Method LockMovementSystemAndWaitForStandstill

src/GCodes/GCodes.cpp:1771–1848

Lock movement and wait for pending moves to finish. Return true if successful, false if we need to try again later. As a side-effect it updates the user coordinates from the machine coordinates.

// Return true if successful, false if we need to try again later.
// As a side-effect it updates the user coordinates from the machine coordinates.
bool GCodes::LockMovementSystemAndWaitForStandstill(GCodeBuffer& gb, MovementSystemNumber msNumber) noexcept
{
	// Lock movement to stop another source adding moves to the queue
	if (!LockResource(gb, MoveResourceBase + msNumber))
	{
		return false;
	}

	MovementState& ms = moveStates[msNumber];
	if (ms.segmentsLeft != 0)						// has the last move generated been fully transferred to the movement queue?
	{
		return false;								// if no
	}

	Move& move = reprap.GetMove();
	switch (gb.GetChannel().ToBaseType())
	{
	case GCodeChannel::Queue:
	case GCodeChannel::Queue2:
		break;

	default:
		if (!move.WaitingForAllMovesFinished(msNumber
#if SUPPORT_ASYNC_MOVES
															, ms.logicalDrivesOwned
#endif
														)
		   )
		{
			return false;
		}

		if (!(
#if SUPPORT_ASYNC_MOVES
				((msNumber == 1) ? Queue2GCode() : QueuedGCode())
#else
				QueuedGCode()
#endif
							->IsIdle() && ms.codeQueue->IsIdle()))
		{
			return false;
		}
		break;
	}

	gb.MotionStopped();									// must do this after we have finished waiting, so that we don't stop waiting when executing G4

	// Get the current positions. These may not be the same as the ones we remembered from last time if we just did a special move.
	//TODO we only need to do most of this if we did a special move
	ms.UpdateOwnedDriveEndpointsFromMotors();			// need to do this is the move was stopped prematurely e.g. due to an endstop switch or a Z probe
	move.MotorStepsToCartesian(MovementState::GetLastKnownEndpoints(), numVisibleAxes, numTotalAxes, ms.coords);
	move.UpdateStartCoordinates(ms.GetNumber(), ms.coords);
	move.InverseAxisAndBedTransform(ms.coords, ms.currentTool);
	UpdateUserPositionFromMachinePosition(gb, ms);

#if SUPPORT_ASYNC_MOVES
	collisionChecker.ResetPositions(ms.coords, ms.GetAxesAndExtrudersOwned());