[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"