Various

Refactored how GCode blocks and indentation are tracked
Fixed lack of motor movement on Duet 3
Create path recursively if needed when creating a directory or renaming
a file

12 files changed, 111 insertions, 114 deletions

diff --git a/src/GCodes/GCodeBuffer/StringParser.cpp b/src/GCodes/GCodeBuffer/StringParser.cpp
index 8c5dcb3e..cefaab89 100644
--- a/src/GCodes/GCodeBuffer/StringParser.cpp
+++ b/src/GCodes/GCodeBuffer/StringParser.cpp
@@ -297,18 +297,27 @@ bool StringParser::CheckMetaCommand(const StringRef& reply)
 			indentToSkipTo = NoIndentSkip;									// no longer skipping
 		}
 
-		if (commandIndent > gb.machineState->indentLevel)
+		while (commandIndent < gb.machineState->CurrentBlockIndent())
 		{
-			CreateBlocks();					// indentation has increased so start new block(s)
-		}
-		else if (commandIndent < gb.machineState->indentLevel)
-		{
-			if (EndBlocks())
+			gb.machineState->EndBlock();
+			if (gb.machineState->CurrentBlockState().GetType() == BlockType::loop)
 			{
+				// Go back to the start of the loop and re-evaluate the while-part
+				gb.machineState->lineNumber = gb.machineState->CurrentBlockState().GetLineNumber();
+				gb.RestartFrom(gb.machineState->CurrentBlockState().GetFilePosition());
 				Init();
 				return true;
 			}
 		}
+
+		if (commandIndent > gb.machineState->CurrentBlockIndent())
+		{
+			// indentation has increased so start new block(s)
+			if (!gb.machineState->CreateBlock(commandIndent))
+			{
+				throw ConstructParseException("blocks nested too deeply");
+			}
+		}
 	}
 
 	const bool b = ProcessConditionalGCode(reply, previousBlockType, doingFile);	// this may throw a ParseException
@@ -419,35 +428,6 @@ bool StringParser::ProcessConditionalGCode(const StringRef& reply, BlockType pre
 	return false;
 }
 
-// Create new code blocks
-void StringParser::CreateBlocks()
-{
-	while (gb.machineState->indentLevel < commandIndent)
-	{
-		if (!gb.machineState->CreateBlock())
-		{
-			throw ConstructParseException("blocks nested too deeply");
-		}
-	}
-}
-
-// End blocks returning true if nothing more to process on this line
-bool StringParser::EndBlocks() noexcept
-{
-	while (gb.machineState->indentLevel > commandIndent)
-	{
-		gb.machineState->EndBlock();
-		if (gb.machineState->CurrentBlockState().GetType() == BlockType::loop)
-		{
-			// Go back to the start of the loop and re-evaluate the while-part
-			gb.machineState->lineNumber = gb.machineState->CurrentBlockState().GetLineNumber();
-			gb.RestartFrom(gb.machineState->CurrentBlockState().GetFilePosition());
-			return true;
-		}
-	}
-	return false;
-}
-
 void StringParser::ProcessIfCommand()
 {
 	if (EvaluateCondition())
@@ -457,7 +437,7 @@ void StringParser::ProcessIfCommand()
 	else
 	{
 		gb.machineState->CurrentBlockState().SetIfFalseNoneTrueBlock();
-		indentToSkipTo = gb.machineState->indentLevel;					// skip forwards to the end of the block
+		indentToSkipTo = gb.machineState->CurrentBlockIndent();			// skip forwards to the end of the block
 	}
 }
 
@@ -469,7 +449,7 @@ void StringParser::ProcessElseCommand(BlockType previousBlockType)
 	}
 	else if (gb.machineState->CurrentBlockState().GetType() == BlockType::ifTrue || gb.machineState->CurrentBlockState().GetType() == BlockType::ifFalseHadTrue)
 	{
-		indentToSkipTo = gb.machineState->indentLevel;					// skip forwards to the end of the if-block
+		indentToSkipTo = gb.machineState->CurrentBlockIndent();			// skip forwards to the end of the if-block
 		gb.machineState->CurrentBlockState().SetPlainBlock();			// so that we get an error if there is another 'else' part
 	}
 	else
@@ -488,13 +468,13 @@ void StringParser::ProcessElifCommand(BlockType previousBlockType)
 		}
 		else
 		{
-			indentToSkipTo = gb.machineState->indentLevel;				// skip forwards to the end of the elif-block
+			indentToSkipTo = gb.machineState->CurrentBlockIndent();		// skip forwards to the end of the elif-block
 			gb.machineState->CurrentBlockState().SetIfFalseNoneTrueBlock();
 		}
 	}
 	else if (gb.machineState->CurrentBlockState().GetType() == BlockType::ifTrue || gb.machineState->CurrentBlockState().GetType() == BlockType::ifFalseHadTrue)
 	{
-		indentToSkipTo = gb.machineState->indentLevel;					// skip forwards to the end of the if-block
+		indentToSkipTo = gb.machineState->CurrentBlockIndent();			// skip forwards to the end of the if-block
 		gb.machineState->CurrentBlockState().SetIfFalseHadTrueBlock();
 	}
 	else
@@ -518,7 +498,7 @@ void StringParser::ProcessWhileCommand()
 	if (!EvaluateCondition())
 	{
 		gb.machineState->CurrentBlockState().SetPlainBlock();
-		indentToSkipTo = gb.machineState->indentLevel;					// skip forwards to the end of the block
+		indentToSkipTo = gb.machineState->CurrentBlockIndent();			// skip forwards to the end of the block
 	}
 }
 
@@ -526,21 +506,21 @@ void StringParser::ProcessBreakCommand()
 {
 	do
 	{
-		if (gb.machineState->indentLevel == 0)
+		if (gb.machineState->CurrentBlockIndent() == 0)
 		{
 			throw ConstructParseException("'break' was not inside a loop");
 		}
 		gb.machineState->EndBlock();
 	} while (gb.machineState->CurrentBlockState().GetType() != BlockType::loop);
 	gb.machineState->CurrentBlockState().SetPlainBlock();
-	indentToSkipTo = gb.machineState->indentLevel;						// skip forwards to the end of the loop
+	indentToSkipTo = gb.machineState->CurrentBlockIndent();				// skip forwards to the end of the loop
 }
 
 void StringParser::ProcessContinueCommand()
 {
 	do
 	{
-		if (gb.machineState->indentLevel == 0)
+		if (gb.machineState->CurrentBlockIndent() == 0)
 		{
 			throw ConstructParseException("'continue' was not inside a loop");
 		}
diff --git a/src/GCodes/GCodeBuffer/StringParser.h b/src/GCodes/GCodeBuffer/StringParser.h
index bc5236f5..c767baba 100644
--- a/src/GCodes/GCodeBuffer/StringParser.h
+++ b/src/GCodes/GCodeBuffer/StringParser.h
@@ -100,8 +100,6 @@ private:
 
 	bool ProcessConditionalGCode(const StringRef& reply, BlockType previousBlockType, bool doingFile) THROWS_GCODE_EXCEPTION;
 																			// Check for and process a conditional GCode language command returning true if we found one
-	void CreateBlocks() THROWS_GCODE_EXCEPTION;									// Create new code blocks
-	bool EndBlocks() noexcept;												// End blocks returning true if nothing more to process on this line
 	void ProcessIfCommand() THROWS_GCODE_EXCEPTION;
 	void ProcessElseCommand(BlockType previousBlockType) THROWS_GCODE_EXCEPTION;
 	void ProcessElifCommand(BlockType previousBlockType) THROWS_GCODE_EXCEPTION;
diff --git a/src/GCodes/GCodeMachineState.cpp b/src/GCodes/GCodeMachineState.cpp
index 36aa4e14..f243de2f 100644
--- a/src/GCodes/GCodeMachineState.cpp
+++ b/src/GCodes/GCodeMachineState.cpp
@@ -22,13 +22,13 @@ GCodeMachineState::GCodeMachineState() noexcept
 	: previous(nullptr), feedRate(DefaultFeedRate * SecondsToMinutes), lockedResources(0), errorMessage(nullptr),
 	  lineNumber(0), compatibility(Compatibility::reprapFirmware), drivesRelative(false), axesRelative(false), doingFileMacro(false), runningM501(false),
 	  runningM502(false), volumetricExtrusion(false), g53Active(false), runningSystemMacro(false), usingInches(false),
-	  waitingForAcknowledgement(false), messageAcknowledged(false), indentLevel(0), state(GCodeState::normal)
+	  waitingForAcknowledgement(false), messageAcknowledged(false), blockNesting(0), state(GCodeState::normal)
 {
 #if HAS_LINUX_INTERFACE
 	fileId = 0;
 	isFileFinished = fileError = false;
 #endif
-	blockStates[0].SetPlainBlock();
+	blockStates[0].SetPlainBlock(0);
 }
 
 #if HAS_LINUX_INTERFACE
@@ -147,13 +147,18 @@ void GCodeMachineState::CopyStateFrom(const GCodeMachineState& other) noexcept
 
 GCodeMachineState::BlockState& GCodeMachineState::CurrentBlockState() noexcept
 {
-	return blockStates[indentLevel];
+	return blockStates[blockNesting];
+}
+
+const GCodeMachineState::BlockState& GCodeMachineState::CurrentBlockState() const noexcept
+{
+	return blockStates[blockNesting];
 }
 
 // Get the number of iterations of the closest enclosing loop in the current file, or -1 if there is on enclosing loop
 int32_t GCodeMachineState::GetIterations() const noexcept
 {
-	uint8_t i = indentLevel;
+	uint8_t i = blockNesting;
 	while (true)
 	{
 		if (blockStates[i].GetType() == BlockType::loop)
@@ -169,23 +174,23 @@ int32_t GCodeMachineState::GetIterations() const noexcept
 }
 
 // Create a new block returning true if successful, false if maximum indent level exceeded
-bool GCodeMachineState::CreateBlock() noexcept
+bool GCodeMachineState::CreateBlock(uint16_t indentLevel) noexcept
 {
-	if (indentLevel + 1 == ARRAY_SIZE(blockStates))
+	if (blockNesting + 1 == ARRAY_SIZE(blockStates))
 	{
 		return false;
 	}
 
-	++indentLevel;
-	CurrentBlockState().SetPlainBlock();
+	++blockNesting;
+	CurrentBlockState().SetPlainBlock(indentLevel);
 	return true;
 }
 
 void GCodeMachineState::EndBlock() noexcept
 {
-	if (indentLevel != 0)
+	if (blockNesting != 0)
 	{
-		--indentLevel;
+		--blockNesting;
 	}
 }
 
diff --git a/src/GCodes/GCodeMachineState.h b/src/GCodes/GCodeMachineState.h
index 8ace3eff..b63e9b18 100644
--- a/src/GCodes/GCodeMachineState.h
+++ b/src/GCodes/GCodeMachineState.h
@@ -137,24 +137,27 @@ public:
 	class BlockState
 	{
 	public:
-		BlockType GetType() const noexcept { return (BlockType) blockType; }
+		BlockType GetType() const noexcept { return blockType; }
 		uint32_t GetIterations() const noexcept { return iterationsDone; }
 		uint32_t GetLineNumber() const noexcept { return lineNumber; }
 		FilePosition GetFilePosition() const noexcept { return fpos; }
+		uint16_t GetIndent() const noexcept { return indentLevel; }
 
-		void SetLoopBlock(FilePosition filePos, uint32_t lineNum) noexcept { blockType = (uint32_t)BlockType::loop; fpos = filePos; lineNumber = lineNum; iterationsDone = 0; }
-		void SetPlainBlock() noexcept { blockType = (uint32_t)BlockType::plain; iterationsDone = 0; }
-		void SetIfTrueBlock() noexcept { blockType = (uint32_t)BlockType::ifTrue; iterationsDone = 0; }
-		void SetIfFalseNoneTrueBlock() noexcept { blockType = (uint32_t)BlockType::ifFalseNoneTrue; iterationsDone = 0; }
-		void SetIfFalseHadTrueBlock() noexcept { blockType = (uint32_t)BlockType::ifFalseHadTrue; iterationsDone = 0; }
+		void SetLoopBlock(FilePosition filePos, uint32_t lineNum) noexcept { blockType = BlockType::loop; fpos = filePos; lineNumber = lineNum; iterationsDone = 0; }
+		void SetPlainBlock() noexcept { blockType = BlockType::plain; iterationsDone = 0; }
+		void SetPlainBlock(uint16_t p_indentLevel) noexcept { blockType = BlockType::plain; iterationsDone = 0; indentLevel = p_indentLevel; }
+		void SetIfTrueBlock() noexcept { blockType = BlockType::ifTrue; iterationsDone = 0; }
+		void SetIfFalseNoneTrueBlock() noexcept { blockType = BlockType::ifFalseNoneTrue; iterationsDone = 0; }
+		void SetIfFalseHadTrueBlock() noexcept { blockType = BlockType::ifFalseHadTrue; iterationsDone = 0; }
 
 		void IncrementIterations() noexcept { ++iterationsDone; }
 
 	private:
 		FilePosition fpos;											// the file offset at which the current block started
-		uint32_t lineNumber : 29,									// the line number at which the current block started
-				 blockType : 3;										// the type of this block
+		uint32_t lineNumber;										// the line number at which the current block started
 		uint32_t iterationsDone;
+		uint16_t indentLevel;										// the indentation of this block
+		BlockType blockType;										// the type of this block
 	};
 
 	GCodeMachineState() noexcept;
@@ -192,7 +195,8 @@ public:
 		waitingForAcknowledgement : 1,
 		messageAcknowledged : 1,
 		messageCancelled : 1;
-	uint8_t indentLevel;
+
+	uint8_t blockNesting;
 	GCodeState state;
 	uint8_t toolChangeParam;
 
@@ -214,9 +218,11 @@ public:
 	void CopyStateFrom(const GCodeMachineState& other) noexcept;
 
 	BlockState& CurrentBlockState() noexcept;
+	const BlockState& CurrentBlockState() const noexcept;
 	int32_t GetIterations() const noexcept;
+	uint16_t CurrentBlockIndent() const noexcept { return CurrentBlockState().GetIndent(); }
 
-	bool CreateBlock() noexcept;
+	bool CreateBlock(uint16_t indentLevel) noexcept;
 	void EndBlock() noexcept;
 
 	static void Release(GCodeMachineState *ms) noexcept;
diff --git a/src/Hardware/IoPorts.cpp b/src/Hardware/IoPorts.cpp
index 5f024ed3..7bef2981 100644
--- a/src/Hardware/IoPorts.cpp
+++ b/src/Hardware/IoPorts.cpp
@@ -138,17 +138,17 @@ void IoPort::Release() noexcept
 	if (IsValid() && !isSharedInput)
 	{
 #ifdef __LPC17xx__
-	//Release PWM/Servo from pin if needed
-	if(logicalPinModes[logicalPin] == OUTPUT_SERVO_HIGH || logicalPinModes[logicalPin] == OUTPUT_SERVO_LOW)
-	{
-		ReleaseServoPin(PinTable[logicalPin].pin);
-	}
-	if(logicalPinModes[logicalPin] == OUTPUT_PWM_HIGH || logicalPinModes[logicalPin] == OUTPUT_PWM_LOW)
-	{
-		ReleasePWMPin(PinTable[logicalPin].pin);
-	}
+		// Release PWM/Servo from pin if needed
+		if (logicalPinModes[logicalPin] == OUTPUT_SERVO_HIGH || logicalPinModes[logicalPin] == OUTPUT_SERVO_LOW)
+		{
+			ReleaseServoPin(PinTable[logicalPin].pin);
+		}
+		if (logicalPinModes[logicalPin] == OUTPUT_PWM_HIGH || logicalPinModes[logicalPin] == OUTPUT_PWM_LOW)
+		{
+			ReleasePWMPin(PinTable[logicalPin].pin);
+		}
 #endif
-        detachInterrupt(PinTable[logicalPin].pin);
+		detachInterrupt(PinTable[logicalPin].pin);
 		portUsedBy[logicalPin] = PinUsedBy::unused;
 		logicalPinModes[logicalPin] = PIN_MODE_NOT_CONFIGURED;
 	}
@@ -342,7 +342,7 @@ bool IoPort::SetMode(PinAccess access) noexcept
 			}
 		}
 #endif
-        IoPort::SetPinMode(PinTable[logicalPin].pin, desiredMode);
+		IoPort::SetPinMode(PinTable[logicalPin].pin, desiredMode);
 		logicalPinModes[logicalPin] = (int8_t)desiredMode;
 	}
 	return true;
diff --git a/src/Movement/StepTimer.cpp b/src/Movement/StepTimer.cpp
index 1f9e92a4..092900a2 100644
--- a/src/Movement/StepTimer.cpp
+++ b/src/Movement/StepTimer.cpp
@@ -279,10 +279,10 @@ void StepTimer::CancelCallbackFromIsr() noexcept
 		if (*ppst == this)
 		{
 			*ppst = this->next;		// unlink this from the pending list
-			active = false;
 			break;
 		}
 	}
+	active = false;
 }
 
 void StepTimer::CancelCallback() noexcept
diff --git a/src/Movement/StepperDrivers/TMC51xx.cpp b/src/Movement/StepperDrivers/TMC51xx.cpp
index d05bc7a6..798b27ea 100644
--- a/src/Movement/StepperDrivers/TMC51xx.cpp
+++ b/src/Movement/StepperDrivers/TMC51xx.cpp
@@ -1183,7 +1183,7 @@ extern "C" [[noreturn]] void TmcLoop(void *) noexcept
 			}
 
 			// Wait for the end-of-transfer interrupt
-			timedOut = (TaskBase::Take(TransferTimeout) == 0);
+			timedOut = TaskBase::Take(TransferTimeout);
 			DisableEndOfTransferInterrupt();
 			DisableDma();
 
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index a5d0fde7..d40e9561 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -106,7 +106,7 @@ extern "C" void hsmciIdle(uint32_t stBits, uint32_t dmaBits) noexcept
 		XDMAC->XDMAC_CHID[DmacChanHsmci].XDMAC_CIE = dmaBits;
 		XDMAC->XDMAC_GIE = 1u << DmacChanHsmci;
 #endif
-		if (TaskBase::Take(200) == 0)
+		if (TaskBase::Take(200))
 		{
 			// We timed out waiting for the HSMCI operation to complete
 			reprap.GetPlatform().LogError(ErrorCode::HsmciTimeout);
diff --git a/src/Storage/FileStore.cpp b/src/Storage/FileStore.cpp
index 284aa956..c3d2643d 100644
--- a/src/Storage/FileStore.cpp
+++ b/src/Storage/FileStore.cpp
@@ -64,29 +64,9 @@ bool FileStore::Open(const char* filePath, OpenMode mode, uint32_t preAllocSize)
 
 	if (writing)
 	{
-		// Try to create the path of this file if we want to write to it
-		String<MaxFilenameLength> filePathCopy;
-		filePathCopy.copy(filePath);
-
-		size_t i = (isdigit(filePathCopy[0]) && filePathCopy[1] == ':') ? 2 : 0;
-		if (filePathCopy[i] == '/')
+		if (!MassStorage::EnsurePath(filePath))
 		{
-			++i;
-		}
-
-		while (i < filePathCopy.strlen())
-		{
-			if (filePathCopy[i] == '/')
-			{
-				filePathCopy[i] = 0;
-				if (!MassStorage::DirectoryExists(filePathCopy.GetRef()) && !MassStorage::MakeDirectory(filePathCopy.c_str()))
-				{
-					reprap.GetPlatform().MessageF(ErrorMessage, "Failed to create folder %s while trying to open file %s\n", filePathCopy.c_str(), filePath);
-					return false;
-				}
-				filePathCopy[i] = '/';
-			}
-			++i;
+			return false;
 		}
 
 		// Also try to allocate a write buffer so we can perform faster writes
diff --git a/src/Storage/MassStorage.cpp b/src/Storage/MassStorage.cpp
index e3d8e6b9..52a94e0b 100644
--- a/src/Storage/MassStorage.cpp
+++ b/src/Storage/MassStorage.cpp
@@ -374,27 +374,51 @@ bool MassStorage::Delete(const char* filePath) noexcept
 	return true;
 }
 
-// Create a new directory
-bool MassStorage::MakeDirectory(const char *parentDir, const char *dirName) noexcept
+// Ensure that the path up to the last '/' (excluding trailing '/' characters) in filePath exists, returning true if successful
+bool MassStorage::EnsurePath(const char* filePath) noexcept
 {
-	String<MaxFilenameLength> location;
-	if (!CombineName(location.GetRef(), parentDir, dirName))
+	// Try to create the path of this file if we want to write to it
+	String<MaxFilenameLength> filePathCopy;
+	filePathCopy.copy(filePath);
+
+	size_t i = (isdigit(filePathCopy[0]) && filePathCopy[1] == ':') ? 2 : 0;
+	if (filePathCopy[i] == '/')
 	{
-		return false;
+		++i;
 	}
-	if (f_mkdir(location.c_str()) != FR_OK)
+
+	size_t limit = filePathCopy.strlen();
+	while (limit != 0 && filePath[limit - 1] == '/')
 	{
-		reprap.GetPlatform().MessageF(ErrorMessage, "Failed to create directory %s\n", location.c_str());
-		return false;
+		--limit;
+	}
+	while (i < limit)
+	{
+		if (filePathCopy[i] == '/')
+		{
+			filePathCopy[i] = 0;
+			if (!MassStorage::DirectoryExists(filePathCopy.GetRef()) && f_mkdir(filePathCopy.c_str()) != FR_OK)
+			{
+				reprap.GetPlatform().MessageF(ErrorMessage, "Failed to create folder %s in path %s\n", filePathCopy.c_str(), filePath);
+				return false;
+			}
+			filePathCopy[i] = '/';
+		}
+		++i;
 	}
 	return true;
 }
 
+// Create a new directory
 bool MassStorage::MakeDirectory(const char *directory) noexcept
 {
+	if (!EnsurePath(directory))
+	{
+		return false;
+	}
 	if (f_mkdir(directory) != FR_OK)
 	{
-		reprap.GetPlatform().MessageF(ErrorMessage, "Failed to create directory %s\n", directory);
+		reprap.GetPlatform().MessageF(ErrorMessage, "Failed to create folder %s\n", directory);
 		return false;
 	}
 	return true;
@@ -405,11 +429,15 @@ bool MassStorage::Rename(const char *oldFilename, const char *newFilename) noexc
 {
 	if (newFilename[0] >= '0' && newFilename[0] <= '9' && newFilename[1] == ':')
 	{
-		// Workaround for DWC 1.13 which send a volume specification at the start of the new path.
+		// Workaround for DWC 1.13 which sends a volume specification at the start of the new path.
 		// f_rename can't handle this, so skip past the volume specification.
 		// We are assuming that the user isn't really trying to rename across volumes. This is a safe assumption when the client is DWC.
 		newFilename += 2;
 	}
+	if (!EnsurePath(newFilename))
+	{
+		return false;
+	}
 	if (f_rename(oldFilename, newFilename) != FR_OK)
 	{
 		reprap.GetPlatform().MessageF(ErrorMessage, "Failed to rename file or directory %s to %s\n", oldFilename, newFilename);
diff --git a/src/Storage/MassStorage.h b/src/Storage/MassStorage.h
index c18438f2..603b871c 100644
--- a/src/Storage/MassStorage.h
+++ b/src/Storage/MassStorage.h
@@ -33,7 +33,7 @@ namespace MassStorage
 	bool FindNext(FileInfo &file_info) noexcept;
 	void AbandonFindNext() noexcept;
 	bool Delete(const char* filePath) noexcept;
-	bool MakeDirectory(const char *parentDir, const char *dirName) noexcept;
+	bool EnsurePath(const char* filePath) noexcept;
 	bool MakeDirectory(const char *directory) noexcept;
 	bool Rename(const char *oldFilePath, const char *newFilePath) noexcept;
 	bool FileExists(const char *filePath) noexcept;
diff --git a/src/Version.h b/src/Version.h
index 6028f701..0e8c0874 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -10,7 +10,7 @@
 
 
 #ifndef VERSION
-# define MAIN_VERSION	"3.1alpha"
+# define MAIN_VERSION	"3.1beta1"
 # ifdef USE_CAN0
 #  define VERSION_SUFFIX	" (CAN0)"
 # else
@@ -20,7 +20,7 @@
 #endif
 
 #ifndef DATE
-# define DATE "2020-01-12b2"
+# define DATE "2020-01-12b3"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"