feat: emulated trackers

.changeset/pink-baboons-lick.md

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+---
+'@slimevr/tracker-emulation': patch
+---
+
+implement basic emulated trackers

apps/emulated-tracker-demo/package.json

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+{
+  "name": "@slimevr/emulated-tracker-demo",
+  "version": "0.1.6",
+  "main": "dist/index.js",
+  "license": "(MIT OR Apache-2.0)",
+  "private": true,
+  "author": {
+    "name": "DevMiner",
+    "email": "devminer@devminer.xyz"
+  },
+  "dependencies": {
+    "@slimevr/common": "workspace:*",
+    "@slimevr/firmware-protocol": "workspace:*",
+    "@slimevr/tracker-emulation": "workspace:*",
+    "quaternion": "^1.5.1"
+  },
+  "devDependencies": {
+    "@slimevr/tsconfig": "workspace:*",
+    "@types/node": "^18.17.2",
+    "concurrently": "^8.2.0",
+    "nodemon": "^3.0.1",
+    "typescript": "^5.1.6"
+  },
+  "scripts": {
+    "dev": "concurrently \"tsc -w\" \"nodemon .\"",
+    "build": "tsc"
+  },
+  "engines": {
+    "node": ">=16.0.0"
+  }
+}

apps/emulated-tracker-demo/src/index.ts

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+import { MACAddress, Quaternion } from '@slimevr/common';
+import {
+  BoardType,
+  FirmwareFeatureFlags,
+  MCUType,
+  RotationDataType,
+  SensorStatus,
+  SensorType
+} from '@slimevr/firmware-protocol';
+import { EmulatedSensor, EmulatedTracker } from '@slimevr/tracker-emulation';
+import BetterQuaternion from 'quaternion';
+
+const tracker = new EmulatedTracker(
+  MACAddress.random(),
+  '0.0.1',
+  new FirmwareFeatureFlags(new Map()),
+  BoardType.CUSTOM,
+  MCUType.ESP8266
+);
+const sensors: EmulatedSensor[] = [];
+
+const main = async () => {
+  tracker.on('ready', () => {
+    console.log('searching for server...');
+  });
+
+  tracker.on('connected-to-server', async (ip, port) => {
+    console.log('connected to server', ip, port);
+  });
+
+  tracker.on('unknown-incoming-packet', (packet) => {
+    console.log('unknown packet type', packet.type);
+  });
+
+  tracker.on('error', (err) => console.error(err));
+
+  await tracker.init();
+
+  for (let i = 0; i < 3; i++) {
+    sensors.push(await tracker.addSensor(SensorType.UNKNOWN, SensorStatus.OK));
+  }
+
+  //#region sin wave battery level
+  {
+    let i = 0;
+    setInterval(() => {
+      tracker.changeBatteryLevel(Math.sin(i) * 0.5 + 3.7, Math.sin(i) * 100);
+      i += 0.1;
+    }, 1000).unref();
+  }
+  //#endregion
+
+  //#region sin wave temperature
+  {
+    let i = 0;
+    setInterval(() => {
+      sensors.forEach((sensor) => sensor.sendTemperature(Math.sin(i) * 10 + 25));
+      i += 0.1;
+    }, 1000).unref();
+  }
+  //#endregion
+
+  //#region sin wave magnetometer accuracy
+  {
+    let i = 0;
+    setInterval(() => {
+      sensors.forEach((sensor) => sensor.sendMagnetometerAccuracy(Math.sin(i) * 3 + 3));
+      i += 0.1;
+    }, 1000).unref();
+  }
+  //#endregion
+
+  //#region sin wave signal strength
+  {
+    let i = 0;
+    setInterval(() => {
+      sensors.forEach((sensor) => sensor.sendSignalStrength(Math.sin(i) * 127));
+      i += 0.1;
+    }, 1000).unref();
+  }
+  //#endregion
+
+  //#region
+  {
+    let i = 0;
+    setInterval(() => {
+      sensors.forEach((sensor, idx) => {
+        const v = i / 5;
+        const better = BetterQuaternion.fromEuler(idx == 0 ? v : 0, idx == 1 ? v : 0, idx == 2 ? v : 0);
+
+        sensor.sendRotation(RotationDataType.NORMAL, new Quaternion(better.x, better.y, better.z, better.w), 0);
+      });
+
+      i += 0.1;
+    }, 100).unref();
+  }
+};
+
+main();

apps/emulated-tracker-demo/tsconfig.json

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+{
+  "extends": "@slimevr/tsconfig/node.json",
+  "include": ["src/**/*.ts"],
+  "exclude": ["dist", "node_modules"],
+  "compilerOptions": {
+    "target": "ES2022",
+    "outDir": "./dist"
+  }
+}

packages/tracker-emulation/.npmignore

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+.turbo
+CHANGELOG.md
+tsconfig.json

packages/tracker-emulation/package.json

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+{
+  "name": "@slimevr/tracker-emulation",
+  "version": "0.0.0",
+  "main": "./dist/index.js",
+  "module": "./dist/index.mjs",
+  "types": "./dist/index.d.ts",
+  "license": "(MIT OR Apache-2.0)",
+  "author": {
+    "name": "DevMiner",
+    "email": "devminer@devminer.xyz"
+  },
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/SlimeVR/slimevr-node.git/tree/master/packages/tracker-emulation"
+  },
+  "bugs": {
+    "url": "https://github.com/SlimeVR/slimevr-node/issues"
+  },
+  "publishConfig": {
+    "access": "public"
+  },
+  "scripts": {
+    "build": "tsc",
+    "prepack": "pnpm build",
+    "watch": "pnpm build -- --watch",
+    "clean": "rimraf dist"
+  },
+  "dependencies": {
+    "@slimevr/common": "workspace:*",
+    "@slimevr/firmware-protocol": "workspace:*",
+    "strict-event-emitter-types": "^2.0.0"
+  },
+  "devDependencies": {
+    "@slimevr/tsconfig": "workspace:*",
+    "@types/node": "^18.17.2",
+    "rimraf": "^5.0.1",
+    "typescript": "^5.4.5"
+  }
+}

packages/tracker-emulation/src/EmulatedSensor.ts

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+import { Quaternion, Vector } from '@slimevr/common';
+import { RotationDataType, SensorStatus, SensorType, ServerBoundSensorInfoPacket } from '@slimevr/firmware-protocol';
+import { EmulatedTracker } from './EmulatedTracker';
+
+export class EmulatedSensor {
+  constructor(
+    private readonly tracker: EmulatedTracker,
+    readonly id: number,
+    readonly type: SensorType,
+    private _status: SensorStatus
+  ) {}
+
+  get status() {
+    return this._status;
+  }
+
+  async sendSensorInfo() {
+    await this.tracker.sendPacketToServer(new ServerBoundSensorInfoPacket(this.id, this._status, this.type));
+  }
+
+  async sendRotation(dataType: RotationDataType, rotation: Quaternion, accuracyInfo: number) {
+    await this.tracker.sendRotationData(this.id, dataType, rotation, accuracyInfo);
+  }
+
+  async sendAcceleration(acceleration: Vector) {
+    await this.tracker.sendAcceleration(this.id, acceleration);
+  }
+
+  async sendTemperature(temperature: number) {
+    await this.tracker.sendTemperature(this.id, temperature);
+  }
+
+  async sendMagnetometerAccuracy(accuracy: number) {
+    await this.tracker.sendMagnetometerAccuracy(this.id, accuracy);
+  }
+
+  /**
+   * @param signalStrength The signal strength to send to the server, must be between -127 and 127
+   */
+  async sendSignalStrength(signalStrength: number) {
+    await this.tracker.sendSignalStrength(this.id, signalStrength);
+  }
+
+  async changeStatus(status: SensorStatus) {
+    this._status = status;
+    await this.sendSensorInfo();
+  }
+}