using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Threading;
using MultiWheelC.TrajectoryPlanning.EMPlanner;

namespace EMPlannerVerificationHost;

internal sealed class FakeQpSolver : IQpSolver
{
    private readonly QpSolveResult _result;

    public FakeQpSolver(QpSolveResult result)
    {
        _result = result ?? throw new ArgumentNullException(nameof(result));
        LastWarmStart = Array.Empty<double>();
    }

    public QuadraticProgram? LastProblem { get; private set; }

    public QpSolverSettings? LastSettings { get; private set; }

    public IReadOnlyList<double> LastWarmStart { get; private set; }

    public QpSolveResult Solve(QuadraticProgram problem, QpSolverSettings settings, IReadOnlyList<double> warmStart,
        CancellationToken cancellationToken)
    {
        LastProblem = problem ?? throw new ArgumentNullException(nameof(problem));
        LastSettings = settings ?? throw new ArgumentNullException(nameof(settings));
        var copy = new List<double>(warmStart == null ? 0 : warmStart.Count);
        if (warmStart != null)
        {
            for (int index = 0; index < warmStart.Count; index++)
                copy.Add(warmStart[index]);
        }
        LastWarmStart = new ReadOnlyCollection<double>(copy);
        return _result;
    }
}