package org.opentrafficsim.road.gtu.lane.tactical.lmrs;
   
   import org.djunits.value.vdouble.scalar.Length;
   import org.djunits.value.vdouble.scalar.Speed;
   import org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics;
   import org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException;
   import org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterTypes;
   import org.opentrafficsim.core.gtu.perception.EgoPerception;
   import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
  import org.opentrafficsim.road.gtu.lane.perception.InfrastructureLaneChangeInfo;
  import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
  import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
  import org.opentrafficsim.road.gtu.lane.perception.categories.InfrastructurePerception;
  import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.Desire;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.MandatoryIncentive;
  
  /**
   * Determines desire by assessing the number of required lane change to be performed and the distance within which these have to
   * be performed. Desire starts to increase from 0 linearly over a distance of x0 per required lane change, or per v*t0 per
   * required lane change. For v>x0/t0 this gives that remaining time is critical, while for v<x0/t0 remaining space is
   * critical. The desire is set towards the adjacent lane with a better situation. Negative desire towards the other lane, the
   * extent of which pertains to the other adjacent lane, is also set.
   * <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 Apr 13, 2016 <br>
   * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
   */
  public class IncentiveRoute implements MandatoryIncentive
  {
  
      /** {@inheritDoc} */
      @Override
      public final Desire determineDesire(final BehavioralCharacteristics behavioralCharacteristics,
          final LanePerception perception, final CarFollowingModel carFollowingModel, final Desire mandatoryDesire)
          throws ParameterException, OperationalPlanException
      {
          // desire to leave each lane
          double dLeft = getDesireToLeave(behavioralCharacteristics, perception, RelativeLane.LEFT);
          double dCurr = getDesireToLeave(behavioralCharacteristics, perception, RelativeLane.CURRENT);
          double dRigh = getDesireToLeave(behavioralCharacteristics, perception, RelativeLane.RIGHT);
          // change to desire to change left and right
          dLeft = dLeft < dCurr ? dCurr : dLeft > dCurr ? -dLeft : 0;
          dRigh = dRigh < dCurr ? dCurr : dRigh > dCurr ? -dRigh : 0;
          return new Desire(dLeft, dRigh);
      }
  
      /**
       * Calculates desire to leave a lane.
       * @param bc behavioral characteristics
       * @param perception perception
       * @param lane relative lane to evaluate
       * @return desire to leave a lane
       * @throws ParameterException in case of a parameter exception
       * @throws OperationalPlanException in case of perception exceptions
       */
      private double getDesireToLeave(final BehavioralCharacteristics bc, final LanePerception perception,
          final RelativeLane lane) throws ParameterException, OperationalPlanException
      {
          Speed v = perception.getPerceptionCategory(EgoPerception.class).getSpeed();
          double dOut = Double.NEGATIVE_INFINITY;
          if (perception.getPerceptionCategory(InfrastructurePerception.class).getCrossSection().contains(lane))
          {
              for (InfrastructureLaneChangeInfo info : perception.getPerceptionCategory(InfrastructurePerception.class)
                  .getInfrastructureLaneChangeInfo(lane))
              {
                  double d = getDesireToLeave(bc, info.getRemainingDistance(), info.getRequiredNumberOfLaneChanges(), v);
                  dOut = d > dOut ? d : dOut;
              }
          }
          return dOut;
      }
  
      /**
       * Calculates desire to leave a lane for a single infrastructure info.
       * @param bc behavioral characteristics
       * @param x remaining distance for lane changes
       * @param n number of required lane changes
       * @param v current speed
       * @return desire to leave a lane for a single infrastructure info
       * @throws ParameterException in case of a parameter exception
       */
      private double getDesireToLeave(final BehavioralCharacteristics bc, final Length x, final int n, final Speed v)
          throws ParameterException
      {
          double d1 = 1 - x.si / (n * bc.getParameter(ParameterTypes.LOOKAHEAD).si);
          double d2 = 1 - (x.si / v.si) / (n * bc.getParameter(ParameterTypes.T0).si);
          d1 = d2 > d1 ? d2 : d1;
          return d1 < 0 ? 0 : d1;
      }
  
      /** {@inheritDoc} */
      @Override
      public final String toString()
      {
          return "IncentiveRoute";
      }
 
 }