use crate::app::App;
use crate::ui::theme::CATPPUCCIN_MOCHA;
use ratatui::{
Frame,
layout::Rect,
style::{Modifier, Style},
text::Span,
widgets::canvas::{Canvas, Line as CanvasLine},
widgets::{Block, BorderType, Borders},
};
pub fn draw(f: &mut Frame, app: &App, area: Rect, is_focused: bool) {
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 title_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 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 cube_canvas = Canvas::default()
.block(
Block::default()
.borders(Borders::ALL)
.border_type(border_type)
.border_style(Style::default().fg(border_color))
.title(Span::styled(
if is_focused {
if is_zh {
format!(
" 立方体：3D 姿态{} (T: 手动模式, UJIKOL/方向键: 控制) ",
title_suffix
)
} else {
format!(
" cube: 3D Orientation{} (T: Manual Mode, UJIKOL/Arrows: Ctrl) ",
title_suffix
)
}
} else {
if is_zh {
format!(" 立方体：3D 姿态{} ", title_suffix)
} else {
format!(" cube: 3D Orientation{} ", title_suffix)
}
},
Style::default()
.fg(CATPPUCCIN_MOCHA.text)
.add_modifier(Modifier::BOLD),
)),
)
.x_bounds([-x_limit, x_limit])
.y_bounds([-2.0, 2.0])
.paint(move |ctx| {
let size = 0.85;
let vertices = [
[-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 mut projected = Vec::new();
for v in &vertices {
let (rx, ry, rz) = (v[0], v[1], v[2]);
let rotate_x = |x: f64, y: f64, z: f64, angle: f64| {
let cos = angle.cos();
let sin = angle.sin();
(x, y * cos - z * sin, y * sin + z * cos)
};
let rotate_y = |x: f64, y: f64, z: f64, angle: f64| {
let cos = angle.cos();
let sin = angle.sin();
(x * cos + z * sin, y, -x * sin + z * cos)
};
let rotate_z = |x: f64, y: f64, z: f64, angle: f64| {
let cos = angle.cos();
let sin = angle.sin();
(x * cos - y * sin, x * sin + y * cos, z)
};
let (x1, y1, z1) = rotate_x(rx, ry, rz, pitch);
let (x2, y2, z2) = rotate_y(x1, y1, z1, roll);
let (x3, y3, z3) = rotate_z(x2, y2, z2, yaw);
let nx_trans = x3 + tx;
let ny_trans = y3 + ty;
let nz_trans = z3 + tz;
let distance = 3.2;
let scale = 1.95 / (distance - nz_trans);
let sx = nx_trans * scale;
let sy = ny_trans * scale * 0.95;
projected.push((sx, sy));
}
let edges = [
(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()));
});
f.render_widget(cube_canvas, area);
}