using System;

namespace EMPlannerVerificationHost;

internal static class Program
{
    private static int Main(string[] args)
    {
        if (args.Length != 1 || (args[0] != "foundation" && args[0] != "segmentation" && args[0] != "frenet" &&
            args[0] != "corridor" && args[0] != "all-foundation"))
        {
            Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|all-foundation");
            return 2;
        }

        try
        {
            if (args[0] == "foundation" || args[0] == "all-foundation")
            {
                MultiWheelC.TrajectoryPlanning.EMPlanner.FoundationChecks.Run();
                Console.WriteLine("PASS foundation");
            }
            if (args[0] == "segmentation" || args[0] == "all-foundation")
            {
                MultiWheelC.TrajectoryPlanning.EMPlanner.SegmentationChecks.Run();
                Console.WriteLine("PASS segmentation");
            }
            if (args[0] == "frenet" || args[0] == "all-foundation")
            {
                MultiWheelC.TrajectoryPlanning.EMPlanner.FrenetChecks.Run();
                Console.WriteLine("PASS frenet");
            }
            if (args[0] == "corridor" || args[0] == "all-foundation")
            {
                MultiWheelC.TrajectoryPlanning.EMPlanner.CorridorChecks.Run();
                Console.WriteLine("PASS corridor");
            }
            return 0;
        }
        catch (Exception exception)
        {
            Console.Error.WriteLine(exception);
            return 1;
        }
    }
}