Add clear drift compensation

gui/public/i18n/en/translation.ftl

@@ -92,6 +92,9 @@ widget-overlay = Overlay
 widget-overlay-is_visible_label = Show Overlay in SteamVR
 widget-overlay-is_mirrored_label = Display Overlay as Mirror
 
+## Widget: Drift compensation
+widget-drift_compensation-clear = Clear drift compensation
+
 ## Widget: Developer settings
 widget-developer_mode = Developer Mode
 widget-developer_mode-high_contrast = High contrast

gui/src/components/ClearDriftCompensationButton.tsx

@@ -0,0 +1,20 @@
+import { useLocalization } from '@fluent/react';
+import { ClearDriftCompensationRequestT, RpcMessage } from 'solarxr-protocol';
+import { useWebsocketAPI } from '../hooks/websocket-api';
+import { Button } from './commons/Button';
+
+export function ClearDriftCompensationButton() {
+  const { l10n } = useLocalization();
+  const { sendRPCPacket } = useWebsocketAPI();
+
+  const clearDriftCompensation = () => {
+    const record = new ClearDriftCompensationRequestT();
+    sendRPCPacket(RpcMessage.ClearDriftCompensationRequest, record);
+  };
+
+  return (
+    <Button variant="secondary" onClick={clearDriftCompensation}>
+      {l10n.getString('widget-drift_compensation-clear')}
+    </Button>
+  );
+}

gui/src/components/MainLayout.tsx

@@ -1,6 +1,13 @@
 import classNames from 'classnames';
-import { ReactNode } from 'react';
-import { ResetType } from 'solarxr-protocol';
+import { ReactNode, useEffect, useState } from 'react';
+import {
+  DriftCompensationSettings,
+  DriftCompensationSettingsT,
+  ResetType,
+  RpcMessage,
+  SettingsRequestT,
+  SettingsResponseT,
+} from 'solarxr-protocol';
 import { useConfig } from '../hooks/config';
 import { useLayout } from '../hooks/layout';
 import { BVHButton } from './BVHButton';
@@ -9,6 +16,8 @@ import { Navbar } from './Navbar';
 import { TopBar } from './TopBar';
 import { DeveloperModeWidget } from './widgets/DeveloperModeWidget';
 import { OverlayWidget } from './widgets/OverlayWidget';
+import { ClearDriftCompensationButton } from './ClearDriftCompensationButton';
+import { useWebsocketAPI } from '../hooks/websocket-api';
 
 export function MainLayoutRoute({
   children,
@@ -22,6 +31,18 @@ export function MainLayoutRoute({
   const { layoutHeight, ref } = useLayout<HTMLDivElement>();
   const { layoutWidth, ref: refw } = useLayout<HTMLDivElement>();
   const { config } = useConfig();
+  const { useRPCPacket, sendRPCPacket } = useWebsocketAPI();
+  const [driftCompensationEnabled, setDriftCompensationEnabled] =
+    useState(false);
+
+  useEffect(() => {
+    sendRPCPacket(RpcMessage.SettingsRequest, new SettingsRequestT());
+  }, []);
+
+  useRPCPacket(RpcMessage.SettingsResponse, (settings: SettingsResponseT) => {
+    if (settings.driftCompensation != null)
+      setDriftCompensationEnabled(settings.driftCompensation.enabled);
+  });
 
   return (
     <>
@@ -59,6 +80,9 @@ export function MainLayoutRoute({
                   ></ResetButton>
                   <BVHButton></BVHButton>
                 </div>
+                {driftCompensationEnabled && (
+                  <ClearDriftCompensationButton></ClearDriftCompensationButton>
+                )}
                 <div className="w-full">
                   <OverlayWidget></OverlayWidget>
                 </div>

server/src/main/java/dev/slimevr/config/DriftCompensationConfig.java

@@ -33,6 +33,15 @@ public class DriftCompensationConfig {
 		}
 	}
 
+	public void clearTrackersDriftCompensation() {
+		for (Tracker t : Main.getVrServer().getAllTrackers()) {
+			Tracker tracker = t.get();
+			if (tracker instanceof IMUTracker imuTracker) {
+				imuTracker.clearDriftCompensation();
+			}
+		}
+	}
+
 
 	public boolean getEnabled() {
 		return enabled;

server/src/main/java/dev/slimevr/protocol/rpc/RPCHandler.java

@@ -43,6 +43,10 @@ public class RPCHandler extends ProtocolHandler<RpcMessageHeader>
 		registerPacketListener(RpcMessage.ResetRequest, this::onResetRequest);
 		registerPacketListener(RpcMessage.AssignTrackerRequest, this::onAssignTrackerRequest);
 
+		registerPacketListener(
+			RpcMessage.ClearDriftCompensationRequest,
+			this::onClearDriftCompensationRequest
+		);
 
 		registerPacketListener(RpcMessage.RecordBVHRequest, this::onRecordBVHRequest);
 
@@ -218,6 +222,22 @@ public class RPCHandler extends ProtocolHandler<RpcMessageHeader>
 		this.api.server.trackerUpdated(tracker);
 	}
 
+	public void onClearDriftCompensationRequest(
+		GenericConnection conn,
+		RpcMessageHeader messageHeader
+	) {
+		ClearDriftCompensationRequest req = (ClearDriftCompensationRequest) messageHeader
+			.message(new ClearDriftCompensationRequest());
+		if (req == null)
+			return;
+
+		this.api.server
+			.getConfigManager()
+			.getVrConfig()
+			.getDriftCompensation()
+			.clearTrackersDriftCompensation();
+	}
+
 	@Override
 	public void onMessage(GenericConnection conn, RpcMessageHeader message) {
 		BiConsumer<GenericConnection, RpcMessageHeader> consumer = this.handlers[message

server/src/main/java/dev/slimevr/vr/trackers/IMUTracker.java

@@ -213,6 +213,16 @@ public class IMUTracker
 		}
 	}
 
+	public void clearDriftCompensation() {
+		driftSince = 0L;
+		timeAtLastReset = 0L;
+		totalDriftTime = 0L;
+		if (driftQuats != null) {
+			driftQuats.clear();
+			driftTimes.clear();
+		}
+	}
+
 	@Override
 	public void tick() {
 		if (magnetometerCalibrated && hasNewCorrectionData) {