GCS_MAVLink: allow more libraries to compile with no HAL_GCS_ENABLED

libraries/GCS_MAVLink/GCS.cpp

@@ -1,3 +1,7 @@
+#include "GCS_config.h"
+
+#if HAL_GCS_ENABLED
+
 #include "GCS.h"
 
 #include <AC_Fence/AC_Fence.h>
@@ -375,3 +379,5 @@ bool GCS_MAVLINK::check_payload_size(uint16_t max_payload_len)
     }
     return true;
 }
+
+#endif  // HAL_GCS_ENABLED

libraries/GCS_MAVLink/GCS.h

@@ -1329,6 +1329,8 @@ void can_printf(const char *fmt, ...);
 #define GCS_SEND_TEXT(severity, format, args...) (void)severity; can_printf(format, ##args)
 #endif
 
+#define GCS_SEND_MESSAGE(msg) gcs().send_message(msg)
+
 #elif defined(HAL_BUILD_AP_PERIPH) && !defined(STM32F1)
 
 // map send text to can_printf() on larger AP_Periph boards
@@ -1336,10 +1338,12 @@ extern "C" {
 void can_printf(const char *fmt, ...);
 }
 #define GCS_SEND_TEXT(severity, format, args...) can_printf(format, ##args)
+#define GCS_SEND_MESSAGE(msg)
 
 #else // HAL_GCS_ENABLED
 // empty send text when we have no GCS
 #define GCS_SEND_TEXT(severity, format, args...)
+#define GCS_SEND_MESSAGE(msg)
 
 #endif // HAL_GCS_ENABLED
 

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -14,6 +14,11 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+
+#include "GCS_config.h"
+
+#if HAL_GCS_ENABLED
+
 #include "GCS.h"
 
 #include <AC_Fence/AC_Fence.h>
@@ -6709,3 +6714,5 @@ MAV_RESULT GCS_MAVLINK::handle_control_high_latency(const mavlink_command_long_t
     return MAV_RESULT_ACCEPTED;
 }
 #endif // HAL_HIGH_LATENCY2_ENABLED
+
+#endif  // HAL_GCS_ENABLED

libraries/GCS_MAVLink/GCS_Dummy.cpp

@@ -1,4 +1,9 @@
+#include "GCS_config.h"
+
+#if HAL_GCS_ENABLED
+
 #include "GCS_Dummy.h"
+
 #include <stdio.h>
 
 #define FORCE_VERSION_H_INCLUDE
@@ -22,3 +27,5 @@ void GCS_Dummy::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_l
     ::printf("\n");
 #endif
 }
+
+#endif  // HAL_GCS_ENABLED

libraries/GCS_MAVLink/GCS_Dummy.h

@@ -1,3 +1,7 @@
+#include "GCS_config.h"
+
+#if HAL_GCS_ENABLED
+
 #include "GCS.h"
 #include <AP_Common/AP_FWVersion.h>
 
@@ -72,3 +76,5 @@ private:
     MAV_TYPE frame_type() const override { return MAV_TYPE_FIXED_WING; }
     uint32_t custom_mode() const override { return 3; } // magic number
 };
+
+#endif  // HAL_GCS_ENABLED

libraries/GCS_MAVLink/GCS_FTP.cpp

@@ -14,6 +14,11 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+
+#include "GCS_config.h"
+
+#if HAL_GCS_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
 #include "GCS.h"
@@ -696,3 +701,5 @@ void GCS_MAVLINK::ftp_list_dir(struct pending_ftp &request, struct pending_ftp &
 
     AP::FS().closedir(dir);
 }
+
+#endif  // HAL_GCS_ENABLED

libraries/GCS_MAVLink/GCS_Fence.cpp

@@ -1,6 +1,7 @@
+#include "GCS_config.h"
 #include <AC_Fence/AC_Fence_config.h>
 
-#if AP_FENCE_ENABLED
+#if HAL_GCS_ENABLED && AP_FENCE_ENABLED
 
 #include "GCS.h"
 
@@ -103,4 +104,4 @@ void GCS_MAVLINK::send_fence_status() const
                                   breach_mitigation);
 }
 
-#endif
+#endif  // HAL_GCS_ENABLED && AP_FENCE_ENABLED

libraries/GCS_MAVLink/GCS_MAVLink.cpp

@@ -19,6 +19,11 @@
 This provides some support code and variables for MAVLink enabled sketches
 
 */
+
+#include "GCS_config.h"
+
+#if HAL_GCS_ENABLED
+
 #include "GCS.h"
 #include "GCS_MAVLink.h"
 
@@ -173,3 +178,5 @@ HAL_Semaphore &comm_chan_lock(mavlink_channel_t chan)
 {
     return chan_locks[uint8_t(chan)];
 }
+
+#endif  // HAL_GCS_ENABLED

libraries/GCS_MAVLink/GCS_Param.cpp

@@ -14,6 +14,11 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+
+#include "GCS_config.h"
+
+#if HAL_GCS_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
 #include "GCS.h"
@@ -461,3 +466,5 @@ void GCS_MAVLINK::handle_common_param_message(const mavlink_message_t &msg)
         break;
     }
 }
+
+#endif  // HAL_GCS_ENABLED

libraries/GCS_MAVLink/GCS_Signing.cpp

@@ -15,6 +15,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "GCS_config.h"
+
+#if HAL_GCS_ENABLED
+
 #include "GCS.h"
 
 extern const AP_HAL::HAL& hal;
@@ -259,3 +263,4 @@ uint8_t GCS_MAVLINK::packet_overhead_chan(mavlink_channel_t chan)
     return MAVLINK_NUM_NON_PAYLOAD_BYTES + reserved_space;
 }
 
+#endif  // HAL_GCS_ENABLED

libraries/GCS_MAVLink/MAVLink_routing.cpp

@@ -16,6 +16,10 @@
 /// @file	MAVLink_routing.h
 /// @brief	handle routing of MAVLink packets by sysid/componentid
 
+#include "GCS_config.h"
+
+#if HAL_GCS_ENABLED
+
 #include <stdio.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
@@ -405,3 +409,4 @@ void MAVLink_routing::get_targets(const mavlink_message_t &msg, int16_t &sysid,
     }
 }
 
+#endif  // HAL_GCS_ENABLED

libraries/GCS_MAVLink/MissionItemProtocol.cpp

@@ -1,3 +1,7 @@
+#include "GCS_config.h"
+
+#if HAL_GCS_ENABLED
+
 #include "MissionItemProtocol.h"
 
 #include "GCS.h"
@@ -380,3 +384,5 @@ void MissionItemProtocol::update()
         link->send_message(next_item_ap_message_id());
     }
 }
+
+#endif  // HAL_GCS_ENABLED

libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp

@@ -1,11 +1,14 @@
+#include "GCS_config.h"
+#include <AC_Fence/AC_Fence_config.h>
+
+#if HAL_GCS_ENABLED && AP_FENCE_ENABLED
+
 #include "MissionItemProtocol_Fence.h"
 
 #include <AC_Fence/AC_Fence.h>
 #include <AP_InternalError/AP_InternalError.h>
 #include <GCS_MAVLink/GCS.h>
 
-#if AP_FENCE_ENABLED
-
 /*
   public function to format mission item as mavlink_mission_item_int_t
  */
@@ -244,4 +247,4 @@ MAV_MISSION_RESULT MissionItemProtocol_Fence::allocate_update_resources()
     return MAV_MISSION_ACCEPTED;
 }
 
-#endif // AP_FENCE_ENABLED
+#endif // HAL_GCS_ENABLED && AP_FENCE_ENABLED

libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp

@@ -16,14 +16,17 @@
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
+#include "GCS_config.h"
+#include <AP_Rally/AP_Rally_config.h>
+
+#if HAL_GCS_ENABLED && HAL_RALLY_ENABLED
+
 #include "MissionItemProtocol_Rally.h"
 
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Rally/AP_Rally.h>
 #include <GCS_MAVLink/GCS.h>
 
-#if HAL_RALLY_ENABLED
-
 MAV_MISSION_RESULT MissionItemProtocol_Rally::append_item(const mavlink_mission_item_int_t &cmd)
 {
     RallyLocation rallyloc;
@@ -139,4 +142,4 @@ void MissionItemProtocol_Rally::truncate(const mavlink_mission_count_t &packet)
     rally.truncate(packet.count);
 }
 
-#endif  // HAL_RALLY_ENABLED
+#endif  // HAL_GCS_ENABLED && HAL_RALLY_ENABLED

libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp

@@ -16,6 +16,11 @@
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
+#include "GCS_config.h"
+#include <AP_Mission/AP_Mission_config.h>
+
+#if HAL_GCS_ENABLED && AP_MISSION_ENABLED
+
 #include "MissionItemProtocol_Waypoints.h"
 
 #include <AP_Logger/AP_Logger.h>
@@ -139,3 +144,5 @@ void MissionItemProtocol_Waypoints::truncate(const mavlink_mission_count_t &pack
     // new mission arriving, truncate mission to be the same length
     mission.truncate(packet.count);
 }
+
+#endif  // HAL_GCS_ENABLED && AP_MISSION_ENABLED