Assert that version checking won't throw on startup (#1512)

# Overview

Previously if the coproc came up later, getProperty would return the
string literal "null", which made us print the BFW. Add tests to make
sure that we don't do that anymore by rebooting a sim coproc +
robot in a combination of different orders.

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

@@ -32,9 +32,7 @@ import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.numbers.*;
 import edu.wpi.first.networktables.BooleanPublisher;
 import edu.wpi.first.networktables.BooleanSubscriber;
-import edu.wpi.first.networktables.DoubleArrayPublisher;
 import edu.wpi.first.networktables.DoubleArraySubscriber;
-import edu.wpi.first.networktables.DoublePublisher;
 import edu.wpi.first.networktables.IntegerEntry;
 import edu.wpi.first.networktables.IntegerPublisher;
 import edu.wpi.first.networktables.IntegerSubscriber;
@@ -64,13 +62,6 @@ public class PhotonCamera implements AutoCloseable {
     PacketSubscriber<PhotonPipelineResult> resultSubscriber;
     BooleanPublisher driverModePublisher;
     BooleanSubscriber driverModeSubscriber;
-    DoublePublisher latencyMillisEntry;
-    BooleanPublisher hasTargetEntry;
-    DoublePublisher targetPitchEntry;
-    DoublePublisher targetYawEntry;
-    DoublePublisher targetAreaEntry;
-    DoubleArrayPublisher targetPoseEntry;
-    DoublePublisher targetSkewEntry;
     StringSubscriber versionEntry;
     IntegerEntry inputSaveImgEntry, outputSaveImgEntry;
     IntegerPublisher pipelineIndexRequest, ledModeRequest;
@@ -86,13 +77,6 @@ public class PhotonCamera implements AutoCloseable {
         resultSubscriber.close();
         driverModePublisher.close();
         driverModeSubscriber.close();
-        latencyMillisEntry.close();
-        hasTargetEntry.close();
-        targetPitchEntry.close();
-        targetYawEntry.close();
-        targetAreaEntry.close();
-        targetPoseEntry.close();
-        targetSkewEntry.close();
         versionEntry.close();
         inputSaveImgEntry.close();
         outputSaveImgEntry.close();
@@ -111,13 +95,13 @@ public class PhotonCamera implements AutoCloseable {
 
     private static boolean VERSION_CHECK_ENABLED = true;
     private static long VERSION_CHECK_INTERVAL = 5;
-    private double lastVersionCheckTime = 0;
+    double lastVersionCheckTime = 0;
 
     private long prevHeartbeatValue = -1;
     private double prevHeartbeatChangeTime = 0;
     private static final double HEARTBEAT_DEBOUNCE_SEC = 0.5;
 
-    private double prevTimeSyncWarnTime = 0;
+    double prevTimeSyncWarnTime = 0;
     private static final double WARN_DEBOUNCE_SEC = 5;
 
     public static void setVersionCheckEnabled(boolean enabled) {
@@ -396,7 +380,7 @@ public class PhotonCamera implements AutoCloseable {
         return cameraTable;
     }
 
-    private void verifyVersion() {
+    void verifyVersion() {
         if (!VERSION_CHECK_ENABLED) return;
 
         if ((Timer.getFPGATimestamp() - lastVersionCheckTime) < VERSION_CHECK_INTERVAL) return;
@@ -433,7 +417,7 @@ public class PhotonCamera implements AutoCloseable {
         // Check for connection status. Warn if disconnected.
         else if (!isConnected()) {
             DriverStation.reportWarning(
-                    "PhotonVision coprocessor at path " + path + " is not sending new data.", true);
+                    "PhotonVision coprocessor at path " + path + " is not sending new data.", false);
         }
 
         String versionString = versionEntry.get("");
@@ -448,7 +432,7 @@ public class PhotonCamera implements AutoCloseable {
                     "PhotonVision coprocessor at path "
                             + path
                             + " has not reported a message interface UUID - is your coprocessor's camera started?",
-                    true);
+                    false);
         } else if (!local_uuid.equals(remote_uuid)) {
             // Error on a verified version mismatch
             // But stay silent otherwise