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[wpiutil,cscore,apriltag] Fix RawFrame (#6098)

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This commit is contained in:
Peter Johnson
2023-12-26 20:05:02 -08:00
committed by GitHub
parent 8aeee03626
commit 5659038443
18 changed files with 537 additions and 317 deletions
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43
wpiutil/src/main/native/cpp/RawFrame.cpp
View File

@@ -6,25 +6,44 @@
#include <wpi/MemAlloc.h>
#include <cstring>
extern "C" {
void WPI_AllocateRawFrameData(WPI_RawFrame* frame, int requestedSize) {
if (frame->dataLength >= requestedSize) {
return;
int WPI_AllocateRawFrameData(WPI_RawFrame* frame, size_t requestedSize) {
if (frame->capacity >= requestedSize) {
return 0;
}
if (frame->data) {
frame->data =
static_cast<char*>(wpi::safe_realloc(frame->data, requestedSize));
} else {
frame->data = static_cast<char*>(wpi::safe_malloc(requestedSize));
}
frame->dataLength = requestedSize;
WPI_FreeRawFrameData(frame);
frame->data = static_cast<uint8_t*>(wpi::safe_malloc(requestedSize));
frame->capacity = requestedSize;
frame->size = 0;
return 1;
}
void WPI_FreeRawFrameData(WPI_RawFrame* frame) {
if (frame->data) {
std::free(frame->data);
if (frame->freeFunc) {
frame->freeFunc(frame->freeCbData, frame->data, frame->capacity);
} else {
std::free(frame->data);
}
frame->data = nullptr;
frame->dataLength = 0;
frame->freeFunc = nullptr;
frame->freeCbData = nullptr;
frame->capacity = 0;
}
}
void WPI_SetRawFrameData(WPI_RawFrame* frame, void* data, size_t size,
size_t capacity, void* cbdata,
void (*freeFunc)(void* cbdata, void* data,
size_t capacity)) {
WPI_FreeRawFrameData(frame);
frame->data = static_cast<uint8_t*>(data);
frame->freeFunc = freeFunc;
frame->freeCbData = cbdata;
frame->capacity = capacity;
frame->size = size;
}
} // extern "C"

77
wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
View File

@@ -327,9 +327,7 @@ JNIEXPORT jlong JNICALL
Java_edu_wpi_first_util_WPIUtilJNI_allocateRawFrame
(JNIEnv*, jclass)
{
wpi::RawFrame* rawFrame = new wpi::RawFrame{};
intptr_t rawFrameIntPtr = reinterpret_cast<intptr_t>(rawFrame);
return static_cast<jlong>(rawFrameIntPtr);
return reinterpret_cast<jlong>(new wpi::RawFrame);
}
/*
@@ -339,11 +337,76 @@ Java_edu_wpi_first_util_WPIUtilJNI_allocateRawFrame
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_WPIUtilJNI_freeRawFrame
(JNIEnv*, jclass, jlong rawFrame)
(JNIEnv*, jclass, jlong frame)
{
wpi::RawFrame* ptr =
reinterpret_cast<wpi::RawFrame*>(static_cast<intptr_t>(rawFrame));
delete ptr;
delete reinterpret_cast<wpi::RawFrame*>(frame);
}
/*
* Class: edu_wpi_first_util_WPIUtilJNI
* Method: getRawFrameDataPtr
* Signature: (J)J
*/
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_util_WPIUtilJNI_getRawFrameDataPtr
(JNIEnv* env, jclass, jlong frame)
{
auto* f = reinterpret_cast<wpi::RawFrame*>(frame);
if (!f) {
wpi::ThrowNullPointerException(env, "frame is null");
return 0;
}
return reinterpret_cast<jlong>(f->data);
}
/*
* Class: edu_wpi_first_util_WPIUtilJNI
* Method: setRawFrameData
* Signature: (JLjava/lang/Object;IIIII)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_WPIUtilJNI_setRawFrameData
(JNIEnv* env, jclass, jlong frame, jobject data, jint size, jint width,
jint height, jint stride, jint pixelFormat)
{
auto* f = reinterpret_cast<wpi::RawFrame*>(frame);
if (!f) {
wpi::ThrowNullPointerException(env, "frame is null");
return;
}
auto buf = env->GetDirectBufferAddress(data);
if (!buf) {
wpi::ThrowNullPointerException(env, "data is null");
return;
}
// there's no way to free a passed-in direct byte buffer
f->SetData(buf, size, env->GetDirectBufferCapacity(data), nullptr,
[](void*, void*, size_t) {});
f->width = width;
f->height = height;
f->stride = stride;
f->pixelFormat = pixelFormat;
}
/*
* Class: edu_wpi_first_util_WPIUtilJNI
* Method: setRawFrameInfo
* Signature: (JIIIII)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_WPIUtilJNI_setRawFrameInfo
(JNIEnv* env, jclass, jlong frame, jint size, jint width, jint height,
jint stride, jint pixelFormat)
{
auto* f = reinterpret_cast<wpi::RawFrame*>(frame);
if (!f) {
wpi::ThrowNullPointerException(env, "frame is null");
return;
}
f->width = width;
f->height = height;
f->stride = stride;
f->pixelFormat = pixelFormat;
}
} // extern "C"