Dont sanitize unique name in calibration JSON HTTP URL (#1846)

## Description

Added paranoia checks to satisfy @Gold872 

## Meta

Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible
with settings back to v2024.3.1
- [x] If this PR addresses a bug, a regression test for it is added

docs/source/docs/contributing/building-photon.md

@@ -69,6 +69,16 @@ In the root directory:
       ``gradlew buildAndCopyUI``
 ```
 
+### Using hot reload on the UI
+
+In the photon-client directory:
+
+```bash
+npm run dev
+```
+
+This allows you to make UI changes quickly without having to spend time rebuilding the jar. Hot reload is enabled, so changes that you make and save are reflected in the UI immediately. Running this command will give you the URL for accessing the UI, which is on a different port than normal. You must use the printed URL to use hot reload.
+
 ### Build and Run PhotonVision
 
 To compile and run the project, issue the following command in the root directory:

docs/source/docs/quick-start/networking.md

@@ -11,7 +11,7 @@ When using PhotonVision off robot, you _MUST_ plug the coprocessor into a physic
 :::{tab-item} New Radio (2025 - present)
 
 ```{danger}
-Ensure that the radio's DIP switches 1 and 2 are turned off; otherwise, the radio PoE feature may electrically destroy your coprocessor. [More info.](https://frc-radio.vivid-hosting.net/getting-started/passive-power-over-ethernet-poe-for-downstream-devices)
+Ensure that the radio's DIP switches 1 and 2 are turned off; otherwise, the radio PoE feature may electrically destroy your coprocessor. [More info.](https://frc-radio.vivid-hosting.net/overview/wiring-your-radio#power-over-ethernet-poe-for-downstream-devices)
 ```
 
 ```{image} images/networking-diagram-vividhosting.png

photon-client/src/components/dashboard/tabs/TargetsTab.vue

@@ -108,8 +108,8 @@ const resetCurrentBuffer = () => {
                 <td class="text-center">{{ target.area.toFixed(2) }}&deg;</td>
               </template>
               <template v-else>
-                <td class="text-center">{{ target.pose?.x.toFixed(2) }}&nbsp;m</td>
-                <td class="text-center">{{ target.pose?.y.toFixed(2) }}&nbsp;m</td>
+                <td class="text-center">{{ target.pose?.x.toFixed(3) }}&nbsp;m</td>
+                <td class="text-center">{{ target.pose?.y.toFixed(3) }}&nbsp;m</td>
                 <td class="text-center">{{ toDeg(target.pose?.angle_z || 0).toFixed(2) }}&deg;</td>
               </template>
               <template
@@ -157,13 +157,13 @@ const resetCurrentBuffer = () => {
             <tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
               <tr>
                 <td class="text-center white--text">
-                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(2) }}&nbsp;m
+                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(3) }}&nbsp;m
                 </td>
                 <td class="text-center white--text">
-                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(2) }}&nbsp;m
+                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(3) }}&nbsp;m
                 </td>
                 <td class="text-center white--text">
-                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.z.toFixed(2) }}&nbsp;m
+                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.z.toFixed(3) }}&nbsp;m
                 </td>
                 <td class="text-center white--text">
                   {{

photon-client/src/stores/settings/CameraSettingsStore.ts

@@ -478,7 +478,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       const url = new URL(`http://${host}/api/utils/getCalibrationJSON`);
       url.searchParams.set("width", Math.round(resolution.width).toFixed(0));
       url.searchParams.set("height", Math.round(resolution.height).toFixed(0));
-      url.searchParams.set("cameraUniqueName", cameraUniqueName.replace(" ", "").trim().toLowerCase());
+      url.searchParams.set("cameraUniqueName", cameraUniqueName);
 
       return url.href;
     }

photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp

@@ -57,6 +57,31 @@ static void ClientLoggerFunc(unsigned int level, const char* file,
              line);
 }
 
+void wpi::tsp::TimeSyncClient::UpdateStatistics(uint64_t pong_local_time,
+                                                wpi::tsp::TspPing ping,
+                                                wpi::tsp::TspPong pong) {
+  // when time = send_time+rtt2/2, server time = server time
+  // server time = local time + offset
+  // offset = (server time - local time) = (server time) - (send_time +
+  // rtt2/2)
+  auto rtt2 = pong_local_time - ping.client_time;
+  int64_t serverTimeOffsetUs = pong.server_time - rtt2 / 2 - ping.client_time;
+
+  auto filtered = m_lastOffsets.Calculate(serverTimeOffsetUs);
+
+  // wpi::println("Ping-ponged! RTT2 {} uS, offset {}/filtered offset {} uS",
+  // rtt2,
+  //              serverTimeOffsetUs, filtered);
+
+  {
+    std::lock_guard lock{m_offsetMutex};
+    m_metadata.offset = filtered;
+    m_metadata.rtt2 = rtt2;
+    m_metadata.pongsReceived++;
+    m_metadata.lastPongTime = pong_local_time;
+  }
+}
+
 void wpi::tsp::TimeSyncClient::Tick() {
   // wpi::println("wpi::tsp::TimeSyncClient::Tick");
   // Regardless of if we've gotten a pong back yet, we'll ping again. this is
@@ -122,28 +147,9 @@ void wpi::tsp::TimeSyncClient::UdpCallback(uv::Buffer& buf, size_t nbytes,
     return;
   }
 
-  // when time = send_time+rtt2/2, server time = server time
-  // server time = local time + offset
-  // offset = (server time - local time) = (server time) - (send_time +
-  // rtt2/2)
-  auto rtt2 = pong_local_time - ping.client_time;
-  int64_t serverTimeOffsetUs = pong.server_time - rtt2 / 2 - ping.client_time;
+  UpdateStatistics(pong_local_time, ping, pong);
 
-  auto filtered = m_lastOffsets.Calculate(serverTimeOffsetUs);
-
-  // wpi::println("Ping-ponged! RTT2 {} uS, offset {}/filtered offset {} uS",
-  // rtt2,
-  //              serverTimeOffsetUs, filtered);
-
-  {
-    std::lock_guard lock{m_offsetMutex};
-    m_metadata.offset = filtered;
-    m_metadata.rtt2 = rtt2;
-    m_metadata.pongsReceived++;
-    m_metadata.lastPongTime = pong_local_time;
-  }
-
-  using std::cout;
+  // using std::cout;
   // wpi::println("Ping-ponged! RTT2 {} uS, offset {} uS", rtt2,
   //              serverTimeOffsetUs);
   // wpi::println("Estimated server time {} s",

photon-targeting/src/main/native/include/net/TimeSyncClient.h

@@ -96,6 +96,10 @@ class TimeSyncClient {
   void Stop();
   int64_t GetOffset();
   Metadata GetMetadata();
+
+  // public for testability
+  void UpdateStatistics(uint64_t pong_local_time, wpi::tsp::TspPing ping,
+                        wpi::tsp::TspPong pong);
 };
 
 }  // namespace tsp

photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp

@@ -38,3 +38,115 @@ TEST(TimeSyncProtocolTest, Smoketest) {
 
   server.Stop();
 }
+
+TEST(TimeSyncClientTest, CalculateZero) {
+  using namespace wpi::tsp;
+  using namespace std::chrono_literals;
+
+  // GIVEN a fresh client
+  TimeSyncClient client{"127.0.0.1", 5812, 100ms};
+
+  // AND a ping-pong sent with no delay
+  // client -> server -> client
+  uint64_t ping_client_time{100};
+  uint64_t pong_server_time{100};
+  uint64_t pong_client_time{100};
+
+  // setup our ping/pong packets
+  TspPing ping{.version = 1, .message_id = 1, .client_time = ping_client_time};
+  TspPong pong{ping, pong_server_time};
+
+  // WHEN we update statistics
+  client.UpdateStatistics(pong_client_time, ping, pong);
+
+  // THEN the statistics will reflect no delay
+  EXPECT_EQ(0, client.GetMetadata().offset);
+  EXPECT_EQ(0, client.GetMetadata().rtt2);
+  EXPECT_EQ(1u, client.GetMetadata().pongsReceived);
+  EXPECT_EQ(pong_client_time, client.GetMetadata().lastPongTime);
+}
+
+TEST(TimeSyncClientTest, CalculateZeroOffset) {
+  using namespace wpi::tsp;
+  using namespace std::chrono_literals;
+
+  // GIVEN a fresh client
+  TimeSyncClient client{"127.0.0.1", 5812, 100ms};
+
+  // AND a ping-pong sent with 10ms delay each way
+  // client -> server -> client
+  uint64_t ping_client_time{100};
+  uint64_t pong_server_time{110};
+  uint64_t pong_client_time{120};
+
+  // setup our ping/pong packets
+  TspPing ping{.version = 1, .message_id = 1, .client_time = ping_client_time};
+  TspPong pong{ping, pong_server_time};
+
+  // WHEN we update statistics
+  client.UpdateStatistics(pong_client_time, ping, pong);
+
+  // THEN the statistics will reflect no offset, and the expected rtt2
+  // (client-to-client) latency
+  EXPECT_EQ(0, client.GetMetadata().offset);
+  EXPECT_EQ(20, client.GetMetadata().rtt2);
+  EXPECT_EQ(1u, client.GetMetadata().pongsReceived);
+  EXPECT_EQ(pong_client_time, client.GetMetadata().lastPongTime);
+}
+
+TEST(TimeSyncClientTest, CalculateZeroRtt) {
+  using namespace wpi::tsp;
+  using namespace std::chrono_literals;
+
+  // GIVEN a fresh client
+  TimeSyncClient client{"127.0.0.1", 5812, 100ms};
+
+  // AND a ping-pong sent with no delay
+  // client -> server -> client
+  uint64_t ping_client_time{100};
+  uint64_t pong_server_time{123};
+  uint64_t pong_client_time{100};
+
+  // setup our ping/pong packets
+  TspPing ping{.version = 1, .message_id = 1, .client_time = ping_client_time};
+  TspPong pong{ping, pong_server_time};
+
+  // WHEN we update statistics
+  client.UpdateStatistics(pong_client_time, ping, pong);
+
+  // THEN the statistics will reflect the expected 23ms offset
+  EXPECT_EQ(23, client.GetMetadata().offset);
+  EXPECT_EQ(0, client.GetMetadata().rtt2);
+  EXPECT_EQ(1u, client.GetMetadata().pongsReceived);
+  EXPECT_EQ(pong_client_time, client.GetMetadata().lastPongTime);
+}
+
+TEST(TimeSyncClientTest, CalculateBoth) {
+  using namespace wpi::tsp;
+  using namespace std::chrono_literals;
+
+  // GIVEN a fresh client
+  TimeSyncClient client{"127.0.0.1", 5812, 100ms};
+
+  // AND a ping-pong sent with no delay
+  // client -> server -> client
+  int64_t offset{-234};
+  int64_t network_latency{23};
+
+  uint64_t ping_client_time{100};
+  uint64_t pong_server_time{ping_client_time + offset + network_latency};
+  uint64_t pong_client_time{ping_client_time + 2 * network_latency};
+
+  // setup our ping/pong packets
+  TspPing ping{.version = 1, .message_id = 1, .client_time = ping_client_time};
+  TspPong pong{ping, pong_server_time};
+
+  // WHEN we update statistics
+  client.UpdateStatistics(pong_client_time, ping, pong);
+
+  // THEN the statistics will reflect the expected latency and RTT
+  EXPECT_EQ(offset, client.GetMetadata().offset);
+  EXPECT_EQ(network_latency * 2, client.GetMetadata().rtt2);
+  EXPECT_EQ(1u, client.GetMetadata().pongsReceived);
+  EXPECT_EQ(pong_client_time, client.GetMetadata().lastPongTime);
+}