feat: execute EM gear-switch boundaries

2026-08-04 13:01:59 +08:00
parent 55119de1c7
commit de402e61ee
6 changed files with 394 additions and 1 deletions
@@ -0,0 +1,35 @@
+using System;
+
+namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+/// <summary>Immutable trajectory-execution outcome without controller or hardware coupling.</summary>
+public sealed class TrajectoryExecutionState
+{
+    internal TrajectoryExecutionState(EmTrajectoryPoint selectedPoint, GearSwitchStateUpdate gearSwitchUpdate)
+    {
+        SelectedPoint = selectedPoint ?? throw new ArgumentNullException(nameof(selectedPoint));
+        if (gearSwitchUpdate == null)
+            throw new ArgumentNullException(nameof(gearSwitchUpdate));
+
+        GearSwitchState = gearSwitchUpdate.State;
+        HoldZero = gearSwitchUpdate.HoldZero;
+        RequestDirectionChange = gearSwitchUpdate.RequestDirectionChange;
+        AllowsTrajectoryMotion = gearSwitchUpdate.AllowsTrajectoryMotion;
+        IsTrajectoryComplete = gearSwitchUpdate.IsTrajectoryComplete;
+        Reason = gearSwitchUpdate.Reason;
+    }
+
+    public EmTrajectoryPoint SelectedPoint { get; }
+
+    public GearSwitchState GearSwitchState { get; }
+
+    public bool HoldZero { get; }
+
+    public bool RequestDirectionChange { get; }
+
+    public bool AllowsTrajectoryMotion { get; }
+
+    public bool IsTrajectoryComplete { get; }
+
+    public string Reason { get; }
+}