cs-roommapper/src/Server/RobotControlServer/Routes/RoutePlan.cs

using Cassandra;
using LibParse.Json;
using LibServer.Http;
using LibServer.Router;
using Newtonsoft.Json;
using RobotControlServer.JsonClasses;
using System.Drawing;

namespace RobotControlServer.Routes;

public class RoutePlan: IRoute {
  /// <summary>
  ///  POST request for the database/path/plan route, generate a new path
  /// from a certain map of objects.
  /// </summary>
  public HttpResponse Post(HttpRequest request) {
    try {
      // Parse request body to Data object, give error if non-nullable fields
      // are null.
      var parsedBody = request.Body?.FromJson<Data>();
      if (parsedBody?.objects == null) {
        throw new Exception("objectData is null");
      }
      // ParsedBody?.objects = [[0,1],[0,2],...]

      // New instance of CPP with a 500x500 grid || where 0,0 = top-left and 499, 499 = bottom-right
      CoveragePathPlanner planner = new CoveragePathPlanner(500, 500);

      // Create obstacle cell list
      List<Point> obstacles = new List<Point>();

      // Add obstacle cells
      foreach (var obj in $"[{parsedBody?.objects}]".FromJson<int[][]>())
      {
        obstacles.Add(new Point(obj[0], obj[1])); // Get x and y for every coordinate in the parsedbody array
      }

      List<Point> PlanPath = planner.PlanPath(obstacles);
      List<List<int>> points = new List<List<int>>();
      foreach(var point in PlanPath) {
        // push [x,y] to points
        points.Add(new List<int> {point.X, point.Y});
      }

      // Return success message with the path
      return new HttpResponse($"{{\"message\":\"success\",\"path\":{points.ToJson()}}}");
    } catch (Exception ex) {
      // Return error message if failed for any reason
      return new HttpResponse($"{{\"message\": \"{ex.Message.Replace("\"", "\\\"")}\"}}", 400);
    }
  }
}