Use ifdefs to remove more code around RC option code

ArduCopter/RC_Channel.cpp

@@ -87,7 +87,9 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     case AUX_FUNC::GUIDED:
     case AUX_FUNC::LAND:
     case AUX_FUNC::LOITER:
+#if HAL_PARACHUTE_ENABLED
     case AUX_FUNC::PARACHUTE_RELEASE:
+#endif
     case AUX_FUNC::POSHOLD:
     case AUX_FUNC::RESETTOARMEDYAW:
     case AUX_FUNC::RTL:
@@ -99,7 +101,9 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     case AUX_FUNC::USER_FUNC1:
     case AUX_FUNC::USER_FUNC2:
     case AUX_FUNC::USER_FUNC3:
+#if AP_WINCH_ENABLED
     case AUX_FUNC::WINCH_CONTROL:
+#endif
     case AUX_FUNC::ZIGZAG:
     case AUX_FUNC::ZIGZAG_Auto:
     case AUX_FUNC::ZIGZAG_SaveWP:
@@ -116,15 +120,21 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     case AUX_FUNC::ATTCON_FEEDFWD:
     case AUX_FUNC::INVERTED:
     case AUX_FUNC::MOTOR_INTERLOCK:
+#if HAL_PARACHUTE_ENABLED
     case AUX_FUNC::PARACHUTE_3POS:      // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
     case AUX_FUNC::PARACHUTE_ENABLE:
+#endif
     case AUX_FUNC::PRECISION_LOITER:
+#if AP_RANGEFINDER_ENABLED
     case AUX_FUNC::RANGEFINDER:
+#endif
     case AUX_FUNC::SIMPLE_MODE:
     case AUX_FUNC::STANDBY:
     case AUX_FUNC::SUPERSIMPLE_MODE:
     case AUX_FUNC::SURFACE_TRACKING:
+#if AP_WINCH_ENABLED
     case AUX_FUNC::WINCH_ENABLE:
+#endif
     case AUX_FUNC::AIRMODE:
     case AUX_FUNC::FORCEFLYING:
     case AUX_FUNC::CUSTOM_CONTROLLER:
@@ -270,7 +280,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                 copter.rangefinder_state.enabled = false;
             }
             break;
-#endif
+#endif // AP_RANGEFINDER_ENABLED
 
 #if MODE_ACRO_ENABLED
         case AUX_FUNC::ACRO_TRAINER:
@@ -343,7 +353,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                     break;
             }
             break;
-#endif
+#endif  // HAL_PARACHUTE_ENABLED
 
         case AUX_FUNC::ATTCON_FEEDFWD:
             // enable or disable feed forward
@@ -451,11 +461,11 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
                     break;
                 }
             break;
-#endif
 
         case AUX_FUNC::WINCH_CONTROL:
             // do nothing, used to control the rate of the winch and is processed within AP_Winch
             break;
+#endif  // AP_WINCH_ENABLED
 
 #ifdef USERHOOK_AUXSWITCH
         case AUX_FUNC::USER_FUNC1:

ArduPlane/Parameters.cpp

@@ -1362,9 +1362,15 @@ struct RCConversionInfo {
 static const RCConversionInfo rc_option_conversion[] = {
     { Parameters::k_param_flapin_channel_old, 0, RC_Channel::AUX_FUNC::FLAP},
     { Parameters::k_param_g2, 968, RC_Channel::AUX_FUNC::SOARING},
+#if AP_FENCE_ENABLED
     { Parameters::k_param_fence_channel, 0, RC_Channel::AUX_FUNC::FENCE},
+#endif
+#if AP_MISSION_ENABLED
     { Parameters::k_param_reset_mission_chan, 0, RC_Channel::AUX_FUNC::MISSION_RESET},
+#endif
+#if HAL_PARACHUTE_ENABLED
     { Parameters::k_param_parachute_channel, 0, RC_Channel::AUX_FUNC::PARACHUTE_RELEASE},
+#endif
     { Parameters::k_param_fbwa_tdrag_chan, 0, RC_Channel::AUX_FUNC::FBWA_TAILDRAGGER},
     { Parameters::k_param_reset_switch_chan, 0, RC_Channel::AUX_FUNC::MODE_SWITCH_RESET},
 };

ArduPlane/RC_Channel.cpp

@@ -157,7 +157,9 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
     case AUX_FUNC::FBWA_TAILDRAGGER:
     case AUX_FUNC::FWD_THR:
     case AUX_FUNC::LANDING_FLARE:
+#if HAL_PARACHUTE_ENABLED
     case AUX_FUNC::PARACHUTE_RELEASE:
+#endif
     case AUX_FUNC::MODE_SWITCH_RESET:
     case AUX_FUNC::CRUISE:
 #if HAL_QUADPLANE_ENABLED

Tools/autotest/test_build_options.py

@@ -190,6 +190,9 @@ def test_disable_feature(self, feature, options):
 
         self.test_compile_with_defines(defines)
 
+        self.assert_feature_not_in_code(defines, feature)
+
+    def assert_feature_not_in_code(self, defines, feature):
         # if the feature is truly disabled then extract_features.py
         # should say so:
         for target in self.build_targets:
@@ -222,6 +225,177 @@ def test_enable_feature(self, feature, options):
 
         self.test_compile_with_defines(defines)
 
+        self.assert_feature_in_code(defines, feature)
+
+    def define_is_whitelisted_for_feature_in_code(self, target, define):
+        '''returns true if we can not expect the define to be extracted from
+        the binary'''
+        # the following defines are known not to work on some
+        # or all vehicles:
+        feature_define_whitelist = set([
+            'AP_RANGEFINDER_ENABLED',  # only at vehicle level ATM
+            'HAL_PERIPH_SUPPORT_LONG_CAN_PRINTF',  # no symbol
+            'AP_DRONECAN_VOLZ_FEEDBACK_ENABLED',  # broken, no subscriber
+            # Baro drivers either come in because you have
+            # external-probing enabled or you have them specified in
+            # your hwdef.  If you're not probing and its not in your
+            # hwdef then the code will be elided as unreachable
+            'AP_BARO_ICM20789_ENABLED',
+            'AP_BARO_ICP101XX_ENABLED',
+            'AP_BARO_ICP201XX_ENABLED',
+            'AP_BARO_BMP085_ENABLED',
+            'AP_BARO_BMP280_ENABLED',
+            'AP_BARO_BMP388_ENABLED',
+            'AP_BARO_BMP581_ENABLED',
+            'AP_BARO_DPS280_ENABLED',
+            'AP_BARO_FBM320_ENABLED',
+            'AP_BARO_KELLERLD_ENABLED',
+            'AP_BARO_LPS2XH_ENABLED',
+            'AP_BARO_MS56XX_ENABLED',
+            'AP_BARO_SPL06_ENABLED',
+            'AP_CAMERA_SEND_FOV_STATUS_ENABLED',  # elided unless AP_CAMERA_SEND_FOV_STATUS_ENABLED
+            'AP_COMPASS_LSM9DS1_ENABLED',  # must be in hwdef, not probed
+            'AP_COMPASS_MAG3110_ENABLED',  # must be in hwdef, not probed
+            'AP_COMPASS_MMC5XX3_ENABLED',  # must be in hwdef, not probed
+            'AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED',  # completely elided
+            'AP_MAVLINK_MSG_HIL_GPS_ENABLED',  # no symbol available
+            'AP_MAVLINK_MSG_RELAY_STATUS_ENABLED',  # no symbol available
+            'AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED',  # no symbol available
+            'HAL_MSP_SENSORS_ENABLED',  # no symbol available
+            'AP_OSD_LINK_STATS_EXTENSIONS_ENABLED',  # FIXME: need a new define/feature
+            'HAL_OSD_SIDEBAR_ENABLE',  # FIXME: need a new define/feature
+            'HAL_PLUSCODE_ENABLE',  # FIXME: need a new define/feature
+            'AP_SERIALMANAGER_REGISTER_ENABLED',  # completely elided without a caller
+            'AP_OPTICALFLOW_ONBOARD_ENABLED',  # only instantiated on Linux
+            'HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL',  # entirely elided if no user
+            'AP_PLANE_BLACKBOX_LOGGING',  # entirely elided if no user
+        ])
+        if target.lower() != "copter":
+            feature_define_whitelist.add('MODE_ZIGZAG_ENABLED')
+            feature_define_whitelist.add('MODE_SYSTEMID_ENABLED')
+            feature_define_whitelist.add('MODE_SPORT_ENABLED')
+            feature_define_whitelist.add('MODE_FOLLOW_ENABLED')
+            feature_define_whitelist.add('MODE_TURTLE_ENABLED')
+            feature_define_whitelist.add('MODE_GUIDED_NOGPS_ENABLED')
+            feature_define_whitelist.add('MODE_FLOWHOLD_ENABLED')
+            feature_define_whitelist.add('MODE_FLIP_ENABLED')
+            feature_define_whitelist.add('MODE_BRAKE_ENABLED')
+            feature_define_whitelist.add('AP_TEMPCALIBRATION_ENABLED')
+            feature_define_whitelist.add('AC_PAYLOAD_PLACE_ENABLED')
+            feature_define_whitelist.add('AP_AVOIDANCE_ENABLED')
+            feature_define_whitelist.add('AP_WINCH_ENABLED')
+            feature_define_whitelist.add('AP_WINCH_DAIWA_ENABLED')
+            feature_define_whitelist.add('AP_WINCH_PWM_ENABLED')
+            feature_define_whitelist.add(r'AP_MOTORS_FRAME_.*_ENABLED')
+
+        if target.lower() != "plane":
+            # only on Plane:
+            feature_define_whitelist.add('AP_ICENGINE_ENABLED')
+            feature_define_whitelist.add('AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED')
+            feature_define_whitelist.add('AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED')
+            feature_define_whitelist.add('AP_ADVANCEDFAILSAFE_ENABLED')
+            feature_define_whitelist.add('AP_TUNING_ENABLED')
+            feature_define_whitelist.add('HAL_LANDING_DEEPSTALL_ENABLED')
+            feature_define_whitelist.add('HAL_SOARING_ENABLED')
+            feature_define_whitelist.add('AP_PLANE_BLACKBOX_LOGGING')
+            feature_define_whitelist.add('QAUTOTUNE_ENABLED')
+            feature_define_whitelist.add('AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED')
+            feature_define_whitelist.add('HAL_QUADPLANE_ENABLED')
+            feature_define_whitelist.add('AP_BATTERY_WATT_MAX_ENABLED')
+
+        if target.lower() not in ["plane", "copter"]:
+            feature_define_whitelist.add('HAL_ADSB_ENABLED')
+            feature_define_whitelist.add('AP_LANDINGGEAR_ENABLED')
+            # only Plane and Copter instantiate Parachute
+            feature_define_whitelist.add('HAL_PARACHUTE_ENABLED')
+            # only Plane and Copter have AP_Motors:
+
+        if target.lower() not in ["rover", "copter"]:
+            # only Plane and Copter instantiate Beacon
+            feature_define_whitelist.add('AP_BEACON_ENABLED')
+
+        if target.lower() != "rover":
+            # only on Rover:
+            feature_define_whitelist.add('HAL_TORQEEDO_ENABLED')
+            feature_define_whitelist.add('AP_ROVER_ADVANCED_FAILSAFE_ENABLED')
+        if target.lower() != "sub":
+            # only on Sub:
+            feature_define_whitelist.add('AP_BARO_KELLERLD_ENABLED')
+        if target.lower() not in frozenset(["rover", "sub"]):
+            # only Rover and Sub get nmea airspeed
+            feature_define_whitelist.add('AP_AIRSPEED_NMEA_ENABLED')
+        if target.lower() not in frozenset(["copter", "rover"]):
+            feature_define_whitelist.add('HAL_SPRAYER_ENABLED')
+            feature_define_whitelist.add('HAL_PROXIMITY_ENABLED')
+            feature_define_whitelist.add('AP_PROXIMITY_.*_ENABLED')
+            feature_define_whitelist.add('AP_OAPATHPLANNER_ENABLED')
+
+        if target.lower() in ["blimp", "antennatracker"]:
+            # no airspeed on blimp/tracker
+            feature_define_whitelist.add(r'AP_AIRSPEED_.*_ENABLED')
+            feature_define_whitelist.add(r'HAL_MOUNT_ENABLED')
+            feature_define_whitelist.add(r'AP_MOUNT_.*_ENABLED')
+            feature_define_whitelist.add(r'HAL_MOUNT_.*_ENABLED')
+            feature_define_whitelist.add(r'HAL_SOLO_GIMBAL_ENABLED')
+            feature_define_whitelist.add(r'AP_OPTICALFLOW_ENABLED')
+            feature_define_whitelist.add(r'AP_OPTICALFLOW_.*_ENABLED')
+            feature_define_whitelist.add(r'HAL_MSP_OPTICALFLOW_ENABLED')
+            # missing calls to fence.check():
+            feature_define_whitelist.add(r'AP_FENCE_ENABLED')
+            # RPM not instantiated on Blimp or Rover:
+            feature_define_whitelist.add(r'AP_RPM_ENABLED')
+            feature_define_whitelist.add(r'AP_RPM_.*_ENABLED')
+            # rangefinder init is not called:
+            feature_define_whitelist.add(r'HAL_MSP_RANGEFINDER_ENABLED')
+            # these guys don't instantiate anything which uses sd-card storage:
+            feature_define_whitelist.add(r'AP_SDCARD_STORAGE_ENABLED')
+            feature_define_whitelist.add(r'AP_RANGEFINDER_ENABLED')
+            feature_define_whitelist.add(r'AP_RANGEFINDER_.*_ENABLED')
+
+        if target.lower() in ["blimp", "antennatracker", "sub"]:
+            # no OSD on Sub/blimp/tracker
+            feature_define_whitelist.add(r'OSD_ENABLED')
+            feature_define_whitelist.add(r'OSD_PARAM_ENABLED')
+            # AP_OSD is not instantiated, , so no MSP backend:
+            feature_define_whitelist.add(r'HAL_WITH_MSP_DISPLAYPORT')
+            # camera instantiated in specific vehicles:
+            feature_define_whitelist.add(r'AP_CAMERA_ENABLED')
+            feature_define_whitelist.add(r'AP_CAMERA_.*_ENABLED')
+            # button update is not called in these vehicles
+            feature_define_whitelist.add(r'HAL_BUTTON_ENABLED')
+            # precland not instantiated on these vehicles
+            feature_define_whitelist.add(r'AC_PRECLAND_ENABLED')
+            feature_define_whitelist.add(r'AC_PRECLAND_.*_ENABLED')
+            # RSSI is not initialised - probably should be for some
+            feature_define_whitelist.add(r'AP_RSSI_ENABLED')
+
+        if target.lower() in ["antennatracker", "sub"]:
+            # missing the init call to the relay library:
+            feature_define_whitelist.add(r'AP_RELAY_ENABLED')
+            feature_define_whitelist.add(r'AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED')
+
+        for some_re in feature_define_whitelist:
+            if re.match(some_re, define):
+                return True
+
+    def assert_feature_in_code(self, defines, feature):
+        # if the feature is truly disabled then extract_features.py
+        # should say so:
+        for target in self.build_targets:
+            path = self.target_to_elf_path(target)
+            extracter = extract_features.ExtractFeatures(path)
+            (compiled_in_feature_defines, not_compiled_in_feature_defines) = extracter.extract()
+            for define in defines:
+                if not defines[define]:
+                    continue
+                if define in compiled_in_feature_defines:
+                    continue
+                error = f"feature gated by {define} not compiled into ({target}); extract_features.py bug?"
+                if self.define_is_whitelisted_for_feature_in_code(target, define):
+                    print("warn: " + error)
+                    continue
+                raise ValueError(error)
+
     def board(self):
         '''returns board to build for'''
         return self._board

libraries/AP_Parachute/AP_Parachute.h

@@ -2,6 +2,10 @@
 /// @brief  Parachute release library
 #pragma once
 
+#include "AP_Parachute_config.h"
+
+#if HAL_PARACHUTE_ENABLED
+
 #include <AP_Param/AP_Param.h>
 #include <AP_Common/AP_Common.h>
 
@@ -22,13 +26,6 @@
 #define AP_PARACHUTE_CRITICAL_SINK_DEFAULT      0      // default critical sink speed in m/s to trigger emergency parachute
 #define AP_PARACHUTE_OPTIONS_DEFAULT            0      // default parachute options: enabled disarm after parachute release
 
-#ifndef HAL_PARACHUTE_ENABLED
-// default to parachute enabled to match previous configs
-#define HAL_PARACHUTE_ENABLED 1
-#endif
-
-#if HAL_PARACHUTE_ENABLED
-
 /// @class  AP_Parachute
 /// @brief  Class managing the release of a parachute
 class AP_Parachute {

libraries/AP_Parachute/AP_Parachute_config.h

@@ -0,0 +1,8 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef HAL_PARACHUTE_ENABLED
+// default to parachute enabled to match previous configs
+#define HAL_PARACHUTE_ENABLED 1
+#endif