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Remove dummy method implementation based on vehicle for AC_Fence #31755

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Remove dummy method implementation based on vehicle for AC_Fence #31755

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f7470c7
AC_Fence: remove vehicle-based dummy methods implementation pattern
shiv-tyagi Dec 19, 2025
9a8085a
Tools: default AP_FENCE_ENABLED to 1 for custom build server
shiv-tyagi Dec 19, 2025
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2 changes: 1 addition & 1 deletion Tools/scripts/build_options.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ def config_option(self):
Feature('AHRS', 'BARO_WIND_COMP', 'HAL_BARO_WIND_COMP_ENABLED', 'Enable Baro wind compensation', 0, None),

Feature('Safety', 'PARACHUTE', 'HAL_PARACHUTE_ENABLED', 'Enable Parachute', 0, None),
Feature('Safety', 'FENCE', 'AP_FENCE_ENABLED', 'Enable Geofences', 2, None),
Feature('Safety', 'FENCE', 'AP_FENCE_ENABLED', 'Enable Geofences', 1, None),
Feature('Safety', 'RALLY', 'HAL_RALLY_ENABLED', 'Enable Rally points', 0, None), # noqa
Feature('Safety', 'AC_AVOID', 'AP_AVOIDANCE_ENABLED', 'Enable Object Avoidance', 0, 'FENCE'),
Feature('Safety', 'AC_OAPATHPLANNER', 'AP_OAPATHPLANNER_ENABLED', 'Enable Object Avoidance Path Planner', 0, 'FENCE'),
Expand Down
53 changes: 0 additions & 53 deletions libraries/AC_Fence/AC_Fence.cpp
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Expand Up @@ -3,13 +3,6 @@
#if AP_FENCE_ENABLED

#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) | (AP_FENCE_ENABLED == 1)))
#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>
Expand Down Expand Up @@ -1110,52 +1103,6 @@ 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() {};

uint8_t AC_Fence::enable(bool value, uint8_t fence_types, bool update_auto_enable) { return 0; }

void AC_Fence::enable_floor() {}
void AC_Fence::disable_floor() {}
void AC_Fence::update() {}

void AC_Fence::auto_enable_fence_after_takeoff() {}
void AC_Fence::auto_enable_fence_on_arming() {}
void AC_Fence::auto_disable_fence_on_disarming() {}

uint8_t AC_Fence::present() const { return 0; }

uint8_t AC_Fence::get_enabled_fences() const { return 0; }

bool AC_Fence::pre_arm_check(char *failure_msg, const uint8_t failure_msg_len) const { return true; }

uint8_t AC_Fence::check(bool disable_auto_fences) { 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; }
bool AC_Fence::get_breach_direction_NED(uint8_t fence_type, Vector3f& direction, Location& fence_check_pos) const { return false; }
void AC_Fence::get_fence_names(uint8_t fences, ExpandingString& msg) { }
void AC_Fence::print_fence_message(const char* msg, uint8_t fences) const {}

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;

Expand Down
6 changes: 1 addition & 5 deletions libraries/AC_Fence/AC_Fence_config.h
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Expand Up @@ -4,12 +4,8 @@

#include <GCS_MAVLink/GCS_config.h>

// Enabled 0 is compiled out
// Enabled 1 is always enabled on all vehicles
// Enabled 2 is enabled with dummy methods for tracker and blimp

#ifndef AP_FENCE_ENABLED
#define AP_FENCE_ENABLED 2
#define AP_FENCE_ENABLED 1
#endif

// CODE_REMOVAL
Expand Down
37 changes: 0 additions & 37 deletions libraries/AC_Fence/AC_PolyFence_loader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,7 @@

#if AP_FENCE_ENABLED

#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_BoardConfig/AP_BoardConfig.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) | (AP_FENCE_ENABLED == 1)))
#endif

#if !AC_FENCE_DUMMY_METHODS_ENABLED

#include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h>
Expand Down Expand Up @@ -1687,33 +1679,4 @@ 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, float& distance_outside_fence, Vector2f& fence_direction) 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
#endif // AP_FENCE_ENABLED
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