package org.opentrafficsim.road.gtu.lane.tactical;
   
   import java.util.ArrayList;
   import java.util.List;
   
   import nl.tudelft.simulation.language.d3.DirectedPoint;
   
   import org.djunits.unit.TimeUnit;
   import org.djunits.value.vdouble.scalar.Duration;
  import org.djunits.value.vdouble.scalar.Length;
  import org.djunits.value.vdouble.scalar.Time;
  import org.opentrafficsim.core.gtu.GTUException;
  import org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException;
  import org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterTypes;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan.Segment;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
  import org.opentrafficsim.core.network.NetworkException;
  import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
  import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
  import org.opentrafficsim.road.gtu.lane.perception.categories.DefaultSimplePerception;
  import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;
  import org.opentrafficsim.road.gtu.lane.tactical.following.AccelerationStep;
  import org.opentrafficsim.road.gtu.lane.tactical.following.GTUFollowingModelOld;
  
  /**
   * Lane-based tactical planner that implements car following behavior. This tactical planner retrieves the car following model
   * from the strategical planner and will generate an operational plan for the GTU.
   * <p>
   * This lane-based tactical planner makes decisions based on headway (GTU following model). It can ask the strategic planner for
   * assistance on the route to take when the network splits.
   * <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: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
   * initial version Nov 25, 2015 <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 LaneBasedGTUFollowingTacticalPlanner extends AbstractLaneBasedTacticalPlanner
  {
      /** */
      private static final long serialVersionUID = 20151125L;
  
      /**
       * Instantiate a tactical planner with just GTU following behavior and no lane changes.
       * @param carFollowingModel Car-following model.
       * @param gtu GTU
       */
      public LaneBasedGTUFollowingTacticalPlanner(final GTUFollowingModelOld carFollowingModel, final LaneBasedGTU gtu)
      {
          super(carFollowingModel, gtu);
          getPerception().addPerceptionCategory(new DefaultSimplePerception(getPerception()));
      }
  
      /** {@inheritDoc} */
      @Override
      public final OperationalPlan generateOperationalPlan(final Time startTime, final DirectedPoint locationAtStartTime)
              throws OperationalPlanException, NetworkException, GTUException, ParameterException
      {
          // ask Perception for the local situation
          LaneBasedGTU laneBasedGTU = getGtu();
          LanePerception perception = getPerception();
  
          // if the GTU's maximum speed is zero (block), generate a stand still plan for one second
          if (laneBasedGTU.getMaximumSpeed().si < OperationalPlan.DRIFTING_SPEED_SI)
          {
              return new OperationalPlan(getGtu(), locationAtStartTime, startTime, new Duration(1.0, TimeUnit.SECOND));
          }
  
          // perceive every time step... This is the 'classical' way of tactical planning.
          perception.perceive();
  
          // see how far we can drive
          Length maxDistance = laneBasedGTU.getBehavioralCharacteristics().getParameter(ParameterTypes.LOOKAHEAD);
          LanePathInfo lanePathInfo = buildLanePathInfo(laneBasedGTU, maxDistance);
  
          // look at the conditions for headway from a GTU in front
          Headway headwayGTU = perception.getPerceptionCategory(DefaultSimplePerception.class).getForwardHeadwayGTU();
          AccelerationStep accelerationStepGTU = null;
          if (headwayGTU.getDistance().ge(maxDistance))
          {
              // TODO I really don't like this -- if there is a lane drop at 20 m, the GTU should stop...
              accelerationStepGTU = ((GTUFollowingModelOld) getCarFollowingModel()).computeAccelerationStepWithNoLeader(
                      laneBasedGTU, lanePathInfo.getPath().getLength(),
                      perception.getPerceptionCategory(DefaultSimplePerception.class).getSpeedLimit());
          }
          else
          {
              accelerationStepGTU = ((GTUFollowingModelOld) getCarFollowingModel()).computeAccelerationStep(laneBasedGTU,
                      headwayGTU.getSpeed(), headwayGTU.getDistance(), lanePathInfo.getPath().getLength(),
                      perception.getPerceptionCategory(DefaultSimplePerception.class).getSpeedLimit());
          }
  
          // look at the conditions for headway from an object in front
          Headway headwayObject = perception.getPerceptionCategory(DefaultSimplePerception.class).getForwardHeadwayObject();
          AccelerationStep accelerationStepObject = null;
          if (headwayObject.getDistance().ge(maxDistance))
         {
             accelerationStepObject = ((GTUFollowingModelOld) getCarFollowingModel()).computeAccelerationStepWithNoLeader(
                     laneBasedGTU, lanePathInfo.getPath().getLength(),
                     perception.getPerceptionCategory(DefaultSimplePerception.class).getSpeedLimit());
         }
         else
         {
             accelerationStepObject = ((GTUFollowingModelOld) getCarFollowingModel()).computeAccelerationStep(laneBasedGTU,
                     headwayObject.getSpeed(), headwayObject.getDistance(), lanePathInfo.getPath().getLength(),
                     perception.getPerceptionCategory(DefaultSimplePerception.class).getSpeedLimit());
         }
 
         // see which one is most limiting
         AccelerationStep accelerationStep = accelerationStepGTU.getAcceleration().lt(accelerationStepObject.getAcceleration())
                 ? accelerationStepGTU : accelerationStepObject;
 
         // see if we have to continue standing still. In that case, generate a stand still plan
         if (accelerationStep.getAcceleration().si < 1E-6 && laneBasedGTU.getSpeed().si < OperationalPlan.DRIFTING_SPEED_SI)
         {
             return new OperationalPlan(getGtu(), locationAtStartTime, startTime, accelerationStep.getDuration());
         }
 
         List<Segment> operationalPlanSegmentList = new ArrayList<>();
         if (accelerationStep.getAcceleration().si == 0.0)
         {
             Segment segment = new OperationalPlan.SpeedSegment(accelerationStep.getDuration());
             operationalPlanSegmentList.add(segment);
         }
         else
         {
             Segment segment =
                     new OperationalPlan.AccelerationSegment(accelerationStep.getDuration(), accelerationStep.getAcceleration());
             operationalPlanSegmentList.add(segment);
         }
         OperationalPlan op = new OperationalPlan(getGtu(), lanePathInfo.getPath(), startTime, getGtu().getSpeed(),
                 operationalPlanSegmentList);
         return op;
     }
 
     /** {@inheritDoc} */
     @Override
     public final String toString()
     {
         return "LaneBasedGTUFollowingTacticalPlanner [carFollowingModel=" + getCarFollowingModel() + "]";
     }
 }