Got rid of "near endstop" status

Cherry picked from commit 165b178f7de75b1d00b26fec28f2a03fb36d6119

17 files changed, 38 insertions, 80 deletions

diff --git a/src/Endstops/Endstop.cpp b/src/Endstops/Endstop.cpp
index 5f7f29fc..d96ef6e5 100644
--- a/src/Endstops/Endstop.cpp
+++ b/src/Endstops/Endstop.cpp
@@ -26,7 +26,7 @@ constexpr ObjectModelTableEntry Endstop::objectModelTable[] =
 	// Within each group, these entries must be in alphabetical order
 	// 0. Endstop members
 	{ "highEnd",	OBJECT_MODEL_FUNC(self->GetAtHighEnd()),		 					ObjectModelEntryFlags::none },
-	{ "triggered",	OBJECT_MODEL_FUNC(self->Stopped() == EndStopHit::atStop),		 	ObjectModelEntryFlags::live },
+	{ "triggered",	OBJECT_MODEL_FUNC(self->Stopped()),		 							ObjectModelEntryFlags::live },
 	{ "type",		OBJECT_MODEL_FUNC(self->GetEndstopType().ToString()), 				ObjectModelEntryFlags::none },
 };
 
diff --git a/src/Endstops/Endstop.h b/src/Endstops/Endstop.h
index 3d288a02..0bdc7649 100644
--- a/src/Endstops/Endstop.h
+++ b/src/Endstops/Endstop.h
@@ -29,7 +29,7 @@ public:
 	EndstopOrZProbe(const EndstopOrZProbe&) = delete;
 	virtual ~EndstopOrZProbe() noexcept {}
 
-	virtual EndStopHit Stopped() const noexcept = 0;
+	virtual bool Stopped() const noexcept = 0;
 	virtual EndstopHitDetails CheckTriggered(bool goingSlow) noexcept = 0;
 	virtual bool Acknowledge(EndstopHitDetails what) noexcept = 0;
 
diff --git a/src/Endstops/EndstopDefs.h b/src/Endstops/EndstopDefs.h
index 948bd957..74835705 100644
--- a/src/Endstops/EndstopDefs.h
+++ b/src/Endstops/EndstopDefs.h
@@ -19,10 +19,9 @@ class ZProbe;
 enum class EndstopHitAction : uint8_t
 {
 	none = 0,						// don't stop anything
-	reduceSpeed = 1,				// reduce speed because an endstop or Z probe is close to triggering
-	stopDriver = 2,					// stop a single motor driver
-	stopAxis = 3,					// stop all drivers for an axis
-	stopAll = 4						// stop movement completely
+	stopDriver = 1,					// stop a single motor driver
+	stopAxis = 2,					// stop all drivers for an axis
+	stopAll = 3						// stop movement completely
 };
 
 // Struct to return info about what endstop has been triggered and what to do about it
@@ -64,15 +63,6 @@ NamedEnum
 	numInputTypes
 );
 
-// This is used as the return type of function Stopped.
-// Note the ordering: we need more-stopped-value > less-stopped-value
-enum class EndStopHit
-{
-  noStop = 0,		// no endstop hit
-  nearStop = 1,		// approaching Z-probe threshold
-  atStop = 2
-};
-
 enum class ZProbeType : uint8_t
 {
 	none = 0,
diff --git a/src/Endstops/EndstopsManager.cpp b/src/Endstops/EndstopsManager.cpp
index e8104eef..8456d41e 100644
--- a/src/Endstops/EndstopsManager.cpp
+++ b/src/Endstops/EndstopsManager.cpp
@@ -280,7 +280,7 @@ EndstopHitDetails EndstopsManager::CheckEndstops(bool goingSlow) noexcept
 		}
 	}
 
-	if (ret.GetAction() > EndstopHitAction::reduceSpeed)
+	if (ret.GetAction() != EndstopHitAction::none)
 	{
 		if (actioned->Acknowledge(ret))
 		{
@@ -506,9 +506,9 @@ bool EndstopsManager::HomingZWithProbe() const noexcept
 	return axisEndstops[Z_AXIS] == nullptr || axisEndstops[Z_AXIS]->GetEndstopType() == EndStopType::zProbeAsEndstop;
 }
 
-EndStopHit EndstopsManager::Stopped(size_t axis) const noexcept
+bool EndstopsManager::Stopped(size_t axis) const noexcept
 {
-	return (axisEndstops[axis] == nullptr) ? EndStopHit::noStop : axisEndstops[axis]->Stopped();
+	return (axisEndstops[axis] != nullptr) && axisEndstops[axis]->Stopped();
 }
 
 void EndstopsManager::GetM119report(const StringRef& reply) noexcept
@@ -524,20 +524,14 @@ void EndstopsManager::GetM119report(const StringRef& reply) noexcept
 	reply.catf("Z probe: %s", TranslateEndStopResult(GetZProbeOrDefault(0)->Stopped(), false));
 }
 
-const char *EndstopsManager::TranslateEndStopResult(EndStopHit es, bool atHighEnd) noexcept
+const char *EndstopsManager::TranslateEndStopResult(bool hit, bool atHighEnd) noexcept
 {
-	switch (es)
+	if (hit)
 	{
-	case EndStopHit::atStop:
 		return (atHighEnd) ? "at max stop" : "at min stop";
-
-	case EndStopHit::nearStop:
-		return "near stop";
-
-	case EndStopHit::noStop:
-	default:
-		return "not stopped";
 	}
+
+	return "not stopped";
 }
 
 void EndstopsManager::SetZProbeDefaults() noexcept
diff --git a/src/Endstops/EndstopsManager.h b/src/Endstops/EndstopsManager.h
index 10c09388..c3ce99a8 100644
--- a/src/Endstops/EndstopsManager.h
+++ b/src/Endstops/EndstopsManager.h
@@ -48,7 +48,7 @@ public:
 	EndStopPosition GetEndStopPosition(size_t axis) const pre(axis < MaxAxes) noexcept;
 	bool HomingZWithProbe() const noexcept;
 
-	EndStopHit Stopped(size_t axis) const noexcept;
+	bool Stopped(size_t axis) const noexcept;
 
 	void GetM119report(const StringRef& reply) noexcept;
 
@@ -90,7 +90,7 @@ private:
 #endif
 
 	// Translate end stop result to text
-	static const char *TranslateEndStopResult(EndStopHit es, bool atHighEnd) noexcept;
+	static const char *TranslateEndStopResult(bool hit, bool atHighEnd) noexcept;
 
 	ReadLockedPointer<Endstop> FindEndstop(size_t axis) const noexcept;
 
diff --git a/src/Endstops/StallDetectionEndstop.cpp b/src/Endstops/StallDetectionEndstop.cpp
index 89112829..987c6b48 100644
--- a/src/Endstops/StallDetectionEndstop.cpp
+++ b/src/Endstops/StallDetectionEndstop.cpp
@@ -24,9 +24,9 @@ StallDetectionEndstop::StallDetectionEndstop() noexcept
 }
 
 // Test whether we are at or near the stop
-EndStopHit StallDetectionEndstop::Stopped() const noexcept
+bool StallDetectionEndstop::Stopped() const noexcept
 {
-	return (GetStalledDrivers(driversMonitored).IsNonEmpty()) ? EndStopHit::atStop : EndStopHit::noStop;
+	return GetStalledDrivers(driversMonitored).IsNonEmpty();
 }
 
 // This is called to prime axis endstops
diff --git a/src/Endstops/StallDetectionEndstop.h b/src/Endstops/StallDetectionEndstop.h
index 1f405f81..4765ce7c 100644
--- a/src/Endstops/StallDetectionEndstop.h
+++ b/src/Endstops/StallDetectionEndstop.h
@@ -23,7 +23,7 @@ public:
 	StallDetectionEndstop() noexcept;							// for creating the single extruders endstop
 
 	EndStopType GetEndstopType() const noexcept override { return (individualMotors) ? EndStopType::motorStallIndividual : EndStopType::motorStallAny; }
-	EndStopHit Stopped() const noexcept override;
+	bool Stopped() const noexcept override;
 	bool Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) noexcept override;
 	EndstopHitDetails CheckTriggered(bool goingSlow) noexcept override;
 	bool Acknowledge(EndstopHitDetails what) noexcept override;
diff --git a/src/Endstops/SwitchEndstop.cpp b/src/Endstops/SwitchEndstop.cpp
index 87af1b9b..63716235 100644
--- a/src/Endstops/SwitchEndstop.cpp
+++ b/src/Endstops/SwitchEndstop.cpp
@@ -118,16 +118,16 @@ EndStopType SwitchEndstop::GetEndstopType() const noexcept
 }
 
 // Test whether we are at or near the stop
-EndStopHit SwitchEndstop::Stopped() const noexcept
+bool SwitchEndstop::Stopped() const noexcept
 {
 	for (size_t i = 0; i < numPortsUsed; ++i)
 	{
 		if (IsTriggered(i))
 		{
-			return EndStopHit::atStop;
+			return true;
 		}
 	}
-	return EndStopHit::noStop;
+	return false;
 }
 
 // This is called to prime axis endstops
diff --git a/src/Endstops/SwitchEndstop.h b/src/Endstops/SwitchEndstop.h
index b2cc997e..ae35ca50 100644
--- a/src/Endstops/SwitchEndstop.h
+++ b/src/Endstops/SwitchEndstop.h
@@ -22,7 +22,7 @@ public:
 	SwitchEndstop(uint8_t p_axis, EndStopPosition pos) noexcept;
 
 	EndStopType GetEndstopType() const noexcept override;
-	EndStopHit Stopped() const noexcept override;
+	bool Stopped() const noexcept override;
 	bool Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) noexcept override;
 	EndstopHitDetails CheckTriggered(bool goingSlow) noexcept override;
 	bool Acknowledge(EndstopHitDetails what) noexcept override;
diff --git a/src/Endstops/ZProbe.cpp b/src/Endstops/ZProbe.cpp
index ba9ea24c..4141d2a3 100644
--- a/src/Endstops/ZProbe.cpp
+++ b/src/Endstops/ZProbe.cpp
@@ -208,40 +208,26 @@ int ZProbe::GetSecondaryValues(int& v1) const noexcept
 }
 
 // Test whether we are at or near the stop
-EndStopHit ZProbe::Stopped() const noexcept
+bool ZProbe::Stopped() const noexcept
 {
 	const int zProbeVal = GetReading();
-	return (zProbeVal >= adcValue) ? EndStopHit::atStop
-			: (zProbeVal * 10 >= adcValue * 9) ? EndStopHit::nearStop	// if we are at/above 90% of the target value
-				: EndStopHit::noStop;
+	return zProbeVal >= adcValue;
 }
 
 // Check whether the probe is triggered and return the action that should be performed. Called from the step ISR.
 EndstopHitDetails ZProbe::CheckTriggered(bool goingSlow) noexcept
 {
-	EndStopHit e = Stopped();
+	bool b = Stopped();
 	if (misc.parts.probingAway)
 	{
-		e = (e == EndStopHit::atStop) ? EndStopHit::noStop : EndStopHit::atStop;
+		b = !b;
 	}
 
 	EndstopHitDetails rslt;			// initialised by default constructor
-	switch (e)
+	if (b)
 	{
-	case EndStopHit::atStop:
 		rslt.SetAction(EndstopHitAction::stopAll);
 		rslt.isZProbe = true;
-		break;
-
-	case EndStopHit::nearStop:
-		if (!goingSlow)
-		{
-			rslt.SetAction(EndstopHitAction::reduceSpeed);
-		}
-		break;
-
-	default:
-		break;
 	}
 	return rslt;
 }
diff --git a/src/Endstops/ZProbe.h b/src/Endstops/ZProbe.h
index cf0144d3..23fe8116 100644
--- a/src/Endstops/ZProbe.h
+++ b/src/Endstops/ZProbe.h
@@ -28,7 +28,7 @@ public:
 	virtual void HandleRemoteInputChange(CanAddress src, uint8_t handleMinor, bool newState) noexcept { }
 #endif
 
-	EndStopHit Stopped() const noexcept override;
+	bool Stopped() const noexcept override;
 	EndstopHitDetails CheckTriggered(bool goingSlow) noexcept override;
 	bool Acknowledge(EndstopHitDetails what) noexcept override;
 
diff --git a/src/Endstops/ZProbeEndstop.cpp b/src/Endstops/ZProbeEndstop.cpp
index 1771eceb..bd02d813 100644
--- a/src/Endstops/ZProbeEndstop.cpp
+++ b/src/Endstops/ZProbeEndstop.cpp
@@ -18,10 +18,10 @@ ZProbeEndstop::ZProbeEndstop(uint8_t p_axis, EndStopPosition pos) noexcept : End
 }
 
 // Test whether we are at or near the stop
-EndStopHit ZProbeEndstop::Stopped() const noexcept
+bool ZProbeEndstop::Stopped() const noexcept
 {
 	const auto zp = reprap.GetPlatform().GetEndstops().GetZProbe(zProbeNumber);
-	return (zp.IsNotNull()) ? zp->Stopped() : EndStopHit::atStop;
+	return zp.IsNotNull() && zp->Stopped();
 }
 
 // This is called to prime axis endstops
@@ -41,9 +41,8 @@ bool ZProbeEndstop::Prime(const Kinematics& kin, const AxisDriversConfig& axisDr
 EndstopHitDetails ZProbeEndstop::CheckTriggered(bool goingSlow) noexcept
 {
 	EndstopHitDetails rslt;				// initialised by default constructor
-	switch (Stopped())
+	if (Stopped())
 	{
-	case EndStopHit::atStop:
 		rslt.SetAction((stopAll) ? EndstopHitAction::stopAll : EndstopHitAction::stopAxis);
 		rslt.axis = GetAxis();
 		if (GetAtHighEnd())
@@ -54,17 +53,6 @@ EndstopHitDetails ZProbeEndstop::CheckTriggered(bool goingSlow) noexcept
 		{
 			rslt.setAxisLow = true;
 		}
-		break;
-
-	case EndStopHit::nearStop:
-		if (!goingSlow)
-		{
-			rslt.SetAction(EndstopHitAction::reduceSpeed);
-		}
-		break;
-
-	default:
-		break;
 	}
 	return rslt;
 }
@@ -73,7 +61,7 @@ EndstopHitDetails ZProbeEndstop::CheckTriggered(bool goingSlow) noexcept
 // Return true if we have finished with this endstop or probe in this move.
 bool ZProbeEndstop::Acknowledge(EndstopHitDetails what) noexcept
 {
-	return what.GetAction() != EndstopHitAction::reduceSpeed;
+	return true;
 }
 
 void ZProbeEndstop::AppendDetails(const StringRef& str) noexcept
diff --git a/src/Endstops/ZProbeEndstop.h b/src/Endstops/ZProbeEndstop.h
index 573105e1..f31778fe 100644
--- a/src/Endstops/ZProbeEndstop.h
+++ b/src/Endstops/ZProbeEndstop.h
@@ -19,7 +19,7 @@ public:
 	ZProbeEndstop(uint8_t p_axis, EndStopPosition pos) noexcept;
 
 	EndStopType GetEndstopType() const noexcept override { return EndStopType::zProbeAsEndstop; }
-	EndStopHit Stopped() const noexcept override;
+	bool Stopped() const noexcept override;
 	bool Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) noexcept override;
 	EndstopHitDetails CheckTriggered(bool goingSlow) noexcept override;
 	bool Acknowledge(EndstopHitDetails what) noexcept override;
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp
index a30193e1..599caf83 100644
--- a/src/GCodes/GCodes3.cpp
+++ b/src/GCodes/GCodes3.cpp
@@ -508,7 +508,7 @@ GCodeResult GCodes::WaitForPin(GCodeBuffer& gb, const StringRef &reply)
 	Platform& pfm = platform;
 	const bool ok = endstopsToWaitFor.IterateWhile([&pfm, activeHigh](unsigned int axis, unsigned int)->bool
 								{
-									const bool stopped = pfm.GetEndstops().Stopped(axis) == EndStopHit::atStop;
+									const bool stopped = pfm.GetEndstops().Stopped(axis);
 									return stopped == activeHigh;
 								}
 							 )
diff --git a/src/GCodes/GCodes4.cpp b/src/GCodes/GCodes4.cpp
index 44fb7af8..3d1f0455 100644
--- a/src/GCodes/GCodes4.cpp
+++ b/src/GCodes/GCodes4.cpp
@@ -624,7 +624,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
 					doingManualBedProbe = true;												// suspend the Z movement limit
 					DoManualBedProbe(gb);
 				}
-				else if (zp->Stopped() == EndStopHit::atStop)
+				else if (zp->Stopped())
 				{
 					reprap.GetMove().heightMapLock.ReleaseWriter();
 					reprap.GetHeat().SuspendHeaters(false);
@@ -910,7 +910,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
 					doingManualBedProbe = true;												// suspend the Z movement limit
 					DoManualBedProbe(gb);
 				}
-				else if (zp->Stopped() == EndStopHit::atStop)		// check for probe already triggered at start
+				else if (zp->Stopped())														// check for probe already triggered at start
 				{
 					// Z probe is already triggered at the start of the move, so abandon the probe and record an error
 					reprap.GetHeat().SuspendHeaters(false);
@@ -1200,7 +1200,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
 				else
 				{
 					const bool probingAway = sps.ProbingAway();
-					const bool atStop = (zp->Stopped() == EndStopHit::atStop);
+					const bool atStop = zp->Stopped();
 					if (probingAway != atStop)
 					{
 						// Z probe is already in target state at the start of the move, so abandon the probe and signal an error if the type demands so
diff --git a/src/GCodes/Trigger.cpp b/src/GCodes/Trigger.cpp
index 49583d9b..7383e7e9 100644
--- a/src/GCodes/Trigger.cpp
+++ b/src/GCodes/Trigger.cpp
@@ -44,7 +44,7 @@ bool Trigger::Check() noexcept
 		EndstopsManager& endstops = reprap.GetPlatform().GetEndstops();
 		endstopsMonitored.Iterate([this, &endstops, &triggered](unsigned int axis, unsigned int)
 									{
-										const bool stopped = (endstops.Stopped(axis) == EndStopHit::atStop);
+										const bool stopped = endstops.Stopped(axis);
 										if (stopped != endstopStates.IsBitSet(axis))
 										{
 											if (stopped)
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index b6bf0d83..9ba74647 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -1606,7 +1606,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) con
 		const size_t numTotalAxes = gCodes->GetTotalAxes();
 		for (size_t axis = 0; axis < numTotalAxes; axis++)
 		{
-			if (platform->GetEndstops().Stopped(axis) == EndStopHit::atStop)
+			if (platform->GetEndstops().Stopped(axis))
 			{
 				endstops |= (1u << axis);
 			}