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Fix disconnected UDP tracker sensors being marked as OK on reconnect #1866

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Fix disconnected UDP tracker sensors being marked as OK on reconnect #1866

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34 changes: 11 additions & 23 deletions server/core/src/main/java/dev/slimevr/tracking/trackers/udp/TrackersUDPServer.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -357,13 +357,6 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
LogManager.info("[TrackerServer] Tracker timed out: $conn")
}
} else {
for (value in conn.trackers.values) {
if (value.status == TrackerStatus.DISCONNECTED ||
value.status == TrackerStatus.TIMED_OUT
) {
value.status = TrackerStatus.OK
}
}
conn.timedOut = false
}

Expand Down Expand Up @@ -404,7 +397,6 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
}

private fun processPacket(received: DatagramPacket, packet: UDPPacket, connection: UDPDevice?) {
val tracker: Tracker?
when (packet) {
is UDPPacket0Heartbeat, is UDPPacket1Heartbeat, is UDPPacket25SetConfigFlag -> {}

Expand All @@ -413,8 +405,8 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
is RotationPacket -> {
var rot = packet.rotation
rot = AXES_OFFSET.times(rot)
tracker = connection?.getTracker(packet.sensorId)
if (tracker == null) return
val tracker = connection?.getTracker(packet.sensorId) ?: return
if (tracker.status == TrackerStatus.DISCONNECTED) tracker.status = TrackerStatus.OK
tracker.setRotation(rot)
if (packet is UDPPacket23RotationAndAcceleration) {
// sensorOffset is applied correctly since protocol 22
Expand All @@ -429,8 +421,8 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
}

is UDPPacket17RotationData -> {
tracker = connection?.getTracker(packet.sensorId)
if (tracker == null) return
val tracker = connection?.getTracker(packet.sensorId) ?: return
if (tracker.status == TrackerStatus.DISCONNECTED) tracker.status = TrackerStatus.OK
var rot17 = packet.rotation
rot17 = AXES_OFFSET * rot17
when (packet.dataType) {
Expand All @@ -453,8 +445,8 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
is UDPPacket18MagnetometerAccuracy -> {}

is UDPPacket4Acceleration -> {
tracker = connection?.getTracker(packet.sensorId)
if (tracker == null) return
val tracker = connection?.getTracker(packet.sensorId) ?: return
if (tracker.status == TrackerStatus.DISCONNECTED) tracker.status = TrackerStatus.OK
// sensorOffset is applied correctly since protocol 22
// See: https://github.com/SlimeVR/SlimeVR-Tracker-ESP/pull/480
if (connection.protocolVersion >= 22) {
Expand Down Expand Up @@ -504,8 +496,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
}

is UDPPacket13Tap -> {
tracker = connection?.getTracker(packet.sensorId)
if (tracker == null) return
val tracker = connection?.getTracker(packet.sensorId) ?: return
LogManager.info(
"[TrackerServer] Tap packet received from ${tracker.name}: ${packet.tap}",
)
Expand All @@ -515,8 +506,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
LogManager.severe(
"[TrackerServer] Error received from ${received.socketAddress}: ${packet.errorNumber}",
)
tracker = connection?.getTracker(packet.sensorId)
if (tracker == null) return
val tracker = connection?.getTracker(packet.sensorId) ?: return
tracker.status = TrackerStatus.ERROR
}

Expand Down Expand Up @@ -548,7 +538,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
}

is UDPPacket20Temperature -> {
tracker = connection?.getTracker(packet.sensorId) ?: return
val tracker = connection?.getTracker(packet.sensorId) ?: return
tracker.temperature = packet.temperature
}

Expand Down Expand Up @@ -616,8 +606,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
}

is UDPPacket26FlexData -> {
tracker = connection?.getTracker(packet.sensorId)
if (tracker == null) return
val tracker = connection?.getTracker(packet.sensorId) ?: return
if (tracker.trackerDataType == TrackerDataType.FLEX_RESISTANCE) {
tracker.trackerFlexHandler.setFlexResistance(packet.flexData)
} else if (tracker.trackerDataType == TrackerDataType.FLEX_ANGLE) {
Expand All @@ -627,8 +616,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
}

is UDPPacket27Position -> {
tracker = connection?.getTracker(packet.sensorId)
if (tracker == null) return
val tracker = connection?.getTracker(packet.sensorId) ?: return
tracker.position = packet.position
// dont call dataTick here as this is just position update
}
Expand Down
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