use crate::app::App;
use crate::ui::theme::CATPPUCCIN_MOCHA;
use ratatui::{
Frame,
layout::Rect,
style::{Color, Modifier, Style},
symbols::Marker,
text::Span,
widgets::canvas::{Canvas, Line as CanvasLine},
widgets::{Block, BorderType, Borders},
};
fn project_vertex(
v: &[f64; 3],
pitch: f64,
roll: f64,
yaw: f64,
tx: f64,
ty: f64,
tz: f64,
zoom: f64,
) -> (f64, f64, f64) {
let (rx, ry, rz) = (v[0], v[1], v[2]);
let cos_p = pitch.cos();
let sin_p = pitch.sin();
let (x1, y1, z1) = (rx, ry * cos_p - rz * sin_p, ry * sin_p + rz * cos_p);
let cos_r = roll.cos();
let sin_r = roll.sin();
let (x2, y2, z2) = (x1 * cos_r + z1 * sin_r, y1, -x1 * sin_r + z1 * cos_r);
let cos_y = yaw.cos();
let sin_y = yaw.sin();
let (x3, y3, z3) = (x2 * cos_y - y2 * sin_y, x2 * sin_y + y2 * cos_y, z2);
let nx = x3 + tx;
let ny = y3 + ty;
let nz = z3 + tz;
let distance = 3.2;
let scale = zoom * 1.95 / (distance - nz);
let sx = nx * scale;
let sy = ny * scale * 0.95;
(sx, sy, nz)
}
pub fn draw(f: &mut Frame, app: &App, area: Rect, is_focused: bool, _widget_idx: usize) {
let (pitch, roll, yaw, tx, ty, tz) = if app.manual_imu_override {
(
app.manual_pitch,
app.manual_roll,
app.manual_yaw,
app.manual_tx,
app.manual_ty,
app.manual_tz,
)
} else {
let selected_port = app.get_selected_port();
let history = selected_port
.as_ref()
.and_then(|port| app.waveform_history.get(port));
if let Some(points) = history {
if !points.is_empty() {
let latest = &points[points.len() - 1];
let p_val = latest.get(0).cloned().unwrap_or(0.0);
let r_val = latest.get(1).cloned().unwrap_or(0.0);
let y_val = latest.get(2).cloned().unwrap_or(0.0);
let tx_val = latest.get(3).cloned().unwrap_or(0.0);
let ty_val = latest.get(4).cloned().unwrap_or(0.0);
let tz_val = latest.get(5).cloned().unwrap_or(0.0);
let to_rad = |v: f32| {
if v.abs() > 2.0 * std::f32::consts::PI {
v.to_radians()
} else {
v
}
};
(
to_rad(p_val) as f64,
to_rad(r_val) as f64,
to_rad(y_val) as f64,
tx_val as f64,
ty_val as f64,
tz_val as f64,
)
} else {
(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
}
} else {
(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
}
};
let is_zh = app.tool_config.language == "zh";
let mode_suffix = if app.manual_imu_override {
if is_zh {
" [手动模式 🎮]"
} else {
" [MANUAL 🎮]"
}
} else {
if is_zh {
" [传感器遥测 ⚡]"
} else {
" [TELEMETRY ⚡]"
}
};
let title_text = if is_focused {
if is_zh {
format!(
" 立方体：3D 姿态{} (T: 手动, X: 坐标轴, UJIKOL: 控制, +/-: 缩放) ",
mode_suffix
)
} else {
format!(
" cube: 3D Orientation{} (T: Manual, X: Axes, UJIKOL: Ctrl, +/-: Zoom) ",
mode_suffix
)
}
} else {
if is_zh {
format!(" 立方体：3D 姿态{} ", mode_suffix)
} else {
format!(" cube: 3D Orientation{} ", mode_suffix)
}
};
let border_color = if is_focused {
CATPPUCCIN_MOCHA.border_focus
} else {
CATPPUCCIN_MOCHA.border
};
let border_type = if is_focused {
BorderType::Double
} else {
BorderType::Rounded
};
let aspect = (area.width as f64 / area.height as f64) * 0.5;
let x_limit = 2.0 * aspect;
let zoom = app.cube_zoom;
let show_axes = app.show_cube_axes;
let cube_canvas = Canvas::default()
.block(
Block::default()
.borders(Borders::ALL)
.border_type(border_type)
.border_style(Style::default().fg(border_color))
.title(Span::styled(
title_text,
Style::default()
.fg(CATPPUCCIN_MOCHA.text)
.add_modifier(Modifier::BOLD),
)),
)
.x_bounds([-x_limit, x_limit])
.y_bounds([-2.0, 2.0])
.marker(Marker::Braille)
.paint(move |ctx| {
let size = 0.85;
let cube_verts: [[f64; 3]; 8] = [
[-size, -size, -size],
[size, -size, -size],
[size, size, -size],
[-size, size, -size],
[-size, -size, size],
[size, -size, size],
[size, size, size],
[-size, size, size],
];
let projected: Vec<(f64, f64)> = cube_verts
.iter()
.map(|v| {
let (sx, sy, _) = project_vertex(v, pitch, roll, yaw, tx, ty, tz, zoom);
(sx, sy)
})
.collect();
let edges: [(usize, usize); 12] = [
(0, 1),
(1, 2),
(2, 3),
(3, 0),
(4, 5),
(5, 6),
(6, 7),
(7, 4),
(0, 4),
(1, 5),
(2, 6),
(3, 7),
];
for &(i, j) in &edges {
let (x1, y1) = projected[i];
let (x2, y2) = projected[j];
if x1.is_finite() && y1.is_finite() && x2.is_finite() && y2.is_finite() {
let color = if i < 4 && j < 4 {
crate::ui::theme::mocha::PEACH
} else if i >= 4 && j >= 4 {
CATPPUCCIN_MOCHA.success
} else {
CATPPUCCIN_MOCHA.primary
};
ctx.draw(&CanvasLine {
x1,
y1,
x2,
y2,
color,
});
}
}
let text_x = -x_limit + 0.1;
ctx.print(text_x, 1.7, format!("Pitch: {:+5.1}°", pitch.to_degrees()));
ctx.print(text_x, 1.4, format!("Roll : {:+5.1}°", roll.to_degrees()));
ctx.print(text_x, 1.1, format!("Yaw : {:+5.1}°", yaw.to_degrees()));
if show_axes {
let x_neg = [-1.5, 0.0, 0.0];
let x_pos = [1.5, 0.0, 0.0];
let y_neg = [0.0, -1.5, 0.0];
let y_pos = [0.0, 1.5, 0.0];
let z_neg = [0.0, 0.0, -1.5];
let z_pos = [0.0, 0.0, 1.5];
let (xn, yn, _) = project_vertex(&x_neg, pitch, roll, yaw, tx, ty, tz, zoom);
let (xx, xy, _) = project_vertex(&x_pos, pitch, roll, yaw, tx, ty, tz, zoom);
let (yn_x, yn_y, _) = project_vertex(&y_neg, pitch, roll, yaw, tx, ty, tz, zoom);
let (yx, yy, _) = project_vertex(&y_pos, pitch, roll, yaw, tx, ty, tz, zoom);
let (zn_x, zn_y, _) = project_vertex(&z_neg, pitch, roll, yaw, tx, ty, tz, zoom);
let (zx, zy, _) = project_vertex(&z_pos, pitch, roll, yaw, tx, ty, tz, zoom);
let axis_red = Color::Rgb(120, 60, 60);
let axis_green = Color::Rgb(60, 120, 60);
let axis_blue = Color::Rgb(60, 60, 120);
let text_red = Color::Rgb(180, 100, 100);
let text_green = Color::Rgb(100, 180, 100);
let text_blue = Color::Rgb(100, 100, 180);
ctx.draw(&CanvasLine {
x1: xn,
y1: yn,
x2: xx,
y2: xy,
color: axis_red,
});
ctx.draw(&CanvasLine {
x1: yn_x,
y1: yn_y,
x2: yx,
y2: yy,
color: axis_green,
});
ctx.draw(&CanvasLine {
x1: zn_x,
y1: zn_y,
x2: zx,
y2: zy,
color: axis_blue,
});
ctx.print(xx, xy, Span::styled("X", Style::default().fg(text_red)));
ctx.print(yx, yy, Span::styled("Y", Style::default().fg(text_green)));
ctx.print(zx, zy, Span::styled("Z", Style::default().fg(text_blue)));
}
});
f.render_widget(cube_canvas, area);
}