Initial commit

srcs/RobotNet10/Commons/RobotNet10.NavigationTune/Controllers/VelocityControlController.cs

@@ -0,0 +1,96 @@
+using Microsoft.AspNetCore.Mvc;
+using Microsoft.Extensions.Logging;
+using RobotNet10.NavigationTune.Execution;
+
+namespace RobotNet10.NavigationTune.Controllers;
+
+/// <summary>
+/// REST API controller for manual velocity control
+/// </summary>
+[ApiController]
+[Route("api/[controller]")]
+public class VelocityControlController(
+    IVelocityProvider? velocityProvider,
+    ILogger<VelocityControlController> logger) : ControllerBase
+{
+    private readonly IVelocityProvider? _velocityProvider = velocityProvider;
+    private readonly ILogger<VelocityControlController> _logger = logger;
+
+    /// <summary>
+    /// Set manual velocity command
+    /// </summary>
+    [HttpPost("set-velocity")]
+    public ActionResult SetVelocity([FromBody] VelocityCommandRequest request)
+    {
+        try
+        {
+            if (_velocityProvider == null)
+            {
+                return BadRequest(new { error = "Velocity provider is not available. Robot connection required." });
+            }
+
+            _velocityProvider.SetVelocity(request.LinearVelocity, request.AngularVelocity);
+            return Ok(new { message = "Velocity command sent", linear = request.LinearVelocity, angular = request.AngularVelocity });
+        }
+        catch (Exception ex)
+        {
+            _logger.LogError(ex, "Error setting velocity");
+            return StatusCode(500, new { error = "Failed to set velocity", details = ex.Message });
+        }
+    }
+
+    /// <summary>
+    /// Stop all velocities (set to zero)
+    /// </summary>
+    [HttpPost("stop")]
+    public ActionResult Stop()
+    {
+        try
+        {
+            if (_velocityProvider == null)
+            {
+                return BadRequest(new { error = "Velocity provider is not available. Robot connection required." });
+            }
+
+            _velocityProvider.SetVelocity(0, 0);
+            return Ok(new { message = "All velocities stopped" });
+        }
+        catch (Exception ex)
+        {
+            _logger.LogError(ex, "Error stopping velocity");
+            return StatusCode(500, new { error = "Failed to stop velocity", details = ex.Message });
+        }
+    }
+
+    /// <summary>
+    /// Get current velocity
+    /// </summary>
+    [HttpGet("current")]
+    public ActionResult GetCurrentVelocity()
+    {
+        try
+        {
+            if (_velocityProvider == null)
+            {
+                return BadRequest(new { error = "Velocity provider is not available. Robot connection required." });
+            }
+
+            var (linear, angular) = _velocityProvider.GetActualVelocity();
+            return Ok(new { linear, angular });
+        }
+        catch (Exception ex)
+        {
+            _logger.LogError(ex, "Error getting current velocity");
+            return StatusCode(500, new { error = "Failed to get current velocity", details = ex.Message });
+        }
+    }
+}
+
+/// <summary>
+/// Request model for velocity command
+/// </summary>
+public class VelocityCommandRequest
+{
+    public double LinearVelocity { get; set; }
+    public double AngularVelocity { get; set; }
+}