From cd1ff08afecc5b1f3d702917b5b7469e95abfaa5 Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Fri, 11 Oct 2024 11:59:49 -0300
Subject: [PATCH] wip

---
 .../vehiclesetup/OrientationPicker.vue        | 83 +++++++++++--------
 .../FullAccelerometerCalibration.vue          |  1 +
 2 files changed, 50 insertions(+), 34 deletions(-)

diff --git a/core/frontend/src/components/vehiclesetup/OrientationPicker.vue b/core/frontend/src/components/vehiclesetup/OrientationPicker.vue
index 7cf4eca38f..93985f5a1b 100644
--- a/core/frontend/src/components/vehiclesetup/OrientationPicker.vue
+++ b/core/frontend/src/components/vehiclesetup/OrientationPicker.vue
@@ -15,6 +15,7 @@
 <script lang="ts">
 import * as THREE from 'three'
 import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls'
+import { TransformControls } from 'three/examples/jsm/controls/TransformControls'
 import { DRACOLoader } from 'three/examples/jsm/loaders/DRACOLoader'
 import { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader'
 import { PropType } from 'vue'
@@ -57,6 +58,7 @@ export default {
   },
   data() {
     return {
+      transformControls: undefined as TransformControls | undefined,
       rotations: [
         new Rotation('NONE', 0, 0, 0),
         new Rotation('YAW_45', 0, 0, 45),
@@ -157,7 +159,7 @@ export default {
     if (this.threejs_canvas) {
       this.threejs_canvas.appendChild(this.renderer.domElement)
     }
-    const controls = new OrbitControls(this.camera, this.renderer.domElement)
+    const orbitControls = new OrbitControls(this.camera, this.renderer.domElement)
 
     // Add lights
     const ambientLight = new THREE.AmbientLight(0xffffff, 3.5)
@@ -188,10 +190,18 @@ export default {
     const arrowHelperZ = new THREE.ArrowHelper(new THREE.Vector3(0, 0, 5), new THREE.Vector3(0, 0, 0), 0.1, 0x0000ff)
     scene.add(arrowHelperZ)
     this.arrows.push(arrowHelperZ)
-
+    // Add TransformControls
+    this.transformControls = new TransformControls(this.camera, this.renderer.domElement)
+    this.transformControls.addEventListener('objectChange', (event) => {
+      console.log(this.object.rotation.x)
+      orbitControls.enabled = !event.value
+    })
+    this.transformControls.setMode('rotate')
+    this.transformControls.setSpace('local')
+    scene.add(this.transformControls)
     const animate = () : void => {
       requestAnimationFrame(animate)
-      controls.update()
+      orbitControls.update()
       if (!this.renderer) {
         return
       }
@@ -216,38 +226,19 @@ export default {
         this.object.rotation.x = THREE.MathUtils.degToRad(rotation.roll)
         this.object.rotation.z = THREE.MathUtils.degToRad(rotation.pitch)
         this.object.rotation.y = THREE.MathUtils.degToRad(rotation.yaw)
+
+        // Update the selected rotation based on the object's current rotation
+        const currentRotation = new Rotation(
+          'Custom',
+          THREE.MathUtils.radToDeg(this.object.rotation.x),
+          THREE.MathUtils.radToDeg(this.object.rotation.z),
+          THREE.MathUtils.radToDeg(this.object.rotation.y),
+        )
+        this.updateSelectedRotation(currentRotation)
       }
     },
     add_vehicle_model() {
-      if (this.scene) {
-        const dracoLoader = new DRACOLoader()
-        dracoLoader.setDecoderPath('https://www.gstatic.com/draco/versioned/decoders/1.5.6/')
-        const loader = new GLTFLoader()
-        loader.setDRACOLoader(dracoLoader)
-        loader.load(
-          this.vehicle_model,
-          (gltf) => {
-            gltf.scene.traverse((child) => {
-              if (child instanceof THREE.Mesh) {
-                child.material = new THREE.MeshStandardMaterial({
-                  color: 0x666666, // white
-                  transparent: true,
-                  opacity: 0.05,
-                  depthTest: false,
-                  depthWrite: true,
-                  side: THREE.DoubleSide, // Set material to be double-sided
-                })
-              }
-            })
-            this.vehicle_obj = gltf.scene
-            this.scene.add(gltf.scene)
-          },
-          undefined,
-          (error) => {
-            console.error('An error occurred while loading the GLB model:', error)
-          },
-        )
-      }
+      // ... (keep existing method)
     },
     async add_board_model() {
       if (this.scene) {
@@ -263,6 +254,11 @@ export default {
             this.object = gltf.scene
             this.scene.add(gltf.scene)
             this.rotateObject(this.selectedRotation)
+
+            // Attach TransformControls to the loaded object
+            if (this.transformControls) {
+              this.transformControls.attach(this.object)
+            }
           },
           undefined,
           (error) => {
@@ -272,8 +268,27 @@ export default {
       }
     },
     resize() {
-      if (!this.threejs_canvas?.clientWidth || !this.threejs_canvas?.clientHeight) {
-        return
+      // ... (keep existing method)
+    },
+    updateSelectedRotation(rotation: Rotation) {
+      // Find the closest predefined rotation
+      const closestRotation = this.rotations.reduce((prev, curr) => {
+        const prevDiff = Math.abs(prev.roll - rotation.roll) + Math.abs(prev.pitch - rotation.pitch) + Math.abs(prev.yaw - rotation.yaw)
+        const currDiff = Math.abs(curr.roll - rotation.roll) + Math.abs(curr.pitch - rotation.pitch) + Math.abs(curr.yaw - rotation.yaw)
+        return prevDiff < currDiff ? prev : curr
+      })
+
+      this.selectedRotation = closestRotation
+
+      // Update the parameter
+      if (this.parameter) {
+        mavlink2rest.setParam(
+          this.parameter.name,
+          this.rotations.indexOf(closestRotation),
+          autopilot_data.system_id,
+          this.parameter.paramType.type,
+        )
+        autopilot_data.setRebootRequired(true)
       }
       this.camera.aspect = this.threejs_canvas.clientWidth / this.threejs_canvas.clientHeight
       this.camera.updateProjectionMatrix()
diff --git a/core/frontend/src/components/vehiclesetup/configuration/accelerometer/FullAccelerometerCalibration.vue b/core/frontend/src/components/vehiclesetup/configuration/accelerometer/FullAccelerometerCalibration.vue
index 7ed858c1d5..b14d0eed83 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/accelerometer/FullAccelerometerCalibration.vue
+++ b/core/frontend/src/components/vehiclesetup/configuration/accelerometer/FullAccelerometerCalibration.vue
@@ -3,6 +3,7 @@
     v-model="dialog"
     persistent
     width="500"
+    @click:outside="cleanup"
   >
     <template #activator="{ on, attrs }">
       <v-btn