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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-01-16 23:17:59 -08:00
parent 1cad4f64a4 a9f3fc6b2c
commit d9f8fded09
92 changed files with 2748 additions and 534 deletions
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42
wpiutil/src/main/java/edu/wpi/first/util/RawFrame.java
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@@ -18,6 +18,8 @@ public class RawFrame implements AutoCloseable {
private int m_height;
private int m_stride;
private PixelFormat m_pixelFormat = PixelFormat.kUnknown;
private long m_time;
private TimestampSource m_timeSource = TimestampSource.kUnknown;
/** Construct a new empty RawFrame. */
public RawFrame() {
@@ -43,12 +45,15 @@ public class RawFrame implements AutoCloseable {
* @param stride The number of bytes in each row of image data
* @param pixelFormat The PixelFormat of the frame
*/
void setDataJNI(ByteBuffer data, int width, int height, int stride, int pixelFormat) {
void setDataJNI(
ByteBuffer data, int width, int height, int stride, int pixelFormat, long time, int timeSrc) {
m_data = data;
m_width = width;
m_height = height;
m_stride = stride;
m_pixelFormat = PixelFormat.getFromInt(pixelFormat);
m_time = time;
m_timeSource = TimestampSource.getFromInt(timeSrc);
}
/**
@@ -59,11 +64,13 @@ public class RawFrame implements AutoCloseable {
* @param stride The number of bytes in each row of image data
* @param pixelFormat The PixelFormat of the frame
*/
void setInfoJNI(int width, int height, int stride, int pixelFormat) {
void setInfoJNI(int width, int height, int stride, int pixelFormat, long time, int timeSrc) {
m_width = width;
m_height = height;
m_stride = stride;
m_pixelFormat = PixelFormat.getFromInt(pixelFormat);
m_time = time;
m_timeSource = TimestampSource.getFromInt(timeSrc);
}
/**
@@ -110,6 +117,19 @@ public class RawFrame implements AutoCloseable {
pixelFormat.getValue());
}
/**
* Update this frame's timestamp info.
*
* @param frameTime the time this frame was grabbed at. This uses the same time base as
* wpi::Now(), in us.
* @param frameTimeSource the time source for the timestamp this frame was grabbed at.
*/
public void setTimeInfo(long frameTime, TimestampSource frameTimeSource) {
m_time = frameTime;
m_timeSource = frameTimeSource;
WPIUtilJNI.setRawFrameTime(m_nativeObj, frameTime, frameTimeSource.getValue());
}
/**
* Get the pointer to native representation of this frame.
*
@@ -185,4 +205,22 @@ public class RawFrame implements AutoCloseable {
public PixelFormat getPixelFormat() {
return m_pixelFormat;
}
/**
* Get the time this frame was grabbed at. This uses the same time base as wpi::Now(), in us.
*
* @return Time in 1 us increments.
*/
public long getTimestamp() {
return m_time;
}
/**
* Get the time source for the timestamp this frame was grabbed at.
*
* @return Time source
*/
public TimestampSource getTimestampSource() {
return m_timeSource;
}
}

51
wpiutil/src/main/java/edu/wpi/first/util/TimestampSource.java Normal file
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@@ -0,0 +1,51 @@
// 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.
package edu.wpi.first.util;
/**
* Options for where the timestamp an {@link RawFrame} was captured at can be measured relative to.
*/
public enum TimestampSource {
/** unknown. */
kUnknown(0),
/**
* wpi::Now when the new frame was dequeued by CSCore. Does not account for camera exposure time
* or V4L latency.
*/
kFrameDequeue(1),
/** End of Frame. Same as V4L2_BUF_FLAG_TSTAMP_SRC_EOF, translated into wpi::Now's timebase. */
kV4LEOF(2),
/**
* Start of Exposure. Same as V4L2_BUF_FLAG_TSTAMP_SRC_SOE, translated into wpi::Now's timebase.
*/
kV4LSOE(3);
private final int value;
TimestampSource(int value) {
this.value = value;
}
/**
* Gets the integer value of the pixel format.
*
* @return Integer value
*/
public int getValue() {
return value;
}
private static final TimestampSource[] s_values = values();
/**
* Gets a TimestampSource enum value from its integer value.
*
* @param timestampSource integer value
* @return Enum value
*/
public static TimestampSource getFromInt(int timestampSource) {
return s_values[timestampSource];
}
}

2
wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
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@@ -175,6 +175,8 @@ public class WPIUtilJNI {
static native void setRawFrameInfo(
long frame, int size, int width, int height, int stride, int pixelFormat);
static native void setRawFrameTime(long frame, long timestamp, int timeSource);
/**
* Waits for a handle to be signaled.
*

18
wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
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@@ -426,6 +426,24 @@ Java_edu_wpi_first_util_WPIUtilJNI_setRawFrameData
f->pixelFormat = pixelFormat;
}
/*
* Class: edu_wpi_first_util_WPIUtilJNI
* Method: setRawFrameTime
* Signature: (JJI)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_util_WPIUtilJNI_setRawFrameTime
(JNIEnv* env, jclass, jlong frame, jlong time, jint timeSource)
{
auto* f = reinterpret_cast<wpi::RawFrame*>(frame);
if (!f) {
wpi::ThrowNullPointerException(env, "frame is null");
return;
}
f->timestamp = time;
f->timestampSrc = timeSource;
}
/*
* Class: edu_wpi_first_util_WPIUtilJNI
* Method: setRawFrameInfo

47
wpiutil/src/main/native/include/wpi/RawFrame.h
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@@ -34,13 +34,15 @@ typedef struct WPI_RawFrame { // NOLINT
uint8_t* data;
// function to free image data (may be NULL)
void (*freeFunc)(void* cbdata, void* data, size_t capacity);
void* freeCbData; // data passed to freeFunc
size_t capacity; // data buffer capacity, in bytes
size_t size; // actual size of data, in bytes
int pixelFormat; // WPI_PixelFormat
int width; // width of image, in pixels
int height; // height of image, in pixels
int stride; // size of each row of data, in bytes (may be 0)
void* freeCbData; // data passed to freeFunc
size_t capacity; // data buffer capacity, in bytes
size_t size; // actual size of data, in bytes
int pixelFormat; // WPI_PixelFormat
int width; // width of image, in pixels
int height; // height of image, in pixels
int stride; // size of each row of data, in bytes (may be 0)
uint64_t timestamp; // image capture timestamp
int timestampSrc; // WPI_TimestampSource
} WPI_RawFrame;
/**
@@ -58,6 +60,21 @@ enum WPI_PixelFormat {
WPI_PIXFMT_BGRA, // BGRA 8-8-8-8-, 32 bpp
};
/**
* Timestamp metadata. Timebase is the same as wpi::Now
*/
enum WPI_TimestampSource {
WPI_TIMESRC_UNKNOWN = 0, // unknown
WPI_TIMESRC_FRAME_DEQUEUE, // wpi::Now when the new frame was dequeued by
// CSCore. Does not account for camera exposure
// time or V4L latency.
WPI_TIMESRC_V4L_EOF, // End of Frame. Same as V4L2_BUF_FLAG_TSTAMP_SRC_EOF,
// translated into wpi::Now's timebase.
WPI_TIMESRC_V4L_SOE, // Start of Exposure. Same as
// V4L2_BUF_FLAG_TSTAMP_SRC_SOE, translated into
// wpi::Now's timebase.
};
// Returns nonzero if the frame data was allocated/reallocated
int WPI_AllocateRawFrameData(WPI_RawFrame* frame, size_t requestedSize);
void WPI_FreeRawFrameData(WPI_RawFrame* frame);
@@ -82,6 +99,8 @@ struct RawFrame : public WPI_RawFrame {
pixelFormat = WPI_PIXFMT_UNKNOWN;
width = 0;
height = 0;
timestamp = 0;
timestampSrc = WPI_TIMESRC_UNKNOWN;
}
RawFrame(const RawFrame&) = delete;
RawFrame& operator=(const RawFrame&) = delete;
@@ -120,19 +139,23 @@ template <std::same_as<wpi::RawFrame> T>
void SetFrameData(JNIEnv* env, jclass rawFrameCls, jobject jframe,
const T& frame, bool newData) {
if (newData) {
static jmethodID setData = env->GetMethodID(rawFrameCls, "setDataJNI",
"(Ljava/nio/ByteBuffer;IIII)V");
static jmethodID setData = env->GetMethodID(
rawFrameCls, "setDataJNI", "(Ljava/nio/ByteBuffer;IIIIJI)V");
env->CallVoidMethod(
jframe, setData, env->NewDirectByteBuffer(frame.data, frame.size),
static_cast<jint>(frame.width), static_cast<jint>(frame.height),
static_cast<jint>(frame.stride), static_cast<jint>(frame.pixelFormat));
static_cast<jint>(frame.stride), static_cast<jint>(frame.pixelFormat),
static_cast<jlong>(frame.timestamp),
static_cast<jint>(frame.timestampSrc));
} else {
static jmethodID setInfo =
env->GetMethodID(rawFrameCls, "setInfoJNI", "(IIII)V");
env->GetMethodID(rawFrameCls, "setInfoJNI", "(IIIIJI)V");
env->CallVoidMethod(jframe, setInfo, static_cast<jint>(frame.width),
static_cast<jint>(frame.height),
static_cast<jint>(frame.stride),
static_cast<jint>(frame.pixelFormat));
static_cast<jint>(frame.pixelFormat),
static_cast<jlong>(frame.timestamp),
static_cast<jint>(frame.timestampSrc));
}
}
#endif

2
wpiutil/src/main/native/include/wpi/Synchronization.h
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@@ -407,7 +407,7 @@ class SignalObject final {
}
SignalObject& operator=(SignalObject&& rhs) {
if (m_handle != 0) {
DestroySemaphore(m_handle);
DestroySignalObject(m_handle);
}
m_handle = rhs.m_handle;
rhs.m_handle = 0;