Add sequence ID, capture, publish and recieve timestamp to PhotonPipelineResult (#1305)

Closes #1304

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -44,6 +44,7 @@ import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.PubSubOption;
 import edu.wpi.first.networktables.StringSubscriber;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.Timer;
 import java.util.Optional;
 import java.util.Set;
@@ -181,8 +182,7 @@ public class PhotonCamera implements AutoCloseable {
 
         // Set the timestamp of the result.
         // getLatestChange returns in microseconds, so we divide by 1e6 to convert to seconds.
-        ret.setTimestampSeconds(
-                (resultSubscriber.subscriber.getLastChange() / 1e6) - ret.getLatencyMillis() / 1e3);
+        ret.setRecieveTimestampMicros(RobotController.getFPGATime());
 
         // Return result.
         return ret;

photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java

@@ -34,6 +34,7 @@ import edu.wpi.first.math.Pair;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.util.PixelFormat;
 import edu.wpi.first.util.WPIUtilJNI;
+import edu.wpi.first.wpilibj.RobotController;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
@@ -539,7 +540,16 @@ public class PhotonCameraSim implements AutoCloseable {
         }
 
         // put this simulated data to NT
-        return new PhotonPipelineResult(latencyMillis, detectableTgts, multitagResult);
+        var now = RobotController.getFPGATime();
+        var ret =
+                new PhotonPipelineResult(
+                        heartbeatCounter,
+                        now - (long) (latencyMillis * 1000),
+                        now,
+                        detectableTgts,
+                        multitagResult);
+        ret.setRecieveTimestampMicros(now);
+        return ret;
     }
 
     /**