feat: coordinate rolling EM replans

ClumsyPilot/ParkrobTrajplanner/TrajectoryExecution/PlanningCycleResult.cs

@@ -0,0 +1,34 @@
+using System;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+/// <summary>Immutable completion record for one rolling planning cycle.</summary>
+public sealed class PlanningCycleResult
+{
+    public PlanningCycleResult(long version, PlanningCycleIdentity identity, EmPlanningResult result, bool published,
+        string diagnostic)
+    {
+        if (version <= 0)
+            throw new ArgumentOutOfRangeException(nameof(version));
+        Version = version;
+        Identity = identity ?? throw new ArgumentNullException(nameof(identity));
+        Result = result ?? throw new ArgumentNullException(nameof(result));
+        Published = published;
+        Diagnostic = diagnostic ?? string.Empty;
+    }
+
+    public long Version { get; }
+
+    public PlanningCycleIdentity Identity { get; }
+
+    public EmPlanningResult Result { get; }
+
+    public bool Published { get; }
+
+    public string Diagnostic { get; }
+
+    internal PlanningCycleResult WithDiagnostic(string diagnostic)
+    {
+        return new PlanningCycleResult(Version, Identity, Result, Published, diagnostic);
+    }
+}