feat: validate EM planner requests

2026-08-03 22:22:44 +08:00
parent e12eb31205
commit b326431d63
16 changed files with 734 additions and 11 deletions
@@ -0,0 +1,26 @@
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public sealed class SchedulingConfiguration
+{
+    public double ReplanPeriodSeconds { get; set; }
+    public double TimeHorizonSeconds { get; set; }
+    public double DistanceHorizonMeters { get; set; }
+    public double OutputTimeStepSeconds { get; set; }
+    public double SolverTimeoutSeconds { get; set; }
+    public double HandoffLookaheadSeconds { get; set; }
+    public double MaximumVehicleStateAgeSeconds { get; set; }
+
+    internal SchedulingConfiguration Copy()
+    {
+        return new SchedulingConfiguration
+        {
+            ReplanPeriodSeconds = ReplanPeriodSeconds,
+            TimeHorizonSeconds = TimeHorizonSeconds,
+            DistanceHorizonMeters = DistanceHorizonMeters,
+            OutputTimeStepSeconds = OutputTimeStepSeconds,
+            SolverTimeoutSeconds = SolverTimeoutSeconds,
+            HandoffLookaheadSeconds = HandoffLookaheadSeconds,
+            MaximumVehicleStateAgeSeconds = MaximumVehicleStateAgeSeconds,
+        };
+    }
+}