From d9e89eb60289490c39c3ba03ae15f1c9bb6e446e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Jun 2023 18:05:07 +1000
Subject: [PATCH] ArduSub: add option to disable relay and servorelay libraries

---
 ArduSub/ArduSub.cpp    | 2 ++
 ArduSub/Parameters.cpp | 2 ++
 ArduSub/joystick.cpp   | 8 ++++++++
 ArduSub/system.cpp     | 2 ++
 4 files changed, 14 insertions(+)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 4ccc431fa3..7c231a071a 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -252,7 +252,9 @@ void Sub::three_hz_loop()
     fence_check();
 #endif // AP_FENCE_ENABLED
 
+#if AP_SERVORELAYEVENTS_ENABLED
     ServoRelayEvents.update_events();
+#endif
 }
 
 // one_hz_loop - runs at 1Hz
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 75afeb22ca..a856205233 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -409,9 +409,11 @@ const AP_Param::Info Sub::var_info[] = {
     GOBJECT(camera, "CAM", AP_Camera),
 #endif
 
+#if AP_RELAY_ENABLED
     // @Group: RELAY_
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
     GOBJECT(relay,                  "RELAY_", AP_Relay),
+#endif
 
     // @Group: COMPASS_
     // @Path: ../libraries/AP_Compass/AP_Compass.cpp
diff --git a/ArduSub/joystick.cpp b/ArduSub/joystick.cpp
index bbbd19c346..baf5874053 100644
--- a/ArduSub/joystick.cpp
+++ b/ArduSub/joystick.cpp
@@ -359,6 +359,7 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
             controls_reset_since_input_hold = !input_hold_engaged;
         }
         break;
+#if AP_RELAY_ENABLED
     case JSButton::button_function_t::k_relay_1_on:
         relay.on(0);
         break;
@@ -423,10 +424,12 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
             relay.on(3);
         }
         break;
+#endif
 
     ////////////////////////////////////////////////
     // Servo functions
     // TODO: initialize
+#if AP_SERVORELAYEVENTS_ENABLED
     case JSButton::button_function_t::k_servo_1_inc:
     {
         SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
@@ -557,6 +560,7 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
         ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed
     }
         break;
+#endif  // AP_SERVORELAYEVENTS_ENABLED
 
     case JSButton::button_function_t::k_roll_pitch_toggle:
         if (!held) {
@@ -595,6 +599,7 @@ void Sub::handle_jsbutton_release(uint8_t _button, bool shift) {
 
     // Act based on the function assigned to this button
     switch (get_button(_button)->function(shift)) {
+#if AP_RELAY_ENABLED
     case JSButton::button_function_t::k_relay_1_momentary:
         relay.off(0);
         break;
@@ -607,6 +612,8 @@ void Sub::handle_jsbutton_release(uint8_t _button, bool shift) {
     case JSButton::button_function_t::k_relay_4_momentary:
         relay.off(3);
         break;
+#endif
+#if AP_SERVORELAYEVENTS_ENABLED
     case JSButton::button_function_t::k_servo_1_min_momentary:
     case JSButton::button_function_t::k_servo_1_max_momentary:
     {
@@ -628,6 +635,7 @@ void Sub::handle_jsbutton_release(uint8_t _button, bool shift) {
         ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed
     }
         break;
+#endif
     }
 }
 
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index d397f73148..f69cbf6976 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -70,7 +70,9 @@ void Sub::init_ardupilot()
     init_rc_out();              // sets up motors and output to escs
     init_joystick();            // joystick initialization
 
+#if AP_RELAY_ENABLED
     relay.init();
+#endif
 
     /*
      *  setup the 'main loop is dead' check. Note that this relies on