package org.opentrafficsim.road.gtu.lane.changing;
   
   import static org.junit.Assert.assertEquals;
   
   import java.util.Collection;
   import java.util.HashSet;
   import java.util.LinkedHashMap;
   import java.util.LinkedHashSet;
   import java.util.Map;
  import java.util.Set;
  
  import javax.naming.NamingException;
  
  import nl.tudelft.simulation.dsol.SimRuntimeException;
  import nl.tudelft.simulation.dsol.simulators.SimulatorInterface;
  
  import org.djunits.unit.LengthUnit;
  import org.djunits.unit.TimeUnit;
  import org.djunits.unit.UNITS;
  import org.djunits.value.vdouble.scalar.Acceleration;
  import org.djunits.value.vdouble.scalar.DoubleScalar;
  import org.djunits.value.vdouble.scalar.Duration;
  import org.djunits.value.vdouble.scalar.Length;
  import org.djunits.value.vdouble.scalar.Speed;
  import org.djunits.value.vdouble.scalar.Time;
  import org.junit.Test;
  import org.opentrafficsim.core.dsol.OTSModelInterface;
  import org.opentrafficsim.core.dsol.OTSSimTimeDouble;
  import org.opentrafficsim.core.geometry.OTSGeometryException;
  import org.opentrafficsim.core.geometry.OTSLine3D;
  import org.opentrafficsim.core.geometry.OTSPoint3D;
  import org.opentrafficsim.core.gtu.GTUDirectionality;
  import org.opentrafficsim.core.gtu.GTUType;
  import org.opentrafficsim.core.gtu.RelativePosition;
  import org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics;
  import org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterTypes;
  import org.opentrafficsim.core.network.LateralDirectionality;
  import org.opentrafficsim.core.network.LinkType;
  import org.opentrafficsim.core.network.LongitudinalDirectionality;
  import org.opentrafficsim.core.network.NetworkException;
  import org.opentrafficsim.core.network.OTSNetwork;
  import org.opentrafficsim.core.network.OTSNode;
  import org.opentrafficsim.road.DefaultTestParameters;
  import org.opentrafficsim.road.gtu.lane.LaneBasedIndividualGTU;
  import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;
  import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTUSimple;
  import org.opentrafficsim.road.gtu.lane.tactical.LaneBasedCFLCTacticalPlanner;
  import org.opentrafficsim.road.gtu.lane.tactical.following.AbstractIDM;
  import org.opentrafficsim.road.gtu.lane.tactical.following.IDMPlusOld;
  import org.opentrafficsim.road.gtu.lane.tactical.lanechangemobil.AbstractLaneChangeModel;
  import org.opentrafficsim.road.gtu.lane.tactical.lanechangemobil.Altruistic;
  import org.opentrafficsim.road.gtu.lane.tactical.lanechangemobil.Egoistic;
  import org.opentrafficsim.road.gtu.lane.tactical.lanechangemobil.LaneMovementStep;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlanner;
  import org.opentrafficsim.road.gtu.strategical.route.LaneBasedStrategicalRoutePlanner;
  import org.opentrafficsim.road.network.lane.CrossSectionLink;
  import org.opentrafficsim.road.network.lane.DirectedLanePosition;
  import org.opentrafficsim.road.network.lane.Lane;
  import org.opentrafficsim.road.network.lane.LaneType;
  import org.opentrafficsim.road.network.lane.changing.LaneKeepingPolicy;
  import org.opentrafficsim.road.network.lane.changing.OvertakingConditions;
  import org.opentrafficsim.simulationengine.SimpleSimulator;
  
  /**
   * Test some very basic properties of lane change models.
   * <p>
   * Copyright (c) 2013-2016 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>
   * $LastChangedDate: 2015-09-16 19:20:07 +0200 (Wed, 16 Sep 2015) $, @version $Revision: 1405 $, by $Author: averbraeck $,
   * initial version 14 nov. 2014 <br>
   * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
   */
  public class LaneChangeModelTest implements OTSModelInterface, UNITS
  {
      /** */
      private static final long serialVersionUID = 20150313;
  
      /** The network. */
      private OTSNetwork network = new OTSNetwork("network");
  
      /**
       * Create a Link.
       * @param name String; name of the new Link
       * @param from Node; start node of the new Link
       * @param to Node; end node of the new Link
       * @param width Length; the width of the new Link
       * @return Link
       * @throws OTSGeometryException
       */
      private static CrossSectionLink makeLink(final String name, final OTSNode from, final OTSNode to, final Length width)
              throws OTSGeometryException
      {
          // TODO create a LinkAnimation if the simulator is compatible with that.
          // FIXME The current LinkAnimation is too bad to use...
          OTSPoint3D[] coordinates =
                  new OTSPoint3D[] { new OTSPoint3D(from.getPoint().x, from.getPoint().y, 0),
                          new OTSPoint3D(to.getPoint().x, to.getPoint().y, 0) };
          OTSLine3D line = new OTSLine3D(coordinates);
         CrossSectionLink link =
                 new CrossSectionLink(name, from, to, LinkType.ALL, line, LongitudinalDirectionality.DIR_PLUS,
                         LaneKeepingPolicy.KEEP_RIGHT);
         return link;
     }
 
     /**
      * Create one Lane.
      * @param link Link; the link that owns the new Lane
      * @param id String; the id of the lane, has to be unique within the link
      * @param laneType LaneType&lt;String&gt;; the type of the new Lane
      * @param latPos Length; the lateral position of the new Lane with respect to the design line of the link
      * @param width Length; the width of the new Lane
      * @return Lane
      * @throws NamingException on ???
      * @throws NetworkException on ??
      * @throws OTSGeometryException when center line or contour of a link or lane cannot be generated
      */
     private static Lane makeLane(final CrossSectionLink link, final String id, final LaneType laneType, final Length latPos,
             final Length width) throws NamingException, NetworkException, OTSGeometryException
     {
         Map<GTUType, LongitudinalDirectionality> directionalityMap = new LinkedHashMap<>();
         directionalityMap.put(GTUType.ALL, LongitudinalDirectionality.DIR_PLUS);
         Map<GTUType, Speed> speedMap = new LinkedHashMap<>();
         speedMap.put(GTUType.ALL, new Speed(100, KM_PER_HOUR));
         // XXX Decide what type of overtaking conditions we want in this test
         Lane result =
                 new Lane(link, id, latPos, latPos, width, width, laneType, directionalityMap, speedMap,
                         new OvertakingConditions.LeftAndRight());
         return result;
     }
 
     /**
      * Create a simple straight road with the specified number of Lanes.
      * @param name String; name of the Link
      * @param from Node; starting node of the new Lane
      * @param to Node; ending node of the new Lane
      * @param laneType LaneType&lt;String&gt;; the type of GTU that can use the lanes
      * @param laneCount int; number of lanes in the road
      * @return Lane&lt;String, String&gt;[]; array containing the new Lanes
      * @throws Exception when something goes wrong (should not happen)
      */
     public static Lane[] makeMultiLane(final String name, final OTSNode from, final OTSNode to, final LaneType laneType,
             final int laneCount) throws Exception
     {
         Length width = new Length(laneCount * 4.0, METER);
         final CrossSectionLink link = makeLink(name, from, to, width);
         Lane[] result = new Lane[laneCount];
         width = new Length(4.0, METER);
         for (int laneIndex = 0; laneIndex < laneCount; laneIndex++)
         {
             // successive lanes have a more negative offset => more to the RIGHT
             Length latPos = new Length((-0.5 - laneIndex) * width.getSI(), METER);
             result[laneIndex] = makeLane(link, "lane." + laneIndex, laneType, latPos, width);
         }
         return result;
     }
 
     /**
      * Test that a vehicle in the left lane changes to the right lane if that is empty, or there is enough room.
      * @throws Exception when something goes wrong (should not happen)
      */
     @Test
     public final void changeRight() throws Exception
     {
         GTUType gtuType = new GTUType("car");
         Set<GTUType> compatibility = new HashSet<GTUType>();
         compatibility.add(gtuType);
         LaneType laneType = new LaneType("CarLane", compatibility);
         int laneCount = 2;
         Lane[] lanes =
                 makeMultiLane("Road with two lanes", new OTSNode("From", new OTSPoint3D(0, 0, 0)), new OTSNode("To",
                         new OTSPoint3D(200, 0, 0)), laneType, laneCount);
 
         // Let's see if adjacent lanes are accessible
         // lanes: | 0 : 1 : 2 | in case of three lanes
         lanes[0].accessibleAdjacentLanes(LateralDirectionality.RIGHT, gtuType);
         assertEquals("Leftmost lane should not have accessible adjacent lanes on the LEFT side", 0, lanes[0]
                 .accessibleAdjacentLanes(LateralDirectionality.LEFT, gtuType).size());
         assertEquals("Leftmost lane should have one accessible adjacent lane on the RIGHT side", 1, lanes[0]
                 .accessibleAdjacentLanes(LateralDirectionality.RIGHT, gtuType).size());
         assertEquals("Rightmost lane should have one accessible adjacent lane on the LEFT side", 1, lanes[1]
                 .accessibleAdjacentLanes(LateralDirectionality.LEFT, gtuType).size());
         assertEquals("Rightmost lane should not have accessible adjacent lanes on the RIGHT side", 0, lanes[1]
                 .accessibleAdjacentLanes(LateralDirectionality.RIGHT, gtuType).size());
 
         Set<DirectedLanePosition> initialLongitudinalPositions = new LinkedHashSet<>(1);
         initialLongitudinalPositions
                 .add(new DirectedLanePosition(lanes[1], new Length(100, METER), GTUDirectionality.DIR_PLUS));
         SimpleSimulator simpleSimulator =
                 new SimpleSimulator(new Time(0, SECOND), new Duration(0, SECOND), new Duration(3600, SECOND), this);
         AbstractLaneChangeModel laneChangeModel = new Egoistic();
         BehavioralCharacteristics behavioralCharacteristics = DefaultTestParameters.create();
         // LaneBasedBehavioralCharacteristics drivingCharacteristics =
         // new LaneBasedBehavioralCharacteristics(new IDMPlusOld(new Acceleration(1, METER_PER_SECOND_2), new Acceleration(
         // 1.5, METER_PER_SECOND_2), new Length(2, METER), new Duration(1, SECOND), 1d), laneChangeModel);
         LaneBasedIndividualGTU car =
                 new LaneBasedIndividualGTU("ReferenceCar", gtuType, new Length(4, METER), new Length(2, METER), new Speed(150,
                         KM_PER_HOUR), simpleSimulator, this.network);
         LaneBasedStrategicalPlanner strategicalPlanner =
                 new LaneBasedStrategicalRoutePlanner(behavioralCharacteristics, new LaneBasedCFLCTacticalPlanner(
                         new IDMPlusOld(), laneChangeModel, car), car);
         car.init(strategicalPlanner, initialLongitudinalPositions, new Speed(100, KM_PER_HOUR));
         car.getTacticalPlanner().getPerception().perceive();
         Collection<Headway> sameLaneGTUs = new LinkedHashSet<Headway>();
         sameLaneGTUs
                 .add(new HeadwayGTUSimple(car.getId(), car.getGTUType(), Length.ZERO, car.getLength(), car.getSpeed(), null));
         Collection<Headway> preferredLaneGTUs = new LinkedHashSet<Headway>();
         Collection<Headway> nonPreferredLaneGTUs = new LinkedHashSet<Headway>();
         LaneMovementStep laneChangeModelResult =
                 laneChangeModel.computeLaneChangeAndAcceleration(car, sameLaneGTUs, preferredLaneGTUs, nonPreferredLaneGTUs,
                         new Speed(100, KM_PER_HOUR), new Acceleration(0.3, METER_PER_SECOND_2), new Acceleration(0.1,
                                 METER_PER_SECOND_2), new Acceleration(-0.3, METER_PER_SECOND_2));
         // System.out.println(laneChangeModelResult.toString());
         assertEquals("Vehicle want to change to the right lane", LateralDirectionality.RIGHT,
                 laneChangeModelResult.getLaneChange());
         Length rear = car.position(lanes[0], car.getRear());
         Length front = car.position(lanes[0], car.getFront());
         Length reference = car.position(lanes[0], RelativePosition.REFERENCE_POSITION);
         // System.out.println("rear:      " + rear);
         // System.out.println("front:     " + front);
         // System.out.println("reference: " + reference);
         Length vehicleLength = front.minus(rear);
         Length collisionStart = reference.minus(vehicleLength);
         Length collisionEnd = reference.plus(vehicleLength);
         for (double pos = collisionStart.getSI() + 0.01; pos < collisionEnd.getSI() - 0.01; pos += 0.1)
         {
             Set<DirectedLanePosition> otherLongitudinalPositions = new LinkedHashSet<>(1);
             otherLongitudinalPositions.add(new DirectedLanePosition(lanes[1], new Length(pos, METER),
                     GTUDirectionality.DIR_PLUS));
 
             behavioralCharacteristics = DefaultTestParameters.create();
             // behavioralCharacteristics = new BehavioralCharacteristics();
             // behavioralCharacteristics.setParameter(ParameterTypes.A, new Acceleration(1, METER_PER_SECOND_2));
             // behavioralCharacteristics.setParameter(ParameterTypes.B, new Acceleration(1.5, METER_PER_SECOND_2));
             // behavioralCharacteristics.setParameter(ParameterTypes.S0, new Length(2, METER));
             // behavioralCharacteristics.setParameter(ParameterTypes.T, new Duration(1, SECOND));
             // behavioralCharacteristics.setParameter(ParameterTypes.A, new Acceleration(1, METER_PER_SECOND_2));
             // behavioralCharacteristics.setParameter(AbstractIDM.DELTA, 1d);
             // drivingCharacteristics =
             // new LaneBasedBehavioralCharacteristics(new IDMPlusOld(new Acceleration(1, METER_PER_SECOND_2),
             // new Acceleration(1.5, METER_PER_SECOND_2), new Length(2, METER), new Duration(1, SECOND), 1d),
             // laneChangeModel);
             LaneBasedIndividualGTU collisionCar =
                     new LaneBasedIndividualGTU("LaneChangeBlockingCarAt" + pos, gtuType, vehicleLength, new Length(2, METER),
                             new Speed(150, KM_PER_HOUR), simpleSimulator, this.network);
             strategicalPlanner =
                     new LaneBasedStrategicalRoutePlanner(behavioralCharacteristics, new LaneBasedCFLCTacticalPlanner(
                             new IDMPlusOld(), laneChangeModel, collisionCar), collisionCar);
             collisionCar.init(strategicalPlanner, otherLongitudinalPositions, new Speed(100, KM_PER_HOUR));
             preferredLaneGTUs.clear();
             HeadwayGTUSimple collisionHWGTU =
                     new HeadwayGTUSimple(collisionCar.getId(), collisionCar.getGTUType(), new Length(pos - reference.getSI(),
                             LengthUnit.SI), collisionCar.getLength(), collisionCar.getSpeed(), null);
             preferredLaneGTUs.add(collisionHWGTU);
             laneChangeModelResult =
                     new Egoistic().computeLaneChangeAndAcceleration(car, sameLaneGTUs, preferredLaneGTUs, nonPreferredLaneGTUs,
                             new Speed(100, KM_PER_HOUR), new Acceleration(0.3, METER_PER_SECOND_2), new Acceleration(0.1,
                                     METER_PER_SECOND_2), new Acceleration(-0.3, METER_PER_SECOND_2));
             // System.out.println(laneChangeModelResult.toString());
             assertEquals("Vehicle cannot to change to the right lane because that would result in an immediate collision",
                     null, laneChangeModelResult.getLaneChange());
         }
         for (double pos = 0; pos < 180; pos += 5) // beyond 180m, a GTU gets a plan beyond the 200m long network
         {
             Set<DirectedLanePosition> otherLongitudinalPositions = new LinkedHashSet<>(1);
             otherLongitudinalPositions.add(new DirectedLanePosition(lanes[1], new Length(pos, METER),
                     GTUDirectionality.DIR_PLUS));
 
             behavioralCharacteristics = new BehavioralCharacteristics();
             behavioralCharacteristics.setParameter(ParameterTypes.A, new Acceleration(1, METER_PER_SECOND_2));
             behavioralCharacteristics.setParameter(ParameterTypes.B, new Acceleration(1.5, METER_PER_SECOND_2));
             behavioralCharacteristics.setParameter(ParameterTypes.S0, new Length(2, METER));
             behavioralCharacteristics.setParameter(ParameterTypes.T, new Duration(1, SECOND));
             behavioralCharacteristics.setParameter(ParameterTypes.A, new Acceleration(1, METER_PER_SECOND_2));
             behavioralCharacteristics.setDefaultParameter(ParameterTypes.LOOKAHEAD);
             behavioralCharacteristics.setDefaultParameter(ParameterTypes.LOOKBACKOLD);
             behavioralCharacteristics.setParameter(AbstractIDM.DELTA, 1d);
             // drivingCharacteristics =
             // new LaneBasedBehavioralCharacteristics(new IDMPlusOld(new Acceleration(1, METER_PER_SECOND_2),
             // new Acceleration(1.5, METER_PER_SECOND_2), new Length(2, METER), new Duration(1, SECOND), 1d),
             // laneChangeModel);
             LaneBasedIndividualGTU otherCar =
                     new LaneBasedIndividualGTU("OtherCarAt" + pos, gtuType, vehicleLength, new Length(2, METER), new Speed(150,
                             KM_PER_HOUR), simpleSimulator, this.network);
             strategicalPlanner =
                     new LaneBasedStrategicalRoutePlanner(behavioralCharacteristics, new LaneBasedCFLCTacticalPlanner(
                             new IDMPlusOld(), laneChangeModel, otherCar), otherCar);
             otherCar.init(strategicalPlanner, otherLongitudinalPositions, new Speed(100, KM_PER_HOUR));
             preferredLaneGTUs.clear();
             HeadwayGTUSimple collisionHWGTU =
                     new HeadwayGTUSimple(otherCar.getId(), otherCar.getGTUType(), new Length(pos
                             - car.position(lanes[0], car.getReference()).getSI(), LengthUnit.SI), otherCar.getLength(),
                             otherCar.getSpeed(), null);
             preferredLaneGTUs.add(collisionHWGTU);
             laneChangeModelResult =
                     new Egoistic().computeLaneChangeAndAcceleration(car, sameLaneGTUs, preferredLaneGTUs, nonPreferredLaneGTUs,
                             new Speed(100, KM_PER_HOUR), new Acceleration(0.3, METER_PER_SECOND_2), new Acceleration(0.1,
                                     METER_PER_SECOND_2), new Acceleration(-0.3, METER_PER_SECOND_2));
             // System.out.println(String.format("pos=%5fm Egoistic:   %s", pos, laneChangeModelResult.toString()));
             laneChangeModelResult =
                     new Altruistic().computeLaneChangeAndAcceleration(car, sameLaneGTUs, preferredLaneGTUs,
                             nonPreferredLaneGTUs, new Speed(100, KM_PER_HOUR), new Acceleration(0.3, METER_PER_SECOND_2),
                             new Acceleration(0.1, METER_PER_SECOND_2), new Acceleration(-0.3, METER_PER_SECOND_2));
             // System.out.println(String.format("pos=%5fm Altruistic: %s", pos, laneChangeModelResult.toString()));
             // assertEquals(
             // "Vehicle cannot to change to the right lane because that would result in an immediate collision",
             // null, laneChangeModelResult.getLaneChange());
         }
     }
 
     // TODO test/prove the expected differences between Egoistic and Altruistic
     // TODO prove that the most restrictive car in the other lane determines what happens
     // TODO test merge into overtaking lane
 
     /** {@inheritDoc} */
     @Override
     public void constructModel(
             SimulatorInterface<DoubleScalar.Abs<TimeUnit>, DoubleScalar.Rel<TimeUnit>, OTSSimTimeDouble> simulator)
             throws SimRuntimeException
     {
         // DO NOTHING
     }
 
     /** {@inheritDoc} */
     @Override
     public SimulatorInterface<DoubleScalar.Abs<TimeUnit>, DoubleScalar.Rel<TimeUnit>, OTSSimTimeDouble> getSimulator()
 
     {
         return null;
     }
 
 }