Tidied up a previous change

Author: dc42

src/GCodes/GCodes.h

@@ -366,6 +366,7 @@ class GCodes
 #if SUPPORT_ASYNC_MOVES
 	void UnlockMovementFrom(const GCodeBuffer& gb, MovementSystemNumber firstMsNumber) noexcept;	// Release movement locks greater or equal to than the specified one
 #endif
+	bool WaitForEndstopOrProbingMoveToFinish(GCodeBuffer& gb) noexcept;			// Wait for movement to stop after performing a move that may terminate early
 
 	void SetInitialAxisAndDrivePositions() noexcept;							// Called at initialisation and when new axes are added
 	void AdjustEndpoint(size_t drive, float ratio) const noexcept;				// Adjust an endpoint following a change to steps/mm

src/GCodes/GCodes4.cpp

@@ -26,6 +26,16 @@
 # include <Comms/PanelDueUpdater.h>
 #endif
 
+// Wait for movement to stop after performing a move that may terminate early
+bool GCodes::WaitForEndstopOrProbingMoveToFinish(GCodeBuffer& gb) noexcept
+{
+	return LockCurrentMovementSystemAndWaitForStandstill(gb)
+#if SUPPORT_CAN_EXPANSION
+			&& CanMotion::RevertStoppedDrivers()
+#endif
+		;
+}
+
 // Execute a step of the state machine
 // CAUTION: don't allocate any long strings or other large objects directly within this function.
 // The reason is that this function calls FinishedBedProbing(), which on a delta calls DoAutoCalibration(), which uses lots of stack.
@@ -50,11 +60,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
 	switch (state)
 	{
 	case GCodeState::waitingForSpecialMoveToComplete:
-		if (   LockCurrentMovementSystemAndWaitForStandstill(gb)		// movement should already be locked, but we need to wait for standstill and fetch the current position
-#if SUPPORT_CAN_EXPANSION
-			&& CanMotion::RevertStoppedDrivers()
-#endif
-		   )
+		if (WaitForEndstopOrProbingMoveToFinish(gb))			// movement should already be locked, but we need to wait for standstill and fetch the current position
 		{
 			// Check whether we need to action any endstops
 			if (ms.axesToHome.IsNonEmpty())						// check whether we made any G1 H1 moves and need to set axis positions
@@ -217,11 +223,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
 		break;
 
 	case GCodeState::probingToolOffset4:					// executing M585, probing move has started
-		if (   LockCurrentMovementSystemAndWaitForStandstill(gb)
-#if SUPPORT_CAN_EXPANSION
-			&& CanMotion::RevertStoppedDrivers()
-#endif
-		   )
+		if (WaitForEndstopOrProbingMoveToFinish(gb))
 		{
 			if (m585Settings.useProbe)
 			{
@@ -290,11 +292,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
 		break;
 
 	case GCodeState::findCenterOfCavity3:						// Executing M675, min probing move has started
-		if (   LockCurrentMovementSystemAndWaitForStandstill(gb)
-#if SUPPORT_CAN_EXPANSION
-			&& CanMotion::RevertStoppedDrivers()
-#endif
-		   )
+		if (WaitForEndstopOrProbingMoveToFinish(gb))
 		{
 			const auto zp = platform.GetZProbeOrDefault(currentZProbeNumber);
 			zp->SetProbing(false);
@@ -332,11 +330,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
 		break;
 
 	case GCodeState::findCenterOfCavity5:						// Executing M675, max probing move has started
-		if (   LockCurrentMovementSystemAndWaitForStandstill(gb)
-#if SUPPORT_CAN_EXPANSION
-			&& CanMotion::RevertStoppedDrivers()
-#endif
-		   )
+		if (WaitForEndstopOrProbingMoveToFinish(gb))
 		{
 			reprap.GetHeat().SuspendHeaters(false);
 			const auto zp = platform.GetZProbeOrDefault(currentZProbeNumber);
@@ -1000,11 +994,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
 		break;
 
 	case GCodeState::gridProbing4:	// ready to lift the probe after probing the current grid probe point
-		if (   LockCurrentMovementSystemAndWaitForStandstill(gb)
-#if SUPPORT_CAN_EXPANSION
-			&& CanMotion::RevertStoppedDrivers()
-#endif
-		   )
+		if (WaitForEndstopOrProbingMoveToFinish(gb))
 		{
 			doingManualBedProbe = false;
 			++tapsDone;
@@ -1415,11 +1405,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
 
 	case GCodeState::probingAtPoint4:
 		// Executing G30. The probe wasn't triggered at the start of the move, and the probing move has been commanded.
-		if (   LockCurrentMovementSystemAndWaitForStandstill(gb)
-#if SUPPORT_CAN_EXPANSION
-			&& CanMotion::RevertStoppedDrivers()
-#endif
-		   )
+		if (WaitForEndstopOrProbingMoveToFinish(gb))
 		{
 			// Probing move has stopped
 			reprap.GetHeat().SuspendHeaters(false);
@@ -1684,11 +1670,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
 
 	case GCodeState::straightProbe3:
 		// Executing G38. The probe wasn't in target state at the start of the move, and the probing move has been commanded.
-		if (   LockCurrentMovementSystemAndWaitForStandstill(gb)
-#if SUPPORT_CAN_EXPANSION
-			&& CanMotion::RevertStoppedDrivers()
-#endif
-		   )
+		if (WaitForEndstopOrProbingMoveToFinish(gb))
 		{
 			// Probing move has stopped
 			reprap.GetHeat().SuspendHeaters(false);