Update wpiutil and ntcore native imports and native-backed structs

src/ntcore/LogMessage.cs

@@ -17,7 +17,7 @@ public static LogMessage ConvertToManaged(in NativeLogMessage unmanaged)
         {
             LogLevel = (int)unmanaged.level,
             Message = unmanaged.message.ConvertToString(),
-            Filename = unmanaged.message.ConvertToString(),
+            Filename = unmanaged.filename.ConvertToString(),
             Line = (int)unmanaged.line
         };
     }

src/ntcore/Natives/NtCore.Datalog.cs

@@ -20,7 +20,7 @@ public static unsafe partial class NtCore
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial NtConnectionDataLogger StartConnectionDataLog(NtInst inst, OpaqueDataLog* log, WpiString name);
 
-    [LibraryImport("ntcore", EntryPoint = "NT_StopEntryDataLog")]
+    [LibraryImport("ntcore", EntryPoint = "NT_StopConnectionDataLog")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void StopConnectionDataLog(NtConnectionDataLogger logger);
 }

src/ntcore/Natives/NtCore.Free.cs

@@ -41,6 +41,38 @@ public static unsafe partial class NtCore
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void FreeCharArray(byte* nativePtr);
 
+    [LibraryImport("ntcore", EntryPoint = "NT_AllocateBooleanArray")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int* AllocateBooleanArray(nuint len);
+
+    [LibraryImport("ntcore", EntryPoint = "NT_AllocateIntegerArray")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial long* AllocateIntegerArray(nuint len);
+
+    [LibraryImport("ntcore", EntryPoint = "NT_AllocateFloatArray")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial float* AllocateFloatArray(nuint len);
+
+    [LibraryImport("ntcore", EntryPoint = "NT_AllocateDoubleArray")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial double* AllocateDoubleArray(nuint len);
+
+    [LibraryImport("ntcore", EntryPoint = "NT_FreeBooleanArray")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void FreeBooleanArray(int* nativePtr);
+
+    [LibraryImport("ntcore", EntryPoint = "NT_FreeIntegerArray")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void FreeIntegerArray(long* nativePtr);
+
+    [LibraryImport("ntcore", EntryPoint = "NT_FreeFloatArray")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void FreeFloatArray(float* nativePtr);
+
+    [LibraryImport("ntcore", EntryPoint = "NT_FreeDoubleArray")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void FreeDoubleArray(double* nativePtr);
+
     [LibraryImport("ntcore", EntryPoint = "NT_Meta_FreeTopicPublishers")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void MetaFreeTopicPublishers(void* nativePtr, nuint count);

src/ntcore/Natives/NtCore.Listener.cs

@@ -26,6 +26,16 @@ public static NetworkTableEvent[] ReadListenerQueue(NtListenerPoller poller)
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void DestroyListenerPoller(NtListenerPoller poller);
 
+
+    [LibraryImport("ntcore", EntryPoint = "NT_WaitForListenerQueue")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    [return: MarshalAs(UnmanagedType.I4)]
+    public static partial bool WaitForListenerQueue(int handle, double timeout);
+
+    [LibraryImport("ntcore", EntryPoint = "NT_AddPolledListenerSingle")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial NtListener AddListener(NtListenerPoller poller, WPIUtil.WpiString prefix, EventFlags flags);
+
     [LibraryImport("ntcore", EntryPoint = "NT_AddPolledListenerMultiple")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     internal static partial NtListener AddListener(NtListenerPoller poller, [MarshalUsing(typeof(WpiStringMarshaller), ElementIndirectionDepth = 1)] ReadOnlySpan<string> prefixes, nuint prefixesLen, EventFlags flags);

src/ntcore/NetworkMode.cs

@@ -3,10 +3,11 @@ namespace NetworkTables;
 [Flags]
 public enum NetworkMode : uint
 {
-    None = 0,
+    None = 0x0,
     Server = 0x1,
-    Client3 = 0x2,
-    Client4 = 0x4,
+    Client = 0x4,
+    Client4 = Client,
     Starting = 0x8,
     Local = 0x10,
+    MdnsAnnouncing = 0x20,
 }

src/ntcore/PubSubOptions.cs

@@ -1,13 +1,20 @@
 using System.Runtime.InteropServices;
 using System.Runtime.InteropServices.Marshalling;
+using NetworkTables.Handles;
 
 namespace NetworkTables;
 
 [NativeMarshalling(typeof(PubSubOptionsMarshaller))]
 [StructLayout(LayoutKind.Auto)]
-public record struct PubSubOptions(uint PollSize, double Periodic, bool ExcludePublisher, bool SendAll, bool TopicsOnly, bool PrefixMatch, bool KeepDuplicates, bool DisableRemote, bool DisableLocal, bool ExcludeSelf, bool Hidden)
+public record struct PubSubOptions(uint PollStorage, double Periodic, NtPublisher ExcludePublisher, bool SendAll, bool TopicsOnly, bool PrefixMatch, bool KeepDuplicates, bool DisableRemote, bool DisableLocal, bool ExcludeSelf, bool Hidden)
 {
     public static PubSubOptions None => new();
+
+    public uint PollSize
+    {
+        get => PollStorage;
+        set => PollStorage = value;
+    }
 }
 
 [CustomMarshaller(typeof(PubSubOptions), MarshalMode.Default, typeof(PubSubOptionsMarshaller))]
@@ -18,9 +25,9 @@ public static NativePubSubOptions ConvertToUnmanaged(in PubSubOptions managed)
         return new NativePubSubOptions
         {
             structSize = (uint)sizeof(NativePubSubOptions),
-            pollSize = managed.PollSize,
+            pollStorage = managed.PollStorage,
             periodic = managed.Periodic,
-            excludePublisher = managed.ExcludePublisher ? 1 : 0,
+            excludePublisher = managed.ExcludePublisher.Handle,
             sendAll = managed.SendAll ? 1 : 0,
             topicsOnly = managed.TopicsOnly ? 1 : 0,
             prefixMatch = managed.PrefixMatch ? 1 : 0,
@@ -36,9 +43,9 @@ public static PubSubOptions ConvertToManaged(in NativePubSubOptions unmanaged)
     {
         return new PubSubOptions
         {
-            PollSize = unmanaged.pollSize,
+            PollStorage = unmanaged.pollStorage,
             Periodic = unmanaged.periodic,
-            ExcludePublisher = unmanaged.excludePublisher != 0,
+            ExcludePublisher = new NtPublisher(unmanaged.excludePublisher),
             SendAll = unmanaged.sendAll != 0,
             TopicsOnly = unmanaged.topicsOnly != 0,
             PrefixMatch = unmanaged.prefixMatch != 0,
@@ -54,7 +61,7 @@ public static PubSubOptions ConvertToManaged(in NativePubSubOptions unmanaged)
     public struct NativePubSubOptions
     {
         public uint structSize;
-        public uint pollSize;
+        public uint pollStorage;
         public double periodic;
         public int excludePublisher;
         public int sendAll;
@@ -65,25 +72,5 @@ public struct NativePubSubOptions
         public int disableLocal;
         public int excludeSelf;
         public int hidden;
-
-        public override bool Equals(object? obj)
-        {
-            throw new NotImplementedException();
-        }
-
-        public override int GetHashCode()
-        {
-            throw new NotImplementedException();
-        }
-
-        public static bool operator ==(NativePubSubOptions left, NativePubSubOptions right)
-        {
-            return left.Equals(right);
-        }
-
-        public static bool operator !=(NativePubSubOptions left, NativePubSubOptions right)
-        {
-            return !(left == right);
-        }
     }
 }

src/wpiutil/Natives/RawFrameNative.cs

@@ -24,6 +24,8 @@ public void FromManaged(in RawFrameWriter managed)
         rawFrame.height = managed.Height;
         rawFrame.stride = managed.Stride;
         rawFrame.pixelFormat = managed.PixelFormat;
+        rawFrame.timestamp = managed.Timestamp;
+        rawFrame.timestampSrc = managed.TimestampSource;
     }
     public readonly ref readonly byte GetPinnableReference()
     {
@@ -49,13 +51,17 @@ public unsafe partial struct NativeRawFrame
 {
     [LibraryImport("wpiutil", EntryPoint = "WPI_AllocateRawFrameData")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
-    [return: MarshalAs(UnmanagedType.U4)]
+    [return: MarshalAs(UnmanagedType.I4)]
     public static unsafe partial bool AllocateRawFrameData(ref NativeRawFrame frame, nuint requestedSize);
 
     [LibraryImport("wpiutil", EntryPoint = "WPI_FreeRawFrameData")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static unsafe partial void FreeRawFrameData(ref NativeRawFrame frame);
 
+    [LibraryImport("wpiutil", EntryPoint = "WPI_SetRawFrameData")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static unsafe partial void SetRawFrameData(ref NativeRawFrame frame, void* data, nuint size, nuint capacity, void* cbdata, delegate* unmanaged[Cdecl]<void*, void*, nuint, void> freeFunc);
+
     public byte* data;
     public delegate* unmanaged[Cdecl]<void*, void*, nuint, void> freeFunc;
     public void* freeCbData;
@@ -65,4 +71,6 @@ public unsafe partial struct NativeRawFrame
     public int width;
     public int height;
     public int stride;
+    public ulong timestamp;
+    public TimestampSource timestampSrc;
 }

src/wpiutil/Natives/StringsNative.cs

@@ -6,6 +6,22 @@ namespace WPIUtil.Natives;
 
 public static partial class StringsNative
 {
+    [LibraryImport("wpiutil", EntryPoint = "WPI_InitString")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static unsafe partial void InitString(WpiStringMarshaller.WpiStringNative* wpiString);
+
+    [LibraryImport("wpiutil", EntryPoint = "WPI_InitStringWithLength")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static unsafe partial void InitStringWithLength(WpiStringMarshaller.WpiStringNative* wpiString, nuint len);
+
+    [LibraryImport("wpiutil", EntryPoint = "WPI_AllocateString")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static unsafe partial void AllocateString(WpiStringMarshaller.WpiStringNative* wpiString, nuint len);
+
+    [LibraryImport("wpiutil", EntryPoint = "WPI_AllocateStringArray")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static unsafe partial WpiStringMarshaller.WpiStringNative* AllocateStringArray(nuint count);
+
     [LibraryImport("wpiutil", EntryPoint = "WPI_FreeString")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static unsafe partial void FreeString(WpiStringMarshaller.WpiStringNative* wpiString);

src/wpiutil/Natives/SynchronizationNative.cs

@@ -7,7 +7,7 @@ namespace WPIUtil.Natives;
 
 public static partial class SynchronizationNative
 {
-    [LibraryImport("wpiutil", EntryPoint = "WPI_CreateEvent")]
+    [LibraryImport("wpiutil", EntryPoint = "WPI_MakeEvent")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial WpiEventHandle CreateEvent([MarshalAs(UnmanagedType.I4)] bool manualReset, [MarshalAs(UnmanagedType.I4)] bool initialState);
 
@@ -23,7 +23,7 @@ public static partial class SynchronizationNative
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void ResetEvent(WpiEventHandle handle);
 
-    [LibraryImport("wpiutil", EntryPoint = "WPI_CreateSemaphore")]
+    [LibraryImport("wpiutil", EntryPoint = "WPI_MakeSemaphore")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial WpiSemaphoreHandle CreateSemaphore(int initialCount, int maximumCount);
 
@@ -33,17 +33,17 @@ public static partial class SynchronizationNative
 
     [LibraryImport("wpiutil", EntryPoint = "WPI_ReleaseSemaphore")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
-    [return: MarshalAs(UnmanagedType.U4)]
+    [return: MarshalAs(UnmanagedType.I4)]
     public static unsafe partial bool ReleaseSemaphore(WpiSemaphoreHandle handle, int releaseCount, out int prevCount);
 
     [LibraryImport("wpiutil", EntryPoint = "WPI_WaitForObject")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
-    [return: MarshalAs(UnmanagedType.U4)]
+    [return: MarshalAs(UnmanagedType.I4)]
     public static partial bool WaitForObject(int handle);
 
     [LibraryImport("wpiutil", EntryPoint = "WPI_WaitForObjectTimeout")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
-    [return: MarshalAs(UnmanagedType.U4)]
+    [return: MarshalAs(UnmanagedType.I4)]
     public static unsafe partial bool WaitForObjectTimeout(int handle, double timeout, [MarshalAs(UnmanagedType.I4)] out bool timedOut);
 
     [LibraryImport("wpiutil", EntryPoint = "WPI_WaitForObjects")]
@@ -64,7 +64,7 @@ public static unsafe ReadOnlySpan<int> WaitForObjects(ReadOnlySpan<int> handles,
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static unsafe partial int WaitForObjectsTimeout(ReadOnlySpan<int> handles, int handlesCount, Span<int> signaled, double timeout, [MarshalAs(UnmanagedType.I4)] out bool timedOut);
 
-    [LibraryImport("wpiutil", EntryPoint = "WPI_CreateSemaphore")]
+    [LibraryImport("wpiutil", EntryPoint = "WPI_CreateSignalObject")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void CreateSignalObject(int handle, [MarshalAs(UnmanagedType.I4)] bool manualReset, [MarshalAs(UnmanagedType.I4)] bool InitialState);
 

src/wpiutil/PixelFormat.cs

@@ -9,5 +9,14 @@ public enum PixelFormat : int
     Bgr,
     Gray,
     Y16,
-    Uyvy
+    Uyvy,
+    Bgra
+}
+
+public enum TimestampSource : int
+{
+    Unknown = 0,
+    FrameDequeue,
+    V4lEof,
+    V4lSoe
 }

src/wpiutil/RawFrameReader.cs

@@ -49,10 +49,24 @@ public PixelFormat PixelFormat
         set => internalFrame.pixelFormat = value;
     }
 
+    public ulong Timestamp
+    {
+        get => internalFrame.timestamp;
+        set => internalFrame.timestamp = value;
+    }
+
+    public TimestampSource TimestampSource
+    {
+        get => internalFrame.timestampSrc;
+        set => internalFrame.timestampSrc = value;
+    }
+
     public unsafe RawFrameReader CreateCopy()
     {
         RawFrameReader ret = new RawFrameReader();
         ret.SetInfo(Width, Height, Stride, PixelFormat);
+        ret.Timestamp = Timestamp;
+        ret.TimestampSource = TimestampSource;
         NativeRawFrame.AllocateRawFrameData(ref ret.RawFrame, internalFrame.size);
         ret.internalFrame.size = internalFrame.size;
         new ReadOnlySpan<byte>(internalFrame.data, checked((int)internalFrame.size)).CopyTo(new Span<byte>(ret.internalFrame.data, (int)ret.internalFrame.size));
@@ -68,6 +82,8 @@ public unsafe RawFrameWriter ToWriter()
             Height = Height,
             Stride = Stride,
             PixelFormat = PixelFormat,
+            Timestamp = Timestamp,
+            TimestampSource = TimestampSource,
         };
     }
 }

src/wpiutil/RawFrameWriter.cs

@@ -13,4 +13,6 @@ public readonly ref struct RawFrameWriter
     public int Height { get; init; }
     public int Stride { get; init; }
     public PixelFormat PixelFormat { get; init; }
+    public ulong Timestamp { get; init; }
+    public TimestampSource TimestampSource { get; init; }
 }