feat: select complete EM direction segments

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Segmentation/PlanningHorizonSelector.cs

@@ -40,7 +40,8 @@ public sealed class PlanningHorizonSelector
 
     public EmPlanningStatus Select(DirectionSegmentView segment, double currentSegmentReferenceS,
         double initialProgressSpeedMetersPerSecond, double initialAccelerationMetersPerSecondSquared,
-        EmPlannerConfiguration configuration, out PlanningHorizonSelection selection, out string failureReason)
+        EmPlanningScope planningScope, EmPlannerConfiguration configuration, out PlanningHorizonSelection selection,
+        out string failureReason)
     {
         selection = null;
         failureReason = string.Empty;
@@ -48,7 +49,8 @@ public sealed class PlanningHorizonSelector
             !IsFinite(currentSegmentReferenceS) || currentSegmentReferenceS < 0d ||
             currentSegmentReferenceS > segment.LengthMeters + BoundaryTolerance ||
             !IsFinite(initialProgressSpeedMetersPerSecond) || initialProgressSpeedMetersPerSecond < 0d ||
-            !IsFinite(initialAccelerationMetersPerSecondSquared))
+            !IsFinite(initialAccelerationMetersPerSecondSquared) ||
+            !Enum.IsDefined(typeof(EmPlanningScope), planningScope))
         {
             failureReason = "Planning horizon inputs are invalid.";
             return EmPlanningStatus.InvalidInput;
@@ -90,6 +92,20 @@ public sealed class PlanningHorizonSelector
             return EmPlanningStatus.StoppingDistanceInsufficient;
         }
 
+        if (planningScope == EmPlanningScope.FullDirectionSegment)
+        {
+            EmBoundaryType boundary = segment.EndBoundary.BoundaryType;
+            if (!IsStopBoundary(boundary))
+            {
+                failureReason = "A full direction segment must end at Goal or GearSwitch.";
+                return EmPlanningStatus.InvalidReferencePath;
+            }
+            selection = new PlanningHorizonSelection(segment.LengthMeters, boundary,
+                ToTerminalType(boundary), EmLongitudinalMode.ExactStopAtBoundary,
+                segment.LengthMeters, true);
+            return EmPlanningStatus.Success;
+        }
+
         double windowEnd = Math.Min(currentSegmentReferenceS + scheduling.DistanceHorizonMeters, segment.LengthMeters);
         bool windowReachesSegmentEnd = windowEnd >= segment.LengthMeters - BoundaryTolerance;
         bool hasStopBoundary = windowReachesSegmentEnd && IsStopBoundary(segment.EndBoundary.BoundaryType);