Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/MarkerDetection/MarkerDetectionApiEndpoints.cs

@@ -0,0 +1,80 @@
+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;
+    }
+}