#ifndef IYJIURUIWORKPIECEPOSESTATUS_H
#define IYJIURUIWORKPIECEPOSESTATUS_H

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

#include "IVisionApplicationStatus.h"

// WorkStatus, WorkStatusToString 已在 IVisionApplicationStatus.h 中定义

// 工件信息结构体（来自 Jiurui_getWorkpiecePose 返回的 SSG_pointPose）
struct JiuruiWorkpieceInfo {
    // 工件中心点（Eye坐标系）
    double centerX = 0.0;
    double centerY = 0.0;
    double centerZ = 0.0;

    // 工件姿态 X 轴方向向量
    double poseXx = 0.0;
    double poseXy = 0.0;
    double poseXz = 0.0;

    // 工件姿态 Y 轴方向向量
    double poseYx = 0.0;
    double poseYy = 0.0;
    double poseYz = 0.0;

    // 工件姿态 Z 轴方向向量（法向）
    double poseZx = 0.0;
    double poseZy = 0.0;
    double poseZz = 0.0;

    JiuruiWorkpieceInfo() = default;

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

// 位置结构体（继承自 PositionData 模板）
struct JiuruiWorkpiecePosition : public PositionData<double> {

    JiuruiWorkpiecePosition() : PositionData<double>() {}

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

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

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

// 检测结果结构体
struct DetectionResult : public DetectionResultData<JiuruiWorkpiecePosition> {
    // 工件信息列表
    std::vector<JiuruiWorkpieceInfo> workpieceInfoList;

    bool success = true;
    QString message = "检测成功";

    DetectionResult() = default;

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

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

Q_DECLARE_METATYPE(JiuruiWorkpieceInfo)
Q_DECLARE_METATYPE(JiuruiWorkpiecePosition)
Q_DECLARE_METATYPE(DetectionResult)

#endif // IYJIURUIWORKPIECEPOSESTATUS_H