package org.opentrafficsim.road.gtu.lane.perception.categories;
   
   import java.util.HashSet;
   import java.util.Map;
   import java.util.Set;
   import java.util.SortedSet;
   import java.util.TreeSet;
   
   import org.opentrafficsim.base.TimeStampedObject;
  import org.opentrafficsim.core.gtu.GTUException;
  import org.opentrafficsim.core.gtu.RelativePosition;
  import org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException;
  import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
  import org.opentrafficsim.road.gtu.lane.perception.LaneStructure.Entry;
  import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
  import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayBusStop;
  import org.opentrafficsim.road.network.lane.conflict.Conflict;
  import org.opentrafficsim.road.network.lane.object.BusStop;
  
  /**
   * <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/node/13">OpenTrafficSim License</a>.
   * <p>
   * @version $Revision$, $LastChangedDate$, by $Author$, initial version 27 jan. 2017 <br>
   * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
   * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
   * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
   */
  
  public class DirectBusStopPerception extends LaneBasedAbstractPerceptionCategory implements BusStopPerception
  {
  
      /** */
      private static final long serialVersionUID = 20170127;
  
      /** Bus stops. */
      private TimeStampedObject<SortedSet<HeadwayBusStop>> busStops;
  
      /**
       * @param perception perception
       */
      public DirectBusStopPerception(final LanePerception perception)
      {
          super(perception);
      }
  
      /** {@inheritDoc} */
      @Override
      public final void updateBusStops() throws GTUException, ParameterException
      {
          SortedSet<HeadwayBusStop> stops = new TreeSet<>();
          Map<RelativeLane, SortedSet<Entry<BusStop>>> map = getPerception().getLaneStructure().getDownstreamObjectsOnRoute(
                  BusStop.class, getGtu(), RelativePosition.FRONT, getGtu().getStrategicalPlanner().getRoute());
          for (RelativeLane relativeLane : map.keySet())
          {
              for (Entry<BusStop> entry : map.get(relativeLane))
              {
                  Set<String> conflictIds = new HashSet<>();
                  for (Conflict conflict : entry.getLaneBasedObject().getConflicts())
                  {
                      conflictIds.add(conflict.getId());
                  }
                  stops.add(new HeadwayBusStop(entry.getLaneBasedObject(), entry.getDistance(), relativeLane, conflictIds));
              }
          }
          this.busStops = new TimeStampedObject<>(stops, getTimestamp());
      }
  
      /** {@inheritDoc} */
      @Override
      public final SortedSet<HeadwayBusStop> getBusStops()
      {
          return this.busStops.getObject();
      }
  
      /**
       * Returns the time stamped bus stops.
       * @return time stamped bus stops
       */
      public final TimeStampedObject<SortedSet<HeadwayBusStop>> getTimeStampedBusStops()
      {
          return this.busStops;
      }
  
      /** {@inheritDoc} */
      @Override
      public String toString()
      {
          return "DirectBusStopPerception";
      }
  
  }