Improve UBL mesh report. Add M420 T, M421 N

Marlin/src/feature/bedlevel/ubl/ubl.cpp

   ) {
     if (!leveling_is_valid()) return;
     SERIAL_ECHO_START_P(port);
-    SERIAL_ECHOLNPGM_P(port, "  G29 I 999");
+    SERIAL_ECHOLNPGM_P(port, "  G29 I99");
     for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
       for (uint8_t y = 0;  y < GRID_MAX_POINTS_Y; y++)
         if (!isnan(z_values[x][y])) {
           SERIAL_ECHOPAIR_P(port, "  M421 I", x);
           SERIAL_ECHOPAIR_P(port, " J", y);
           SERIAL_ECHOPGM_P(port, " Z");
-          SERIAL_ECHO_F_P(port, z_values[x][y], 6);
-          SERIAL_ECHOPAIR_P(port, " ; X", LOGICAL_X_POSITION(mesh_index_to_xpos(x)));
-          SERIAL_ECHOPAIR_P(port, ", Y", LOGICAL_Y_POSITION(mesh_index_to_ypos(y)));
+          SERIAL_ECHO_F_P(port, z_values[x][y], 2);
           SERIAL_EOL_P(port);
           safe_delay(75); // Prevent Printrun from exploding
         }
     safe_delay(50);
   }
 
-  static void serial_echo_xy(const int16_t x, const int16_t y) {
-    SERIAL_CHAR('(');
-    SERIAL_ECHO(x);
-    SERIAL_CHAR(',');
-    SERIAL_ECHO(y);
-    SERIAL_CHAR(')');
-    safe_delay(10);
-  }
-
   #if ENABLED(UBL_DEVEL_DEBUGGING)
 
     static void debug_echo_axis(const AxisEnum axis) {
     }
   }
 
-  // display_map() currently produces three different mesh map types
-  // 0 : suitable for PronterFace and Repetier's serial console
-  // 1 : .CSV file suitable for importation into various spread sheets
-  // 2 : disply of the map data on a RepRap Graphical LCD Panel
+  static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) {
+    SERIAL_ECHO_SP(sp);
+    SERIAL_CHAR('(');
+    if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); }
+    SERIAL_ECHO(x);
+    SERIAL_CHAR(',');
+    if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); }
+    SERIAL_ECHO(y);
+    SERIAL_CHAR(')');
+    safe_delay(5);
+  }
+
+  static void serial_echo_column_labels(const uint8_t sp) {
+    SERIAL_ECHO_SP(7);
+    for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
+      if (i < 10) SERIAL_CHAR(' ');
+      SERIAL_ECHO(i);
+      SERIAL_ECHO_SP(sp);
+    }
+    safe_delay(10);
+  }
 
+  /**
+   * Produce one of these mesh maps:
+   *   0: Human-readable
+   *   1: CSV format for spreadsheet import
+   *   2: TODO: Display on Graphical LCD
+   *   4: Compact Human-Readable
+   */
   void unified_bed_leveling::display_map(const int map_type) {
     #if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
       suspend_auto_report = true;
     #endif
 
-    constexpr uint8_t spaces = 8 * (GRID_MAX_POINTS_X - 2);
+    constexpr uint8_t eachsp = 1 + 6 + 1,                           // [-3.567]
+                      twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each
 
-    SERIAL_PROTOCOLPGM("\nBed Topography Report");
-    if (map_type == 0) {
-      SERIAL_PROTOCOLPGM(":\n\n");
-      serial_echo_xy(0, GRID_MAX_POINTS_Y - 1);
-      SERIAL_ECHO_SP(spaces + 3);
-      serial_echo_xy(GRID_MAX_POINTS_X - 1, GRID_MAX_POINTS_Y - 1);
-      SERIAL_EOL();
-      serial_echo_xy(MESH_MIN_X, MESH_MAX_Y);
-      SERIAL_ECHO_SP(spaces);
-      serial_echo_xy(MESH_MAX_X, MESH_MAX_Y);
+    const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4;
+
+    SERIAL_ECHOPGM("\nBed Topography Report");
+    if (human) {
+      SERIAL_ECHOPGM(":\n\n");
+      serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y);
+      serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y);
       SERIAL_EOL();
+      serial_echo_column_labels(eachsp - 2);
     }
     else {
-      SERIAL_PROTOCOLPGM(" for ");
-      serialprintPGM(map_type == 1 ? PSTR("CSV:\n\n") : PSTR("LCD:\n\n"));
+      SERIAL_ECHOPGM(" for ");
+      serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));
     }
 
     const float current_xi = get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
                 current_yi = get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
 
+    if (!lcd) SERIAL_EOL();
     for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
+
+      // Row Label (J index)
+      if (human) {
+        if (j < 10) SERIAL_CHAR(' ');
+        SERIAL_ECHO(j);
+        SERIAL_ECHOPGM(" |");
+      }
+
+      // Row Values (I indexes)
       for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
-        const bool is_current = i == current_xi && j == current_yi;
 
-        // is the nozzle here? then mark the number
-        if (map_type == 0) SERIAL_CHAR(is_current ? '[' : ' ');
+        // Opening Brace or Space
+        const bool is_current = i == current_xi && j == current_yi;
+        if (human) SERIAL_CHAR(is_current ? '[' : ' ');
 
+        // Z Value at current I, J
         const float f = z_values[i][j];
-        if (isnan(f)) {
-          serialprintPGM(map_type == 0 ? PSTR("    .   ") : PSTR("NAN"));
+        if (lcd) {
+          // TODO: Display on Graphical LCD
         }
-        else if (map_type <= 1) {
-          // if we don't do this, the columns won't line up nicely
-          if (map_type == 0 && f >= 0.0) SERIAL_CHAR(' ');
-          SERIAL_PROTOCOL_F(f, 3);
+        else if (isnan(f))
+          serialprintPGM(human ? PSTR("  .   ") : PSTR("NAN"));
+        else if (human || csv) {
+          if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' ');  // Space for positive ('-' for negative)
+          SERIAL_ECHO_F(f, 3);                                    // Positive: 5 digits, Negative: 6 digits
         }
-        idle();
-        if (map_type == 1 && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR(',');
+        if (csv && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR('\t');
+
+        // Closing Brace or Space
+        if (human) SERIAL_CHAR(is_current ? ']' : ' ');
+
         SERIAL_FLUSHTX();
-        safe_delay(15);
-        if (map_type == 0) {
-          SERIAL_CHAR(is_current ? ']' : ' ');
-          SERIAL_CHAR(' ');
-        }
-      }
-      SERIAL_EOL();
-      if (j && map_type == 0) { // we want the (0,0) up tight against the block of numbers
-        SERIAL_CHAR(' ');
-        SERIAL_EOL();
+        idle();
       }
+      if (!lcd) SERIAL_EOL();
+
+      // A blank line between rows (unless compact)
+      if (j && human && !comp) SERIAL_ECHOLNPGM("   |");
     }
 
-    if (map_type == 0) {
-      serial_echo_xy(MESH_MIN_X, MESH_MIN_Y);
-      SERIAL_ECHO_SP(spaces + 4);
-      serial_echo_xy(MESH_MAX_X, MESH_MIN_Y);
+    if (human) {
+      serial_echo_column_labels(eachsp - 2);
+      SERIAL_EOL();
+      serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y);
+      serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y);
       SERIAL_EOL();
-      serial_echo_xy(0, 0);
-      SERIAL_ECHO_SP(spaces + 5);
-      serial_echo_xy(GRID_MAX_POINTS_X - 1, 0);
       SERIAL_EOL();
     }
 

Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp

    *                    for subsequent Load and Store operations. Valid storage slot numbers begin at 0 and
    *                    extend to a limit related to the available EEPROM storage.
    *
-   *   S -1  Store      Store the current Mesh as a print out that is suitable to be feed back into the system
-   *                    at a later date. The GCode output can be saved and later replayed by the host software
-   *                    to reconstruct the current mesh on another machine.
+   *   S -1  Store      Print the current Mesh as G-code that can be used to restore the mesh anytime.
    *
    *   T     Topology   Display the Mesh Map Topology.
    *                    'T' can be used alone (e.g., G29 T) or in combination with most of the other commands.

Marlin/src/gcode/bedlevel/M420.cpp

  * With AUTO_BED_LEVELING_UBL only:
  *
  *   L[index]  Load UBL mesh from index (0 is default)
+ *   T[map]    0:Human-readable 1:CSV 2:"LCD" 4:Compact
  */
 void GcodeSuite::M420() {
 
 
     // L or V display the map info
     if (parser.seen('L') || parser.seen('V')) {
-      ubl.display_map(0);  // Currently only supports one map type
+      ubl.display_map(parser.byteval('T'));
       SERIAL_ECHOLNPAIR("ubl.mesh_is_valid = ", ubl.mesh_is_valid());
       SERIAL_ECHOLNPAIR("ubl.storage_slot = ", ubl.storage_slot);
     }

Marlin/src/gcode/bedlevel/ubl/M421.cpp

  * Usage:
  *   M421 I<xindex> J<yindex> Z<linear>
  *   M421 I<xindex> J<yindex> Q<offset>
+ *   M421 I<xindex> J<yindex> N
  *   M421 C Z<linear>
  *   M421 C Q<offset>
  */
   const bool hasI = ix >= 0,
              hasJ = iy >= 0,
              hasC = parser.seen('C'),
+             hasN = parser.seen('N'),
              hasZ = parser.seen('Z'),
              hasQ = !hasZ && parser.seen('Q');
 
     iy = location.y_index;
   }
 
-  if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ)) {
+  if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ || hasN)) {
     SERIAL_ERROR_START();
     SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
   }
     SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
   }
   else
-    ubl.z_values[ix][iy] = parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
+    ubl.z_values[ix][iy] = hasN ? NAN : parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
 }
 
 #endif // AUTO_BED_LEVELING_UBL