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AP_HAL_QURT: implement new scripting heap APIs

This commit is contained in:
Andrew Tridgell 2024-11-17 15:56:45 +11:00
parent a124d66110
commit 70c19b264a
2 changed files with 0 additions and 74 deletions
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59
libraries/AP_HAL_QURT/Util.cpp
View File

@ -32,62 +32,3 @@ Util::safety_state Util::safety_switch_state(void)
}
return SAFETY_ARMED;
}
#if ENABLE_HEAP
void *Util::allocate_heap_memory(size_t size)
{
struct heap *new_heap = (struct heap*)malloc(sizeof(struct heap));
if (new_heap != nullptr) {
new_heap->max_heap_size = size;
new_heap->current_heap_usage = 0;
}
return (void *)new_heap;
}
void *Util::heap_realloc(void *h, void *ptr, size_t old_size, size_t new_size)
{
if (h == nullptr) {
return nullptr;
}
struct heap *heapp = (struct heap*)h;
// extract appropriate headers. We use the old_size from the
// header not from the caller. We use SITL to catch cases they
// don't match (which would be a lua bug)
old_size = 0;
heap_allocation_header *old_header = nullptr;
if (ptr != nullptr) {
old_header = ((heap_allocation_header *)ptr) - 1;
old_size = old_header->allocation_size;
}
if ((heapp->current_heap_usage + new_size - old_size) > heapp->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;
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) {
// can't get the new memory, old memory is kept
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

15
libraries/AP_HAL_QURT/Util.h
View File

@ -25,19 +25,4 @@ public:
return state of safety switch, if applicable
*/
enum safety_state safety_switch_state(void) 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 *h, void *ptr, size_t old_size, size_t new_size) override;
struct heap_allocation_header {
uint64_t allocation_size; // size of allocated block, not including this header
};
struct heap {
size_t max_heap_size;
size_t current_heap_usage;
};
#endif // ENABLE_HEAP
};