package org.opentrafficsim.road.gtu.lane.tactical.toledo;
   
   import org.djunits.unit.DurationUnit;
   import org.djunits.unit.LengthUnit;
   import org.djunits.unit.SpeedUnit;
   import org.djunits.value.vdouble.scalar.Acceleration;
   import org.djunits.value.vdouble.scalar.Duration;
   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.ParameterSet;
  import org.opentrafficsim.core.gtu.GTUException;
  import org.opentrafficsim.road.gtu.lane.perception.PerceptionIterable;
  import org.opentrafficsim.road.gtu.lane.perception.PerceptionIterableSet;
  import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;
  import org.opentrafficsim.road.gtu.lane.tactical.util.CarFollowingUtil.CarFollowingHeadway;
  
  /**
   * <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 Jul 20, 2016 <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 ToledoCFTester
  {
  
      /**
       * @param args arguments for the run (should be empty at the moment)
       * @throws ParameterException when Toledo parameters cannot be found
       * @throws GTUException when CarFollowingHeadway cannot be calculated
       */
      public static void main(final String[] args) throws ParameterException, GTUException
      {
  
          ParameterSet params = new ParameterSet();
          params.setDefaultParameters(ToledoCarFollowing.class);
          ToledoCarFollowing cf = new ToledoCarFollowing();
  
          Speed desiredSpeed = new Speed(120, SpeedUnit.KM_PER_HOUR);
          Duration dt = new Duration(0.5, DurationUnit.SECOND);
          Time t = Time.ZERO;
  
          Speed speed = Speed.ZERO;
          Length x = Length.ZERO;
          Length leader = new Length(300, LengthUnit.METER);
  
          while (x.eq0() || speed.gt0())
          {
              Length s = leader.minus(x);
              PerceptionIterable<Headway> leaders =
                      new PerceptionIterableSet<>(new CarFollowingHeadway(s, Speed.ZERO));
              Length desiredHeadway = cf.desiredHeadway(params, speed);
              Acceleration a = cf.followingAcceleration(params, speed, desiredSpeed, desiredHeadway, leaders);
              System.out.println("t=" + t + ", v=" + speed + ", s=" + s + ", a=" + a);
  
              a = Acceleration.max(a, speed.divideBy(dt).neg());
              t = t.plus(dt);
              x = new Length(x.si + speed.si * dt.si + .5 * a.si * dt.si * dt.si, LengthUnit.SI);
              speed = new Speed(speed.si + a.si * dt.si, SpeedUnit.SI);
  
          }
  
      }
  
  }