AP_OpticalFlow: create and use AP_OPTICALFLOW_ENABLED

Including a define for each backend.

libraries/AP_OpticalFlow/AP_OpticalFlow.cpp

@@ -1,5 +1,8 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include "AP_OpticalFlow.h"
+
+#if AP_OPTICALFLOW_ENABLED
+
 #include "AP_OpticalFlow_Onboard.h"
 #include "AP_OpticalFlow_SITL.h"
 #include "AP_OpticalFlow_Pixart.h"
@@ -247,3 +250,5 @@ OpticalFlow *opticalflow()
 }
 
 }
+
+#endif // AP_OPTICALFLOW_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow.h

@@ -14,6 +14,18 @@
  */
 #pragma once
 
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_OPTICALFLOW_ENABLED
+#define AP_OPTICALFLOW_ENABLED 1
+#endif
+
+#ifndef HAL_MSP_OPTICALFLOW_ENABLED
+#define HAL_MSP_OPTICALFLOW_ENABLED (AP_OPTICALFLOW_ENABLED && (HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES))
+#endif
+
+#if AP_OPTICALFLOW_ENABLED
+
 /*
  *       AP_OpticalFlow.h - OpticalFlow Base Class for Ardupilot
  *       Code by Randy Mackay. DIYDrones.com
@@ -25,10 +37,6 @@
 #include <GCS_MAVLink/GCS_MAVLink.h>
 
 
-#ifndef HAL_MSP_OPTICALFLOW_ENABLED
-#define HAL_MSP_OPTICALFLOW_ENABLED HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES
-#endif
-
 class OpticalFlow_backend;
 class AP_AHRS;
 
@@ -143,3 +151,5 @@ namespace AP {
 }
 
 #include "AP_OpticalFlow_Backend.h"
+
+#endif // AP_OPTICALFLOW_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_Backend.cpp

@@ -15,6 +15,8 @@
 
 #include "AP_OpticalFlow.h"
 
+#if AP_OPTICALFLOW_ENABLED
+
 extern const AP_HAL::HAL& hal;
 
 OpticalFlow_backend::OpticalFlow_backend(OpticalFlow &_frontend) :
@@ -46,3 +48,5 @@ void OpticalFlow_backend::_applyYaw(Vector2f &v)
     v.x = cosYaw * x - sinYaw * y;
     v.y = sinYaw * x + cosYaw * y;
 }
+
+#endif

libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp

@@ -30,8 +30,11 @@
    sensor sends packets at 25hz
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_OpticalFlow_CXOF.h"
+
+#if AP_OPTICALFLOW_CXOF_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_SerialManager/AP_SerialManager.h>
@@ -199,3 +202,5 @@ void AP_OpticalFlow_CXOF::update(void)
     gyro_sum.zero();
     gyro_sum_count = 0;
 }
+
+#endif  // AP_OPTICALFLOW_CXOF_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h

@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_OpticalFlow.h"
+
+#ifndef AP_OPTICALFLOW_CXOF_ENABLED
+#define AP_OPTICALFLOW_CXOF_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#if AP_OPTICALFLOW_CXOF_ENABLED
+
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_CXOF : public OpticalFlow_backend
@@ -27,3 +34,5 @@ private:
     Vector2f gyro_sum;                  // sum of gyro sensor values since last frame from flow sensor
     uint16_t gyro_sum_count;            // number of gyro sensor values in sum
 };
+
+#endif  // AP_OPTICALFLOW_CXOF_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp

@@ -1,9 +1,9 @@
-#include <AP_HAL/AP_HAL.h>
-
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
-
 #include "AP_OpticalFlow_HereFlow.h"
 
+#if AP_OPTICALFLOW_HEREFLOW_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
+
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
@@ -101,5 +101,4 @@ void AP_OpticalFlow_HereFlow::_push_state(void)
     new_data = false;
 }
 
-#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS
-
+#endif // AP_OPTICALFLOW_HEREFLOW_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h

@@ -1,7 +1,12 @@
 #pragma once
-#include "AP_OpticalFlow_Backend.h"
 
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
+#include "AP_OpticalFlow.h"
+
+#ifndef AP_OPTICALFLOW_HEREFLOW_ENABLED
+#define AP_OPTICALFLOW_HEREFLOW_ENABLED (AP_OPTICALFLOW_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS)
+#endif
+
+#if AP_OPTICALFLOW_HEREFLOW_ENABLED
 
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
@@ -32,4 +37,5 @@ private:
     void _push_state(void);
 
 };
-#endif //HAL_ENABLE_LIBUAVCAN_DRIVERS
+
+#endif  // AP_OPTICALFLOW_HEREFLOW_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp

@@ -13,9 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_OpticalFlow_MAV.h"
+
+#if AP_OPTICALFLOW_MAV_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
-#include "AP_OpticalFlow_MAV.h"
 
 #define OPTFLOW_MAV_TIMEOUT_SEC 0.5f
 
@@ -104,3 +107,5 @@ void AP_OpticalFlow_MAV::handle_msg(const mavlink_message_t &msg)
     // take sensor id from message
     sensor_id = packet.sensor_id;
 }
+
+#endif  // AP_OPTICALFLOW_MAV_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.h

@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_OpticalFlow.h"
+
+#ifndef AP_OPTICALFLOW_MAV_ENABLED
+#define AP_OPTICALFLOW_MAV_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#if AP_OPTICALFLOW_MAV_ENABLED
+
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_MAV : public OpticalFlow_backend
@@ -32,3 +39,5 @@ private:
     Vector2f gyro_sum;                  // sum of gyro sensor values since last frame from flow sensor
     uint16_t gyro_sum_count;            // number of gyro sensor values in sum
 };
+
+#endif  // AP_OPTICALFLOW_MAV_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp

@@ -14,6 +14,8 @@
  */
 #include "AP_OpticalFlow_Onboard.h"
 
+#if AP_OPTICALFLOW_ONBOARD_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
 #include "AP_OpticalFlow.h"
@@ -98,3 +100,5 @@ void AP_OpticalFlow_Onboard::update()
 }
 
 #endif
+
+#endif  // AP_OPTICALFLOW_ONBOARD_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h

@@ -14,6 +14,14 @@
  */
 #pragma once
 
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_OPTICALFLOW_ONBOARD_ENABLED
+#define AP_OPTICALFLOW_ONBOARD_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#if AP_OPTICALFLOW_ONBOARD_ENABLED
+
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_NavEKF2/AP_NavEKF2.h>
@@ -30,3 +38,5 @@ public:
 private:
     uint32_t _last_read_ms;
 };
+
+#endif  // AP_OPTICALFLOW_ONBOARD_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp

@@ -16,8 +16,11 @@
   driver for PX4Flow optical flow sensor
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_OpticalFlow_PX4Flow.h"
+
+#if AP_OPTICALFLOW_PX4FLOW_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_HAL/I2CDevice.h>
@@ -135,3 +138,5 @@ void AP_OpticalFlow_PX4Flow::timer(void)
 
     _update_frontend(state);
 }
+
+#endif  // AP_OPTICALFLOW_PX4FLOW_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.h

@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_OpticalFlow.h"
+
+#ifndef AP_OPTICALFLOW_PX4FLOW_ENABLED
+#define AP_OPTICALFLOW_PX4FLOW_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#if AP_OPTICALFLOW_PX4FLOW_ENABLED
+
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_PX4Flow : public OpticalFlow_backend
@@ -46,3 +53,5 @@ private:
 
     void timer(void);
 };
+
+#endif  // AP_OPTICALFLOW_PX4FLOW_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp

@@ -20,12 +20,15 @@
   timing for register reads and writes is critical
  */
 
+#include "AP_OpticalFlow_Pixart.h"
+
+#if AP_OPTICALFLOW_PIXART_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <utility>
 #include "AP_OpticalFlow.h"
-#include "AP_OpticalFlow_Pixart.h"
 #include "AP_OpticalFlow_Pixart_SROM.h"
 #include <stdio.h>
 
@@ -360,3 +363,5 @@ void AP_OpticalFlow_Pixart::update(void)
     // copy results to front end
     _update_frontend(state);
 }
+
+#endif  // AP_OPTICALFLOW_PIXART_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h

@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_OpticalFlow.h"
+
+#ifndef AP_OPTICALFLOW_PIXART_ENABLED
+#define AP_OPTICALFLOW_PIXART_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#if AP_OPTICALFLOW_PIXART_ENABLED
+
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_Pixart : public OpticalFlow_backend
@@ -75,3 +82,5 @@ private:
     uint32_t last_burst_us;
     uint32_t last_update_ms;
 };
+
+#endif  // AP_OPTICALFLOW_PIXART_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp

@@ -33,8 +33,11 @@
    byte13:footer (0x55)
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_OpticalFlow_UPFLOW.h"
+
+#if AP_OPTICALFLOW_UPFLOW_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <utility>
@@ -187,3 +190,5 @@ void AP_OpticalFlow_UPFLOW::update(void)
     gyro_sum.zero();
     gyro_sum_count = 0;
 }
+
+#endif  // AP_OPTICALFLOW_UPFLOW_ENABLED

libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.h

@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_OpticalFlow.h"
+
+#ifndef AP_OPTICALFLOW_UPFLOW_ENABLED
+#define AP_OPTICALFLOW_UPFLOW_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#if AP_OPTICALFLOW_UPFLOW_ENABLED
+
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_UPFLOW : public OpticalFlow_backend
@@ -34,3 +41,5 @@ private:
     Vector2f gyro_sum;                      // sum of gyro sensor values since last frame from flow sensor
     uint16_t gyro_sum_count;                // number of gyro sensor values in sum
 };
+
+#endif // AP_OPTICALFLOW_UPFLOW_ENABLED