namespace MultiWheelC.TrajectoryPlanning.EMPlanner;

public sealed class SchedulingConfiguration
{
    public double ReplanPeriodSeconds { get; set; }
    public double TimeHorizonSeconds { get; set; }
    public double DistanceHorizonMeters { get; set; }
    public double OutputTimeStepSeconds { get; set; }
    public double SolverTimeoutSeconds { get; set; }
    public double HandoffLookaheadSeconds { get; set; }
    public double MaximumVehicleStateAgeSeconds { get; set; }
    public double MaximumOptimizationTimeStepSeconds { get; set; }
    public double MaximumOptimizationSpatialStepMeters { get; set; }
    public int MaximumOptimizationKnotCount { get; set; }
    public int MaximumPublishedSampleCount { get; set; }

    internal SchedulingConfiguration Copy()
    {
        return new SchedulingConfiguration
        {
            ReplanPeriodSeconds = ReplanPeriodSeconds,
            TimeHorizonSeconds = TimeHorizonSeconds,
            DistanceHorizonMeters = DistanceHorizonMeters,
            OutputTimeStepSeconds = OutputTimeStepSeconds,
            SolverTimeoutSeconds = SolverTimeoutSeconds,
            HandoffLookaheadSeconds = HandoffLookaheadSeconds,
            MaximumVehicleStateAgeSeconds = MaximumVehicleStateAgeSeconds,
            MaximumOptimizationTimeStepSeconds = MaximumOptimizationTimeStepSeconds,
            MaximumOptimizationSpatialStepMeters = MaximumOptimizationSpatialStepMeters,
            MaximumOptimizationKnotCount = MaximumOptimizationKnotCount,
            MaximumPublishedSampleCount = MaximumPublishedSampleCount,
        };
    }
}