[robotpy] Mirror most other subprojects (#8208)

GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a

This mirrors the robotpy files for the following projects:
- apriltag
- datalog
- hal
- ntcore
- romiVendordep
- wpilibc
- wpimath
- xrpVendordep

This excludes cscore and the halsim wrappers for at this time.

NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.

wpilibc/src/main/python/wpilib/cameraserver.py

@@ -0,0 +1,94 @@
+from typing import Optional
+
+import hal
+import subprocess
+import threading
+
+import logging
+
+logger = logging.getLogger("wpilib.cs")
+
+__all__ = ["CameraServer"]
+
+
+class CameraServer:
+    """
+    Provides a way to launch an out of process cscore-based camera
+    service instance, for streaming or for image processing.
+
+    .. note:: This does not correspond directly to the wpilib
+              CameraServer object; that can be found as
+              :class:`cscore.CameraServer`. However, you should
+              not use cscore directly from your robot code, see
+              the documentation for details
+    """
+
+    _alive = False
+    _launched = False
+
+    @classmethod
+    def is_alive(cls) -> bool:
+        """:returns: True if the CameraServer is still alive"""
+        return cls._alive
+
+    @classmethod
+    def launch(cls, vision_py: Optional[str] = None) -> None:
+        """
+        Launches the CameraServer process in autocapture mode or
+        using a user-specified python script
+
+        :param vision_py: If specified, this is the relative path to
+                          a filename with a function in it
+
+        Example usage::
+
+            wpilib.CameraServer.launch("vision.py:main")
+
+        .. warning:: You must have robotpy-cscore installed, or this
+                     function will fail without returning an error
+                     (you will see an error in the console).
+
+        """
+
+        if cls._launched:
+            return
+
+        cls._launched = True
+        from ._wpilib import RobotBase
+
+        if RobotBase.isSimulation():
+            logger.info("Would launch CameraServer with vision_py=%s", vision_py)
+            cls._alive = True
+        else:
+            logger.info("Launching CameraServer process")
+
+            # Launch the cscore launcher in a separate process
+            import sys
+
+            args = [sys.executable, "-m", "cscore"]
+
+            # TODO: Get accurate reporting data from the other cscore process. For
+            # now, just differentiate between users with a custom py file and those
+            # who do not. cscore handle values indicate type with bits 24-30
+
+            if vision_py:
+                hal.reportUsage("RobotPy/CameraServer", vision_py)
+                if not vision_py.startswith("/"):
+                    vision_py = "/home/systemcore/py/" + vision_py
+                args.append(vision_py)
+            else:
+                hal.reportUsage("RobotPy/CameraServer", "")
+
+            # We open a pipe to it so that when this process exits, it dies
+            proc = subprocess.Popen(
+                args, close_fds=True, stdin=subprocess.PIPE, cwd="/home/systemcore/py"
+            )
+            th = threading.Thread(target=cls._monitor_child, args=(proc,))
+            th.daemon = True
+            th.start()
+
+    @classmethod
+    def _monitor_child(cls, proc: subprocess.Popen) -> None:
+        proc.wait()
+        logger.warning("CameraServer process exited with exitcode %s", proc.returncode)
+        cls._alive = False