36 lines
1.2 KiB
C#
36 lines
1.2 KiB
C#
using System;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>Immutable trajectory-execution outcome without controller or hardware coupling.</summary>
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public sealed class TrajectoryExecutionState
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{
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internal TrajectoryExecutionState(EmTrajectoryPoint selectedPoint, GearSwitchStateUpdate gearSwitchUpdate)
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{
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SelectedPoint = selectedPoint ?? throw new ArgumentNullException(nameof(selectedPoint));
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if (gearSwitchUpdate == null)
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throw new ArgumentNullException(nameof(gearSwitchUpdate));
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GearSwitchState = gearSwitchUpdate.State;
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HoldZero = gearSwitchUpdate.HoldZero;
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RequestDirectionChange = gearSwitchUpdate.RequestDirectionChange;
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AllowsTrajectoryMotion = gearSwitchUpdate.AllowsTrajectoryMotion;
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IsTrajectoryComplete = gearSwitchUpdate.IsTrajectoryComplete;
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Reason = gearSwitchUpdate.Reason;
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}
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public EmTrajectoryPoint SelectedPoint { get; }
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public GearSwitchState GearSwitchState { get; }
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public bool HoldZero { get; }
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public bool RequestDirectionChange { get; }
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public bool AllowsTrajectoryMotion { get; }
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public bool IsTrajectoryComplete { get; }
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public string Reason { get; }
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}
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