OTS/OTSCPP/OTSImagePro/FieldMgr.cpp

// FieldMgr.cpp : implementation file
//

#include "stdafx.h"

#include "otsdataconst.h"
#include "FieldMgr.h"
#include "../OTSLog/COTSUtilityDllFunExport.h"
namespace OTSIMGPROC {

	namespace {
		// fill the matrics with the spiral sequence number ,n*n is the largest fill number.
		// the row and col number should be odd number.
		void getSpiralMatrics(std::vector <std::vector <int>>& arrays,int row,int col)
		{
			int n = max(col, row);
			arrays.resize(n, std::vector<int>(n));
			int c = 0, i, j;
			int z = n * n;
			int ou = z;
			while (ou >= 1)
			{
				i = 0;
				j = 0;
				for (i += c, j += c; j < n - c; j++)//从左到右
				{
					if (ou > z) break;
					arrays[i][j] = ou--;
				}
				for (j--, i++; i < n - c; i++) // 从上到下
				{
					if (ou > z) break;
					arrays[i][j] = ou--;
				}
				for (i--, j--; j >= c; j--)//从右到左
				{
					if (ou > z) break;
					arrays[i][j] = ou--;
				}
				for (j++, i--; i >= c + 1; i--)//从下到上
				{
					if (ou > z) break;
					arrays[i][j] = ou--;
				}
				c++;


			}
			// if  col<>row then shift the matrics so that the smallest number is in the center of the row*col's matrics.
			if (row > col)
			{
				int offset = (row - col) / 2;
				for (int k = 0; k < col; k++)//move mat to left (row-col)/2 cols.
				{
					for (int m = 0; m < row; m++)
					{
						arrays[m][k] = arrays[m][k + offset];
					}
				}
			}
			else if (col > row)
			{
				int offset = (col - row) / 2;
				for (int k = 0; k < row; k++)//move mat to up (col-row)/2 cols.
				{
					for (int m = 0; m < col; m++)
					{
						arrays[k][m] = arrays[k+offset][m];
					}
				}
			}

		}
		void getDownUpMeanderMatrics(std::vector <std::vector <int>>& arrays, int row, int col)
		{
			
			arrays.resize(row, std::vector<int>(col));
		
			
			for (int i = 0; i < row; i++)
			{
				for (int j = 0; j < col; j++)
				{
					if (i % 2 == 0)
					{
						arrays[i][j] = col * i + j+1;
					}
					else
					{
						arrays[i][j] = col * i+(col-  j);
					}
					
				}
			}

		}
		void getUpDownMeanderMatrics(std::vector <std::vector <int>>& arrays, int row, int col)
		{
			arrays.resize(row, std::vector<int>(col));

			for (int i = 0; i <row; i++)
			{
				for (int j = 0; j < col; j++)
				{
					if (i % 2 == 0)
					{
						arrays[i][j] = col * (row-i) + j + 1;
					}
					else
					{
						arrays[i][j] = col *(row- i) + (col - j);
					}

				}
			}

		}

	}
	using namespace OTSDATA;

	// CFieldMgr

	CFieldMgr::CFieldMgr(int scanfieldsize,CSize a_ResolutionSize)
	{
		m_ScanFieldSize = scanfieldsize;
		m_ResolutionSize = a_ResolutionSize;
		m_pMeasureArea=nullptr;
	}
	
	CFieldMgr::~CFieldMgr()
	{
	}

	// CFieldMgr member functions

	// public

	// initialization
	BOOL CFieldMgr::Init(CDomainPtr a_pMeasureArea, CSize a_ResolutionSize,int a_scanfieldsize,int a_FieldStartMode)
	{
		// input check
		ASSERT(a_pMeasureArea);

	

		// assign class member
		m_pMeasureArea = CDomainPtr(new CDomain(a_pMeasureArea.get()));
		
	
		m_ResolutionSize = a_ResolutionSize;
		m_fieldStartMode = a_FieldStartMode;
		m_ScanFieldSize = a_scanfieldsize;
		// calculate field centre points list
	

		// ok, return TRUE;
		return TRUE;
	}
	std::vector<CPoint> CFieldMgr::GetUnmeasuredFieldCentrePoints(std::vector<CPoint> a_listMeasuredFieldCentrePoints)
	{
		std::vector<CPoint> allPoints = CalculateFieldCentrePoints1();
		std::vector<CPoint> unmeasuredPoints;
		for(auto p:allPoints)
		if (!IsInMeasuredFieldList(p,a_listMeasuredFieldCentrePoints))
		{
			// add the field centre into the unmeasured field centre points list
			unmeasuredPoints.push_back(p);
		}
		return unmeasuredPoints;
	}

	// reset
	BOOL CFieldMgr::Reset(CDomainPtr a_pMeasureArea,
		CSize a_ResolutionSize, int a_FieldStartMode,
		int a_scanFieldSzie,
		std::vector<CPoint>& a_listMeasuredFieldCentrePoints)
	{
		// input check
		ASSERT(a_pMeasureArea);
		if (!a_pMeasureArea || a_pMeasureArea->IsInvalid())
		{
			LogErrorTrace(__FILE__, __LINE__, _T("Reset: invalid measure area poiter."));
			return FALSE;
		}


		// check member parameters
		//ASSERT(m_pMeasureArea && m_poImageScanParam && m_poSEMDataMsr);
		if (!m_pMeasureArea || m_ScanFieldSize==0)
		{
			// shouldn't happen
			LogErrorTrace(__FILE__, __LINE__, _T("Reset: invalid member parameter(s)."));
			return FALSE;
		}	

		// check if need to re-do field centres calculation 		
		if (!(*(a_pMeasureArea.get()) == *(m_pMeasureArea.get())) ||	// measure domain has been changed
			a_FieldStartMode != m_fieldStartMode )
		{
			// need to re-do field centres calculation
			return Init(a_pMeasureArea, m_ResolutionSize, a_scanFieldSzie,m_fieldStartMode);
		}

		return TRUE;
	}

	// calculate total fields
	long CFieldMgr::CalculateTotalFields(CDomainPtr a_poMeasureArea, double a_dScanFieldSizeX, CSize a_sizePixelImage)
	{
		// total fields
		long nTotalFields = -1;

		// input check
		ASSERT(a_poMeasureArea);
		if (!a_poMeasureArea || a_poMeasureArea->IsInvalid())
		{
			LogErrorTrace(__FILE__, __LINE__, _T("CalculateTotalFields: invalid mesure area point."));
			return nTotalFields;
		}

		// calculate scan field size--Y
		double dScanFieldSizeY = a_dScanFieldSizeX * (double)a_sizePixelImage.cy / (double)a_sizePixelImage.cx;

		// calculate total columns
		long nTotalCols = (long)ceil((double)a_poMeasureArea->GetDomainRect().Width() / a_dScanFieldSizeX);

		// calculate total rows
		long nTotalRows = (long)ceil((double)a_poMeasureArea->GetDomainRect().Height() / dScanFieldSizeY);

		// calculate column on the right of the center column
		long nRightColumns = nTotalCols / 2;

		// calculate rows above the center row
		long nTopRows = nTotalRows / 2;

		// re-calculate total columns, total rows make sure they are odd numbers
		nTotalCols = nRightColumns * 2 + 1;
		nTotalRows = nTopRows * 2 + 1;

		// measure are is a rectangle?
		if (a_poMeasureArea->IsRect() || nTotalCols == 1 || nTopRows == 1)
		{
			// easy 
			nTotalFields = nTotalCols * nTopRows;
		}
		else
		{
			// we need to do more calculation

			// centre row, centre column and centre field
			nTotalFields = nRightColumns * 2 + nTotalRows * 2 + 1;

			// calculate top right part 
			int nTopRightPartFileds = 0;
			CPoint poi; 
			// row by row
			for (int i = 1; i <= nTopRows; ++i)
			{
				// calculate row y position (field bottom)
				poi.y = a_poMeasureArea->GetDomainCenter().y + (int)dScanFieldSizeY * i - (int)dScanFieldSizeY / 2;

				// column by column
				for (int j = 1; j <= nRightColumns; ++j)
				{
					// calculate column x position (field left)
					poi.x = a_poMeasureArea->GetDomainCenter().x + (int)a_dScanFieldSizeX * i - (int)a_dScanFieldSizeX / 2;

					// test if this field is in the measure domain
					if (a_poMeasureArea->PtInDomain(poi))
					{
						// in the measure domain, count it.
						++nTopRightPartFileds;
					}
					else
					{
						// not in the measure domain, get out row test
						break;
					}
				}
			}

			// add other fields (top right part fields times 4)
			nTotalFields += nTopRightPartFileds * 4;
		}

		// return total fields
		return nTotalFields;
	}

	// field centre points list
	BOOL CFieldMgr::GetFieldRectByIndex(int a_nIndex, CRect& a_rectField)
	{
		auto m_listFieldCentrePoints = CalculateFieldCentrePoints1();
		// check input
		if (a_nIndex < 0 || a_nIndex >(int)m_listFieldCentrePoints.size())
		{
			LogErrorTrace(__FILE__, __LINE__, _T("GetFieldRectByIndex: invalid intex value."));
			return FALSE;
		}



		// get image size
	
		CSize sizePixelImage = m_ResolutionSize;
		// scan field size (x, y)
		CSize sizeImage;
		sizeImage.cx = m_ScanFieldSize;
		sizeImage.cy = sizeImage.cx * sizePixelImage.cy / sizePixelImage.cx;
		// get left top
		CPoint ptLeftTop = m_listFieldCentrePoints[a_nIndex] - CPoint(sizeImage.cx / 2, sizeImage.cy / 2);
		// get field rectangle
		a_rectField = CRect(ptLeftTop, sizeImage);		
		return TRUE;
	}

	


	// measure area
	void CFieldMgr::SetMeasureArea(CDomainPtr a_pMeasureArea)
	{
		// input check
		ASSERT(a_pMeasureArea);
		if (!a_pMeasureArea)
		{
			LogErrorTrace(__FILE__, __LINE__, _T("SetMeasureArea: invalid measure area poiter."));
			return;
		}
		m_pMeasureArea = CDomainPtr(new CDomain(a_pMeasureArea.get()));
	}





	COTSFieldDataPtr CFieldMgr::FindNeighborField(const COTSFieldDataList a_flds, COTSFieldDataPtr a_centerField, SORTING_DIRECTION a_direction)
	{
		COTSFieldDataPtr fld;
		double pixelsize;
		double mScanfieldsize_y = m_ScanFieldSize * m_ResolutionSize.cy / m_ResolutionSize.cx;

		for (auto f : a_flds)
		{
			SORTING_DIRECTION di;
			IsNeighborFieldCentre(f->GetPosition(), a_centerField->GetPosition(), m_ScanFieldSize, mScanfieldsize_y, di);
			if (di == a_direction)
			{
				return f;
			}
		}
		return fld;


	}

	// protected

	
	// calculate field centre points list
	std::vector<CPoint>  CFieldMgr::CalculateFieldCentrePoints1()
	{
		// field centre points list
		std::vector<CPoint> m_listFieldCentrePoints;

	
		// clean up 
		m_listFieldCentrePoints.clear();

		CSize ImageSizeByPixel = m_ResolutionSize;

		// scan field size (x, y)
		
		double pixelx = ImageSizeByPixel.cx ;
		double pixely = ImageSizeByPixel.cy;
		
		double dScanFiledSizeX = m_ScanFieldSize ;
		double dScanFiledSizeY = m_ScanFieldSize * pixely / pixelx;
		CSize sizeImage;
		sizeImage.cx = dScanFiledSizeX;
		sizeImage.cy = dScanFiledSizeY;
		// pixel size (micros)
		double dPixelSize = (double)dScanFiledSizeX / (double)sizeImage.cx;

		// the measure domain rectangle 
		CRect rectMeasureDomain = m_pMeasureArea->GetDomainRect();

		// the measure domain centre 
		CPoint poiDomainCentre = rectMeasureDomain.CenterPoint();

		// field centres need to be aligned with measured field centres
		//if (0 < (int)a_listHaveMeasuredFieldCentrePoints.size())
		//{	// get the first measured centre
		//	CPoint poiMeasuredFieldCentre = a_listHaveMeasuredFieldCentrePoints[0];
		//	// distance between the measure domain centre and the first measured field
		//	int nDistanceX = abs(poiDomainCentre.x - poiMeasuredFieldCentre.x);
		//	int nDistanceY = abs(poiDomainCentre.y - poiMeasuredFieldCentre.y);
		//	// minimum shift
		//	int nMinShiftX = 0;
		//	int nMinShiftY = 0;

		//	// x direction shift
		//	if (nDistanceX != 0)
		//	{// calculate shift distance
		//		int nShiftX = nDistanceX % (int)(dScanFiledSizeX);
		//		// need to move?
		//		if (nShiftX != 0)
		//		{
		//		// need to shift on x direction
		//		// calculate the minimum shift  , there must be something wrong, one is number, one is mm
		//			nMinShiftX = min(nShiftX, ((int)(dScanFiledSizeX)-nShiftX));
		//			// check if domain centre on left side of the first measured centre
		//			if (poiDomainCentre.x > poiMeasuredFieldCentre.x)
		//			{
		//				// shift domain centre left nShiftX should make the two aligned 
		//				// shift to left or right
		//				if (nMinShiftX == nShiftX)
		//				{
		//					// left
		//					poiDomainCentre.x -= nMinShiftX;
		//				}
		//				else
		//				{
		//					// right
		//					poiDomainCentre.x += nMinShiftX;
		//				}
		//			}
		//			else
		//			{
		//				// shift domain centre right nShiftX should make the two aligned 
		//				// shift to left or right
		//				if (nMinShiftX != nShiftX)
		//				{
		//					// left
		//					poiDomainCentre.x -= nMinShiftX;
		//				}
		//				else
		//				{
		//					// right
		//					poiDomainCentre.x += nMinShiftX;
		//				}
		//			}
		//		}
		//	}

			// y direction shift	
			//if (nDistanceY != 0)
			//{
			//	// calculate shift distance
			//	int nShiftY = nDistanceY % (int)(dScanFiledSizeY);

			//	// need to move?
			//	if (nShiftY != 0)
			//	{
			//		// need to shift on x direction
			//		// calculate the minimum shift  
			//		nMinShiftY = min(nShiftY, ((int)(dScanFiledSizeY)-nShiftY));

			//		// check if domain centre on top of the first measured centre
			//		if (poiDomainCentre.y > poiMeasuredFieldCentre.y)
			//		{
			//			// shift domain centre down nShiftY should make the two aligned 
			//			// move down or up?
			//			if (nMinShiftY == nShiftY)
			//			{
			//				// move down
			//				poiDomainCentre.y -= nMinShiftY;
			//			}
			//			else
			//			{
			//				// move up
			//				poiDomainCentre.y += nMinShiftY;
			//			}
			//		}
			//		else
			//		{
			//			// shift domain centre up nShiftY should make the two aligned 
			//			// move down or up?
			//			if (nMinShiftY == nShiftY)
			//			{
			//				// move up
			//				poiDomainCentre.y += nMinShiftY;
			//			}
			//			else
			//			{
			//				// move down
			//				poiDomainCentre.y -= nMinShiftY;
			//			}
			//		}
			//	}
			//}

			// reset the measure domain rectangle 

			// domain size
		/*	CSize sizeMeasureDomain = rectMeasureDomain.Size();
			sizeMeasureDomain.cx += 2 * nMinShiftX;
			sizeMeasureDomain.cy += 2 * nMinShiftY;

			rectMeasureDomain = CRect(poiDomainCentre, sizeMeasureDomain);
		}*/
		// start mode
		OTS_GET_IMAGE_MODE nStartMode = (OTS_GET_IMAGE_MODE)m_fieldStartMode;
			
			// calculate total columns, rows and make sure the domain area be covered
			int nTotalCols = (int)(ceil((double)rectMeasureDomain.Width() / dScanFiledSizeX));
			int nTotalRows = (int)(ceil((double)rectMeasureDomain.Height() / dScanFiledSizeY));

			// calculate column on the left of the centre point
			int nLeftCols = nTotalCols / 2;
			int nRightCols = nLeftCols;
			// fields on top
			int nRowsOnTop = nTotalRows / 2;
			// sure total columns, rows are odd numbers
			nTotalCols = nLeftCols * 2 + 1;
			//nTotalRows = nTotalRows * 2 + 1;
			nTotalRows = nRowsOnTop * 2 + 1;

			// calculate left, right field column position (x only
			int nLeftMostColX = poiDomainCentre.x - nLeftCols * (int)dScanFiledSizeX;
			int nUpMostRowY = poiDomainCentre.y - nRowsOnTop * (int)dScanFiledSizeY;
				
				std::vector <std::vector <CPoint>> pointMatrics(nTotalRows, std::vector<CPoint>(nTotalCols));
				for (int i = 0; i < nTotalRows; i++)
				{
					for (int j = 0; j < nTotalCols; j++)
					{
						pointMatrics[i][j].x = nLeftMostColX + j * (int)dScanFiledSizeX;
						pointMatrics[i][j].y = nUpMostRowY + i * (int)dScanFiledSizeY;
					}
				}
				std::vector <std::vector <int>> sequenceMat; //construct an matrics map to the pointMatrics,but the content is the sequence number.
				switch (nStartMode)
				{
				case OTS_GET_IMAGE_MODE::FROM_CENTER:
                    getSpiralMatrics(sequenceMat, nTotalRows,nTotalCols);
					break;
				case  OTS_GET_IMAGE_MODE::UP_TO_DOWN :
					getUpDownMeanderMatrics(sequenceMat, nTotalRows, nTotalCols);
					break;
				case OTS_GET_IMAGE_MODE::DOWN_TO_UP :
				case OTS_GET_IMAGE_MODE::RANDOM :
					getDownUpMeanderMatrics(sequenceMat, nTotalRows, nTotalCols);
					break;
				}	
				
				std::map <int, CPoint> mapCenterPoint;
				for (int i = 0; i < nTotalRows; i++)
				{
					for (int j = 0; j < nTotalCols; j++)
					{
						int sequenceNum = sequenceMat[i][j];
						CPoint p = pointMatrics[i][j];
						mapCenterPoint[sequenceNum] = p;// sorting all the field center point by the sequence number.
					}
				}
				// 判断当前样品获取帧图信息的测量区域为多边形
				if ((int)m_pMeasureArea->GetShape() > 1)
				{
					std::vector<CPoint> ptPolygon = m_pMeasureArea->GetPolygonPoint();
					for (auto itr : mapCenterPoint)
					{
						CPoint itrPoint = itr.second;
						if (IsInPolygonMeasureArea(itrPoint, sizeImage, ptPolygon))
						//if (PtInPolygon(itrPoint, ptPolygon))
						{
							m_listFieldCentrePoints.push_back(itr.second);
							
						}
					}
				}
				else
				{
					for (auto itr : mapCenterPoint)
					{
						if (IsInMeasureArea(itr.second, sizeImage))
						{
							m_listFieldCentrePoints.push_back(itr.second);
							//if (!IsInMeasuredFieldList(itr.second ))
							//{
							//	// add the field centre into the unmeasured field centre points list
							//	m_listUnmeasuredFieldCentrePoints.push_back(itr.second);
							//}
						}
					}
				}

				
		return m_listFieldCentrePoints;
	}
	// test if field is in or partly in the measure domain area
	BOOL CFieldMgr::IsInPolygonMeasureArea(CPoint a_poiField, CSize a_sizeImageSize, std::vector<CPoint> ptPolygon)
	{
		// check measure area parameter
		ASSERT(m_pMeasureArea);
		if (!m_pMeasureArea)
		{
			// shouldn't happen
			LogErrorTrace(__FILE__, __LINE__, _T("IsInDomainArea: invalid measure area parameter."));
			return FALSE;
		}

		// test field centre point first
		if (PtInPolygon(a_poiField, ptPolygon))
		{
			// centre in the measure domain area, return TRUE 
			return TRUE;
		}

		// get measure field centre
		CPoint poiMsrAreaCentre = m_pMeasureArea->GetDomainCenter();

		// move to left top postion.
		a_poiField -= CPoint(a_sizeImageSize.cx / 2, a_sizeImageSize.cy / 2);

		// rectangle of the field
		CRect rectFiled(a_poiField, a_sizeImageSize);


		//		// on the top left side, need to test the bottom right  corner
				if (PtInPolygon(CPoint(rectFiled.right, rectFiled.top), ptPolygon))
				{
					return TRUE;
				}

		//		// on the bottom left side, need to test the top right corner
				if (PtInPolygon(rectFiled.BottomRight(), ptPolygon))
				{
					return TRUE;
				}

		//		// on the top left side, need to test the bottom right  corner
				if (PtInPolygon(rectFiled.TopLeft(), ptPolygon))
				{
					return TRUE;
				}
	
		//		// on the bottom left side, need to test the top right corner
				if (PtInPolygon(CPoint(rectFiled.left, rectFiled.bottom), ptPolygon))
				{
					return TRUE;
				}
	
		// this field is not in the area at all, return FALSE.
		return FALSE;
	}


	//作用：判断点是否在多边形内
	//p指目标点， ptPolygon指多边形的点集合， nCount指多边形的边数
	BOOL CFieldMgr::PtInPolygon(CPoint p, std::vector<CPoint> ptPolygon)
	{
		int nCount = ptPolygon.size();
		// 交点个数  
		int nCross = 0;
		for (int i = 0; i < nCount; i++)
		{
			CPoint p1 = ptPolygon[i];
			CPoint p2 = ptPolygon[(i + 1) % nCount];// 点P1与P2形成连线  

			if (p1.y == p2.y)
				continue;
			if (p.y < min(p1.y, p2.y))
				continue;
			if (p.y >= max(p1.y, p2.y))
				continue;
			// 求交点的x坐标（由直线两点式方程转化而来）   
			double x = (double)(p.y - p1.y) * (double)(p2.x - p1.x) / (double)(p2.y - p1.y) + p1.x;
			// 只统计p1p2与p向右射线的交点  
			if (x > p.x)
			{
				nCross++;
			}
		}
		// 交点为偶数，点在多边形之外  
		// 交点为奇数，点在多边形之内
		if ((nCross % 2) == 1)
		{
			//true;
			return TRUE;
		}
		else
		{
			//false;
			return FALSE;
		}
	}

	// test if field is in or partly in the measure domain area
	BOOL CFieldMgr::IsInMeasureArea(CPoint a_poiField, CSize a_sizeImageSize)
	{
		// check measure area parameter
		ASSERT(m_pMeasureArea);
		if (!m_pMeasureArea)
		{
			// shouldn't happen
			LogErrorTrace(__FILE__, __LINE__, _T("IsInDomainArea: invalid measure area parameter."));
			return FALSE;
		}		

		// test field centre point first
		if (m_pMeasureArea->PtInDomain(a_poiField))
		{
			// centre in the measure domain area, return TRUE 
			return TRUE;
		}

		// get measure field centre
		CPoint poiMsrAreaCentre = m_pMeasureArea->GetDomainCenter();

		// move to left top postion.
		a_poiField -= CPoint(a_sizeImageSize.cx / 2, a_sizeImageSize.cy / 2);

		// rectangle of the field
		CRect rectFiled(a_poiField, a_sizeImageSize);

		// check field position
		if (rectFiled.left <= poiMsrAreaCentre.x && rectFiled.right >= poiMsrAreaCentre.x)
		{
			// centre column field or centre field
			return TRUE;
		}
		else if (rectFiled.top <= poiMsrAreaCentre.y && rectFiled.bottom >= poiMsrAreaCentre.y)
		{
			// centre row field?
			return TRUE;
		}
		else if ( rectFiled.right <= poiMsrAreaCentre.x)
		{
			// on the left side		

			//up
			if (rectFiled.top >= poiMsrAreaCentre.y)
			{
				// on the top left side, need to test the bottom right  corner
				if (m_pMeasureArea->PtInDomain(CPoint(rectFiled.right, rectFiled.top)))
				{
					return TRUE;
				}
			}
			else if(rectFiled.bottom <= poiMsrAreaCentre.y) //down//
			{
				// on the bottom left side, need to test the top right corner
				if (m_pMeasureArea->PtInDomain(rectFiled.BottomRight()))
				{
					return TRUE;
				}
			}

		}
		else if(rectFiled.left >= poiMsrAreaCentre.x)
		{
			// on the right side

			//up
			if (rectFiled.top >= poiMsrAreaCentre.y)
			{
				// on the top left side, need to test the bottom right  corner
				if (m_pMeasureArea->PtInDomain(rectFiled.TopLeft()))
				{
					return TRUE;
				}
			}
			else if (rectFiled.bottom <= poiMsrAreaCentre.y) //down//
			{
				// on the bottom left side, need to test the top right corner
				if (m_pMeasureArea->PtInDomain(CPoint(rectFiled.left, rectFiled.bottom)))
				{
					return TRUE;
				}
			}

		}

		// this field is not in the area at all, return FALSE.
		return FALSE;
	}

	// test if field is in the measured field centre points list
	BOOL CFieldMgr::IsInMeasuredFieldList(CPoint a_poiField, std::vector<CPoint> m_listHaveMeasuredFieldCentrePoints)
	{
		// has to not be in the measured field centre points list
		auto itr = std::find(m_listHaveMeasuredFieldCentrePoints.begin(), m_listHaveMeasuredFieldCentrePoints.end(), a_poiField);
		if (itr != m_listHaveMeasuredFieldCentrePoints.end())
		{
			// in the measured field centre points list, this is a measured field, return TRUE
			return TRUE;
		}

		// ok, return FALSE
		return FALSE;
	}

	// find the next field centre
	BOOL CFieldMgr::FindNeighborFieldCentre(const std::vector<CPoint>& a_listFieldCentres,
		double a_dScanFieldSizeX,
		double a_dScanFieldSizeY,
		CPoint a_poiCurrent,
		SORTING_DIRECTION& a_nDirection,
		CPoint& a_poiNeighbor)
	{
		// assume no neighbor
		BOOL bFind = FALSE;

		// go through the field centres list
		for (const CPoint& poiFieldCentre : a_listFieldCentres)
		{
			// test if this is a neighbor field centre
			SORTING_DIRECTION nDirection;
			if (IsNeighborFieldCentre(poiFieldCentre, a_poiCurrent, a_dScanFieldSizeX, a_dScanFieldSizeY, nDirection))
			{
				// we find a neighbor field centre
				// let see if this is neighbor we are looking for
				switch (a_nDirection)
				{
					// last move is left
				case SORTING_DIRECTION::LEFT:
				{
					// we are looking for DOWN neighbor 
					if (nDirection == SORTING_DIRECTION::DOWN)
					{
						// we find a neighbor below, get out
						a_poiNeighbor = poiFieldCentre;
						a_nDirection = SORTING_DIRECTION::DOWN;
						return TRUE;
					}

				}
				break;

				// last move is down
				case SORTING_DIRECTION::DOWN:
				{
					// we are looking for RIGHT neighbor
					if (nDirection == SORTING_DIRECTION::RIGHT)
					{
						// we find a neighbor on the right, get out
						a_poiNeighbor = poiFieldCentre;
						a_nDirection = SORTING_DIRECTION::RIGHT;
						return TRUE;
					}

				}
				break;

				// last move is right
				case SORTING_DIRECTION::RIGHT:
				{
					// we are looking for UP neighbor
					if (nDirection == SORTING_DIRECTION::UP)
					{
						// we find a neighbor above
						a_poiNeighbor = poiFieldCentre;
						a_nDirection = SORTING_DIRECTION::UP;
						return TRUE;
					}

				}
				break;

				// last move is up
				case SORTING_DIRECTION::UP:
				{
					// we are looking for LEFT neighbor
					if (nDirection == SORTING_DIRECTION::LEFT)
					{
						// we find a neighbor on the left, get out
						a_poiNeighbor = poiFieldCentre;
						a_nDirection = SORTING_DIRECTION::LEFT;
						return TRUE;
					}

				}
				break;
				}
			}
		}


		for (const CPoint& poiFieldCentre : a_listFieldCentres)
		{
			// test if this is a neighbor field centre
			SORTING_DIRECTION nDirection;
			if (IsNeighborFieldCentre(poiFieldCentre, a_poiCurrent, a_dScanFieldSizeX, a_dScanFieldSizeY, nDirection))
			{
				// we find a neighbor field centre
				// let see if this is neighbor we are looking for
				switch (a_nDirection)
				{
					// last move is left
				case SORTING_DIRECTION::LEFT:
				{
					// we are looking for DOWN neighbor , but not found
					// or LEFT neighbor otherwise
					if (nDirection == SORTING_DIRECTION::LEFT)
					{
						// we find a neighbor on the left, continue looking
						a_poiNeighbor = poiFieldCentre;
						return TRUE;
					}
				}
				break;

				// last move is down
				case SORTING_DIRECTION::DOWN:
				{
					// we are looking for RIGHT neighbor, but not found
					// or DOWN neighbor otherwise
					if (nDirection == SORTING_DIRECTION::DOWN)
					{
						// we find a neighbor below, continue looking
						a_poiNeighbor = poiFieldCentre;
						return TRUE;
					}
				}
				break;

				// last move is right
				case SORTING_DIRECTION::RIGHT:
				{
					// we are looking for UP neighbor, but not found
					// or RIGHT neighbor, otherwise
					if (nDirection == SORTING_DIRECTION::RIGHT)
					{
						// we find a neighbor on the right, continue looking
						a_poiNeighbor = poiFieldCentre;
						return TRUE;
					}
				}
				break;

				// last move is up
				case SORTING_DIRECTION::UP:
				{
					// we are looking for LEFT neighbor, but not found
					// or UP neighbor, otherwise
					if (nDirection == SORTING_DIRECTION::UP)
					{
						// we find a neighbor above, continue looking
						a_poiNeighbor = poiFieldCentre;
						return TRUE;
					}
				}
				break;
				}
			}
		}
		// return find result
		return bFind;
	}

	// find field centre closest to measure domain point
	BOOL CFieldMgr::FindFieldCentreClosestMeasureDomainCentre(const std::vector<CPoint>& a_listFieldCentres, CPoint a_poiMeasureDomain, CPoint& a_poi)
	{
		// distance ratio
		int nDisRadio = -1;
		for (const CPoint& poiFieldCentre : a_listFieldCentres)
		{
			// calculate current field centre distance ratio
			int nCurFiledDisRadio = (poiFieldCentre.x - a_poiMeasureDomain.x)*(poiFieldCentre.x - a_poiMeasureDomain.x) + (poiFieldCentre.y - a_poiMeasureDomain.y)*(poiFieldCentre.y - a_poiMeasureDomain.y);

			// pick one which more closer to centre
			if (nDisRadio > nCurFiledDisRadio || nDisRadio == -1)
			{
				a_poi = poiFieldCentre;
				nDisRadio = nCurFiledDisRadio;
			}
		}

		// nDisRadio != -1 means there still field centre in the a_listFieldCentres
		return nDisRadio != -1;
	}

	// find right far side field centre
	void CFieldMgr::FindRightMostFieldCentre(const std::vector<CPoint>& a_listFieldCentres, CPoint& a_poi)
	{
		for (auto& poi : a_listFieldCentres)
		{
			if (poi.y == a_poi.y && poi.x > a_poi.x)
			{
				a_poi = poi;
			}
		}
	}

	// find left far side field centre
	void CFieldMgr::FindLeftMostFieldCentre(const std::vector<CPoint>& a_listFieldCentres, CPoint& a_poi)
	{
		for (auto& poi : a_listFieldCentres)
		{
			if (poi.y == a_poi.y && poi.x < a_poi.x)
			{
				a_poi = poi;
			}
		}
	}

	// find top far side field centre
	void CFieldMgr::FindHeighestFieldCentre(const std::vector<CPoint>& a_listFieldCentres, CPoint& a_poi)
	{
		for (auto& poi : a_listFieldCentres)
		{
			if (poi.x == a_poi.x && poi.y > a_poi.y)
			{
				a_poi = poi;
			}
		}
	}

	// find bottom far side field centre
	void CFieldMgr::FindLowestFieldCentre(const std::vector<CPoint>& a_listFieldCentres, CPoint& a_poi)
	{
		for (auto& poi : a_listFieldCentres)
		{
			if (poi.x == a_poi.x && poi.y < a_poi.y)
			{
				a_poi = poi;
			}
		}
	}
	// check if this is a neighbor field centre
	BOOL CFieldMgr::IsNeighborFieldCentre(CPoint a_poiFieldCentre,
		CPoint a_poiCurrent,
		double a_dScanFieldSizeX,
		double a_dScanFieldSizeY,
		SORTING_DIRECTION& a_nDirection)
	{
		// x position of the tow field centres are the same, y positions have one field difference 
		if (a_poiFieldCentre.x == a_poiCurrent.x && abs(a_poiFieldCentre.y - a_poiCurrent.y) == long(a_dScanFieldSizeY))
		{
			// test is above or below
			if (a_poiCurrent.y > a_poiFieldCentre.y)
			{
				// below
				a_nDirection = SORTING_DIRECTION::DOWN;
			}
			else
			{
				// above
				a_nDirection = SORTING_DIRECTION::UP;
			}

			// this is a neighbor field centre, return TRUE
			return TRUE;
		}
		// y position of the tow field centres are the same, x positions have one field difference 
		else if (a_poiFieldCentre.y == a_poiCurrent.y && abs(a_poiFieldCentre.x - a_poiCurrent.x) == long(a_dScanFieldSizeX))
		{
			// test is on left or right
			if (a_poiCurrent.x > a_poiFieldCentre.x)
			{
				// on the left
				a_nDirection = SORTING_DIRECTION::LEFT;
			}
			else
			{
				// on the right
				a_nDirection = SORTING_DIRECTION::RIGHT;
			}

			// this is a neighbor field centre, return TRUE
			return TRUE;
		}

		// this is not a neighbor field centre, return FALSE
		return FALSE;
	}


	// get a random number in a given range
	int CFieldMgr::GetRangedRandNumber(int a_nRange_min, int a_nRange_max)
	{
		// return a random number
		int nRet;

		// get a random number in the given range
		nRet = long((double)rand() / (RAND_MAX + 1) * (a_nRange_max - a_nRange_min) + a_nRange_min);

		// return the random number
		return nRet;
	}

}