param(
    [string]$AssemblyPath = (Join-Path $PSScriptRoot '..\bin\Debug\netstandard2.0\ClumsyPilot.dll'),
    [string]$OutputPath = (Join-Path $PSScriptRoot '..\ParkrobTrajplanner\PathSmoothing\Test\Fixtures\path-smoothing-fixtures.json'),
    [switch]$Overwrite
)

$ErrorActionPreference = 'Stop'
$newtonsoftPath = Join-Path $env:USERPROFILE '.nuget\packages\newtonsoft.json\13.0.4\lib\netstandard2.0\Newtonsoft.Json.dll'
if (Test-Path -LiteralPath $newtonsoftPath) { [Reflection.Assembly]::LoadFrom($newtonsoftPath) | Out-Null }
$assembly = [Reflection.Assembly]::LoadFrom((Resolve-Path $AssemblyPath))
$type = $assembly.GetType('MultiWheelC.TrajectoryPlanning.PathSmoothing.Test.SmoothingFixtureGenerator', $true)
$method = $type.GetMethod('Generate', [Type[]]@([string], [bool]))
if ($null -eq $method) { throw 'SmoothingFixtureGenerator.Generate(string, bool) is missing.' }
$method.Invoke($null, @([IO.Path]::GetFullPath($OutputPath), [bool]$Overwrite))
Write-Output "Path smoothing fixtures generated: $OutputPath"