feat: validate EM planner requests

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Diagnostics/EmPlannerDebugOptions.cs

@@ -0,0 +1,13 @@
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public sealed class EmPlannerDebugOptions
+{
+    public bool EnableSummary { get; set; }
+    public bool EnableProjectionTrace { get; set; }
+    public bool EnableCorridorTrace { get; set; }
+    public bool EnableLateralSolverTrace { get; set; }
+    public bool EnableLongitudinalSolverTrace { get; set; }
+    public bool EnableTrajectoryDump { get; set; }
+    public bool EnableVisualization { get; set; }
+    public IEmPlannerDebugSink Sink { get; set; }
+}

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Diagnostics/EmPlanningDiagnostics.cs

@@ -0,0 +1,30 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public sealed class EmPlanningDiagnostics
+{
+    private readonly List<string> _debugSinkFailures = new List<string>();
+
+    public IReadOnlyList<string> DebugSinkFailures
+    {
+        get { return new ReadOnlyCollection<string>(new List<string>(_debugSinkFailures)); }
+    }
+
+    public void WriteDebug(EmPlannerDebugOptions options, string message)
+    {
+        if (options == null || options.Sink == null)
+            return;
+
+        try
+        {
+            options.Sink.Write(message ?? string.Empty);
+        }
+        catch (Exception exception)
+        {
+            _debugSinkFailures.Add(exception.GetType().FullName + ": " + exception.Message);
+        }
+    }
+}

ClumsyPilot/ParkrobTrajplanner/EMPlanner/Diagnostics/IEmPlannerDebugSink.cs

@@ -0,0 +1,6 @@
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+public interface IEmPlannerDebugSink
+{
+    void Write(string message);
+}