wpilibc: Remove direct CameraServer dependency (#1989)

This makes linking easier, particularly for third party vendors and other language wrappers.

wpilibc/src/main/native/include/frc/shuffleboard/SendableCameraWrapper.h

@@ -7,19 +7,34 @@
 
 #pragma once
 
+#include <functional>
+#include <memory>
 #include <string>
 
-#include <cscore_c.h>
+#ifndef DYNAMIC_CAMERA_SERVER
+#include <cscore_oo.h>
+#else
+namespace cs {
+class VideoSource;
+}  // namespace cs
+typedef int CS_Handle;
+typedef CS_Handle CS_Source;
+#endif
 
 #include "frc/smartdashboard/Sendable.h"
 #include "frc/smartdashboard/SendableHelper.h"
 
-namespace cs {
-class VideoSource;
-}  // namespace cs
-
 namespace frc {
 
+class SendableCameraWrapper;
+
+namespace detail {
+constexpr const char* kProtocol = "camera_server://";
+std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
+    CS_Source source);
+void AddToSendableRegistry(Sendable* sendable, std::string name);
+}  // namespace detail
+
 /**
  * A wrapper to make video sources sendable and usable from Shuffleboard.
  */
@@ -54,4 +69,27 @@ class SendableCameraWrapper : public Sendable,
   std::string m_uri;
 };
 
+#ifndef DYNAMIC_CAMERA_SERVER
+inline SendableCameraWrapper::SendableCameraWrapper(CS_Source source,
+                                                    const private_init&)
+    : m_uri(detail::kProtocol) {
+  CS_Status status = 0;
+  auto name = cs::GetSourceName(source, &status);
+  detail::AddToSendableRegistry(this, name);
+  m_uri += name;
+}
+
+inline SendableCameraWrapper& SendableCameraWrapper::Wrap(
+    const cs::VideoSource& source) {
+  return Wrap(source.GetHandle());
+}
+
+inline SendableCameraWrapper& SendableCameraWrapper::Wrap(CS_Source source) {
+  auto& wrapper = detail::GetSendableCameraWrapper(source);
+  if (!wrapper)
+    wrapper = std::make_shared<SendableCameraWrapper>(source, private_init{});
+  return *wrapper;
+}
+#endif
+
 }  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h

@@ -501,3 +501,17 @@ class ShuffleboardContainer : public virtual ShuffleboardValue,
 #include "frc/shuffleboard/ComplexWidget.h"
 #include "frc/shuffleboard/ShuffleboardLayout.h"
 #include "frc/shuffleboard/SimpleWidget.h"
+
+#ifndef DYNAMIC_CAMERA_SERVER
+#include "frc/shuffleboard/SendableCameraWrapper.h"
+
+inline frc::ComplexWidget& frc::ShuffleboardContainer::Add(
+    const cs::VideoSource& video) {
+  return Add(frc::SendableCameraWrapper::Wrap(video));
+}
+
+inline frc::ComplexWidget& frc::ShuffleboardContainer::Add(
+    const wpi::Twine& title, const cs::VideoSource& video) {
+  return Add(title, frc::SendableCameraWrapper::Wrap(video));
+}
+#endif