AP_Proximity: add #if HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity.cpp

@@ -14,6 +14,8 @@
  */
 
 #include "AP_Proximity.h"
+
+#if HAL_PROXIMITY_ENABLED
 #include "AP_Proximity_LightWareSF40C_v09.h"
 #include "AP_Proximity_RPLidarA2.h"
 #include "AP_Proximity_TeraRangerTower.h"
@@ -502,3 +504,5 @@ AP_Proximity *proximity()
 }
 
 }
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity.h

@@ -14,8 +14,16 @@
  */
 #pragma once
 
-#include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef HAL_PROXIMITY_ENABLED
+#define HAL_PROXIMITY_ENABLED (!HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024)
+#endif
+
+#if HAL_PROXIMITY_ENABLED
+
+#include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
@@ -187,3 +195,5 @@ private:
 namespace AP {
     AP_Proximity *proximity();
 };
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_AirSimSITL.cpp

@@ -13,9 +13,11 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include "AP_Proximity_AirSimSITL.h"
+
+#if HAL_PROXIMITY_ENABLED
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#include <AP_HAL/AP_HAL.h>
 #include <stdio.h>
 
 extern const AP_HAL::HAL& hal;
@@ -93,4 +95,6 @@ bool AP_Proximity_AirSimSITL::get_upward_distance(float &distance) const
     return false;
 }
 
-#endif // CONFIG_HAL_BOARD
+#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_AirSimSITL.h

@@ -15,9 +15,10 @@
 
 #pragma once
 
-#include "AP_Proximity.h"
 #include "AP_Proximity_Backend.h"
 
+#if HAL_PROXIMITY_ENABLED
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
 
@@ -43,3 +44,5 @@ private:
 
 };
 #endif // CONFIG_HAL_BOARD
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_Backend.cpp

@@ -13,14 +13,14 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Proximity_Backend.h"
+
+#if HAL_PROXIMITY_ENABLED
 #include <AP_Common/AP_Common.h>
 #include <AP_Common/Location.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AC_Avoidance/AP_OADatabase.h>
 #include <AP_HAL/AP_HAL.h>
-#include "AP_Proximity.h"
-#include "AP_Proximity_Backend.h"
-#include <AP_HAL/AP_HAL.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -205,3 +205,5 @@ void AP_Proximity_Backend::database_push(float angle, float pitch, float distanc
 
     oaDb->queue_push(temp_pos, timestamp_ms, distance);
 }
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_Backend.h

@@ -14,9 +14,11 @@
  */
 #pragma once
 
-#include <AP_Common/AP_Common.h>
-#include <AP_HAL/AP_HAL.h>
 #include "AP_Proximity.h"
+
+#if HAL_PROXIMITY_ENABLED
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Common/AP_Common.h>
 #include <AP_Common/Location.h>
 #include "AP_Proximity_Boundary_3D.h"
 
@@ -118,3 +120,5 @@ protected:
     // Methods to manipulate 3D boundary in this class
     AP_Proximity_Boundary_3D boundary;
 };
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_Backend_Serial.cpp

@@ -15,6 +15,7 @@
 
 #include "AP_Proximity_Backend_Serial.h"
 
+#if HAL_PROXIMITY_ENABLED
 #include <AP_SerialManager/AP_SerialManager.h>
 
 /*
@@ -41,3 +42,4 @@ bool AP_Proximity_Backend_Serial::detect()
     return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
 }
 
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_Backend_Serial.h

@@ -1,8 +1,9 @@
 #pragma once
 
-#include "AP_Proximity.h"
 #include "AP_Proximity_Backend.h"
 
+#if HAL_PROXIMITY_ENABLED
+
 class AP_Proximity_Backend_Serial : public AP_Proximity_Backend
 {
 public:
@@ -16,3 +17,5 @@ protected:
 
     AP_HAL::UARTDriver *_uart;              // uart for communicating with sensor
 };
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_Boundary_3D.cpp

@@ -1,6 +1,23 @@
-#include "AP_Proximity_Backend.h"
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 #include "AP_Proximity_Boundary_3D.h"
 
+#if HAL_PROXIMITY_ENABLED
+#include "AP_Proximity_Backend.h"
+
 /*
   Constructor. 
   This incorporates initialisation as well.
@@ -357,3 +374,5 @@ bool AP_Proximity_Boundary_3D::get_layer_distances(uint8_t layer_number, float d
 
     return valid_distances;
 }
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_Boundary_3D.h

@@ -15,6 +15,10 @@
 
 #pragma once
 
+#include "AP_Proximity.h"
+
+#if HAL_PROXIMITY_ENABLED
+
 #include <Filter/LowPassFilter.h>
 
 #define PROXIMITY_NUM_SECTORS         8       // number of sectors
@@ -156,3 +160,4 @@ private:
     LowPassFilterFloat _filtered_distance[PROXIMITY_NUM_LAYERS][PROXIMITY_NUM_SECTORS]; // low pass filter
 };
 
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp

@@ -13,11 +13,13 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Proximity_LightWareSF40C.h"
+
+#if HAL_PROXIMITY_ENABLED
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/utility/sparse-endian.h>
 #include <AP_Math/crc.h>
-#include "AP_Proximity_LightWareSF40C.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -418,3 +420,5 @@ uint16_t AP_Proximity_LightWareSF40C::buff_to_uint16(uint8_t b0, uint8_t b1) con
     uint16_t leval = (uint16_t)b0 | (uint16_t)b1 << 8;
     return leval;
 }
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_LightWareSF40C.h

@@ -1,8 +1,9 @@
 #pragma once
 
-#include "AP_Proximity.h"
 #include "AP_Proximity_Backend_Serial.h"
 
+#if HAL_PROXIMITY_ENABLED
+
 #define PROXIMITY_SF40C_TIMEOUT_MS            200   // requests timeout after 0.2 seconds
 #define PROXIMITY_SF40C_PAYLOAD_LEN_MAX       256   // maximum payload size we can accept (in some configurations sensor may send as large as 1023)
 #define PROXIMITY_SF40C_COMBINE_READINGS        7   // combine this many readings together to improve efficiency
@@ -150,3 +151,5 @@ private:
     uint32_t buff_to_uint32(uint8_t b0, uint8_t b1, uint8_t b2, uint8_t b3) const;
     uint16_t buff_to_uint16(uint8_t b0, uint8_t b1) const;
 };
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_LightWareSF40C_v09.cpp

@@ -13,8 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_Proximity_LightWareSF40C_v09.h"
+
+#if HAL_PROXIMITY_ENABLED
+#include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 #include <stdio.h>
 
@@ -360,3 +362,5 @@ void AP_Proximity_LightWareSF40C_v09::clear_buffers()
     element_num = 0;
     memset(element_buf, 0, sizeof(element_buf));
 }
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_LightWareSF40C_v09.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include "AP_Proximity.h"
 #include "AP_Proximity_Backend_Serial.h"
 
+#if HAL_PROXIMITY_ENABLED
 #define PROXIMITY_SF40C_TIMEOUT_MS            200                               // requests timeout after 0.2 seconds
 
 class AP_Proximity_LightWareSF40C_v09 : public AP_Proximity_Backend_Serial
@@ -88,3 +88,5 @@ private:
     uint8_t _motor_direction = 99;      // motor direction as reported by lidar
     int16_t _forward_direction = 999;   // forward direction as reported by lidar
 };
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_LightWareSF45B.cpp

@@ -16,10 +16,12 @@
    http://support.lightware.co.za/sf45/#/commands
  */
 
+#include "AP_Proximity_LightWareSF45B.h"
+#if HAL_PROXIMITY_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/utility/sparse-endian.h>
-#include "AP_Proximity_LightWareSF45B.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -197,3 +199,5 @@ uint8_t AP_Proximity_LightWareSF45B::convert_angle_to_minisector(float angle_deg
 {
     return wrap_360(angle_deg + (PROXIMITY_SF45B_COMBINE_READINGS_DEG * 0.5f)) / PROXIMITY_SF45B_COMBINE_READINGS_DEG;
 }
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_LightWareSF45B.h

@@ -1,9 +1,10 @@
 #pragma once
 
-#include <Filter/Filter.h>
-#include "AP_Proximity.h"
 #include "AP_Proximity_LightWareSerial.h"
 
+#if HAL_PROXIMITY_ENABLED
+#include <Filter/Filter.h>
+
 class AP_Proximity_LightWareSF45B : public AP_Proximity_LightWareSerial
 {
 
@@ -100,3 +101,5 @@ private:
     } _sensor_state;
 
 };
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_LightWareSerial.cpp

@@ -13,11 +13,13 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Proximity_LightWareSerial.h"
+
+#if HAL_PROXIMITY_ENABLED
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/utility/sparse-endian.h>
 #include <AP_Math/crc.h>
-#include "AP_Proximity_LightWareSerial.h"
 #include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
@@ -138,3 +140,5 @@ bool AP_Proximity_LightWareSerial::parse_byte(uint8_t b)
 
     return false;
 }
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_LightWareSerial.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include "AP_Proximity.h"
 #include "AP_Proximity_Backend_Serial.h"
 
+#if HAL_PROXIMITY_ENABLED
 #define PROXIMITY_LIGHTWARE_PAYLOAD_LEN_MAX 256 // maximum payload size we can accept (in some configurations sensor may send as large as 1023)
 
 class AP_Proximity_LightWareSerial : public AP_Proximity_Backend_Serial
@@ -48,3 +48,5 @@ protected:
         uint8_t crc_high;       // crc high byte
     } _msg;
 };
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_MAV.cpp

@@ -13,8 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_Proximity_MAV.h"
+
+#if HAL_PROXIMITY_ENABLED
+#include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 #include <stdio.h>
 
@@ -261,3 +263,5 @@ void AP_Proximity_MAV::handle_obstacle_distance_3d_msg(const mavlink_message_t &
     }
     return;
 }
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_MAV.h

@@ -1,8 +1,9 @@
 #pragma once
 
-#include "AP_Proximity.h"
 #include "AP_Proximity_Backend.h"
 
+#if HAL_PROXIMITY_ENABLED
+
 class AP_Proximity_MAV : public AP_Proximity_Backend
 {
 
@@ -42,3 +43,5 @@ private:
     uint32_t _last_upward_update_ms;    // system time of last update of upward distance
     float _distance_upward;             // upward distance in meters
 };
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp

@@ -26,8 +26,10 @@
  *
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_Proximity_RPLidarA2.h"
+
+#if HAL_PROXIMITY_ENABLED
+#include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 #include <stdio.h>
 
@@ -358,3 +360,5 @@ void AP_Proximity_RPLidarA2::parse_response_data()
             break;
     }
 }
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_RPLidarA2.h

@@ -29,10 +29,9 @@
 
 #pragma once
 
-#include "AP_Proximity.h"
 #include "AP_Proximity_Backend_Serial.h"
-#include <AP_HAL/AP_HAL.h>                   ///< for UARTDriver
 
+#if HAL_PROXIMITY_ENABLED
 
 class AP_Proximity_RPLidarA2 : public AP_Proximity_Backend_Serial
 {
@@ -121,3 +120,5 @@ private:
         _sensor_health sensor_health;
     } payload;
 };
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp

@@ -13,8 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_Proximity_RangeFinder.h"
+
+#if HAL_PROXIMITY_ENABLED
+#include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 #include <stdio.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
@@ -90,3 +92,5 @@ bool AP_Proximity_RangeFinder::get_upward_distance(float &distance) const
     }
     return false;
 }
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_RangeFinder.h

@@ -1,8 +1,9 @@
 #pragma once
 
-#include "AP_Proximity.h"
 #include "AP_Proximity_Backend.h"
 
+#if HAL_PROXIMITY_ENABLED
+
 #define PROXIMITY_RANGEFIDER_TIMEOUT_MS 200 // requests timeout after 0.2 seconds
 
 class AP_Proximity_RangeFinder : public AP_Proximity_Backend
@@ -33,3 +34,5 @@ private:
     uint32_t _last_upward_update_ms;    // system time of last update distance
     float _distance_upward = -1;        // upward distance in meters, negative if the last reading was out of range
 };
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_SITL.cpp

@@ -13,11 +13,14 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Proximity_SITL.h"
 
+#if HAL_PROXIMITY_ENABLED
 #include <AP_HAL/AP_HAL.h>
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <AP_Param/AP_Param.h>
-#include "AP_Proximity_SITL.h"
+
 #include <AC_Fence/AC_Fence.h>
 #include <stdio.h>
 
@@ -124,3 +127,5 @@ bool AP_Proximity_SITL::get_upward_distance(float &distance) const
 }
 
 #endif // CONFIG_HAL_BOARD
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_SITL.h

@@ -1,6 +1,8 @@
 #pragma once
 
 #include "AP_Proximity.h"
+
+#if HAL_PROXIMITY_ENABLED
 #include "AP_Proximity_Backend.h"
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
@@ -37,3 +39,5 @@ private:
 
 };
 #endif // CONFIG_HAL_BOARD
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp

@@ -13,8 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_Proximity_TeraRangerTower.h"
+
+#if HAL_PROXIMITY_ENABLED
+#include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
 #include <ctype.h>
 #include <stdio.h>
@@ -103,3 +105,5 @@ void AP_Proximity_TeraRangerTower::update_sector_data(int16_t angle_deg, uint16_
     }
     _last_distance_received_ms = AP_HAL::millis();
 }
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include "AP_Proximity.h"
 #include "AP_Proximity_Backend_Serial.h"
 
+#if HAL_PROXIMITY_ENABLED
 #define PROXIMITY_TRTOWER_TIMEOUT_MS            300                               // requests timeout after 0.3 seconds
 
 class AP_Proximity_TeraRangerTower : public AP_Proximity_Backend_Serial
@@ -32,3 +32,5 @@ private:
     // request related variables
     uint32_t _last_distance_received_ms;    // system time of last distance measurement received from sensor
 };
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp

@@ -15,6 +15,8 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Proximity_TeraRangerTowerEvo.h"
+
+#if HAL_PROXIMITY_ENABLED
 #include <AP_Math/crc.h>
 #include <ctype.h>
 #include <stdio.h>
@@ -158,3 +160,5 @@ void AP_Proximity_TeraRangerTowerEvo::update_sector_data(int16_t angle_deg, uint
     }
     _last_distance_received_ms = AP_HAL::millis();
 }
+
+#endif // HAL_PROXIMITY_ENABLED

libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h

@@ -1,6 +1,8 @@
 #pragma once
 
 #include "AP_Proximity.h"
+
+#if HAL_PROXIMITY_ENABLED
 #include "AP_Proximity_Backend_Serial.h"
 
 #define PROXIMITY_TRTOWER_TIMEOUT_MS            300                               // requests timeout after 0.3 seconds
@@ -56,3 +58,5 @@ private:
 //    const uint8_t REFRESH_500_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x05, (uint8_t)0xD6};
 //    const uint8_t REFRESH_600_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x06, (uint8_t)0xDF};
 };
+
+#endif // HAL_PROXIMITY_ENABLED