feat: coordinate rolling EM replans

ClumsyPilot/ParkrobTrajplanner/TrajectoryExecution/PlanningCycleInput.cs

@@ -0,0 +1,29 @@
+using System;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+/// <summary>Caller-captured request and clock value for one rolling cycle.</summary>
+public sealed class PlanningCycleInput
+{
+    public PlanningCycleInput(EmPlanningRequest request, DateTimeOffset now)
+    {
+        Request = request ?? throw new ArgumentNullException(nameof(request));
+        Identity = PlanningCycleIdentity.FromRequest(request);
+        Now = now;
+        ReplanPeriodSeconds = ReadReplanPeriod(request.Configuration);
+    }
+
+    public EmPlanningRequest Request { get; }
+
+    public PlanningCycleIdentity Identity { get; }
+
+    public DateTimeOffset Now { get; }
+
+    public double ReplanPeriodSeconds { get; }
+
+    private static double ReadReplanPeriod(EmPlannerConfiguration configuration)
+    {
+        double configured = configuration?.Scheduling?.ReplanPeriodSeconds ?? 0.20d;
+        return !double.IsNaN(configured) && !double.IsInfinity(configured) && configured > 0d ? configured : 0.20d;
+    }
+}