#include "DetectionOutputConverter.h"
#include "IYJiuruiWorkpiecePoseStatus.h"
#include <cmath>
#include <QJsonArray>
#include <QJsonObject>

ProtocolDetectionOutput DetectionOutputConverter::ConvertWorkpieceResult(
    const std::vector<JiuruiWorkpieceInfo>& workpieceInfoList,
    bool success,
    int errorCode,
    const QString& message,
    int cameraIndex)
{
    ProtocolDetectionOutput output;
    output.success = success;
    output.errorCode = errorCode;
    output.message = message;
    output.cameraIndex = cameraIndex;

    for (const auto& info : workpieceInfoList) {
        JiuruiWorkpieceDetectOutput wpOutput;
        wpOutput.x = info.centerX;
        wpOutput.y = info.centerY;
        wpOutput.z = info.centerZ;
        // roll/pitch/yaw 由 PoseAxesBuilder 在 DetectPresenter 中计算填充
        output.workpieceOutputs.push_back(wpOutput);
    }

    return output;
}

QJsonObject DetectionOutputConverter::WorkpieceOutputToJson(const JiuruiWorkpieceDetectOutput& output)
{
    QJsonObject obj;
    obj["X"] = output.x;
    obj["Y"] = output.y;
    obj["Z"] = output.z;
    obj["Roll"] = output.roll;
    obj["Pitch"] = output.pitch;
    obj["Yaw"] = output.yaw;
    return obj;
}

QJsonObject DetectionOutputConverter::ToJson(const ProtocolDetectionOutput& output)
{
    QJsonObject response;
    response["MessageType"] = "WorkpieceResult";

    QJsonObject data;
    data["Success"] = output.success;
    data["ErrorCode"] = output.errorCode;
    data["Message"] = output.message;
    data["CameraIndex"] = output.cameraIndex;

    QJsonArray arr;
    for (const auto& wp : output.workpieceOutputs) {
        arr.append(WorkpieceOutputToJson(wp));
    }
    data["Count"] = static_cast<int>(output.workpieceOutputs.size());
    data["Workpieces"] = arr;
    response["Data"] = data;
    response["Timestamp"] = output.timestamp;
    return response;
}