feat: define full-direction EM planning scope

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmPlanningRequest.cs

@@ -20,7 +20,8 @@ public sealed class EmPlanningRequest
         string outputTrajectoryId,
         string referencePathId,
         string previousTrajectoryId,
-        EmMotionModel motionModel)
+        EmMotionModel motionModel,
+        EmPlanningScope planningScope)
     {
         ReferencePath = referencePath;
         Map = map;
@@ -35,6 +36,7 @@ public sealed class EmPlanningRequest
         ReferencePathId = referencePathId;
         PreviousTrajectoryId = previousTrajectoryId;
         MotionModel = motionModel;
+        PlanningScope = planningScope;
     }
 
     public PathSmoothingResult ReferencePath { get; }
@@ -50,6 +52,7 @@ public sealed class EmPlanningRequest
     public string ReferencePathId { get; }
     public string PreviousTrajectoryId { get; }
     public EmMotionModel MotionModel { get; }
+    public EmPlanningScope PlanningScope { get; }
 }
 
 // The request owns this DTO contract; Task 2 adds its request-bound settings.

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmPlanningScope.cs

@@ -0,0 +1,7 @@
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public enum EmPlanningScope
+{
+    RollingHorizon,
+    FullDirectionSegment,
+}

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmPlanningStatus.cs

@@ -19,5 +19,8 @@ public enum EmPlanningStatus
     Cancelled,
     ValidationFailed,
     Superseded,
+    NoProgress,
+    TerminalPoseMismatch,
+    FullSegmentResourceLimitExceeded,
     Failed,
 }

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmTrajectoryMetadata.cs

@@ -16,7 +16,8 @@ public sealed class EmTrajectoryMetadata
         int segmentIndex,
         TravelDirection direction,
         EmTerminalType terminalType,
-        EmLongitudinalMode longitudinalMode)
+        EmLongitudinalMode longitudinalMode,
+        EmPlanningScope planningScope)
     {
         if (string.IsNullOrWhiteSpace(trajectoryId))
             throw new ArgumentException("A trajectory ID is required.", nameof(trajectoryId));
@@ -34,6 +35,8 @@ public sealed class EmTrajectoryMetadata
             throw new ArgumentOutOfRangeException(nameof(terminalType));
         if (!Enum.IsDefined(typeof(EmLongitudinalMode), longitudinalMode))
             throw new ArgumentOutOfRangeException(nameof(longitudinalMode));
+        if (!Enum.IsDefined(typeof(EmPlanningScope), planningScope))
+            throw new ArgumentOutOfRangeException(nameof(planningScope));
 
         TrajectoryId = trajectoryId;
         GeneratedAtUtc = generatedAtUtc;
@@ -46,6 +49,7 @@ public sealed class EmTrajectoryMetadata
         Direction = direction;
         TerminalType = terminalType;
         LongitudinalMode = longitudinalMode;
+        PlanningScope = planningScope;
     }
 
     public string TrajectoryId { get; }
@@ -59,4 +63,5 @@ public sealed class EmTrajectoryMetadata
     public TravelDirection Direction { get; }
     public EmTerminalType TerminalType { get; }
     public EmLongitudinalMode LongitudinalMode { get; }
+    public EmPlanningScope PlanningScope { get; }
 }