package org.opentrafficsim.core.car;
   
   import java.lang.reflect.Constructor;
   import java.lang.reflect.InvocationTargetException;
   import java.rmi.RemoteException;
   import java.util.HashMap;
   import java.util.Map;
   
   import javax.naming.NamingException;
  
  import nl.tudelft.simulation.dsol.SimRuntimeException;
  import nl.tudelft.simulation.dsol.animation.D2.Renderable2D;
  import nl.tudelft.simulation.language.reflection.ClassUtil;
  
  import org.opentrafficsim.core.dsol.OTSAnimatorInterface;
  import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface;
  import org.opentrafficsim.core.gtu.GTUException;
  import org.opentrafficsim.core.gtu.GTUType;
  import org.opentrafficsim.core.gtu.RelativePosition;
  import org.opentrafficsim.core.gtu.RelativePosition.TYPE;
  import org.opentrafficsim.core.gtu.following.GTUFollowingModel;
  import org.opentrafficsim.core.gtu.lane.AbstractLaneBasedIndividualGTU;
  import org.opentrafficsim.core.gtu.lane.changing.AbstractLaneChangeModel;
  import org.opentrafficsim.core.gtu.lane.changing.LaneChangeModel;
  import org.opentrafficsim.core.network.NetworkException;
  import org.opentrafficsim.core.network.lane.Lane;
  import org.opentrafficsim.core.unit.LengthUnit;
  import org.opentrafficsim.core.unit.SpeedUnit;
  import org.opentrafficsim.core.value.vdouble.scalar.DoubleScalar;
  
  /**
   * <p>
   * Copyright (c) 2013-2014 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights
   * reserved. <br>
   * BSD-style license. See <a href="http://opentrafficsim.org/node/13">OpenTrafficSim License</a>.
   * <p>
   * @version Oct 22, 2014 <br>
   * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
   * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
   * @param <ID> The type of ID, e.g., String or Integer
   */
  public class LaneBasedIndividualCar<ID> extends AbstractLaneBasedIndividualGTU<ID>
  {
      /** */
      private static final long serialVersionUID = 20141025L;
  
      /** animation. */
      private Renderable2D animation;
  
      /** Sensing positions. */
      private final Map<RelativePosition.TYPE, RelativePosition> relativePositions = new HashMap<>();
  
      /**
       * @param id ID; the id of the GTU, could be String or Integer
       * @param gtuType GTUTYpe&lt;?&gt;; the type of GTU, e.g. TruckType, CarType, BusType
       * @param gtuFollowingModel GTUFollowingModel; the following model, including a reference to the simulator
       * @param laneChangeModel LaneChangeModel; the lane change model
       * @param initialLongitudinalPositions Map&lt;Lane, DoubleScalar.Rel&lt;LengthUnit&gt;&gt;; the initial positions of
       *            the car on one or more lanes
       * @param initialSpeed DoubleScalar.Abs&lt;SpeedUnit&gt;; the initial speed of the car on the lane
       * @param length DoubleScalar.Rel&lt;LengthUnit&gt;; the maximum length of the GTU (parallel with driving direction)
       * @param width DoubleScalar.Rel&lt;LengthUnit&gt;; the maximum width of the GTU (perpendicular to driving
       *            direction)
       * @param maximumVelocity DoubleScalar.Abs&lt;SpeedUnit&gt;;the maximum speed of the GTU (in the driving direction)
       * @param simulator OTSDEVSSimulatorInterface; the simulator
       * @throws NamingException if an error occurs when adding the animation handler
       * @throws RemoteException when the simulator cannot be reached
       * @throws NetworkException when the GTU cannot be placed on the given lane
       * @throws SimRuntimeException when the move method cannot be scheduled
       * @throws GTUException when a parameter is invalid
       */
      @SuppressWarnings("checkstyle:parameternumber")
      public LaneBasedIndividualCar(final ID id, final GTUType<?> gtuType, final GTUFollowingModel gtuFollowingModel,
              final LaneChangeModel laneChangeModel,
              final Map<Lane, DoubleScalar.Rel<LengthUnit>> initialLongitudinalPositions,
              final DoubleScalar.Abs<SpeedUnit> initialSpeed, final DoubleScalar.Rel<LengthUnit> length,
              final DoubleScalar.Rel<LengthUnit> width, final DoubleScalar.Abs<SpeedUnit> maximumVelocity,
              final OTSDEVSSimulatorInterface simulator) throws NamingException, RemoteException, NetworkException,
              SimRuntimeException, GTUException
      {
          this(id, gtuType, gtuFollowingModel, laneChangeModel, initialLongitudinalPositions, initialSpeed, length,
                  width, maximumVelocity, simulator, DefaultCarAnimation.class);
      }
  
      /**
       * Construct a new LaneBasedIndividualCar.
       * @param id ID; the id of the GTU, could be String or Integer
       * @param gtuType GTUTYpe&lt;?&gt;; the type of GTU, e.g. TruckType, CarType, BusType
       * @param gtuFollowingModel GTUFollowingModel; the following model, including a reference to the simulator
       * @param laneChangeModel LaneChangeModel; the lane change model
       * @param initialLongitudinalPositions Map&lt;Lane, DoubleScalar.Rel&lt;LengthUnit&gt;&gt;; the initial positions of
       *            the car on one or more lanes
       * @param initialSpeed DoubleScalar.Abs&lt;SpeedUnit&gt;; the initial speed of the car on the lane
       * @param length DoubleScalar.Rel&lt;LengthUnit&gt;; the maximum length of the GTU (parallel with driving direction)
       * @param width DoubleScalar.Rel&lt;LengthUnit&gt;; the maximum width of the GTU (perpendicular to driving
       *            direction)
       * @param maximumVelocity DoubleScalar.Abs&lt;SpeedUnit&gt;;the maximum speed of the GTU (in the driving direction)
       * @param simulator OTSDEVSSimulatorInterface; the simulator
       * @param animationClass Class&lt;? extends Renderable2D&gt;; the class for animation or null if no animation
      * @throws NamingException if an error occurs when adding the animation handler
      * @throws RemoteException when the simulator cannot be reached
      * @throws NetworkException when the GTU cannot be placed on the given lane
      * @throws SimRuntimeException when the move method cannot be scheduled
      * @throws GTUException when a parameter is invalid
      */
     @SuppressWarnings("checkstyle:parameternumber")
     public LaneBasedIndividualCar(final ID id, final GTUType<?> gtuType, final GTUFollowingModel gtuFollowingModel,
             final LaneChangeModel laneChangeModel,
             final Map<Lane, DoubleScalar.Rel<LengthUnit>> initialLongitudinalPositions,
             final DoubleScalar.Abs<SpeedUnit> initialSpeed, final DoubleScalar.Rel<LengthUnit> length,
             final DoubleScalar.Rel<LengthUnit> width, final DoubleScalar.Abs<SpeedUnit> maximumVelocity,
             final OTSDEVSSimulatorInterface simulator, final Class<? extends Renderable2D> animationClass)
             throws NamingException, RemoteException, NetworkException, SimRuntimeException, GTUException
     {
         super(id, gtuType, gtuFollowingModel, laneChangeModel, initialLongitudinalPositions, initialSpeed, length,
                 width, maximumVelocity, simulator);
 
         // sensor positions.
         // We take the rear position of the Car to be the reference point. So the front is the length
         // of the Car away from the reference point in the positive (driving) X-direction.
         DoubleScalar.Rel<LengthUnit> zero = new DoubleScalar.Rel<LengthUnit>(0.0d, LengthUnit.METER);
         DoubleScalar.Rel<LengthUnit> dx = new DoubleScalar.Rel<LengthUnit>(getLength().getSI(), LengthUnit.METER);
         this.relativePositions
                 .put(RelativePosition.FRONT, new RelativePosition(dx, zero, zero, RelativePosition.FRONT));
         this.relativePositions
                 .put(RelativePosition.REAR, new RelativePosition(zero, zero, zero, RelativePosition.REAR));
         this.relativePositions.put(RelativePosition.REFERENCE, RelativePosition.REFERENCE_POSITION);
 
         // animation
         if (simulator instanceof OTSAnimatorInterface && animationClass != null)
         {
             try
             {
                 Constructor<?> constructor =
                         ClassUtil.resolveConstructor(animationClass, new Object[]{this, simulator});
                 this.animation = (Renderable2D) constructor.newInstance(this, simulator);
             }
             catch (InstantiationException | IllegalAccessException | NoSuchMethodException | SecurityException
                     | IllegalArgumentException | InvocationTargetException exception)
             {
                 throw new NetworkException("Could not instantiate car animation of type " + animationClass.getName(),
                         exception);
             }
         }
     }
 
     /** {@inheritDoc} */
     @Override
     @SuppressWarnings("checkstyle:designforextension")
     public RelativePosition getFront()
     {
         return this.relativePositions.get(RelativePosition.FRONT);
     }
 
     /** {@inheritDoc} */
     @Override
     @SuppressWarnings("checkstyle:designforextension")
     public RelativePosition getRear()
     {
         return this.relativePositions.get(RelativePosition.REAR);
     }
 
     /** {@inheritDoc} */
     @Override
     public final Map<TYPE, RelativePosition> getRelativePositions()
     {
         return this.relativePositions;
     }
 
     /** {@inheritDoc} */
     @Override
     public final void destroy()
     {
         if (this.animation != null)
         {
             try
             {
                 this.animation.destroy();
             }
             catch (Exception e)
             {
                 System.err.println("Car: " + this.getId());
                 e.printStackTrace();
             }
         }
         super.destroy();
     }
 
     /** {@inheritDoc} */
     public final String toString()
     {
         try
         {
             Map<Lane, DoubleScalar.Rel<LengthUnit>> frontPositions = positions(getFront());
             Lane frontLane = frontPositions.keySet().iterator().next();
             return String.format("Car %s front: %s[%s]", getId(), frontLane, frontPositions.get(frontLane));
         }
         catch (RuntimeException | RemoteException | NetworkException exception)
         {
             // exception.printStackTrace();
             return String.format("Car %s [NO POS]", getId());
         }
     }
 
     /**
      * Build an individual car and use easy setter methods to instantiate the car. Typical use looks like:
      * 
      * <pre>
      * LaneBasedIndividualCar<String> car = new LaneBasedIndividualCarBuilder<String>().setId("Car:"+nr)
      *    .setLength(new DoubleScalar.Rel<LengthUnit>(4.0, LengthUnit.METER))....build(); 
      *    
      * or
      * 
      * LaneBasedIndividualCarBuilder<String> carBuilder = new LaneBasedIndividualCarBuilder<String>();
      * carBuilder.setId("Car:"+nr);
      * carBuilder.setLength(new DoubleScalar.Rel<LengthUnit>(4.0, LengthUnit.METER));
      * carBuilder.setWidth(new DoubleScalar.Rel<LengthUnit>(1.8, LengthUnit.METER));
      * ...
      * LaneBasedIndividualCar<String> car = carBuilder.build();
      * </pre>
      * <p>
      * Copyright (c) 2013-2014 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. <br>
      * All rights reserved. <br>
      * BSD-style license. See <a href="http://opentrafficsim.org/node/13">OpenTrafficSim License</a>.
      * <p>
      * @version Feb 3, 2015 <br>
      * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
      * @param <ID> the ID type of the Car, e.g. String or Integer or Long.
      */
     @SuppressWarnings("checkstyle:hiddenfield")
     public static class LaneBasedIndividualCarBuilder<ID>
     {
         /** The id of the GTU, could be String or Integer. */
         private ID id = null;
 
         /** The type of GTU, e.g. TruckType, CarType, BusType. */
         private GTUType<ID> gtuType = null;;
 
         /** The initial positions of the car on one or more lanes. */
         private Map<Lane, DoubleScalar.Rel<LengthUnit>> initialLongitudinalPositions = null;;
 
         /** The initial speed of the car on the lane. */
         private DoubleScalar.Abs<SpeedUnit> initialSpeed = null;
 
         /** CarFollowingModel used by this Car. */
         private GTUFollowingModel gtuFollowingModel = null;
 
         /** The lane change model. */
         private AbstractLaneChangeModel laneChangeModel = null;
 
         /** The maximum length of the GTU (parallel with driving direction). */
         private DoubleScalar.Rel<LengthUnit> length = null;
 
         /** The maximum width of the GTU (perpendicular to driving direction). */
         private DoubleScalar.Rel<LengthUnit> width = null;
 
         /** The maximum speed of the GTU (in the driving direction). */
         private DoubleScalar.Abs<SpeedUnit> maximumVelocity = null;
 
         /** The simulator. */
         private OTSDEVSSimulatorInterface simulator = null;
 
         /** Animation. */
         private Class<? extends Renderable2D> animationClass = null;
 
         /**
          * @param id set id.
          * @return the class itself for chaining the setters.
          */
         public final LaneBasedIndividualCarBuilder<ID> setId(final ID id)
         {
             this.id = id;
             return this;
         }
 
         /**
          * @param gtuType set gtuType.
          * @return the class itself for chaining the setters.
          */
         public final LaneBasedIndividualCarBuilder<ID> setGtuType(final GTUType<ID> gtuType)
         {
             this.gtuType = gtuType;
             return this;
         }
 
         /**
          * @param gtuFollowingModel GTUFollowingModel; the GTU following model used by the built cars
          * @return the class itself for chaining the setters.
          */
         public final LaneBasedIndividualCarBuilder<ID> setGTUFollowingModel(final GTUFollowingModel gtuFollowingModel)
         {
             this.gtuFollowingModel = gtuFollowingModel;
             return this;
         }
 
         /**
          * @param laneChangeModel AbstractLaneChangeModel; the lane change model
          * @return the class itself for chaining the setters.
          */
         public final LaneBasedIndividualCarBuilder<ID> setLaneChangeModel(final AbstractLaneChangeModel laneChangeModel)
         {
             this.laneChangeModel = laneChangeModel;
             return this;
         }
 
         /**
          * @param initialLongitudinalPositions set initialLongitudinalPositions.
          * @return the class itself for chaining the setters.
          */
         public final LaneBasedIndividualCarBuilder<ID> setInitialLongitudinalPositions(
                 final Map<Lane, DoubleScalar.Rel<LengthUnit>> initialLongitudinalPositions)
         {
             this.initialLongitudinalPositions = initialLongitudinalPositions;
             return this;
         }
 
         /**
          * @param initialSpeed set initialSpeed.
          * @return the class itself for chaining the setters.
          */
         public final LaneBasedIndividualCarBuilder<ID> setInitialSpeed(final DoubleScalar.Abs<SpeedUnit> initialSpeed)
         {
             this.initialSpeed = initialSpeed;
             return this;
         }
 
         /**
          * @param length set length.
          * @return the class itself for chaining the setters.
          */
         public final LaneBasedIndividualCarBuilder<ID> setLength(final DoubleScalar.Rel<LengthUnit> length)
         {
             this.length = length;
             return this;
         }
 
         /**
          * @param width set width.
          * @return the class itself for chaining the setters.
          */
         public final LaneBasedIndividualCarBuilder<ID> setWidth(final DoubleScalar.Rel<LengthUnit> width)
         {
             this.width = width;
             return this;
         }
 
         /**
          * @param maximumVelocity set maximumVelocity.
          * @return the class itself for chaining the setters.
          */
         public final LaneBasedIndividualCarBuilder<ID> setMaximumVelocity(
                 final DoubleScalar.Abs<SpeedUnit> maximumVelocity)
         {
             this.maximumVelocity = maximumVelocity;
             return this;
         }
 
         /**
          * @param simulator set simulator.
          * @return the class itself for chaining the setters.
          */
         public final LaneBasedIndividualCarBuilder<ID> setSimulator(final OTSDEVSSimulatorInterface simulator)
         {
             this.simulator = simulator;
             return this;
         }
 
         /**
          * @param animationClass set animation class.
          * @return the class itself for chaining the setters.
          */
         public final LaneBasedIndividualCarBuilder<ID> setAnimationClass(
                 final Class<? extends Renderable2D> animationClass)
         {
             this.animationClass = animationClass;
             return this;
         }
 
         /**
          * Build one LaneBasedIndividualCar.
          * @return the built Car with the set properties
          * @throws Exception when not all required values have been set
          */
         public final LaneBasedIndividualCar<ID> build() throws Exception
         {
             if (null == this.id || null == this.gtuType || null == this.gtuFollowingModel
                     || null == this.laneChangeModel || null == this.initialLongitudinalPositions
                     || null == this.initialSpeed || null == this.length || null == this.width
                     || null == this.maximumVelocity || null == this.simulator)
             {
                 // TODO Should throw a more specific Exception type
                 throw new Exception("factory settings incomplete");
             }
             return new LaneBasedIndividualCar<ID>(this.id, this.gtuType, this.gtuFollowingModel, this.laneChangeModel,
                     this.initialLongitudinalPositions, this.initialSpeed, this.length, this.width,
                     this.maximumVelocity, this.simulator, this.animationClass);
         }
     }
 }