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AP_Terrain: gate mavlink includes on HAL_GCS_ENABLED

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avoids trying to include headers which have not been generated"
This commit is contained in:
Peter Barker 2024-08-07 13:36:34 +10:00 committed by Andrew Tridgell
parent ba305025c4
commit 571f18bb69
2 changed files with 11 additions and 5 deletions
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6
libraries/AP_Terrain/AP_Terrain.h
View File

@ -108,6 +108,7 @@ public:
bool pre_arm_checks(char *failure_msg, uint8_t failure_msg_len) const; bool pre_arm_checks(char *failure_msg, uint8_t failure_msg_len) const;
#if HAL_GCS_ENABLED
// send any pending terrain request message // send any pending terrain request message
bool send_cache_request(mavlink_channel_t chan); bool send_cache_request(mavlink_channel_t chan);
void send_request(mavlink_channel_t chan); void send_request(mavlink_channel_t chan);
@ -117,6 +118,7 @@ public:
void handle_data(mavlink_channel_t chan, const mavlink_message_t &msg); void handle_data(mavlink_channel_t chan, const mavlink_message_t &msg);
void handle_terrain_check(mavlink_channel_t chan, const mavlink_message_t &msg); void handle_terrain_check(mavlink_channel_t chan, const mavlink_message_t &msg);
void handle_terrain_data(const mavlink_message_t &msg); void handle_terrain_data(const mavlink_message_t &msg);
#endif
/* /*
find the terrain height in meters above sea level for a location find the terrain height in meters above sea level for a location
@ -318,11 +320,13 @@ private:
*/ */
bool check_bitmap(const struct grid_block &grid, uint8_t idx_x, uint8_t idx_y); bool check_bitmap(const struct grid_block &grid, uint8_t idx_x, uint8_t idx_y);
#if HAL_GCS_ENABLED
/* /*
request any missing 4x4 grids from a block request any missing 4x4 grids from a block
*/ */
bool request_missing(mavlink_channel_t chan, struct grid_cache &gcache); bool request_missing(mavlink_channel_t chan, struct grid_cache &gcache);
bool request_missing(mavlink_channel_t chan, const struct grid_info &info); bool request_missing(mavlink_channel_t chan, const struct grid_info &info);
#endif
/* /*
look for blocks that need to be read/written to disk look for blocks that need to be read/written to disk
@ -394,8 +398,10 @@ private:
volatile enum DiskIoState disk_io_state; volatile enum DiskIoState disk_io_state;
union grid_io_block disk_block; union grid_io_block disk_block;
#if HAL_GCS_ENABLED
// last time we asked for more grids // last time we asked for more grids
uint32_t last_request_time_ms[MAVLINK_COMM_NUM_BUFFERS]; uint32_t last_request_time_ms[MAVLINK_COMM_NUM_BUFFERS];
#endif
static const uint64_t bitmap_mask = (((uint64_t)1U)<<(TERRAIN_GRID_BLOCK_MUL_X*TERRAIN_GRID_BLOCK_MUL_Y)) - 1; static const uint64_t bitmap_mask = (((uint64_t)1U)<<(TERRAIN_GRID_BLOCK_MUL_X*TERRAIN_GRID_BLOCK_MUL_Y)) - 1;

8
libraries/AP_Terrain/TerrainGCS.cpp
View File

@ -32,14 +32,12 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#if HAL_GCS_ENABLED
/* /*
request any missing 4x4 grids from a block, given a grid_cache request any missing 4x4 grids from a block, given a grid_cache
*/ */
bool AP_Terrain::request_missing(mavlink_channel_t chan, struct grid_cache &gcache) bool AP_Terrain::request_missing(mavlink_channel_t chan, struct grid_cache &gcache)
{ {
#if !HAL_GCS_ENABLED
return false;
#else
struct grid_block &grid = gcache.grid; struct grid_block &grid = gcache.grid;
if (options.get() & uint16_t(Options::DisableDownload)) { if (options.get() & uint16_t(Options::DisableDownload)) {
@ -75,7 +73,6 @@ bool AP_Terrain::request_missing(mavlink_channel_t chan, struct grid_cache &gcac
last_request_time_ms[chan] = AP_HAL::millis(); last_request_time_ms[chan] = AP_HAL::millis();
return true; return true;
#endif
} }
/* /*
@ -157,6 +154,7 @@ void AP_Terrain::send_request(mavlink_channel_t chan)
return; return;
} }
} }
#endif // HAL_GCS_ENABLED
/* /*
count bits in a uint64_t count bits in a uint64_t
@ -196,6 +194,7 @@ void AP_Terrain::get_statistics(uint16_t &pending, uint16_t &loaded) const
} }
} }
#if HAL_GCS_ENABLED
/* /*
handle terrain messages from GCS handle terrain messages from GCS
*/ */
@ -312,6 +311,7 @@ void AP_Terrain::handle_terrain_data(const mavlink_message_t &msg)
// see if we need to schedule some disk IO // see if we need to schedule some disk IO
update(); update();
} }
#endif // HAL_GCS_ENABLED
#endif // AP_TERRAIN_AVAILABLE #endif // AP_TERRAIN_AVAILABLE