AP_HAL: removed heap APIs

implement in AP_MultiHeap instead

libraries/AP_HAL/Util.cpp

@@ -80,111 +80,3 @@ void AP_HAL::Util::set_soft_armed(const bool b)
         }
     }
 }
-
-#if ENABLE_HEAP
-/*
-  default functions for heap management for lua scripting for systems
-  that don't have the ability to create separable heaps
- */
-
-struct heap_allocation_header {
-    struct heap *hp;
-    uint32_t allocation_size; // size of allocated block, not including this header
-};
-
-#define HEAP_MAGIC 0x5681ef9f
-
-struct heap {
-    uint32_t magic;
-    uint32_t max_heap_size;
-    uint32_t current_heap_usage;
-};
-
-void *AP_HAL::Util::heap_create(uint32_t size)
-{
-    struct heap *new_heap = (struct heap*)malloc(sizeof(struct heap));
-    if (new_heap != nullptr) {
-        new_heap->max_heap_size = size;
-    }
-    new_heap->magic = HEAP_MAGIC;
-    return (void *)new_heap;
-}
-
-void AP_HAL::Util::heap_destroy(void *heap_ptr)
-{
-    struct heap *heapp = (struct heap*)heap_ptr;
-    if (heapp->magic != HEAP_MAGIC) {
-        INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
-        return;
-    }
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    if (heapp->current_heap_usage != 0) {
-        // lua should guarantee that there is no memory still
-        // allocated when we destroy the heap. Throw an error in SITL
-        // if this proves not to be true
-        INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
-    }
-#endif
-
-    // free the heap structure
-    free(heapp);
-}
-
-/*
-  allocate memory on a specific heap
- */
-void *AP_HAL::Util::heap_allocate(void *heap_ptr, uint32_t size)
-{
-    if (heap_ptr == nullptr || size == 0) {
-        return nullptr;
-    }
-    struct heap *heapp = (struct heap*)heap_ptr;
-    if (heapp->magic != HEAP_MAGIC) {
-        INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
-        return nullptr;
-    }
-
-    if (heapp->current_heap_usage + size > heapp->max_heap_size) {
-        // fail the allocation as we don't have the memory. Note that
-        // we don't simulate the fragmentation that we would get with
-        // HAL_ChibiOS
-        return nullptr;
-    }
-
-    auto *header = (heap_allocation_header *)malloc(size + sizeof(heap_allocation_header));
-    if (header == nullptr) {
-        // can't allocate the new memory
-        return nullptr;
-    }
-    header->hp = heapp;
-    header->allocation_size = size;
-
-    heapp->current_heap_usage += size;
-
-    return header + 1;
-}
-
-/*
-  free memory from a previous heap_allocate call
- */
-void AP_HAL::Util::heap_free(void *ptr)
-{
-    if (ptr == nullptr) {
-        return;
-    }
-    // extract header
-    auto *header = ((struct heap_allocation_header *)ptr)-1;
-    auto *heapp = header->hp;
-    if (heapp->magic != HEAP_MAGIC) {
-        INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
-        return;
-    }
-    const uint32_t size = header->allocation_size;
-    heapp->current_heap_usage -= size;
-
-    // free the memory
-    free(header);
-}
-
-#endif // ENABLE_HEAP

libraries/AP_HAL/Util.h

@@ -148,24 +148,6 @@ public:
     virtual void *malloc_type(size_t size, Memory_Type mem_type) { return calloc(1, size); }
     virtual void free_type(void *ptr, size_t size, Memory_Type mem_type) { return free(ptr); }
 
-#if ENABLE_HEAP
-    /*
-      heap functions used by lua scripting
-    */
-    // allocate a new heap
-    virtual void *heap_create(uint32_t size);
-
-    // destroy a heap
-    virtual void heap_destroy(void *ptr);
-
-    // allocate some memory on a specific heap
-    virtual void *heap_allocate(void *heap, uint32_t size);
-
-    // free some memory that was allocated by heap_allocate. The implementation must
-    // be able to determine which heap the allocation was from using the pointer
-    virtual void heap_free(void *ptr);
-#endif // ENABLE_HEAP
-
 #if ENABLE_HEAP
     /*
       heap functions used by non-scripting