From 55ca69c0d63485a6d229d6851e8ef80e969a9853 Mon Sep 17 00:00:00 2001
From: kevinjin420 <kevinjin0420@gmail.com>
Date: Fri, 24 Apr 2026 23:25:30 -0400
Subject: [PATCH] alignment toggle

---
 srv/ToggleAlignment.srv                       |  3 ++
 .../basestation_gui/backend/ws/auton_ws.py    | 16 ++++++++-
 .../frontend/src/components/AutonTyping.vue   | 35 +++++++++++++++++++
 3 files changed, 53 insertions(+), 1 deletion(-)
 create mode 100644 srv/ToggleAlignment.srv

diff --git a/srv/ToggleAlignment.srv b/srv/ToggleAlignment.srv
new file mode 100644
index 000000000..a46718c81
--- /dev/null
+++ b/srv/ToggleAlignment.srv
@@ -0,0 +1,3 @@
+bool enable
+---
+bool success
diff --git a/teleoperation/basestation_gui/backend/ws/auton_ws.py b/teleoperation/basestation_gui/backend/ws/auton_ws.py
index 763675065..a10abfb37 100644
--- a/teleoperation/basestation_gui/backend/ws/auton_ws.py
+++ b/teleoperation/basestation_gui/backend/ws/auton_ws.py
@@ -1,9 +1,11 @@
 import asyncio
 from backend.ws.base_ws import WebSocketHandler
-from backend.managers.ros import get_logger
+from backend.managers.ros import get_logger, get_service_client
+from backend.utils.ros_service import call_service_async
 from rclpy.action import ActionClient
 from mrover.action import TypingCode
 from mrover.msg import KeyboardYaw
+from mrover.srv import ToggleAlignment
 
 
 class AutonHandler(WebSocketHandler):
@@ -24,6 +26,8 @@ async def handle_message(self, data):
                 await self.cancel_goal()
             else:
                 await self.send_typing_code(code)
+        elif msg_type == 'toggle_alignment':
+            await self.toggle_alignment(data.get('enable', False))
         else:
             get_logger().warning(f"Unhandled AUTON message: {msg_type}")
 
@@ -60,6 +64,16 @@ def feedback_callback(self, feedback_msg):
             'current_index': feedback.current_index,
         })
 
+    async def toggle_alignment(self, enable: bool):
+        client = get_service_client(ToggleAlignment, '/toggle_alignment')
+        request = ToggleAlignment.Request()
+        request.enable = enable
+        result, error = await call_service_async(client, request)
+        if error:
+            self.schedule_send({'type': 'alignment_error', 'error': error})
+        else:
+            self.schedule_send({'type': 'alignment_toggled', 'enable': enable, 'success': result.success})
+
     async def cancel_goal(self):
         if self.current_goal_handle:
             await asyncio.to_thread(self.current_goal_handle.cancel_goal_async)
diff --git a/teleoperation/basestation_gui/frontend/src/components/AutonTyping.vue b/teleoperation/basestation_gui/frontend/src/components/AutonTyping.vue
index 59715662f..3c59cbc41 100644
--- a/teleoperation/basestation_gui/frontend/src/components/AutonTyping.vue
+++ b/teleoperation/basestation_gui/frontend/src/components/AutonTyping.vue
@@ -29,6 +29,15 @@
       <span class="spacer"></span>
       <span class="yaw-label">YAW</span>
       <span class="data-value">{{ yawAngle.toFixed(3) }}</span><span class="data-unit">rad</span>
+      <button
+        class="btn btn-sm"
+        :class="alignmentEnabled ? 'btn-success' : 'btn-danger'"
+        data-testid="pw-alignment-toggle"
+        :disabled="codeSent"
+        @click.prevent="toggleAlignment()"
+      >
+        Align {{ alignmentEnabled ? 'ON' : 'OFF' }}
+      </button>
     </div>
     <table class="feedback-table" data-testid="pw-typing-feedback">
       <tbody>
@@ -49,6 +58,7 @@
 <script lang="ts" setup>
 import { ref, onMounted, onBeforeUnmount } from 'vue'
 import { useWebsocketStore } from '@/stores/websocket'
+import { useNotificationsStore } from '@/stores/notifications'
 
 interface TypingFeedbackMessage {
   type: 'typing_feedback'
@@ -65,7 +75,13 @@ interface KeyboardYawMessage {
   yaw: number
 }
 
+interface AlignmentErrorMessage {
+  type: 'alignment_error'
+  error: string
+}
+
 const websocketStore = useWebsocketStore()
+const notificationsStore = useNotificationsStore()
 
 const typingMessage = ref('')
 const codeSent = ref(false)
@@ -73,6 +89,7 @@ const currentIndex = ref(0)
 const currentState = ref('')
 const letterStates = ref<string[]>(Array(6).fill('notTyped'))
 const yawAngle = ref(0)
+const alignmentEnabled = ref(true)
 
 onMounted(() => {
   websocketStore.setupWebSocket('auton')
@@ -101,12 +118,30 @@ websocketStore.onMessage<KeyboardYawMessage>('auton', 'keyboard_yaw', (msg) => {
   yawAngle.value = msg.yaw
 })
 
+websocketStore.onMessage<AlignmentErrorMessage>('auton', 'alignment_error', (msg) => {
+  alignmentEnabled.value = !alignmentEnabled.value
+  notificationsStore.addNotification({
+    component: 'Alignment',
+    message: msg.error,
+    fullData: msg,
+  })
+})
+
 websocketStore.onMessage<TypingCancelledMessage>('auton', 'typing_cancelled', () => {
   codeSent.value = false
   typingMessage.value = ''
   letterStates.value = Array(6).fill('notTyped')
 })
 
+function toggleAlignment() {
+  const nextState = !alignmentEnabled.value
+  websocketStore.sendMessage('auton', {
+    type: 'toggle_alignment',
+    enable: nextState,
+  })
+  alignmentEnabled.value = nextState
+}
+
 function submitMessage() {
   if (!codeSent.value) {
     websocketStore.sendMessage('auton', {