AP_ServoRelayEvents: add option to disable relay and servorelay libraries

libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.cpp

@@ -16,6 +16,9 @@
  *   AP_ServoRelayEvents - handle servo and relay MAVLink events
  */
 
+#include "AP_ServoRelayEvents_config.h"
+
+#if AP_SERVORELAYEVENTS_ENABLED
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
@@ -55,6 +58,7 @@ bool AP_ServoRelayEvents::do_set_servo(uint8_t _channel, uint16_t pwm)
     return true;
 }
 
+#if AP_RELAY_ENABLED
 bool AP_ServoRelayEvents::do_set_relay(uint8_t relay_num, uint8_t state)
 {
     AP_Relay *relay = AP::relay();
@@ -79,6 +83,7 @@ bool AP_ServoRelayEvents::do_set_relay(uint8_t relay_num, uint8_t state)
     }
     return true;
 }
+#endif
 
 bool AP_ServoRelayEvents::do_repeat_servo(uint8_t _channel, uint16_t _servo_value, 
                                           int16_t _repeat, uint16_t _delay_ms)
@@ -111,6 +116,7 @@ bool AP_ServoRelayEvents::do_repeat_servo(uint8_t _channel, uint16_t _servo_valu
     return true;
 }
 
+#if AP_RELAY_ENABLED
 bool AP_ServoRelayEvents::do_repeat_relay(uint8_t relay_num, int16_t _repeat, uint32_t _delay_ms)
 {
     AP_Relay *relay = AP::relay();
@@ -128,6 +134,7 @@ bool AP_ServoRelayEvents::do_repeat_relay(uint8_t relay_num, int16_t _repeat, ui
     update_events();
     return true;
 }
+#endif
 
 
 /*
@@ -155,6 +162,7 @@ void AP_ServoRelayEvents::update_events(void)
         break;
     }
 
+#if AP_RELAY_ENABLED
     case EVENT_TYPE_RELAY: {
         AP_Relay *relay = AP::relay();
         if (relay != nullptr) {
@@ -162,6 +170,7 @@ void AP_ServoRelayEvents::update_events(void)
         }
         break;
     }
+#endif
     }
     if (repeat > 0) {
         repeat--;
@@ -182,3 +191,5 @@ AP_ServoRelayEvents *servorelayevents()
 }
 
 }
+
+#endif  // AP_SERVORELAYEVENTS_ENABLED

libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.h

@@ -6,13 +6,19 @@
  */
 #pragma once
 
+#include "AP_ServoRelayEvents_config.h"
+
+#if AP_SERVORELAYEVENTS_ENABLED
+
 #include <AP_Param/AP_Param.h>
 #include <AP_Relay/AP_Relay.h>
 
 class AP_ServoRelayEvents {
 public:
     AP_ServoRelayEvents()
+#if AP_RELAY_ENABLED
         : type(EVENT_TYPE_RELAY)
+#endif
     {
         _singleton = this;
     }
@@ -26,7 +32,9 @@ public:
     }
 
     bool do_set_servo(uint8_t channel, uint16_t pwm);
+#if AP_RELAY_ENABLED
     bool do_set_relay(uint8_t relay_num, uint8_t state);
+#endif
     bool do_repeat_servo(uint8_t channel, uint16_t servo_value, int16_t repeat, uint16_t delay_time_ms);
     bool do_repeat_relay(uint8_t relay_num, int16_t count, uint32_t period_ms);
     void update_events(void);
@@ -37,7 +45,9 @@ private:
 
     // event control state
     enum event_type { 
+#if AP_RELAY_ENABLED
         EVENT_TYPE_RELAY=0,
+#endif
         EVENT_TYPE_SERVO=1
     };
 
@@ -62,3 +72,5 @@ private:
 namespace AP {
     AP_ServoRelayEvents *servorelayevents();
 };
+
+#endif  // AP_SERVORELAYEVENTS_ENABLED

libraries/AP_ServoRelayEvents/AP_ServoRelayEvents_config.h

@@ -0,0 +1,7 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_SERVORELAYEVENTS_ENABLED
+#define AP_SERVORELAYEVENTS_ENABLED 1
+#endif