package org.opentrafficsim.road.gtu.lane;
   
   import java.io.Serializable;
   import java.lang.reflect.Constructor;
   import java.lang.reflect.InvocationTargetException;
   import java.util.HashMap;
   import java.util.HashSet;
   import java.util.Map;
   import java.util.Set;
  
  import javax.naming.NamingException;
  
  import org.djunits.unit.AccelerationUnit;
  import org.djunits.unit.LengthUnit;
  import org.djunits.value.vdouble.scalar.Acceleration;
  import org.djunits.value.vdouble.scalar.Length;
  import org.djunits.value.vdouble.scalar.Speed;
  import org.opentrafficsim.core.dsol.OTSAnimatorInterface;
  import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface;
  import org.opentrafficsim.core.geometry.OTSGeometryException;
  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.animation.GTUColorer;
  import org.opentrafficsim.core.network.NetworkException;
  import org.opentrafficsim.core.network.OTSNetwork;
  import org.opentrafficsim.core.network.route.Route;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlanner;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlannerFactory;
  import org.opentrafficsim.road.network.lane.DirectedLanePosition;
  
  import nl.tudelft.simulation.dsol.SimRuntimeException;
  import nl.tudelft.simulation.dsol.animation.D2.Renderable2D;
  import nl.tudelft.simulation.immutablecollections.Immutable;
  import nl.tudelft.simulation.immutablecollections.ImmutableHashSet;
  import nl.tudelft.simulation.immutablecollections.ImmutableLinkedHashMap;
  import nl.tudelft.simulation.immutablecollections.ImmutableMap;
  import nl.tudelft.simulation.immutablecollections.ImmutableSet;
  import nl.tudelft.simulation.language.reflection.ClassUtil;
  
  /**
   * Augments the AbstractLaneBasedIndividualGTU with a LaneBasedIndividualCarBuilder and animation support
   * <p>
   * Copyright (c) 2013-2017 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/docs/license.html">OpenTrafficSim License</a>.
   * <p>
   * @version $Revision: 1401 $, $LastChangedDate: 2015-09-14 01:33:02 +0200 (Mon, 14 Sep 2015) $, by $Author: averbraeck $,
   *          initial 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>
   */
  public class LaneBasedIndividualGTU extends AbstractLaneBasedIndividualGTU
  {
      /** */
      private static final long serialVersionUID = 20141025L;
  
      /** The animation. */
      private Renderable2D animation;
  
      /** Sensing positions. */
      private final Map<RelativePosition.TYPE, RelativePosition> relativePositions = new HashMap<>();
  
      /** cached front. */
      private final RelativePosition frontPos;
  
      /** cached rear. */
      private final RelativePosition rearPos;
  
      /** contour points. */
      private final Set<RelativePosition> contourPoints = new HashSet<>();
  
      /**
       * Construct a new LaneBasedIndividualCar.
       * @param id ID; the id of the GTU
       * @param gtuType GTUTYpe; the type of GTU, e.g. TruckType, CarType, BusType
       * @param length Length; the maximum length of the GTU (parallel with driving direction)
       * @param width Length; the maximum width of the GTU (perpendicular to driving direction)
       * @param maximumSpeed Speed;the maximum speed of the GTU (in the driving direction)
       * @param simulator OTSDEVSSimulatorInterface; the simulator
       * @param network the network that the GTU is initially registered in
       * @throws NamingException if an error occurs when adding the animation handler
       * @throws GTUException when a parameter is invalid
       */
      @SuppressWarnings("checkstyle:parameternumber")
      public LaneBasedIndividualGTU(final String id, final GTUType gtuType, final Length length, final Length width,
              final Speed maximumSpeed, final OTSDEVSSimulatorInterface simulator, final OTSNetwork network)
              throws NamingException, GTUException
      {
          super(id, gtuType, length, width, maximumSpeed, simulator, network);
  
          // 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.
          Length dx2 = new Length(getLength().getSI() / 2.0, LengthUnit.METER);
          Length dy2 = new Length(getWidth().getSI() / 2.0, LengthUnit.METER);
          this.frontPos = new RelativePosition(dx2, Length.ZERO, Length.ZERO, RelativePosition.FRONT);
          this.relativePositions.put(RelativePosition.FRONT, this.frontPos);
          this.rearPos = new RelativePosition(dx2.neg(), Length.ZERO, Length.ZERO, RelativePosition.REAR);
         this.relativePositions.put(RelativePosition.REAR, this.rearPos);
         this.relativePositions.put(RelativePosition.REFERENCE, RelativePosition.REFERENCE_POSITION);
         this.relativePositions.put(RelativePosition.CENTER,
                 new RelativePosition(Length.ZERO, Length.ZERO, Length.ZERO, RelativePosition.CENTER));
 
         // Contour positions. For now, a rectangle with the four corners.
         for (int i = -1; i <= 1; i += 2)
         {
             for (int j = -1; j <= 1; j += 2)
             {
                 this.contourPoints
                         .add(new RelativePosition(dx2.multiplyBy(i), dy2.multiplyBy(j), Length.ZERO, RelativePosition.CONTOUR));
             }
         }
 
         setMaximumAcceleration(new Acceleration(1.8, AccelerationUnit.METER_PER_SECOND_2));
         setMaximumDeceleration(new Acceleration(-3.5, AccelerationUnit.METER_PER_SECOND_2));
     }
 
     /**
      * @param strategicalPlanner the strategical planner (e.g., route determination) to use
      * @param initialLongitudinalPositions the initial positions of the car on one or more lanes with their directions
      * @param initialSpeed the initial speed of the car on the lane
      * @param animationClass Class&lt;? extends Renderable2D&gt;; the class for animation or null if no animation
      * @param gtuColorer GTUColorer; the GTUColorer that will be linked from the animation to determine the color (may be null
      *            in which case a default will be used)
      * @throws NetworkException when the GTU cannot be placed on the given lane
      * @throws SimRuntimeException when the move method cannot be scheduled
      * @throws GTUException when initial values are not correct
      * @throws OTSGeometryException when the initial path is wrong
      */
     public final void initWithAnimation(final LaneBasedStrategicalPlanner strategicalPlanner,
             final Set<DirectedLanePosition> initialLongitudinalPositions, final Speed initialSpeed,
             final Class<? extends Renderable2D> animationClass, final GTUColorer gtuColorer)
             throws NetworkException, SimRuntimeException, GTUException, OTSGeometryException
     {
         super.init(strategicalPlanner, initialLongitudinalPositions, initialSpeed);
 
         // animation
         if (getSimulator() instanceof OTSAnimatorInterface && animationClass != null)
         {
             try
             {
                 Constructor<?> constructor;
 
                 if (null == gtuColorer)
                 {
                     constructor = ClassUtil.resolveConstructor(animationClass, new Object[] { this, getSimulator() });
                     this.animation = (Renderable2D) constructor.newInstance(this, getSimulator());
                 }
                 else
                 {
                     constructor =
                             ClassUtil.resolveConstructor(animationClass, new Object[] { this, getSimulator(), gtuColorer });
                     this.animation = (Renderable2D) constructor.newInstance(this, getSimulator(), gtuColorer);
                 }
             }
             catch (InstantiationException | IllegalAccessException | NoSuchMethodException | SecurityException
                     | IllegalArgumentException | InvocationTargetException exception)
             {
                 throw new GTUException("Could not instantiate car animation of type " + animationClass.getName(), exception);
             }
         }
     }
 
     /** {@inheritDoc} */
     @Override
     public final RelativePosition getFront()
     {
         return this.frontPos;
     }
 
     /** {@inheritDoc} */
     @Override
     public final RelativePosition getRear()
     {
         return this.rearPos;
     }
 
     /** {@inheritDoc} */
     @Override
     public final RelativePosition getCenter()
     {
         return this.relativePositions.get(RelativePosition.CENTER);
     }
 
     /** {@inheritDoc} */
     @Override
     public final ImmutableMap<TYPE, RelativePosition> getRelativePositions()
     {
         return new ImmutableLinkedHashMap<>(this.relativePositions, Immutable.WRAP);
     }
 
     /** {@inheritDoc} */
     @Override
     public final ImmutableSet<RelativePosition> getContourPoints()
     {
         return new ImmutableHashSet<>(this.contourPoints, Immutable.WRAP);
     }
 
     /** {@inheritDoc} */
     @Override
     public final void destroy()
     {
         if (this.animation != null)
         {
             try
             {
                 this.animation.destroy();
                 this.animation = null;
             }
             catch (Exception e)
             {
                 System.err.println("Error when destroying the animation of car: " + this.getId());
             }
         }
         super.destroy();
     }
 
     /** {@inheritDoc} */
     @Override
     public final String toString()
     {
         return "LaneBasedIndividualGTU [id=" + getId() + "]";
     }
 
     /**
      * Build an individual car and use easy setter methods to instantiate the car. Typical use looks like:
      * 
      * <pre>
      * LaneBasedIndividualCar&lt;String&gt; car = new LaneBasedIndividualCarBuilder&lt;String&gt;().setId("Car:"+nr)
      *    .setLength(new Length(4.0, METER))....build(); 
      *    
      * or
      * 
      * LaneBasedIndividualCarBuilder&lt;String&gt; carBuilder = new LaneBasedIndividualCarBuilder&lt;String&gt;();
      * carBuilder.setId("Car:"+nr);
      * carBuilder.setLength(new Length(4.0, METER));
      * carBuilder.setWidth(new Length(1.8, METER));
      * ...
      * LaneBasedIndividualCar&lt;String&gt; car = carBuilder.build();
      * </pre>
      * <p>
      * Copyright (c) 2013-2017 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/docs/license.html">OpenTrafficSim License</a>.
      * <p>
      * @version $Revision: 1401 $, $LastChangedDate: 2015-09-14 01:33:02 +0200 (Mon, 14 Sep 2015) $, by $Author: averbraeck $,
      *          initial Feb 3, 2015 <br>
      * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
      */
     @SuppressWarnings("checkstyle:hiddenfield")
     public static class LaneBasedIndividualCarBuilder implements Serializable
     {
         /** */
         private static final long serialVersionUID = 20160000L;
 
         /** The id of the GTU. */
         private String id = null;
 
         /** The type of GTU, e.g. TruckType, CarType, BusType. */
         private GTUType gtuType = null;
 
         /** The initial positions of the car on one or more lanes. */
         private Set<DirectedLanePosition> initialLongitudinalPositions = null;
 
         /** The initial speed of the car on the lane. */
         private Speed initialSpeed = null;
 
         /** The length of the GTU (parallel with driving direction). */
         private Length length = null;
 
         /** The width of the GTU (perpendicular to driving direction). */
         private Length width = null;
 
         /** The maximum speed of the GTU (in the driving direction). */
         private Speed maximumSpeed = null;
 
         /** The simulator. */
         private OTSDEVSSimulatorInterface simulator = null;
 
         /** Animation. */
         private Class<? extends Renderable2D> animationClass = null;
 
         /** GTUColorer. */
         private GTUColorer gtuColorer = null;
 
         /** Network. */
         private OTSNetwork network = null;
 
         /**
          * @param id set id
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setId(final String id)
         {
             this.id = id;
             return this;
         }
 
         /**
          * @param gtuType set gtuType
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setGtuType(final GTUType gtuType)
         {
             this.gtuType = gtuType;
             return this;
         }
 
         /**
          * @param initialLongitudinalPositions set initialLongitudinalPositions
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setInitialLongitudinalPositions(
                 final Set<DirectedLanePosition> initialLongitudinalPositions)
         {
             this.initialLongitudinalPositions = initialLongitudinalPositions;
             return this;
         }
 
         /**
          * @param initialSpeed set initialSpeed
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setInitialSpeed(final Speed initialSpeed)
         {
             this.initialSpeed = initialSpeed;
             return this;
         }
 
         /**
          * @param length set length
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setLength(final Length length)
         {
             this.length = length;
             return this;
         }
 
         /**
          * @param width set width
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setWidth(final Length width)
         {
             this.width = width;
             return this;
         }
 
         /**
          * @param maximumSpeed set maximumSpeed
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setMaximumSpeed(final Speed maximumSpeed)
         {
             this.maximumSpeed = maximumSpeed;
             return this;
         }
 
         /**
          * @param simulator set simulator
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder 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 setAnimationClass(final Class<? extends Renderable2D> animationClass)
         {
             this.animationClass = animationClass;
             return this;
         }
 
         /**
          * @param gtuColorer set gtuColorer.
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setGtuColorer(final GTUColorer gtuColorer)
         {
             this.gtuColorer = gtuColorer;
             return this;
         }
 
         /**
          * @param network set network
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setNetwork(final OTSNetwork network)
         {
             this.network = network;
             return this;
         }
 
         /**
          * @return id.
          */
         public final String getId()
         {
             return this.id;
         }
 
         /**
          * @return gtuType.
          */
         public final GTUType getGtuType()
         {
             return this.gtuType;
         }
 
         /**
          * @return initialLongitudinalPositions.
          */
         public final Set<DirectedLanePosition> getInitialLongitudinalPositions()
         {
             return this.initialLongitudinalPositions;
         }
 
         /**
          * @return initialSpeed.
          */
         public final Speed getInitialSpeed()
         {
             return this.initialSpeed;
         }
 
         /**
          * @return length.
          */
         public final Length getLength()
         {
             return this.length;
         }
 
         /**
          * @return width.
          */
         public final Length getWidth()
         {
             return this.width;
         }
 
         /**
          * @return maximumSpeed.
          */
         public final Speed getMaximumSpeed()
         {
             return this.maximumSpeed;
         }
 
         /**
          * @return simulator.
          */
         public final OTSDEVSSimulatorInterface getSimulator()
         {
             return this.simulator;
         }
 
         /**
          * @return animationClass.
          */
         public final Class<? extends Renderable2D> getAnimationClass()
         {
             return this.animationClass;
         }
 
         /**
          * @return gtuColorer.
          */
         public final GTUColorer getGtuColorer()
         {
             return this.gtuColorer;
         }
 
         /**
          * @return network
          */
         public final OTSNetwork getNetwork()
         {
             return this.network;
         }
 
         /**
          * Build one LaneBasedIndividualCar.
          * @param laneBasedStrategicalPlannerFactory factory for the strategical planner
          * @param route route
          * @return the built Car with the set properties
          * @throws Exception when not all required values have been set
          */
         public final LaneBasedIndividualGTU build(
                 final LaneBasedStrategicalPlannerFactory<
                         ? extends LaneBasedStrategicalPlanner> laneBasedStrategicalPlannerFactory,
                 final Route route) throws Exception
         {
             if (null == this.id || null == this.gtuType || null == this.initialLongitudinalPositions
                     || null == this.initialSpeed || null == this.length || null == this.width || null == this.maximumSpeed
                     || null == this.simulator || null == this.network)
             {
                 // TODO Should throw a more specific Exception type
                 throw new GTUException("factory settings incomplete");
             }
             LaneBasedIndividualGTU gtu = new LaneBasedIndividualGTU(this.id, this.gtuType, this.length, this.width,
                     this.maximumSpeed, this.simulator, this.network);
             gtu.initWithAnimation(laneBasedStrategicalPlannerFactory.create(gtu, route), this.initialLongitudinalPositions,
                     this.initialSpeed, this.animationClass, this.gtuColorer);
             return gtu;
 
         }
 
         /** {@inheritDoc} */
         @Override
         public final String toString()
         {
             return "LaneBasedIndividualCarBuilder [id=" + this.id + ", gtuType=" + this.gtuType
                     + ", initialLongitudinalPositions=" + this.initialLongitudinalPositions + ", initialSpeed="
                     + this.initialSpeed + ", length=" + this.length + ", width=" + this.width + ", maximumSpeed="
                     + this.maximumSpeed + ", strategicalPlanner=" + "]";
         }
 
     }
 }