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Code Issues 160 Packages Projects Releases Wiki Activity

Use HID tracker magnetometer status from mag_id (#1366)

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sctanf
2025-04-23 05:14:43 -04:00
committed by GitHub
parent 03365eb050
commit 6817eca793
1 changed files with 13 additions and 3 deletions
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16
server/desktop/src/main/java/dev/slimevr/desktop/tracking/trackers/hid/TrackersHID.kt
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@@ -8,6 +8,7 @@ import dev.slimevr.tracking.trackers.TrackerStatus
import dev.slimevr.tracking.trackers.udp.BoardType
import dev.slimevr.tracking.trackers.udp.IMUType
import dev.slimevr.tracking.trackers.udp.MCUType
import dev.slimevr.tracking.trackers.udp.MagnetometerStatus
import io.eiren.util.logging.LogManager
import io.github.axisangles.ktmath.Quaternion
import io.github.axisangles.ktmath.Quaternion.Companion.fromRotationVector
@@ -113,7 +114,7 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
}
}
private fun setUpSensor(device: HIDDevice, trackerId: Int, sensorType: IMUType, sensorStatus: TrackerStatus) {
private fun setUpSensor(device: HIDDevice, trackerId: Int, sensorType: IMUType, sensorStatus: TrackerStatus, magStatus: MagnetometerStatus) {
// LogManager.info("[TrackerServer] Sensor $trackerId for ${device.name}, status $sensorStatus")
var imuTracker = device.getTracker(trackerId)
if (imuTracker == null) {
@@ -132,9 +133,11 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
needsReset = true,
needsMounting = true,
usesTimeout = false,
magStatus = magStatus,
)
// usesTimeout false because HID trackers aren't "Disconnected" unless receiver is physically removed probably
// TODO: Could tracker maybe use "Timed out" status without marking as disconnecting?
// TODO: can be marked as "Disconnected" by timeout if the tracker has enabled activity timeouts
device.trackers[trackerId] = imuTracker
trackersConsumer.accept(imuTracker)
imuTracker.status = sensorStatus
@@ -165,6 +168,10 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
this.devices.add(device)
deviceList.add(this.devices.size - 1)
VRServer.instance.deviceManager.addDevice(device) // actually add device to the server
LogManager
.info(
"[TrackerServer] Added device $deviceName for ${hidDevice.serialNumber}, id $deviceId",
)
return device
}
}
@@ -254,9 +261,12 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
// Register tracker
if (packetType == 0) { // Tracker register packet (device info)
val imu_id = dataReceived[i + 8].toUByte().toInt()
val mag_id = dataReceived[i + 9].toUByte().toInt()
val sensorType = IMUType.getById(imu_id.toUInt())
// only able to register magnetometer status, not magnetometer type
val magStatus = MagnetometerStatus.getById(mag_id.toUByte())
if (sensorType != null) {
setUpSensor(device, trackerId, sensorType!!, TrackerStatus.OK)
setUpSensor(device, trackerId, sensorType!!, TrackerStatus.OK, magStatus!!)
}
}
@@ -273,7 +283,7 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
var brd_id: Int? = null
var mcu_id: Int? = null
// var imu_id: Int? = null
// var mag_id: Int? = null // not used currently
// var mag_id: Int? = null
var fw_date: Int? = null
var fw_major: Int? = null
var fw_minor: Int? = null