package org.opentrafficsim.road.gtu.lane.perception;
   
   import java.util.LinkedHashSet;
   import java.util.List;
   import java.util.Set;
   
   import org.djunits.value.vdouble.scalar.Length;
   import org.opentrafficsim.core.gtu.RelativePosition;
   import org.opentrafficsim.core.network.route.Route;
  import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
  import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;
  import org.opentrafficsim.road.network.lane.object.LaneBasedObject;
  
  /**
   * Iterable that searches downstream for a certain type of lane based object.
   * <p>
   * Copyright (c) 2013-2018 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 16 feb. 2018 <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>
   * @param <H> headway type
   * @param <L> lane based object type
   */
  public abstract class LaneBasedObjectIterable<H extends Headway, L extends LaneBasedObject>
          extends AbstractPerceptionIterable<H, L, Void>
  {
  
      /** Class of lane based objects to return. */
      private final Class<L> clazz;
  
      /**
       * Constructor.
       * @param perceivingGtu LaneBasedGTU; perceiving GTU
       * @param clazz Class&lt;H&gt;; class of lane based objects to return
       * @param root LaneRecord; root record
       * @param initialPosition Length; initial position
       * @param maxDistance Length; max distance to search
       * @param relativePosition RelativePosition; relative position
       * @param route Route; route of the GTU, may be {@code null}
       */
      public LaneBasedObjectIterable(final LaneBasedGTU perceivingGtu, final Class<L> clazz, final LaneRecord<?> root,
              final Length initialPosition, final Length maxDistance, final RelativePosition relativePosition, final Route route)
      {
          super(perceivingGtu, root, initialPosition, true, maxDistance, relativePosition, route);
          this.clazz = clazz;
      }
  
      /** {@inheritDoc} */
      @SuppressWarnings("unchecked")
      @Override
      protected Entry getNext(final LaneRecord<?> record, final Length position, final Void counter)
      {
          if (!record.isDownstreamBranch())
          {
              return null;
          }
          List<LaneBasedObject> list = record.getLane().getObjectAhead(position, record.getDirection());
          while (list != null)
          {
              Set<L> set = new LinkedHashSet<>();
              Length pos = list.get(0).getLongitudinalPosition();
              for (LaneBasedObject object : list)
              {
                  if (this.clazz.isAssignableFrom(object.getClass()))
                  {
                      // is assignable, so safe cast
                      set.add((L) object);
                  }
              }
              if (!set.isEmpty())
              {
                  if (set.size() == 1)
                  {
                      return new Entry(set.iterator().next(), null, pos);
                  }
                  return new Entry(set, null, pos);
              }
              list = record.getLane().getObjectAhead(pos, record.getDirection());
          }
          return null;
      }
  
      /** {@inheritDoc} */
      @Override
      protected final Length getDistance(final L object, final LaneRecord<?> record, final Length position)
      {
          return record.getDistanceToPosition(position).minus(getDx());
      }
  
      /** {@inheritDoc} */
      @Override
      public String toString()
      {
          return "LaneBasedObjectIterable [class=" + this.clazz + "]";
      }
  
 }