Add support for vision in C++

Add IMAQdx and its dependencies

Change-Id: I6befa563e96db224db83fb90985c86eb3e8d4f3e

Add a "CameraServer" class for C++

This class allows the driver station's camera viewer to interact with
a C++ program.  It includes both an automatic mode to send images from
a webcam to the dashboard in a background thread, and an option to
manually feed it IMAQ images.

Change-Id: I54fdb164c00dce165859c22f435be647dc9927cc

wpilibc/wpilibC++Devices/include/CameraServer.h

@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "ErrorBase.h"
+#include "nivision.h"
+#include "NIIMAQdx.h"
+
+#include <vector>
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+
+/**
+ * Class that runs a TCP server that serves an M-JPEG stream to the dashboard.
+ */
+class CameraServer : public ErrorBase {
+	static constexpr uint16_t kPort = 1180;
+	static constexpr uint8_t kMagicNumber[] = { 0x01, 0x00, 0x00, 0x00 };
+	static constexpr uint32_t kSize640x480 = 0;
+	static constexpr uint32_t kSize320x240 = 1;
+	static constexpr uint32_t kSize160x120 = 2;
+	static constexpr int32_t kHardwareCompression = -1;
+	static constexpr char const *kDefaultCameraName = "cam1";
+
+public:
+	static CameraServer *GetInstance();
+
+	void SetImage(Image const *image);
+
+	void StartAutomaticCapture(char const *cameraName = kDefaultCameraName);
+
+	void SetQuality(unsigned int quality);
+	unsigned int GetQuality() const;
+
+protected:
+	CameraServer();
+	void serve();
+
+	std::thread m_serverThread;
+	std::recursive_mutex m_imageMutex;
+	std::condition_variable_any m_newImageReady;
+	std::vector<uint8_t> m_imageData;
+	unsigned int m_quality;
+	bool m_autoCaptureStarted;
+
+	struct Request {
+		uint32_t fps;
+		int32_t compression;
+		uint32_t size;
+	};
+
+	static CameraServer *s_instance;
+};
+