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Fix broken pvPortReallocMicroROS() implementation #48

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merged 1 commit into from
Mar 9, 2022
Merged

Fix broken pvPortReallocMicroROS() implementation #48

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28 changes: 12 additions & 16 deletions extra_sources/custom_memory_manager.c
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
*/

#include <stdlib.h>
#include <string.h>

/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
all the API functions to use the MPU wrappers. That should only be done when
Expand Down Expand Up @@ -293,22 +294,17 @@ void *pvPortReallocMicroROS( void *pv, size_t xWantedSize )
vTaskSuspendAll();

void * newmem = pvPortMallocMicroROS(xWantedSize);
if (newmem != NULL)
{
size_t count = getBlockSize(pv) - xHeapStructSize;
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if (xWantedSize < count)
{
count = xWantedSize;
}
memcpy(newmem, pv, count);

uint8_t *puc = ( uint8_t * ) pv;
BlockLink_t *pxLink;

puc -= xHeapStructSize;
pxLink = ( void * ) puc;


char *in_src = (char*)pv;
char *in_dest = (char*)newmem;
size_t count = pxLink->xBlockSize & ~xBlockAllocatedBit;

while(count--)
*in_dest++ = *in_src++;

vPortFreeMicroROS(pv);
vPortFreeMicroROS(pv);
}

( void ) xTaskResumeAll();

Expand Down Expand Up @@ -456,4 +452,4 @@ uint8_t *puc;
{
mtCOVERAGE_TEST_MARKER();
}
}
}