diff --git a/wpilibc/athena/src/CameraServer.cpp b/wpilibc/athena/src/CameraServer.cpp
new file mode 100644
index 0000000..8492133
--- /dev/null
+++ b/wpilibc/athena/src/CameraServer.cpp
@@ -0,0 +1,712 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "CameraServer.h"
+
+#include "Utility.h"
+#include "WPIErrors.h"
+#include "llvm/SmallString.h"
+#include "llvm/raw_ostream.h"
+#include "ntcore_cpp.h"
+
+using namespace frc;
+
+CameraServer* CameraServer::GetInstance() {
+  static CameraServer instance;
+  return &instance;
+}
+
+static llvm::StringRef MakeSourceValue(CS_Source source,
+                                       llvm::SmallVectorImpl<char>& buf) {
+  CS_Status status = 0;
+  buf.clear();
+  switch (cs::GetSourceKind(source, &status)) {
+    case cs::VideoSource::kUsb: {
+      llvm::StringRef prefix{"usb:"};
+      buf.append(prefix.begin(), prefix.end());
+      auto path = cs::GetUsbCameraPath(source, &status);
+      buf.append(path.begin(), path.end());
+      break;
+    }
+    case cs::VideoSource::kHttp: {
+      llvm::StringRef prefix{"ip:"};
+      buf.append(prefix.begin(), prefix.end());
+      auto urls = cs::GetHttpCameraUrls(source, &status);
+      if (!urls.empty()) buf.append(urls[0].begin(), urls[0].end());
+      break;
+    }
+    case cs::VideoSource::kCv:
+      // FIXME: Should be "cv:", but LabVIEW dashboard requires "usb:".
+      // https://github.com/wpilibsuite/allwpilib/issues/407
+      return "usb:";
+    default:
+      return "unknown:";
+  }
+
+  return llvm::StringRef{buf.begin(), buf.size()};
+}
+
+static std::string MakeStreamValue(llvm::StringRef address, int port) {
+  std::string rv;
+  llvm::raw_string_ostream stream(rv);
+  stream << "mjpg:http://" << address << ':' << port << "/?action=stream";
+  stream.flush();
+  return rv;
+}
+
+std::shared_ptr<ITable> CameraServer::GetSourceTable(CS_Source source) {
+  std::lock_guard<std::mutex> lock(m_mutex);
+  return m_tables.lookup(source);
+}
+
+std::vector<std::string> CameraServer::GetSinkStreamValues(CS_Sink sink) {
+  CS_Status status = 0;
+
+  // Ignore all but MjpegServer
+  if (cs::GetSinkKind(sink, &status) != CS_SINK_MJPEG)
+    return std::vector<std::string>{};
+
+  // Get port
+  int port = cs::GetMjpegServerPort(sink, &status);
+
+  // Generate values
+  std::vector<std::string> values;
+  auto listenAddress = cs::GetMjpegServerListenAddress(sink, &status);
+  if (!listenAddress.empty()) {
+    // If a listen address is specified, only use that
+    values.emplace_back(MakeStreamValue(listenAddress, port));
+  } else {
+    // Otherwise generate for hostname and all interface addresses
+    values.emplace_back(MakeStreamValue(cs::GetHostname() + ".local", port));
+
+    for (const auto& addr : m_addresses) {
+      if (addr == "127.0.0.1") continue;  // ignore localhost
+      values.emplace_back(MakeStreamValue(addr, port));
+    }
+  }
+
+  return values;
+}
+
+std::vector<std::string> CameraServer::GetSourceStreamValues(CS_Source source) {
+  CS_Status status = 0;
+
+  // Ignore all but HttpCamera
+  if (cs::GetSourceKind(source, &status) != CS_SOURCE_HTTP)
+    return std::vector<std::string>{};
+
+  // Generate values
+  auto values = cs::GetHttpCameraUrls(source, &status);
+  for (auto& value : values) value = "mjpg:" + value;
+
+  // Look to see if we have a passthrough server for this source
+  for (const auto& i : m_sinks) {
+    CS_Sink sink = i.second.GetHandle();
+    CS_Source sinkSource = cs::GetSinkSource(sink, &status);
+    if (source == sinkSource &&
+        cs::GetSinkKind(sink, &status) == CS_SINK_MJPEG) {
+      // Add USB-only passthrough
+      int port = cs::GetMjpegServerPort(sink, &status);
+      values.emplace_back(MakeStreamValue("172.22.11.2", port));
+      break;
+    }
+  }
+
+  // Set table value
+  return values;
+}
+
+void CameraServer::UpdateStreamValues() {
+  std::lock_guard<std::mutex> lock(m_mutex);
+  // Over all the sinks...
+  for (const auto& i : m_sinks) {
+    CS_Status status = 0;
+    CS_Sink sink = i.second.GetHandle();
+
+    // Get the source's subtable (if none exists, we're done)
+    CS_Source source = cs::GetSinkSource(sink, &status);
+    if (source == 0) continue;
+    auto table = m_tables.lookup(source);
+    if (table) {
+      // Don't set stream values if this is a HttpCamera passthrough
+      if (cs::GetSourceKind(source, &status) == CS_SOURCE_HTTP) continue;
+
+      // Set table value
+      auto values = GetSinkStreamValues(sink);
+      if (!values.empty()) table->PutStringArray("streams", values);
+    }
+  }
+
+  // Over all the sources...
+  for (const auto& i : m_sources) {
+    CS_Source source = i.second.GetHandle();
+
+    // Get the source's subtable (if none exists, we're done)
+    auto table = m_tables.lookup(source);
+    if (table) {
+      // Set table value
+      auto values = GetSourceStreamValues(source);
+      if (!values.empty()) table->PutStringArray("streams", values);
+    }
+  }
+}
+
+static std::string PixelFormatToString(int pixelFormat) {
+  switch (pixelFormat) {
+    case cs::VideoMode::PixelFormat::kMJPEG:
+      return "MJPEG";
+    case cs::VideoMode::PixelFormat::kYUYV:
+      return "YUYV";
+    case cs::VideoMode::PixelFormat::kRGB565:
+      return "RGB565";
+    case cs::VideoMode::PixelFormat::kBGR:
+      return "BGR";
+    case cs::VideoMode::PixelFormat::kGray:
+      return "Gray";
+    default:
+      return "Unknown";
+  }
+}
+#if 0
+static cs::VideoMode::PixelFormat PixelFormatFromString(llvm::StringRef str) {
+  if (str == "MJPEG" || str == "mjpeg" || str == "JPEG" || str == "jpeg")
+    return cs::VideoMode::PixelFormat::kMJPEG;
+  if (str == "YUYV" || str == "yuyv") return cs::VideoMode::PixelFormat::kYUYV;
+  if (str == "RGB565" || str == "rgb565")
+    return cs::VideoMode::PixelFormat::kRGB565;
+  if (str == "BGR" || str == "bgr") return cs::VideoMode::PixelFormat::kBGR;
+  if (str == "GRAY" || str == "Gray" || str == "gray")
+    return cs::VideoMode::PixelFormat::kGray;
+  return cs::VideoMode::PixelFormat::kUnknown;
+}
+
+static cs::VideoMode VideoModeFromString(llvm::StringRef modeStr) {
+  cs::VideoMode mode;
+  size_t pos;
+
+  // width: [0-9]+
+  pos = modeStr.find_first_not_of("0123456789");
+  llvm::StringRef widthStr = modeStr.slice(0, pos);
+  modeStr = modeStr.drop_front(pos).ltrim();  // drop whitespace too
+
+  // 'x'
+  if (modeStr.empty() || modeStr[0] != 'x') return mode;
+  modeStr = modeStr.drop_front(1).ltrim();  // drop whitespace too
+
+  // height: [0-9]+
+  pos = modeStr.find_first_not_of("0123456789");
+  llvm::StringRef heightStr = modeStr.slice(0, pos);
+  modeStr = modeStr.drop_front(pos).ltrim();  // drop whitespace too
+
+  // format: all characters until whitespace
+  pos = modeStr.find_first_of(" \t\n\v\f\r");
+  llvm::StringRef formatStr = modeStr.slice(0, pos);
+  modeStr = modeStr.drop_front(pos).ltrim();  // drop whitespace too
+
+  // fps: [0-9.]+
+  pos = modeStr.find_first_not_of("0123456789.");
+  llvm::StringRef fpsStr = modeStr.slice(0, pos);
+  modeStr = modeStr.drop_front(pos).ltrim();  // drop whitespace too
+
+  // "fps"
+  if (!modeStr.startswith("fps")) return mode;
+
+  // make fps an integer string by dropping after the decimal
+  fpsStr = fpsStr.slice(0, fpsStr.find('.'));
+
+  // convert width, height, and fps to integers
+  if (widthStr.getAsInteger(10, mode.width)) return mode;
+  if (heightStr.getAsInteger(10, mode.height)) return mode;
+  if (fpsStr.getAsInteger(10, mode.fps)) return mode;
+
+  // convert format to enum value
+  mode.pixelFormat = PixelFormatFromString(formatStr);
+
+  return mode;
+}
+#endif
+static std::string VideoModeToString(const cs::VideoMode& mode) {
+  std::string rv;
+  llvm::raw_string_ostream oss{rv};
+  oss << mode.width << "x" << mode.height;
+  oss << " " << PixelFormatToString(mode.pixelFormat) << " ";
+  oss << mode.fps << " fps";
+  return oss.str();
+}
+
+static std::vector<std::string> GetSourceModeValues(int source) {
+  std::vector<std::string> rv;
+  CS_Status status = 0;
+  for (const auto& mode : cs::EnumerateSourceVideoModes(source, &status))
+    rv.emplace_back(VideoModeToString(mode));
+  return rv;
+}
+
+static inline llvm::StringRef Concatenate(llvm::StringRef lhs,
+                                          llvm::StringRef rhs,
+                                          llvm::SmallVectorImpl<char>& buf) {
+  buf.clear();
+  llvm::raw_svector_ostream oss{buf};
+  oss << lhs << rhs;
+  return oss.str();
+}
+
+static void PutSourcePropertyValue(ITable* table, const cs::VideoEvent& event,
+                                   bool isNew) {
+  llvm::SmallString<64> name;
+  llvm::SmallString<64> infoName;
+  if (llvm::StringRef{event.name}.startswith("raw_")) {
+    name = "RawProperty/";
+    name += event.name;
+    infoName = "RawPropertyInfo/";
+    infoName += event.name;
+  } else {
+    name = "Property/";
+    name += event.name;
+    infoName = "PropertyInfo/";
+    infoName += event.name;
+  }
+
+  llvm::SmallString<64> buf;
+  CS_Status status = 0;
+  switch (event.propertyKind) {
+    case cs::VideoProperty::kBoolean:
+      if (isNew)
+        table->SetDefaultBoolean(name, event.value != 0);
+      else
+        table->PutBoolean(name, event.value != 0);
+      break;
+    case cs::VideoProperty::kInteger:
+    case cs::VideoProperty::kEnum:
+      if (isNew) {
+        table->SetDefaultNumber(name, event.value);
+        table->PutNumber(Concatenate(infoName, "/min", buf),
+                         cs::GetPropertyMin(event.propertyHandle, &status));
+        table->PutNumber(Concatenate(infoName, "/max", buf),
+                         cs::GetPropertyMax(event.propertyHandle, &status));
+        table->PutNumber(Concatenate(infoName, "/step", buf),
+                         cs::GetPropertyStep(event.propertyHandle, &status));
+        table->PutNumber(Concatenate(infoName, "/default", buf),
+                         cs::GetPropertyDefault(event.propertyHandle, &status));
+      } else {
+        table->PutNumber(name, event.value);
+      }
+      break;
+    case cs::VideoProperty::kString:
+      if (isNew)
+        table->SetDefaultString(name, event.valueStr);
+      else
+        table->PutString(name, event.valueStr);
+      break;
+    default:
+      break;
+  }
+}
+
+CameraServer::CameraServer()
+    : m_publishTable{NetworkTable::GetTable(kPublishName)},
+      m_nextPort(kBasePort) {
+  // 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 = cs::VideoListener{
+      [=](const cs::VideoEvent& event) {
+        CS_Status status = 0;
+        switch (event.kind) {
+          case cs::VideoEvent::kSourceCreated: {
+            // Create subtable for the camera
+            auto table = m_publishTable->GetSubTable(event.name);
+            {
+              std::lock_guard<std::mutex> lock(m_mutex);
+              m_tables.insert(std::make_pair(event.sourceHandle, table));
+            }
+            llvm::SmallString<64> buf;
+            table->PutString("source",
+                             MakeSourceValue(event.sourceHandle, buf));
+            llvm::SmallString<64> descBuf;
+            table->PutString(
+                "description",
+                cs::GetSourceDescription(event.sourceHandle, descBuf, &status));
+            table->PutBoolean("connected", cs::IsSourceConnected(
+                                               event.sourceHandle, &status));
+            table->PutStringArray("streams",
+                                  GetSourceStreamValues(event.sourceHandle));
+            auto mode = cs::GetSourceVideoMode(event.sourceHandle, &status);
+            table->SetDefaultString("mode", VideoModeToString(mode));
+            table->PutStringArray("modes",
+                                  GetSourceModeValues(event.sourceHandle));
+            break;
+          }
+          case cs::VideoEvent::kSourceDestroyed: {
+            auto table = GetSourceTable(event.sourceHandle);
+            if (table) {
+              table->PutString("source", "");
+              table->PutStringArray("streams", std::vector<std::string>{});
+              table->PutStringArray("modes", std::vector<std::string>{});
+            }
+            break;
+          }
+          case cs::VideoEvent::kSourceConnected: {
+            auto table = GetSourceTable(event.sourceHandle);
+            if (table) {
+              // update the description too (as it may have changed)
+              llvm::SmallString<64> descBuf;
+              table->PutString("description",
+                               cs::GetSourceDescription(event.sourceHandle,
+                                                        descBuf, &status));
+              table->PutBoolean("connected", true);
+            }
+            break;
+          }
+          case cs::VideoEvent::kSourceDisconnected: {
+            auto table = GetSourceTable(event.sourceHandle);
+            if (table) table->PutBoolean("connected", false);
+            break;
+          }
+          case cs::VideoEvent::kSourceVideoModesUpdated: {
+            auto table = GetSourceTable(event.sourceHandle);
+            if (table)
+              table->PutStringArray("modes",
+                                    GetSourceModeValues(event.sourceHandle));
+            break;
+          }
+          case cs::VideoEvent::kSourceVideoModeChanged: {
+            auto table = GetSourceTable(event.sourceHandle);
+            if (table) table->PutString("mode", VideoModeToString(event.mode));
+            break;
+          }
+          case cs::VideoEvent::kSourcePropertyCreated: {
+            auto table = GetSourceTable(event.sourceHandle);
+            if (table) PutSourcePropertyValue(table.get(), event, true);
+            break;
+          }
+          case cs::VideoEvent::kSourcePropertyValueUpdated: {
+            auto table = GetSourceTable(event.sourceHandle);
+            if (table) PutSourcePropertyValue(table.get(), event, false);
+            break;
+          }
+          case cs::VideoEvent::kSourcePropertyChoicesUpdated: {
+            auto table = GetSourceTable(event.sourceHandle);
+            if (table) {
+              llvm::SmallString<64> name{"PropertyInfo/"};
+              name += event.name;
+              name += "/choices";
+              auto choices =
+                  cs::GetEnumPropertyChoices(event.propertyHandle, &status);
+              table->PutStringArray(name, choices);
+            }
+            break;
+          }
+          case cs::VideoEvent::kSinkSourceChanged:
+          case cs::VideoEvent::kSinkCreated:
+          case cs::VideoEvent::kSinkDestroyed: {
+            UpdateStreamValues();
+            break;
+          }
+          case cs::VideoEvent::kNetworkInterfacesChanged: {
+            m_addresses = cs::GetNetworkInterfaces();
+            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.
+  llvm::SmallString<64> buf;
+  m_tableListener = nt::AddEntryListener(
+      Concatenate(kPublishName, "/", buf),
+      [=](unsigned int uid, llvm::StringRef key,
+          std::shared_ptr<nt::Value> value, unsigned int flags) {
+        llvm::StringRef relativeKey =
+            key.substr(llvm::StringRef(kPublishName).size() + 1);
+
+        // get source (sourceName/...)
+        auto subKeyIndex = relativeKey.find('/');
+        if (subKeyIndex == llvm::StringRef::npos) return;
+        llvm::StringRef sourceName = relativeKey.slice(0, subKeyIndex);
+        auto sourceIt = m_sources.find(sourceName);
+        if (sourceIt == m_sources.end()) return;
+
+        // get subkey
+        relativeKey = relativeKey.substr(subKeyIndex + 1);
+
+        // handle standard names
+        llvm::StringRef propName;
+        if (relativeKey == "mode") {
+          // reset to current mode
+          nt::SetEntryValue(key, nt::Value::MakeString(VideoModeToString(
+                                     sourceIt->second.GetVideoMode())));
+          return;
+        } else if (relativeKey.startswith("Property/")) {
+          propName = relativeKey.substr(9);
+        } else if (relativeKey.startswith("RawProperty/")) {
+          propName = relativeKey.substr(12);
+        } else {
+          return;  // ignore
+        }
+
+        // everything else is a property
+        auto property = sourceIt->second.GetProperty(propName);
+        switch (property.GetKind()) {
+          case cs::VideoProperty::kNone:
+            return;
+          case cs::VideoProperty::kBoolean:
+            nt::SetEntryValue(key, nt::Value::MakeBoolean(property.Get() != 0));
+            return;
+          case cs::VideoProperty::kInteger:
+          case cs::VideoProperty::kEnum:
+            nt::SetEntryValue(key, nt::Value::MakeDouble(property.Get()));
+            return;
+          case cs::VideoProperty::kString:
+            nt::SetEntryValue(key, nt::Value::MakeString(property.GetString()));
+            return;
+          default:
+            return;
+        }
+      },
+      NT_NOTIFY_IMMEDIATE | NT_NOTIFY_UPDATE);
+}
+
+cs::UsbCamera CameraServer::StartAutomaticCapture() {
+  return StartAutomaticCapture(m_defaultUsbDevice++);
+}
+
+cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
+  llvm::SmallString<64> buf;
+  llvm::raw_svector_ostream name{buf};
+  name << "USB Camera " << dev;
+
+  cs::UsbCamera camera{name.str(), dev};
+  StartAutomaticCapture(camera);
+  return camera;
+}
+
+cs::UsbCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
+                                                  int dev) {
+  cs::UsbCamera camera{name, dev};
+  StartAutomaticCapture(camera);
+  return camera;
+}
+
+cs::UsbCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
+                                                  llvm::StringRef path) {
+  cs::UsbCamera camera{name, path};
+  StartAutomaticCapture(camera);
+  return camera;
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef host) {
+  return AddAxisCamera("Axis Camera", host);
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(const char* host) {
+  return AddAxisCamera("Axis Camera", host);
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(const std::string& host) {
+  return AddAxisCamera("Axis Camera", host);
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(llvm::ArrayRef<std::string> hosts) {
+  return AddAxisCamera("Axis Camera", hosts);
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
+                                           llvm::StringRef host) {
+  cs::AxisCamera camera{name, host};
+  StartAutomaticCapture(camera);
+  return camera;
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
+                                           const char* host) {
+  cs::AxisCamera camera{name, host};
+  StartAutomaticCapture(camera);
+  return camera;
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
+                                           const std::string& host) {
+  cs::AxisCamera camera{name, host};
+  StartAutomaticCapture(camera);
+  return camera;
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
+                                           llvm::ArrayRef<std::string> hosts) {
+  cs::AxisCamera camera{name, hosts};
+  StartAutomaticCapture(camera);
+  return camera;
+}
+
+void CameraServer::StartAutomaticCapture(const cs::VideoSource& camera) {
+  llvm::SmallString<64> name{"serve_"};
+  name += camera.GetName();
+
+  AddCamera(camera);
+  auto server = AddServer(name);
+  server.SetSource(camera);
+}
+
+cs::CvSink CameraServer::GetVideo() {
+  cs::VideoSource source;
+  {
+    std::lock_guard<std::mutex> lock(m_mutex);
+    if (m_primarySourceName.empty()) {
+      wpi_setWPIErrorWithContext(CameraServerError, "no camera available");
+      return cs::CvSink{};
+    }
+    auto it = m_sources.find(m_primarySourceName);
+    if (it == m_sources.end()) {
+      wpi_setWPIErrorWithContext(CameraServerError, "no camera available");
+      return cs::CvSink{};
+    }
+    source = it->second;
+  }
+  return GetVideo(std::move(source));
+}
+
+cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
+  llvm::SmallString<64> name{"opencv_"};
+  name += camera.GetName();
+
+  {
+    std::lock_guard<std::mutex> lock(m_mutex);
+    auto it = m_sinks.find(name);
+    if (it != m_sinks.end()) {
+      auto kind = it->second.GetKind();
+      if (kind != cs::VideoSink::kCv) {
+        llvm::SmallString<64> buf;
+        llvm::raw_svector_ostream err{buf};
+        err << "expected OpenCV sink, but got " << kind;
+        wpi_setWPIErrorWithContext(CameraServerError, err.str());
+        return cs::CvSink{};
+      }
+      return *static_cast<cs::CvSink*>(&it->second);
+    }
+  }
+
+  cs::CvSink newsink{name};
+  newsink.SetSource(camera);
+  AddServer(newsink);
+  return newsink;
+}
+
+cs::CvSink CameraServer::GetVideo(llvm::StringRef name) {
+  cs::VideoSource source;
+  {
+    std::lock_guard<std::mutex> lock(m_mutex);
+    auto it = m_sources.find(name);
+    if (it == m_sources.end()) {
+      llvm::SmallString<64> buf;
+      llvm::raw_svector_ostream err{buf};
+      err << "could not find camera " << name;
+      wpi_setWPIErrorWithContext(CameraServerError, err.str());
+      return cs::CvSink{};
+    }
+    source = it->second;
+  }
+  return GetVideo(source);
+}
+
+cs::CvSource CameraServer::PutVideo(llvm::StringRef name, int width,
+                                    int height) {
+  cs::CvSource source{name, cs::VideoMode::kMJPEG, width, height, 30};
+  StartAutomaticCapture(source);
+  return source;
+}
+
+cs::MjpegServer CameraServer::AddServer(llvm::StringRef name) {
+  int port;
+  {
+    std::lock_guard<std::mutex> lock(m_mutex);
+    port = m_nextPort++;
+  }
+  return AddServer(name, port);
+}
+
+cs::MjpegServer CameraServer::AddServer(llvm::StringRef name, int port) {
+  cs::MjpegServer server{name, port};
+  AddServer(server);
+  return server;
+}
+
+void CameraServer::AddServer(const cs::VideoSink& server) {
+  std::lock_guard<std::mutex> lock(m_mutex);
+  m_sinks.emplace_second(server.GetName(), server);
+}
+
+void CameraServer::RemoveServer(llvm::StringRef name) {
+  std::lock_guard<std::mutex> lock(m_mutex);
+  m_sinks.erase(name);
+}
+
+cs::VideoSink CameraServer::GetServer() {
+  llvm::SmallString<64> name;
+  {
+    std::lock_guard<std::mutex> lock(m_mutex);
+    if (m_primarySourceName.empty()) {
+      wpi_setWPIErrorWithContext(CameraServerError, "no camera available");
+      return cs::VideoSink{};
+    }
+    name = "serve_";
+    name += m_primarySourceName;
+  }
+  return GetServer(name);
+}
+
+cs::VideoSink CameraServer::GetServer(llvm::StringRef name) {
+  std::lock_guard<std::mutex> lock(m_mutex);
+  auto it = m_sinks.find(name);
+  if (it == m_sinks.end()) {
+    llvm::SmallString<64> buf;
+    llvm::raw_svector_ostream err{buf};
+    err << "could not find server " << name;
+    wpi_setWPIErrorWithContext(CameraServerError, err.str());
+    return cs::VideoSink{};
+  }
+  return it->second;
+}
+
+void CameraServer::AddCamera(const cs::VideoSource& camera) {
+  std::string name = camera.GetName();
+  std::lock_guard<std::mutex> lock(m_mutex);
+  if (m_primarySourceName.empty()) m_primarySourceName = name;
+  m_sources.emplace_second(name, camera);
+}
+
+void CameraServer::RemoveCamera(llvm::StringRef name) {
+  std::lock_guard<std::mutex> lock(m_mutex);
+  m_sources.erase(name);
+}
+
+void CameraServer::SetSize(int size) {
+  std::lock_guard<std::mutex> lock(m_mutex);
+  if (m_primarySourceName.empty()) return;
+  auto it = m_sources.find(m_primarySourceName);
+  if (it == m_sources.end()) return;
+  if (size == kSize160x120)
+    it->second.SetResolution(160, 120);
+  else if (size == kSize320x240)
+    it->second.SetResolution(320, 240);
+  else if (size == kSize640x480)
+    it->second.SetResolution(640, 480);
+}