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

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This commit is contained in:
Drew Williams
2023-11-23 13:55:10 -05:00
committed by GitHub
parent 437cc91af5
commit ca81ced409
23 changed files with 300 additions and 155 deletions
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30
wpiutil/src/main/native/cpp/RawFrame.cpp Normal file
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@@ -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"

29
wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
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@@ -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"