#ifndef PROTOCOLCOMMON_H
#define PROTOCOLCOMMON_H

#include <string>
#include <vector>
#include <functional>

// 机械臂坐标结构体
struct RobotCoordinate
{
    double x = 0.0;
    double y = 0.0;
    double z = 0.0;
    double roll = 0.0;
    double pitch = 0.0;
    double yaw = 0.0;
};

// 目标位置结构体
struct TargetPosition
{
    RobotCoordinate coordinate;  // 目标坐标
    int cameraId = 0;           // 对应的相机ID
};

// 多目标数据
struct MultiTargetData
{
    std::vector<TargetPosition> targets;  // 目标位置列表
    int totalTargets = 0;                  // 总目标数
};

// 机器人法兰位姿结构体（触发信号中携带的位姿）
struct RobotFlangePose
{
    double x = 0.0;
    double y = 0.0;
    double z = 0.0;
    double roll = 0.0;
    double pitch = 0.0;
    double yaw = 0.0;
};

// 连接状态枚举
enum ConnectionStatus
{
    CONNECTION_DISCONNECTED = 0,
    CONNECTION_CONNECTED = 1,
    CONNECTION_CONNECTING = 2,
    CONNECTION_ERROR = 3
};

// 回调函数类型
using ConnectionCallback = std::function<void(bool connected)>;
using WorkSignalCallback = std::function<void(int cameraIndex)>;

#endif // PROTOCOLCOMMON_H