From 106948ba7b8f75c7171107d3f9ecad5673042531 Mon Sep 17 00:00:00 2001
From: "Mengjie (Kaylee) Xie" <xie10mengjie@gmail.com>
Date: Mon, 29 Jan 2024 10:38:37 -0800
Subject: [PATCH] allocate memory to store vehicles

---
 libraries/AP_ODIDScanner/AP_ODIDScanner.cpp | 17 +++++++++++++++++
 libraries/AP_ODIDScanner/AP_ODIDScanner.h   |  7 ++++++-
 2 files changed, 23 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_ODIDScanner/AP_ODIDScanner.cpp b/libraries/AP_ODIDScanner/AP_ODIDScanner.cpp
index 607df7aa2974f..3f5529a6bae88 100644
--- a/libraries/AP_ODIDScanner/AP_ODIDScanner.cpp
+++ b/libraries/AP_ODIDScanner/AP_ODIDScanner.cpp
@@ -28,6 +28,23 @@ void AP_ODIDScanner::init() {
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Scanner: Found RID Device");
         _port->begin(57600, 512, 512);
     }
+
+    if (in_state.vehicle_list == nullptr) {
+        // sanity check param
+        // in_state.list_size_param.set(constrain_int16(in_state.list_size_param, 1, INT16_MAX));
+
+        in_state.list_size_param = RID_MAX_INSTANCES;
+
+        in_state.vehicle_list = new rid_vehicle_t[in_state.list_size_param];
+
+        if (in_state.vehicle_list == nullptr) {
+            // dynamic RAM allocation of in_state.vehicle_list[] failed
+            _init_failed = true;
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "RID: Unable to initialize RID vehicle list");
+            return;
+        }
+        in_state.list_size_allocated = in_state.list_size_param;
+    }
 }
 
 void AP_ODIDScanner::update_recv() {
diff --git a/libraries/AP_ODIDScanner/AP_ODIDScanner.h b/libraries/AP_ODIDScanner/AP_ODIDScanner.h
index 28a6f02a12e46..ef70c212c6c56 100644
--- a/libraries/AP_ODIDScanner/AP_ODIDScanner.h
+++ b/libraries/AP_ODIDScanner/AP_ODIDScanner.h
@@ -12,6 +12,8 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Common/Location.h>
 
+#define RID_MAX_INSTANCES             10   // Maximum number of RID sensor instances available on this platform
+
 struct Loc : Location {
     AltType loc_alt_type;  // more information on altitude in base class
 
@@ -68,11 +70,14 @@ struct rid_vehicle_t {
 class AP_ODIDScanner
 {
 public:
+
+    bool _init_failed;
+
     struct {
         // list management
         AP_Int16    list_size_param;
         uint16_t    list_size_allocated;
-        adsb_vehicle_t *vehicle_list;
+        rid_vehicle_t *vehicle_list;
         uint16_t    vehicle_count;
         AP_Int32    list_radius;
         AP_Int16    list_altitude;