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Refactor management of JNI context object
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@Windwoes
Windwoes committed Dec 22, 2022
1 parent ff8ed61 commit 11c8c29
Showing 1 changed file with 101 additions and 83 deletions.
184 changes: 101 additions & 83 deletions apriltag/src/main/cpp/AprilTagDetectorJNI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,20 +27,105 @@
#include <tagStandard41h12.h>
#include <common/getopt.h>
#include <android/log.h>
#include "stdexcept"

const char* LOG_TAG = "AprilTagDetectorJNI";

struct ApriltagDetectorJniContext
class AprilTagFamily
{
apriltag_family_t *tf = NULL;
apriltag_detector_t *td = NULL;
char* tagType = NULL;
private:
const char* const FAMILY_36h11 = "tag36h11";
const char* const FAMILY_25h9 = "tag25h9";
const char* const FAMILY_16h5 = "tag16h5";
const char* const FAMILY_41h12 = "tagStandard41h12";

public:
apriltag_family_t* tf = NULL;

public:
AprilTagFamily(const char* const familyName)
{
if (!strcmp(familyName, FAMILY_36h11))
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Creating 36h11 tag family");
tf = tag36h11_create();
}
else if (!strcmp(familyName, FAMILY_25h9))
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Creating 25h9 tag family");
tf = tag25h9_create();
}
else if (!strcmp(familyName, FAMILY_16h5))
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Creating 16h5 tag family");
tf = tag16h5_create();
}
else if (!strcmp(familyName, FAMILY_41h12))
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Creating Standard41h12 tag family");
tf = tagStandard41h12_create();
}
else
{
throw std::invalid_argument("Unsupported tag family name. Use e.g. \"tag36h11\".");
}
}

~AprilTagFamily()
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Freeing tag family %s", tf->name);

if (!strcmp(tf->name, FAMILY_36h11))
{
tag36h11_destroy(tf);
}
else if (!strcmp(tf->name, FAMILY_25h9))
{
tag25h9_destroy(tf);
}
else if (!strcmp(tf->name, FAMILY_16h5))
{
tag16h5_destroy(tf);
}
else if (!strcmp(tf->name, FAMILY_41h12))
{
tagStandard41h12_destroy(tf);
}
else
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "FAILED to free unknown tag family %s", tf->name);
}
}
};

class AprilTagCtx
{
AprilTagFamily tf;

public:
apriltag_detector_t* td;

public:
AprilTagCtx(const char* const familyName, int threads, float decimate) : tf(familyName)
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Initializing april tag detector");
td = apriltag_detector_create();
td->nthreads = threads;
td->quad_decimate = decimate;
apriltag_detector_add_family(td,tf.tf);
}

~AprilTagCtx()
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Freeing april tag detector");
apriltag_detector_destroy(td);
}
};

extern "C" JNIEXPORT jlong JNICALL
Java_org_openftc_apriltag_AprilTagDetectorJNI_runApriltagDetector(JNIEnv *env, jclass clazz, jlong jPtrContext, jlong ptrGreyscaleBuf, jint width, jint height)
{
ApriltagDetectorJniContext* context = (ApriltagDetectorJniContext*) jPtrContext;
AprilTagCtx* context = (AprilTagCtx*) jPtrContext;

if(context == NULL || ptrGreyscaleBuf == NULL)
{
Expand Down Expand Up @@ -76,7 +161,7 @@ Java_org_openftc_apriltag_AprilTagDetectorJNI_runApriltagDetector(JNIEnv *env, j
extern "C" JNIEXPORT void JNICALL
Java_org_openftc_apriltag_AprilTagDetectorJNI_setApriltagDetectorDecimation(JNIEnv *env, jclass clazz, jlong jPtrContext, jfloat decimate)
{
ApriltagDetectorJniContext* context = (ApriltagDetectorJniContext*) jPtrContext;
AprilTagCtx* context = (AprilTagCtx*) jPtrContext;

if(context == NULL)
{
Expand All @@ -94,103 +179,36 @@ Java_org_openftc_apriltag_AprilTagDetectorJNI_createApriltagDetector(JNIEnv *env
{
const char *famname = env->GetStringUTFChars(jfamname, nullptr);

apriltag_family_t *tf = NULL;

if (!strcmp(famname, "tag36h11"))
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Creating 36h11 tag family");
tf = tag36h11_create();
}
else if (!strcmp(famname, "tag25h9"))
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Creating 25h9 tag family");
tf = tag25h9_create();
}
else if (!strcmp(famname, "tag16h5"))
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Creating 16h5 tag family");
tf = tag16h5_create();
}
else if (!strcmp(famname, "tagStandard41h12"))
try
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Creating Standard41h12 tag family");
tf = tagStandard41h12_create();
AprilTagCtx* ptrContext = new AprilTagCtx(famname, threads, decimate);
return (jlong) ptrContext;
}
else
catch (std::invalid_argument& e)
{
env->ThrowNew(
env->FindClass("java/lang/IllegalArgumentException"),
"Unrecognized tag family name. Use e.g. \"tag36h11\".");

return 0;
e.what());
}

__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Initializing april tag detector");
apriltag_detector_t* td = apriltag_detector_create();
td->nthreads = threads;
td->quad_decimate = decimate;
//td->debug = true;
// td->quad_sigma = blur;
// td->refine_edges = refineEdges;

apriltag_detector_add_family(td, tf);

__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Initializing april tag JNI context object");
ApriltagDetectorJniContext* ptrContext = new ApriltagDetectorJniContext();
ptrContext->tf = tf;
ptrContext->td = td;
char *strForContext = new char[strlen(famname)+1];
strcpy(strForContext, famname);
ptrContext->tagType = strForContext;

env->ReleaseStringUTFChars(jfamname, famname);

jlong ret = (jlong) ptrContext;

return ret;
return 0;
}

extern "C" JNIEXPORT void JNICALL
Java_org_openftc_apriltag_AprilTagDetectorJNI_releaseApriltagDetector(JNIEnv *env, jclass clazz, jlong ptrContext)
{
ApriltagDetectorJniContext* bridge = (ApriltagDetectorJniContext*) ptrContext;
AprilTagCtx* context = (AprilTagCtx*) ptrContext;

if(bridge == NULL)
if(context == NULL)
{
env->ThrowNew(
env->FindClass("java/lang/IllegalArgumentException"),
"Pointer must not be null!");
return;
}

__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Freeing april tag detector");
apriltag_detector_destroy(bridge->td);

char *famname = bridge->tagType;
apriltag_family_t *tf = bridge->tf;

__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Freeing tag family");

if (!strcmp(famname, "tag36h11"))
{
tag36h11_destroy(tf);
}
else if (!strcmp(famname, "tag25h9"))
{
tag25h9_destroy(tf);
}
else if (!strcmp(famname, "tag16h5"))
{
tag16h5_destroy(tf);
}
else if (!strcmp(famname, "tagStandard41h12"))
{
tagStandard41h12_destroy(tf);
}

__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Freeing tag type");
delete[] bridge->tagType;

__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Freeing april tag JNI context object");
delete bridge;
delete context;
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "Freed april tag JNI context object");
}

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