Allow mavlink PLAY_TUNE support to be compiled out

libraries/AP_BattMonitor/AP_BattMonitor_SMBus_SUI.cpp

@@ -1,7 +1,6 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
-#include <AP_Notify/AP_Notify.h>
 #include "AP_BattMonitor.h"
 #include "AP_BattMonitor_SMBus_SUI.h"
 

libraries/AP_Notify/AP_Notify.cpp

@@ -412,6 +412,7 @@ void AP_Notify::update(void)
     memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
 }
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
 // handle a LED_CONTROL message
 void AP_Notify::handle_led_control(const mavlink_message_t &msg)
 {
@@ -421,6 +422,7 @@ void AP_Notify::handle_led_control(const mavlink_message_t &msg)
         }
     }
 }
+#endif
 
 // handle RGB from Scripting or AP_Periph
 void AP_Notify::handle_rgb(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz)
@@ -442,16 +444,6 @@ void AP_Notify::handle_rgb_id(uint8_t r, uint8_t g, uint8_t b, uint8_t id)
     }
 }
 
-// handle a PLAY_TUNE message
-void AP_Notify::handle_play_tune(const mavlink_message_t &msg)
-{
-    for (uint8_t i = 0; i < _num_devices; i++) {
-        if (_devices[i] != nullptr) {
-            _devices[i]->handle_play_tune(msg);
-        }
-    }
-}
-
 void AP_Notify::play_tune(const char *tune)
 {
     for (uint8_t i = 0; i < _num_devices; i++) {

libraries/AP_Notify/AP_Notify.h

@@ -16,7 +16,7 @@
 
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
-#include <GCS_MAVLink/GCS_MAVLink.h>
+#include "AP_Notify_config.h"
 
 #include "NotifyDevice.h"
 
@@ -151,17 +151,21 @@ class AP_Notify
     /// update - allow updates of leds that cannot be updated during a timed interrupt
     void update(void);
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
     // handle a LED_CONTROL message
     static void handle_led_control(const mavlink_message_t &msg);
+#endif
 
     // handle RGB from Scripting or AP_Periph
     static void handle_rgb(uint8_t r, uint8_t g, uint8_t b, uint8_t rate_hz = 0);
 
     // handle RGB from Scripting
     static void handle_rgb_id(uint8_t r, uint8_t g, uint8_t b, uint8_t id);
 
+#if AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED
     // handle a PLAY_TUNE message
     static void handle_play_tune(const mavlink_message_t &msg);
+#endif
 
     // play a tune string
     static void play_tune(const char *tune);

libraries/AP_Notify/AP_Notify_config.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include <GCS_MAVLink/GCS_config.h>
+#if HAL_GCS_ENABLED
+#include <GCS_MAVLink/GCS_MAVLink.h>
+#endif
+
+#ifndef AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED
+#define AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED HAL_GCS_ENABLED
+#endif
+
+#ifndef AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
+#define AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED HAL_GCS_ENABLED
+#endif

libraries/AP_Notify/NotifyDevice.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <AP_Common/AP_Common.h>
-#include <GCS_MAVLink/GCS_MAVLink.h>
+#include "AP_Notify_config.h"
 
 class AP_Notify;
 
@@ -14,11 +14,10 @@ class NotifyDevice {
     // called at 50Hz
     virtual void update() = 0;
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
     // handle a LED_CONTROL message, by default device ignore message
     virtual void handle_led_control(const mavlink_message_t &msg) {}
-
-    // handle a PLAY_TUNE message, by default device ignore message
-    virtual void handle_play_tune(const mavlink_message_t &msg) {}
+#endif
 
     // play a MML tune
     virtual void play_tune(const char *tune) {}

libraries/AP_Notify/OreoLED_I2C.cpp

@@ -561,6 +561,7 @@ void OreoLED_I2C::send_sync(void)
 
 
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
 // Handle an LED_CONTROL mavlink message
 void OreoLED_I2C::handle_led_control(const mavlink_message_t &msg)
 {
@@ -645,6 +646,7 @@ void OreoLED_I2C::handle_led_control(const mavlink_message_t &msg)
     }
     _pattern_override = packet.pattern;
 }
+#endif
 
 OreoLED_I2C::oreo_state::oreo_state()
 {

libraries/AP_Notify/OreoLED_I2C.h

@@ -41,8 +41,10 @@ class OreoLED_I2C : public NotifyDevice {
     // called at 50Hz
     void update() override;
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
     // handle a LED_CONTROL message, by default device ignore message
     void handle_led_control(const mavlink_message_t &msg) override;
+#endif
 
 private:
     enum oreoled_pattern {

libraries/AP_Notify/RGBLed.cpp

@@ -225,6 +225,7 @@ void RGBLed::update()
     set_rgb(red_des, green_des, blue_des);
 }
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
 /*
   handle LED control, only used when LED_OVERRIDE=1
 */
@@ -251,6 +252,7 @@ void RGBLed::handle_led_control(const mavlink_message_t &msg)
         break;
     }
 }
+#endif
 
 /*
   update LED when in override mode

libraries/AP_Notify/RGBLed.h

@@ -32,8 +32,10 @@ class RGBLed: public NotifyDevice {
     // called at 50Hz
     virtual void update() override;
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
     // handle LED control, only used when LED_OVERRIDE=1
     virtual void handle_led_control(const mavlink_message_t &msg) override;
+#endif
 
     // RGB control
     // give RGB and flash rate, used with scripting

libraries/AP_Notify/ToneAlarm.cpp

@@ -449,26 +449,25 @@ void AP_ToneAlarm::update()
 }
 
 
+#if AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED
 /*
  *  handle a PLAY_TUNE message
  */
-void AP_ToneAlarm::handle_play_tune(const mavlink_message_t &msg)
+void AP_Notify::handle_play_tune(const mavlink_message_t &msg)
 {
     // decode mavlink message
     mavlink_play_tune_t packet;
 
     mavlink_msg_play_tune_decode(&msg, &packet);
 
-    WITH_SEMAPHORE(_sem);
-
-    _mml_player.stop();
-
+    char _tone_buf[AP_NOTIFY_TONEALARM_TONE_BUF_SIZE] {};  // ~100 bytes
     strncpy(_tone_buf, packet.tune, MIN(sizeof(packet.tune), sizeof(_tone_buf)-1));
-    _tone_buf[sizeof(_tone_buf)-1] = 0;
     uint8_t len = strlen(_tone_buf);
     uint8_t len2 = strnlen(packet.tune2, sizeof(packet.tune2));
     len2 = MIN((sizeof(_tone_buf)-1)-len, len2);
-    strncpy(_tone_buf+len, packet.tune2, len2);
+    memcpy(_tone_buf+len, packet.tune2, len2);  // not strncpy to avoid truncation warning
     _tone_buf[sizeof(_tone_buf)-1] = 0;
-    _mml_player.play(_tone_buf);
+
+    play_tune(_tone_buf);
 }
+#endif

libraries/AP_Notify/ToneAlarm.h

@@ -32,9 +32,6 @@ class AP_ToneAlarm: public NotifyDevice {
     /// update - updates led according to timed_updated.  Should be called at 50Hz
     void update() override;
 
-    // handle a PLAY_TUNE message
-    void handle_play_tune(const mavlink_message_t &msg) override;
-
     // play_tune - play tone specified by the provided string of notes
     void play_tune(const char *tune) override;
 

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -3786,15 +3786,19 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
         handle_statustext(msg);
         break;
 
+#if AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
     case MAVLINK_MSG_ID_LED_CONTROL:
         // send message to Notify
         AP_Notify::handle_led_control(msg);
         break;
+#endif
 
+#if AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED
     case MAVLINK_MSG_ID_PLAY_TUNE:
         // send message to Notify
         AP_Notify::handle_play_tune(msg);
         break;
+#endif
 
 #if HAL_RALLY_ENABLED
     case MAVLINK_MSG_ID_RALLY_POINT: