3 files changed, 162 insertions, 0 deletions
diff --git a/src/memory/CMakeLists.txt b/src/memory/CMakeLists.txt
new file mode 100644
index 00000000..67e64267
--- /dev/null
+++ b/src/memory/CMakeLists.txt
@@ -0,0 +1,2 @@
+idf_component_register(SRCS "arena.cpp" INCLUDE_DIRS "include" REQUIRES "span")
+target_compile_options(${COMPONENT_LIB} PRIVATE ${EXTRA_WARNINGS})
diff --git a/src/memory/arena.cpp b/src/memory/arena.cpp
new file mode 100644
index 00000000..450ac4f2
--- /dev/null
+++ b/src/memory/arena.cpp
@@ -0,0 +1,75 @@
+#include "arena.hpp"
+
+#include <cstdint>
+#include <optional>
+
+#include "esp_heap_caps.h"
+#include "freertos/queue.h"
+#include "span.hpp"
+
+namespace memory {
+
+Arena::Arena(std::size_t block_size,
+             std::size_t num_blocks,
+             uint32_t alloc_flags)
+    : block_size_(block_size) {
+  pool_ = static_cast<std::byte*>(
+      heap_caps_malloc(block_size * num_blocks, alloc_flags));
+  free_blocks_ = xQueueCreate(num_blocks, sizeof(void*));
+  for (int i = 0; i < num_blocks; i++) {
+    std::byte* block = pool_ + (i * block_size);
+    xQueueSend(free_blocks_, &block, 0);
+  }
+}
+
+Arena::~Arena() {
+  // TODO: assert queue is full?
+  vQueueDelete(free_blocks_);
+  free(pool_);
+}
+
+auto Arena::Acquire() -> std::optional<ArenaPtr> {
+  std::byte* block;
+  bool result = xQueueReceive(free_blocks_, &block, 0);
+  if (result) {
+    ArenaPtr ptr{this, block, block_size_, 0};
+    return ptr;
+  } else {
+    return {};
+  }
+}
+
+auto Arena::Return(ArenaPtr ptr) -> void {
+  assert(ptr.owner == this);
+  xQueueSend(free_blocks_, &ptr.start, 0);
+}
+
+auto ArenaRef::Acquire(Arena* a) -> std::optional<ArenaRef> {
+  auto ptr = a->Acquire();
+  if (ptr) {
+    ArenaRef ref{*ptr};
+    return ref;
+  }
+  return {};
+}
+
+ArenaRef::ArenaRef(ArenaPtr p) : ptr(p) {}
+
+ArenaRef::ArenaRef(ArenaRef&& other) : ptr(other.Release()) {}
+
+auto ArenaRef::Release() -> ArenaPtr {
+  auto ret = ptr;
+  ptr.owner = nullptr;
+  ptr.start = nullptr;
+  ptr.size = 0;
+  ptr.used_size = 0;
+  return ret;
+}
+
+ArenaRef::~ArenaRef() {
+  if (ptr.owner != nullptr) {
+    ptr.owner->Return(ptr);
+  }
+}
+
+}  // namespace memory
diff --git a/src/memory/include/arena.hpp b/src/memory/include/arena.hpp
new file mode 100644
index 00000000..26d49d27
--- /dev/null
+++ b/src/memory/include/arena.hpp
@@ -0,0 +1,85 @@
+#pragma once
+
+#include <cstdint>
+#include <optional>
+#include <utility>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/queue.h"
+#include "span.hpp"
+#include "sys/_stdint.h"
+
+namespace memory {
+
+class Arena;
+
+/*
+ * A pointer to data that has been given out by an Arena, plus extra accounting
+ * information so that it can be returned properly.
+ */
+struct ArenaPtr {
+  Arena* owner;
+  std::byte* start;
+  std::size_t size;
+  // A convenience for keeping track of the subset of the block that has had
+  // data placed within it.
+  std::size_t used_size;
+};
+
+/*
+ * A basic memory arena. This class mediates access to fixed-size blocks of
+ * memory within a larger contiguous block. This is faster than re-allocating
+ * smaller blocks every time they're needed, and lets us easily limit the
+ * maximum size of the memory used.
+ *
+ * A single arena instance is safe to be used concurrently by multiple tasks,
+ * however there is no built in synchronisation of the underlying memory.
+ */
+class Arena {
+ public:
+  Arena(std::size_t block_size, std::size_t num_blocks, uint32_t alloc_flags);
+  ~Arena();
+
+  /*
+   * Attempts to receive an allocation from this arena. Returns absent if
+   * there are no blocks left.
+   */
+  auto Acquire() -> std::optional<ArenaPtr>;
+
+  /* Returns a previously allocated block to this arena. */
+  auto Return(ArenaPtr) -> void;
+
+  /* Returns the number of blocks that are currently free. */
+  auto BlocksFree() -> std::size_t;
+
+  Arena(const Arena&) = delete;
+  Arena& operator=(const Arena&) = delete;
+
+ private:
+  std::size_t block_size_;
+  // The large memory allocation that is divided into blocks.
+  std::byte* pool_;
+  // A FreeRTOS queue containing the blocks that are currently unused.
+  QueueHandle_t free_blocks_;
+};
+
+/*
+ * Wrapper around an ArenaPtr that handles acquiring and returning the block
+ * through RAII.
+ */
+class ArenaRef {
+ public:
+  static auto Acquire(Arena* a) -> std::optional<ArenaRef>;
+  explicit ArenaRef(ArenaPtr ptr);
+  ~ArenaRef();
+
+  auto Release() -> ArenaPtr;
+
+  ArenaRef(ArenaRef&&);
+  ArenaRef(const ArenaRef&) = delete;
+  Arena& operator=(const Arena&) = delete;
+
+  ArenaPtr ptr;
+};
+
+}  // namespace memory