From a124d66110334fe2dc77b6043452210fd0032bac Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 17 Nov 2024 15:56:45 +1100
Subject: [PATCH] AP_HAL_Linux: implement new scripting heap APIs

---
 libraries/AP_HAL_Linux/Util.cpp | 59 ---------------------------------
 libraries/AP_HAL_Linux/Util.h   | 18 ----------
 2 files changed, 77 deletions(-)

diff --git a/libraries/AP_HAL_Linux/Util.cpp b/libraries/AP_HAL_Linux/Util.cpp
index d25bc87a3d..0a03fe4c81 100644
--- a/libraries/AP_HAL_Linux/Util.cpp
+++ b/libraries/AP_HAL_Linux/Util.cpp
@@ -241,65 +241,6 @@ int Util::get_hw_arm32()
     return -ENOENT;
 }
 
-#if ENABLE_HEAP
-void *Util::allocate_heap_memory(size_t size)
-{
-    struct heap *new_heap = (struct heap*)malloc(sizeof(struct heap));
-    if (new_heap != nullptr) {
-        new_heap->max_heap_size = size;
-        new_heap->current_heap_usage = 0;
-    }
-    return (void *)new_heap;
-}
-
-void *Util::heap_realloc(void *h, void *ptr, size_t old_size, size_t new_size)
-{
-    if (h == nullptr) {
-        return nullptr;
-    }
-
-    struct heap *heapp = (struct heap*)h;
-
-    // extract appropriate headers. We use the old_size from the
-    // header not from the caller. We use SITL to catch cases they
-    // don't match (which would be a lua bug)
-    old_size = 0;
-    heap_allocation_header *old_header = nullptr;
-    if (ptr != nullptr) {
-        old_header = ((heap_allocation_header *)ptr) - 1;
-        old_size = old_header->allocation_size;
-    }
-
-    if ((heapp->current_heap_usage + new_size - old_size) > heapp->max_heap_size) {
-        // fail the allocation as we don't have the memory. Note that we don't simulate fragmentation
-        return nullptr;
-    }
-
-    heapp->current_heap_usage -= old_size;
-    if (new_size == 0) {
-       free(old_header);
-       return nullptr;
-    }
-
-    heap_allocation_header *new_header = (heap_allocation_header *)malloc(new_size + sizeof(heap_allocation_header));
-    if (new_header == nullptr) {
-        // total failure to allocate, this is very surprising in SITL
-        return nullptr;
-    }
-    heapp->current_heap_usage += new_size;
-    new_header->allocation_size = new_size;
-    void *new_mem = new_header + 1;
-
-    if (ptr == nullptr) {
-        return new_mem;
-    }
-    memcpy(new_mem, ptr, old_size > new_size ? new_size : old_size);
-    free(old_header);
-    return new_mem;
-}
-
-#endif // ENABLE_HEAP
-
 /**
  * This method will read random values with set size.
  */
diff --git a/libraries/AP_HAL_Linux/Util.h b/libraries/AP_HAL_Linux/Util.h
index 11a29dacb3..5374b1d95d 100644
--- a/libraries/AP_HAL_Linux/Util.h
+++ b/libraries/AP_HAL_Linux/Util.h
@@ -71,12 +71,6 @@ public:
     bool get_system_id(char buf[50]) override;
     bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
 
-#if ENABLE_HEAP
-    // heap functions, note that a heap once alloc'd cannot be dealloc'd
-    virtual void *allocate_heap_memory(size_t size) override;
-    virtual void *heap_realloc(void *h, void *ptr, size_t old_size, size_t new_size) override;
-#endif // ENABLE_HEAP
-    
     /*
      * Write a string as specified by @fmt to the file in @path. Note this
      * should not be used on hot path since it will open, write and close the
@@ -115,18 +109,6 @@ private:
     const char *custom_storage_directory = nullptr;
     const char *custom_defaults = HAL_PARAM_DEFAULTS_PATH;
     static const char *_hw_names[UTIL_NUM_HARDWARES];
-
-#if ENABLE_HEAP
-    struct heap_allocation_header {
-        size_t allocation_size; // size of allocated block, not including this header
-    };
-
-    struct heap {
-      size_t max_heap_size;
-      size_t current_heap_usage;
-    };
-#endif // ENABLE_HEAP
-
 };
 
 }