package org.opentrafficsim.road.gtu.lane.tactical.lmrs;
   
   import java.util.LinkedHashSet;
   
   import org.djunits.value.vdouble.scalar.Length;
   import org.djunits.value.vdouble.scalar.Speed;
   import org.djunits.value.vdouble.scalar.Time;
   import org.opentrafficsim.base.parameters.ParameterException;
   import org.opentrafficsim.base.parameters.ParameterTypeClassList;
  import org.opentrafficsim.base.parameters.ParameterTypes;
  import org.opentrafficsim.base.parameters.Parameters;
  import org.opentrafficsim.base.parameters.constraint.ClassCollectionConstraint;
  import org.opentrafficsim.core.gtu.GTUException;
  import org.opentrafficsim.core.gtu.perception.EgoPerception;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
  import org.opentrafficsim.core.network.NetworkException;
  import org.opentrafficsim.road.gtu.animation.Blockable;
  import org.opentrafficsim.road.gtu.animation.DesireBased;
  import org.opentrafficsim.road.gtu.animation.Synchronizable;
  import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
  import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
  import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
  import org.opentrafficsim.road.gtu.lane.perception.categories.DelayedNeighborsPerception;
  import org.opentrafficsim.road.gtu.lane.perception.categories.InfrastructurePerception;
  import org.opentrafficsim.road.gtu.lane.plan.operational.LaneChange;
  import org.opentrafficsim.road.gtu.lane.plan.operational.LaneOperationalPlanBuilder;
  import org.opentrafficsim.road.gtu.lane.plan.operational.SimpleOperationalPlan;
  import org.opentrafficsim.road.gtu.lane.tactical.AbstractLaneBasedTacticalPlanner;
  import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.Cooperation;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.Desire;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.GapAcceptance;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.Incentive;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.LmrsData;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.LmrsParameters;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.LmrsUtil;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.MandatoryIncentive;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.Synchronization;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.Tailgating;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.VoluntaryIncentive;
  import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
  import org.opentrafficsim.road.network.speed.SpeedLimitProspect;
  
  import nl.tudelft.simulation.language.d3.DirectedPoint;
  
  /**
   * Implementation of the LMRS (Lane change Model with Relaxation and Synchronization). See Schakel, W.J., Knoop, V.L., and Van
   * Arem, B. (2012), <a href="http://victorknoop.eu/research/papers/TRB2012_LMRS_reviewed.pdf">LMRS: Integrated Lane Change Model
   * with Relaxation and Synchronization</a>, Transportation Research Records: Journal of the Transportation Research Board, No.
   * 2316, pp. 47-57. Note in the official versions of TRB and TRR some errors appeared due to the typesetting of the papers (not
   * in the preprint provided here). A list of errata for the official versions is found
   * <a href="http://victorknoop.eu/research/papers/Erratum_LMRS.pdf">here</a>.
   * <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/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 LMRS extends AbstractLaneBasedTacticalPlanner implements DesireBased, Synchronizable, Blockable
  {
  
      /** Parameter type for mandatory lane change incentives. */
      public static final ParameterTypeClassList<MandatoryIncentive> MANDATORY = new ParameterTypeClassList<>("man.incent.",
              "Mandatory lane-change incentives.", ParameterTypeClassList.getValueClass(MandatoryIncentive.class));
  
      /** Parameter type for voluntary lane change incentives. */
      public static final ParameterTypeClassList<VoluntaryIncentive> VOLUNTARY = new ParameterTypeClassList<>("vol.incent.",
              "Voluntary lane-change incentives.", ParameterTypeClassList.getValueClass(VoluntaryIncentive.class));
  
      /** Parameter type for acceleration incentives. */
      public static final ParameterTypeClassList<AccelerationIncentive> ACCELERATION = new ParameterTypeClassList<>("acc.incent.",
              "Acceleration incentives.", ParameterTypeClassList.getValueClass(AccelerationIncentive.class),
              ClassCollectionConstraint.newInstance(AccelerationBusStop.class));
  
      /** Serialization id. */
      private static final long serialVersionUID = 20160300L;
  
      /** Lane change status. */
      private final LaneChange laneChange = new LaneChange();
  
      /** LMRS data. */
      private final LmrsData lmrsData;
  
      /** Set of mandatory lane change incentives. */
      private final LinkedHashSet<MandatoryIncentive> mandatoryIncentives = new LinkedHashSet<>();
  
      /** Set of voluntary lane change incentives. */
      private final LinkedHashSet<VoluntaryIncentive> voluntaryIncentives = new LinkedHashSet<>();
  
      /** Set of acceleration incentives. */
      private final LinkedHashSet<AccelerationIncentive> accelerationIncentives = new LinkedHashSet<>();
  
      /**
       * Constructor setting the car-following model.
       * @param carFollowingModel Car-following model.
       * @param gtu GTU
       * @param lanePerception perception
      * @param synchronization type of synchronization
      * @param cooperation type of cooperation
      * @param gapAcceptance gap-acceptance
      * @param tailGating tail gating
      */
     public LMRS(final CarFollowingModel carFollowingModel, final LaneBasedGTU gtu, final LanePerception lanePerception,
             final Synchronization synchronization, final Cooperation cooperation, final GapAcceptance gapAcceptance,
             final Tailgating tailGating)
     {
         super(carFollowingModel, gtu, lanePerception);
         this.lmrsData = new LmrsData(synchronization, cooperation, gapAcceptance, tailGating);
     }
 
     /**
      * Adds a mandatory incentive. Ignores {@code null}.
      * @param incentive Incentive to add.
      */
     public final void addMandatoryIncentive(final MandatoryIncentive incentive)
     {
         if (incentive != null)
         {
             this.mandatoryIncentives.add(incentive);
         }
     }
 
     /**
      * Adds a voluntary incentive. Ignores {@code null}.
      * @param incentive Incentive to add.
      */
     public final void addVoluntaryIncentive(final VoluntaryIncentive incentive)
     {
         if (incentive != null)
         {
             this.voluntaryIncentives.add(incentive);
         }
     }
 
     /**
      * Adds an acceleration incentive. Ignores {@code null}.
      * @param incentive Incentive to add.
      */
     public final void addAccelerationIncentive(final AccelerationIncentive incentive)
     {
         if (incentive != null)
         {
             this.accelerationIncentives.add(incentive);
         }
     }
 
     /**
      * Sets the default lane change incentives.
      */
     public final void setDefaultIncentives()
     {
         this.mandatoryIncentives.clear();
         this.voluntaryIncentives.clear();
         this.accelerationIncentives.clear();
         this.mandatoryIncentives.add(new IncentiveRoute());
         // this.mandatoryIncentives.add(new IncentiveGetInLane());
         this.voluntaryIncentives.add(new IncentiveSpeedWithCourtesy());
         this.voluntaryIncentives.add(new IncentiveKeep());
         this.accelerationIncentives.add(new AccelerationSpeedLimitTransition());
         this.accelerationIncentives.add(new AccelerationTrafficLights());
         this.accelerationIncentives.add(new AccelerationConflicts());
     }
 
     /** {@inheritDoc} */
     @Override
     public final OperationalPlan generateOperationalPlan(final Time startTime, final DirectedPoint locationAtStartTime)
             throws OperationalPlanException, GTUException, NetworkException, ParameterException
     {
 
         // obtain objects to get info
         getPerception().perceive();
         SpeedLimitProspect slp = getPerception().getPerceptionCategory(InfrastructurePerception.class)
                 .getSpeedLimitProspect(RelativeLane.CURRENT);
         SpeedLimitInfo sli = slp.getSpeedLimitInfo(Length.ZERO);
         Parameters params = getGtu().getParameters();
 
         // LMRS
         SimpleOperationalPlan simplePlan = LmrsUtil.determinePlan(getGtu(), startTime, getCarFollowingModel(), this.laneChange,
                 this.lmrsData, getPerception(), this.mandatoryIncentives, this.voluntaryIncentives);
 
         // Lower acceleration from additional sources, consider adjacent lane when changing lane or synchronizing
         Speed speed = getPerception().getPerceptionCategory(EgoPerception.class).getSpeed();
         RelativeLane[] lanes;
         double dLeft = params.getParameterOrNull(LmrsParameters.DLEFT);
         double dRight = params.getParameterOrNull(LmrsParameters.DRIGHT);
         double dSync = params.getParameterOrNull(LmrsParameters.DSYNC);
         if (this.laneChange.isChangingLane())
         {
             lanes = new RelativeLane[] { RelativeLane.CURRENT, this.laneChange.getSecondLane(getGtu()) };
         }
         else if (dLeft >= dSync && dLeft >= dRight)
         {
             lanes = new RelativeLane[] { RelativeLane.CURRENT, RelativeLane.LEFT };
         }
         else if (dRight >= dSync)
         {
             lanes = new RelativeLane[] { RelativeLane.CURRENT, RelativeLane.RIGHT };
         }
         else
         {
             lanes = new RelativeLane[] { RelativeLane.CURRENT };
         }
         for (AccelerationIncentive incentive : this.accelerationIncentives)
         {
             for (RelativeLane lane : lanes)
             {
                 incentive.accelerate(simplePlan, lane, getGtu(), getPerception(), getCarFollowingModel(), speed, params, sli);
             }
         }
 
         if (simplePlan.isLaneChange())
         {
             this.laneChange.setDesiredLaneChangeDuration(getGtu().getParameters().getParameter(ParameterTypes.LCDUR));
             // adjust lane based data in perception
             // TODO make this automatic within the perception itself, e.g. by a lane change event from the tactical planner
             if (getPerception().contains(DelayedNeighborsPerception.class))
             {
                 getPerception().getPerceptionCategory(DelayedNeighborsPerception.class)
                         .changeLane(simplePlan.getLaneChangeDirection());
             }
         }
 
         // set turn indicator
         simplePlan.setTurnIndicator(getGtu());
 
         // create plan
         return LaneOperationalPlanBuilder.buildPlanFromSimplePlan(getGtu(), startTime, simplePlan, this.laneChange);
 
     }
 
     /** {@inheritDoc} */
     @Override
     public final Desire getLatestDesire(final Class<? extends Incentive> incentiveClass)
     {
         return this.lmrsData.getLatestDesire(incentiveClass);
     }
 
     /** {@inheritDoc} */
     @Override
     public State getSynchronizationState()
     {
         return this.lmrsData.getSynchronizationState();
     }
 
     /** {@inheritDoc} */
     @Override
     public boolean isBlocking()
     {
         for (AccelerationIncentive acc : this.accelerationIncentives)
         {
             if (acc instanceof AccelerationConflicts)
             {
                 return ((AccelerationConflicts) acc).isBlocking();
             }
         }
         return false;
     }
 
     /** {@inheritDoc} */
     @Override
     public final String toString()
     {
         return "LMRS [mandatoryIncentives=" + this.mandatoryIncentives + ", voluntaryIncentives=" + this.voluntaryIncentives
                 + ", accelerationIncentives = " + this.accelerationIncentives + "]";
     }
 
 }