using System.Collections.Generic;
using System.Collections.ObjectModel;
using MultiWheelC.TrajectoryPlanning.CoarsePath;
using MultiWheelC.TrajectoryPlanning.Mapping;

namespace MultiWheelC.TrajectoryPlanning.PathSmoothing;

/// <summary>路径平滑所需的原始粗路径、复核上下文和配置。</summary>
public sealed class PathSmoothingRequest
{
    /// <summary>创建路径平滑请求，并复制粗路径和方向分段集合。</summary>
    public PathSmoothingRequest(
        IReadOnlyList<CoarsePathPoint> coarsePath,
        IReadOnlyList<PathSegment> segments,
        PlanningGridMap map,
        VehicleParameters vehicle,
        PathSmoothingConfiguration configuration)
    {
        CoarsePath = CopyReadOnly(coarsePath);
        Segments = CopyReadOnly(segments);
        Map = map;
        Vehicle = vehicle;
        Configuration = configuration;
    }

    /// <summary>原始粗路径的不可变快照。</summary>
    public IReadOnlyList<CoarsePathPoint> CoarsePath { get; }

    /// <summary>原始粗路径方向分段的不可变快照。</summary>
    public IReadOnlyList<PathSegment> Segments { get; }

    /// <summary>用于平滑后完整车体复核的规划栅格地图。</summary>
    public PlanningGridMap Map { get; }

    /// <summary>车辆几何与最大曲率约束。</summary>
    public VehicleParameters Vehicle { get; }

    /// <summary>本次平滑的配置。</summary>
    public PathSmoothingConfiguration Configuration { get; }

    private static IReadOnlyList<T> CopyReadOnly<T>(IReadOnlyList<T> source)
    {
        var copy = new List<T>(source == null ? 0 : source.Count);
        if (source != null)
        {
            for (int index = 0; index < source.Count; index++)
                copy.Add(source[index]);
        }
        return new ReadOnlyCollection<T>(copy);
    }
}