#pragma once

#include "GreedyTSP.h"
#include "PathSchedulerData.h"
#include "PathSchedulerResult.h"

enum PathSchedulerType {	SchedulerType_Default=0, 
							SchedulerType_TSP, 
							SchedulerType_Dual, 
							SchedulerType_Dual_TSP, 
							SchedulerType_Dual_Active,
							SchedulerType_Dual_Active_TSP, 
							SchedulerType_Flying, 
							SchedulerType_Dual_Flying, 
							SchedulerType_Dual_Flying_Random, 
							SchedulerType_Sorting,
							SchedulerType_Dual_Sorting,
							SchedulerType_Dual_Active_Sorting,
							SchedulerType_Quad_Sorting,
							SchedulerType_Qual_Active_Sorting,
							SchedulerType_Qual_Active_TSP,
							SchedulerType_Count };





class AFX_EXT_CLASS CPathScheduler
{
public:
	CPathScheduler(void);
	virtual ~CPathScheduler(void);
	void	Reset();

public:
	// virtual func
	virtual int		GetSchedulerType() const	{ return SchedulerType_Default; }
	virtual int		PathScheduling(const VectorPathData& vecPathData, const VectorPathData& vecStartPath);
	virtual int		PathScheduling(const VectorPathData& vecPathData, const SPathData& startPath);

	virtual int		PathScheduling(const SPathData* pPathData, int nPathDataCount, const SPathData* pStartPath, int nStartPathCount);
	virtual int		PathScheduling(const SPathData* pPathData, int nPathDataCount, const SPathData& startPath);
	
public:
	int				PathScheduling(const VectorPathData& vecPathData, const VectorPathData& vecStackPathData, const VectorPathData& vecStartPath);

protected:
	virtual int		CalculatePath(const SPathData& startPath, const VectorPathData& vecTotalPathData, CPathSchedulerResult& scheduleResult);
	virtual int		CalculatePath(const SPathData& startPath, const VectorPathData& vecTotalPathData, const CRect& rtRange, CPathSchedulerResult& scheduleResult);

	virtual int		CalculatePath(const SPathData& startPath, const VectorPathData& vecFirstPathData, const VectorPathData& vecSecondPathData, CPathSchedulerResult& scheduleResult);

public:
	// getter
	int	GetPathSchedulerResultCount() const;
	double	GetTotalSchedulerTime(int nIndex=0) const;
	double	GetTotalSchedulerDistance(int nIndex=0) const;
	CPathSchedulerParm* GetPathSchedulerParam();
	CPathSchedulerResult* GetPathSchedulerResult(int nIndex=0);

	int	GetRangeRectCount() const;
	CRect* GetRangeRect(int nIndex);
	const CRect* GetRangeRect(int nIndex) const;

	// setter
	void SetPointInfo(int nMin, int nMax);
	void SetPathSchedulerParam(const CPathSchedulerParm& scheduleParam);

	// load/save
	BOOL LoadPathSchedulerParam(const CString& strFilename);
	BOOL SavePathSchedulerParam(const CString& strFilename);

protected:
	BOOL	CalculateDistanceSpeedTime(SSchedulerResult& pt1, const SSchedulerResult &pt2);
	BOOL	CalculateDistanceSpeedTime(SSchedulerResult& pt1, double dPosX, double dPosY);

protected:
	int							m_nPointMin;
	int							m_nPointMax;
	CPathSchedulerParm			m_PathSchedulerParam;
	VectorPathSchedulerResult	m_vecPathSchedulerResult;

	VectorRect					m_vecRangeRect;
};