#pragma once
#include <iostream>
#include <vector>
#include <memory>
#include <QString>
#include "hybridPosePositioning_Export.h"
#include "VZNL_Types.h"
#include "VrTimeUtils.h"
#include "VrError.h"
#include "VrLog.h"
#include "IVrConfig.h"
#include "LaserDataLoader.h"
#include "IYStatorWorkpiecePositionStatus.h"
#include "WorkpiecePositionModelAdapter.h"

class DetectPresenter
{
private:
    WorkpiecePositionModelAdapter m_workpieceModel;
public:
    DetectPresenter(/* args */);
    ~DetectPresenter();

    static QString GetAlgoVersion();

    /// 同步执行左目二维定位；返回后 detections 完全由应用持有。
    int LocateWorkpiece2D(const SVzNLImageData& leftImage,
                    const VrWorkpieceModelParam& modelParam,
                    const VrDebugParam& debugParam,
                    std::vector<WorkpiecePositionModelAdapter::Detection>& detections);

    /// 使用已经深拷贝的二维定位结果执行定子工件三维定位。
    int DetectStatorWorkpiecePosition(int cameraIndex,
                    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
                    const std::vector<WorkpiecePositionModelAdapter::Detection>& detections,
                    const VrAlgorithmParams& algorithmParams,
                    const VrDebugParam& debugParam,
                    LaserDataLoader& dataLoader,
                    const double clibMatrix[16],
                    int eulerOrder,
                    int dirVectorInvert,
                    const WD_HRM_BinInfo* binInfo,
                    StatorWorkpiecePositionDetectionResult& detectionResult);

    int DetectBin(int cameraIndex,
                    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
                    const VrAlgorithmParams& algorithmParams,
                    const VrDebugParam& debugParam,
                    LaserDataLoader& dataLoader,
                    WD_HRM_BinInfo& binInfo);

};