Fix PhotonCamera typestring checks (#1480)

Previously NT would quietly drop readQueue changes.

photon-lib/py/photonlibpy/photonCamera.py

@@ -53,7 +53,9 @@ class PhotonCamera:
         self._cameraTable = photonvision_root_table.getSubTable(cameraName)
         self._path = self._cameraTable.getPath()
         self._rawBytesEntry = self._cameraTable.getRawTopic("rawBytes").subscribe(
-            "rawBytes", bytes([]), ntcore.PubSubOptions(periodic=0.01, sendAll=True)
+            f"photonstruct:PhotonPipelineResult:{PhotonPipelineResult.photonStruct.MESSAGE_VERSION}",
+            bytes([]),
+            ntcore.PubSubOptions(periodic=0.01, sendAll=True),
         )
 
         self._driverModePublisher = self._cameraTable.getBooleanTopic(
@@ -226,6 +228,7 @@ class PhotonCamera:
 
         versionString = self.versionEntry.get(defaultValue="")
         localUUID = PhotonPipelineResult.photonStruct.MESSAGE_VERSION
+
         remoteUUID = self._rawBytesEntry.getTopic().getProperty("message_uuid")
 
         if remoteUUID is None or len(remoteUUID) == 0:
@@ -233,7 +236,11 @@ class PhotonCamera:
                 f"PhotonVision coprocessor at path {self._path} has not reported a message interface UUID - is your coprocessor's camera started?",
                 True,
             )
-        elif localUUID != remoteUUID:
+
+        # ntcore hands us a JSON string with leading/trailing quotes - remove those
+        remoteUUID = remoteUUID.replace('"', "")
+
+        if localUUID != remoteUUID:
             # Verified version mismatch
 
             bfw = """

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

@@ -137,7 +137,7 @@ public class PhotonCamera implements AutoCloseable {
                 cameraTable
                         .getRawTopic("rawBytes")
                         .subscribe(
-                                "rawBytes",
+                                PhotonPipelineResult.photonStruct.getTypeString(),
                                 new byte[] {},
                                 PubSubOption.periodic(0.01),
                                 PubSubOption.sendAll(true),
@@ -185,6 +185,8 @@ public class PhotonCamera implements AutoCloseable {
      * make sure to call this frequently enough to avoid old results being discarded, too!
      */
     public List<PhotonPipelineResult> getAllUnreadResults() {
+        verifyVersion();
+
         List<PhotonPipelineResult> ret = new ArrayList<>();
 
         var changes = resultSubscriber.getAllChanges();

photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp

@@ -69,6 +69,10 @@ void PhotonCamera::SetVersionCheckEnabled(bool enabled) {
   VERSION_CHECK_ENABLED = enabled;
 }
 
+static const std::string TYPE_STRING =
+    std::string{"photonstruct:PhotonPipelineResult:"} +
+    std::string{SerdeType<PhotonPipelineResult>::GetSchemaHash()};
+
 PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
                            const std::string_view cameraName)
     : mainTable(instance.GetTable("photonvision")),
@@ -76,7 +80,7 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
       rawBytesEntry(
           rootTable->GetRawTopic("rawBytes")
               .Subscribe(
-                  "rawBytes", {},
+                  TYPE_STRING, {},
                   {.pollStorage = 20, .periodic = 0.01, .sendAll = true})),
       inputSaveImgEntry(
           rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
@@ -262,17 +266,25 @@ void PhotonCamera::VerifyVersion() {
 
       std::string cameraNameOutString;
       for (unsigned int i = 0; i < cameraNames.size(); i++) {
-        cameraNameOutString += "\n" + cameraNames[i];
+        cameraNameOutString += ("\n" + cameraNames[i]);
       }
       FRC_ReportError(
           frc::warn::Warning,
-          "Found the following PhotonVision cameras on NetworkTables:{}",
+          "Found the following PhotonVision cameras on NetworkTables:\n{}",
           cameraNameOutString);
     }
   } else {
     std::string local_uuid{SerdeType<PhotonPipelineResult>::GetSchemaHash()};
-    std::string remote_uuid =
+
+    // implicit conversion here might throw an exception, so be careful of that
+    wpi::json remote_uuid_json =
         rawBytesEntry.GetTopic().GetProperty("message_uuid");
+    if (!remote_uuid_json.is_string()) {
+      FRC_ReportError(frc::warn::Warning,
+                      "Cannot find property message_uuid for PhotonCamera {}",
+                      path);
+    }
+    std::string remote_uuid{remote_uuid_json};
 
     if (local_uuid != remote_uuid) {
       FRC_ReportError(frc::warn::Warning, bfw);

photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp

@@ -353,8 +353,7 @@ void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result,
     ts.targetPitchEntry.Set(0.0, ReceiveTimestamp);
     ts.targetYawEntry.Set(0.0, ReceiveTimestamp);
     ts.targetAreaEntry.Set(0.0, ReceiveTimestamp);
-    std::array<double, 3> poseData{0.0, 0.0, 0.0};
-    ts.targetPoseEntry.Set(poseData, ReceiveTimestamp);
+    ts.targetPoseEntry.Set(frc::Transform3d{}, ReceiveTimestamp);
     ts.targetSkewEntry.Set(0.0, ReceiveTimestamp);
   } else {
     PhotonTrackedTarget bestTarget = result.GetBestTarget();
@@ -364,11 +363,8 @@ void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result,
     ts.targetAreaEntry.Set(bestTarget.GetArea(), ReceiveTimestamp);
     ts.targetSkewEntry.Set(bestTarget.GetSkew(), ReceiveTimestamp);
 
-    frc::Transform3d transform = bestTarget.GetBestCameraToTarget();
-    std::array<double, 4> poseData{
-        transform.X().to<double>(), transform.Y().to<double>(),
-        transform.Rotation().ToRotation2d().Degrees().to<double>()};
-    ts.targetPoseEntry.Set(poseData, ReceiveTimestamp);
+    ts.targetPoseEntry.Set(bestTarget.GetBestCameraToTarget(),
+                           ReceiveTimestamp);
   }
 
   Eigen::Matrix<double, 3, 3, Eigen::RowMajor> intrinsics =