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hid packet 6 and packet 7 (data2) (#1679)

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This commit is contained in:
Eiren Rain
2025-12-14 10:25:49 +03:00
committed by GitHub
parent f01f599526 3611bb5cc7
commit e2dbaab8ba
2 changed files with 36 additions and 3 deletions
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1
server/core/src/main/java/dev/slimevr/tracking/trackers/Tracker.kt
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@@ -115,6 +115,7 @@ class Tracker @JvmOverloads constructor(
var ping: Int? = null
var signalStrength: Int? = null
var temperature: Float? = null
var button: Int? = null
var customName: String? = null
var magStatus: MagnetometerStatus = magStatus
private set

38
server/core/src/main/java/dev/slimevr/tracking/trackers/hid/HIDCommon.kt
View File

@@ -143,6 +143,7 @@ class HIDCommon {
var temp: Int? = null
var brd_id: Int? = null
var mcu_id: Int? = null
var button: Int? = null
// var imu_id: Int? = null
// var mag_id: Int? = null
var fw_date: Int? = null
@@ -220,6 +221,28 @@ class HIDCommon {
}
}
6 -> { // data
button = dataReceived[i + 2].toUByte().toInt()
rssi = dataReceived[i + 15].toUByte().toInt()
}
7 -> { // reduced precision quat and accel with data
button = dataReceived[i + 2].toUByte().toInt()
// quaternion is quantized as exponential map
// X = 10 bits, Y/Z = 11 bits
val buffer = ByteBuffer.wrap(dataReceived, i + 5, 4)
buffer.order(java.nio.ByteOrder.LITTLE_ENDIAN)
val q_buf = buffer.getInt().toUInt()
q[0] = (q_buf and 1023u).toInt()
q[1] = (q_buf shr 10 and 2047u).toInt()
q[2] = (q_buf shr 21 and 2047u).toInt()
for (j in 0..2) { // accel received as fixed 7, in m/s^2
// Q7 as short little endian
a[j] = dataReceived[i + 9 + j * 2 + 1].toInt() shl 8 or dataReceived[i + 9 + j * 2].toUByte().toInt()
}
rssi = dataReceived[i + 15].toUByte().toInt()
}
else -> {
}
}
@@ -248,6 +271,15 @@ class HIDCommon {
device.mcuType = mcuType!!
}
}
if (button != null) {
if (tracker.button == null) {
tracker.button = 0
}
if (button != tracker.button) {
button = button and tracker.button!!.inv()
// Nothing to do now..
}
}
if (fw_date != null && fw_major != null && fw_minor != null && fw_patch != null) {
val firmwareYear = 2020 + (fw_date shr 9 and 127)
val firmwareMonth = fw_date shr 5 and 15
@@ -274,7 +306,7 @@ class HIDCommon {
rot = AXES_OFFSET.times(scaleRot).times(rot) // no division
tracker.setRotation(rot)
}
if (packetType == 2) {
if (packetType == 2 || packetType == 7) {
val v = floatArrayOf(q[0].toFloat(), q[1].toFloat(), q[2].toFloat()) // used q array for quantized data
v[0] /= (1 shl 10).toFloat()
v[1] /= (1 shl 11).toFloat()
@@ -293,7 +325,7 @@ class HIDCommon {
rot = AXES_OFFSET.times(rot) // no division
tracker.setRotation(rot)
}
if (packetType == 1 || packetType == 2) {
if (packetType == 1 || packetType == 2 || packetType == 7) {
// Acceleration is in local device frame
// On flat surface / face up:
// Right side of the device is +X
@@ -317,7 +349,7 @@ class HIDCommon {
val magnetometer = Vector3(m[0].toFloat(), m[1].toFloat(), m[2].toFloat()).times(scaleMag) // no division
tracker.setMagVector(magnetometer)
}
if (packetType == 1 || packetType == 2 || packetType == 4) {
if (packetType == 1 || packetType == 2 || packetType == 4 || packetType == 7) {
tracker.dataTick() // only data tick if there is rotation data
}
}