Method MoveLoop

src/Movement/Move.cpp:622–827

}

[[noreturn]] void Move::MoveLoop() noexcept
{
	stepsTimer.SetCallback(Move::TimerCallback, CallbackParameter(this));
	for (;;)
	{
		if (reprap.IsStopped() || hadStepError)
		{
			// Emergency stop has been commanded, so terminate this task to prevent new moves being prepared and executed
			moveTask.TerminateAndUnlink();
		}

#if SUPPORT_REMOTE_COMMANDS
		if (CanInterface::InExpansionMode())
		{
			// In expansion mode we don't need the Move task to do anything, and in particular we must not perform udle detection.
			// We could terminate the Move task here but currently we don't because:
			// (a) if we do then we must make sure that any attempts to wake it up are benign
			// (b) in future we may wish to use the Move task to queue movement commands
			// So for now we just delay.
			delay(10000);
			continue;
		}
#endif

		bool moveRead = false;

		// See if we can add another move to ring 0
		const bool canAddRing0Move = rings[0].CanAddMove();
		if (canAddRing0Move)
		{
			// OK to add another move. First check if a special move is available.
			if (bedLevellingMoveAvailable)
			{
				moveRead = true;
				if (simulationMode < SimulationMode::partial)
				{
					if (rings[0].AddSpecialMove(MaxFeedrate(Z_AXIS), specialMoveCoords))
					{
						const uint32_t now = millis();
						const uint32_t timeWaiting = now - whenLastMoveAdded[0];
						if (timeWaiting > longestGcodeWaitInterval)
						{
							longestGcodeWaitInterval = timeWaiting;
						}
						whenLastMoveAdded[0] = now;
						moveState = MoveState::collecting;
					}
				}
				bedLevellingMoveAvailable = false;
			}
			else
			{
				// If there's a G Code move available, add it to the DDA ring for processing.
				RawMove nextMove;
				GCodes& gcodes = reprap.GetGCodes();
				if (gcodes.ReadMove(0, nextMove))							// if we have a new move
				{
					moveRead = true;