[PoC] Orientation Sensor as input device

BrickController2/BrickController2/Extensions/ContainerBuilderExtensions.cs

@@ -3,6 +3,7 @@
 using BrickController2.DeviceManagement;
 using BrickController2.DeviceManagement.Lego;
 using BrickController2.PlatformServices.BluetoothLE;
+using BrickController2.PlatformServices.InputDevice;
 using BrickController2.PlatformServices.InputDeviceService;
 
 namespace BrickController2.Extensions;
@@ -34,13 +35,25 @@ internal static ContainerBuilder RegisterDevice<TDevice>(this ContainerBuilder b
     /// Register input device service of <typeparamref name="TInputDeviceService"/> type.
     /// </summary>
     /// <returns>Registration instance to support fluent API</returns>
-    internal static ContainerBuilder RegisterInputDeviceService<TInputDeviceService>(this ContainerBuilder builder)
+    internal static IRegistrationBuilder<TInputDeviceService, ConcreteReflectionActivatorData, SingleRegistrationStyle> RegisterInputDeviceService<TInputDeviceService>(this ContainerBuilder builder)
         where TInputDeviceService : IInputDeviceService, IStartable
     {
-        builder.RegisterType<TInputDeviceService>()
+        return builder.RegisterType<TInputDeviceService>()
             .As<IInputDeviceService>()
             .As<IStartable>()
             .SingleInstance(); // ensure it's started as soon as the container is built in Autofac
+    }
+
+    /// <summary>
+    /// Register input device service of <typeparamref name="TInputDeviceService"/> type.
+    /// </summary>
+    /// <returns>Registration instance to support fluent API</returns>
+    internal static ContainerBuilder RegisterInputDeviceService<TInputDeviceService, TInputDevice>(this ContainerBuilder builder)
+        where TInputDeviceService : IInputDeviceService<TInputDevice>, IStartable
+        where TInputDevice : class, IInputDevice
+    {
+        var registrationBuilder = RegisterInputDeviceService<TInputDeviceService>(builder)
+            .As<IInputDeviceService<TInputDevice>>();
         return builder;
     }
 }

BrickController2/BrickController2/InputDeviceManagement/DI/InputDeviceManagementModule.cs

@@ -1,4 +1,6 @@
 using Autofac;
+using BrickController2.Extensions;
+using BrickController2.InputDeviceManagement.Sensors;
 using BrickController2.PlatformServices.InputDeviceService;
 
 namespace BrickController2.InputDeviceManagement.DI
@@ -8,6 +10,9 @@ public class InputDeviceManagementModule : Module
         protected override void Load(ContainerBuilder builder)
         {
             builder.RegisterType<InputDeviceManagerService>().As<IInputDeviceManagerService>().As<IInputDeviceEventServiceInternal>().As<IInputDeviceEventService>().SingleInstance();
+
+            // generic sensor based input device
+            builder.RegisterInputDeviceService<InputSensorService, OrientationSensorController>();
         }
     }
 }

BrickController2/BrickController2/InputDeviceManagement/Sensors/InputSensorService.cs

@@ -0,0 +1,52 @@
+using BrickController2.PlatformServices.InputDeviceService;
+using BrickController2.UI.Services.Preferences;
+using Microsoft.Extensions.Logging;
+using Microsoft.Maui.Devices.Sensors;
+
+namespace BrickController2.InputDeviceManagement.Sensors;
+
+internal class InputSensorService : InputDeviceServiceBase<OrientationSensorController>, IInputDeviceService<OrientationSensorController>
+{
+    internal const string OrientationSensorEnabledKey = "OrientationSensorEnabled";
+
+    private readonly IInputDeviceEventServiceInternal _deviceEventServiceInternal;
+    private readonly IPreferencesService _preferencesService;
+
+    public InputSensorService(IInputDeviceManagerService inputDeviceManagerService,
+        IInputDeviceEventServiceInternal deviceEventServiceInternal,
+        IPreferencesService preferencesService,
+        ILogger<InputSensorService> logger) 
+        : base(inputDeviceManagerService, logger)
+    {
+        _deviceEventServiceInternal = deviceEventServiceInternal;
+        _preferencesService = preferencesService;
+    }
+
+    private static IOrientationSensor Sensor => OrientationSensor.Default;
+
+    public bool IsEnabled
+    {
+        get => _preferencesService.Get(OrientationSensorEnabledKey, false);
+        set => _preferencesService.Set(OrientationSensorEnabledKey, value);
+    }
+
+    public bool IsSupported => Sensor.IsSupported;
+
+    public override void Initialize()
+    {
+        if (!IsSupported || !IsEnabled)
+        {
+            return;
+        }
+
+        AddInputDevice(new OrientationSensorController(_deviceEventServiceInternal, Sensor));
+    }
+
+    public override void Stop()
+    {
+        while (TryRemoveInputDevice(out var controller))
+        {
+            _logger.LogDebug("Sensor controller has been removed InputDeviceId:{controllerId}", controller.InputDeviceId);
+        }
+    }
+}

BrickController2/BrickController2/InputDeviceManagement/Sensors/OrientationSensorController.cs

@@ -0,0 +1,85 @@
+using BrickController2.PlatformServices.InputDevice;
+using BrickController2.PlatformServices.InputDeviceService;
+using Microsoft.Maui.Devices.Sensors;
+using System;
+using System.Linq;
+using System.Numerics;
+
+namespace BrickController2.InputDeviceManagement.Sensors;
+
+public class OrientationSensorController : InputDeviceBase<IOrientationSensor>
+{
+    private const double InversePI = 1.0 / Math.PI;
+    private const double InverseHalfPI = 1.0 / (Math.PI / 2.0);
+
+    public OrientationSensorController(IInputDeviceEventServiceInternal service,
+        IOrientationSensor sensor)
+        : base(service, sensor)
+    {
+        Name = "Orientation";
+        InputDeviceId = nameof(OrientationSensor);
+    }
+
+    public override void Start()
+    {
+        base.Start();
+        // Turn on orientation
+        InputDeviceDevice.ReadingChanged += Orientation_ReadingChanged;
+        InputDeviceDevice.Start(SensorSpeed.Game);
+    }
+
+    public override void Stop()
+    {
+        // Turn off orientation sensor
+        InputDeviceDevice.ReadingChanged -= Orientation_ReadingChanged;
+        InputDeviceDevice.Stop();
+        base.Stop();
+    }
+
+    private void Orientation_ReadingChanged(object? sender, OrientationSensorChangedEventArgs e)
+    {
+        var (Pitch, Roll, Yaw) = QuaternionToEulerAngles(e.Reading.Orientation);
+
+        RaiseEvents(
+        [
+            (nameof(Pitch), (float)Pitch),
+            (nameof(Roll), (float)Roll),
+            (nameof(Yaw), (float)Yaw)
+        ]);
+    }
+
+    private void RaiseEvents((string eventName, float value)[] axisEvents)
+    {
+        var events = axisEvents
+            .Where(e => HasValueChanged(e.eventName, e.value))
+            .ToDictionary(e => (InputDeviceEventType.Axis, e.eventName), e => e.value);
+
+        RaiseEvent(events);
+    }
+
+    private static (float Pitch, float Roll, float Yaw) QuaternionToEulerAngles(Quaternion q)
+    {
+        // X-Axis (Pitch): Tilting the top of the phone forward/backward
+        var sinPitch = 2.0 * (q.W * q.X + q.Y * q.Z);
+        var cosPitch = 1.0 - 2.0 * (q.X * q.X + q.Y * q.Y);
+        var pitch = Math.Atan2(sinPitch, cosPitch);
+
+        // Y-Axis (Roll): Tilting the phone left/right (banking)
+        var sinRoll = 2.0 * (q.W * q.Y - q.Z * q.X);
+        var roll = Math.Abs(sinRoll) >= 1
+            ? Math.CopySign(Math.PI / 2, sinRoll) // Use 90 degrees if out of range
+            : Math.Asin(sinRoll);
+
+        // Z-Axis (Yaw/Azimuth): Rotating the phone like a compass on a table.
+        // normalize radians to percentage for gamepad axis compatibility
+        var sinYaw = 2.0 * (q.W * q.Z + q.X * q.Y);
+        var cosYaw = 1.0 - 2.0 * (q.Y * q.Y + q.Z * q.Z);
+        var yaw = Math.Atan2(sinYaw, cosYaw);
+
+        return (
+            (float)(pitch * InversePI), // <-180; 180> => <-1; 1>
+            (float)(roll * InverseHalfPI), // <-90; 90> => <-1; 1>
+            (float)(yaw * InversePI) // <-180; 180> => <-1; 1>
+        );
+    }
+}

BrickController2/BrickController2/PlatformServices/InputDeviceService/IInputDeviceService.cs

@@ -1,4 +1,6 @@
-namespace BrickController2.PlatformServices.InputDeviceService;
+using BrickController2.PlatformServices.InputDevice;
+
+namespace BrickController2.PlatformServices.InputDeviceService;
 
 public interface IInputDeviceService
 {
@@ -13,3 +15,17 @@ public interface IInputDeviceService
     /// </summary>
     void Stop();
 }
+
+public interface IInputDeviceService<TInputDevice> : IInputDeviceService
+    where TInputDevice : class, IInputDevice
+{
+    /// <summary>
+    /// Gets a value whether the input device is supported on this device.  
+    /// </summary>
+    bool IsSupported { get; }
+
+    /// <summary>
+    /// Gets or sets a value whether the input device is enabled.
+    /// </summary>
+    bool IsEnabled { get; set; }
+}

BrickController2/BrickController2/PlatformServices/InputDeviceService/InputDeviceServiceBase.cs

@@ -60,6 +60,14 @@ protected bool TryRemoveInputDevice(Predicate<TInputDevice> predicate, [MaybeNul
         return _inputDeviceManagerService.TryRemoveInputDevice(predicate, out inputDevice);
     }
 
+    /// <summary>
+    /// Try to remove the first found input device from the manager
+    /// </summary>
+    /// <param name="inputDevice">input device to be removed</param>
+    /// <returns>True on success</returns>
+    protected bool TryRemoveInputDevice([MaybeNullWhen(false)] out TInputDevice inputDevice)
+        => _inputDeviceManagerService.TryRemoveInputDevice(x => true, out inputDevice);
+
     /// <summary>
     /// try to get inputdevice from the manager
     /// </summary>

BrickController2/BrickController2/Resources/TranslationResources.resx

@@ -762,4 +762,7 @@
   <data name="SubchannelsPortMode" xml:space="preserve">
     <value>Subchannels</value>
   </data>
+  <data name="OrientationSensor" xml:space="preserve">
+    <value>Orientation Sensor</value>
+  </data>
 </root>

BrickController2/BrickController2/UI/Pages/SettingsPage.xaml

@@ -33,6 +33,8 @@
                         <RowDefinition Height="Auto"/>
                         <RowDefinition Height="Auto"/>
                         <RowDefinition Height="Auto"/>
+                        <RowDefinition Height="Auto"/>
+                        <RowDefinition Height="Auto"/>
                     </Grid.RowDefinitions>
 
                     <!-- Theme -->
@@ -44,7 +46,13 @@
                     <Label Grid.Column="0" Grid.Row="2" Text="{extensions:Translate Language}" FontSize="Large" VerticalOptions="Center"/>
                     <Button Grid.Column="1" Grid.Row="2" Text="{Binding CurrentLanguage}" Command="{Binding SelectLanguageCommand}" Style="{StaticResource PickerButtonStyle}" HorizontalOptions="FillAndExpand"/>
 
-                    <BoxView Grid.ColumnSpan="2" Grid.Row="3" Style="{StaticResource DividerBoxViewStyle}" Margin="5,10,5,10"/>                    
+                    <BoxView Grid.ColumnSpan="2" Grid.Row="3" Style="{StaticResource DividerBoxViewStyle}" Margin="5,10,5,10" IsVisible="{Binding IsOrientationSensorSupported}"/>
+
+                    <!-- Orientation Sensor -->
+                    <Label Grid.Column="0" Grid.Row="4" Text="{extensions:Translate OrientationSensor}" FontSize="Large" VerticalOptions="Center" IsVisible="{Binding IsOrientationSensorSupported}"/>
+                    <Switch Grid.Column="1" Grid.Row="4" IsToggled="{Binding IsOrientationSensorEnabled}" HorizontalOptions="End" VerticalOptions="Center" IsVisible="{Binding IsOrientationSensorSupported}"/>
+
+                    <BoxView Grid.ColumnSpan="2" Grid.Row="5" Style="{StaticResource DividerBoxViewStyle}" Margin="5,10,5,10"/>
                 </Grid>
 
             </Grid>

BrickController2/BrickController2/UI/ViewModels/SettingsPageViewModel.cs

@@ -1,7 +1,10 @@
-using BrickController2.UI.Commands;
+using BrickController2.InputDeviceManagement.Sensors;
+using BrickController2.PlatformServices.InputDeviceService;
+using BrickController2.UI.Commands;
 using BrickController2.UI.Services.Dialog;
 using BrickController2.UI.Services.Localization;
 using BrickController2.UI.Services.Navigation;
+using BrickController2.UI.Services.Preferences;
 using BrickController2.UI.Services.Theme;
 using BrickController2.UI.Services.Translation;
 using Microsoft.Maui.Controls;
@@ -17,6 +20,7 @@ public class SettingsPageViewModel : PageViewModelBase
 
         private readonly IThemeService _themeService;
         private readonly ILocalizationService _localizationService;
+        private readonly IInputDeviceService<OrientationSensorController> _orientationSensorService;
         private readonly CreationListPageViewModel _parentViewModel;
         private readonly IDialogService _dialogService;
 
@@ -26,12 +30,14 @@ public SettingsPageViewModel(
             IDialogService dialogService,
             IThemeService themeService,
             ILocalizationService localizationService,
+            IInputDeviceService<OrientationSensorController> orientationSensorService,
             NavigationParameters parameters) : 
             base(navigationService, translationService)
         {
             _themeService = themeService;
             _dialogService = dialogService;
             _localizationService = localizationService;
+            _orientationSensorService = orientationSensorService;
             _parentViewModel = parameters.Get<CreationListPageViewModel>("parent");
             SelectThemeCommand = new SafeCommand(SelectThemeAsync);
             SelectLanguageCommand = new SafeCommand(SelectAppLanguageAsync);
@@ -66,6 +72,21 @@ public Language CurrentLanguage
         public ICommand SelectThemeCommand { get; }
         public ICommand SelectLanguageCommand { get; }
 
+        public bool IsOrientationSensorSupported => _orientationSensorService.IsSupported;
+
+        public bool IsOrientationSensorEnabled
+        {
+            get => _orientationSensorService.IsEnabled;
+            set
+            {
+                if (IsOrientationSensorEnabled != value)
+                {
+                    _orientationSensorService.IsEnabled = value;
+                    RaisePropertyChanged();
+                }
+            }
+        }
+
         private async Task SelectThemeAsync()
         {
             var result = await _dialogService.ShowSelectionDialogAsync(