From f9a94fd7dd57cdb9717488c763ce88066e5e7b3a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 8 Nov 2023 09:23:40 +1100
Subject: [PATCH] AP_RangeFinder: make AP_RANGEFINDER_ENABLED remove more code

---
 libraries/AP_RangeFinder/AP_RangeFinder.cpp        |  6 ++++--
 libraries/AP_RangeFinder/AP_RangeFinder.h          |  4 ++++
 .../AP_RangeFinder/AP_RangeFinder_Backend.cpp      |  5 +++++
 libraries/AP_RangeFinder/AP_RangeFinder_Backend.h  |  6 ++++++
 .../AP_RangeFinder_Backend_Serial.cpp              |  6 ++++++
 .../AP_RangeFinder/AP_RangeFinder_Backend_Serial.h |  6 ++++++
 libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp |  6 ++++++
 libraries/AP_RangeFinder/AP_RangeFinder_Params.h   |  6 ++++++
 libraries/AP_RangeFinder/AP_RangeFinder_config.h   | 14 ++++++++------
 9 files changed, 51 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.cpp b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
index 6f1f4a6c26..2134162eab 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
@@ -14,6 +14,9 @@
  */
 
 #include "AP_RangeFinder.h"
+
+#if AP_RANGEFINDER_ENABLED
+
 #include "AP_RangeFinder_analog.h"
 #include "AP_RangeFinder_PulsedLightLRF.h"
 #include "AP_RangeFinder_MaxsonarI2CXL.h"
@@ -273,7 +276,6 @@ bool RangeFinder::_add_backend(AP_RangeFinder_Backend *backend, uint8_t instance
  */
 void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
 {
-#if AP_RANGEFINDER_ENABLED
     AP_RangeFinder_Backend_Serial *(*serial_create_fn)(RangeFinder::RangeFinder_State&, AP_RangeFinder_Params&) = nullptr;
 
     const Type _type = (Type)params[instance].type.get();
@@ -618,7 +620,6 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         // param count could have changed
         AP_Param::invalidate_count();
     }
-#endif //AP_RANGEFINDER_ENABLED
 }
 
 AP_RangeFinder_Backend *RangeFinder::get_backend(uint8_t id) const {
@@ -925,3 +926,4 @@ RangeFinder *rangefinder()
 
 }
 
+#endif  // AP_RANGEFINDER_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.h b/libraries/AP_RangeFinder/AP_RangeFinder.h
index f94b0205ef..c67ad5cce7 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.h
@@ -16,6 +16,8 @@
 
 #include "AP_RangeFinder_config.h"
 
+#if AP_RANGEFINDER_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_HAL/Semaphores.h>
@@ -319,3 +321,5 @@ private:
 namespace AP {
     RangeFinder *rangefinder();
 };
+
+#endif  // AP_RANGEFINDER_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp
index bd0e9be294..3ae267a928 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp
@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include "AP_RangeFinder.h"
@@ -89,3 +93,4 @@ void AP_RangeFinder_Backend::get_state(RangeFinder::RangeFinder_State &state_arg
 }
 #endif
 
+#endif  // AP_RANGEFINDER_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
index ca2decd044..e1ae5b5012 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_HAL/Semaphores.h>
@@ -100,3 +104,5 @@ protected:
 
     virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const = 0;
 };
+
+#endif  // AP_RANGEFINDER_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.cpp
index af27aaf5a7..0dacdca94d 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.cpp
@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_RangeFinder_Backend_Serial.h"
 #include <AP_SerialManager/AP_SerialManager.h>
@@ -61,3 +65,5 @@ void AP_RangeFinder_Backend_Serial::update(void)
         set_status(RangeFinder::Status::NoData);
     }
 }
+
+#endif  // AP_RANGEFINDER_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.h b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.h
index e4349d75b8..35f3f8dca4 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_ENABLED
+
 #include "AP_RangeFinder_Backend.h"
 
 class AP_RangeFinder_Backend_Serial : public AP_RangeFinder_Backend
@@ -38,3 +42,5 @@ protected:
     // maximum time between readings before we change state to NoData:
     virtual uint16_t read_timeout_ms() const { return 200; }
 };
+
+#endif  // AP_RANGEFINDER_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp
index 83816dd865..860b4d9949 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Params.cpp
@@ -1,3 +1,7 @@
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_ENABLED
+
 #include "AP_RangeFinder_Params.h"
 #include "AP_RangeFinder.h"
 
@@ -139,3 +143,5 @@ const AP_Param::GroupInfo AP_RangeFinder_Params::var_info[] = {
 AP_RangeFinder_Params::AP_RangeFinder_Params(void) {
     AP_Param::setup_object_defaults(this, var_info);
 }
+
+#endif  // AP_RANGEFINDER_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Params.h b/libraries/AP_RangeFinder/AP_RangeFinder_Params.h
index 23e4406d07..17893c3e68 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Params.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Params.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_ENABLED
+
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
 
@@ -27,3 +31,5 @@ public:
     AP_Int8  address;
     AP_Int8  orientation;
 };
+
+#endif  // AP_RANGEFINDER_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_config.h b/libraries/AP_RangeFinder/AP_RangeFinder_config.h
index 71e1d01217..69d1f6e537 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_config.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_config.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL_Boards.h>
+#include <AP_MSP/AP_MSP_config.h>
 #include <AP_Scripting/AP_Scripting_config.h>
 #include <AP_CANManager/AP_CANManager_config.h>
 #include <AP_MSP/AP_MSP_config.h>
@@ -19,10 +20,7 @@
 #endif
 
 #ifndef AP_RANGEFINDER_BBB_PRU_ENABLED
-#define AP_RANGEFINDER_BBB_PRU_ENABLED (                            \
-        AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED &&                   \
-        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI \
-        )
+#define AP_RANGEFINDER_BBB_PRU_ENABLED (AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI)
 #endif
 
 #ifndef AP_RANGEFINDER_BENEWAKE_ENABLED
@@ -94,7 +92,7 @@
 #endif
 
 #ifndef AP_RANGEFINDER_LUA_ENABLED
-#define AP_RANGEFINDER_LUA_ENABLED AP_SCRIPTING_ENABLED
+#define AP_RANGEFINDER_LUA_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && AP_SCRIPTING_ENABLED
 #endif
 
 #ifndef AP_RANGEFINDER_MAVLINK_ENABLED
@@ -110,7 +108,7 @@
 #endif
 
 #ifndef HAL_MSP_RANGEFINDER_ENABLED
-#define HAL_MSP_RANGEFINDER_ENABLED HAL_MSP_ENABLED
+#define HAL_MSP_RANGEFINDER_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && HAL_MSP_ENABLED
 #endif
 
 #ifndef AP_RANGEFINDER_NMEA_ENABLED
@@ -141,6 +139,10 @@
 #define AP_RANGEFINDER_SIM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
 #endif
 
+#ifndef HAL_MSP_RANGEFINDER_ENABLED
+#define HAL_MSP_RANGEFINDER_ENABLED (AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && HAL_MSP_ENABLED)
+#endif
+
 #ifndef AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED
 #define AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
 #endif