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// 公共类型定义：各模块共享的数据结构
# ifndef COMMON_H
# define COMMON_H
# include <string>
# include <vector>
# include <cstdint>
// 原始扫描点（保留角度/距离，
struct ScanPoint
{
double x_mm ; // 笛卡尔 X (mm)
double y_mm ; // 笛卡尔 Y (mm, 雷达朝-Y方向, 0°指向-Y)
double angle_deg ; // 原始角度(度)
uint16_t distance ; // 原始距离(unit=2mm)
double z_val ; // Z轴: 距离(mm)或时间(ms)
} ;
// 计数用点（ ， ）
struct CountPoint
{
double x_mm ;
double y_mm ;
double z_val ;
} ;
// 计数参数（
struct CountParams
{
double l = 0.0 ; // 行(长) mm
double w = 0.0 ; // 宽 mm
double h = 0.0 ; // 层高 mm
int maxPerLayer = 0 ; // 每层最大个数
std : : string task_id ;
} ;
// 一次检测的结果（供 TCP 返回）
struct DetectResult
{
double start_fill_pct = - 1.0 ; // 起点截面白色占比(%)
double end_fill_pct = - 1.0 ; // 终点截面白色占比(%)
double start_y_max = 0.0 ; // 起点截面Y最大值(mm)
double start_y_med = 0.0 ; // 起点截面Y中位数(mm)
double end_y_max = 0.0 ; // 终点截面Y最大值(mm)
double end_y_med = 0.0 ; // 终点截面Y中位数(mm)
bool valid = false ; // 是否有有效结果
} ;
# endif // COMMON_H