Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_Fence: add dummy methods

This commit is contained in:
Iampete1 2022-03-04 20:25:54 +00:00 committed by Andrew Tridgell
parent 6a6f3ec4e5
commit fa440d532a
2 changed files with 84 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

48
libraries/AC_Fence/AC_Fence.cpp
View File

@ -2,6 +2,14 @@
#if AC_FENCE
#include <AP_Vehicle/AP_Vehicle_Type.h>
#ifndef AC_FENCE_DUMMY_METHODS_ENABLED
#define AC_FENCE_DUMMY_METHODS_ENABLED !(APM_BUILD_TYPE(APM_BUILD_Rover) | APM_BUILD_COPTER_OR_HELI | APM_BUILD_TYPE(APM_BUILD_ArduPlane) | APM_BUILD_TYPE(APM_BUILD_ArduSub))
#endif
#if !AC_FENCE_DUMMY_METHODS_ENABLED
#include <AP_AHRS/AP_AHRS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
@ -695,6 +703,46 @@ const AC_PolyFence_loader &AC_Fence::polyfence() const
return _poly_loader;
}
#else // build type is not appropriate; provide a dummy implementation:
const AP_Param::GroupInfo AC_Fence::var_info[] = { AP_GROUPEND };
AC_Fence::AC_Fence() {};
void AC_Fence::enable(bool value) {};
void AC_Fence::disable_floor() {};
void AC_Fence::auto_enable_fence_after_takeoff() {};
void AC_Fence::auto_disable_fence_for_landing() {};
bool AC_Fence::present() const { return false; }
uint8_t AC_Fence::get_enabled_fences() const { return 0; }
bool AC_Fence::pre_arm_check(const char* &fail_msg) const { return true; }
uint8_t AC_Fence::check() { return 0; }
bool AC_Fence::check_destination_within_fence(const Location& loc) { return true; }
float AC_Fence::get_breach_distance(uint8_t fence_type) const { return 0.0; }
void AC_Fence::manual_recovery_start() {}
bool AC_Fence::sys_status_present() const { return false; }
bool AC_Fence::sys_status_enabled() const { return false; }
bool AC_Fence::sys_status_failed() const { return false; }
AC_PolyFence_loader &AC_Fence::polyfence()
{
return _poly_loader;
}
const AC_PolyFence_loader &AC_Fence::polyfence() const
{
return _poly_loader;
}
#endif // #if AC_FENCE_DUMMY_METHODS_ENABLED
// singleton instance
AC_Fence *AC_Fence::_singleton;

36
libraries/AC_Fence/AC_PolyFence_loader.cpp
View File

@ -1,4 +1,11 @@
#include "AC_PolyFence_loader.h"
#include <AP_Vehicle/AP_Vehicle_Type.h>
#ifndef AC_FENCE_DUMMY_METHODS_ENABLED
#define AC_FENCE_DUMMY_METHODS_ENABLED !(APM_BUILD_TYPE(APM_BUILD_Rover) | APM_BUILD_COPTER_OR_HELI | APM_BUILD_TYPE(APM_BUILD_ArduPlane) | APM_BUILD_TYPE(APM_BUILD_ArduSub))
#endif
#if !AC_FENCE_DUMMY_METHODS_ENABLED
#include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS.h>
@ -1662,3 +1669,32 @@ void AC_PolyFence_loader::update()
return;
}
}
#else // build type is not appropriate; provide a dummy implementation:
void AC_PolyFence_loader::init() {};
bool AC_PolyFence_loader::get_item(const uint16_t seq, AC_PolyFenceItem &item) { return false; }
Vector2f* AC_PolyFence_loader::get_exclusion_polygon(uint16_t index, uint16_t &num_points) const { return nullptr; }
Vector2f* AC_PolyFence_loader::get_inclusion_polygon(uint16_t index, uint16_t &num_points) const { return nullptr; }
bool AC_PolyFence_loader::get_exclusion_circle(uint8_t index, Vector2f &center_pos_cm, float &radius) const { return false; }
bool AC_PolyFence_loader::get_inclusion_circle(uint8_t index, Vector2f &center_pos_cm, float &radius) const { return false; }
void AC_PolyFence_loader::handle_msg(GCS_MAVLINK &link, const mavlink_message_t& msg) {};
bool AC_PolyFence_loader::breached() const { return false; }
bool AC_PolyFence_loader::breached(const Location& loc) const { return false; }
uint16_t AC_PolyFence_loader::max_items() const { return 0; }
bool AC_PolyFence_loader::write_fence(const AC_PolyFenceItem *new_items, uint16_t count) { return false; }
void AC_PolyFence_loader::update() {};
#if AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT
bool AC_PolyFence_loader::get_return_point(Vector2l &ret) { return false; }
#endif
#endif // #if AC_FENCE_DUMMY_METHODS_ENABLED