AP_Scripting: allow expansion of memory for scripting at runtime

Tools/AP_Periph/wscript

@@ -82,7 +82,8 @@ def build(bld):
                      'AP_RobotisServo',
                      'AP_FETtecOneWire',
                      'GCS_MAVLink',
-                     'AP_Relay'
+                     'AP_Relay',
+                     'AP_MultiHeap',
                      ]
 
     bld.ap_stlib(

Tools/ardupilotwaf/ardupilotwaf.py

@@ -128,6 +128,7 @@
     'AP_Beacon',
     'AP_Arming',
     'AP_RCMapper',
+    'AP_MultiHeap',
 ]
 
 def get_legacy_defines(sketch_name, bld):

libraries/AP_HAL/Util.cpp

@@ -9,6 +9,8 @@
 #else
 #include <time.h>
 #endif
+#include <AP_InternalError/AP_InternalError.h>
+#include <AP_Math/AP_Math.h>
 
 /* Helper class implements AP_HAL::Print so we can use utility/vprintf */
 class BufferPrinter : public AP_HAL::BetterStream {

libraries/AP_HAL/Util.h

@@ -149,16 +149,15 @@ class AP_HAL::Util {
     virtual void free_type(void *ptr, size_t size, Memory_Type mem_type) { return free(ptr); }
 
 #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;
+    /*
+      heap functions used by non-scripting
+     */
 #if USE_LIBC_REALLOC
-    virtual void *std_realloc(void *ptr, size_t new_size) { return realloc(ptr, new_size); }
+    virtual void *std_realloc(void *ptr, uint32_t new_size) { return realloc(ptr, new_size); }
 #else
-    virtual void *std_realloc(void *ptr, size_t new_size) = 0;
+    virtual void *std_realloc(void *ptr, uint32_t new_size) = 0;
 #endif // USE_LIBC_REALLOC
-#endif // ENABLE_HEAP
-
+#endif
 
     /**
        how much free memory do we have in bytes. If unknown return 4096

libraries/AP_HAL_ChibiOS/Util.cpp

@@ -97,21 +97,11 @@ void Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type)
 
 
 #if ENABLE_HEAP
-
-void *Util::allocate_heap_memory(size_t size)
-{
-    memory_heap_t *heap = (memory_heap_t *)malloc(size + sizeof(memory_heap_t));
-    if (heap == nullptr) {
-        return nullptr;
-    }
-    chHeapObjectInit(heap, heap + 1U, size);
-    return heap;
-}
-
 /*
-  realloc implementation thanks to wolfssl, used by AP_Scripting
+  realloc implementation thanks to wolfssl, used by ExpandingString
+  and ExpandingArray
  */
-void *Util::std_realloc(void *addr, size_t size)
+void *Util::std_realloc(void *addr, uint32_t size)
 {
     if (size == 0) {
        free(addr);
@@ -128,33 +118,6 @@ void *Util::std_realloc(void *addr, size_t size)
     return new_mem;
 }
 
-void *Util::heap_realloc(void *heap, void *ptr, size_t old_size, size_t new_size)
-{
-    if (heap == nullptr) {
-        return nullptr;
-    }
-    if (new_size == 0) {
-        if (ptr != nullptr) {
-            chHeapFree(ptr);
-        }
-        return nullptr;
-    }
-    if (ptr == nullptr) {
-        return chHeapAlloc((memory_heap_t *)heap, new_size);
-    }
-    void *new_mem = chHeapAlloc((memory_heap_t *)heap, new_size);
-    if (new_mem != nullptr) {
-        const size_t old_size2 = chHeapGetSize(ptr);
-#if defined(HAL_DEBUG_BUILD) && !defined(IOMCU_FW)
-        if (new_size != 0 && old_size2 != old_size) {
-            INTERNAL_ERROR(AP_InternalError::error_t::invalid_arg_or_result);
-        }
-#endif
-        memcpy(new_mem, ptr, old_size2 > new_size ? new_size : old_size2);
-        chHeapFree(ptr);
-    }
-    return new_mem;
-}
 #endif // ENABLE_HEAP
 
 #endif // CH_CFG_USE_HEAP

libraries/AP_HAL_ChibiOS/Util.h

@@ -49,10 +49,7 @@ class ChibiOS::Util : public AP_HAL::Util {
     void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) 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 *heap, void *ptr, size_t old_size, size_t new_size) override;
-    virtual void *std_realloc(void *ptr, size_t new_size) override;
+    void *std_realloc(void *ptr, uint32_t new_size) override;
 #endif // ENABLE_HEAP
 
     /*
@@ -142,10 +139,6 @@ class ChibiOS::Util : public AP_HAL::Util {
     FlashBootloader flash_bootloader() override;
 #endif
 
-#if ENABLE_HEAP
-    static memory_heap_t scripting_heap;
-#endif // ENABLE_HEAP
-
     // stm32F4 and F7 have 20 total RTC backup registers. We use the first one for boot type
     // flags, so 19 available for persistent data
     static_assert(sizeof(persistent_data) <= 19*4, "watchdog persistent data too large");

libraries/AP_HAL_ESP32/Util.cpp

@@ -92,36 +92,10 @@ void Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type)
 
 
 #if ENABLE_HEAP
-
-void *Util::allocate_heap_memory(size_t size)
-{
-    void *buf = calloc(1, size);
-    if (buf == nullptr) {
-        return nullptr;
-    }
-
-    multi_heap_handle_t *heap = (multi_heap_handle_t *)calloc(1, sizeof(multi_heap_handle_t));
-    if (heap != nullptr) {
-        auto hp = multi_heap_register(buf, size);
-        memcpy(heap, &hp, sizeof(multi_heap_handle_t));
-    }
-
-    return heap;
-}
-
-void *Util::heap_realloc(void *heap, void *ptr, size_t old_size, size_t new_size)
-{
-    if (heap == nullptr) {
-        return nullptr;
-    }
-
-    return multi_heap_realloc(*(multi_heap_handle_t *)heap, ptr, new_size);
-}
-
 /*
-  realloc implementation thanks to wolfssl, used by AP_Scripting
+  realloc implementation thanks to wolfssl, used by ExpandingString
  */
-void *Util::std_realloc(void *addr, size_t size)
+void *Util::std_realloc(void *addr, uint32_t size)
 {
     if (size == 0) {
         free(addr);

libraries/AP_HAL_ESP32/Util.h

@@ -36,9 +36,7 @@ class ESP32::Util : public AP_HAL::Util
 
 #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;
-    virtual void *std_realloc(void *ptr, size_t new_size) override;
+    virtual void *std_realloc(void *ptr, uint32_t new_size) override;
 #endif // ENABLE_HEAP
 
     /*
@@ -85,10 +83,6 @@ class ESP32::Util : public AP_HAL::Util
     FlashBootloader flash_bootloader() override;
 #endif
 
-#if ENABLE_HEAP
-    // static memory_heap_t scripting_heap;
-#endif // ENABLE_HEAP
-
     // stm32F4 and F7 have 20 total RTC backup registers. We use the first one for boot type
     // flags, so 19 available for persistent data
     static_assert(sizeof(persistent_data) <= 19*4, "watchdog persistent data too large");