From 30878553d6b8dc29d7c2dd881b6a134893104eb2 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sat, 16 Nov 2019 22:47:16 +0000
Subject: [PATCH] Tools: add AP_Camera to list of libraries

remove dummy Camera methods from Replay
add rcmapper to replay
make replay a vehicle
---
 Tools/Replay/Replay.cpp            | 8 ++++----
 Tools/Replay/Replay.h              | 8 ++++++--
 Tools/Replay/wscript               | 1 +
 Tools/ardupilotwaf/ardupilotwaf.py | 1 +
 4 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp
index e43809d135..5c8e00047f 100644
--- a/Tools/Replay/Replay.cpp
+++ b/Tools/Replay/Replay.cpp
@@ -132,6 +132,10 @@ void ReplayVehicle::setup(void)
     ins.set_hil_mode();
 }
 
+void ReplayVehicle::loop()
+{
+}
+
 Replay replay(replayvehicle);
 
 void Replay::usage(void)
@@ -966,10 +970,6 @@ GCS_Dummy _gcs;
 #include <AP_Avoidance/AP_Avoidance.h>
 
 // dummy methods to avoid linking with these libraries
-AP_Camera *AP::camera() { return nullptr; }
-void AP_Camera::send_feedback(mavlink_channel_t) {}
-void AP_Camera::control(float, float, float, float, float, float) {}
-void AP_Camera::configure(float, float, float, float, float, float, float) {}
 bool AP_AdvancedFailsafe::gcs_terminate(bool should_terminate, const char *reason) { return false; }
 AP_AdvancedFailsafe *AP::advancedfailsafe() { return nullptr; }
 
diff --git a/Tools/Replay/Replay.h b/Tools/Replay/Replay.h
index 2bcce253e6..26a44aa7e7 100644
--- a/Tools/Replay/Replay.h
+++ b/Tools/Replay/Replay.h
@@ -49,12 +49,16 @@
 #include <unistd.h>
 #include <AP_HAL/utility/getopt_cpp.h>
 
-class ReplayVehicle {
+class ReplayVehicle : public AP_Vehicle {
 public:
     ReplayVehicle() { unused = -1; }
-    void setup();
+    // HAL::Callbacks implementation.
+    void setup() override;
+    void loop() override;
     void load_parameters(void);
 
+    virtual bool set_mode(const uint8_t new_mode, const ModeReason reason) override { return true; }
+
     AP_InertialSensor ins;
     AP_Baro barometer;
     AP_GPS gps;
diff --git a/Tools/Replay/wscript b/Tools/Replay/wscript
index a5c8d0ca13..7e8fb579ef 100644
--- a/Tools/Replay/wscript
+++ b/Tools/Replay/wscript
@@ -15,6 +15,7 @@ def build(bld):
         ap_libraries=bld.ap_common_vehicle_libraries() + [
             'AP_Beacon',
             'AP_Arming',
+            'AP_RCMapper',
         ],
     )
 
diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index da95324e91..4b5d9fbcdf 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -25,6 +25,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
     'AP_Baro',
     'AP_BattMonitor',
     'AP_BoardConfig',
+    'AP_Camera',
     'AP_Common',
     'AP_Compass',
     'AP_Declination',