package org.opentrafficsim.road.gtu.lane.tactical.lmrs;
   
   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.Parameters;
   import org.opentrafficsim.core.gtu.GTUException;
   import org.opentrafficsim.core.gtu.perception.EgoPerception;
   import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
  import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
  import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
  import org.opentrafficsim.road.gtu.lane.perception.categories.BusStopPerception;
  import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayBusStop;
  import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
  import org.opentrafficsim.road.gtu.lane.tactical.pt.BusSchedule;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.Desire;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.MandatoryIncentive;
  import org.opentrafficsim.road.network.lane.object.BusStop;
  
  /**
   * <p>
   * Copyright (c) 2013-2019 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 27 jan. 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 IncentiveBusStop implements MandatoryIncentive
  {
  
      /** {@inheritDoc} */
      @Override
      public Desire determineDesire(final Parameters parameters, final LanePerception perception,
              final CarFollowingModel carFollowingModel, final Desire mandatoryDesire)
              throws ParameterException, OperationalPlanException
      {
  
          HeadwayBusStop firstStop = null;
          PerceptionCollectable<HeadwayBusStop, BusStop> stops =
                  perception.getPerceptionCategory(BusStopPerception.class).getBusStops();
          Time now;
          try
          {
              now = perception.getGtu().getSimulator().getSimulatorTime();
          }
          catch (GTUException exception)
          {
              throw new RuntimeException("GTU not initialized.", exception);
          }
          for (HeadwayBusStop stop : stops)
          {
              try
              {
                  if (((BusSchedule) perception.getGtu().getStrategicalPlanner().getRoute()).isLineStop(stop.getId(), now))
                  {
                      firstStop = stop;
                      break;
                  }
              }
              catch (GTUException exception)
              {
                  throw new OperationalPlanException("Could not obtain bus schedule.", exception);
              }
          }
  
          if (firstStop == null)
          {
              return new Desire(0, 0);
          }
          Speed speed = perception.getPerceptionCategory(EgoPerception.class).getSpeed();
          if (firstStop.getRelativeLane().isCurrent())
          {
              double d = -IncentiveRoute.getDesireToLeave(parameters, firstStop.getDistance(), 1, speed);
              return new Desire(d, d);
          }
  
          int n = firstStop.getRelativeLane().getNumLanes();
  
          double dNotGood = -IncentiveRoute.getDesireToLeave(parameters, firstStop.getDistance(), n + 1, speed);
          double dGood = IncentiveRoute.getDesireToLeave(parameters, firstStop.getDistance(), n, speed);
          return firstStop.getRelativeLane().getLateralDirectionality().isRight() ? new Desire(dNotGood, dGood)
                  : new Desire(dGood, dNotGood);
  
      }
  
      @Override
      public final String toString()
      {
          return "IncentiveBusStop";
      }
  
  }