package org.opentrafficsim.road.gtu.lane;
   
   import java.io.Serializable;
   import java.util.HashMap;
   import java.util.HashSet;
   import java.util.Map;
   import java.util.Set;
   
   import org.djunits.value.vdouble.scalar.Acceleration;
  import org.djunits.value.vdouble.scalar.Length;
  import org.djunits.value.vdouble.scalar.Speed;
  import org.djutils.immutablecollections.Immutable;
  import org.djutils.immutablecollections.ImmutableHashSet;
  import org.djutils.immutablecollections.ImmutableLinkedHashMap;
  import org.djutils.immutablecollections.ImmutableMap;
  import org.djutils.immutablecollections.ImmutableSet;
  import org.opentrafficsim.core.dsol.OTSSimulatorInterface;
  import org.opentrafficsim.core.gtu.GTUException;
  import org.opentrafficsim.core.gtu.GTUType;
  import org.opentrafficsim.core.gtu.RelativePosition;
  import org.opentrafficsim.core.gtu.RelativePosition.TYPE;
  import org.opentrafficsim.core.network.Node;
  import org.opentrafficsim.core.network.route.Route;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlanner;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlannerFactory;
  import org.opentrafficsim.road.network.OTSRoadNetwork;
  import org.opentrafficsim.road.network.lane.DirectedLanePosition;
  
  import nl.tudelft.simulation.dsol.simulators.DEVSSimulatorInterface;
  
  /**
   * Augments the AbstractLaneBasedIndividualGTU with a LaneBasedIndividualCarBuilder and animation support
   * <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/docs/license.html">OpenTrafficSim License</a>.
   * <p>
   * @version $Revision: 1401 $, $LastChangedDate: 2015-09-14 01:33:02 +0200 (Mon, 14 Sep 2015) $, by $Author: averbraeck $,
   *          initial version Oct 22, 2014 <br>
   * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
   * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
   */
  public class LaneBasedIndividualGTU extends AbstractLaneBasedIndividualGTU
  {
      /** */
      private static final long serialVersionUID = 20141025L;
  
      /** Sensing positions. */
      private final Map<RelativePosition.TYPE, RelativePosition> relativePositions = new HashMap<>();
  
      /** cached front. */
      private final RelativePosition frontPos;
  
      /** cached rear. */
      private final RelativePosition rearPos;
  
      /** contour points. */
      private final Set<RelativePosition> contourPoints = new HashSet<>();
  
      /**
       * Construct a new LaneBasedIndividualGTU.
       * @param id String; the id of the GTU
       * @param gtuType GTUType; the type of GTU, e.g. TruckType, CarType, BusType
       * @param length Length; the maximum length of the GTU (parallel with driving direction)
       * @param width Length; the maximum width of the GTU (perpendicular to driving direction)
       * @param maximumSpeed Speed;the maximum speed of the GTU (in the driving direction)
       * @param front Length; front distance relative to the reference position
       * @param simulator OTSSimulatorInterface; the simulator
       * @param network OTSRoadNetwork; the network that the GTU is initially registered in
       * @throws GTUException when a parameter is invalid
       */
      @SuppressWarnings("checkstyle:parameternumber")
      public LaneBasedIndividualGTU(final String id, final GTUType gtuType, final Length length, final Length width,
              final Speed maximumSpeed, final Length front, final OTSSimulatorInterface simulator, final OTSRoadNetwork network)
              throws GTUException
      {
          this(id, gtuType, length, width, maximumSpeed, front, Length.ZERO, simulator, network);
      }
  
      /**
       * Construct a new LaneBasedIndividualGTU.
       * @param id String; the id of the GTU
       * @param gtuType GTUType; the type of GTU, e.g. TruckType, CarType, BusType
       * @param length Length; the maximum length of the GTU (parallel with driving direction)
       * @param width Length; the maximum width of the GTU (perpendicular to driving direction)
       * @param maximumSpeed Speed;the maximum speed of the GTU (in the driving direction)
       * @param front Length; front distance relative to the reference position
       * @param centerOfGravity Length; distance from the center of gravity to the reference position
       * @param simulator OTSSimulatorInterface; the simulator
       * @param network OTSRoadNetwork; the network that the GTU is initially registered in
       * @throws GTUException when a parameter is invalid
       */
      @SuppressWarnings("checkstyle:parameternumber")
      public LaneBasedIndividualGTU(final String id, final GTUType gtuType, final Length length, final Length width,
              final Speed maximumSpeed, final Length front, final Length centerOfGravity, final OTSSimulatorInterface simulator,
              final OTSRoadNetwork network) throws GTUException
      {
          super(id, gtuType, length, width, maximumSpeed, simulator, network);
  
          // sensor positions.
         Length dy2 = getWidth().multiplyBy(0.5);
         this.frontPos = new RelativePosition(front, Length.ZERO, Length.ZERO, RelativePosition.FRONT);
         this.relativePositions.put(RelativePosition.FRONT, this.frontPos);
         this.rearPos = new RelativePosition(front.minus(getLength()), Length.ZERO, Length.ZERO, RelativePosition.REAR);
         this.relativePositions.put(RelativePosition.REAR, this.rearPos);
         this.relativePositions.put(RelativePosition.REFERENCE, RelativePosition.REFERENCE_POSITION);
         this.relativePositions.put(RelativePosition.CENTER,
                 new RelativePosition(Length.ZERO, Length.ZERO, Length.ZERO, RelativePosition.CENTER));
         this.relativePositions.put(RelativePosition.CENTER_GRAVITY,
                 new RelativePosition(centerOfGravity, Length.ZERO, Length.ZERO, RelativePosition.CENTER_GRAVITY));
 
         // Contour positions. For now, a rectangle with the four corners.
         for (int i = -1; i <= 1; i += 2)
         {
             Length x = i < 0 ? front.minus(getLength()) : front;
             for (int j = -1; j <= 1; j += 2)
             {
                 this.contourPoints.add(new RelativePosition(x, dy2.multiplyBy(j), Length.ZERO, RelativePosition.CONTOUR));
             }
         }
     }
 
     /** {@inheritDoc} */
     @Override
     public final RelativePosition getFront()
     {
         return this.frontPos;
     }
 
     /** {@inheritDoc} */
     @Override
     public final RelativePosition getRear()
     {
         return this.rearPos;
     }
 
     /** {@inheritDoc} */
     @Override
     public final RelativePosition getCenter()
     {
         return this.relativePositions.get(RelativePosition.CENTER);
     }
 
     /** {@inheritDoc} */
     @Override
     public final ImmutableMap<TYPE, RelativePosition> getRelativePositions()
     {
         return new ImmutableLinkedHashMap<>(this.relativePositions, Immutable.WRAP);
     }
 
     /** {@inheritDoc} */
     @Override
     public final ImmutableSet<RelativePosition> getContourPoints()
     {
         return new ImmutableHashSet<>(this.contourPoints, Immutable.WRAP);
     }
 
     /** {@inheritDoc} */
     @Override
     public final String toString()
     {
         return "LaneBasedIndividualGTU [id=" + getId() + "]";
     }
 
     /**
      * Build an individual car and use easy setter methods to instantiate the car. Typical use looks like:
      * 
      * <pre>
      * LaneBasedIndividualCar&lt;String&gt; car = new LaneBasedIndividualCarBuilder&lt;String&gt;().setId("Car:"+nr)
      *    .setLength(new Length(4.0, METER))....build(); 
      *    
      * or
      * 
      * LaneBasedIndividualCarBuilder&lt;String&gt; carBuilder = new LaneBasedIndividualCarBuilder&lt;String&gt;();
      * carBuilder.setId("Car:"+nr);
      * carBuilder.setLength(new Length(4.0, METER));
      * carBuilder.setWidth(new Length(1.8, METER));
      * ...
      * LaneBasedIndividualCar&lt;String&gt; car = carBuilder.build();
      * </pre>
      * <p>
      * Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. <br>
      * All rights reserved. <br>
      * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
      * <p>
      * @version $Revision: 1401 $, $LastChangedDate: 2015-09-14 01:33:02 +0200 (Mon, 14 Sep 2015) $, by $Author: averbraeck $,
      *          initial Feb 3, 2015 <br>
      * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
      */
     @SuppressWarnings("checkstyle:hiddenfield")
     public static class LaneBasedIndividualCarBuilder implements Serializable
     {
         /** */
         private static final long serialVersionUID = 20160000L;
 
         /** The id of the GTU. */
         private String id = null;
 
         /** The type of GTU, e.g. TruckType, CarType, BusType. */
         private GTUType gtuType = null;
 
         /** The initial positions of the car on one or more lanes. */
         private Set<DirectedLanePosition> initialLongitudinalPositions = null;
 
         /** The initial speed of the car on the lane. */
         private Speed initialSpeed = null;
 
         /** The length of the GTU (parallel with driving direction). */
         private Length length = null;
 
         /** The width of the GTU (perpendicular to driving direction). */
         private Length width = null;
 
         /** The maximum speed of the GTU (in the driving direction). */
         private Speed maximumSpeed = null;
 
         /** Maximum acceleration. */
         private Acceleration maximumAcceleration = null;
 
         /** Maximum deceleration (a negative value). */
         private Acceleration maximumDeceleration = null;
 
         /** The distance of the front relative to the reference position. */
         private Length front = null;
 
         /** The simulator. */
         private OTSSimulatorInterface simulator = null;
 
         /** Network. */
         private OTSRoadNetwork network = null;
 
         /**
          * @param id String; set id
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setId(final String id)
         {
             this.id = id;
             return this;
         }
 
         /**
          * @param gtuType GTUType; set gtuType
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setGtuType(final GTUType gtuType)
         {
             this.gtuType = gtuType;
             return this;
         }
 
         /**
          * @param initialLongitudinalPositions Set&lt;DirectedLanePosition&gt;; set initialLongitudinalPositions
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setInitialLongitudinalPositions(
                 final Set<DirectedLanePosition> initialLongitudinalPositions)
         {
             this.initialLongitudinalPositions = initialLongitudinalPositions;
             return this;
         }
 
         /**
          * @param initialSpeed Speed; set initialSpeed
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setInitialSpeed(final Speed initialSpeed)
         {
             this.initialSpeed = initialSpeed;
             return this;
         }
 
         /**
          * @param length Length; set length
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setLength(final Length length)
         {
             this.length = length;
             return this;
         }
 
         /**
          * @param width Length; set width
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setWidth(final Length width)
         {
             this.width = width;
             return this;
         }
 
         /**
          * @param maximumSpeed Speed; set maximumSpeed
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setMaximumSpeed(final Speed maximumSpeed)
         {
             this.maximumSpeed = maximumSpeed;
             return this;
         }
 
         /**
          * @param maximumAcceleration Acceleration; maximum acceleration
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setMaximumAcceleration(final Acceleration maximumAcceleration)
         {
             this.maximumAcceleration = maximumAcceleration;
             return this;
         }
 
         /**
          * @param maximumDeceleration Acceleration; maximum deceleration (a negative value)
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setMaximumDeceleration(final Acceleration maximumDeceleration)
         {
             this.maximumDeceleration = maximumDeceleration;
             return this;
         }
 
         /**
          * @param simulator OTSSimulatorInterface; set simulator
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setSimulator(final OTSSimulatorInterface simulator)
         {
             this.simulator = simulator;
             return this;
         }
 
         /**
          * @param front Length; distance of the front relative to the reference point
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setFront(final Length front)
         {
             this.front = front;
             return this;
         }
 
         /**
          * @param network OTSRoadNetwork; set network
          * @return the class itself for chaining the setters
          */
         public final LaneBasedIndividualCarBuilder setNetwork(final OTSRoadNetwork network)
         {
             this.network = network;
             return this;
         }
 
         /**
          * @return id.
          */
         public final String getId()
         {
             return this.id;
         }
 
         /**
          * @return gtuType.
          */
         public final GTUType getGtuType()
         {
             return this.gtuType;
         }
 
         /**
          * @return initialLongitudinalPositions.
          */
         public final Set<DirectedLanePosition> getInitialLongitudinalPositions()
         {
             return this.initialLongitudinalPositions;
         }
 
         /**
          * @return initialSpeed.
          */
         public final Speed getInitialSpeed()
         {
             return this.initialSpeed;
         }
 
         /**
          * @return length.
          */
         public final Length getLength()
         {
             return this.length;
         }
 
         /**
          * @return width.
          */
         public final Length getWidth()
         {
             return this.width;
         }
 
         /**
          * @return maximumSpeed.
          */
         public final Speed getMaximumSpeed()
         {
             return this.maximumSpeed;
         }
 
         /**
          * @return simulator.
          */
         public final DEVSSimulatorInterface.TimeDoubleUnit getSimulator()
         {
             return this.simulator;
         }
 
         /**
          * @return network
          */
         public final OTSRoadNetwork getNetwork()
         {
             return this.network;
         }
 
         /**
          * Build one LaneBasedIndividualCar.
          * @param laneBasedStrategicalPlannerFactory LaneBasedStrategicalPlannerFactory&lt;? extends
          *            LaneBasedStrategicalPlanner&gt;; LaneBasedStrategicalPlannerFactory&lt;? extends
          *            LaneBasedStrategicalPlanner&gt;; LaneBasedStrategicalPlannerFactory&lt;? extends
          *            LaneBasedStrategicalPlanner&gt;; LaneBasedStrategicalPlannerFactory&lt;? extends
          *            LaneBasedStrategicalPlanner&gt;; LaneBasedStrategicalPlannerFactory&lt;? extends
          *            LaneBasedStrategicalPlanner&gt;; factory for the strategical planner
          * @param route Route; route
          * @param origin Node; origin
          * @param destination Node; destination
          * @return the built Car with the set properties
          * @throws Exception when not all required values have been set
          */
         public final LaneBasedIndividualGTU build(
                 final LaneBasedStrategicalPlannerFactory<
                         ? extends LaneBasedStrategicalPlanner> laneBasedStrategicalPlannerFactory,
                 final Route route, final Node origin, final Node destination) throws Exception
         {
             if (null == this.id || null == this.gtuType || null == this.initialLongitudinalPositions
                     || null == this.initialSpeed || null == this.length || null == this.width || null == this.maximumSpeed
                     || null == this.maximumAcceleration || null == this.maximumDeceleration || null == this.front
                     || null == this.simulator || null == this.network)
             {
                 // TODO Should throw a more specific Exception type
                 throw new GTUException("factory settings incomplete");
             }
             LaneBasedIndividualGTU gtu = new LaneBasedIndividualGTU(this.id, this.gtuType, this.length, this.width,
                     this.maximumSpeed, this.front, this.simulator, this.network);
             gtu.setMaximumAcceleration(this.maximumAcceleration);
             gtu.setMaximumDeceleration(this.maximumDeceleration);
             gtu.init(laneBasedStrategicalPlannerFactory.create(gtu, route, origin, destination),
                     this.initialLongitudinalPositions, this.initialSpeed);
             return gtu;
 
         }
 
         /** {@inheritDoc} */
         @Override
         public final String toString()
         {
             return "LaneBasedIndividualCarBuilder [id=" + this.id + ", gtuType=" + this.gtuType
                     + ", initialLongitudinalPositions=" + this.initialLongitudinalPositions + ", initialSpeed="
                     + this.initialSpeed + ", length=" + this.length + ", width=" + this.width + ", maximumSpeed="
                     + this.maximumSpeed + ", strategicalPlanner=" + "]";
         }
 
     }
 
 }