#pragma once
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#include "GreedyTSP.h"
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#include "PathSchedulerData.h"
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#include "PathSchedulerResult.h"
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enum PathSchedulerType { SchedulerType_Default=0,
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SchedulerType_TSP,
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SchedulerType_Dual,
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SchedulerType_Dual_TSP,
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SchedulerType_Dual_Active,
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SchedulerType_Dual_Active_TSP,
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SchedulerType_Flying,
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SchedulerType_Dual_Flying,
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SchedulerType_Dual_Flying_Random,
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SchedulerType_Sorting,
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SchedulerType_Dual_Sorting,
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SchedulerType_Dual_Active_Sorting,
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SchedulerType_Quad_Sorting,
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SchedulerType_Qual_Active_Sorting,
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SchedulerType_Qual_Active_TSP,
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SchedulerType_Count };
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class AFX_EXT_CLASS CPathScheduler
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{
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public:
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CPathScheduler(void);
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virtual ~CPathScheduler(void);
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void Reset();
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public:
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// virtual func
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virtual int GetSchedulerType() const { return SchedulerType_Default; }
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virtual int PathScheduling(const VectorPathData& vecPathData, const VectorPathData& vecStartPath);
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virtual int PathScheduling(const VectorPathData& vecPathData, const SPathData& startPath);
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virtual int PathScheduling(const SPathData* pPathData, int nPathDataCount, const SPathData* pStartPath, int nStartPathCount);
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virtual int PathScheduling(const SPathData* pPathData, int nPathDataCount, const SPathData& startPath);
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public:
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int PathScheduling(const VectorPathData& vecPathData, const VectorPathData& vecStackPathData, const VectorPathData& vecStartPath);
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protected:
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virtual int CalculatePath(const SPathData& startPath, const VectorPathData& vecTotalPathData, CPathSchedulerResult& scheduleResult);
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virtual int CalculatePath(const SPathData& startPath, const VectorPathData& vecTotalPathData, const CRect& rtRange, CPathSchedulerResult& scheduleResult);
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virtual int CalculatePath(const SPathData& startPath, const VectorPathData& vecFirstPathData, const VectorPathData& vecSecondPathData, CPathSchedulerResult& scheduleResult);
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public:
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// getter
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int GetPathSchedulerResultCount() const;
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double GetTotalSchedulerTime(int nIndex=0) const;
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double GetTotalSchedulerDistance(int nIndex=0) const;
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CPathSchedulerParm* GetPathSchedulerParam();
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CPathSchedulerResult* GetPathSchedulerResult(int nIndex=0);
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int GetRangeRectCount() const;
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CRect* GetRangeRect(int nIndex);
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const CRect* GetRangeRect(int nIndex) const;
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// setter
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void SetPointInfo(int nMin, int nMax);
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void SetPathSchedulerParam(const CPathSchedulerParm& scheduleParam);
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// load/save
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BOOL LoadPathSchedulerParam(const CString& strFilename);
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BOOL SavePathSchedulerParam(const CString& strFilename);
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protected:
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BOOL CalculateDistanceSpeedTime(SSchedulerResult& pt1, const SSchedulerResult &pt2);
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BOOL CalculateDistanceSpeedTime(SSchedulerResult& pt1, double dPosX, double dPosY);
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protected:
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int m_nPointMin;
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int m_nPointMax;
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CPathSchedulerParm m_PathSchedulerParam;
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VectorPathSchedulerResult m_vecPathSchedulerResult;
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VectorRect m_vecRangeRect;
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};
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