[wpiutil] Move RawFrame to wpiutil; add generation of RawFrame for AprilTags (#5923)

wpiutil/src/main/native/cpp/RawFrame.cpp

@@ -0,0 +1,30 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "wpi/RawFrame.h"
+
+#include <wpi/MemAlloc.h>
+
+extern "C" {
+void WPI_AllocateRawFrameData(WPI_RawFrame* frame, int requestedSize) {
+  if (frame->dataLength >= requestedSize) {
+    return;
+  }
+  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;
+}
+
+void WPI_FreeRawFrameData(WPI_RawFrame* frame) {
+  if (frame->data) {
+    std::free(frame->data);
+    frame->data = nullptr;
+    frame->dataLength = 0;
+  }
+}
+}  // extern "C"

wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp

@@ -9,6 +9,7 @@
 #include <fmt/format.h>
 
 #include "edu_wpi_first_util_WPIUtilJNI.h"
+#include "wpi/RawFrame.h"
 #include "wpi/Synchronization.h"
 #include "wpi/jni_util.h"
 #include "wpi/timestamp.h"
@@ -317,4 +318,32 @@ Java_edu_wpi_first_util_WPIUtilJNI_waitForObjectsTimeout
   return MakeJIntArray(env, signaled);
 }
 
+/*
+ * Class:     edu_wpi_first_util_WPIUtilJNI
+ * Method:    allocateRawFrame
+ * Signature: ()J
+ */
+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);
+}
+
+/*
+ * Class:     edu_wpi_first_util_WPIUtilJNI
+ * Method:    freeRawFrame
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_freeRawFrame
+  (JNIEnv*, jclass, jlong rawFrame)
+{
+  wpi::RawFrame* ptr =
+      reinterpret_cast<wpi::RawFrame*>(static_cast<intptr_t>(rawFrame));
+  delete ptr;
+}
+
 }  // extern "C"

wpiutil/src/main/native/include/wpi/RawFrame.h

@@ -0,0 +1,63 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#ifndef WPIUTIL_WPI_RAWFRAME_H_
+#define WPIUTIL_WPI_RAWFRAME_H_
+
+/**
+ * Raw Frame
+ */
+typedef struct WPI_RawFrame {  // NOLINT
+  char* data;
+  int dataLength;
+  int pixelFormat;
+  int width;
+  int height;
+  int totalData;
+} WPI_RawFrame;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Pixel formats
+ */
+enum WPI_PixelFormat {
+  WPI_PIXFMT_UNKNOWN = 0,
+  WPI_PIXFMT_MJPEG,
+  WPI_PIXFMT_YUYV,
+  WPI_PIXFMT_RGB565,
+  WPI_PIXFMT_BGR,
+  WPI_PIXFMT_GRAY,
+  WPI_PIXFMT_Y16,
+  WPI_PIXFMT_UYVY
+};
+
+void WPI_AllocateRawFrameData(WPI_RawFrame* frame, int requestedSize);
+void WPI_FreeRawFrameData(WPI_RawFrame* frame);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+
+#ifdef __cplusplus
+namespace wpi {
+struct RawFrame : public WPI_RawFrame {
+  RawFrame() {
+    data = nullptr;
+    dataLength = 0;
+    pixelFormat = WPI_PIXFMT_UNKNOWN;
+    width = 0;
+    height = 0;
+    totalData = 0;
+  }
+
+  ~RawFrame() { WPI_FreeRawFrameData(this); }
+};
+}  // namespace wpi
+
+#endif
+
+#endif  // WPIUTIL_WPI_RAWFRAME_H_