#include "StdAfx.h"
#include "PathScheduler_Dual_Active.h"
#include <algorithm>


CPathScheduler_Dual_Active::CPathScheduler_Dual_Active(void)
{
}


CPathScheduler_Dual_Active::~CPathScheduler_Dual_Active(void)
{
}

inline bool ComparePosX(SPathData& a, SPathData& b)
{
	return (a.nPosX < b.nPosX);
}
inline bool ComparePosDescend(SPathData& a, SPathData& b)
{
	return (a.nPosX > b.nPosX);
}

int GetDiffCount(const VectorPathData& vecPathData, int nCenterPos)
{
	int nLeft = 0;
	int nRight = 0;
	for (constVectorPathDataIt it=vecPathData.begin(); it!=vecPathData.end(); it++)
	{
		if (it->nPosX < nCenterPos)
		{
			nLeft++;
		}
		else
		{
			nRight++;
		}
	}

	return abs(nLeft-nRight);
}

int CPathScheduler_Dual_Active::PathScheduling(const VectorPathData& vecPathData, const VectorPathData& vecStartPath )
{
	if (m_PathSchedulerParam.GetSelectModuleType() > 0)
	{

		if (m_PathSchedulerParam.GetUseShortPath() == FALSE)
		{
			if (vecStartPath.size() < 1) return 0;

			m_vecPathSchedulerResult.clear();
			m_vecRangeRect.clear();

			VectorPathData vecSortData = vecPathData;

			int nCenterPosX = 0;//= vecSortData[nSize / 2].nPosX;
			if (m_PathSchedulerParam.GetSelectModuleType() == 1)//left
			{
				// sort
				std::sort(vecSortData.begin(), vecSortData.end(), ComparePosX);
				nCenterPosX = m_PathSchedulerParam.GetGlassSizeX() - m_PathSchedulerParam.GetCollisionDistX();
			}
			else if (m_PathSchedulerParam.GetSelectModuleType() == 2) //Right
			{
				// sort
				std::sort(vecSortData.begin(), vecSortData.end(), ComparePosDescend);
				nCenterPosX = m_PathSchedulerParam.GetCollisionDistX();
			}
			else
			{
				return 0;
			}


			int nSize = (int)vecSortData.size();
			int nCollisionDistX = m_PathSchedulerParam.GetCollisionDistX();


			// init
			CRect rtLeftRange1(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());
			CRect rtLeftRange2(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());
			CRect rtRightRange1(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());
			CRect rtRightRange2(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());

			int nLeftCollisionPosX = -1;
			int nRightCollisionPosX = -1;

			// set range
			switch (m_PathSchedulerParam.GetOriginDir())
			{
			case SchedulerDir_LeftTop:		// left top
				nLeftCollisionPosX = nCenterPosX;
				nRightCollisionPosX = nCenterPosX;

				//±×³É Range1 ¿¡¼­ ´Ù ÇÒ°Å´Ï ´Ù¹ÚÀÚ 

				rtLeftRange1.left = 0;
				rtLeftRange1.right = nCenterPosX;

				rtLeftRange2.left = nLeftCollisionPosX;
				rtLeftRange2.right = nCenterPosX;


				rtRightRange1.left = nCenterPosX;
				rtRightRange1.right = m_PathSchedulerParam.GetGlassSizeX();

				rtRightRange2.left = nRightCollisionPosX;
				rtRightRange2.right = m_PathSchedulerParam.GetGlassSizeX();
				/*
				nLeftCollisionPosX = nCenterPosX - nCollisionDistX;
				nRightCollisionPosX = nCenterPosX + nCollisionDistX;

				rtLeftRange1.left = 0;
				rtLeftRange1.right = nLeftCollisionPosX;

				rtLeftRange2.left = nLeftCollisionPosX;
				rtLeftRange2.right = nCenterPosX;

				rtRightRange1.left = nCenterPosX;
				rtRightRange1.right = nRightCollisionPosX;

				rtRightRange2.left = nRightCollisionPosX;
				rtRightRange2.right = m_PathSchedulerParam.GetGlassSizeX();*/
				break;

			case SchedulerDir_LeftBottom:	// left bottom
				nLeftCollisionPosX = nCenterPosX;
				nRightCollisionPosX = nCenterPosX;

				//±×³É Range1 ¿¡¼­ ´Ù ÇÒ°Å´Ï ´Ù¹ÚÀÚ 

				rtLeftRange1.left = 0;
				rtLeftRange1.right = nCenterPosX;

				rtLeftRange2.left = nLeftCollisionPosX;
				rtLeftRange2.right = nCenterPosX;


				rtRightRange1.left = nCenterPosX;
				rtRightRange1.right = m_PathSchedulerParam.GetGlassSizeX();

				rtRightRange2.left = nRightCollisionPosX;
				rtRightRange2.right = m_PathSchedulerParam.GetGlassSizeX();
				/*
				nLeftCollisionPosX = nCenterPosX - nCollisionDistX;
				nRightCollisionPosX = nCenterPosX + nCollisionDistX;

				rtLeftRange1.left = 0;
				rtLeftRange1.right = nLeftCollisionPosX;

				rtLeftRange2.left = nLeftCollisionPosX;
				rtLeftRange2.right = nCenterPosX;

				rtRightRange1.left = nCenterPosX;
				rtRightRange1.right = nRightCollisionPosX;

				rtRightRange2.left = nRightCollisionPosX;
				rtRightRange2.right = m_PathSchedulerParam.GetGlassSizeX();*/
				break;

			case SchedulerDir_RightTop:		// right top
				nLeftCollisionPosX = nCenterPosX;
				nRightCollisionPosX = nCenterPosX;

				rtLeftRange1.left = m_PathSchedulerParam.GetGlassSizeX();
				rtLeftRange1.right = nLeftCollisionPosX;

				rtLeftRange2.left = nLeftCollisionPosX;
				rtLeftRange2.right = nCenterPosX;


				//±×³É Range1 ¿¡¼­ ´Ù ÇÒ°Å´Ï ´Ù¹ÚÀÚ 
				rtRightRange1.left = nCenterPosX;
				rtRightRange1.right = 0;

				rtRightRange2.left = nRightCollisionPosX;
				rtRightRange2.right = 0;


				/*
				nLeftCollisionPosX = nCenterPosX + nCollisionDistX;
				nRightCollisionPosX = nCenterPosX - nCollisionDistX;

				rtLeftRange1.left = m_PathSchedulerParam.GetGlassSizeX();
				rtLeftRange1.right = nLeftCollisionPosX;

				rtLeftRange2.left = nLeftCollisionPosX;
				rtLeftRange2.right = nCenterPosX;

				rtRightRange1.left = nCenterPosX;
				rtRightRange1.right = nRightCollisionPosX;

				rtRightRange2.left = nRightCollisionPosX;
				rtRightRange2.right = 0;*/
				break;
			case SchedulerDir_RightBottom:	// right bottom
				nLeftCollisionPosX = nCenterPosX;
				nRightCollisionPosX = nCenterPosX;

				rtLeftRange1.left = m_PathSchedulerParam.GetGlassSizeX();
				rtLeftRange1.right = nLeftCollisionPosX;

				rtLeftRange2.left = nLeftCollisionPosX;
				rtLeftRange2.right = nCenterPosX;


				//±×³É Range1 ¿¡¼­ ´Ù ÇÒ°Å´Ï ´Ù¹ÚÀÚ 
				rtRightRange1.left = nCenterPosX;
				rtRightRange1.right = 0;

				rtRightRange2.left = nRightCollisionPosX;
				rtRightRange2.right = 0;


				/*
				nLeftCollisionPosX = nCenterPosX + nCollisionDistX;
				nRightCollisionPosX = nCenterPosX - nCollisionDistX;

				rtLeftRange1.left = m_PathSchedulerParam.GetGlassSizeX();
				rtLeftRange1.right = nLeftCollisionPosX;

				rtLeftRange2.left = nLeftCollisionPosX;
				rtLeftRange2.right = nCenterPosX;

				rtRightRange1.left = nCenterPosX;
				rtRightRange1.right = nRightCollisionPosX;

				rtRightRange2.left = nRightCollisionPosX;
				rtRightRange2.right = 0;*/
				break;
			}

			// normalize
			rtLeftRange1.NormalizeRect();
			rtLeftRange2.NormalizeRect();
			rtRightRange1.NormalizeRect();
			rtRightRange2.NormalizeRect();

			// center
			if (m_PathSchedulerParam.GetCenterCoord())
			{
				rtLeftRange1.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX() / 2, -m_PathSchedulerParam.GetGlassSizeY() / 2);
				rtLeftRange2.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX() / 2, -m_PathSchedulerParam.GetGlassSizeY() / 2);
				rtRightRange1.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX() / 2, -m_PathSchedulerParam.GetGlassSizeY() / 2);
				rtRightRange2.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX() / 2, -m_PathSchedulerParam.GetGlassSizeY() / 2);
			}

			// add range rect
			m_vecRangeRect.push_back(rtLeftRange1);
			m_vecRangeRect.push_back(rtLeftRange2);
			m_vecRangeRect.push_back(rtRightRange1);
			m_vecRangeRect.push_back(rtRightRange2);

			int nCollisionResultIdx = -1;
			double dCollisionResultTime = 0;

			CPathSchedulerResult scheduleResultLeft1(vecStartPath[0].nIndex);
			CPathSchedulerResult scheduleResultLeft2(vecStartPath[0].nIndex);
			CPathSchedulerResult scheduleResultRight1(vecStartPath[1].nIndex);
			CPathSchedulerResult scheduleResultRight2(vecStartPath[1].nIndex);


			// 1-1. right gantry result
			SPathData ptRightStartPath = vecStartPath[1];
			CalculatePath(ptRightStartPath, vecPathData, rtRightRange1, scheduleResultRight1);

			// 1-2. get right result
			nCollisionResultIdx = scheduleResultRight1.GetPathSchedulerResultCount() - 1;
			dCollisionResultTime = scheduleResultRight1.GetTotalSchedulerTime();
			scheduleResultRight1.SetCollisionResultIndex(nCollisionResultIdx);
			scheduleResultRight1.SetCollisionResultTime(dCollisionResultTime);

			const SSchedulerResult* pLastPoint = scheduleResultRight1.GetPathSchedulerResult(nCollisionResultIdx);
			if (pLastPoint)
			{
				ptRightStartPath.nPosX = (int)(pLastPoint->dPositionX*1000.0);
				ptRightStartPath.nPosY = (int)(pLastPoint->dPositionY*1000.0);
			}

			// 1-3. right gantry result2
			//CalculatePath(ptRightStartPath, vecSortData, rtRightRange2, scheduleResultRight2);

			// 1-4. merge right1 and right2
			//scheduleResultRight1.AddTailScheduleResult(scheduleResultRight2);

			// 2-1.left gantry result1
			SPathData ptLeftStartPath = vecStartPath[0];
			CalculatePath(ptLeftStartPath, vecPathData, rtLeftRange1, scheduleResultLeft1);

			// 2-2. get left result1
			nCollisionResultIdx = scheduleResultLeft1.GetPathSchedulerResultCount() - 1;
			dCollisionResultTime = scheduleResultLeft1.GetTotalSchedulerTime();
			scheduleResultLeft1.SetCollisionResultIndex(nCollisionResultIdx);
			scheduleResultLeft1.SetCollisionResultTime(dCollisionResultTime);
			pLastPoint = scheduleResultLeft1.GetPathSchedulerResult(nCollisionResultIdx);
			if (pLastPoint)
			{
				ptLeftStartPath.nPosX = (int)(pLastPoint->dPositionX*1000.0);
				ptLeftStartPath.nPosY = (int)(pLastPoint->dPositionY*1000.0);
			}

			// 2-3. left gantry result2
			//CalculatePath(ptLeftStartPath, vecSortData, rtLeftRange2, scheduleResultLeft2);

			// 2-4. merge left1 and left2
		//	scheduleResultLeft1.AddTailScheduleResult(scheduleResultLeft2);

			// set Collision Position
			scheduleResultLeft1.SetCollisionPositionX(nLeftCollisionPosX);
			scheduleResultRight1.SetCollisionPositionX(nRightCollisionPosX);

			if (m_PathSchedulerParam.GetSelectModuleType() == 1)
			{
				// add schedule result
				m_vecPathSchedulerResult.push_back(scheduleResultLeft1);
			}
			else
			{


				m_vecPathSchedulerResult.push_back(scheduleResultRight1);

			}

			return (int)m_vecPathSchedulerResult.size();
		}
		else
		{
		if (vecStartPath.size() < 1) return 0;

		m_vecPathSchedulerResult.clear();
		m_vecRangeRect.clear();

		VectorPathData vecSortData = vecPathData;

		int nCenterPosX = 0;//= vecSortData[nSize / 2].nPosX;
		if (m_PathSchedulerParam.GetSelectModuleType() == 1)//left
		{
			// sort
			std::sort(vecSortData.begin(), vecSortData.end(), ComparePosX);
			nCenterPosX = m_PathSchedulerParam.GetGlassSizeX() - m_PathSchedulerParam.GetCollisionDistX();
		}
		else if (m_PathSchedulerParam.GetSelectModuleType() == 2) //Right
		{
			// sort
			std::sort(vecSortData.begin(), vecSortData.end(), ComparePosDescend);
			nCenterPosX = m_PathSchedulerParam.GetCollisionDistX();
		}
		else
		{
			return 0;
		}


		int nSize = (int)vecSortData.size();
		int nCollisionDistX = m_PathSchedulerParam.GetCollisionDistX();


		// init
		CRect rtLeftRange1(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());
		CRect rtLeftRange2(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());
		CRect rtRightRange1(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());
		CRect rtRightRange2(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());

		int nLeftCollisionPosX = -1;
		int nRightCollisionPosX = -1;

		// set range
		switch (m_PathSchedulerParam.GetOriginDir())
		{
		case SchedulerDir_LeftTop:		// left top
			nLeftCollisionPosX = nCenterPosX;
			nRightCollisionPosX = nCenterPosX;

			//±×³É Range1 ¿¡¼­ ´Ù ÇÒ°Å´Ï ´Ù¹ÚÀÚ 

			rtLeftRange1.left = 0;
			rtLeftRange1.right = nCenterPosX;

			rtLeftRange2.left = nLeftCollisionPosX;
			rtLeftRange2.right = nCenterPosX;


			rtRightRange1.left = nCenterPosX;
			rtRightRange1.right = m_PathSchedulerParam.GetGlassSizeX();

			rtRightRange2.left = nRightCollisionPosX;
			rtRightRange2.right = m_PathSchedulerParam.GetGlassSizeX();
			/*
			nLeftCollisionPosX = nCenterPosX - nCollisionDistX;
			nRightCollisionPosX = nCenterPosX + nCollisionDistX;

			rtLeftRange1.left = 0;
			rtLeftRange1.right = nLeftCollisionPosX;

			rtLeftRange2.left = nLeftCollisionPosX;
			rtLeftRange2.right = nCenterPosX;

			rtRightRange1.left = nCenterPosX;
			rtRightRange1.right = nRightCollisionPosX;

			rtRightRange2.left = nRightCollisionPosX;
			rtRightRange2.right = m_PathSchedulerParam.GetGlassSizeX();*/
			break;

		case SchedulerDir_LeftBottom:	// left bottom
			nLeftCollisionPosX = nCenterPosX;
			nRightCollisionPosX = nCenterPosX;

			//±×³É Range1 ¿¡¼­ ´Ù ÇÒ°Å´Ï ´Ù¹ÚÀÚ 

			rtLeftRange1.left = 0;
			rtLeftRange1.right = nCenterPosX;

			rtLeftRange2.left = nLeftCollisionPosX;
			rtLeftRange2.right = nCenterPosX;


			rtRightRange1.left = nCenterPosX;
			rtRightRange1.right = m_PathSchedulerParam.GetGlassSizeX();

			rtRightRange2.left = nRightCollisionPosX;
			rtRightRange2.right = m_PathSchedulerParam.GetGlassSizeX();
			/*
			nLeftCollisionPosX = nCenterPosX - nCollisionDistX;
			nRightCollisionPosX = nCenterPosX + nCollisionDistX;

			rtLeftRange1.left = 0;
			rtLeftRange1.right = nLeftCollisionPosX;

			rtLeftRange2.left = nLeftCollisionPosX;
			rtLeftRange2.right = nCenterPosX;

			rtRightRange1.left = nCenterPosX;
			rtRightRange1.right = nRightCollisionPosX;

			rtRightRange2.left = nRightCollisionPosX;
			rtRightRange2.right = m_PathSchedulerParam.GetGlassSizeX();*/
			break;

		case SchedulerDir_RightTop:		// right top
			nLeftCollisionPosX = nCenterPosX;
			nRightCollisionPosX = nCenterPosX;

			rtLeftRange1.left = m_PathSchedulerParam.GetGlassSizeX();
			rtLeftRange1.right = nLeftCollisionPosX;

			rtLeftRange2.left = nLeftCollisionPosX;
			rtLeftRange2.right = nCenterPosX;


			//±×³É Range1 ¿¡¼­ ´Ù ÇÒ°Å´Ï ´Ù¹ÚÀÚ 
			rtRightRange1.left = nCenterPosX;
			rtRightRange1.right = 0;

			rtRightRange2.left = nRightCollisionPosX;
			rtRightRange2.right = 0;


			/*
			nLeftCollisionPosX = nCenterPosX + nCollisionDistX;
			nRightCollisionPosX = nCenterPosX - nCollisionDistX;

			rtLeftRange1.left = m_PathSchedulerParam.GetGlassSizeX();
			rtLeftRange1.right = nLeftCollisionPosX;

			rtLeftRange2.left = nLeftCollisionPosX;
			rtLeftRange2.right = nCenterPosX;

			rtRightRange1.left = nCenterPosX;
			rtRightRange1.right = nRightCollisionPosX;

			rtRightRange2.left = nRightCollisionPosX;
			rtRightRange2.right = 0;*/
			break;
		case SchedulerDir_RightBottom:	// right bottom
			nLeftCollisionPosX = nCenterPosX;
			nRightCollisionPosX = nCenterPosX;

			rtLeftRange1.left = m_PathSchedulerParam.GetGlassSizeX();
			rtLeftRange1.right = nLeftCollisionPosX;

			rtLeftRange2.left = nLeftCollisionPosX;
			rtLeftRange2.right = nCenterPosX;


			//±×³É Range1 ¿¡¼­ ´Ù ÇÒ°Å´Ï ´Ù¹ÚÀÚ 
			rtRightRange1.left = nCenterPosX;
			rtRightRange1.right = 0;

			rtRightRange2.left = nRightCollisionPosX;
			rtRightRange2.right = 0;


			/*
			nLeftCollisionPosX = nCenterPosX + nCollisionDistX;
			nRightCollisionPosX = nCenterPosX - nCollisionDistX;

			rtLeftRange1.left = m_PathSchedulerParam.GetGlassSizeX();
			rtLeftRange1.right = nLeftCollisionPosX;

			rtLeftRange2.left = nLeftCollisionPosX;
			rtLeftRange2.right = nCenterPosX;

			rtRightRange1.left = nCenterPosX;
			rtRightRange1.right = nRightCollisionPosX;

			rtRightRange2.left = nRightCollisionPosX;
			rtRightRange2.right = 0;*/
			break;
		}

		// normalize
		rtLeftRange1.NormalizeRect();
		rtLeftRange2.NormalizeRect();
		rtRightRange1.NormalizeRect();
		rtRightRange2.NormalizeRect();

		// center
		if (m_PathSchedulerParam.GetCenterCoord())
		{
			rtLeftRange1.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX() / 2, -m_PathSchedulerParam.GetGlassSizeY() / 2);
			rtLeftRange2.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX() / 2, -m_PathSchedulerParam.GetGlassSizeY() / 2);
			rtRightRange1.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX() / 2, -m_PathSchedulerParam.GetGlassSizeY() / 2);
			rtRightRange2.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX() / 2, -m_PathSchedulerParam.GetGlassSizeY() / 2);
		}

		// add range rect
		m_vecRangeRect.push_back(rtLeftRange1);
		m_vecRangeRect.push_back(rtLeftRange2);
		m_vecRangeRect.push_back(rtRightRange1);
		m_vecRangeRect.push_back(rtRightRange2);

		int nCollisionResultIdx = -1;
		double dCollisionResultTime = 0;

		CPathSchedulerResult scheduleResultLeft1(vecStartPath[0].nIndex);
		CPathSchedulerResult scheduleResultLeft2(vecStartPath[0].nIndex);
		CPathSchedulerResult scheduleResultRight1(vecStartPath[1].nIndex);
		CPathSchedulerResult scheduleResultRight2(vecStartPath[1].nIndex);


		// 1-1. right gantry result
		SPathData ptRightStartPath = vecStartPath[1];
		CalculatePath(ptRightStartPath, vecSortData, rtRightRange1, scheduleResultRight1);

		// 1-2. get right result
		nCollisionResultIdx = scheduleResultRight1.GetPathSchedulerResultCount() - 1;
		dCollisionResultTime = scheduleResultRight1.GetTotalSchedulerTime();
		scheduleResultRight1.SetCollisionResultIndex(nCollisionResultIdx);
		scheduleResultRight1.SetCollisionResultTime(dCollisionResultTime);

		const SSchedulerResult* pLastPoint = scheduleResultRight1.GetPathSchedulerResult(nCollisionResultIdx);
		if (pLastPoint)
		{
			ptRightStartPath.nPosX = (int)(pLastPoint->dPositionX*1000.0);
			ptRightStartPath.nPosY = (int)(pLastPoint->dPositionY*1000.0);
		}

		// 1-3. right gantry result2
		//CalculatePath(ptRightStartPath, vecSortData, rtRightRange2, scheduleResultRight2);

		// 1-4. merge right1 and right2
		//scheduleResultRight1.AddTailScheduleResult(scheduleResultRight2);

		// 2-1.left gantry result1
		SPathData ptLeftStartPath = vecStartPath[0];
		CalculatePath(ptLeftStartPath, vecSortData, rtLeftRange1, scheduleResultLeft1);

		// 2-2. get left result1
		nCollisionResultIdx = scheduleResultLeft1.GetPathSchedulerResultCount() - 1;
		dCollisionResultTime = scheduleResultLeft1.GetTotalSchedulerTime();
		scheduleResultLeft1.SetCollisionResultIndex(nCollisionResultIdx);
		scheduleResultLeft1.SetCollisionResultTime(dCollisionResultTime);
		pLastPoint = scheduleResultLeft1.GetPathSchedulerResult(nCollisionResultIdx);
		if (pLastPoint)
		{
			ptLeftStartPath.nPosX = (int)(pLastPoint->dPositionX*1000.0);
			ptLeftStartPath.nPosY = (int)(pLastPoint->dPositionY*1000.0);
		}

		// 2-3. left gantry result2
		//CalculatePath(ptLeftStartPath, vecSortData, rtLeftRange2, scheduleResultLeft2);

		// 2-4. merge left1 and left2
	//	scheduleResultLeft1.AddTailScheduleResult(scheduleResultLeft2);

		// set Collision Position
		scheduleResultLeft1.SetCollisionPositionX(nLeftCollisionPosX);
		scheduleResultRight1.SetCollisionPositionX(nRightCollisionPosX);

		if (m_PathSchedulerParam.GetSelectModuleType() == 1)
		{
			// add schedule result
			m_vecPathSchedulerResult.push_back(scheduleResultLeft1);
		}
		else
		{


			m_vecPathSchedulerResult.push_back(scheduleResultRight1);

		}

		return (int)m_vecPathSchedulerResult.size();
 }
	}
	else
	{

	if (vecStartPath.size()<1) return 0;

	m_vecPathSchedulerResult.clear();
	m_vecRangeRect.clear();

	VectorPathData vecSortData = vecPathData;

	// sort
	std::sort(vecSortData.begin(), vecSortData.end(), ComparePosX);
	int nSize = (int)vecSortData.size();
	int nCenterPosX = vecSortData[nSize/2].nPosX;
	int nCollisionDistX = m_PathSchedulerParam.GetCollisionDistX();



	// À§Ä¡°¡ ³Ê¹« À۰ųª Ŭ¶§?
	if ( nCenterPosX<(nCollisionDistX*2) || nCenterPosX>=(m_PathSchedulerParam.GetGlassSizeX()-(nCollisionDistX*2)) ) 
	{
		int nLeftPos = (nCollisionDistX*2);
		int nRightPos = m_PathSchedulerParam.GetGlassSizeX()-(nCollisionDistX*2);

		// Á¿ìÀÇ Å©±â Â÷ÀÌ°¡ ÀÛÀº À§Ä¡·Î ÇÒ´çÇÏÀÚ!
		nCenterPosX =  (GetDiffCount(vecPathData, nLeftPos) < GetDiffCount(vecPathData, nRightPos)) ? nLeftPos: nRightPos;
	}

	// init
	CRect rtLeftRange1(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());
	CRect rtLeftRange2(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());
	CRect rtRightRange1(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());
	CRect rtRightRange2(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());

	int nLeftCollisionPosX = -1;
	int nRightCollisionPosX = -1;

	// set range
	switch(m_PathSchedulerParam.GetOriginDir())
	{
	case SchedulerDir_LeftTop:		// left top
	case SchedulerDir_LeftBottom:	// left bottom
		nLeftCollisionPosX		= nCenterPosX - nCollisionDistX;
		nRightCollisionPosX		= nCenterPosX + nCollisionDistX;
		
		rtLeftRange1.left		= 0;
		rtLeftRange1.right		= nLeftCollisionPosX;

		rtLeftRange2.left		= nLeftCollisionPosX;
		rtLeftRange2.right		= nCenterPosX;

		rtRightRange1.left		= nCenterPosX;
		rtRightRange1.right		= nRightCollisionPosX;

		rtRightRange2.left		= nRightCollisionPosX;
		rtRightRange2.right		= m_PathSchedulerParam.GetGlassSizeX();
		break;

	case SchedulerDir_RightTop:		// right top
	case SchedulerDir_RightBottom:	// right bottom
		nLeftCollisionPosX		= nCenterPosX + nCollisionDistX;
		nRightCollisionPosX		= nCenterPosX - nCollisionDistX;

		rtLeftRange1.left		= m_PathSchedulerParam.GetGlassSizeX();
		rtLeftRange1.right		= nLeftCollisionPosX;

		rtLeftRange2.left		= nLeftCollisionPosX;
		rtLeftRange2.right		= nCenterPosX;

		rtRightRange1.left		= nCenterPosX;
		rtRightRange1.right		= nRightCollisionPosX;

		rtRightRange2.left		= nRightCollisionPosX;
		rtRightRange2.right		= 0;
		break;
	}

	// normalize
	rtLeftRange1.NormalizeRect();
	rtLeftRange2.NormalizeRect();
	rtRightRange1.NormalizeRect();
	rtRightRange2.NormalizeRect();

	// center
	if (m_PathSchedulerParam.GetCenterCoord())
	{
		rtLeftRange1.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX()/2, -m_PathSchedulerParam.GetGlassSizeY()/2);
		rtLeftRange2.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX()/2, -m_PathSchedulerParam.GetGlassSizeY()/2);
		rtRightRange1.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX()/2, -m_PathSchedulerParam.GetGlassSizeY()/2);
		rtRightRange2.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX()/2, -m_PathSchedulerParam.GetGlassSizeY()/2);
	}

	// add range rect
	m_vecRangeRect.push_back(rtLeftRange1);
	m_vecRangeRect.push_back(rtLeftRange2);
	m_vecRangeRect.push_back(rtRightRange1);
	m_vecRangeRect.push_back(rtRightRange2);

	int nCollisionResultIdx			= -1;
	double dCollisionResultTime		= 0;

	CPathSchedulerResult scheduleResultLeft1(vecStartPath[0].nIndex);
	CPathSchedulerResult scheduleResultLeft2(vecStartPath[0].nIndex);
	CPathSchedulerResult scheduleResultRight1(vecStartPath[1].nIndex);
	CPathSchedulerResult scheduleResultRight2(vecStartPath[1].nIndex);

	// 1-1. right gantry result
	SPathData ptRightStartPath = vecStartPath[1];
	CalculatePath(ptRightStartPath, vecPathData, rtRightRange1, scheduleResultRight1);
	
	// 1-2. get right result
	nCollisionResultIdx = scheduleResultRight1.GetPathSchedulerResultCount()-1;
	dCollisionResultTime = scheduleResultRight1.GetTotalSchedulerTime();
	scheduleResultRight1.SetCollisionResultIndex(nCollisionResultIdx);
	scheduleResultRight1.SetCollisionResultTime(dCollisionResultTime);

	const SSchedulerResult* pLastPoint = scheduleResultRight1.GetPathSchedulerResult(nCollisionResultIdx);
	if (pLastPoint)
	{
		ptRightStartPath.nPosX = (int)(pLastPoint->dPositionX*1000.0);
		ptRightStartPath.nPosY = (int)(pLastPoint->dPositionY*1000.0);
	}

	// 1-3. right gantry result2
	CalculatePath(ptRightStartPath, vecPathData, rtRightRange2, scheduleResultRight2);

	// 1-4. merge right1 and right2
	scheduleResultRight1.AddTailScheduleResult(scheduleResultRight2);
	
	// 2-1.left gantry result1
	SPathData ptLeftStartPath = vecStartPath[0];
	CalculatePath(ptLeftStartPath, vecPathData, rtLeftRange1, scheduleResultLeft1);

	// 2-2. get left result1
	nCollisionResultIdx = scheduleResultLeft1.GetPathSchedulerResultCount()-1;
	dCollisionResultTime = scheduleResultLeft1.GetTotalSchedulerTime();
	scheduleResultLeft1.SetCollisionResultIndex(nCollisionResultIdx);
	scheduleResultLeft1.SetCollisionResultTime(dCollisionResultTime);
	pLastPoint = scheduleResultLeft1.GetPathSchedulerResult(nCollisionResultIdx);
	if (pLastPoint)
	{
		ptLeftStartPath.nPosX = (int)(pLastPoint->dPositionX*1000.0);
		ptLeftStartPath.nPosY = (int)(pLastPoint->dPositionY*1000.0);
	}

	// 2-3. left gantry result2
	CalculatePath(ptLeftStartPath, vecPathData, rtLeftRange2, scheduleResultLeft2);

	// 2-4. merge left1 and left2
	scheduleResultLeft1.AddTailScheduleResult(scheduleResultLeft2);

	// set Collision Position
	scheduleResultLeft1.SetCollisionPositionX(nLeftCollisionPosX);
	scheduleResultRight1.SetCollisionPositionX(nRightCollisionPosX);
	
	// add schedule result
	m_vecPathSchedulerResult.push_back(scheduleResultLeft1);
	m_vecPathSchedulerResult.push_back(scheduleResultRight1);

	return (int) m_vecPathSchedulerResult.size();
}

}