package org.opentrafficsim.road.gtu.lane.tactical.lmrs;
   
   import java.util.SortedSet;
   
   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.plan.operational.OperationalPlanException;
  import org.opentrafficsim.road.gtu.lane.Break;
  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.perception.categories.NeighborsPerception;
  import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTU;
  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.LmrsParameters;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.MandatoryIncentive;
  
  /**
   * Incentive that lets drivers queue in an adjacent lane as soon as the speed is low in the adjacent lane, and stopping in the
   * current lane might block traffic towards other directions.
   * <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/node/13">OpenTrafficSim License</a>.
   * <p>
   * @version $Revision$, $LastChangedDate$, by $Author$, initial version 28 mrt. 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 IncentiveGetInLane implements MandatoryIncentive
  {
  
      /** {@inheritDoc} */
      @Override
      public Desire determineDesire(final BehavioralCharacteristics behavioralCharacteristics, final LanePerception perception,
              final CarFollowingModel carFollowingModel, final Desire mandatoryDesire)
              throws ParameterException, OperationalPlanException
      {
  
          Break.on(perception, "472", 28 * 60, true);
  
          Speed vCong = behavioralCharacteristics.getParameter(ParameterTypes.VCONG);
          double hierarchy = behavioralCharacteristics.getParameter(LmrsParameters.HIERARCHY);
          InfrastructurePerception infra = perception.getPerceptionCategory(InfrastructurePerception.class);
          NeighborsPerception neighbors = perception.getPerceptionCategory(NeighborsPerception.class);
          SortedSet<InfrastructureLaneChangeInfo> info = infra.getInfrastructureLaneChangeInfo(RelativeLane.CURRENT);
          double left = 0;
          double right = 0;
          double vCur = Double.POSITIVE_INFINITY;
          for (RelativeLane lane : new RelativeLane[] { RelativeLane.LEFT, RelativeLane.RIGHT })
          {
              if (infra.getCrossSection().contains(lane))
              {
                  SortedSet<InfrastructureLaneChangeInfo> adjInfo = infra.getInfrastructureLaneChangeInfo(lane);
                  if (!info.isEmpty() && !info.first().isDeadEnd())
                  {
                      if (adjInfo.isEmpty()
                              || (adjInfo.first().getRemainingDistance().le(info.first().getRemainingDistance()) && adjInfo
                                      .first().getRequiredNumberOfLaneChanges() <= info.first().getRequiredNumberOfLaneChanges()))
                      {
                          double v = Double.POSITIVE_INFINITY;
                          for (HeadwayGTU neighbor : neighbors.getLeaders(lane))
                          {
                              v = Math.min(v, neighbor.getSpeed().si);
                          }
                          if (lane.isLeft())
                          {
                              double d = Math.max(0.0, 1.0 - v / vCong.si);
                              left += d;
                              right -= d;
                          }
                          else
                          {
                              double d = Math.max(0.0, 1.0 - v / vCong.si);
                              right += d;
                              left -= d;
                          }
                      }
                  }
                  if (!adjInfo.isEmpty() && !adjInfo.first().isDeadEnd())
                  {
                      if (info.isEmpty()
                              || (info.first().getRemainingDistance().le(adjInfo.first().getRemainingDistance()) && info.first()
                                      .getRequiredNumberOfLaneChanges() <= adjInfo.first().getRequiredNumberOfLaneChanges()))
                      {
                          if (Double.isInfinite(vCur))
                          {
                              for (HeadwayGTU neighbor : neighbors.getLeaders(RelativeLane.CURRENT))
                              {
                                  vCur = Math.min(vCur, neighbor.getSpeed().si);
                              }
                          }
                          if (lane.isLeft())
                          {
                              left -= Math.max(0.0, 1.0 - vCur / vCong.si);
                         }
                         else
                         {
                             right -= Math.max(0.0, 1.0 - vCur / vCong.si);
                         }
                     }
                 }
             }
         }
         return new Desire(left * hierarchy, right * hierarchy);
     }
 
 }