#ifndef IYSTATORWORKPIECEPOSITIONSTATUS_H
#define IYSTATORWORKPIECEPOSITIONSTATUS_H

#include <string>
#include <functional>
#include <vector>
#include <QImage>
#include <QMetaType>

// 使用 AppCommon 提供的通用接口和类型
#include "IVisionApplicationStatus.h"

struct WorkpiecePoint3D {
    double x = 0.0;
    double y = 0.0;
    double z = 0.0;

    WorkpiecePoint3D() = default;
    WorkpiecePoint3D(double xValue, double yValue, double zValue)
        : x(xValue), y(yValue), z(zValue) {}
};

// 机械臂六轴位姿和算法原始工件数据同时保留，供 UI 与协议层使用。
struct WorkpiecePosition : public PositionData<double> {
    int workpieceType = 0;
    int sourceDetectionIndex = -1;
    double value = 0.0;
    // 原始算法中心经手眼矩阵变换后的机器人坐标，不包含工具 offset；
    // PositionData::x/y/z 才是加入工具 offset 后的最终目标点。
    WorkpiecePoint3D center;
    WorkpiecePoint3D xDir;
    WorkpiecePoint3D yDir;
    WorkpiecePoint3D zDir;

    WorkpiecePosition() = default;
    WorkpiecePosition(const WorkpiecePosition&) = default;
    WorkpiecePosition& operator=(const WorkpiecePosition&) = default;
};

struct StatorWorkpiecePositionDetectionResult : public DetectionResultData<WorkpiecePosition> {
    StatorWorkpiecePositionDetectionResult() = default;
    StatorWorkpiecePositionDetectionResult(const StatorWorkpiecePositionDetectionResult&) = default;
    StatorWorkpiecePositionDetectionResult& operator=(const StatorWorkpiecePositionDetectionResult&) = default;
};

// 状态回调接口
class IYStatorWorkpiecePositionStatus : public IVisionApplicationStatus<StatorWorkpiecePositionDetectionResult>
{
public:
    virtual ~IYStatorWorkpiecePositionStatus() = default;
};

Q_DECLARE_METATYPE(WorkpiecePoint3D)
Q_DECLARE_METATYPE(WorkpiecePosition)
Q_DECLARE_METATYPE(StatorWorkpiecePositionDetectionResult)

#endif // IYSTATORWORKPIECEPOSITIONSTATUS_H