New 2018 and later build setup (#1001)

cameraserver/src/main/java/edu/wpi/first/wpilibj/CameraServer.java

@@ -0,0 +1,777 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.cscore.AxisCamera;
+import edu.wpi.cscore.CameraServerJNI;
+import edu.wpi.cscore.CvSink;
+import edu.wpi.cscore.CvSource;
+import edu.wpi.cscore.MjpegServer;
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.cscore.VideoEvent;
+import edu.wpi.cscore.VideoException;
+import edu.wpi.cscore.VideoListener;
+import edu.wpi.cscore.VideoMode;
+import edu.wpi.cscore.VideoMode.PixelFormat;
+import edu.wpi.cscore.VideoProperty;
+import edu.wpi.cscore.VideoSink;
+import edu.wpi.cscore.VideoSource;
+//import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+//import edu.wpi.first.wpilibj.hal.HAL;
+import edu.wpi.first.networktables.EntryListenerFlags;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+import java.util.concurrent.atomic.AtomicInteger;
+import java.util.ArrayList;
+import java.util.Hashtable;
+
+/**
+ * Singleton class for creating and keeping camera servers.
+ * Also publishes camera information to NetworkTables.
+ */
+public class CameraServer {
+  public static final int kBasePort = 1181;
+
+  @Deprecated
+  public static final int kSize640x480 = 0;
+  @Deprecated
+  public static final int kSize320x240 = 1;
+  @Deprecated
+  public static final int kSize160x120 = 2;
+
+  private static final String kPublishName = "/CameraPublisher";
+  private static CameraServer server;
+
+  /**
+   * Get the CameraServer instance.
+   */
+  public static synchronized CameraServer getInstance() {
+    if (server == null) {
+      server = new CameraServer();
+    }
+    return server;
+  }
+
+  private AtomicInteger m_defaultUsbDevice;
+  private String m_primarySourceName;
+  private final Hashtable<String, VideoSource> m_sources;
+  private final Hashtable<String, VideoSink> m_sinks;
+  private final Hashtable<Integer, NetworkTable> m_tables;  // indexed by source handle
+  private final NetworkTable m_publishTable;
+  private final VideoListener m_videoListener; //NOPMD
+  private final int m_tableListener; //NOPMD
+  private int m_nextPort;
+  private String[] m_addresses;
+
+  @SuppressWarnings("JavadocMethod")
+  private static String makeSourceValue(int source) {
+    switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
+      case kUsb:
+        return "usb:" + CameraServerJNI.getUsbCameraPath(source);
+      case kHttp: {
+        String[] urls = CameraServerJNI.getHttpCameraUrls(source);
+        if (urls.length > 0) {
+          return "ip:" + urls[0];
+        } else {
+          return "ip:";
+        }
+      }
+      case kCv:
+        // FIXME: Should be "cv:", but LabVIEW dashboard requires "usb:".
+        // https://github.com/wpilibsuite/allwpilib/issues/407
+        return "usb:";
+      default:
+        return "unknown:";
+    }
+  }
+
+  @SuppressWarnings("JavadocMethod")
+  private static String makeStreamValue(String address, int port) {
+    return "mjpg:http://" + address + ":" + port + "/?action=stream";
+  }
+
+  @SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP"})
+  private synchronized String[] getSinkStreamValues(int sink) {
+    // Ignore all but MjpegServer
+    if (VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) != VideoSink.Kind.kMjpeg) {
+      return new String[0];
+    }
+
+    // Get port
+    int port = CameraServerJNI.getMjpegServerPort(sink);
+
+    // Generate values
+    ArrayList<String> values = new ArrayList<>(m_addresses.length + 1);
+    String listenAddress = CameraServerJNI.getMjpegServerListenAddress(sink);
+    if (!listenAddress.isEmpty()) {
+      // If a listen address is specified, only use that
+      values.add(makeStreamValue(listenAddress, port));
+    } else {
+      // Otherwise generate for hostname and all interface addresses
+      values.add(makeStreamValue(CameraServerJNI.getHostname() + ".local", port));
+      for (String addr : m_addresses) {
+        if (addr.equals("127.0.0.1")) {
+          continue;  // ignore localhost
+        }
+        values.add(makeStreamValue(addr, port));
+      }
+    }
+
+    return values.toArray(new String[0]);
+  }
+
+  @SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP"})
+  private synchronized String[] getSourceStreamValues(int source) {
+    // Ignore all but HttpCamera
+    if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
+            != VideoSource.Kind.kHttp) {
+      return new String[0];
+    }
+
+    // Generate values
+    String[] values = CameraServerJNI.getHttpCameraUrls(source);
+    for (int j = 0; j < values.length; j++) {
+      values[j] = "mjpg:" + values[j];
+    }
+
+    // Look to see if we have a passthrough server for this source
+    for (VideoSink i : m_sinks.values()) {
+      int sink = i.getHandle();
+      int sinkSource = CameraServerJNI.getSinkSource(sink);
+      if (source == sinkSource
+          && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) == VideoSink.Kind.kMjpeg) {
+        // Add USB-only passthrough
+        String[] finalValues = new String[values.length + 1];
+        for (int j = 0; j < values.length; j++) {
+          finalValues[j] = values[j];
+        }
+        int port = CameraServerJNI.getMjpegServerPort(sink);
+        finalValues[values.length] = makeStreamValue("172.22.11.2", port);
+        return finalValues;
+      }
+    }
+
+    return values;
+  }
+
+  @SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP"})
+  private synchronized void updateStreamValues() {
+    // Over all the sinks...
+    for (VideoSink i : m_sinks.values()) {
+      int sink = i.getHandle();
+
+      // Get the source's subtable (if none exists, we're done)
+      int source = CameraServerJNI.getSinkSource(sink);
+      if (source == 0) {
+        continue;
+      }
+      NetworkTable table = m_tables.get(source);
+      if (table != null) {
+        // Don't set stream values if this is a HttpCamera passthrough
+        if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
+            == VideoSource.Kind.kHttp) {
+          continue;
+        }
+
+        // Set table value
+        String[] values = getSinkStreamValues(sink);
+        if (values.length > 0) {
+          table.getEntry("streams").setStringArray(values);
+        }
+      }
+    }
+
+    // Over all the sources...
+    for (VideoSource i : m_sources.values()) {
+      int source = i.getHandle();
+
+      // Get the source's subtable (if none exists, we're done)
+      NetworkTable table = m_tables.get(source);
+      if (table != null) {
+        // Set table value
+        String[] values = getSourceStreamValues(source);
+        if (values.length > 0) {
+          table.getEntry("streams").setStringArray(values);
+        }
+      }
+    }
+  }
+
+  @SuppressWarnings("JavadocMethod")
+  private static String pixelFormatToString(PixelFormat pixelFormat) {
+    switch (pixelFormat) {
+      case kMJPEG:
+        return "MJPEG";
+      case kYUYV:
+        return "YUYV";
+      case kRGB565:
+        return "RGB565";
+      case kBGR:
+        return "BGR";
+      case kGray:
+        return "Gray";
+      default:
+        return "Unknown";
+    }
+  }
+
+  /// Provide string description of video mode.
+  /// The returned string is "{width}x{height} {format} {fps} fps".
+  @SuppressWarnings("JavadocMethod")
+  private static String videoModeToString(VideoMode mode) {
+    return mode.width + "x" + mode.height + " " + pixelFormatToString(mode.pixelFormat)
+        + " " + mode.fps + " fps";
+  }
+
+  @SuppressWarnings("JavadocMethod")
+  private static String[] getSourceModeValues(int sourceHandle) {
+    VideoMode[] modes = CameraServerJNI.enumerateSourceVideoModes(sourceHandle);
+    String[] modeStrings = new String[modes.length];
+    for (int i = 0; i < modes.length; i++) {
+      modeStrings[i] = videoModeToString(modes[i]);
+    }
+    return modeStrings;
+  }
+
+  @SuppressWarnings("JavadocMethod")
+  private static void putSourcePropertyValue(NetworkTable table, VideoEvent event, boolean isNew) {
+    String name;
+    String infoName;
+    if (event.name.startsWith("raw_")) {
+      name = "RawProperty/" + event.name;
+      infoName = "RawPropertyInfo/" + event.name;
+    } else {
+      name = "Property/" + event.name;
+      infoName = "PropertyInfo/" + event.name;
+    }
+
+    NetworkTableEntry entry = table.getEntry(name);
+    try {
+      switch (event.propertyKind) {
+        case kBoolean:
+          if (isNew) {
+            entry.setDefaultBoolean(event.value != 0);
+          } else {
+            entry.setBoolean(event.value != 0);
+          }
+          break;
+        case kInteger:
+        case kEnum:
+          if (isNew) {
+            entry.setDefaultDouble(event.value);
+            table.getEntry(infoName + "/min").setDouble(
+                CameraServerJNI.getPropertyMin(event.propertyHandle));
+            table.getEntry(infoName + "/max").setDouble(
+                CameraServerJNI.getPropertyMax(event.propertyHandle));
+            table.getEntry(infoName + "/step").setDouble(
+                CameraServerJNI.getPropertyStep(event.propertyHandle));
+            table.getEntry(infoName + "/default").setDouble(
+                CameraServerJNI.getPropertyDefault(event.propertyHandle));
+          } else {
+            entry.setDouble(event.value);
+          }
+          break;
+        case kString:
+          if (isNew) {
+            entry.setDefaultString(event.valueStr);
+          } else {
+            entry.setString(event.valueStr);
+          }
+          break;
+        default:
+          break;
+      }
+    } catch (VideoException ex) {
+      // ignore
+    }
+  }
+
+  @SuppressWarnings({"JavadocMethod", "PMD.UnusedLocalVariable"})
+  private CameraServer() {
+    m_defaultUsbDevice = new AtomicInteger();
+    m_sources = new Hashtable<>();
+    m_sinks = new Hashtable<>();
+    m_tables = new Hashtable<>();
+    m_publishTable = NetworkTableInstance.getDefault().getTable(kPublishName);
+    m_nextPort = kBasePort;
+    m_addresses = new String[0];
+
+    // We publish sources to NetworkTables using the following structure:
+    // "/CameraPublisher/{Source.Name}/" - root
+    // - "source" (string): Descriptive, prefixed with type (e.g. "usb:0")
+    // - "streams" (string array): URLs that can be used to stream data
+    // - "description" (string): Description of the source
+    // - "connected" (boolean): Whether source is connected
+    // - "mode" (string): Current video mode
+    // - "modes" (string array): Available video modes
+    // - "Property/{Property}" - Property values
+    // - "PropertyInfo/{Property}" - Property supporting information
+
+    // Listener for video events
+    m_videoListener = new VideoListener(event -> {
+      switch (event.kind) {
+        case kSourceCreated: {
+          // Create subtable for the camera
+          NetworkTable table = m_publishTable.getSubTable(event.name);
+          m_tables.put(event.sourceHandle, table);
+          table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
+          table.getEntry("description").setString(
+              CameraServerJNI.getSourceDescription(event.sourceHandle));
+          table.getEntry("connected").setBoolean(
+              CameraServerJNI.isSourceConnected(event.sourceHandle));
+          table.getEntry("streams").setStringArray(getSourceStreamValues(event.sourceHandle));
+          try {
+            VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
+            table.getEntry("mode").setDefaultString(videoModeToString(mode));
+            table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
+          } catch (VideoException ex) {
+            // Do nothing. Let the other event handlers update this if there is an error.
+          }
+          break;
+        }
+        case kSourceDestroyed: {
+          NetworkTable table = m_tables.get(event.sourceHandle);
+          if (table != null) {
+            table.getEntry("source").setString("");
+            table.getEntry("streams").setStringArray(new String[0]);
+            table.getEntry("modes").setStringArray(new String[0]);
+          }
+          break;
+        }
+        case kSourceConnected: {
+          NetworkTable table = m_tables.get(event.sourceHandle);
+          if (table != null) {
+            // update the description too (as it may have changed)
+            table.getEntry("description").setString(
+                CameraServerJNI.getSourceDescription(event.sourceHandle));
+            table.getEntry("connected").setBoolean(true);
+          }
+          break;
+        }
+        case kSourceDisconnected: {
+          NetworkTable table = m_tables.get(event.sourceHandle);
+          if (table != null) {
+            table.getEntry("connected").setBoolean(false);
+          }
+          break;
+        }
+        case kSourceVideoModesUpdated: {
+          NetworkTable table = m_tables.get(event.sourceHandle);
+          if (table != null) {
+            table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
+          }
+          break;
+        }
+        case kSourceVideoModeChanged: {
+          NetworkTable table = m_tables.get(event.sourceHandle);
+          if (table != null) {
+            table.getEntry("mode").setString(videoModeToString(event.mode));
+          }
+          break;
+        }
+        case kSourcePropertyCreated: {
+          NetworkTable table = m_tables.get(event.sourceHandle);
+          if (table != null) {
+            putSourcePropertyValue(table, event, true);
+          }
+          break;
+        }
+        case kSourcePropertyValueUpdated: {
+          NetworkTable table = m_tables.get(event.sourceHandle);
+          if (table != null) {
+            putSourcePropertyValue(table, event, false);
+          }
+          break;
+        }
+        case kSourcePropertyChoicesUpdated: {
+          NetworkTable table = m_tables.get(event.sourceHandle);
+          if (table != null) {
+            try {
+              String[] choices = CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
+              table.getEntry("PropertyInfo/" + event.name + "/choices").setStringArray(choices);
+            } catch (VideoException ex) {
+              // ignore
+            }
+          }
+          break;
+        }
+        case kSinkSourceChanged:
+        case kSinkCreated:
+        case kSinkDestroyed:
+        case kNetworkInterfacesChanged: {
+          m_addresses = CameraServerJNI.getNetworkInterfaces();
+          updateStreamValues();
+          break;
+        }
+        default:
+          break;
+      }
+    }, 0x4fff, true);
+
+    // Listener for NetworkTable events
+    // We don't currently support changing settings via NT due to
+    // synchronization issues, so just update to current setting if someone
+    // else tries to change it.
+    m_tableListener = NetworkTableInstance.getDefault().addEntryListener(kPublishName + "/",
+      (event) -> {
+        String relativeKey = event.name.substring(kPublishName.length() + 1);
+
+        // get source (sourceName/...)
+        int subKeyIndex = relativeKey.indexOf('/');
+        if (subKeyIndex == -1) {
+          return;
+        }
+        String sourceName = relativeKey.substring(0, subKeyIndex);
+        VideoSource source = m_sources.get(sourceName);
+        if (source == null) {
+          return;
+        }
+
+        // get subkey
+        relativeKey = relativeKey.substring(subKeyIndex + 1);
+
+        // handle standard names
+        String propName;
+        if (relativeKey.equals("mode")) {
+          // reset to current mode
+          event.getEntry().setString(videoModeToString(source.getVideoMode()));
+          return;
+        } else if (relativeKey.startsWith("Property/")) {
+          propName = relativeKey.substring(9);
+        } else if (relativeKey.startsWith("RawProperty/")) {
+          propName = relativeKey.substring(12);
+        } else {
+          return;  // ignore
+        }
+
+        // everything else is a property
+        VideoProperty property = source.getProperty(propName);
+        switch (property.getKind()) {
+          case kNone:
+            return;
+          case kBoolean:
+            // reset to current setting
+            event.getEntry().setBoolean(property.get() != 0);
+            return;
+          case kInteger:
+          case kEnum:
+            // reset to current setting
+            event.getEntry().setDouble(property.get());
+            return;
+          case kString:
+            // reset to current setting
+            event.getEntry().setString(property.getString());
+            return;
+          default:
+            return;
+        }
+      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
+  }
+
+  /**
+   * Start automatically capturing images to send to the dashboard.
+   *
+   * <p>You should call this method to see a camera feed on the dashboard.
+   * If you also want to perform vision processing on the roboRIO, use
+   * getVideo() to get access to the camera images.
+   *
+   * <p>The first time this overload is called, it calls
+   * {@link #startAutomaticCapture(int)} with device 0, creating a camera
+   * named "USB Camera 0".  Subsequent calls increment the device number
+   * (e.g. 1, 2, etc).
+   */
+  public UsbCamera startAutomaticCapture() {
+    UsbCamera camera = startAutomaticCapture(m_defaultUsbDevice.getAndIncrement());
+    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
+    return camera;
+  }
+
+  /**
+   * Start automatically capturing images to send to the dashboard.
+   *
+   * <p>This overload calls {@link #startAutomaticCapture(String, int)} with
+   * a name of "USB Camera {dev}".
+   *
+   * @param dev The device number of the camera interface
+   */
+  public UsbCamera startAutomaticCapture(int dev) {
+    UsbCamera camera = new UsbCamera("USB Camera " + dev, dev);
+    startAutomaticCapture(camera);
+    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
+    return camera;
+  }
+
+  /**
+   * Start automatically capturing images to send to the dashboard.
+   *
+   * @param name The name to give the camera
+   * @param dev The device number of the camera interface
+   */
+  public UsbCamera startAutomaticCapture(String name, int dev) {
+    UsbCamera camera = new UsbCamera(name, dev);
+    startAutomaticCapture(camera);
+    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
+    return camera;
+  }
+
+  /**
+   * Start automatically capturing images to send to the dashboard.
+   *
+   * @param name The name to give the camera
+   * @param path The device path (e.g. "/dev/video0") of the camera
+   */
+  public UsbCamera startAutomaticCapture(String name, String path) {
+    UsbCamera camera = new UsbCamera(name, path);
+    startAutomaticCapture(camera);
+    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
+    return camera;
+  }
+
+  /**
+   * Start automatically capturing images to send to the dashboard from
+   * an existing camera.
+   *
+   * @param camera Camera
+   */
+  public void startAutomaticCapture(VideoSource camera) {
+    addCamera(camera);
+    VideoSink server = addServer("serve_" + camera.getName());
+    server.setSource(camera);
+  }
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * <p>This overload calls {@link #addAxisCamera(String, String)} with
+   * name "Axis Camera".
+   *
+   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   */
+  public AxisCamera addAxisCamera(String host) {
+    return addAxisCamera("Axis Camera", host);
+  }
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * <p>This overload calls {@link #addAxisCamera(String, String[])} with
+   * name "Axis Camera".
+   *
+   * @param hosts Array of Camera host IPs/DNS names
+   */
+  public AxisCamera addAxisCamera(String[] hosts) {
+    return addAxisCamera("Axis Camera", hosts);
+  }
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * @param name The name to give the camera
+   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   */
+  public AxisCamera addAxisCamera(String name, String host) {
+    AxisCamera camera = new AxisCamera(name, host);
+    // Create a passthrough MJPEG server for USB access
+    startAutomaticCapture(camera);
+    CameraServerSharedStore.getCameraServerShared().reportAxisCamera(camera.getHandle());
+    return camera;
+  }
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * @param name The name to give the camera
+   * @param hosts Array of Camera host IPs/DNS names
+   */
+  public AxisCamera addAxisCamera(String name, String[] hosts) {
+    AxisCamera camera = new AxisCamera(name, hosts);
+    // Create a passthrough MJPEG server for USB access
+    startAutomaticCapture(camera);
+    CameraServerSharedStore.getCameraServerShared().reportAxisCamera(camera.getHandle());
+    return camera;
+  }
+
+  /**
+   * Get OpenCV access to the primary camera feed.  This allows you to
+   * get images from the camera for image processing on the roboRIO.
+   *
+   * <p>This is only valid to call after a camera feed has been added
+   * with startAutomaticCapture() or addServer().
+   */
+  public CvSink getVideo() {
+    VideoSource source;
+    synchronized (this) {
+      if (m_primarySourceName == null) {
+        throw new VideoException("no camera available");
+      }
+      source = m_sources.get(m_primarySourceName);
+    }
+    if (source == null) {
+      throw new VideoException("no camera available");
+    }
+    return getVideo(source);
+  }
+
+  /**
+   * Get OpenCV access to the specified camera.  This allows you to get
+   * images from the camera for image processing on the roboRIO.
+   *
+   * @param camera Camera (e.g. as returned by startAutomaticCapture).
+   */
+  public CvSink getVideo(VideoSource camera) {
+    String name = "opencv_" + camera.getName();
+
+    synchronized (this) {
+      VideoSink sink = m_sinks.get(name);
+      if (sink != null) {
+        VideoSink.Kind kind = sink.getKind();
+        if (kind != VideoSink.Kind.kCv) {
+          throw new VideoException("expected OpenCV sink, but got " + kind);
+        }
+        return (CvSink) sink;
+      }
+    }
+
+    CvSink newsink = new CvSink(name);
+    newsink.setSource(camera);
+    addServer(newsink);
+    return newsink;
+  }
+
+  /**
+   * Get OpenCV access to the specified camera.  This allows you to get
+   * images from the camera for image processing on the roboRIO.
+   *
+   * @param name Camera name
+   */
+  public CvSink getVideo(String name) {
+    VideoSource source;
+    synchronized (this) {
+      source = m_sources.get(name);
+      if (source == null) {
+        throw new VideoException("could not find camera " + name);
+      }
+    }
+    return getVideo(source);
+  }
+
+  /**
+   * Create a MJPEG stream with OpenCV input. This can be called to pass custom
+   * annotated images to the dashboard.
+   *
+   * @param name Name to give the stream
+   * @param width Width of the image being sent
+   * @param height Height of the image being sent
+   */
+  public CvSource putVideo(String name, int width, int height) {
+    CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, width, height, 30);
+    startAutomaticCapture(source);
+    return source;
+  }
+
+  /**
+   * Adds a MJPEG server at the next available port.
+   *
+   * @param name Server name
+   */
+  public MjpegServer addServer(String name) {
+    int port;
+    synchronized (this) {
+      port = m_nextPort;
+      m_nextPort++;
+    }
+    return addServer(name, port);
+  }
+
+  /**
+   * Adds a MJPEG server.
+   *
+   * @param name Server name
+   */
+  public MjpegServer addServer(String name, int port) {
+    MjpegServer server = new MjpegServer(name, port);
+    addServer(server);
+    return server;
+  }
+
+  /**
+   * Adds an already created server.
+   *
+   * @param server Server
+   */
+  public void addServer(VideoSink server) {
+    synchronized (this) {
+      m_sinks.put(server.getName(), server);
+    }
+  }
+
+  /**
+   * Removes a server by name.
+   *
+   * @param name Server name
+   */
+  public void removeServer(String name) {
+    synchronized (this) {
+      m_sinks.remove(name);
+    }
+  }
+
+  /**
+   * Get server for the primary camera feed.
+   *
+   * <p>This is only valid to call after a camera feed has been added
+   * with startAutomaticCapture() or addServer().
+   */
+  public VideoSink getServer() {
+    synchronized (this) {
+      if (m_primarySourceName == null) {
+        throw new VideoException("no camera available");
+      }
+      return getServer("serve_" + m_primarySourceName);
+    }
+  }
+
+  /**
+   * Gets a server by name.
+   *
+   * @param name Server name
+   */
+  public VideoSink getServer(String name) {
+    synchronized (this) {
+      return m_sinks.get(name);
+    }
+  }
+
+  /**
+   * Adds an already created camera.
+   *
+   * @param camera Camera
+   */
+  public void addCamera(VideoSource camera) {
+    String name = camera.getName();
+    synchronized (this) {
+      if (m_primarySourceName == null) {
+        m_primarySourceName = name;
+      }
+      m_sources.put(name, camera);
+    }
+  }
+
+  /**
+   * Removes a camera by name.
+   *
+   * @param name Camera name
+   */
+  public void removeCamera(String name) {
+    synchronized (this) {
+      m_sources.remove(name);
+    }
+  }
+}

cameraserver/src/main/java/edu/wpi/first/wpilibj/CameraServerShared.java

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+
+public interface CameraServerShared {
+  /**
+   * get the main thread id func.
+   *
+   * @return the robotMainThreadId
+   */
+  Long getRobotMainThreadId();
+
+  /**
+   * Report an error to the driver station.
+   *
+   * @param error the error to set
+   */
+  void reportDriverStationError(String error);
+
+  /**
+   * Report an video server usage.
+   *
+   * @param id the usage id
+   */
+  void reportVideoServer(int id);
+
+  /**
+   * Report a usb camera usage.
+   *
+   * @param id the usage id
+   */
+  void reportUsbCamera(int id);
+
+  /**
+   * Report an axis camera usage.
+   *
+   * @param id the usage id
+   */
+  void reportAxisCamera(int id);
+}

cameraserver/src/main/java/edu/wpi/first/wpilibj/CameraServerSharedStore.java

@@ -0,0 +1,58 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+public class CameraServerSharedStore {
+  private static CameraServerShared cameraServerShared;
+
+  private CameraServerSharedStore() {
+  }
+
+  /**
+   * get the CameraServerShared object.
+   */
+  public static synchronized CameraServerShared getCameraServerShared() {
+    if (cameraServerShared == null) {
+      cameraServerShared = new CameraServerShared() {
+
+        @Override
+        public void reportVideoServer(int id) {
+
+        }
+
+        @Override
+        public void reportUsbCamera(int id) {
+
+        }
+
+        @Override
+        public void reportDriverStationError(String error) {
+
+        }
+
+        @Override
+        public void reportAxisCamera(int id) {
+
+        }
+
+        @Override
+        public Long getRobotMainThreadId() {
+          return null;
+        }
+      };
+    }
+    return cameraServerShared;
+  }
+
+  /**
+   * set the CameraServerShared object.
+   */
+  public static synchronized void setCameraServerShared(CameraServerShared shared) {
+    cameraServerShared = shared;
+  }
+}

cameraserver/src/main/java/edu/wpi/first/wpilibj/vision/VisionPipeline.java

@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.vision;
+
+import org.opencv.core.Mat;
+
+/**
+ * A vision pipeline is responsible for running a group of
+ * OpenCV algorithms to extract data from an image.
+ *
+ * @see VisionRunner
+ * @see VisionThread
+ */
+public interface VisionPipeline {
+
+  /**
+   * Processes the image input and sets the result objects.
+   * Implementations should make these objects accessible.
+   */
+  void process(Mat image);
+
+}

cameraserver/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java

@@ -0,0 +1,131 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.vision;
+
+import edu.wpi.cscore.CvSink;
+import edu.wpi.cscore.VideoSource;
+import edu.wpi.first.wpilibj.CameraServerSharedStore;
+
+//import edu.wpi.first.wpilibj.DriverStation;
+//import edu.wpi.first.wpilibj.RobotBase;
+import org.opencv.core.Mat;
+
+/**
+ * A vision runner is a convenient wrapper object to make it easy to run vision pipelines
+ * from robot code. The easiest  way to use this is to run it in a {@link VisionThread}
+ * and use the listener to take snapshots of the pipeline's outputs.
+ *
+ * @see VisionPipeline
+ * @see VisionThread
+ * @see edu.wpi.first.wpilibj.vision
+ */
+public class VisionRunner<P extends VisionPipeline> {
+  private final CvSink m_cvSink = new CvSink("VisionRunner CvSink");
+  private final P m_pipeline;
+  private final Mat m_image = new Mat();
+  private final Listener<? super P> m_listener;
+  private volatile boolean m_enabled = true;
+
+  /**
+   * Listener interface for a callback that should run after a pipeline has processed its input.
+   *
+   * @param <P> the type of the pipeline this listener is for
+   */
+  @FunctionalInterface
+  public interface Listener<P extends VisionPipeline> {
+
+    /**
+     * Called when the pipeline has run. This shouldn't take much time to run because it will delay
+     * later calls to the pipeline's {@link VisionPipeline#process process} method. Copying the
+     * outputs and code that uses the copies should be <i>synchronized</i> on the same mutex to
+     * prevent multiple threads from reading and writing to the same memory at the same time.
+     *
+     * @param pipeline the vision pipeline that ran
+     */
+    void copyPipelineOutputs(P pipeline);
+
+  }
+
+  /**
+   * Creates a new vision runner. It will take images from the {@code videoSource}, send them to
+   * the {@code pipeline}, and call the {@code listener} when the pipeline has finished to alert
+   * user code when it is safe to access the pipeline's outputs.
+   *
+   * @param videoSource the video source to use to supply images for the pipeline
+   * @param pipeline    the vision pipeline to run
+   * @param listener    a function to call after the pipeline has finished running
+   */
+  public VisionRunner(VideoSource videoSource, P pipeline, Listener<? super P> listener) {
+    this.m_pipeline = pipeline;
+    this.m_listener = listener;
+    m_cvSink.setSource(videoSource);
+  }
+
+  /**
+   * Runs the pipeline one time, giving it the next image from the video source specified
+   * in the constructor. This will block until the source either has an image or throws an error.
+   * If the source successfully supplied a frame, the pipeline's image input will be set,
+   * the pipeline will run, and the listener specified in the constructor will be called to notify
+   * it that the pipeline ran.
+   *
+   * <p>This method is exposed to allow teams to add additional functionality or have their own
+   * ways to run the pipeline. Most teams, however, should just use {@link #runForever} in its own
+   * thread using a {@link VisionThread}.</p>
+   */
+  public void runOnce() {
+    Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
+
+    if (id != null && Thread.currentThread().getId() == id.longValue()) {
+      throw new IllegalStateException(
+          "VisionRunner.runOnce() cannot be called from the main robot thread");
+    }
+    runOnceInternal();
+  }
+
+  private void runOnceInternal() {
+    long frameTime = m_cvSink.grabFrame(m_image);
+    if (frameTime == 0) {
+      // There was an error, report it
+      String error = m_cvSink.getError();
+      CameraServerSharedStore.getCameraServerShared().reportDriverStationError(error);
+    } else {
+      // No errors, process the image
+      m_pipeline.process(m_image);
+      m_listener.copyPipelineOutputs(m_pipeline);
+    }
+  }
+
+  /**
+   * A convenience method that calls {@link #runOnce()} in an infinite loop. This must
+   * be run in a dedicated thread, and cannot be used in the main robot thread because
+   * it will freeze the robot program.
+   *
+   * <p><strong>Do not call this method directly from the main thread.</strong></p>
+   *
+   * @throws IllegalStateException if this is called from the main robot thread
+   * @see VisionThread
+   */
+  public void runForever() {
+    Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
+
+    if (id != null && Thread.currentThread().getId() == id.longValue()) {
+      throw new IllegalStateException(
+          "VisionRunner.runForever() cannot be called from the main robot thread");
+    }
+    while (m_enabled && !Thread.interrupted()) {
+      runOnceInternal();
+    }
+  }
+
+  /**
+   * Stop a RunForever() loop.
+   */
+  public void stop() {
+    m_enabled = false;
+  }
+}

cameraserver/src/main/java/edu/wpi/first/wpilibj/vision/VisionThread.java

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.vision;
+
+import edu.wpi.cscore.VideoSource;
+
+/**
+ * A vision thread is a special thread that runs a vision pipeline. It is a <i>daemon</i> thread;
+ * it does not prevent the program from exiting when all other non-daemon threads
+ * have finished running.
+ *
+ * @see VisionPipeline
+ * @see VisionRunner
+ * @see Thread#setDaemon(boolean)
+ */
+public class VisionThread extends Thread {
+  /**
+   * Creates a vision thread that continuously runs a {@link VisionPipeline}.
+   *
+   * @param visionRunner the runner for a vision pipeline
+   */
+  public VisionThread(VisionRunner<?> visionRunner) {
+    super(visionRunner::runForever, "WPILib Vision Thread");
+    setDaemon(true);
+  }
+
+  /**
+   * Creates a new vision thread that continuously runs the given vision pipeline. This is
+   * equivalent to {@code new VisionThread(new VisionRunner<>(videoSource, pipeline, listener))}.
+   *
+   * @param videoSource the source for images the pipeline should process
+   * @param pipeline    the pipeline to run
+   * @param listener    the listener to copy outputs from the pipeline after it runs
+   * @param <P>         the type of the pipeline
+   */
+  public <P extends VisionPipeline> VisionThread(VideoSource videoSource,
+                                                 P pipeline,
+                                                 VisionRunner.Listener<? super P> listener) {
+    this(new VisionRunner<>(videoSource, pipeline, listener));
+  }
+
+}

cameraserver/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java

@@ -0,0 +1,88 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+/**
+ * Classes in the {@code edu.wpi.first.wpilibj.vision} package are designed to
+ * simplify using OpenCV vision processing code from a robot program.
+ *
+ * <p>An example use case for grabbing a yellow tote from 2015 in autonomous:
+ * <br>
+ * <pre><code>
+ * public class Robot extends IterativeRobot
+ *     implements VisionRunner.Listener&lt;MyFindTotePipeline&gt; {
+ *
+ *      // A USB camera connected to the roboRIO.
+ *      private {@link edu.wpi.cscore.VideoSource VideoSource} usbCamera;
+ *
+ *      // A vision pipeline. This could be handwritten or generated by GRIP.
+ *      // This has to implement {@link edu.wpi.first.wpilibj.vision.VisionPipeline}.
+ *      // For this example, assume that it's perfect and will always see the tote.
+ *      private MyFindTotePipeline findTotePipeline;
+ *      private {@link edu.wpi.first.wpilibj.vision.VisionThread} findToteThread;
+ *
+ *      // The object to synchronize on to make sure the vision thread doesn't
+ *      // write to variables the main thread is using.
+ *      private final Object visionLock = new Object();
+ *
+ *      // The pipeline outputs we want
+ *      private boolean pipelineRan = false; // lets us know when the pipeline has actually run
+ *      private double angleToTote = 0;
+ *      private double distanceToTote = 0;
+ *
+ *     {@literal @}Override
+ *      public void {@link edu.wpi.first.wpilibj.vision.VisionRunner.Listener#copyPipelineOutputs
+ *          copyPipelineOutputs(MyFindTotePipeline pipeline)} {
+ *          synchronized (visionLock) {
+ *              // Take a snapshot of the pipeline's output because
+ *              // it may have changed the next time this method is called!
+ *              this.pipelineRan = true;
+ *              this.angleToTote = pipeline.getAngleToTote();
+ *              this.distanceToTote = pipeline.getDistanceToTote();
+ *          }
+ *      }
+ *
+ *     {@literal @}Override
+ *      public void robotInit() {
+ *          usbCamera = CameraServer.getInstance().startAutomaticCapture(0);
+ *          findTotePipeline = new MyFindTotePipeline();
+ *          findToteThread = new VisionThread(usbCamera, findTotePipeline, this);
+ *      }
+ *
+ *     {@literal @}Override
+ *      public void autonomousInit() {
+ *          findToteThread.start();
+ *      }
+ *
+ *     {@literal @}Override
+ *      public void autonomousPeriodic() {
+ *          double angle;
+ *          double distance;
+ *          synchronized (visionLock) {
+ *              if (!pipelineRan) {
+ *                  // Wait until the pipeline has run
+ *                  return;
+ *              }
+ *              // Copy the outputs to make sure they're all from the same run
+ *              angle = this.angleToTote;
+ *              distance = this.distanceToTote;
+ *          }
+ *          if (!aimedAtTote()) {
+ *              turnToAngle(angle);
+ *          } else if (!droveToTote()) {
+ *              driveDistance(distance);
+ *          } else if (!grabbedTote()) {
+ *              grabTote();
+ *          } else {
+ *              // Tote was grabbed and we're done!
+ *              return;
+ *          }
+ *      }
+ *
+ * }
+ * </code></pre>
+ */
+package edu.wpi.first.wpilibj.vision;