From 8ccd0ccd3ac3fd823d10d88f008598c3688ada88 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 3 Mar 2023 11:48:38 +1100
Subject: [PATCH] AP_Winch: add and use AP_WINCH_ENABLED

---
 libraries/AP_Winch/AP_Winch.cpp         |  5 +++++
 libraries/AP_Winch/AP_Winch.h           |  6 ++++++
 libraries/AP_Winch/AP_Winch_Backend.cpp |  4 ++++
 libraries/AP_Winch/AP_Winch_Backend.h   |  4 ++++
 libraries/AP_Winch/AP_Winch_Daiwa.cpp   |  4 ++++
 libraries/AP_Winch/AP_Winch_Daiwa.h     |  4 ++++
 libraries/AP_Winch/AP_Winch_PWM.cpp     |  4 ++++
 libraries/AP_Winch/AP_Winch_PWM.h       |  4 ++++
 libraries/AP_Winch/AP_Winch_config.h    | 19 +++++++++++++++++++
 9 files changed, 54 insertions(+)
 create mode 100644 libraries/AP_Winch/AP_Winch_config.h

diff --git a/libraries/AP_Winch/AP_Winch.cpp b/libraries/AP_Winch/AP_Winch.cpp
index b89519cb0c..deb769f733 100644
--- a/libraries/AP_Winch/AP_Winch.cpp
+++ b/libraries/AP_Winch/AP_Winch.cpp
@@ -1,4 +1,7 @@
 #include "AP_Winch.h"
+
+#if AP_WINCH_ENABLED
+
 #include "AP_Winch_PWM.h"
 #include "AP_Winch_Daiwa.h"
 
@@ -157,3 +160,5 @@ AP_Winch *winch()
 }
 
 };
+
+#endif  // AP_WINCH_ENABLED
diff --git a/libraries/AP_Winch/AP_Winch.h b/libraries/AP_Winch/AP_Winch.h
index c48a23a815..0536932327 100644
--- a/libraries/AP_Winch/AP_Winch.h
+++ b/libraries/AP_Winch/AP_Winch.h
@@ -15,6 +15,10 @@
 
 #pragma once
 
+#include "AP_Winch_config.h"
+
+#if AP_WINCH_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Param/AP_Param.h>
@@ -103,3 +107,5 @@ private:
 namespace AP {
     AP_Winch *winch();
 };
+
+#endif  // AP_WINCH_ENABLED
diff --git a/libraries/AP_Winch/AP_Winch_Backend.cpp b/libraries/AP_Winch/AP_Winch_Backend.cpp
index 61e395de01..438b1a7b58 100644
--- a/libraries/AP_Winch/AP_Winch_Backend.cpp
+++ b/libraries/AP_Winch/AP_Winch_Backend.cpp
@@ -1,5 +1,7 @@
 #include <AP_Winch/AP_Winch_Backend.h>
 
+#if AP_WINCH_ENABLED
+
 #include <RC_Channel/RC_Channel.h>
 #include <SRV_Channel/SRV_Channel.h>
 
@@ -67,3 +69,5 @@ float AP_Winch_Backend::get_rate_limited_by_accel(float rate, float dt)
 
     return rate_limited;
 }
+
+#endif  // AP_WINCH_ENABLED
diff --git a/libraries/AP_Winch/AP_Winch_Backend.h b/libraries/AP_Winch/AP_Winch_Backend.h
index fe84d4b3b8..ef749a11f6 100644
--- a/libraries/AP_Winch/AP_Winch_Backend.h
+++ b/libraries/AP_Winch/AP_Winch_Backend.h
@@ -17,6 +17,8 @@
 
 #include <AP_Winch/AP_Winch.h>
 
+#if AP_WINCH_ENABLED
+
 class AP_Winch_Backend {
 public:
     AP_Winch_Backend(struct AP_Winch::Backend_Config &_config) :
@@ -58,3 +60,5 @@ protected:
     int16_t previous_radio_in = -1; // previous RC input from pilot, used to ignore small changes
     float previous_rate;            // previous rate used for acceleration limiting
 };
+
+#endif  // AP_WINCH_ENABLED
diff --git a/libraries/AP_Winch/AP_Winch_Daiwa.cpp b/libraries/AP_Winch/AP_Winch_Daiwa.cpp
index c9373e9b63..df1ce04484 100644
--- a/libraries/AP_Winch/AP_Winch_Daiwa.cpp
+++ b/libraries/AP_Winch/AP_Winch_Daiwa.cpp
@@ -1,5 +1,7 @@
 #include <AP_Winch/AP_Winch_Daiwa.h>
 
+#if AP_WINCH_DAIWA_ENABLED
+
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
 #include <SRV_Channel/SRV_Channel.h>
@@ -223,3 +225,5 @@ void AP_Winch_Daiwa::control_winch()
     }
     SRV_Channels::set_output_scaled(SRV_Channel::k_winch, scaled_output);
 }
+
+#endif  // AP_WINCH_DAIWA_ENABLED
diff --git a/libraries/AP_Winch/AP_Winch_Daiwa.h b/libraries/AP_Winch/AP_Winch_Daiwa.h
index 8b11af5c62..61b9dc630b 100644
--- a/libraries/AP_Winch/AP_Winch_Daiwa.h
+++ b/libraries/AP_Winch/AP_Winch_Daiwa.h
@@ -30,6 +30,8 @@
 
 #include <AP_Winch/AP_Winch_Backend.h>
 
+#if AP_WINCH_DAIWA_ENABLED
+
 class AP_Winch_Daiwa : public AP_Winch_Backend {
 public:
 
@@ -105,3 +107,5 @@ private:
         WAITING_FOR_MOTOR_TEMP
     } parse_state;
 };
+
+#endif  // AP_WINCH_DAIWA_ENABLED
diff --git a/libraries/AP_Winch/AP_Winch_PWM.cpp b/libraries/AP_Winch/AP_Winch_PWM.cpp
index b261c59b27..ba8d89a8c4 100644
--- a/libraries/AP_Winch/AP_Winch_PWM.cpp
+++ b/libraries/AP_Winch/AP_Winch_PWM.cpp
@@ -1,5 +1,7 @@
 #include "AP_Winch_PWM.h"
 
+#if AP_WINCH_PWM_ENABLED
+
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
 #include <SRV_Channel/SRV_Channel.h>
@@ -106,3 +108,5 @@ void AP_Winch_PWM::write_log()
             0,              // voltage (unsupported)
             0);             // temp (unsupported)
 }
+
+#endif  // AP_WINCH_PWM_ENABLED
diff --git a/libraries/AP_Winch/AP_Winch_PWM.h b/libraries/AP_Winch/AP_Winch_PWM.h
index 4c4976c233..58ef71f3c6 100644
--- a/libraries/AP_Winch/AP_Winch_PWM.h
+++ b/libraries/AP_Winch/AP_Winch_PWM.h
@@ -17,6 +17,8 @@
 
 #include <AP_Winch/AP_Winch_Backend.h>
 
+#if AP_WINCH_PWM_ENABLED
+
 class AP_Winch_PWM : public AP_Winch_Backend {
 public:
 
@@ -45,3 +47,5 @@ private:
     uint32_t control_update_ms; // last time control_winch was called
     float line_length;          // estimated length of line in meters
 };
+
+#endif  // AP_WINCH_PWM_ENABLED
diff --git a/libraries/AP_Winch/AP_Winch_config.h b/libraries/AP_Winch/AP_Winch_config.h
new file mode 100644
index 0000000000..0cd33754df
--- /dev/null
+++ b/libraries/AP_Winch/AP_Winch_config.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_WINCH_ENABLED
+#define AP_WINCH_ENABLED 1
+#endif
+
+#ifndef AP_WINCH_BACKEND_DEFAULT_ENABLED
+#define AP_WINCH_BACKEND_DEFAULT_ENABLED AP_WINCH_ENABLED
+#endif
+
+#ifndef AP_WINCH_DAIWA_ENABLED
+#define AP_WINCH_DAIWA_ENABLED AP_WINCH_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_WINCH_PWM_ENABLED
+#define AP_WINCH_PWM_ENABLED AP_WINCH_BACKEND_DEFAULT_ENABLED
+#endif