Drop opaque handle for stateless algorithm

Author: Jbsco

src/components/sunline_srukf/component-sunline_srukf-implementation.adb

@@ -5,6 +5,7 @@
 with Nav_Att.C;
 with Sunline_Srukf_Input.C;
 with Sunline_Srukf_Output.C;
+with Sunline_Srukf_Algorithm_C; use Sunline_Srukf_Algorithm_C;
 with Algorithm_Wrapper_Util;
 
 package body Component.Sunline_Srukf.Implementation is
@@ -14,17 +15,12 @@ package body Component.Sunline_Srukf.Implementation is
    --------------------------------------------------
    -- Initializes the sunline SRuKF algorithm.
    overriding procedure Init (Self : in out Instance) is
+      pragma Unreferenced (Self);
    begin
-      -- Allocate C++ class on the heap
-      Self.Alg := Create;
+      -- Stateless algorithm, nothing to initialize.
+      null;
    end Init;
 
-   not overriding procedure Destroy (Self : in out Instance) is
-   begin
-      -- Free the C++ heap data.
-      Destroy (Self.Alg);
-   end Destroy;
-
    ---------------------------------------
    -- Invokee connector primitives:
    ---------------------------------------
@@ -56,7 +52,6 @@ package body Component.Sunline_Srukf.Implementation is
 
             -- Call the C algorithm:
             Output_C : constant Sunline_Srukf_Output.C.U_C := Update_State (
-               Self.Alg,
                Input => Input_C'Unchecked_Access
             );
          begin

src/components/sunline_srukf/component-sunline_srukf-implementation.ads

@@ -4,7 +4,6 @@
 
 -- Includes:
 with Tick;
-with Sunline_Srukf_Algorithm_C; use Sunline_Srukf_Algorithm_C;
 
 -- Sunline SRuKF pass-through algorithm wrapping the C++ SunlineSRuKFAlgorithm.
 package Component.Sunline_Srukf.Implementation is
@@ -17,13 +16,12 @@ package Component.Sunline_Srukf.Implementation is
    --------------------------------------------------
    -- Initializes the sunline SRuKF algorithm.
    overriding procedure Init (Self : in out Instance);
-   not overriding procedure Destroy (Self : in out Instance);
 
 private
 
    -- The component class instance record:
    type Instance is new Sunline_Srukf.Base_Instance with record
-      Alg : Sunline_Srukf_Algorithm_Access := null;
+      null;
    end record;
 
    ---------------------------------------

src/components/sunline_srukf/sunline_srukf_algorithm_c.ads

@@ -24,41 +24,16 @@ package Sunline_Srukf_Algorithm_C is
    -- Runtime validation: ensure Ada constant matches C definition
    pragma Assert (Unsigned_32 (MAX_NUM_CSS) = Get_Max_Num_Css);
 
-   --* Opaque handle for a SunlineSRuKFAlgorithm instance.
-   type Sunline_Srukf_Algorithm is limited private;
-   type Sunline_Srukf_Algorithm_Access is access all Sunline_Srukf_Algorithm;
-
-   --* @brief Construct a new SunlineSRuKFAlgorithm.
-   function Create
-     return Sunline_Srukf_Algorithm_Access
-     with Import       => True,
-          Convention   => C,
-          External_Name => "SunlineSRuKFAlgorithm_create";
-
-   --* @brief Destroy a SunlineSRuKFAlgorithm.
-   procedure Destroy
-     (Self : Sunline_Srukf_Algorithm_Access)
-     with Import       => True,
-          Convention   => C,
-          External_Name => "SunlineSRuKFAlgorithm_destroy";
-
-   --* @brief Run the sunline SRuKF update step.
-   --* @param Self  The algorithm instance.
+   --* @brief Run the sunline SRuKF update step (stateless).
    --* @param Input Pointer to the input structure (read-only).
    --* @return The computed output.
    function Update_State
-     (Self  : Sunline_Srukf_Algorithm_Access;
-      Input : Sunline_Srukf_Input.C.U_C_Access)
+     (Input : Sunline_Srukf_Input.C.U_C_Access)
      return Sunline_Srukf_Output.C.U_C
      with Import       => True,
           Convention   => C,
           External_Name => "SunlineSRuKFAlgorithm_updateState";
 
-private
-
-   -- Private representation: opaque null record
-   type Sunline_Srukf_Algorithm is null record;
-
 end Sunline_Srukf_Algorithm_C;
 
 pragma Style_Checks (On);

src/components/sunline_srukf/test/sunline_srukf_tests-implementation.adb

@@ -31,7 +31,6 @@ package body Sunline_Srukf_Tests.Implementation is
    overriding procedure Tear_Down_Test (Self : in out Instance) is
    begin
       -- Free component heap:
-      Self.Tester.Component_Instance.Destroy;
       Self.Tester.Final_Base;
    end Tear_Down_Test;