AP_HAL_SITL: implement new scripting heap APIs

libraries/AP_HAL_SITL/Util.cpp

@@ -85,68 +85,6 @@ bool HALSITL::Util::get_system_id(char buf[50])
     return get_system_id_unformatted((uint8_t *)buf, len);
 }
 
-#if ENABLE_HEAP
-void *HALSITL::Util::allocate_heap_memory(size_t size)
-{
-    struct heap *new_heap = (struct heap*)malloc(sizeof(struct heap));
-    if (new_heap != nullptr) {
-        new_heap->scripting_max_heap_size = size;
-        new_heap->current_heap_usage = 0;
-    }
-    return (void *)new_heap;
-}
-
-void *HALSITL::Util::heap_realloc(void *heap_ptr, void *ptr, size_t old_size, size_t new_size)
-{
-    if (heap_ptr == nullptr) {
-        return nullptr;
-    }
-
-    struct heap *heapp = (struct heap*)heap_ptr;
-
-    // extract appropriate headers
-    size_t old_size_header = 0;
-    heap_allocation_header *old_header = nullptr;
-    if (ptr != nullptr) {
-        old_header = ((heap_allocation_header *)ptr) - 1;
-        old_size_header = old_header->allocation_size;
-#if !defined(HAL_BUILD_AP_PERIPH)
-        if (old_size_header != old_size && new_size != 0) {
-            INTERNAL_ERROR(AP_InternalError::error_t::invalid_arg_or_result);
-        }
-#endif
-    }
-
-    if ((heapp->current_heap_usage + new_size - old_size) > heapp->scripting_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_header;
-    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
-
 #if !defined(HAL_BUILD_AP_PERIPH)
 enum AP_HAL::Util::safety_state HALSITL::Util::safety_switch_state(void)
 {

libraries/AP_HAL_SITL/Util.h

@@ -21,8 +21,8 @@ public:
        how much free memory do we have in bytes. 
      */
     uint32_t available_memory(void) override {
-        // SITL is assumed to always have plenty of memory. Return 128k for now
+        // SITL is assumed to always have plenty of memory. Return 512k for now
-        return 0x20000;
+        return 512*1024;
     }
 
     // get path to custom defaults file for AP_Param
@@ -43,12 +43,6 @@ public:
     bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
     void dump_stack_trace();
 
-#if ENABLE_HEAP
-    // heap functions, note that a heap once alloc'd cannot be dealloc'd
-    void *allocate_heap_memory(size_t size) override;
-    void *heap_realloc(void *heap, void *ptr, size_t old_size, size_t new_size) override;
-#endif // ENABLE_HEAP
-
 #ifdef WITH_SITL_TONEALARM
     bool toneAlarm_init(uint8_t types) override { return _toneAlarm.init(); }
     void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override {