Create TSP Server in C++ photonlib (#1516)

Automatically starts a TCP server in C++. Also adds warnings to Python.

photon-lib/src/test/native/cpp/PhotonCameraTest.cpp

@@ -0,0 +1,54 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <gtest/gtest.h>
+#include <hal/HAL.h>
+#include <net/TimeSyncClient.h>
+#include <net/TimeSyncServer.h>
+
+#include "photon/PhotonCamera.h"
+
+TEST(TimeSyncProtocolTest, Smoketest) {
+  using namespace wpi::tsp;
+  using namespace std::chrono_literals;
+
+  // start a server implicitly
+  photon::PhotonCamera camera{"camera"};
+
+  TimeSyncClient client{"127.0.0.1", 5810, 100ms};
+  client.Start();
+
+  for (int i = 0; i < 10; i++) {
+    std::this_thread::sleep_for(100ms);
+    TimeSyncClient::Metadata m = client.GetMetadata();
+
+    // give us time to warm up
+    if (i > 5) {
+      EXPECT_TRUE(m.rtt2 > 0);
+      EXPECT_TRUE(m.pongsReceived > 0);
+    }
+  }
+
+  client.Stop();
+}

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

@@ -22,10 +22,14 @@
  * SOFTWARE.
  */
 
+#include <hal/HAL.h>
+
 #include "gtest/gtest.h"
 
 int main(int argc, char** argv) {
+  HAL_Initialize(500, 0);
   ::testing::InitGoogleTest(&argc, argv);
   int ret = RUN_ALL_TESTS();
+  HAL_Shutdown();
   return ret;
 }