package org.opentrafficsim.road.gtu.lane.tactical.util.lmrs;
   
   import org.djunits.unit.AccelerationUnit;
   import org.djunits.value.vdouble.scalar.Acceleration;
   import org.djunits.value.vdouble.scalar.Speed;
   import org.opentrafficsim.base.parameters.ParameterException;
   import org.opentrafficsim.base.parameters.ParameterTypes;
   import org.opentrafficsim.base.parameters.Parameters;
   import org.opentrafficsim.core.gtu.perception.EgoPerception;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
  import org.opentrafficsim.core.network.LateralDirectionality;
  import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
  import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
  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.network.speed.SpeedLimitInfo;
  
  /**
   * Different forms of cooperation.
   * <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 2 mrt. 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>
   */
  public interface Cooperation extends LmrsParameters
  {
  
      /** Simple passive cooperation. */
      Cooperation PASSIVE = new Cooperation()
      {
          @Override
          public Acceleration cooperate(final LanePerception perception, final Parameters params, final SpeedLimitInfo sli,
                  final CarFollowingModel cfm, final LateralDirectionality lat, final Desire ownDesire)
                  throws ParameterException, OperationalPlanException
          {
              if ((lat.isLeft() && !perception.getLaneStructure().getExtendedCrossSection().contains(RelativeLane.LEFT))
                      || (lat.isRight() && !perception.getLaneStructure().getExtendedCrossSection().contains(RelativeLane.RIGHT)))
              {
                  return new Acceleration(Double.MAX_VALUE, AccelerationUnit.SI);
              }
              Acceleration b = params.getParameter(ParameterTypes.B);
              Acceleration a = new Acceleration(Double.MAX_VALUE, AccelerationUnit.SI);
              double dCoop = params.getParameter(DCOOP);
              Speed ownSpeed = perception.getPerceptionCategory(EgoPerception.class).getSpeed();
              RelativeLane relativeLane = new RelativeLane(lat, 1);
              for (HeadwayGTU leader : Synchronization.removeAllUpstreamOfConflicts(Synchronization.removeAllUpstreamOfConflicts(
                      perception.getPerceptionCategory(NeighborsPerception.class).getLeaders(relativeLane), perception,
                      relativeLane), perception, RelativeLane.CURRENT))
              {
                  Parameters params2 = leader.getParameters();
                  double desire = lat.equals(LateralDirectionality.LEFT) ? params2.getParameter(DRIGHT)
                          : lat.equals(LateralDirectionality.RIGHT) ? params2.getParameter(DLEFT) : 0;
                  if (desire >= dCoop && (leader.getSpeed().gt0() || leader.getDistance().gt0()))
                  {
                      Acceleration aSingle = LmrsUtil.singleAcceleration(leader.getDistance(), ownSpeed, leader.getSpeed(),
                              desire, params, sli, cfm);
                      a = Acceleration.min(a, aSingle);
                  }
              }
              return Acceleration.max(a, b.neg());
          }
      };
  
      /** Simple passive cooperation. */
      Cooperation PASSIVE_MOVING = new Cooperation()
      {
          @Override
          public Acceleration cooperate(final LanePerception perception, final Parameters params, final SpeedLimitInfo sli,
                  final CarFollowingModel cfm, final LateralDirectionality lat, final Desire ownDesire)
                  throws ParameterException, OperationalPlanException
          {
              if ((lat.isLeft() && !perception.getLaneStructure().getExtendedCrossSection().contains(RelativeLane.LEFT))
                      || (lat.isRight() && !perception.getLaneStructure().getExtendedCrossSection().contains(RelativeLane.RIGHT)))
              {
                  return new Acceleration(Double.MAX_VALUE, AccelerationUnit.SI);
              }
              Acceleration b = params.getParameter(ParameterTypes.B);
              Acceleration a = new Acceleration(Double.MAX_VALUE, AccelerationUnit.SI);
              double dCoop = params.getParameter(DCOOP);
              Speed ownSpeed = perception.getPerceptionCategory(EgoPerception.class).getSpeed();
              RelativeLane relativeLane = new RelativeLane(lat, 1);
              for (HeadwayGTU leader : Synchronization.removeAllUpstreamOfConflicts(Synchronization.removeAllUpstreamOfConflicts(
                      perception.getPerceptionCategory(NeighborsPerception.class).getLeaders(relativeLane), perception,
                      relativeLane), perception, RelativeLane.CURRENT))
              {
                  Parameters params2 = leader.getParameters();
                  double desire = lat.equals(LateralDirectionality.LEFT) ? params2.getParameter(DRIGHT)
                          : lat.equals(LateralDirectionality.RIGHT) ? params2.getParameter(DLEFT) : 0;
                  if (desire >= dCoop && (leader.getSpeed().gt0() || leader.getDistance().gt0())
                          && leader.getAcceleration().gt(params.getParameter(ParameterTypes.BCRIT).neg()))
                  {
                      Acceleration aSingle = LmrsUtil.singleAcceleration(leader.getDistance(), ownSpeed, leader.getSpeed(),
                              desire, params, sli, cfm);
                      a = Acceleration.min(a, aSingle);
                 }
             }
             return Acceleration.max(a, b.neg());
         }
     };
 
     /** Cooperation similar to the default, with nuanced differences of when to ignore. */
     Cooperation ACTIVE = new Cooperation()
     {
         @Override
         public Acceleration cooperate(final LanePerception perception, final Parameters params, final SpeedLimitInfo sli,
                 final CarFollowingModel cfm, final LateralDirectionality lat, final Desire ownDesire)
                 throws ParameterException, OperationalPlanException
         {
 
             if ((lat.isLeft() && !perception.getLaneStructure().getExtendedCrossSection().contains(RelativeLane.LEFT))
                     || (lat.isRight() && !perception.getLaneStructure().getExtendedCrossSection().contains(RelativeLane.RIGHT)))
             {
                 return new Acceleration(Double.MAX_VALUE, AccelerationUnit.SI);
             }
             Acceleration a = new Acceleration(Double.MAX_VALUE, AccelerationUnit.SI);
             double dCoop = params.getParameter(DCOOP);
             Speed ownSpeed = perception.getPerceptionCategory(EgoPerception.class).getSpeed();
             RelativeLane relativeLane = new RelativeLane(lat, 1);
             for (HeadwayGTU leader : Synchronization.removeAllUpstreamOfConflicts(Synchronization.removeAllUpstreamOfConflicts(
                     perception.getPerceptionCategory(NeighborsPerception.class).getLeaders(relativeLane), perception,
                     relativeLane), perception, RelativeLane.CURRENT))
             {
                 Parameters params2 = leader.getParameters();
                 double desire = lat.equals(LateralDirectionality.LEFT) ? params2.getParameter(DRIGHT)
                         : lat.equals(LateralDirectionality.RIGHT) ? params2.getParameter(DLEFT) : 0;
                 if (desire >= dCoop && leader.getDistance().gt0()
                         && leader.getAcceleration().gt(params.getParameter(ParameterTypes.BCRIT).neg()))
                 {
                     Acceleration aSingle = LmrsUtil.singleAcceleration(leader.getDistance(), ownSpeed, leader.getSpeed(),
                             desire, params, sli, cfm);
                     a = Acceleration.min(a, Synchronization.gentleUrgency(aSingle, desire, params));
                 }
             }
             return a;
         }
     };
 
     /**
      * Determine acceleration for cooperation.
      * @param perception perception
      * @param params parameters
      * @param sli speed limit info
      * @param cfm car-following model
      * @param lat lateral direction for cooperation
      * @param ownDesire own lane change desire
      * @return acceleration for synchronization
      * @throws ParameterException if a parameter is not defined
      * @throws OperationalPlanException perception exception
      */
     Acceleration cooperate(LanePerception perception, Parameters params, SpeedLimitInfo sli, CarFollowingModel cfm,
             LateralDirectionality lat, Desire ownDesire) throws ParameterException, OperationalPlanException;
 }