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-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineMetadata.java

@@ -30,7 +30,7 @@ public class PhotonPipelineMetadata implements PhotonStructSerializable<PhotonPi
     // Mirror of the heartbeat entry -- monotonically increasing
     public long sequenceID;
 
-    // Time from last Time Sync Pong received and the construction of this metadata
+    // Time from last Time Sync Pong received and the construction of this metadata, in uS
     public long timeSinceLastPong;
 
     public PhotonPipelineMetadata(
@@ -73,12 +73,14 @@ public class PhotonPipelineMetadata implements PhotonStructSerializable<PhotonPi
 
     @Override
     public String toString() {
-        return "PhotonPipelineMetadata [sequenceID="
-                + sequenceID
-                + ", captureTimestampMicros="
+        return "PhotonPipelineMetadata [captureTimestampMicros="
                 + captureTimestampMicros
                 + ", publishTimestampMicros="
                 + publishTimestampMicros
+                + ", sequenceID="
+                + sequenceID
+                + ", timeSinceLastPong="
+                + timeSinceLastPong
                 + "]";
     }
 
@@ -86,9 +88,10 @@ public class PhotonPipelineMetadata implements PhotonStructSerializable<PhotonPi
     public int hashCode() {
         final int prime = 31;
         int result = 1;
-        result = prime * result + (int) (sequenceID ^ (sequenceID >>> 32));
         result = prime * result + (int) (captureTimestampMicros ^ (captureTimestampMicros >>> 32));
         result = prime * result + (int) (publishTimestampMicros ^ (publishTimestampMicros >>> 32));
+        result = prime * result + (int) (sequenceID ^ (sequenceID >>> 32));
+        result = prime * result + (int) (timeSinceLastPong ^ (timeSinceLastPong >>> 32));
         return result;
     }
 
@@ -98,9 +101,10 @@ public class PhotonPipelineMetadata implements PhotonStructSerializable<PhotonPi
         if (obj == null) return false;
         if (getClass() != obj.getClass()) return false;
         PhotonPipelineMetadata other = (PhotonPipelineMetadata) obj;
-        if (sequenceID != other.sequenceID) return false;
         if (captureTimestampMicros != other.captureTimestampMicros) return false;
         if (publishTimestampMicros != other.publishTimestampMicros) return false;
+        if (sequenceID != other.sequenceID) return false;
+        if (timeSinceLastPong != other.timeSinceLastPong) return false;
         return true;
     }
 

photon-targeting/src/main/java/org/photonvision/targeting/proto/PhotonPipelineResultProto.java

@@ -69,5 +69,6 @@ public class PhotonPipelineResultProto
         msg.setSequenceId(value.metadata.getSequenceID());
         msg.setCaptureTimestampMicros(value.metadata.getCaptureTimestampMicros());
         msg.setNtPublishTimestampMicros(value.metadata.getPublishTimestampMicros());
+        msg.setTimeSinceLastPongMicros(value.metadata.timeSinceLastPong);
     }
 }