From 1b69cf68ec3b7ef36ee090a8e6d564106e64ff27 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 25 Mar 2021 17:47:29 +0900
Subject: [PATCH] Rover: integrate HAL_PROXIMITY_ENABLED

---
 Rover/GCS_Rover.cpp  | 5 +++++
 Rover/Parameters.cpp | 4 ++++
 Rover/Parameters.h   | 2 ++
 Rover/Rover.cpp      | 4 ++++
 Rover/system.cpp     | 2 ++
 5 files changed, 17 insertions(+)

diff --git a/Rover/GCS_Rover.cpp b/Rover/GCS_Rover.cpp
index e045de3baf..60c9215a25 100644
--- a/Rover/GCS_Rover.cpp
+++ b/Rover/GCS_Rover.cpp
@@ -28,11 +28,13 @@ bool GCS_Rover::supersimple_input_active() const
 void GCS_Rover::update_vehicle_sensor_status_flags(void)
 {
     // first what sensors/controllers we have
+#if HAL_PROXIMITY_ENABLED
     const AP_Proximity *proximity = AP_Proximity::get_singleton();
     if (proximity && proximity->get_status() > AP_Proximity::Status::NotConnected) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
     }
+#endif
 
     control_sensors_present |=
         MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
@@ -62,7 +64,10 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
             control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         }
     }
+
+#if HAL_PROXIMITY_ENABLED
     if (proximity && proximity->get_status() != AP_Proximity::Status::NoData) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
     }
+#endif
 }
diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 75b6b743f1..470f522a4a 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -496,9 +496,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/AC_Fence/AC_Fence.cpp
     AP_SUBGROUPINFO(fence, "FENCE_", 17, ParametersG2, AC_Fence),
 
+#if HAL_PROXIMITY_ENABLED
     // @Group: PRX
     // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
     AP_SUBGROUPINFO(proximity, "PRX", 18, ParametersG2, AP_Proximity),
+#endif
 
     // @Group: AVOID_
     // @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
@@ -701,7 +703,9 @@ ParametersG2::ParametersG2(void)
     wheel_rate_control(wheel_encoder),
     attitude_control(rover.ahrs),
     smart_rtl(),
+#if HAL_PROXIMITY_ENABLED
     proximity(),
+#endif
     avoid(),
     follow(),
     windvane(),
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
index 6940d54389..604c16f92a 100644
--- a/Rover/Parameters.h
+++ b/Rover/Parameters.h
@@ -329,8 +329,10 @@ public:
     // fence library
     AC_Fence fence;
 
+#if HAL_PROXIMITY_ENABLED
     // proximity library
     AP_Proximity proximity;
+#endif
 
     // avoidance library
     AC_Avoid avoid;
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index e6091757b7..60fba7f230 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -56,7 +56,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_GPS,              &rover.gps,              update,         50,  300),
     SCHED_TASK_CLASS(AP_Baro,             &rover.barometer,        update,         10,  200),
     SCHED_TASK_CLASS(AP_Beacon,           &rover.g2.beacon,        update,         50,  200),
+#if HAL_PROXIMITY_ENABLED
     SCHED_TASK_CLASS(AP_Proximity,        &rover.g2.proximity,     update,         50,  200),
+#endif
     SCHED_TASK_CLASS(AP_WindVane,         &rover.g2.windvane,      update,         20,  100),
     SCHED_TASK_CLASS(AC_Fence,            &rover.g2.fence,         update,         10,  100),
     SCHED_TASK(update_wheel_encoder,   50,    200),
@@ -300,9 +302,11 @@ void Rover::update_logging1(void)
         Log_Write_Nav_Tuning();
     }
 
+#if HAL_PROXIMITY_ENABLED
     if (should_log(MASK_LOG_RANGEFINDER)) {
         logger.Write_Proximity(g2.proximity);
     }
+#endif
 }
 
 /*
diff --git a/Rover/system.cpp b/Rover/system.cpp
index bc8471705d..b03b7fb59f 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -67,8 +67,10 @@ void Rover::init_ardupilot()
     // initialise rangefinder
     rangefinder.init(ROTATION_NONE);
 
+#if HAL_PROXIMITY_ENABLED
     // init proximity sensor
     g2.proximity.init();
+#endif
 
     // init beacons used for non-gps position estimation
     g2.beacon.init();