package org.opentrafficsim.demo;
   
   import java.util.ArrayList;
   import java.util.LinkedHashSet;
   import java.util.List;
   import java.util.Random;
   import java.util.Set;
   
   import org.djunits.unit.DirectionUnit;
  import org.djunits.unit.LengthUnit;
  import org.djunits.unit.util.UNITS;
  import org.djunits.value.vdouble.scalar.Acceleration;
  import org.djunits.value.vdouble.scalar.Direction;
  import org.djunits.value.vdouble.scalar.Length;
  import org.djunits.value.vdouble.scalar.Speed;
  import org.opentrafficsim.base.parameters.Parameters;
  import org.opentrafficsim.core.dsol.AbstractOTSModel;
  import org.opentrafficsim.core.dsol.OTSSimulatorInterface;
  import org.opentrafficsim.core.geometry.OTSGeometryException;
  import org.opentrafficsim.core.geometry.OTSPoint3D;
  import org.opentrafficsim.core.gtu.GTUDirectionality;
  import org.opentrafficsim.core.gtu.GTUException;
  import org.opentrafficsim.core.gtu.GTUType;
  import org.opentrafficsim.core.network.NetworkException;
  import org.opentrafficsim.core.network.route.Route;
  import org.opentrafficsim.road.gtu.lane.LaneBasedIndividualGTU;
  import org.opentrafficsim.road.gtu.lane.tactical.following.IDMPlusFactory;
  import org.opentrafficsim.road.gtu.lane.tactical.lmrs.DefaultLMRSPerceptionFactory;
  import org.opentrafficsim.road.gtu.lane.tactical.lmrs.LMRSFactory;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlanner;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlannerFactory;
  import org.opentrafficsim.road.gtu.strategical.route.LaneBasedStrategicalRoutePlannerFactory;
  import org.opentrafficsim.road.network.OTSRoadNetwork;
  import org.opentrafficsim.road.network.factory.LaneFactory;
  import org.opentrafficsim.road.network.lane.DirectedLanePosition;
  import org.opentrafficsim.road.network.lane.Lane;
  import org.opentrafficsim.road.network.lane.LaneType;
  import org.opentrafficsim.road.network.lane.OTSRoadNode;
  
  import nl.tudelft.simulation.dsol.SimRuntimeException;
  import nl.tudelft.simulation.dsol.model.inputparameters.InputParameterBoolean;
  import nl.tudelft.simulation.dsol.model.inputparameters.InputParameterDouble;
  import nl.tudelft.simulation.dsol.model.inputparameters.InputParameterDoubleScalar;
  import nl.tudelft.simulation.dsol.model.inputparameters.InputParameterException;
  import nl.tudelft.simulation.dsol.model.inputparameters.InputParameterMap;
  import nl.tudelft.simulation.dsol.simulators.DEVSSimulatorInterface;
  import nl.tudelft.simulation.jstats.streams.MersenneTwister;
  import nl.tudelft.simulation.jstats.streams.StreamInterface;
  
  /**
   * Simulate traffic on a circular, two-lane road.
   * <p>
   * Copyright (c) 2013-2020 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>
   * $LastChangedDate: 2018-11-18 20:49:04 +0100 (Sun, 18 Nov 2018) $, @version $Revision: 4743 $, by $Author: averbraeck $,
   * initial version 1 nov. 2014 <br>
   * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
   */
  public class CircularRoadModel extends AbstractOTSModel implements UNITS
  {
      /** */
      private static final long serialVersionUID = 20141121L;
  
      /** Number of cars created. */
      private int carsCreated = 0;
  
      /** The probability that the next generated GTU is a passenger car. */
      private double carProbability;
  
      /** Minimum distance. */
      private Length minimumDistance = new Length(0, METER);
  
      /** The speed limit. */
      private Speed speedLimit = new Speed(100, KM_PER_HOUR);
  
      /** The sequence of Lanes that all vehicles will follow. */
      private List<List<Lane>> paths = new ArrayList<>();
  
      /** The random number generator used to decide what kind of GTU to generate etc. */
      private StreamInterface stream = new MersenneTwister(12345);
  
      /** Strategical planner generator for cars. */
      private LaneBasedStrategicalPlannerFactory<LaneBasedStrategicalPlanner> strategicalPlannerGeneratorCars = null;
  
      /** Strategical planner generator for trucks. */
      private LaneBasedStrategicalPlannerFactory<LaneBasedStrategicalPlanner> strategicalPlannerGeneratorTrucks = null;
  
      /** Car parameters. */
      private Parameters parametersCar;
  
      /** Truck parameters. */
      private Parameters parametersTruck;
  
      /** The OTSRoadNetwork. */
      private final OTSRoadNetwork network = new OTSRoadNetwork("network", true);
  
      /**
       * @param simulator OTSSimulatorInterface; the simulator for this model
      */
     public CircularRoadModel(final OTSSimulatorInterface simulator)
     {
         super(simulator);
         makeInputParameterMap();
     }
 
     /**
      * Make a map of input parameters for this demo.
      */
     public void makeInputParameterMap()
     {
         try
         {
             InputParameterHelper.makeInputParameterMapCarTruck(this.inputParameterMap, 1.0);
 
             InputParameterMap genericMap = null;
             if (this.inputParameterMap.getValue().containsKey("generic"))
             {
                 genericMap = (InputParameterMap) this.inputParameterMap.get("generic");
             }
             else
             {
                 genericMap = new InputParameterMap("generic", "Generic", "Generic parameters", 1.0);
                 this.inputParameterMap.add(genericMap);
             }
 
             genericMap.add(new InputParameterDoubleScalar<LengthUnit, Length>("trackLength", "Track length",
                     "Track length (circumfence of the track)", Length.instantiateSI(1000.0), Length.instantiateSI(500.0),
                     Length.instantiateSI(2000.0), true, true, "%.0f", 1.5));
             genericMap.add(new InputParameterDouble("densityMean", "Mean density (veh / km)",
                     "mean density of the vehicles (vehicles per kilometer)", 30.0, 5.0, 45.0, true, true, "%.0f", 2.0));
             genericMap.add(new InputParameterDouble("densityVariability", "Density variability",
                     "Variability of the denisty: variability * (headway - 20) meters", 0.0, 0.0, 1.0, true, true, "%.00f",
                     3.0));
             genericMap.add(new InputParameterBoolean("gradualLaneChange", "Gradual lane change",
                     "Gradual lane change when true; instantaneous lane change when false", true, 4.0));
         }
         catch (InputParameterException exception)
         {
             exception.printStackTrace();
         }
     }
 
     /**
      * @param index int; the rank number of the path
      * @return List&lt;Lane&gt;; the set of lanes for the specified index
      */
     public List<Lane> getPath(final int index)
     {
         return this.paths.get(index);
     }
 
     /** {@inheritDoc} */
     @Override
     public void constructModel() throws SimRuntimeException
     {
         try
         {
             final int laneCount = 2;
             for (int laneIndex = 0; laneIndex < laneCount; laneIndex++)
             {
                 this.paths.add(new ArrayList<Lane>());
             }
 
             this.carProbability = (double) getInputParameter("generic.carProbability");
             double radius = ((Length) getInputParameter("generic.trackLength")).si / 2 / Math.PI;
             double headway = 1000.0 / (double) getInputParameter("generic.densityMean");
             double headwayVariability = (double) getInputParameter("generic.densityVariability");
 
             this.parametersCar = InputParameterHelper.getParametersCar(getInputParameterMap());
             this.parametersTruck = InputParameterHelper.getParametersTruck(getInputParameterMap());
 
             this.strategicalPlannerGeneratorCars = new LaneBasedStrategicalRoutePlannerFactory(
                     new LMRSFactory(new IDMPlusFactory(this.stream), new DefaultLMRSPerceptionFactory()));
             this.strategicalPlannerGeneratorTrucks = new LaneBasedStrategicalRoutePlannerFactory(
                     new LMRSFactory(new IDMPlusFactory(this.stream), new DefaultLMRSPerceptionFactory()));
 
             GTUType gtuType = this.network.getGtuType(GTUType.DEFAULTS.CAR);
             LaneType laneType = this.network.getLaneType(LaneType.DEFAULTS.TWO_WAY_LANE);
             OTSRoadNode start = new OTSRoadNode(this.network, "Start", new OTSPoint3D(radius, 0, 0),
                     new Direction(90, DirectionUnit.EAST_DEGREE));
             OTSRoadNode halfway = new OTSRoadNode(this.network, "Halfway", new OTSPoint3D(-radius, 0, 0),
                     new Direction(270, DirectionUnit.EAST_DEGREE));
 
             OTSPoint3D[] coordsHalf1 = new OTSPoint3D[127];
             for (int i = 0; i < coordsHalf1.length; i++)
             {
                 double angle = Math.PI * (1 + i) / (1 + coordsHalf1.length);
                 coordsHalf1[i] = new OTSPoint3D(radius * Math.cos(angle), radius * Math.sin(angle), 0);
             }
             Lane[] lanes1 = LaneFactory.makeMultiLane(this.network, "FirstHalf", start, halfway, coordsHalf1, laneCount,
                     laneType, this.speedLimit, this.simulator);
             OTSPoint3D[] coordsHalf2 = new OTSPoint3D[127];
             for (int i = 0; i < coordsHalf2.length; i++)
             {
                 double angle = Math.PI + Math.PI * (1 + i) / (1 + coordsHalf2.length);
                 coordsHalf2[i] = new OTSPoint3D(radius * Math.cos(angle), radius * Math.sin(angle), 0);
             }
             Lane[] lanes2 = LaneFactory.makeMultiLane(this.network, "SecondHalf", halfway, start, coordsHalf2, laneCount,
                     laneType, this.speedLimit, this.simulator);
             for (int laneIndex = 0; laneIndex < laneCount; laneIndex++)
             {
                 this.paths.get(laneIndex).add(lanes1[laneIndex]);
                 this.paths.get(laneIndex).add(lanes2[laneIndex]);
             }
             // Put the (not very evenly spaced) cars on the track
             double variability = (headway - 20) * headwayVariability;
             System.out.println("headway is " + headway + " variability limit is " + variability);
             Random random = new Random(12345);
             for (int laneIndex = 0; laneIndex < laneCount; laneIndex++)
             {
                 double lane1Length = lanes1[laneIndex].getLength().getSI();
                 double trackLength = lane1Length + lanes2[laneIndex].getLength().getSI();
                 for (double pos = 0; pos <= trackLength - headway - variability;)
                 {
                     Lane lane = pos >= lane1Length ? lanes2[laneIndex] : lanes1[laneIndex];
                     // Actual headway is uniformly distributed around headway
                     double laneRelativePos = pos > lane1Length ? pos - lane1Length : pos;
                     double actualHeadway = headway + (random.nextDouble() * 2 - 1) * variability;
                     // System.out.println(lane + ", len=" + lane.getLength() + ", pos=" + laneRelativePos);
                     generateGTU(new Length(laneRelativePos, METER), lane, gtuType);
                     pos += actualHeadway;
                 }
             }
 
         }
         catch (Exception exception)
         {
             exception.printStackTrace();
         }
     }
 
     /**
      * Generate one gtu.
      * @param initialPosition Length; the initial position of the new cars
      * @param lane Lane; the lane on which the new cars are placed
      * @param gtuType GTUType; the type of the new cars
      * @throws SimRuntimeException cannot happen
      * @throws NetworkException on network inconsistency
      * @throws GTUException when something goes wrong during construction of the car
      * @throws OTSGeometryException when the initial position is outside the center line of the lane
      * @throws InputParameterException when generic.gradualLaneChange is not set
      */
     protected final void generateGTU(final Length initialPosition, final Lane lane, final GTUType gtuType)
             throws GTUException, NetworkException, SimRuntimeException, OTSGeometryException, InputParameterException
     {
         // GTU itself
         boolean generateTruck = this.stream.nextDouble() > this.carProbability;
         Length vehicleLength = new Length(generateTruck ? 15 : 4, METER);
         LaneBasedIndividualGTU gtu =
                 new LaneBasedIndividualGTU("" + (++this.carsCreated), gtuType, vehicleLength, new Length(1.8, METER),
                         new Speed(200, KM_PER_HOUR), vehicleLength.times(0.5), this.simulator, this.network);
         gtu.setParameters(generateTruck ? this.parametersTruck : this.parametersCar);
         gtu.setNoLaneChangeDistance(Length.ZERO);
         gtu.setInstantaneousLaneChange(!((boolean) getInputParameter("generic.gradualLaneChange")));
         gtu.setMaximumAcceleration(Acceleration.instantiateSI(3.0));
         gtu.setMaximumDeceleration(Acceleration.instantiateSI(-8.0));
 
         // strategical planner
         LaneBasedStrategicalPlanner strategicalPlanner;
         Route route = null;
         if (!generateTruck)
         {
             strategicalPlanner = this.strategicalPlannerGeneratorCars.create(gtu, route, null, null);
         }
         else
         {
             strategicalPlanner = this.strategicalPlannerGeneratorTrucks.create(gtu, route, null, null);
         }
 
         // init
         Set<DirectedLanePosition> initialPositions = new LinkedHashSet<>(1);
         initialPositions.add(new DirectedLanePosition(lane, initialPosition, GTUDirectionality.DIR_PLUS));
         Speed initialSpeed = new Speed(0, KM_PER_HOUR);
         gtu.init(strategicalPlanner, initialPositions, initialSpeed);
     }
 
     /** {@inheritDoc} */
     @Override
     public OTSRoadNetwork getNetwork()
     {
         return this.network;
     }
 
     /**
      * @return minimumDistance
      */
     public final Length getMinimumDistance()
     {
         return this.minimumDistance;
     }
 
     /**
      * Stop simulation and throw an Error.
      * @param theSimulator DEVSSimulatorInterface.TimeDoubleUnit; the simulator
      * @param errorMessage String; the error message
      */
     public void stopSimulator(final DEVSSimulatorInterface.TimeDoubleUnit theSimulator, final String errorMessage)
     {
         System.out.println("Error: " + errorMessage);
         try
         {
             if (theSimulator.isRunning())
             {
                 theSimulator.stop();
             }
         }
         catch (SimRuntimeException exception)
         {
             exception.printStackTrace();
         }
         throw new Error(errorMessage);
     }
 
 }