From 528b13ff5460e8172f375e6dd49fe06f40485664 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_ChibiOS: implement new scripting heap APIs

---
 libraries/AP_HAL_ChibiOS/Util.cpp | 60 +++++++++++++++----------------
 libraries/AP_HAL_ChibiOS/Util.h   | 10 +++---
 2 files changed, 35 insertions(+), 35 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index 5b6e705735..aeec5aed47 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -97,8 +97,10 @@ 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)
+/*
+  heap functions used by lua scripting
+ */
+void *Util::heap_create(uint32_t size)
 {
     memory_heap_t *heap = (memory_heap_t *)malloc(size + sizeof(memory_heap_t));
     if (heap == nullptr) {
@@ -108,10 +110,33 @@ void *Util::allocate_heap_memory(size_t size)
     return heap;
 }
 
+void Util::heap_destroy(void *ptr)
+{
+    free(ptr);
+}
+
+void *Util::heap_allocate(void *heap, uint32_t size)
+{
+    if (heap == nullptr) {
+        return nullptr;
+    }
+    if (size == 0) {
+        return nullptr;
+    }
+    return chHeapAlloc((memory_heap_t *)heap, size);
+}
+
+void Util::heap_free(void *ptr)
+{
+    return chHeapFree(ptr);
+}
+
+
 /*
-  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 +153,6 @@ 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
diff --git a/libraries/AP_HAL_ChibiOS/Util.h b/libraries/AP_HAL_ChibiOS/Util.h
index f11dbf7239..9fae8f9490 100644
--- a/libraries/AP_HAL_ChibiOS/Util.h
+++ b/libraries/AP_HAL_ChibiOS/Util.h
@@ -49,10 +49,12 @@ public:
     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;
+    // heap functions for scripting support
+    void *heap_create(uint32_t size) override;
+    void heap_destroy(void *p) override;
+    void *heap_allocate(void *heap, uint32_t size) override;
+    void heap_free(void *ptr) override;
+    void *std_realloc(void *ptr, uint32_t new_size) override;
 #endif // ENABLE_HEAP
 
     /*