WIP: Moved sources int src/, separated most of the source code from Perl.mass_rename

The XS was left only for the unit / integration tests, and it links
libslic3r only. No wxWidgets are allowed to be used from Perl starting
from now.

1 files changed, 1505 insertions, 0 deletions

diff --git a/src/libslic3r/GCodeTimeEstimator.cpp b/src/libslic3r/GCodeTimeEstimator.cpp
new file mode 100644
index 000000000..f97265ee3
--- /dev/null
+++ b/src/libslic3r/GCodeTimeEstimator.cpp
@@ -0,0 +1,1505 @@
+#include "GCodeTimeEstimator.hpp"
+#include "Utils.hpp"
+#include <boost/bind.hpp>
+#include <cmath>
+
+#include <Shiny/Shiny.h>
+
+#include <boost/nowide/fstream.hpp>
+#include <boost/nowide/cstdio.hpp>
+#include <boost/algorithm/string/predicate.hpp>
+
+static const float MMMIN_TO_MMSEC = 1.0f / 60.0f;
+static const float MILLISEC_TO_SEC = 0.001f;
+static const float INCHES_TO_MM = 25.4f;
+
+static const float DEFAULT_FEEDRATE = 1500.0f; // from Prusa Firmware (Marlin_main.cpp)
+static const float DEFAULT_ACCELERATION = 1500.0f; // Prusa Firmware 1_75mm_MK2
+static const float DEFAULT_RETRACT_ACCELERATION = 1500.0f; // Prusa Firmware 1_75mm_MK2
+static const float DEFAULT_AXIS_MAX_FEEDRATE[] = { 500.0f, 500.0f, 12.0f, 120.0f }; // Prusa Firmware 1_75mm_MK2
+static const float DEFAULT_AXIS_MAX_ACCELERATION[] = { 9000.0f, 9000.0f, 500.0f, 10000.0f }; // Prusa Firmware 1_75mm_MK2
+static const float DEFAULT_AXIS_MAX_JERK[] = { 10.0f, 10.0f, 0.4f, 2.5f }; // from Prusa Firmware (Configuration.h)
+static const float DEFAULT_MINIMUM_FEEDRATE = 0.0f; // from Prusa Firmware (Configuration_adv.h)
+static const float DEFAULT_MINIMUM_TRAVEL_FEEDRATE = 0.0f; // from Prusa Firmware (Configuration_adv.h)
+static const float DEFAULT_EXTRUDE_FACTOR_OVERRIDE_PERCENTAGE = 1.0f; // 100 percent
+
+static const float PREVIOUS_FEEDRATE_THRESHOLD = 0.0001f;
+
+#if ENABLE_MOVE_STATS
+static const std::string MOVE_TYPE_STR[Slic3r::GCodeTimeEstimator::Block::Num_Types] =
+{
+    "Noop",
+    "Retract",
+    "Unretract",
+    "Tool_change",
+    "Move",
+    "Extrude"
+};
+#endif // ENABLE_MOVE_STATS
+
+namespace Slic3r {
+
+    void GCodeTimeEstimator::Feedrates::reset()
+    {
+        feedrate = 0.0f;
+        safe_feedrate = 0.0f;
+        ::memset(axis_feedrate, 0, Num_Axis * sizeof(float));
+        ::memset(abs_axis_feedrate, 0, Num_Axis * sizeof(float));
+    }
+
+    float GCodeTimeEstimator::Block::Trapezoid::acceleration_time(float acceleration) const
+    {
+        return acceleration_time_from_distance(feedrate.entry, accelerate_until, acceleration);
+    }
+
+    float GCodeTimeEstimator::Block::Trapezoid::cruise_time() const
+    {
+        return (feedrate.cruise != 0.0f) ? cruise_distance() / feedrate.cruise : 0.0f;
+    }
+
+    float GCodeTimeEstimator::Block::Trapezoid::deceleration_time(float acceleration) const
+    {
+        return acceleration_time_from_distance(feedrate.cruise, (distance - decelerate_after), -acceleration);
+    }
+
+    float GCodeTimeEstimator::Block::Trapezoid::cruise_distance() const
+    {
+        return decelerate_after - accelerate_until;
+    }
+
+    float GCodeTimeEstimator::Block::Trapezoid::acceleration_time_from_distance(float initial_feedrate, float distance, float acceleration)
+    {
+        return (acceleration != 0.0f) ? (speed_from_distance(initial_feedrate, distance, acceleration) - initial_feedrate) / acceleration : 0.0f;
+    }
+
+    float GCodeTimeEstimator::Block::Trapezoid::speed_from_distance(float initial_feedrate, float distance, float acceleration)
+    {
+        // to avoid invalid negative numbers due to numerical imprecision 
+        float value = std::max(0.0f, sqr(initial_feedrate) + 2.0f * acceleration * distance);
+        return ::sqrt(value);
+    }
+
+    GCodeTimeEstimator::Block::Block()
+    {
+    }
+
+    float GCodeTimeEstimator::Block::move_length() const
+    {
+        float length = ::sqrt(sqr(delta_pos[X]) + sqr(delta_pos[Y]) + sqr(delta_pos[Z]));
+        return (length > 0.0f) ? length : std::abs(delta_pos[E]);
+    }
+
+    float GCodeTimeEstimator::Block::is_extruder_only_move() const
+    {
+        return (delta_pos[X] == 0.0f) && (delta_pos[Y] == 0.0f) && (delta_pos[Z] == 0.0f) && (delta_pos[E] != 0.0f);
+    }
+
+    float GCodeTimeEstimator::Block::is_travel_move() const
+    {
+        return delta_pos[E] == 0.0f;
+    }
+
+    float GCodeTimeEstimator::Block::acceleration_time() const
+    {
+        return trapezoid.acceleration_time(acceleration);
+    }
+
+    float GCodeTimeEstimator::Block::cruise_time() const
+    {
+        return trapezoid.cruise_time();
+    }
+
+    float GCodeTimeEstimator::Block::deceleration_time() const
+    {
+        return trapezoid.deceleration_time(acceleration);
+    }
+
+    float GCodeTimeEstimator::Block::cruise_distance() const
+    {
+        return trapezoid.cruise_distance();
+    }
+
+    void GCodeTimeEstimator::Block::calculate_trapezoid()
+    {
+        float distance = move_length();
+
+        trapezoid.distance = distance;
+        trapezoid.feedrate = feedrate;
+
+        float accelerate_distance = estimate_acceleration_distance(feedrate.entry, feedrate.cruise, acceleration);
+        float decelerate_distance = estimate_acceleration_distance(feedrate.cruise, feedrate.exit, -acceleration);
+        float cruise_distance = distance - accelerate_distance - decelerate_distance;
+
+        // Not enough space to reach the nominal feedrate.
+        // This means no cruising, and we'll have to use intersection_distance() to calculate when to abort acceleration 
+        // and start braking in order to reach the exit_feedrate exactly at the end of this block.
+        if (cruise_distance < 0.0f)
+        {
+            accelerate_distance = clamp(0.0f, distance, intersection_distance(feedrate.entry, feedrate.exit, acceleration, distance));
+            cruise_distance = 0.0f;
+            trapezoid.feedrate.cruise = Trapezoid::speed_from_distance(feedrate.entry, accelerate_distance, acceleration);
+        }
+
+        trapezoid.accelerate_until = accelerate_distance;
+        trapezoid.decelerate_after = accelerate_distance + cruise_distance;
+    }
+
+    float GCodeTimeEstimator::Block::max_allowable_speed(float acceleration, float target_velocity, float distance)
+    {
+        // to avoid invalid negative numbers due to numerical imprecision 
+        float value = std::max(0.0f, sqr(target_velocity) - 2.0f * acceleration * distance);
+        return ::sqrt(value);
+    }
+
+    float GCodeTimeEstimator::Block::estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
+    {
+        return (acceleration == 0.0f) ? 0.0f : (sqr(target_rate) - sqr(initial_rate)) / (2.0f * acceleration);
+    }
+
+    float GCodeTimeEstimator::Block::intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
+    {
+        return (acceleration == 0.0f) ? 0.0f : (2.0f * acceleration * distance - sqr(initial_rate) + sqr(final_rate)) / (4.0f * acceleration);
+    }
+
+#if ENABLE_MOVE_STATS
+    GCodeTimeEstimator::MoveStats::MoveStats()
+        : count(0)
+        , time(0.0f)
+    {
+    }
+#endif // ENABLE_MOVE_STATS
+
+    const std::string GCodeTimeEstimator::Normal_First_M73_Output_Placeholder_Tag = "; NORMAL_FIRST_M73_OUTPUT_PLACEHOLDER";
+    const std::string GCodeTimeEstimator::Silent_First_M73_Output_Placeholder_Tag = "; SILENT_FIRST_M73_OUTPUT_PLACEHOLDER";
+
+    GCodeTimeEstimator::GCodeTimeEstimator(EMode mode)
+        : _mode(mode)
+    {
+        reset();
+        set_default();
+    }
+
+    void GCodeTimeEstimator::add_gcode_line(const std::string& gcode_line)
+    {
+        PROFILE_FUNC();
+        _parser.parse_line(gcode_line, 
+            [this](GCodeReader &reader, const GCodeReader::GCodeLine &line)
+        { this->_process_gcode_line(reader, line); });
+    }
+
+    void GCodeTimeEstimator::add_gcode_block(const char *ptr)
+    {
+        PROFILE_FUNC();
+        GCodeReader::GCodeLine gline;
+        auto action = [this](GCodeReader &reader, const GCodeReader::GCodeLine &line)
+        { this->_process_gcode_line(reader, line); };
+        for (; *ptr != 0;) {
+            gline.reset();
+            ptr = _parser.parse_line(ptr, gline, action);
+        }
+    }
+
+    void GCodeTimeEstimator::calculate_time(bool start_from_beginning)
+    {
+        PROFILE_FUNC();
+        if (start_from_beginning)
+        {
+            _reset_time();
+            _last_st_synchronized_block_id = -1;
+        }
+        _calculate_time();
+
+#if ENABLE_MOVE_STATS
+        _log_moves_stats();
+#endif // ENABLE_MOVE_STATS
+    }
+
+    void GCodeTimeEstimator::calculate_time_from_text(const std::string& gcode)
+    {
+        reset();
+
+        _parser.parse_buffer(gcode,
+            [this](GCodeReader &reader, const GCodeReader::GCodeLine &line)
+        { this->_process_gcode_line(reader, line); });
+
+        _calculate_time();
+
+#if ENABLE_MOVE_STATS
+        _log_moves_stats();
+#endif // ENABLE_MOVE_STATS
+    }
+
+    void GCodeTimeEstimator::calculate_time_from_file(const std::string& file)
+    {
+        reset();
+
+        _parser.parse_file(file, boost::bind(&GCodeTimeEstimator::_process_gcode_line, this, _1, _2));
+        _calculate_time();
+
+#if ENABLE_MOVE_STATS
+        _log_moves_stats();
+#endif // ENABLE_MOVE_STATS
+    }
+
+    void GCodeTimeEstimator::calculate_time_from_lines(const std::vector<std::string>& gcode_lines)
+    {
+        reset();
+
+        auto action = [this](GCodeReader &reader, const GCodeReader::GCodeLine &line)
+        { this->_process_gcode_line(reader, line); };
+        for (const std::string& line : gcode_lines)
+            _parser.parse_line(line, action);
+        _calculate_time();
+
+#if ENABLE_MOVE_STATS
+        _log_moves_stats();
+#endif // ENABLE_MOVE_STATS
+    }
+
+    bool GCodeTimeEstimator::post_process_remaining_times(const std::string& filename, float interval)
+    {
+        boost::nowide::ifstream in(filename);
+        if (!in.good())
+            throw std::runtime_error(std::string("Remaining times export failed.\nCannot open file for reading.\n"));
+
+        std::string path_tmp = filename + ".times";
+
+        FILE* out = boost::nowide::fopen(path_tmp.c_str(), "wb");
+        if (out == nullptr)
+            throw std::runtime_error(std::string("Remaining times export failed.\nCannot open file for writing.\n"));
+
+        std::string time_mask;
+        switch (_mode)
+        {
+        default:
+        case Normal:
+        {
+            time_mask = "M73 P%s R%s\n";
+            break;
+        }
+        case Silent:
+        {
+            time_mask = "M73 Q%s S%s\n";
+            break;
+        }
+        }
+
+        unsigned int g1_lines_count = 0;
+        float last_recorded_time = 0.0f;
+        std::string gcode_line;
+        // buffer line to export only when greater than 64K to reduce writing calls
+        std::string export_line;
+        char time_line[64];
+        while (std::getline(in, gcode_line))
+        {
+            if (!in.good())
+            {
+                fclose(out);
+                throw std::runtime_error(std::string("Remaining times export failed.\nError while reading from file.\n"));
+            }
+
+            // replaces placeholders for initial line M73 with the real lines
+            if (((_mode == Normal) && (gcode_line == Normal_First_M73_Output_Placeholder_Tag)) ||
+                ((_mode == Silent) && (gcode_line == Silent_First_M73_Output_Placeholder_Tag)))
+            {
+                sprintf(time_line, time_mask.c_str(), "0", _get_time_minutes(_time).c_str());
+                gcode_line = time_line;
+            }
+            else
+               gcode_line += "\n";
+
+            // add remaining time lines where needed
+            _parser.parse_line(gcode_line,
+                [this, &g1_lines_count, &last_recorded_time, &time_line, &gcode_line, time_mask, interval](GCodeReader& reader, const GCodeReader::GCodeLine& line)
+            {
+                if (line.cmd_is("G1"))
+                {
+                    ++g1_lines_count;
+
+                    if (!line.has_e())
+                        return;
+
+                    G1LineIdToBlockIdMap::const_iterator it = _g1_line_ids.find(g1_lines_count);
+                    if ((it != _g1_line_ids.end()) && (it->second < (unsigned int)_blocks.size()))
+                    {
+                        const Block& block = _blocks[it->second];
+                        if (block.elapsed_time != -1.0f)
+                        {
+                            float block_remaining_time = _time - block.elapsed_time;
+                            if (std::abs(last_recorded_time - block_remaining_time) > interval)
+                            {
+                                sprintf(time_line, time_mask.c_str(), std::to_string((int)(100.0f * block.elapsed_time / _time)).c_str(), _get_time_minutes(block_remaining_time).c_str());
+                                gcode_line += time_line;
+
+                                last_recorded_time = block_remaining_time;
+                            }
+                        }
+                    }
+                }
+            });
+
+            export_line += gcode_line;
+            if (export_line.length() > 65535)
+            {
+                fwrite((const void*)export_line.c_str(), 1, export_line.length(), out);
+                if (ferror(out))
+                {
+                    in.close();
+                    fclose(out);
+                    boost::nowide::remove(path_tmp.c_str());
+                    throw std::runtime_error(std::string("Remaining times export failed.\nIs the disk full?\n"));
+                }
+                export_line.clear();
+            }
+        }
+
+        if (export_line.length() > 0)
+        {
+            fwrite((const void*)export_line.c_str(), 1, export_line.length(), out);
+            if (ferror(out))
+            {
+                in.close();
+                fclose(out);
+                boost::nowide::remove(path_tmp.c_str());
+                throw std::runtime_error(std::string("Remaining times export failed.\nIs the disk full?\n"));
+            }
+        }
+
+        fclose(out);
+        in.close();
+
+        if (rename_file(path_tmp, filename) != 0)
+            throw std::runtime_error(std::string("Failed to rename the output G-code file from ") + path_tmp + " to " + filename + '\n' +
+            "Is " + path_tmp + " locked?" + '\n');
+
+        return true;
+    }
+
+    void GCodeTimeEstimator::set_axis_position(EAxis axis, float position)
+    {
+        _state.axis[axis].position = position;
+    }
+
+    void GCodeTimeEstimator::set_axis_max_feedrate(EAxis axis, float feedrate_mm_sec)
+    {
+        _state.axis[axis].max_feedrate = feedrate_mm_sec;
+    }
+
+    void GCodeTimeEstimator::set_axis_max_acceleration(EAxis axis, float acceleration)
+    {
+        _state.axis[axis].max_acceleration = acceleration;
+    }
+
+    void GCodeTimeEstimator::set_axis_max_jerk(EAxis axis, float jerk)
+    {
+        _state.axis[axis].max_jerk = jerk;
+    }
+
+    float GCodeTimeEstimator::get_axis_position(EAxis axis) const
+    {
+        return _state.axis[axis].position;
+    }
+
+    float GCodeTimeEstimator::get_axis_max_feedrate(EAxis axis) const
+    {
+        return _state.axis[axis].max_feedrate;
+    }
+
+    float GCodeTimeEstimator::get_axis_max_acceleration(EAxis axis) const
+    {
+        return _state.axis[axis].max_acceleration;
+    }
+
+    float GCodeTimeEstimator::get_axis_max_jerk(EAxis axis) const
+    {
+        return _state.axis[axis].max_jerk;
+    }
+
+    void GCodeTimeEstimator::set_feedrate(float feedrate_mm_sec)
+    {
+        _state.feedrate = feedrate_mm_sec;
+    }
+
+    float GCodeTimeEstimator::get_feedrate() const
+    {
+        return _state.feedrate;
+    }
+
+    void GCodeTimeEstimator::set_acceleration(float acceleration_mm_sec2)
+    {
+        _state.acceleration = (_state.max_acceleration == 0) ? 
+            acceleration_mm_sec2 : 
+            // Clamp the acceleration with the maximum.
+            std::min(_state.max_acceleration, acceleration_mm_sec2);
+    }
+
+    float GCodeTimeEstimator::get_acceleration() const
+    {
+        return _state.acceleration;
+    }
+
+    void GCodeTimeEstimator::set_max_acceleration(float acceleration_mm_sec2)
+    {
+        _state.max_acceleration = acceleration_mm_sec2;
+        if (acceleration_mm_sec2 > 0)
+            _state.acceleration = acceleration_mm_sec2;
+    }
+
+    float GCodeTimeEstimator::get_max_acceleration() const
+    {
+        return _state.max_acceleration;
+    }
+
+    void GCodeTimeEstimator::set_retract_acceleration(float acceleration_mm_sec2)
+    {
+        _state.retract_acceleration = acceleration_mm_sec2;
+    }
+
+    float GCodeTimeEstimator::get_retract_acceleration() const
+    {
+        return _state.retract_acceleration;
+    }
+
+    void GCodeTimeEstimator::set_minimum_feedrate(float feedrate_mm_sec)
+    {
+        _state.minimum_feedrate = feedrate_mm_sec;
+    }
+
+    float GCodeTimeEstimator::get_minimum_feedrate() const
+    {
+        return _state.minimum_feedrate;
+    }
+
+    void GCodeTimeEstimator::set_minimum_travel_feedrate(float feedrate_mm_sec)
+    {
+        _state.minimum_travel_feedrate = feedrate_mm_sec;
+    }
+
+    float GCodeTimeEstimator::get_minimum_travel_feedrate() const
+    {
+        return _state.minimum_travel_feedrate;
+    }
+
+    void GCodeTimeEstimator::set_filament_load_times(const std::vector<double> &filament_load_times)
+    {
+        _state.filament_load_times.clear();
+        for (double t : filament_load_times)
+            _state.filament_load_times.push_back(t);
+    }
+
+    void GCodeTimeEstimator::set_filament_unload_times(const std::vector<double> &filament_unload_times)
+    {
+        _state.filament_unload_times.clear();
+        for (double t : filament_unload_times)
+            _state.filament_unload_times.push_back(t);
+    }
+
+    float GCodeTimeEstimator::get_filament_load_time(unsigned int id_extruder)
+    {
+        return
+            (_state.filament_load_times.empty() || id_extruder == _state.extruder_id_unloaded) ? 
+                0 :
+                (_state.filament_load_times.size() <= id_extruder) ?
+                    _state.filament_load_times.front() : 
+                    _state.filament_load_times[id_extruder];
+    }
+
+    float GCodeTimeEstimator::get_filament_unload_time(unsigned int id_extruder)
+    {
+        return
+            (_state.filament_unload_times.empty() || id_extruder == _state.extruder_id_unloaded) ? 
+                0 :
+                (_state.filament_unload_times.size() <= id_extruder) ?
+                    _state.filament_unload_times.front() : 
+                    _state.filament_unload_times[id_extruder];
+    }
+
+    void GCodeTimeEstimator::set_extrude_factor_override_percentage(float percentage)
+    {
+        _state.extrude_factor_override_percentage = percentage;
+    }
+
+    float GCodeTimeEstimator::get_extrude_factor_override_percentage() const
+    {
+        return _state.extrude_factor_override_percentage;
+    }
+
+    void GCodeTimeEstimator::set_dialect(GCodeFlavor dialect)
+    {
+        _state.dialect = dialect;
+    }
+
+    GCodeFlavor GCodeTimeEstimator::get_dialect() const
+    {
+        PROFILE_FUNC();
+        return _state.dialect;
+    }
+
+    void GCodeTimeEstimator::set_units(GCodeTimeEstimator::EUnits units)
+    {
+        _state.units = units;
+    }
+
+    GCodeTimeEstimator::EUnits GCodeTimeEstimator::get_units() const
+    {
+        return _state.units;
+    }
+
+    void GCodeTimeEstimator::set_global_positioning_type(GCodeTimeEstimator::EPositioningType type)
+    {
+        _state.global_positioning_type = type;
+    }
+
+    GCodeTimeEstimator::EPositioningType GCodeTimeEstimator::get_global_positioning_type() const
+    {
+        return _state.global_positioning_type;
+    }
+
+    void GCodeTimeEstimator::set_e_local_positioning_type(GCodeTimeEstimator::EPositioningType type)
+    {
+        _state.e_local_positioning_type = type;
+    }
+
+    GCodeTimeEstimator::EPositioningType GCodeTimeEstimator::get_e_local_positioning_type() const
+    {
+        return _state.e_local_positioning_type;
+    }
+
+    int GCodeTimeEstimator::get_g1_line_id() const
+    {
+        return _state.g1_line_id;
+    }
+
+    void GCodeTimeEstimator::increment_g1_line_id()
+    {
+        ++_state.g1_line_id;
+    }
+
+    void GCodeTimeEstimator::reset_g1_line_id()
+    {
+        _state.g1_line_id = 0;
+    }
+
+    void GCodeTimeEstimator::set_extruder_id(unsigned int id)
+    {
+        _state.extruder_id = id;
+    }
+
+    unsigned int GCodeTimeEstimator::get_extruder_id() const
+    {
+        return _state.extruder_id;
+    }
+
+    void GCodeTimeEstimator::reset_extruder_id()
+    {
+        // Set the initial extruder ID to unknown. For the multi-material setup it means
+        // that all the filaments are parked in the MMU and no filament is loaded yet.
+        _state.extruder_id = _state.extruder_id_unloaded;
+    }
+
+    void GCodeTimeEstimator::add_additional_time(float timeSec)
+    {
+        PROFILE_FUNC();
+        _state.additional_time += timeSec;
+    }
+
+    void GCodeTimeEstimator::set_additional_time(float timeSec)
+    {
+        _state.additional_time = timeSec;
+    }
+
+    float GCodeTimeEstimator::get_additional_time() const
+    {
+        return _state.additional_time;
+    }
+
+    void GCodeTimeEstimator::set_default()
+    {
+        set_units(Millimeters);
+        set_dialect(gcfRepRap);
+        set_global_positioning_type(Absolute);
+        set_e_local_positioning_type(Absolute);
+
+        set_feedrate(DEFAULT_FEEDRATE);
+        // Setting the maximum acceleration to zero means that the there is no limit and the G-code
+        // is allowed to set excessive values.
+        set_max_acceleration(0);
+        set_acceleration(DEFAULT_ACCELERATION);
+        set_retract_acceleration(DEFAULT_RETRACT_ACCELERATION);
+        set_minimum_feedrate(DEFAULT_MINIMUM_FEEDRATE);
+        set_minimum_travel_feedrate(DEFAULT_MINIMUM_TRAVEL_FEEDRATE);
+        set_extrude_factor_override_percentage(DEFAULT_EXTRUDE_FACTOR_OVERRIDE_PERCENTAGE);
+        
+        for (unsigned char a = X; a < Num_Axis; ++a)
+        {
+            EAxis axis = (EAxis)a;
+            set_axis_max_feedrate(axis, DEFAULT_AXIS_MAX_FEEDRATE[a]);
+            set_axis_max_acceleration(axis, DEFAULT_AXIS_MAX_ACCELERATION[a]);
+            set_axis_max_jerk(axis, DEFAULT_AXIS_MAX_JERK[a]);
+        }
+
+        _state.filament_load_times.clear();
+        _state.filament_unload_times.clear();
+    }
+
+    void GCodeTimeEstimator::reset()
+    {
+        _reset_time();
+#if ENABLE_MOVE_STATS
+        _moves_stats.clear();
+#endif // ENABLE_MOVE_STATS
+        _reset_blocks();
+        _reset();
+    }
+
+    float GCodeTimeEstimator::get_time() const
+    {
+        return _time;
+    }
+
+    std::string GCodeTimeEstimator::get_time_dhms() const
+    {
+        return _get_time_dhms(get_time());
+    }
+
+    std::string GCodeTimeEstimator::get_time_minutes() const
+    {
+        return _get_time_minutes(get_time());
+    }
+
+    void GCodeTimeEstimator::_reset()
+    {
+        _curr.reset();
+        _prev.reset();
+
+        set_axis_position(X, 0.0f);
+        set_axis_position(Y, 0.0f);
+        set_axis_position(Z, 0.0f);
+
+        set_additional_time(0.0f);
+
+        reset_extruder_id();
+        reset_g1_line_id();
+        _g1_line_ids.clear();
+
+        _last_st_synchronized_block_id = -1;
+    }
+
+    void GCodeTimeEstimator::_reset_time()
+    {
+        _time = 0.0f;
+    }
+
+    void GCodeTimeEstimator::_reset_blocks()
+    {
+        _blocks.clear();
+    }
+
+
+    void GCodeTimeEstimator::_calculate_time()
+    {
+        PROFILE_FUNC();
+        _forward_pass();
+        _reverse_pass();
+        _recalculate_trapezoids();
+
+        _time += get_additional_time();
+
+        for (int i = _last_st_synchronized_block_id + 1; i < (int)_blocks.size(); ++i)
+        {
+            Block& block = _blocks[i];
+
+#if ENABLE_MOVE_STATS
+            float block_time = 0.0f;
+            block_time += block.acceleration_time();
+            block_time += block.cruise_time();
+            block_time += block.deceleration_time();
+            _time += block_time;
+            block.elapsed_time = _time;
+
+            MovesStatsMap::iterator it = _moves_stats.find(block.move_type);
+            if (it == _moves_stats.end())
+                it = _moves_stats.insert(MovesStatsMap::value_type(block.move_type, MoveStats())).first;
+
+            it->second.count += 1;
+            it->second.time += block_time;
+#else
+            _time += block.acceleration_time();
+            _time += block.cruise_time();
+            _time += block.deceleration_time();
+            block.elapsed_time = _time;
+#endif // ENABLE_MOVE_STATS
+        }
+
+        _last_st_synchronized_block_id = _blocks.size() - 1;
+        // The additional time has been consumed (added to the total time), reset it to zero.
+        set_additional_time(0.);
+    }
+
+    void GCodeTimeEstimator::_process_gcode_line(GCodeReader&, const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        std::string cmd = line.cmd();
+        if (cmd.length() > 1)
+        {
+            switch (::toupper(cmd[0]))
+            {
+            case 'G':
+                {
+                    switch (::atoi(&cmd[1]))
+                    {
+                    case 1: // Move
+                        {
+                            _processG1(line);
+                            break;
+                        }
+                    case 4: // Dwell
+                        {
+                            _processG4(line);
+                            break;
+                        }
+                    case 20: // Set Units to Inches
+                        {
+                            _processG20(line);
+                            break;
+                        }
+                    case 21: // Set Units to Millimeters
+                        {
+                            _processG21(line);
+                            break;
+                        }
+                    case 28: // Move to Origin (Home)
+                        {
+                            _processG28(line);
+                            break;
+                        }
+                    case 90: // Set to Absolute Positioning
+                        {
+                            _processG90(line);
+                            break;
+                        }
+                    case 91: // Set to Relative Positioning
+                        {
+                            _processG91(line);
+                            break;
+                        }
+                    case 92: // Set Position
+                        {
+                            _processG92(line);
+                            break;
+                        }
+                    }
+
+                    break;
+                }
+            case 'M':
+                {
+                    switch (::atoi(&cmd[1]))
+                    {
+                    case 1: // Sleep or Conditional stop
+                        {
+                            _processM1(line);
+                            break;
+                        }
+                    case 82: // Set extruder to absolute mode
+                        {
+                            _processM82(line);
+                            break;
+                        }
+                    case 83: // Set extruder to relative mode
+                        {
+                            _processM83(line);
+                            break;
+                        }
+                    case 109: // Set Extruder Temperature and Wait
+                        {
+                            _processM109(line);
+                            break;
+                        }
+                    case 201: // Set max printing acceleration
+                        {
+                            _processM201(line);
+                            break;
+                        }
+                    case 203: // Set maximum feedrate
+                        {
+                            _processM203(line);
+                            break;
+                        }
+                    case 204: // Set default acceleration
+                        {
+                            _processM204(line);
+                            break;
+                        }
+                    case 205: // Advanced settings
+                        {
+                            _processM205(line);
+                            break;
+                        }
+                    case 221: // Set extrude factor override percentage
+                        {
+                            _processM221(line);
+                            break;
+                        }
+                    case 566: // Set allowable instantaneous speed change
+                        {
+                            _processM566(line);
+                            break;
+                        }
+                    case 702: // MK3 MMU2: Process the final filament unload.
+                        {
+                            _processM702(line);
+                            break;
+                        }
+                    }
+
+                    break;
+                }
+            case 'T': // Select Tools
+                {
+                    _processT(line);
+                    break;
+                }
+            }
+        }
+    }
+
+    // Returns the new absolute position on the given axis in dependence of the given parameters
+    float axis_absolute_position_from_G1_line(GCodeTimeEstimator::EAxis axis, const GCodeReader::GCodeLine& lineG1, GCodeTimeEstimator::EUnits units, bool is_relative, float current_absolute_position)
+    {
+        float lengthsScaleFactor = (units == GCodeTimeEstimator::Inches) ? INCHES_TO_MM : 1.0f;
+        if (lineG1.has(Slic3r::Axis(axis)))
+        {
+            float ret = lineG1.value(Slic3r::Axis(axis)) * lengthsScaleFactor;
+            return is_relative ? current_absolute_position + ret : ret;
+        }
+        else
+            return current_absolute_position;
+    }
+
+    void GCodeTimeEstimator::_processG1(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        increment_g1_line_id();
+
+        // updates axes positions from line
+        EUnits units = get_units();
+        float new_pos[Num_Axis];
+        for (unsigned char a = X; a < Num_Axis; ++a)
+        {
+            bool is_relative = (get_global_positioning_type() == Relative);
+            if (a == E)
+                is_relative |= (get_e_local_positioning_type() == Relative);
+
+            new_pos[a] = axis_absolute_position_from_G1_line((EAxis)a, line, units, is_relative, get_axis_position((EAxis)a));
+        }
+
+        // updates feedrate from line, if present
+        if (line.has_f())
+            set_feedrate(std::max(line.f() * MMMIN_TO_MMSEC, get_minimum_feedrate()));
+
+        // fills block data
+        Block block;
+
+        // calculates block movement deltas
+        float max_abs_delta = 0.0f;
+        for (unsigned char a = X; a < Num_Axis; ++a)
+        {
+            block.delta_pos[a] = new_pos[a] - get_axis_position((EAxis)a);
+            max_abs_delta = std::max(max_abs_delta, std::abs(block.delta_pos[a]));
+        }
+
+        // is it a move ?
+        if (max_abs_delta == 0.0f)
+            return;
+
+        // calculates block feedrate
+        _curr.feedrate = std::max(get_feedrate(), block.is_travel_move() ? get_minimum_travel_feedrate() : get_minimum_feedrate());
+
+        float distance = block.move_length();
+        float invDistance = 1.0f / distance;
+
+        float min_feedrate_factor = 1.0f;
+        for (unsigned char a = X; a < Num_Axis; ++a)
+        {
+            _curr.axis_feedrate[a] = _curr.feedrate * block.delta_pos[a] * invDistance;
+            if (a == E)
+                _curr.axis_feedrate[a] *= get_extrude_factor_override_percentage();
+
+            _curr.abs_axis_feedrate[a] = std::abs(_curr.axis_feedrate[a]);
+            if (_curr.abs_axis_feedrate[a] > 0.0f)
+                min_feedrate_factor = std::min(min_feedrate_factor, get_axis_max_feedrate((EAxis)a) / _curr.abs_axis_feedrate[a]);
+        }
+        
+        block.feedrate.cruise = min_feedrate_factor * _curr.feedrate;
+
+        if (min_feedrate_factor < 1.0f)
+        {
+            for (unsigned char a = X; a < Num_Axis; ++a)
+            {
+                _curr.axis_feedrate[a] *= min_feedrate_factor;
+                _curr.abs_axis_feedrate[a] *= min_feedrate_factor;
+            }
+        }
+
+        // calculates block acceleration
+        float acceleration = block.is_extruder_only_move() ? get_retract_acceleration() : get_acceleration();
+
+        for (unsigned char a = X; a < Num_Axis; ++a)
+        {
+            float axis_max_acceleration = get_axis_max_acceleration((EAxis)a);
+            if (acceleration * std::abs(block.delta_pos[a]) * invDistance > axis_max_acceleration)
+                acceleration = axis_max_acceleration;
+        }
+
+        block.acceleration = acceleration;
+
+        // calculates block exit feedrate
+        _curr.safe_feedrate = block.feedrate.cruise;
+
+        for (unsigned char a = X; a < Num_Axis; ++a)
+        {
+            float axis_max_jerk = get_axis_max_jerk((EAxis)a);
+            if (_curr.abs_axis_feedrate[a] > axis_max_jerk)
+                _curr.safe_feedrate = std::min(_curr.safe_feedrate, axis_max_jerk);
+        }
+
+        block.feedrate.exit = _curr.safe_feedrate;
+
+        // calculates block entry feedrate
+        float vmax_junction = _curr.safe_feedrate;
+        if (!_blocks.empty() && (_prev.feedrate > PREVIOUS_FEEDRATE_THRESHOLD))
+        {
+            bool prev_speed_larger = _prev.feedrate > block.feedrate.cruise;
+            float smaller_speed_factor = prev_speed_larger ? (block.feedrate.cruise / _prev.feedrate) : (_prev.feedrate / block.feedrate.cruise);
+            // Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
+            vmax_junction = prev_speed_larger ? block.feedrate.cruise : _prev.feedrate;
+
+            float v_factor = 1.0f;
+            bool limited = false;
+
+            for (unsigned char a = X; a < Num_Axis; ++a)
+            {
+                // Limit an axis. We have to differentiate coasting from the reversal of an axis movement, or a full stop.
+                float v_exit = _prev.axis_feedrate[a];
+                float v_entry = _curr.axis_feedrate[a];
+
+                if (prev_speed_larger)
+                    v_exit *= smaller_speed_factor;
+
+                if (limited)
+                {
+                    v_exit *= v_factor;
+                    v_entry *= v_factor;
+                }
+
+                // Calculate the jerk depending on whether the axis is coasting in the same direction or reversing a direction.
+                float jerk =
+                    (v_exit > v_entry) ?
+                    (((v_entry > 0.0f) || (v_exit < 0.0f)) ?
+                    // coasting
+                    (v_exit - v_entry) :
+                    // axis reversal
+                    std::max(v_exit, -v_entry)) :
+                    // v_exit <= v_entry
+                    (((v_entry < 0.0f) || (v_exit > 0.0f)) ?
+                    // coasting
+                    (v_entry - v_exit) :
+                    // axis reversal
+                    std::max(-v_exit, v_entry));
+
+                float axis_max_jerk = get_axis_max_jerk((EAxis)a);
+                if (jerk > axis_max_jerk)
+                {
+                    v_factor *= axis_max_jerk / jerk;
+                    limited = true;
+                }
+            }
+
+            if (limited)
+                vmax_junction *= v_factor;
+
+            // Now the transition velocity is known, which maximizes the shared exit / entry velocity while
+            // respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
+            float vmax_junction_threshold = vmax_junction * 0.99f;
+
+            // Not coasting. The machine will stop and start the movements anyway, better to start the segment from start.
+            if ((_prev.safe_feedrate > vmax_junction_threshold) && (_curr.safe_feedrate > vmax_junction_threshold))
+                vmax_junction = _curr.safe_feedrate;
+        }
+
+        float v_allowable = Block::max_allowable_speed(-acceleration, _curr.safe_feedrate, distance);
+        block.feedrate.entry = std::min(vmax_junction, v_allowable);
+
+        block.max_entry_speed = vmax_junction;
+        block.flags.nominal_length = (block.feedrate.cruise <= v_allowable);
+        block.flags.recalculate = true;
+        block.safe_feedrate = _curr.safe_feedrate;
+
+        // calculates block trapezoid
+        block.calculate_trapezoid();
+
+        // updates previous
+        _prev = _curr;
+
+        // updates axis positions
+        for (unsigned char a = X; a < Num_Axis; ++a)
+        {
+            set_axis_position((EAxis)a, new_pos[a]);
+        }
+
+#if ENABLE_MOVE_STATS
+        // detects block move type
+        block.move_type = Block::Noop;
+
+        if (block.delta_pos[E] < 0.0f)
+        {
+            if ((block.delta_pos[X] != 0.0f) || (block.delta_pos[Y] != 0.0f) || (block.delta_pos[Z] != 0.0f))
+                block.move_type = Block::Move;
+            else
+                block.move_type = Block::Retract;
+        }
+        else if (block.delta_pos[E] > 0.0f)
+        {
+            if ((block.delta_pos[X] == 0.0f) && (block.delta_pos[Y] == 0.0f) && (block.delta_pos[Z] == 0.0f))
+                block.move_type = Block::Unretract;
+            else if ((block.delta_pos[X] != 0.0f) || (block.delta_pos[Y] != 0.0f))
+                block.move_type = Block::Extrude;
+        }
+        else if ((block.delta_pos[X] != 0.0f) || (block.delta_pos[Y] != 0.0f) || (block.delta_pos[Z] != 0.0f))
+            block.move_type = Block::Move;
+#endif // ENABLE_MOVE_STATS
+
+        // adds block to blocks list
+        _blocks.emplace_back(block);
+        _g1_line_ids.insert(G1LineIdToBlockIdMap::value_type(get_g1_line_id(), (unsigned int)_blocks.size() - 1));
+    }
+
+    void GCodeTimeEstimator::_processG4(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        GCodeFlavor dialect = get_dialect();
+
+        float value;
+        if (line.has_value('P', value))
+            add_additional_time(value * MILLISEC_TO_SEC);
+
+        // see: http://reprap.org/wiki/G-code#G4:_Dwell
+        if ((dialect == gcfRepetier) ||
+            (dialect == gcfMarlin) ||
+            (dialect == gcfSmoothie) ||
+            (dialect == gcfRepRap))
+        {
+            if (line.has_value('S', value))
+                add_additional_time(value);
+        }
+
+        _simulate_st_synchronize();
+    }
+
+    void GCodeTimeEstimator::_processG20(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        set_units(Inches);
+    }
+
+    void GCodeTimeEstimator::_processG21(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        set_units(Millimeters);
+    }
+
+    void GCodeTimeEstimator::_processG28(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        // TODO
+    }
+
+    void GCodeTimeEstimator::_processG90(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        set_global_positioning_type(Absolute);
+    }
+
+    void GCodeTimeEstimator::_processG91(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        set_global_positioning_type(Relative);
+    }
+
+    void GCodeTimeEstimator::_processG92(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        float lengthsScaleFactor = (get_units() == Inches) ? INCHES_TO_MM : 1.0f;
+        bool anyFound = false;
+
+        if (line.has_x())
+        {
+            set_axis_position(X, line.x() * lengthsScaleFactor);
+            anyFound = true;
+        }
+
+        if (line.has_y())
+        {
+            set_axis_position(Y, line.y() * lengthsScaleFactor);
+            anyFound = true;
+        }
+
+        if (line.has_z())
+        {
+            set_axis_position(Z, line.z() * lengthsScaleFactor);
+            anyFound = true;
+        }
+
+        if (line.has_e())
+        {
+            set_axis_position(E, line.e() * lengthsScaleFactor);
+            anyFound = true;
+        }
+        else
+            _simulate_st_synchronize();
+
+        if (!anyFound)
+        {
+            for (unsigned char a = X; a < Num_Axis; ++a)
+            {
+                set_axis_position((EAxis)a, 0.0f);
+            }
+        }
+    }
+
+    void GCodeTimeEstimator::_processM1(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        _simulate_st_synchronize();
+    }
+
+    void GCodeTimeEstimator::_processM82(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        set_e_local_positioning_type(Absolute);
+    }
+
+    void GCodeTimeEstimator::_processM83(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        set_e_local_positioning_type(Relative);
+    }
+
+    void GCodeTimeEstimator::_processM109(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        // TODO
+    }
+
+    void GCodeTimeEstimator::_processM201(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        GCodeFlavor dialect = get_dialect();
+
+        // see http://reprap.org/wiki/G-code#M201:_Set_max_printing_acceleration
+        float factor = ((dialect != gcfRepRap) && (get_units() == GCodeTimeEstimator::Inches)) ? INCHES_TO_MM : 1.0f;
+
+        if (line.has_x())
+            set_axis_max_acceleration(X, line.x() * factor);
+
+        if (line.has_y())
+            set_axis_max_acceleration(Y, line.y() * factor);
+
+        if (line.has_z())
+            set_axis_max_acceleration(Z, line.z() * factor);
+
+        if (line.has_e())
+            set_axis_max_acceleration(E, line.e() * factor);
+    }
+
+    void GCodeTimeEstimator::_processM203(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        GCodeFlavor dialect = get_dialect();
+
+        // see http://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate
+        if (dialect == gcfRepetier)
+            return;
+
+        // see http://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate
+        float factor = (dialect == gcfMarlin) ? 1.0f : MMMIN_TO_MMSEC;
+
+        if (line.has_x())
+            set_axis_max_feedrate(X, line.x() * factor);
+
+        if (line.has_y())
+            set_axis_max_feedrate(Y, line.y() * factor);
+
+        if (line.has_z())
+            set_axis_max_feedrate(Z, line.z() * factor);
+
+        if (line.has_e())
+            set_axis_max_feedrate(E, line.e() * factor);
+    }
+
+    void GCodeTimeEstimator::_processM204(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        float value;
+        if (line.has_value('S', value)) {
+            // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
+            // and it is also generated by Slic3r to control acceleration per extrusion type
+            // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
+            set_acceleration(value);
+            if (line.has_value('T', value))
+                set_retract_acceleration(value);
+        } else {
+            // New acceleration format, compatible with the upstream Marlin.
+            if (line.has_value('P', value))
+                set_acceleration(value);
+            if (line.has_value('R', value))
+                set_retract_acceleration(value);
+            if (line.has_value('T', value)) {
+                // Interpret the T value as the travel acceleration in the new Marlin format.
+                //FIXME Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value.
+                // set_travel_acceleration(value);
+            }
+        }
+    }
+
+    void GCodeTimeEstimator::_processM205(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        if (line.has_x())
+        {
+            float max_jerk = line.x();
+            set_axis_max_jerk(X, max_jerk);
+            set_axis_max_jerk(Y, max_jerk);
+        }
+
+        if (line.has_y())
+            set_axis_max_jerk(Y, line.y());
+
+        if (line.has_z())
+            set_axis_max_jerk(Z, line.z());
+
+        if (line.has_e())
+            set_axis_max_jerk(E, line.e());
+
+        float value;
+        if (line.has_value('S', value))
+            set_minimum_feedrate(value);
+
+        if (line.has_value('T', value))
+            set_minimum_travel_feedrate(value);
+    }
+
+    void GCodeTimeEstimator::_processM221(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        float value_s;
+        float value_t;
+        if (line.has_value('S', value_s) && !line.has_value('T', value_t))
+            set_extrude_factor_override_percentage(value_s * 0.01f);
+    }
+
+    void GCodeTimeEstimator::_processM566(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        if (line.has_x())
+            set_axis_max_jerk(X, line.x() * MMMIN_TO_MMSEC);
+
+        if (line.has_y())
+            set_axis_max_jerk(Y, line.y() * MMMIN_TO_MMSEC);
+
+        if (line.has_z())
+            set_axis_max_jerk(Z, line.z() * MMMIN_TO_MMSEC);
+
+        if (line.has_e())
+            set_axis_max_jerk(E, line.e() * MMMIN_TO_MMSEC);
+    }
+
+    void GCodeTimeEstimator::_processM702(const GCodeReader::GCodeLine& line)
+    {
+        PROFILE_FUNC();
+        if (line.has('C')) {
+            // MK3 MMU2 specific M code:
+            // M702 C is expected to be sent by the custom end G-code when finalizing a print.
+            // The MK3 unit shall unload and park the active filament into the MMU2 unit.
+            add_additional_time(get_filament_unload_time(get_extruder_id()));
+            reset_extruder_id();
+            _simulate_st_synchronize();
+        }
+    }
+
+    void GCodeTimeEstimator::_processT(const GCodeReader::GCodeLine& line)
+    {
+        std::string cmd = line.cmd();
+        if (cmd.length() > 1)
+        {
+            unsigned int id = (unsigned int)::strtol(cmd.substr(1).c_str(), nullptr, 10);
+            if (get_extruder_id() != id)
+            {
+                // Specific to the MK3 MMU2: The initial extruder ID is set to -1 indicating
+                // that the filament is parked in the MMU2 unit and there is nothing to be unloaded yet.
+                add_additional_time(get_filament_unload_time(get_extruder_id()));
+                set_extruder_id(id);
+                add_additional_time(get_filament_load_time(get_extruder_id()));
+                _simulate_st_synchronize();
+            }
+        }
+    }
+
+    void GCodeTimeEstimator::_simulate_st_synchronize()
+    {
+        PROFILE_FUNC();
+        _calculate_time();
+    }
+
+    void GCodeTimeEstimator::_forward_pass()
+    {
+        PROFILE_FUNC();
+        if (_blocks.size() > 1)
+        {
+            for (int i = _last_st_synchronized_block_id + 1; i < (int)_blocks.size() - 1; ++i)
+            {
+                _planner_forward_pass_kernel(_blocks[i], _blocks[i + 1]);
+            }
+        }
+    }
+
+    void GCodeTimeEstimator::_reverse_pass()
+    {
+        PROFILE_FUNC();
+        if (_blocks.size() > 1)
+        {
+            for (int i = (int)_blocks.size() - 1; i >= _last_st_synchronized_block_id + 2; --i)
+            {
+                _planner_reverse_pass_kernel(_blocks[i - 1], _blocks[i]);
+            }
+        }
+    }
+
+    void GCodeTimeEstimator::_planner_forward_pass_kernel(Block& prev, Block& curr)
+    {
+        PROFILE_FUNC();
+        // If the previous block is an acceleration block, but it is not long enough to complete the
+        // full speed change within the block, we need to adjust the entry speed accordingly. Entry
+        // speeds have already been reset, maximized, and reverse planned by reverse planner.
+        // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
+        if (!prev.flags.nominal_length)
+        {
+            if (prev.feedrate.entry < curr.feedrate.entry)
+            {
+                float entry_speed = std::min(curr.feedrate.entry, Block::max_allowable_speed(-prev.acceleration, prev.feedrate.entry, prev.move_length()));
+
+                // Check for junction speed change
+                if (curr.feedrate.entry != entry_speed)
+                {
+                    curr.feedrate.entry = entry_speed;
+                    curr.flags.recalculate = true;
+                }
+            }
+        }
+    }
+
+    void GCodeTimeEstimator::_planner_reverse_pass_kernel(Block& curr, Block& next)
+    {
+        // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
+        // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
+        // check for maximum allowable speed reductions to ensure maximum possible planned speed.
+        if (curr.feedrate.entry != curr.max_entry_speed)
+        {
+            // If nominal length true, max junction speed is guaranteed to be reached. Only compute
+            // for max allowable speed if block is decelerating and nominal length is false.
+            if (!curr.flags.nominal_length && (curr.max_entry_speed > next.feedrate.entry))
+                curr.feedrate.entry = std::min(curr.max_entry_speed, Block::max_allowable_speed(-curr.acceleration, next.feedrate.entry, curr.move_length()));
+            else
+                curr.feedrate.entry = curr.max_entry_speed;
+
+            curr.flags.recalculate = true;
+        }
+    }
+
+    void GCodeTimeEstimator::_recalculate_trapezoids()
+    {
+        PROFILE_FUNC();
+        Block* curr = nullptr;
+        Block* next = nullptr;
+
+        for (int i = _last_st_synchronized_block_id + 1; i < (int)_blocks.size(); ++i)
+        {
+            Block& b = _blocks[i];
+
+            curr = next;
+            next = &b;
+
+            if (curr != nullptr)
+            {
+                // Recalculate if current block entry or exit junction speed has changed.
+                if (curr->flags.recalculate || next->flags.recalculate)
+                {
+                    // NOTE: Entry and exit factors always > 0 by all previous logic operations.
+                    Block block = *curr;
+                    block.feedrate.exit = next->feedrate.entry;
+                    block.calculate_trapezoid();
+                    curr->trapezoid = block.trapezoid;
+                    curr->flags.recalculate = false; // Reset current only to ensure next trapezoid is computed
+                }
+            }
+        }
+
+        // Last/newest block in buffer. Always recalculated.
+        if (next != nullptr)
+        {
+            Block block = *next;
+            block.feedrate.exit = next->safe_feedrate;
+            block.calculate_trapezoid();
+            next->trapezoid = block.trapezoid;
+            next->flags.recalculate = false;
+        }
+    }
+
+    std::string GCodeTimeEstimator::_get_time_dhms(float time_in_secs)
+    {
+        int days = (int)(time_in_secs / 86400.0f);
+        time_in_secs -= (float)days * 86400.0f;
+        int hours = (int)(time_in_secs / 3600.0f);
+        time_in_secs -= (float)hours * 3600.0f;
+        int minutes = (int)(time_in_secs / 60.0f);
+        time_in_secs -= (float)minutes * 60.0f;
+
+        char buffer[64];
+        if (days > 0)
+            ::sprintf(buffer, "%dd %dh %dm %ds", days, hours, minutes, (int)time_in_secs);
+        else if (hours > 0)
+            ::sprintf(buffer, "%dh %dm %ds", hours, minutes, (int)time_in_secs);
+        else if (minutes > 0)
+            ::sprintf(buffer, "%dm %ds", minutes, (int)time_in_secs);
+        else
+            ::sprintf(buffer, "%ds", (int)time_in_secs);
+
+        return buffer;
+    }
+
+    std::string GCodeTimeEstimator::_get_time_minutes(float time_in_secs)
+    {
+        return std::to_string((int)(::roundf(time_in_secs / 60.0f)));
+    }
+
+#if ENABLE_MOVE_STATS
+    void GCodeTimeEstimator::_log_moves_stats() const
+    {
+        float moves_count = 0.0f;
+        for (const MovesStatsMap::value_type& move : _moves_stats)
+        {
+            moves_count += (float)move.second.count;
+        }
+
+        for (const MovesStatsMap::value_type& move : _moves_stats)
+        {
+            std::cout << MOVE_TYPE_STR[move.first];
+            std::cout << ": count " << move.second.count << " (" << 100.0f * (float)move.second.count / moves_count << "%)";
+            std::cout << " - time: " << move.second.time << "s (" << 100.0f * move.second.time / _time << "%)";
+            std::cout << std::endl;
+        }
+        std::cout << std::endl;
+    }
+#endif // ENABLE_MOVE_STATS
+}