#include "StdAfx.h"
#include "PathScheduler_Dual_Flying_Random.h"


CPathScheduler_Dual_Flying_Random::CPathScheduler_Dual_Flying_Random(void)
{
	m_vecPathData_Random.clear();
}


CPathScheduler_Dual_Flying_Random::~CPathScheduler_Dual_Flying_Random(void)
{
	m_vecPathData_Random.clear();
}

int CPathScheduler_Dual_Flying_Random::PathScheduling( const VectorPathData& vecPathData, const VectorPathData& vecStartPath )
{
	// random data
	CreatePathData_Random((int)vecPathData.size());

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

	int nGantryCount = 2;

	int nRangeCount = CalculateRangeRect(
		nGantryCount, 
		m_PathSchedulerParam.GetModuleCount(), 
		m_PathSchedulerParam.GetScanCount(), 
		m_PathSchedulerParam.GetGlassSizeX(),
		m_PathSchedulerParam.GetGlassSizeY(),
		m_PathSchedulerParam.GetScanMargin(),
		m_PathSchedulerParam.GetOriginDir(),
		m_PathSchedulerParam.GetBaseModuleDir(),
		m_vecScanRangeData);

	if (nRangeCount<1) return 0;

	int nTotalCount = 0;
	SPathData sStartPath; // ¸ðµâº° ½ºÄµ ½ÃÀÛÀ§Ä¡ ÀúÀå.
	for (int nModuleIdx=0; nModuleIdx<m_PathSchedulerParam.GetModuleCount(); nModuleIdx++)
	{
		for (int nScanIdx = 0; nScanIdx<m_PathSchedulerParam.GetScanCount(); nScanIdx++)
		{
			SRangeData* pRangeData = GetScanRangeData(nModuleIdx, nScanIdx);

			if (pRangeData==NULL) continue;

			// add range rect
			m_vecRangeRect.push_back(CRect(pRangeData->nLeft, pRangeData->nTop, pRangeData->nRight, pRangeData->nBottom));

			if (nScanIdx==0) // first scan ÀÇ ½ÃÀÛÀ§Ä¡´Â ÇöÀç ¸ðµâÀÇ À§Ä¡ÀÌ´Ù.
			{
				sStartPath = vecStartPath[nModuleIdx];
			}

			// ¿µ¿ªº° ½ºÄÉÁ층 ¼öÇà.
			CPathSchedulerResult schedulerResult(nModuleIdx, nScanIdx);
			int nCount = CalculatePath(nModuleIdx, nScanIdx, sStartPath, m_vecPathData_Random, *pRangeData, schedulerResult);
			nTotalCount += nCount;
			if (nCount>1)
			{
				// ´ÙÀ½ ½ºÄµÀÇ ½ÃÀÛÀ§Ä¡´Â ÀÌÀü ½ºÄµÀÇ Á¾·á À§Ä¡ÀÌ´Ù.
				const SSchedulerResult* pNode = schedulerResult.GetPathSchedulerResult(schedulerResult.GetPathSchedulerResultCount() - 1);
				if (pNode)
				{
					sStartPath.nPosX = (pRangeData->nScanEndX);
					sStartPath.nPosY = int(pNode->dPositionY * 1000);
				}
				m_vecPathSchedulerResult.push_back(schedulerResult);
			}
			else // ´ë»ó °áÇÔÀÌ ¾øÀ»¶§ xÃà À§Ä¡¸¸ º¯°æÇÑ´Ù.
			{
				sStartPath.nPosX = (pRangeData->nScanEndX); // 
			}
		}
	}

	return int(m_vecPathSchedulerResult.size());
}

void CPathScheduler_Dual_Flying_Random::CreatePathData_Random( int nCount )
{
	int nCreateCount = (int)(nCount * m_PathSchedulerParam.GetRandomScale() + 0.5);

	m_vecPathData_Random.reserve(nCreateCount);

	srand((unsigned)time(NULL));

	SPathData pathData;
	for (int nIdx=0; nIdx<nCreateCount; nIdx++)
	{
		pathData.nIndex = nIdx;

		pathData.nPosX = (rand()*1000) % int(m_PathSchedulerParam.GetGlassSizeX());// * 1000;
		pathData.nPosY = (rand()*1000) % int(m_PathSchedulerParam.GetGlassSizeY());// * 1000;

		pathData.nPosX += rand() % 1000;
		pathData.nPosY += rand() % 1000;

		m_vecPathData_Random.push_back(pathData);
	}
}