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;
    }
}