cleaned up messages, better byte order swapping, python uses version …

…checking, wpiformat

README.md

@@ -37,7 +37,7 @@ Note that these are case sensitive!
     * arm64
     * x86-64
     * x86
-- `-PtgtIp`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
+- `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
 - `-Pprofile`: enables JVM profiling
 
 ## Out-of-Source Dependencies

photon-lib/py/photonlibpy/packet.py

@@ -88,7 +88,7 @@ def _decodeGeneric(self, unpackFormat, numBytes):
         # Interpret the bytes as the requested type.
         # Note due to NT's byte order assumptions,
         # we have to flip the order of intList
-        value = struct.unpack(unpackFormat, bytes(reversed(intList)))[0]
+        value = struct.unpack(unpackFormat, bytes(intList))[0]
 
         return value
 
@@ -98,47 +98,47 @@ def decode8(self) -> int:
         *
         * @return A decoded byte from the packet.
         """
-        return self._decodeGeneric(">b", 1)
+        return self._decodeGeneric("<b", 1)
 
     def decode16(self) -> int:
         """
         * Returns a single decoded short from the packet.
         *
         * @return A decoded short from the packet.
         """
-        return self._decodeGeneric(">h", 2)
+        return self._decodeGeneric("<h", 2)
 
     def decodeInt(self) -> int:
         """
         * Returns a decoded int (32 bytes) from the packet.
         *
         * @return A decoded int from the packet.
         """
-        return self._decodeGeneric(">l", 4)
+        return self._decodeGeneric("<l", 4)
 
     def decodeFloat(self) -> float:
         """
         * Returns a decoded float from the packet.
         *
         * @return A decoded float from the packet.
         """
-        return self._decodeGeneric(">f", 4)
+        return self._decodeGeneric("<f", 4)
 
     def decodeLong(self) -> int:
         """
         * Returns a decoded int64 from the packet.
         *
         * @return A decoded int64 from the packet.
         """
-        return self._decodeGeneric(">q", 8)
+        return self._decodeGeneric("<q", 8)
 
     def decodeDouble(self) -> float:
         """
         * Returns a decoded double from the packet.
         *
         * @return A decoded double from the packet.
         """
-        return self._decodeGeneric(">d", 8)
+        return self._decodeGeneric("<d", 8)
 
     def decodeBoolean(self) -> bool:
         """

photon-lib/py/photonlibpy/photonCamera.py

@@ -225,7 +225,12 @@ def _versionCheck(self) -> None:
             )
 
         versionString = self.versionEntry.get(defaultValue="")
-        if len(versionString) > 0 and versionString != PHOTONVISION_VERSION:
+        localUUID = PhotonPipelineResult.photonStruct.MESSAGE_VERSION
+        remoteUUID = self._rawBytesEntry.getTopic().getProperty("message_uuid")
+
+        if remoteUUID is None or len(remoteUUID) == 0:
+            wpilib.reportWarning(f"PhotonVision coprocessor at path {self._path} has not reported a message interface UUID - is your coprocessor's camera started?", True)
+        elif localUUID != remoteUUID:
             # Verified version mismatch
 
             bfw = """
@@ -250,6 +255,6 @@ def _versionCheck(self) -> None:
 
             wpilib.reportWarning(bfw)
 
-            errText = f"Photon version {PHOTONLIB_VERSION} does not match coprocessor version {versionString}. Please install photonlibpy version {versionString}, or update your coprocessor to {PHOTONLIB_VERSION}."
+            errText = f"Photonlibpy version {PHOTONLIB_VERSION} (With message UUID {localUUID}) does not match coprocessor version {versionString} (with message UUID {remoteUUID}). Please install photonlibpy version {versionString}, or update your coprocessor to {PHOTONLIB_VERSION}."
             wpilib.reportError(errText, True)
             raise Exception(errText)

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

@@ -422,7 +422,7 @@ else if (!isConnected()) {
             DriverStation.reportWarning(
                     "PhotonVision coprocessor at path "
                             + path
-                            + " has note reported a message interface UUID - is your coprocessor's camera started?",
+                            + " has not reported a message interface UUID - is your coprocessor's camera started?",
                     true);
         } else if (!local_uuid.equals(remote_uuid)) {
             // Error on a verified version mismatch

scripts/catnt.py

@@ -5,7 +5,6 @@
 
 
 def list_topics(inst: ntcore.NetworkTableInstance, root: str):
-
     topics = inst.getTable(root).getTopics()
     subtables = inst.getTable(root).getSubTables()