namespace MultiWheelC.TrajectoryPlanning.EMPlanner;

/// <summary>
/// ST 纵向优化的速度、舒适性和终端保持限制配置；所有数值由 <see cref="EmPlannerConfiguration.CreateDefault"/> 提供低速泊车默认值。
/// </summary>
public sealed class LongitudinalConfiguration
{
    /// <summary>
    /// 前进方向允许的最大速度；单位 m/s，默认值 1，必须为正有限值。
    /// </summary>
    public double MaximumForwardSpeedMetersPerSecond { get; set; }
    /// <summary>
    /// 倒车方向允许的最大速度；单位 m/s，默认值 0.5，必须为正有限值。
    /// </summary>
    public double MaximumReverseSpeedMetersPerSecond { get; set; }
    /// <summary>
    /// 前进方向的目标巡航速度；单位 m/s，默认值 1，必须为正有限值且不得超过 <see cref="MaximumForwardSpeedMetersPerSecond"/>。
    /// </summary>
    public double DesiredForwardSpeedMetersPerSecond { get; set; }
    /// <summary>
    /// 倒车方向的目标巡航速度；单位 m/s，默认值 0.5，必须为正有限值且不得超过 <see cref="MaximumReverseSpeedMetersPerSecond"/>。
    /// </summary>
    public double DesiredReverseSpeedMetersPerSecond { get; set; }
    /// <summary>
    /// 允许的最大纵向加速度；单位 m/s²，默认值 0.20，必须为正有限值。
    /// </summary>
    public double MaximumAccelerationMetersPerSecondSquared { get; set; }
    /// <summary>
    /// 允许的最大纵向减速度幅值；单位 m/s²，默认值 0.30，必须为正有限值。
    /// </summary>
    public double MaximumDecelerationMetersPerSecondSquared { get; set; }
    /// <summary>
    /// 允许的最大纵向加加速度幅值；单位 m/s³，默认值 0.50，必须为正有限值。
    /// </summary>
    public double MaximumJerkMetersPerSecondCubed { get; set; }
    /// <summary>
    /// 由速度和曲率共同施加的最大横向加速度；单位 m/s²，默认值 0.20，必须为正有限值。
    /// </summary>
    public double MaximumLateralAccelerationMetersPerSecondSquared { get; set; }
    /// <summary>
    /// 车辆曲率随时间变化的上限；单位 1/(m·s)，默认值 0.50，必须为正有限值。
    /// </summary>
    public double MaximumCurvatureRatePerMeterPerSecond { get; set; }
    /// <summary>
    /// 将进度速度视为停止的容差；单位 m/s，默认值 0.01，必须为非负有限值。
    /// </summary>
    public double StopSpeedToleranceMetersPerSecond { get; set; }
    /// <summary>
    /// 到达零速度后需保持的时长；单位 s，默认值 0.20，必须为正有限值。
    /// </summary>
    public double ZeroSpeedHoldSeconds { get; set; }
    /// <summary>
    /// 纵向 QP 目标函数的权重集合；无直接单位，必须非空且其每项为非负有限值，默认值为新的 <see cref="LongitudinalWeights"/> 对象。
    /// </summary>
    public LongitudinalWeights Weights { get; set; }

    /// <summary>
    /// 复制当前纵向配置；输入为当前标量和权重引用，输出为不共享非空权重对象的可修改快照，权重为 <c>null</c> 时保持为空且不产生失败状态。
    /// </summary>
    internal LongitudinalConfiguration Copy()
    {
        return new LongitudinalConfiguration
        {
            MaximumForwardSpeedMetersPerSecond = MaximumForwardSpeedMetersPerSecond,
            MaximumReverseSpeedMetersPerSecond = MaximumReverseSpeedMetersPerSecond,
            DesiredForwardSpeedMetersPerSecond = DesiredForwardSpeedMetersPerSecond,
            DesiredReverseSpeedMetersPerSecond = DesiredReverseSpeedMetersPerSecond,
            MaximumAccelerationMetersPerSecondSquared = MaximumAccelerationMetersPerSecondSquared,
            MaximumDecelerationMetersPerSecondSquared = MaximumDecelerationMetersPerSecondSquared,
            MaximumJerkMetersPerSecondCubed = MaximumJerkMetersPerSecondCubed,
            MaximumLateralAccelerationMetersPerSecondSquared = MaximumLateralAccelerationMetersPerSecondSquared,
            MaximumCurvatureRatePerMeterPerSecond = MaximumCurvatureRatePerMeterPerSecond,
            StopSpeedToleranceMetersPerSecond = StopSpeedToleranceMetersPerSecond,
            ZeroSpeedHoldSeconds = ZeroSpeedHoldSeconds,
            Weights = Weights == null ? null : Weights.Copy(),
        };
    }
}