[wpiutil] Add a RawFrame JNI overload for byte[]

Allows avoiding two copies in wpilibsuite#7176

Author: spacey-sooty

wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java

@@ -169,6 +169,9 @@ public static synchronized void forceLoad() throws IOException {
   static native void setRawFrameData(
       long frame, ByteBuffer data, int size, int width, int height, int stride, int pixelFormat);
 
+  static native void setRawFrameData(
+      long frame, byte[] data, int size, int width, int height, int stride, int pixelFormat);
+
   static native void setRawFrameInfo(
       long frame, int size, int width, int height, int stride, int pixelFormat);
 

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

@@ -16,7 +16,6 @@
 #include "wpi/timestamp.h"
 
 using namespace wpi::java;
-
 static bool mockTimeEnabled = false;
 static uint64_t mockNow = 0;
 
@@ -395,6 +394,35 @@ Java_edu_wpi_first_util_WPIUtilJNI_setRawFrameData
   f->pixelFormat = pixelFormat;
 }
 
+/*
+ * Class:     edu_wpi_first_util_WPIUtilJNI
+ * Method:    setRawFrameData
+ * Signature: (J[BIIIII)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_setRawFrameData
+  (JNIEnv* env, jclass, jlong frame, jbyteArray 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->GetByteArrayElements(env, data, size);
+  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