using System;

namespace MultiWheelC.TrajectoryPlanning.EMPlanner;

/// <summary>不耦合控制器或硬件的不可变轨迹执行状态，组合选中点和换向状态机的安全语义。</summary>
public sealed class TrajectoryExecutionState
{
    internal TrajectoryExecutionState(EmTrajectoryPoint selectedPoint, GearSwitchStateUpdate gearSwitchUpdate)
    {
        SelectedPoint = selectedPoint ?? throw new ArgumentNullException(nameof(selectedPoint));
        if (gearSwitchUpdate == null)
            throw new ArgumentNullException(nameof(gearSwitchUpdate));

        GearSwitchState = gearSwitchUpdate.State;
        HoldZero = gearSwitchUpdate.HoldZero;
        RequestDirectionChange = gearSwitchUpdate.RequestDirectionChange;
        AllowsTrajectoryMotion = gearSwitchUpdate.AllowsTrajectoryMotion;
        IsTrajectoryComplete = gearSwitchUpdate.IsTrajectoryComplete;
        Reason = gearSwitchUpdate.Reason;
    }

    /// <summary>按调用方时刻选中或插值得到的轨迹点；位置为 m、航向为 rad、速度为 m/s。</summary>
    public EmTrajectoryPoint SelectedPoint { get; }

    public GearSwitchState GearSwitchState { get; }

    /// <summary>是否要求保持零速度和零 yaw rate。</summary>
    public bool HoldZero { get; }

    public bool RequestDirectionChange { get; }

    /// <summary>状态机是否允许跟随选中点的非零轨迹运动。</summary>
    public bool AllowsTrajectoryMotion { get; }

    public bool IsTrajectoryComplete { get; }

    public string Reason { get; }
}