using Microsoft.AspNetCore.Mvc;

namespace RobotNet10.RobotApp.MarkerDetection;

public static class MarkerDetectionApiEndpoints
{
    // Marker Detection Control API
    public static IEndpointRouteBuilder MapMarkerDetectionApiEndpoints(this IEndpointRouteBuilder app)
    {
        var markerApi = app.MapGroup("/api/marker-detection").DisableAntiforgery();

        // Enable or disable marker detection
        markerApi.MapPost("/detection/enable", async (HttpRequest request, [FromServices] MarkerDetectionIntegrationService service) =>
        {
            try
            {
                var body = await request.ReadFromJsonAsync<Dictionary<string, bool>>();
                var enable = body?["enable"] ?? true;

                service.SetEnableDetection(enable);

                return Results.Ok(new
                {
                    status = "success",
                    message = $"Marker detection {(enable ? "enabled" : "disabled")}",
                    enabled = enable
                });
            }
            catch (Exception ex)
            {
                return Results.BadRequest(new { status = "error", message = ex.Message });
            }
        });

        // Get current marker pose
        markerApi.MapGet("/pose/current", ([FromServices] MarkerDetectionIntegrationService service) =>
        {
            try
            {
                var pose = service.GetMarkerPose();

                if (pose == null)
                    return Results.NotFound(new { status = "error", message = "No marker pose available" });

                return Results.Ok(new
                {
                    status = "success",
                    pose = new
                    {
                        header = new
                        {
                            seq = pose.Header.Seq,
                            stamp = pose.Header.Stamp,
                            frameId = pose.Header.FrameId
                        },
                        position = new
                        {
                            x = pose.Pose.Position[0],
                            y = pose.Pose.Position[1],
                            z = pose.Pose.Position[2]
                        },
                        orientation = new
                        {
                            x = pose.Pose.Orientation[0],
                            y = pose.Pose.Orientation[1],
                            z = pose.Pose.Orientation[2],
                            w = pose.Pose.Orientation[3]
                        }
                    }
                });
            }
            catch (Exception ex)
            {
                return Results.BadRequest(new { status = "error", message = ex.Message });
            }
        });

        return app;
    }
}