Implement magnetometer toggle for firmware

gui/public/i18n/en/translation.ftl

@@ -187,6 +187,12 @@ tracker-infos-hardware_identifier = Hardware ID
 tracker-infos-imu = IMU Sensor
 tracker-infos-board_type = Main board
 tracker-infos-network_version = Protocol Version
+tracker-infos-magnetometer = Magnetometer
+tracker-infos-magnetometer-status = { $status ->
+    *[0] Not supported
+    [1] Disabled
+    [2] Enabled
+}
 
 ## Tracker settings
 tracker-settings-back = Go back to trackers list
@@ -200,6 +206,13 @@ tracker-settings-mounting_section-edit = Edit mounting
 tracker-settings-drift_compensation_section = Allow drift compensation
 tracker-settings-drift_compensation_section-description = Should this tracker compensate for its drift when drift compensation is enabled?
 tracker-settings-drift_compensation_section-edit = Allow drift compensation
+tracker-settings-use_mag = Allow magnetometer on this tracker
+# Multiline!
+tracker-settings-use_mag-description =
+    Should this tracker use magnetometer to reduce drift when magnetometer usage is allowed? <b>Please don't shutdown your tracker while toggling this!</b>
+
+    You need to allow magnetometer usage first, <magSetting>click here to go to the setting</magSetting>.
+tracker-settings-use_mag-label = Allow magnetometer
 # The .<name> means it's an attribute and it's related to the top key.
 # In this case that is the settings for the assignment section.
 tracker-settings-name_section = Tracker name
@@ -354,6 +367,11 @@ settings-general-tracker_mechanics-save_mounting_reset-description =
     Saves the automatic mounting reset calibrations for the trackers between restarts. Useful
     when wearing a suit where trackers don't move between sessions. <b>Not recommended for normal users!</b>
 settings-general-tracker_mechanics-save_mounting_reset-enabled-label = Save mounting reset
+settings-general-tracker_mechanics-use_mag_on_all_trackers = Use magnetometer on all IMU trackers that support it
+settings-general-tracker_mechanics-use_mag_on_all_trackers-description =
+    Uses magnetometer on all trackers that have a compatible firmware for it, reducing drift in stable magnetic environments.
+    Can be disabled per tracker in the tracker's settings. <b>Please don't shutdown any of the trackers while toggling this!</b>
+settings-general-tracker_mechanics-use_mag_on_all_trackers-label = Use magnetometer on trackers
 
 ## FK/Tracking settings
 settings-general-fk_settings = Tracking settings

gui/src/components/commons/Checkbox.tsx

@@ -9,6 +9,7 @@ export function CheckBox({
   control,
   outlined,
   name,
+  loading,
   // input props
   disabled,
   ...props
@@ -19,6 +20,7 @@ export function CheckBox({
   variant?: 'checkbox' | 'toggle';
   color?: 'primary' | 'secondary' | 'tertiary';
   outlined?: boolean;
+  loading?: boolean;
 } & React.HTMLProps<HTMLInputElement>) {
   const classes = useMemo(() => {
     const vriantsMap = {
@@ -32,7 +34,9 @@ export function CheckBox({
       toggle: {
         checkbox: classNames('hidden'),
         toggle: classNames('w-10 h-4 rounded-full relative transition-colors'),
-        pin: classNames('h-2 w-2 bg-background-10 rounded-full absolute m-1'),
+        pin: classNames(
+          'h-2 w-2 bg-background-10 rounded-full absolute m-1 transition-opacity'
+        ),
       },
     };
     return vriantsMap[variant];
@@ -60,7 +64,8 @@ export function CheckBox({
               'w-full py-3 flex gap-2 items-center text-standard-bold',
               {
                 'px-3': outlined,
-                'cursor-pointer': !disabled,
+                'cursor-pointer': !disabled || !loading,
+                'cursor-default': disabled || loading,
               }
             )}
           >
@@ -71,23 +76,26 @@ export function CheckBox({
               name={name}
               className={classes.checkbox}
               type="checkbox"
-              disabled={disabled}
+              disabled={disabled || loading}
               {...props}
             />
             {variant === 'toggle' && (
               <div
                 className={classNames(classes.toggle, {
-                  'bg-accent-background-30': value && !disabled,
+                  'bg-accent-background-30': value && !disabled && !loading,
                   'bg-accent-background-50': value && disabled,
+                  'bg-accent-background-30 animate-pulse': loading && !disabled,
                   'bg-background-50':
-                    (!value && color == 'primary') || color == 'secondary',
-                  'bg-background-40': !value && color == 'tertiary',
+                    ((!value && color == 'primary') || color == 'secondary') &&
+                    !loading,
+                  'bg-background-40': !value && color == 'tertiary' && !loading,
                 })}
               >
                 <div
                   className={classNames(classes.pin, {
-                    'left-0': !value,
-                    'right-0': value,
+                    'left-0': !value && !loading,
+                    'opacity-0': loading,
+                    'right-0': value && !loading,
                     'bg-background-30': disabled,
                   })}
                 ></div>

gui/src/components/settings/pages/GeneralSettings.tsx

@@ -31,6 +31,7 @@ import {
   SettingsPagePaneLayout,
 } from '@/components/settings/SettingsPageLayout';
 import { HandsWarningModal } from '@/components/settings/HandsWarningModal';
+import { MagnetometerToggleSetting } from './MagnetometerToggleSetting';
 import { DriftCompensationModal } from '@/components/settings/DriftCompensationModal';
 
 interface SettingsForm {
@@ -808,6 +809,10 @@ export function GeneralSettings() {
                 'settings-general-tracker_mechanics-save_mounting_reset-enabled-label'
               )}
             />
+            <MagnetometerToggleSetting
+              settingType="general"
+              id="mechanics-magnetometer"
+            />
           </>
         </SettingsPagePaneLayout>
         <SettingsPagePaneLayout

gui/src/components/settings/pages/MagnetometerToggleSetting.tsx

@@ -0,0 +1,160 @@
+import { CheckBox } from '@/components/commons/Checkbox';
+import { Typography } from '@/components/commons/Typography';
+import { useWebsocketAPI } from '@/hooks/websocket-api';
+import { Localized, useLocalization } from '@fluent/react';
+import { useCallback, useEffect, useRef, useState } from 'react';
+import { useForm } from 'react-hook-form';
+import {
+  ChangeMagToggleRequestT,
+  DeviceIdT,
+  MagToggleRequestT,
+  MagToggleResponseT,
+  RpcMessage,
+  TrackerIdT,
+} from 'solarxr-protocol';
+import { Link } from 'react-router-dom';
+
+interface MagnetometerToggleForm {
+  magToggle: boolean;
+}
+
+export function MagnetometerToggleSetting({
+  trackerNum,
+  deviceId,
+  settingType,
+  id,
+}: {
+  trackerNum?: number;
+  deviceId?: number;
+  settingType: 'general' | 'tracker';
+  id?: string;
+}) {
+  const { l10n } = useLocalization();
+  const { sendRPCPacket, useRPCPacket } = useWebsocketAPI();
+  const originalValue = useRef<boolean | null>(null);
+  // used to disable the tracker specific toggle if false
+  const [globalToggle, setGlobalToggle] = useState(false);
+  const [waitingMag, setWaitingMag] = useState(false);
+  const { control, watch, handleSubmit, reset } =
+    useForm<MagnetometerToggleForm>({
+      defaultValues: { magToggle: settingType === 'tracker' },
+    });
+
+  const onSubmit = useCallback(
+    (values: MagnetometerToggleForm) => {
+      if (originalValue.current === values.magToggle) return;
+      setWaitingMag(true);
+      const req = new ChangeMagToggleRequestT();
+      if (trackerNum !== undefined) {
+        const id = new TrackerIdT(
+          deviceId ? new DeviceIdT(deviceId) : undefined,
+          trackerNum
+        );
+        req.trackerId = id;
+      }
+
+      req.enable = values.magToggle;
+      sendRPCPacket(RpcMessage.ChangeMagToggleRequest, req);
+    },
+    [trackerNum, deviceId]
+  );
+
+  useEffect(() => {
+    const subscription = watch(() => handleSubmit(onSubmit)());
+    return () => subscription.unsubscribe();
+  }, []);
+
+  useEffect(() => {
+    const req = new MagToggleRequestT();
+    if (trackerNum !== undefined) {
+      const id = new TrackerIdT(
+        deviceId ? new DeviceIdT(deviceId) : undefined,
+        trackerNum
+      );
+      req.trackerId = id;
+      sendRPCPacket(RpcMessage.MagToggleRequest, new MagToggleRequestT());
+    }
+    sendRPCPacket(RpcMessage.MagToggleRequest, req);
+  }, [trackerNum, deviceId]);
+
+  useRPCPacket(RpcMessage.MagToggleResponse, (mag: MagToggleResponseT) => {
+    if (trackerNum !== undefined && mag.trackerId?.trackerNum === undefined) {
+      setGlobalToggle(mag.enable);
+    }
+    if (
+      mag.trackerId?.trackerNum !== trackerNum ||
+      mag.trackerId?.deviceId?.id !== deviceId
+    ) {
+      return;
+    }
+    originalValue.current = mag.enable;
+    setWaitingMag(false);
+    reset({ magToggle: mag.enable });
+  });
+
+  return settingType === 'general' ? (
+    <>
+      <div className="flex flex-col pt-5 pb-3" id={id}>
+        <Typography bold>
+          {l10n.getString(
+            'settings-general-tracker_mechanics-use_mag_on_all_trackers'
+          )}
+        </Typography>
+        <Localized
+          id="settings-general-tracker_mechanics-use_mag_on_all_trackers-description"
+          elems={{ b: <b></b> }}
+        >
+          <Typography
+            color="secondary"
+            whitespace="whitespace-pre-line"
+          ></Typography>
+        </Localized>
+      </div>
+      <CheckBox
+        variant="toggle"
+        outlined
+        control={control}
+        loading={waitingMag}
+        name="magToggle"
+        label={l10n.getString(
+          'settings-general-tracker_mechanics-use_mag_on_all_trackers-label'
+        )}
+      />
+    </>
+  ) : (
+    <div className="flex flex-col gap-2 w-full mt-3" id={id}>
+      <Typography variant="section-title">
+        {l10n.getString('tracker-settings-use_mag')}
+      </Typography>
+      <Localized
+        id="tracker-settings-use_mag-description"
+        elems={{
+          b: <b></b>,
+          magSetting: (
+            <Link
+              to="/settings/trackers"
+              state={{ scrollTo: 'mechanics-magnetometer' }}
+              className="underline"
+            ></Link>
+          ),
+        }}
+      >
+        <Typography
+          color="secondary"
+          whitespace="whitespace-pre-line"
+        ></Typography>
+      </Localized>
+      <div className="flex">
+        <CheckBox
+          variant="toggle"
+          outlined
+          loading={waitingMag}
+          disabled={!globalToggle}
+          name="magToggle"
+          control={control}
+          label={l10n.getString('tracker-settings-use_mag-label')}
+        />
+      </div>
+    </div>
+  );
+}

gui/src/components/tracker/TrackerSettings.tsx

@@ -33,6 +33,7 @@ import { SingleTrackerBodyAssignmentMenu } from './SingleTrackerBodyAssignmentMe
 import { TrackerCard } from './TrackerCard';
 import { Quaternion } from 'three';
 import { useAppContext } from '@/hooks/app';
+import { MagnetometerToggleSetting } from '@/components/settings/pages/MagnetometerToggleSetting';
 
 const rotationsLabels: [Quaternion, string][] = [
   [rotationToQuatMap.BACK, 'tracker-rotation-back'],
@@ -276,6 +277,18 @@ export function TrackerSettingsPage() {
                 {tracker?.device?.hardwareInfo?.boardType || '--'}
               </Typography>
             </div>
+            <div className="flex justify-between">
+              <Typography color="secondary">
+                {l10n.getString('tracker-infos-magnetometer')}
+              </Typography>
+              <Typography>
+                {tracker?.tracker.info?.magnetometer === undefined
+                  ? '--'
+                  : l10n.getString('tracker-infos-magnetometer-status', {
+                      status: tracker.tracker.info.magnetometer,
+                    })}
+              </Typography>
+            </div>
             <div className="flex justify-between">
               <Typography color="secondary">
                 {l10n.getString('tracker-infos-network_version')}
@@ -403,6 +416,13 @@ export function TrackerSettingsPage() {
               </div>
             </div>
           )}
+          {tracker?.tracker.info?.isImu && (
+            <MagnetometerToggleSetting
+              settingType="tracker"
+              trackerNum={tracker.tracker.trackerId?.trackerNum}
+              deviceId={tracker.tracker.trackerId?.deviceId?.id}
+            />
+          )}
           <div className="flex flex-col gap-2 w-full mt-3">
             <Typography variant="section-title">
               {l10n.getString('tracker-settings-name_section')}

server/build.gradle.kts

@@ -37,7 +37,7 @@ configure<com.diffplug.gradle.spotless.SpotlessExtension> {
 				"java.util.*,kotlin.math.*,dev.slimevr.autobone.errors.*" +
 				",io.github.axisangles.ktmath.*,kotlinx.atomicfu.*" +
 				",dev.slimevr.tracking.trackers.*,dev.slimevr.desktop.platform.ProtobufMessages.*" +
-				",com.illposed.osc.*,android.app.*",
+				",solarxr_protocol.rpc.*,kotlinx.coroutines.*,com.illposed.osc.*,android.app.*",
 			"ij_kotlin_allow_trailing_comma" to true,
 		)
 	val ktlintVersion = "1.2.1"

server/core/build.gradle.kts

@@ -76,6 +76,7 @@ dependencies {
 	implementation("org.java-websocket:Java-WebSocket:1.+")
 	implementation("com.melloware:jintellitype:1.+")
 	implementation("org.jetbrains.kotlinx:kotlinx-serialization-json:1.7.3")
+	implementation("org.jetbrains.kotlinx:kotlinx-coroutines-core:1.8.1")
 
 	// Jitpack
 	implementation("com.github.SlimeVR:oscquery-kt:566a0cba58")