Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/TF3/Tf3ApiEndpoints.cs

@@ -0,0 +1,38 @@
+using Microsoft.AspNetCore.Mvc;
+
+namespace RobotNet10.RobotApp.TF3;
+
+public static class Tf3ApiEndpoints
+{
+    // TF3 Static Transform Configuration API
+    public static IEndpointRouteBuilder MapTf3ApiEndpoints(this IEndpointRouteBuilder app)
+    {
+        var tf3Api = app.MapGroup("/api/tf3").DisableAntiforgery();
+
+        // TF3 data - LIDAR static transforms (base_link -> scan_N), for map renderer LIDAR drawing
+        tf3Api.MapGet("/lidar_transforms", ([FromServices] IConfiguration configuration) =>
+        {
+            var transforms = configuration.GetSection("Tf3:StaticTransforms")
+                .Get<List<Tf3StaticTransformConfig>>() ?? new();
+
+            return Results.Ok(new
+            {
+                status = "success",
+                transforms = transforms.Select(t => new
+                {
+                    frameId = t.FrameId,
+                    childFrameId = t.ChildFrameId,
+                    x = t.Pose.Position.X,
+                    y = t.Pose.Position.Y,
+                    z = t.Pose.Position.Z,
+                    qx = t.Pose.Orientation.X,
+                    qy = t.Pose.Orientation.Y,
+                    qz = t.Pose.Orientation.Z,
+                    qw = t.Pose.Orientation.W
+                }).ToArray()
+            });
+        });
+
+        return app;
+    }
+}