[ESP32] Option to configure the pool allocation from heap (#30764)

* [ESP32] Option to configure the system buffer pool allocation from heap

* address reviews

* minor adjustment to help text

* some minor adjustments

* Add notes regarding expected failures

config/esp32/components/chip/Kconfig

@@ -157,6 +157,26 @@ menu "CHIP Core"
             help
                 Option to enable/disable CHIP log level filtering APIs.
 
+        config CHIP_SYSTEM_CONFIG_POOL_USE_HEAP
+            bool "Use heap memory to allocate object pools"
+            default n
+            help
+                This option enables the use of heap memory to allocate object pools.
+                When enabled, object pools are not pre-allocated.
+                Additionally, the maximum number of entries that can be allocated is
+                only limited by the available heap memory.
+
+                This option can be useful if you encounter static DRAM overflow.
+
+                NOTE: Since there is no cap on pool sizes, this may lead to issues
+                where embedded code assumes the pool size is limited, and no other
+                mechanisms are in place to restrict the size of allocations.
+
+                NOTE: If enabled and the free heap is exhausted, this may result in
+                undefined behavior, potential non-compliance with specifications,
+                or failure during certification tests. Even if it passes, it may fail
+                to function properly with actual controllers.
+
     endmenu # "General Options"
 
     menu "Networking Options"

src/platform/ESP32/CHIPPlatformConfig.h

@@ -133,3 +133,9 @@
 #ifndef CHIP_CONFIG_RMP_DEFAULT_MAX_RETRANS
 #define CHIP_CONFIG_RMP_DEFAULT_MAX_RETRANS CONFIG_MRP_MAX_RETRANS
 #endif // CHIP_CONFIG_RMP_DEFAULT_MAX_RETRANS
+
+#ifdef CONFIG_CHIP_SYSTEM_CONFIG_POOL_USE_HEAP
+#define CHIP_SYSTEM_CONFIG_POOL_USE_HEAP 1
+#else
+#define CHIP_SYSTEM_CONFIG_POOL_USE_HEAP 0
+#endif