#pragma once
#include <iostream>
#include <vector>
#include <memory>
#include <QString>
#include "rodAndBarDetection_Export.h"
#include "VZNL_Types.h"
#include "VrTimeUtils.h"
#include "VrError.h"
#include "VrLog.h"
#include "IVrConfig.h"
#include "LaserDataLoader.h"
#include "IYScrewPositionStatus.h"
#include "PointCloudImageUtils.h"
#include "VrConvert.h"
#include "VrDateUtils.h"

struct RobotPose6D;

class DetectPresenter
{
private:
    /* data */
public:
    DetectPresenter(/* args */);
    ~DetectPresenter();
    static QString GetAlgoVersion();

    /// 螺杆检测接口
    int DetectScrew(  int cameraIndex,
                    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
                    const VrAlgorithmParams& algorithmParams,
                    const VrDebugParam& debugParam,
                    LaserDataLoader& dataLoader,
                    const double clibMatrix[16],
                    const RobotPose6D& robotPose,
                    int eulerOrder,
                    int poseOutputOrder,
                    int dirVectorInvert,
                    int longAxisDir,
                    DetectionResult& detectionResult);

    /// 工具盘检测接口
    int DetectToolDisk(int cameraIndex,
                    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
                    const VrAlgorithmParams& algorithmParams,
                    const VrDebugParam& debugParam,
                    LaserDataLoader& dataLoader,
                    const double clibMatrix[16],
                    const RobotPose6D& robotPose,
                    int eulerOrder,
                    int poseOutputOrder,
                    int dirVectorInvert,
                    int longAxisDir,
                    DetectionResult& detectionResult);

};