package org.opentrafficsim.imb.transceiver.urbanstrategy;
   
   import java.rmi.RemoteException;
   import java.util.ArrayList;
   import java.util.List;
   
   import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface;
   import org.opentrafficsim.core.dsol.OTSSimTimeDouble;
   import org.opentrafficsim.core.geometry.OTSGeometryException;
  import org.opentrafficsim.core.geometry.OTSPoint3D;
  import org.opentrafficsim.core.network.Link;
  import org.opentrafficsim.core.network.Network;
  import org.opentrafficsim.core.network.OTSNetwork;
  import org.opentrafficsim.imb.IMBException;
  import org.opentrafficsim.imb.connector.Connector;
  import org.opentrafficsim.imb.connector.Connector.IMBEventType;
  import org.opentrafficsim.imb.transceiver.AbstractTransceiver;
  import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
  import org.opentrafficsim.road.network.lane.CrossSectionLink;
  import org.opentrafficsim.road.network.lane.Lane;
  
  import nl.tudelft.simulation.event.Event;
  import nl.tudelft.simulation.event.EventInterface;
  import nl.tudelft.simulation.event.EventType;
  import nl.tudelft.simulation.event.TimedEvent;
  
  /**
   * OTS publishes events about the lanes to IMB, e.g. to know about the number of vehicles on a particular lane.<br>
   * At the start of the OTS simulation, or when a Lane is added later, a NEW message is sent to IMB to identify the lane, the
   * coordinates of its center line, and the start and end nodes of the link. The CHANGE message is posted whenever a vehicle
   * enters or leaves a link. When a Link is removed from the network, a DELETE event is posted. The Link NEW messages are posted
   * after the Network NEW, Node NEW and Link NEW messages are posted.
   * <p>
   * <style>table,th,td {border:1px solid grey; border-style:solid; text-align:left; border-collapse: collapse;}</style>
   * <h2>NEW</h2>
   * <table summary="" style="width:800px;">
   * <thead>
   * <tr>
   * <th style="width:25%;">Variable</th>
   * <th style="width:15%;">Type</th>
   * <th style="width:60%;">Comments</th>
   * </tr>
   * </thead><tbody>
   * <tr>
   * <td>timestamp</td>
   * <td>double</td>
   * <td>time of the event, in simulation time seconds</td>
   * </tr>
   * <tr>
   * <td>networkId</td>
   * <td>String</td>
   * <td>Id of the Network where the Link resides</td>
   * </tr>
   * <tr>
   * <td>linkId</td>
   * <td>String</td>
   * <td>id of the Link; unique within the Network</td>
   * </tr>
   * <tr>
   * <td>laneId</td>
   * <td>String</td>
   * <td>id of the Lane, unique within the Link</td>
   * </tr>
   * <tr>
   * <td>laneNumber</td>
   * <td>int</td>
   * <td>identification of the lane number within the Link.</td>
   * </tr>
   * <tr>
   * <td>centerLine.numberOfPoints</td>
   * <td>int</td>
   * <td>number of points for the center line of the Lane. The number of doubles that follow is 3 times this number</td>
   * </tr>
   * <tr>
   * <td>centerLine.x1</td>
   * <td>double</td>
   * <td>x-coordinate of the first point of the center line</td>
   * </tr>
   * <tr>
   * <td>centerLine.y1</td>
   * <td>double</td>
   * <td>y-coordinate of the first point of the center line</td>
   * </tr>
   * <tr>
   * <td>centerLine.z1</td>
   * <td>double</td>
   * <td>z-coordinate of the first point of the center line</td>
   * </tr>
   * <tr>
   * <td>...</td>
   * <td></td>
   * <td></td>
   * </tr>
   * <tr>
   * <td>centerLine.xn</td>
   * <td>double</td>
   * <td>x-coordinate of the last point of the center line</td>
   * </tr>
   * <tr>
  * <td>centerLine.yn</td>
  * <td>double</td>
  * <td>y-coordinate of the last point of the center line</td>
  * </tr>
  * <tr>
  * <td>centerLine.zn</td>
  * <td>double</td>
  * <td>z-coordinate of the last point of the center line</td>
  * </tr>
  * </tbody>
  * </table>
  * </p>
  * <p>
  * <h2>CHANGE</h2>
  * <table summary="" style="width:800px;">
  * <thead>
  * <tr>
  * <th style="width:25%;">Variable</th>
  * <th style="width:15%;">Type</th>
  * <th style="width:60%;">Comments</th>
  * </tr>
  * </thead><tbody>
  * <tr>
  * <td>timestamp</td>
  * <td>double</td>
  * <td>time of the event, in simulation time seconds</td>
  * </tr>
  * <tr>
  * <td>networkId</td>
  * <td>String</td>
  * <td>Id of the Network where the Lane resides</td>
  * </tr>
  * <tr>
  * <td>linkId</td>
  * <td>String</td>
  * <td>id of the Link to which the lane belongs</td>
  * </tr>
  * <tr>
  * <td>laneId</td>
  * <td>String</td>
  * <td>id of the Lane, unique within the Link</td>
  * </tr>
  * <tr>
  * <td>isVehicleAdded</td>
  * <td>boolean</td>
  * <td>true if vehicle added, false if vehicle removed</td>
  * </tr>
  * <tr>
  * <td>gtuId</td>
  * <td>String</td>
  * <td>id of the gtu that was added or removed from the Lane</td>
  * </tr>
  * <tr>
  * <td>countAfterEvent</td>
  * <td>int</td>
  * <td>the number of vehicles on the Lane after the event</td>
  * </tr>
  * </tbody>
  * </table>
  * </p>
  * <p>
  * <h2>DELETE</h2>
  * <table summary="" style="width:800px;">
  * <thead>
  * <tr>
  * <th style="width:25%;">Variable</th>
  * <th style="width:15%;">Type</th>
  * <th style="width:60%;">Comments</th>
  * </tr>
  * </thead><tbody>
  * <tr>
  * <td>timestamp</td>
  * <td>double</td>
  * <td>time of the event, in simulation time seconds</td>
  * </tr>
  * <tr>
  * <td>networkId</td>
  * <td>String</td>
  * <td>Id of the Network where the Link resides</td>
  * </tr>
  * <tr>
  * <td>linkId</td>
  * <td>String</td>
  * <td>id of the Link</td>
  * </tr>
  * <tr>
  * <td>laneId</td>
  * <td>String</td>
  * <td>id of the Lane that is removed from the Network</td>
  * </tr>
  * </tbody>
  * </table>
  * </p>
  * <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/current/license.html">OpenTrafficSim License</a>.
  * </p>
  * @version $Revision$, $LastChangedDate$, by $Author$, initial version Sep 13, 2016 <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 LaneGTUTransceiver extends AbstractTransceiver
 {
     /** */
     private static final long serialVersionUID = 20160918L;
 
     /** the OTS network on which Links / Lanes are registered. */
     private final OTSNetwork network;
 
     /**
      * Construct a new LaneGTUTransceiver.
      * @param connector Connector; the IMB connector through which this transceiver communicates
      * @param simulator OTSDEVSSimulatorInterface; the simulator to schedule the incoming notifications on
      * @param network OTSNetwork; the OTS network on which Links for Lanes are registered
      * @throws IMBException when the registration of one of the channels fails
      * @throws NullPointerException in case one of the arguments is null.
      */
     public LaneGTUTransceiver(final Connector connector, final OTSDEVSSimulatorInterface simulator, final OTSNetwork network)
             throws IMBException
     {
         super("Lane_GTU", connector, simulator);
         this.network = network;
 
         // listen on network changes and register the listener to all the Links
         addListeners();
     }
 
     /**
      * Ensure that we get notified about newly created and destroyed Links instrument all currently existing Links.
      * @throws IMBException in case notification of existing Lanes fails
      */
     private void addListeners() throws IMBException
     {
         // Subscribe to all future link creation and removal events.
         this.network.addListener(this, Network.LINK_ADD_EVENT);
         this.network.addListener(this, Network.LINK_REMOVE_EVENT);
 
         // For already existing links, post ourselves a LINK_ADD_EVENT
         for (Link link : this.network.getLinkMap().values())
         {
             try
             {
                 this.notify(new TimedEvent<OTSSimTimeDouble>(Network.LINK_ADD_EVENT, this.network, link.getId(),
                         getSimulator().getSimulatorTime()));
             }
             catch (RemoteException exception)
             {
                 throw new IMBException(exception);
             }
         }
     }
 
     /** {@inheritDoc} */
     @Override
     public void notify(final EventInterface event) throws RemoteException
     {
         EventType type = event.getType();
         if (type.equals(Network.LINK_ADD_EVENT))
         {
             Link link = this.network.getLink((String) event.getContent());
             if (!(link instanceof CrossSectionLink))
             {
                 System.err.println("LaneGTUTransceiver.notify(LINK_ADD) - Don't know how to handle a non-CrossSectionLink");
                 return;
             }
             CrossSectionLink csl = (CrossSectionLink) link;
 
             csl.addListener(this, CrossSectionLink.LANE_ADD_EVENT);
             csl.addListener(this, CrossSectionLink.LANE_REMOVE_EVENT);
 
             // For already existing lanes, post ourselves a LANE_ADD_EVENT
             for (Lane lane : csl.getLanes())
             {
                 try
                 {
                     this.notify(new Event(CrossSectionLink.LANE_ADD_EVENT, csl, new Object[] { link.getNetwork().getId(),
                             link.getId(), lane.getId(), lane, csl.getLanes().indexOf(lane) }));
                 }
                 catch (RemoteException exception)
                 {
                     System.err.println("LaneGTUTransceiver.notify(LINK_ADD) - RemoteException: " + exception.getMessage());
                     return;
                 }
             }
         }
 
         else if (type.equals(CrossSectionLink.LANE_ADD_EVENT))
         {
             Object[] content = (Object[]) event.getContent();
             Lane lane = (Lane) content[3];
 
             // post the Lane_GTU message to register the lane on the IMB bus
             try
             {
                 getConnector().postIMBMessage("Lane_GTU", IMBEventType.NEW, transformNew(event));
             }
             catch (IMBException exception)
             {
                 System.err.println("LaneGTUTransceiver.notify(LANE_ADD) - IMBException: " + exception.getMessage());
                 return;
             }
 
             lane.addListener(this, Lane.GTU_ADD_EVENT);
             lane.addListener(this, Lane.GTU_REMOVE_EVENT);
 
             // Post ourselves a GTU_ADD_EVENT for every GTU currently on the lane
             int gtuCount = lane.getGtuList().size();
             for (LaneBasedGTU gtu : lane.getGtuList())
             {
                 try
                 {
                     this.notify(new TimedEvent<OTSSimTimeDouble>(Lane.GTU_ADD_EVENT, lane,
                             new Object[] { gtu.getId(), gtu, gtuCount }, getSimulator().getSimulatorTime()));
                 }
                 catch (RemoteException exception)
                 {
                     System.err.println("LaneGTUTransceiver.notify(LANE_ADD) - RemoteException: " + exception.getMessage());
                     return;
                 }
             }
         }
 
         else if (type.equals(Network.LINK_REMOVE_EVENT))
         {
             Link link = this.network.getLink((String) event.getContent());
             if (!(link instanceof CrossSectionLink))
             {
                 System.err.println("LaneGTUTransceiver.notify(LINK_REMOVE) - Don't know how to handle a non-CrossSectionLink");
                 return;
             }
             CrossSectionLink csl = (CrossSectionLink) link;
 
             csl.removeListener(this, CrossSectionLink.LANE_ADD_EVENT);
             csl.removeListener(this, CrossSectionLink.LANE_REMOVE_EVENT);
 
             // For already existing lanes, post ourselves a LANE_REMOVE_EVENT
             for (Lane lane : csl.getLanes())
             {
                 try
                 {
                     this.notify(new Event(CrossSectionLink.LANE_REMOVE_EVENT, csl,
                             new Object[] { link.getNetwork().getId(), link.getId(), lane.getId() }));
                 }
                 catch (RemoteException exception)
                 {
                     System.err.println("LaneGTUTransceiver.notify(LINK_REMOVE) - RemoteException: " + exception.getMessage());
                     return;
                 }
             }
         }
 
         else if (type.equals(CrossSectionLink.LANE_REMOVE_EVENT))
         {
             Object[] content = (Object[]) event.getContent();
             String laneId = (String) content[2];
             CrossSectionLink csl = (CrossSectionLink) event.getSource();
             Lane lane = (Lane) csl.getCrossSectionElement(laneId);
 
             lane.removeListener(this, Lane.GTU_ADD_EVENT);
             lane.removeListener(this, Lane.GTU_REMOVE_EVENT);
 
             // post the Node message to de-register the lane from the IMB bus
             try
             {
                 getConnector().postIMBMessage("Lane_GTU", IMBEventType.DELETE, transformDelete(event));
             }
             catch (IMBException exception)
             {
                 System.err.println("LaneGTUTransceiver.notify(LANE_REMOVE) - IMBException: " + exception.getMessage());
                 return;
             }
         }
 
         else if (type.equals(Lane.GTU_ADD_EVENT) || type.equals(Lane.GTU_REMOVE_EVENT))
         {
             try
             {
                 getConnector().postIMBMessage("Lane_GTU", IMBEventType.CHANGE, transformChange(event));
             }
             catch (IMBException exception)
             {
                 System.err.println("LaneGTUTransceiver.notify CHANGE - IMBException: " + exception.getMessage());
                 return;
             }
         }
 
         else
         {
             System.err.println("LaneGTUTransceiver.notify - Unhandled event: " + event);
         }
     }
 
     /**
      * Transform the addition of a Lane to the network to a corresponding IMB message.
      * @param event the event to transform to a NEW message.
      * @return the NEW payload
      */
     public Object[] transformNew(final EventInterface event)
     {
         if (CrossSectionLink.LANE_ADD_EVENT.equals(event.getType()))
         {
             Object[] content = (Object[]) event.getContent();
             Lane lane = (Lane) content[3];
             int laneNumber = (Integer) content[4];
             double timestamp = getSimulator().getSimulatorTime().getTime().si;
             List<Object> resultList = new ArrayList<>();
             resultList.add(timestamp);
             resultList.add(this.network.getId());
             resultList.add(lane.getParentLink().getId());
             resultList.add(lane.getId());
             resultList.add(laneNumber);
             resultList.add(lane.getCenterLine().size());
             for (int i = 0; i < lane.getCenterLine().size(); i++)
             {
                 try
                 {
                     OTSPoint3D p = lane.getCenterLine().get(i);
                     resultList.add(p.x);
                     resultList.add(p.y);
                     resultList.add(p.z);
                 }
                 catch (OTSGeometryException exception)
                 {
                     exception.printStackTrace();
                     resultList.add(0.0d);
                     resultList.add(0.0d);
                     resultList.add(0.0d);
                 }
             }
             return resultList.toArray();
         }
         System.err.println("LaneGTUTransceiver.transformNew: Don't know how to transform event " + event);
         return new Object[] {};
     }
 
     /**
      * Transform the GTU added or removed event content to a corresponding IMB message.
      * @param event the event to transform to a CHANGE message.
      * @return the CHANGE payload
      */
     public Object[] transformChange(final EventInterface event)
     {
         Object[] gtuInfo = (Object[]) event.getContent();
         String gtuId = (String) gtuInfo[0];
         int countAfterEvent = (Integer) gtuInfo[2];
         Lane lane = (Lane) event.getSource();
         double timestamp = getSimulator().getSimulatorTime().getTime().si;
         if (Lane.GTU_ADD_EVENT.equals(event.getType()))
         {
             return new Object[] { timestamp, this.network.getId(), lane.getParentLink().getId(), lane.getId(), true, gtuId,
                     countAfterEvent };
         }
         else if (Lane.GTU_REMOVE_EVENT.equals(event.getType()))
         {
             return new Object[] { timestamp, this.network.getId(), lane.getParentLink().getId(), lane.getId(), false, gtuId,
                     countAfterEvent };
         }
         System.err.println("LaneGTUTransceiver.transformChange: Don't know how to transform event " + event);
         return new Object[] {};
     }
 
     /**
      * Transform the removal of a Lane from the network to a corresponding IMB message.
      * @param event the event to transform to a DELETE message.
      * @return the DELETE payload
      */
     public Object[] transformDelete(final EventInterface event)
     {
         if (CrossSectionLink.LANE_REMOVE_EVENT.equals(event.getType()))
         {
             Object[] content = (Object[]) event.getContent();
             String networkId = (String) content[0];
             String linkId = (String) content[1];
             String laneId = (String) content[2];
             double timestamp = getSimulator().getSimulatorTime().getTime().si;
             return new Object[] { timestamp, networkId, linkId, laneId };
         }
         System.err.println("LaneGTUTransceiver.transformDelete: Don't know how to transform event " + event);
         return new Object[] {};
     }
 
 }