Fix version verification with non-default networktable (#407)

Adds version verification to c++ too

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

@@ -34,6 +34,7 @@ import org.photonvision.targeting.PhotonPipelineResult;
 
 /** Represents a camera that is connected to PhotonVision. */
 public class PhotonCamera {
+    protected final NetworkTable rootTable;
     final NetworkTableEntry rawBytesEntry;
     final NetworkTableEntry driverModeEntry;
     final NetworkTableEntry inputSaveImgEntry;
@@ -42,7 +43,6 @@ public class PhotonCamera {
     final NetworkTableEntry ledModeEntry;
     final NetworkTableEntry versionEntry;
 
-    final NetworkTable mainTable = NetworkTableInstance.getDefault().getTable("photonvision");
     private final String path;
 
     Packet packet = new Packet(1);
@@ -50,9 +50,14 @@ public class PhotonCamera {
     /**
      * Constructs a PhotonCamera from a root table.
      *
-     * @param rootTable The root table that the camera is broadcasting information over.
+     * @param instance The NetworkTableInstance to pull data from. This can be a custom instance in
+     *     simulation, but should *usually* be the default NTInstance from
+     *     NetworkTableInstance::getDefault
+     * @param cameraName The name of the camera, as seen in the UI.
      */
-    public PhotonCamera(NetworkTable rootTable) {
+    public PhotonCamera(NetworkTableInstance instance, String cameraName) {
+        var mainTable = instance.getTable("photonvision");
+        this.rootTable = mainTable.getSubTable(cameraName);
         path = rootTable.getPath();
         rawBytesEntry = rootTable.getEntry("rawBytes");
         driverModeEntry = rootTable.getEntry("driverMode");
@@ -69,7 +74,7 @@ public class PhotonCamera {
      * @param cameraName The nickname of the camera (found in the PhotonVision UI).
      */
     public PhotonCamera(String cameraName) {
-        this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName));
+        this(NetworkTableInstance.getDefault(), cameraName);
     }
 
     /**

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

@@ -24,7 +24,6 @@
 
 package org.photonvision;
 
-import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import java.util.Arrays;
@@ -46,10 +45,13 @@ public class SimPhotonCamera extends PhotonCamera {
     /**
      * Constructs a Simulated PhotonCamera from a root table.
      *
-     * @param rootTable The root table that the camera is broadcasting information over.
+     * @param instance The NetworkTableInstance to pull data from. This can be a custom instance in
+     *     simulation, but should *usually* be the default NTInstance from
+     *     NetworkTableInstance::getDefault
+     * @param cameraName The name of the camera, as seen in the UI.
      */
-    public SimPhotonCamera(NetworkTable rootTable) {
-        super(rootTable);
+    public SimPhotonCamera(NetworkTableInstance instance, String cameraName) {
+        super(instance, cameraName);
 
         latencyMillisEntry = rootTable.getEntry("latencyMillis");
         hasTargetEntry = rootTable.getEntry("hasTargetEntry");
@@ -66,7 +68,7 @@ public class SimPhotonCamera extends PhotonCamera {
      * @param cameraName The nickname of the camera (found in the PhotonVision UI).
      */
     public SimPhotonCamera(String cameraName) {
-        this(NetworkTableInstance.getDefault().getTable("photonvision").getSubTable(cameraName));
+        this(NetworkTableInstance.getDefault(), cameraName);
     }
 
     /**

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

@@ -24,23 +24,34 @@
 
 #include "photonlib/PhotonCamera.h"
 
+#include <frc/Errors.h>
+
+#include "PhotonVersion.h"
 #include "photonlib/Packet.h"
 
 namespace photonlib {
-PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable)
-    : rawBytesEntry(rootTable->GetEntry("rawBytes")),
+PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTableInstance> instance,
+                           const std::string& cameraName)
+    : mainTable(instance->GetTable("photonvision")),
+      rootTable(mainTable->GetSubTable(cameraName)),
+      rawBytesEntry(rootTable->GetEntry("rawBytes")),
       driverModeEntry(rootTable->GetEntry("driverMode")),
       inputSaveImgEntry(rootTable->GetEntry("inputSaveImgCmd")),
       outputSaveImgEntry(rootTable->GetEntry("outputSaveImgCmd")),
       pipelineIndexEntry(rootTable->GetEntry("pipelineIndex")),
-      ledModeEntry(mainTable->GetEntry("ledMode")) {}
+      ledModeEntry(mainTable->GetEntry("ledMode")),
+      versionEntry(mainTable->GetEntry("version")),
+      path(rootTable->GetPath()) {}
 
 PhotonCamera::PhotonCamera(const std::string& cameraName)
-    : PhotonCamera(nt::NetworkTableInstance::GetDefault()
-                       .GetTable("photonvision")
-                       ->GetSubTable(cameraName)) {}
+    : PhotonCamera(std::make_shared<nt::NetworkTableInstance>(
+                       nt::NetworkTableInstance::GetDefault()),
+                   cameraName) {}
 
 PhotonPipelineResult PhotonCamera::GetLatestResult() const {
+  // Prints warning if not connected
+  VerifyVersion();
+
   // Clear the current packet.
   packet.Clear();
 
@@ -87,4 +98,20 @@ LEDMode PhotonCamera::GetLEDMode() const {
 void PhotonCamera::SetLEDMode(LEDMode mode) {
   ledModeEntry.SetDouble(static_cast<double>(static_cast<int>(mode)));
 }
+
+void PhotonCamera::VerifyVersion() const {
+  const std::string& versionString = versionEntry.GetString("");
+  if (versionString.empty()) {
+    std::string path_ = path;
+    FRC_ReportError(
+        frc::warn::Warning,
+        "PhotonVision coprocessor at path {} not found on NetworkTables!",
+        path_);
+  } else if (!VersionMatches(versionString)) {
+    FRC_ReportError(frc::warn::Warning,
+                    "Photon version {} does not match coprocessor version {}!",
+                    PhotonVersion::versionString, versionString);
+  }
+}
+
 }  // namespace photonlib

photon-lib/src/main/native/cpp/photonlib/SimPhotonCamera.cpp

@@ -26,8 +26,10 @@
 
 namespace photonlib {
 
-SimPhotonCamera::SimPhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable)
-    : PhotonCamera(rootTable) {}
+SimPhotonCamera::SimPhotonCamera(
+    std::shared_ptr<nt::NetworkTableInstance> instance,
+    const std::string& cameraName)
+    : PhotonCamera(instance, cameraName) {}
 
 SimPhotonCamera::SimPhotonCamera(const std::string& cameraName)
     : PhotonCamera(cameraName) {}

photon-lib/src/main/native/include/photonlib/PhotonCamera.h

@@ -45,10 +45,15 @@ class PhotonCamera {
  public:
   /**
    * Constructs a PhotonCamera from a root table.
-   * @param rootTable The root table that the camera is broadcasting information
+   *
+   * @param instance The NetworkTableInstance to pull data from. This can be a
+   * custom instance in simulation, but should *usually* be the default
+   * NTInstance from {@link NetworkTableInstance::getDefault}
+   * @param cameraName The name of the camera, as seen in the UI.
    * over.
    */
-  explicit PhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable);
+  explicit PhotonCamera(std::shared_ptr<nt::NetworkTableInstance> instance,
+                        const std::string& cameraName);
 
   /**
    * Constructs a PhotonCamera from the name of the camera.
@@ -133,19 +138,23 @@ class PhotonCamera {
       "This method should be replaced with PhotonPipelineResult::HasTargets()")
   bool HasTargets() const { return GetLatestResult().HasTargets(); }
 
- private:
-  std::shared_ptr<nt::NetworkTable> mainTable =
-      nt::NetworkTableInstance::GetDefault().GetTable("photonvision");
-
  protected:
+  std::shared_ptr<nt::NetworkTable> mainTable;
+  std::shared_ptr<nt::NetworkTable> rootTable;
   nt::NetworkTableEntry rawBytesEntry;
   nt::NetworkTableEntry driverModeEntry;
   nt::NetworkTableEntry inputSaveImgEntry;
   nt::NetworkTableEntry outputSaveImgEntry;
   nt::NetworkTableEntry pipelineIndexEntry;
   nt::NetworkTableEntry ledModeEntry;
+  nt::NetworkTableEntry versionEntry;
+
+  std::string path;
 
   mutable Packet packet;
+
+ private:
+  void VerifyVersion() const;
 };
 
 }  // namespace photonlib

photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h

@@ -44,10 +44,13 @@ class SimPhotonCamera : public PhotonCamera {
   /**
    * Constructs a Simulated PhotonCamera from a root table.
    *
-   * @param rootTable The root table that the camera is broadcasting information
-   *                  over.
+   * @param instance The NetworkTableInstance to pull data from. This can be a
+   * custom instance in simulation, but should *usually* be the default
+   * NTInstance from {@link NetworkTableInstance::getDefault}
+   * @param cameraName The name of the camera, as seen in the UI.
    */
-  explicit SimPhotonCamera(std::shared_ptr<nt::NetworkTable> rootTable);
+  explicit SimPhotonCamera(std::shared_ptr<nt::NetworkTableInstance> instance,
+                           const std::string& cameraName);
 
   /**
    * Constructs a Simulated PhotonCamera from the name of the camera.