#include "StdAfx.h"
#include "PathScheduler_Dual.h"

CPathScheduler_Dual::CPathScheduler_Dual(void)
{
}


CPathScheduler_Dual::~CPathScheduler_Dual(void)
{
}

int	CPathScheduler_Dual::PathScheduling(const VectorPathData& vecPathData, const VectorPathData& vecStartPath)
{
	if (vecStartPath.size()<1) return 0;

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

	// init
	CRect rtLeftRange(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());
	CRect rtCenterRange(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());
	CRect rtRightRange(0, 0, m_PathSchedulerParam.GetGlassSizeX(), m_PathSchedulerParam.GetGlassSizeY());

	// set range
	switch(m_PathSchedulerParam.GetOriginDir())
	{
	case SchedulerDir_LeftTop: // left top
	case SchedulerDir_LeftBottom: // left bottom
		rtLeftRange.left	= 0;
		rtLeftRange.right	= (m_PathSchedulerParam.GetGlassSizeX() / 2) - (m_PathSchedulerParam.GetCollisionDistX()/2);
		rtCenterRange.left	= rtLeftRange.right;
		rtCenterRange.right	= (m_PathSchedulerParam.GetGlassSizeX() / 2) + (m_PathSchedulerParam.GetCollisionDistX()/2);
		rtRightRange.left	= rtCenterRange.right;
		rtRightRange.right	= m_PathSchedulerParam.GetGlassSizeX();
		break;

	case SchedulerDir_RightTop: // right top
	case SchedulerDir_RightBottom: // right bottom
		rtLeftRange.left	= m_PathSchedulerParam.GetGlassSizeX();
		rtLeftRange.right	= (m_PathSchedulerParam.GetGlassSizeX() / 2) + (m_PathSchedulerParam.GetCollisionDistX()/2);
		rtCenterRange.left	= rtLeftRange.right;
		rtCenterRange.right	= (m_PathSchedulerParam.GetGlassSizeX() / 2) - (m_PathSchedulerParam.GetCollisionDistX()/2);
		rtRightRange.left	= rtCenterRange.right;
		rtRightRange.right	= 0;
		break;
	}

	// normalize
	rtLeftRange.NormalizeRect();
	rtCenterRange.NormalizeRect();
	rtRightRange.NormalizeRect();

	// add range rect
	m_vecRangeRect.push_back(rtLeftRange);
	m_vecRangeRect.push_back(rtCenterRange);
	m_vecRangeRect.push_back(rtRightRange);

	// center
	if (m_PathSchedulerParam.GetCenterCoord())
	{
		rtLeftRange.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX()/2, -m_PathSchedulerParam.GetGlassSizeY()/2);
		rtCenterRange.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX()/2, -m_PathSchedulerParam.GetGlassSizeY()/2);
		rtRightRange.MoveToXY(-m_PathSchedulerParam.GetGlassSizeX()/2, -m_PathSchedulerParam.GetGlassSizeY()/2);
	}

	// left gantry
	CPathSchedulerResult scheduleResultLeft(vecStartPath[0].nIndex);
	CalculatePath(vecStartPath[0], vecPathData, rtLeftRange, scheduleResultLeft);

	// right gantry
	CPathSchedulerResult scheduleResultRight(vecStartPath[1].nIndex);
	CalculatePath(vecStartPath[1], vecPathData, rtRightRange, scheduleResultRight);

	// ÃÑ À̵¿½Ã°£ ºñ±³ 
	CPathSchedulerResult* pCenterScheduleResult = NULL;
	if (scheduleResultLeft.GetTotalSchedulerTime() > scheduleResultRight.GetTotalSchedulerTime()) // left°¡ ¿À·¡°É¸®¸é
	{
		pCenterScheduleResult = &scheduleResultLeft;	
	}
	else // right°¡ ¿À·¡°É¸®¸é
	{
		pCenterScheduleResult = &scheduleResultRight;	
	}

	// center 
	const SSchedulerResult* pLastPoint = pCenterScheduleResult->GetPathSchedulerResult(pCenterScheduleResult->GetPathSchedulerResultCount()-1);
	if (pLastPoint)
	{
		SPathData ptStartPath((int)(pLastPoint->dPositionX*1000.0), (int)(pLastPoint->dPositionY*1000.0));
		CPathSchedulerResult scheduleResultCenter;
		CalculatePath(ptStartPath, vecPathData, rtCenterRange, scheduleResultCenter);

		if (scheduleResultLeft.GetTotalSchedulerTime() > scheduleResultRight.GetTotalSchedulerTime()) // left°¡ ¿À·¡°É¸®¸é
		{
			scheduleResultLeft.AddTailScheduleResult(scheduleResultCenter);
		}
		else // right°¡ ¿À·¡°É¸®¸é
		{
			scheduleResultRight.AddTailScheduleResult(scheduleResultCenter);	
		}

		//m_vecPathSchedulerResult.push_back(scheduleResultCenter);
	}

	m_vecPathSchedulerResult.push_back(scheduleResultLeft);
	m_vecPathSchedulerResult.push_back(scheduleResultRight);

	return (int) m_vecPathSchedulerResult.size();
}