Make ENABLE_HEAP to #if not defined()

Tools/ardupilotwaf/boards.py

@@ -983,7 +983,6 @@ def expand_path(p):
 
         # this makes sure we get the correct subtype
         env.DEFINES.update(
-            ENABLE_HEAP = 0,
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_ESP32_%s' %  tt.upper() ,
             HAL_HAVE_HARDWARE_DOUBLE = '1',
         )

libraries/AP_HAL/Util.h

@@ -5,6 +5,10 @@
 #include "AP_HAL_Namespace.h"
 #include <AP_Logger/AP_Logger_config.h>
 
+#ifndef ENABLE_HEAP
+#define ENABLE_HEAP 0
+#endif
+
 class ExpandingString;
 
 class AP_HAL::Util {
@@ -154,7 +158,7 @@ class AP_HAL::Util {
     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); }
 
-#ifdef ENABLE_HEAP
+#if ENABLE_HEAP
     // heap functions, note that a heap once alloc'd cannot be dealloc'd
     virtual void *allocate_heap_memory(size_t size) = 0;
     virtual void *heap_realloc(void *heap, void *ptr, size_t old_size, size_t new_size) = 0;

libraries/AP_HAL_ChibiOS/Util.cpp

@@ -96,7 +96,7 @@ void Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type)
 }
 
 
-#ifdef ENABLE_HEAP
+#if ENABLE_HEAP
 
 void *Util::allocate_heap_memory(size_t size)
 {

libraries/AP_HAL_ChibiOS/Util.h

@@ -49,7 +49,7 @@ class ChibiOS::Util : public AP_HAL::Util {
     void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type) override;
     void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) override;
 
-#ifdef ENABLE_HEAP
+#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 *heap, void *ptr, size_t old_size, size_t new_size) override;
@@ -143,7 +143,7 @@ class ChibiOS::Util : public AP_HAL::Util {
     FlashBootloader flash_bootloader() override;
 #endif
 
-#ifdef ENABLE_HEAP
+#if ENABLE_HEAP
     static memory_heap_t scripting_heap;
 #endif // ENABLE_HEAP
 

libraries/AP_HAL_ESP32/Util.cpp

@@ -90,7 +90,7 @@ void Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type)
 }
 
 
-#ifdef ENABLE_HEAP
+#if ENABLE_HEAP
 
 void *Util::allocate_heap_memory(size_t size)
 {

libraries/AP_HAL_ESP32/Util.h

@@ -38,7 +38,7 @@ class ESP32::Util : public AP_HAL::Util
     void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type) override;
     void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) override;
 
-#ifdef ENABLE_HEAP
+#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 *heap, void *ptr, size_t old_size, size_t new_size) override;
@@ -89,7 +89,7 @@ class ESP32::Util : public AP_HAL::Util
     FlashBootloader flash_bootloader() override;
 #endif
 
-#ifdef ENABLE_HEAP
+#if ENABLE_HEAP
     // static memory_heap_t scripting_heap;
 #endif // ENABLE_HEAP
 

libraries/AP_HAL_Linux/Util.cpp

@@ -241,7 +241,7 @@ int Util::get_hw_arm32()
     return -ENOENT;
 }
 
-#ifdef ENABLE_HEAP
+#if ENABLE_HEAP
 void *Util::allocate_heap_memory(size_t size)
 {
     struct heap *new_heap = (struct heap*)malloc(sizeof(struct heap));

libraries/AP_HAL_Linux/Util.h

@@ -72,7 +72,7 @@ class Util : public AP_HAL::Util {
     bool get_system_id(char buf[50]) override;
     bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
 
-#ifdef ENABLE_HEAP
+#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;
@@ -117,7 +117,7 @@ class Util : public AP_HAL::Util {
     const char *custom_defaults = HAL_PARAM_DEFAULTS_PATH;
     static const char *_hw_names[UTIL_NUM_HARDWARES];
 
-#ifdef ENABLE_HEAP
+#if ENABLE_HEAP
     struct heap_allocation_header {
         size_t allocation_size; // size of allocated block, not including this header
     };

libraries/AP_HAL_SITL/Util.cpp

@@ -85,7 +85,7 @@ bool HALSITL::Util::get_system_id(char buf[50])
     return get_system_id_unformatted((uint8_t *)buf, len);
 }
 
-#ifdef ENABLE_HEAP
+#if ENABLE_HEAP
 void *HALSITL::Util::allocate_heap_memory(size_t size)
 {
     struct heap *new_heap = (struct heap*)malloc(sizeof(struct heap));

libraries/AP_HAL_SITL/Util.h

@@ -47,7 +47,7 @@ class HALSITL::Util : public AP_HAL::Util {
     bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
     void dump_stack_trace();
 
-#ifdef ENABLE_HEAP
+#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;
@@ -94,7 +94,7 @@ class HALSITL::Util : public AP_HAL::Util {
     static ToneAlarm_SF _toneAlarm;
 #endif
 
-#ifdef ENABLE_HEAP
+#if ENABLE_HEAP
     struct heap_allocation_header {
         size_t allocation_size; // size of allocated block, not including this header
     };