#ifndef IYHOLEPITPOSITIONSTATUS_H
#define IYHOLEPITPOSITIONSTATUS_H

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

#include "IVisionApplicationStatus.h"

/**
 * @brief 凹坑孔定位详细结果数据
 */
struct HoleResultData {
    float centerX = 0.0f, centerY = 0.0f, centerZ = 0.0f;       // 孔洞中心
    float normalX = 0.0f, normalY = 0.0f, normalZ = 0.0f;       // 法向量
    float radius = 0.0f;                                          // 半径 (mm)
    float depth = 0.0f;                                           // 深度 (mm)
    float eccentricity = 0.0f;                                    // 离心率
    float radiusVariance = 0.0f;                                  // 半径方差
    float angularSpan = 0.0f;                                     // 角度跨度
    float qualityScore = 0.0f;                                    // 质量分数 (0-1)

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

// 孔位置结构体（机器人坐标系下的6DOF位姿）
struct HolePosition : public PositionData<double> {
    HolePosition() : PositionData<double>() {}

    HolePosition(double _x, double _y, double _z, double _roll, double _pitch, double _yaw)
        : PositionData<double>(_x, _y, _z, _roll, _pitch, _yaw) {}

    HolePosition(const HolePosition&) = default;
    HolePosition& operator=(const HolePosition&) = default;

    HolePosition(const PositionData<double>& pos)
        : PositionData<double>(pos) {}
};

// 凹坑孔定位检测结果结构体
struct HoleDetectionResult : public DetectionResultData<HolePosition> {
    std::vector<HoleResultData> holeDetails;
    int totalCandidates = 0;
    int filteredCount = 0;

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

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

// 类型别名，供外部使用统一命名
using HolePitPositionResult = HoleDetectionResult;
using HolePitPosition = HolePosition;
using HolePitResultData = HoleResultData;

Q_DECLARE_METATYPE(HoleDetectionResult)
Q_DECLARE_METATYPE(HolePosition)
Q_DECLARE_METATYPE(HoleResultData)

#endif // IYHOLEPITPOSITIONSTATUS_H