#ifndef SEGMENT_GENERATOR_HPP
#define SEGMENT_GENERATOR_HPP

#include "busbar_segment.hpp"
#include "busbar_config.hpp"
#include "space_analyzer.hpp"
#include <memory>

// 段候选
struct SegmentCandidate {
    SegmentEndState end_state;
    std::shared_ptr<BusbarSegment> segment;
    float cost;

    SegmentCandidate(const SegmentEndState& end,
        std::shared_ptr<BusbarSegment> seg,
        float c)
        : end_state(end), segment(seg), cost(c) {}
};

// 段生成器
class SegmentGenerator {
private:
    const BusbarConfig& config_;
    const SpaceAnalyzer& analyzer_;

    

    // 生成各类段
    std::vector<SegmentCandidate> generateStraightCandidates(
        const SegmentEndState& current) const;

    std::vector<SegmentCandidate> generateFlatBendCandidates(
        const SegmentEndState& current) const;

    std::vector<SegmentCandidate> generateVerticalBendCandidates(
        const SegmentEndState& current) const;

    std::vector<SegmentCandidate> generateTwistCandidates(
        const SegmentEndState& current) const;

    

public:
    // 检查段是否有效（无碰撞）
    bool isSegmentValid(const BusbarSegment& segment) const;

    SegmentGenerator(const BusbarConfig& config,
        const SpaceAnalyzer& analyzer)
        : config_(config), analyzer_(analyzer) {}

    // 主接口：生成所有可行的后继段
    std::vector<SegmentCandidate> generateSuccessors(
        const SegmentEndState& current) const;
};

#endif