From 2c00813aab9df9d53fc35befba0be36cb980756c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 May 2023 23:08:00 +1000
Subject: [PATCH] AP_RCProtocol: add and use AP_RCPROTOCOL_ENABLED

---
 libraries/AP_RCProtocol/AP_RCProtocol.cpp     | 13 +++++++++++-
 libraries/AP_RCProtocol/AP_RCProtocol.h       | 21 +++++++++++++------
 .../AP_RCProtocol/AP_RCProtocol_Backend.cpp   |  6 ++++++
 .../AP_RCProtocol/AP_RCProtocol_Backend.h     |  5 +++++
 libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp |  8 ++++++-
 libraries/AP_RCProtocol/AP_RCProtocol_DSM.h   |  9 +++++++-
 .../AP_RCProtocol/AP_RCProtocol_IBUS.cpp      |  6 ++++++
 libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h  |  9 +++++++-
 .../AP_RCProtocol/AP_RCProtocol_PPMSum.cpp    |  4 ++++
 .../AP_RCProtocol/AP_RCProtocol_PPMSum.h      |  8 ++++++-
 .../AP_RCProtocol/AP_RCProtocol_ST24.cpp      |  6 ++++++
 libraries/AP_RCProtocol/AP_RCProtocol_ST24.h  |  8 ++++++-
 .../AP_RCProtocol/AP_RCProtocol_SUMD.cpp      |  7 +++++++
 libraries/AP_RCProtocol/AP_RCProtocol_SUMD.h  |  8 ++++++-
 .../AP_RCProtocol/AP_RCProtocol_config.h      |  6 +++++-
 15 files changed, 110 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
index 5dc8a1212d..236a94f9d3 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
@@ -15,8 +15,12 @@
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 
-#include <AP_Vehicle/AP_Vehicle_Type.h>
+#include "AP_RCProtocol_config.h"
+
 #include "AP_RCProtocol.h"
+
+#if AP_RCPROTOCOL_ENABLED
+
 #include "AP_RCProtocol_PPMSum.h"
 #include "AP_RCProtocol_DSM.h"
 #include "AP_RCProtocol_IBUS.h"
@@ -31,6 +35,8 @@
 #include <AP_Math/AP_Math.h>
 #include <RC_Channel/RC_Channel.h>
 
+#include <AP_Vehicle/AP_Vehicle_Type.h>
+
 extern const AP_HAL::HAL& hal;
 
 void AP_RCProtocol::init()
@@ -405,6 +411,8 @@ void AP_RCProtocol::start_bind(void)
     }
 }
 
+#endif  // AP_RCPROTOCOL_ENABLED
+
 /*
   return protocol name
  */
@@ -459,6 +467,7 @@ const char *AP_RCProtocol::protocol_name_from_protocol(rcprotocol_t protocol)
     return nullptr;
 }
 
+#if AP_RCPROTOCOL_ENABLED
 /*
   return protocol name
  */
@@ -493,3 +502,5 @@ namespace AP {
         return rcprot;
     }
 };
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.h b/libraries/AP_RCProtocol/AP_RCProtocol.h
index 59cd5ec891..90c8667627 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.h
@@ -28,9 +28,6 @@ class AP_RCProtocol_Backend;
 
 class AP_RCProtocol {
 public:
-    AP_RCProtocol() {}
-    ~AP_RCProtocol();
-    friend class AP_RCProtocol_Backend;
 
     enum rcprotocol_t {
         PPM        =  0,
@@ -64,6 +61,16 @@ public:
 #endif
         NONE    //last enum always is None
     };
+
+    // return protocol name as a string
+    static const char *protocol_name_from_protocol(rcprotocol_t protocol);
+
+#if AP_RCPROTOCOL_ENABLED
+
+    AP_RCProtocol() {}
+    ~AP_RCProtocol();
+    friend class AP_RCProtocol_Backend;
+
     void init();
     bool valid_serial_prot() const
     {
@@ -134,9 +141,6 @@ public:
     int16_t get_RSSI(void) const;
     int16_t get_rx_link_quality(void) const;
 
-    // return protocol name as a string
-    static const char *protocol_name_from_protocol(rcprotocol_t protocol);
-
     // return protocol name as a string
     const char *protocol_name(void) const;
 
@@ -196,10 +200,15 @@ private:
 
     // allowed RC protocols mask (first bit means "all")
     uint32_t rc_protocols_mask;
+
+#endif  // AP_RCPROTCOL_ENABLED
+
 };
 
+#if AP_RCPROTOCOL_ENABLED
 namespace AP {
     AP_RCProtocol &RC();
 };
 
 #include "AP_RCProtocol_Backend.h"
+#endif  // AP_RCProtocol_enabled
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
index 73dc5f1aae..de6cca8f5f 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
@@ -15,6 +15,10 @@
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_ENABLED
+
 #include "AP_RCProtocol.h"
 #include <AP_Math/AP_Math.h>
 #include <RC_Channel/RC_Channel.h>
@@ -207,3 +211,5 @@ void AP_RCProtocol_Backend::log_data(AP_RCProtocol::rcprotocol_t prot, uint32_t
     }
 #endif  // HAL_LOGGING_ENABLED
 }
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
index d50360b3c7..474a3ab20c 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
@@ -18,6 +18,9 @@
 #pragma once
 
 #include "AP_RCProtocol.h"
+
+#if AP_RCPROTOCOL_ENABLED
+
 #include <AP_HAL/utility/sparse-endian.h>
 #include <AP_VideoTX/AP_VideoTX_config.h>
 
@@ -131,3 +134,5 @@ private:
     int16_t rssi = -1;
     int16_t rx_link_quality = -1;
 };
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
index 5d31ed4649..6258f4069c 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
@@ -17,7 +17,11 @@
 /*
   with thanks to PX4 dsm.c for DSM decoding approach
  */
-#include <AP_Vehicle/AP_Vehicle_Type.h>
+
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_ENABLED
+
 #include "AP_RCProtocol_DSM.h"
 #include <AP_VideoTX/AP_VideoTX_config.h>
 
@@ -534,3 +538,5 @@ void AP_RCProtocol_DSM::process_byte(uint8_t b, uint32_t baudrate)
     }
     _process_byte(AP_HAL::millis(), b);
 }
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_DSM.h b/libraries/AP_RCProtocol/AP_RCProtocol_DSM.h
index 66197ef95a..65a3e266c1 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_DSM.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_DSM.h
@@ -17,7 +17,12 @@
 
 #pragma once
 
-#include "AP_RCProtocol.h"
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_ENABLED
+
+#include "AP_RCProtocol_Backend.h"
+
 #include "SoftSerial.h"
 
 #define AP_DSM_MAX_CHANNELS 12
@@ -77,3 +82,5 @@ private:
 
     SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
 };
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp
index 55ac7c0be3..aa415ae326 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp
@@ -14,6 +14,10 @@
  *
  */
 
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_ENABLED
+
 #include "AP_RCProtocol_IBUS.h"
 
 // constructor
@@ -105,3 +109,5 @@ void AP_RCProtocol_IBUS::process_byte(uint8_t b, uint32_t baudrate)
     }
     _process_byte(AP_HAL::micros(), b);
 }
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h b/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h
index 7725d374ab..199654f830 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h
@@ -16,10 +16,15 @@
 
 #pragma once
 
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_ENABLED
+
 #define IBUS_FRAME_SIZE		32
 #define IBUS_INPUT_CHANNELS	14
 
-#include "AP_RCProtocol.h"
+#include "AP_RCProtocol_Backend.h"
+
 #include "SoftSerial.h"
 
 class AP_RCProtocol_IBUS : public AP_RCProtocol_Backend
@@ -40,3 +45,5 @@ private:
         uint32_t last_byte_us;
     } byte_input;
 };
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.cpp
index 1915d32276..5df42ae5a8 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.cpp
@@ -17,6 +17,8 @@
 
 #include "AP_RCProtocol_PPMSum.h"
 
+#if AP_RCPROTOCOL_ENABLED
+
 /*
   process a PPM-sum pulse of the given width
  */
@@ -63,3 +65,5 @@ void AP_RCProtocol_PPMSum::process_pulse(uint32_t width_s0, uint32_t width_s1)
         ppm_state._channel_counter = -1;
     }
 }
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.h b/libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.h
index 815f189fd9..74aa78d371 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.h
@@ -16,7 +16,11 @@
  */
 #pragma once
 
-#include "AP_RCProtocol.h"
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_ENABLED
+
+#include "AP_RCProtocol_Backend.h"
 
 class AP_RCProtocol_PPMSum : public AP_RCProtocol_Backend {
 public:
@@ -29,3 +33,5 @@ private:
         uint16_t _pulse_capt[MAX_RCIN_CHANNELS];
     } ppm_state;
 };
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_ST24.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_ST24.cpp
index c020e4e6ff..534b6ac78f 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_ST24.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_ST24.cpp
@@ -42,6 +42,10 @@
  *
  * @author Marco Bauer <marco@wtns.de>
  */
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_ENABLED
+
 #include "AP_RCProtocol_ST24.h"
 
 // #define SUMD_DEBUG
@@ -233,3 +237,5 @@ void AP_RCProtocol_ST24::process_byte(uint8_t byte, uint32_t baudrate)
     }
     _process_byte(byte);
 }
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_ST24.h b/libraries/AP_RCProtocol/AP_RCProtocol_ST24.h
index 1c0c937049..993d42dc79 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_ST24.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_ST24.h
@@ -17,7 +17,11 @@
 
 #pragma once
 
-#include "AP_RCProtocol.h"
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_ENABLED
+
+#include "AP_RCProtocol_Backend.h"
 #include "SoftSerial.h"
 
 #define ST24_DATA_LEN_MAX	64
@@ -149,3 +153,5 @@ private:
 
     SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
 };
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_SUMD.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_SUMD.cpp
index fa57571d2b..a6b76e2d19 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_SUMD.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_SUMD.cpp
@@ -42,7 +42,12 @@
  *
  * @author Marco Bauer <marco@wtns.de>
  */
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_ENABLED
+
 #include "AP_RCProtocol_SUMD.h"
+
 #include <AP_Math/crc.h>
 
 #define SUMD_HEADER_LENGTH	3
@@ -332,3 +337,5 @@ void AP_RCProtocol_SUMD::process_byte(uint8_t byte, uint32_t baudrate)
     }
     _process_byte(AP_HAL::micros(), byte);
 }
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_SUMD.h b/libraries/AP_RCProtocol/AP_RCProtocol_SUMD.h
index 2d9a4e90fa..da321d74cd 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_SUMD.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_SUMD.h
@@ -17,7 +17,11 @@
 
 #pragma once
 
-#include "AP_RCProtocol.h"
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_ENABLED
+
+#include "AP_RCProtocol_Backend.h"
 #include "SoftSerial.h"
 
 #define SUMD_MAX_CHANNELS	32
@@ -68,3 +72,5 @@ private:
 
     SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
 };
+
+#endif  // AP_RCPROTOCOL_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_config.h b/libraries/AP_RCProtocol/AP_RCProtocol_config.h
index 6d8442c5a5..ab9ba7dcda 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_config.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_config.h
@@ -3,8 +3,12 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_Frsky_Telem/AP_Frsky_config.h>
 
+#ifndef AP_RCPROTOCOL_ENABLED
+#define AP_RCPROTOCOL_ENABLED 1
+#endif
+
 #ifndef AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
-#define AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED 1
+#define AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED AP_RCPROTOCOL_ENABLED
 #endif
 
 #ifndef AP_RCPROTOCOL_CRSF_ENABLED