s(const extruder_t);
+    void setAxisMaxJerk_mm_s(const float, const axis_t);
+    void setAxisMaxJerk_mm_s(const float, const extruder_t);
   #endif
 
-  void setActiveTool(uint8_t extruder, bool no_move);
-  uint8_t getActiveTool();
+  extruder_t getActiveTool();
+  void setActiveTool(const extruder_t, bool no_move);
+
 
   #if HOTENDS > 1
-    float getNozzleOffset_mm(const axis_t axis, uint8_t extruder);
-    void setNozzleOffset_mm(const axis_t axis, uint8_t extruder, float offset);
+    float getNozzleOffset_mm(const axis_t, const extruder_t);
+    void setNozzleOffset_mm(const float, const axis_t, const extruder_t);
   #endif
 
   #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
     float getZOffset_mm();
-    void setZOffset_mm(const float zoffset_mm);
-    void incrementZOffset_steps(const int16_t babystep_increment);
+    void setZOffset_mm(const float);
+    void addZOffset_steps(const int16_t);
   #endif
 
   #if ENABLED(BACKLASH_GCODE)
-    float getAxisBacklash_mm(const axis_t axis);
-    void setAxisBacklash_mm(const axis_t axis, float distance);
+    float getAxisBacklash_mm(const axis_t);
+    void setAxisBacklash_mm(const float, const axis_t);
 
     float getBacklashCorrection_percent();
-    void setBacklashCorrection_percent(float percent);
+    void setBacklashCorrection_percent(const float);
 
     #ifdef BACKLASH_SMOOTHING_MM
       float getBacklashSmoothing_mm();
-      void setBacklashSmoothing_mm(float distance);
+      void setBacklashSmoothing_mm(const float);
     #endif
   #endif
 
   #if ENABLED(FILAMENT_RUNOUT_SENSOR)
-    bool isFilamentRunoutEnabled();
-    void toggleFilamentRunout(const bool state);
+    bool getFilamentRunoutEnabled();
+    void setFilamentRunoutEnabled(const bool);
 
     #if FILAMENT_RUNOUT_DISTANCE_MM > 0
       float getFilamentRunoutDistance_mm();
-      void setFilamentRunoutDistance_mm(const float distance);
+      void setFilamentRunoutDistance_mm(const float);
     #endif
   #endif
 
-  // This safe_millis is safe to use even when printer is killed (as long as called at least every 1 second)
+  /**
+   * Delay and timing routines
+   * Should be used by the EXTENSIBLE_UI to safely pause or measure time
+   * safe_millis must be called at least every 1 sec to guarantee time
+   * yield should be called within lengthy loops
+   */
   uint32_t safe_millis();
   void delay_us(unsigned long us);
   void delay_ms(unsigned long ms);
-  void yield(); // Within lengthy loop, call this periodically
-
-  void enqueueCommands(progmem_str gcode);
+  void yield();
 
-  void printFile(const char *filename);
+  /**
+   * Media access routines
+   *
+   * Should be used by the EXTENSIBLE_UI to operate on files
+   */
+  bool isMediaInserted();
   bool isPrintingFromMediaPaused();
   bool isPrintingFromMedia();
   bool isPrinting();
+
+  void printFile(const char *filename);
   void stopPrint();
   void pausePrint();
   void resumePrint();
 
-  bool isMediaInserted();
-
   class FileList {
     private:
       uint16_t num_files;
 
     public:
       FileList();
-      void        refresh();
-      bool        seek(uint16_t, bool skip_range_check = false);
+      void refresh();
+      bool seek(uint16_t, bool skip_range_check = false);
 
       const char *longFilename();
       const char *shortFilename();
       const char *filename();
-      bool        isDir();
+      bool isDir();
 
-      void        changeDir(const char *dirname);
-      void        upDir();
-      bool        isAtRootDir();
+      void changeDir(const char *dirname);
+      void upDir();
+      bool isAtRootDir();
       uint16_t    count();
   };
 
-  // The following event handlers are to be declared by the extension
-  // module and will be called by Marlin.
-
+  /**
+   * Event callback routines
+   *
+   * Should be declared by EXTENSIBLE_UI and will be called by Marlin
+   */
   void onStartup();
   void onIdle();
   void onMediaInserted();
@@ -207,3 +240,25 @@ namespace UI {
   void onStoreSettings();
   void onLoadSettings();
 };
+
+/**
+ * Helper macros to increment or decrement a value. For example:
+ *
+ *   UI_INCREMENT_BY(TargetTemp_celsius, 10, E0)
+ *
+ * Expands to:
+ *
+ *   setTargetTemp_celsius(getTargetTemp_celsius(E0) + 10, E0);
+ *
+ * Or, in the case where a constant increment is desired:
+ *
+ *   constexpr float increment = 10;
+ *
+ *   UI_INCREMENT(TargetTemp_celsius, E0)
+ *
+ */
+#define UI_INCREMENT_BY(method, inc, ...) UI::set ## method(UI::get ## method (__VA_ARGS__) + inc, ##__VA_ARGS__)
+#define UI_DECREMENT_BY(method, inc, ...) UI::set ## method(UI::get ## method (__VA_ARGS__) - inc, ##__VA_ARGS__)
+
+#define UI_INCREMENT(method, ...) UI_INCREMENT_BY(method, increment, ##__VA_ARGS__)
+#define UI_DECREMENT(method, ...) UI_DECREMENT_BY(method, increment, ##__VA_ARGS__)