package org.opentrafficsim.road.gtu.lane.tactical.lmrs;
   
   import org.djunits.value.vdouble.scalar.Length;
   import org.djunits.value.vdouble.scalar.Speed;
   import org.opentrafficsim.base.parameters.ParameterException;
   import org.opentrafficsim.base.parameters.Parameters;
   import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
   import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
   import org.opentrafficsim.road.gtu.lane.perception.FilteredIterable;
  import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
  import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
  import org.opentrafficsim.road.gtu.lane.perception.categories.IntersectionPerception;
  import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayTrafficLight;
  import org.opentrafficsim.road.gtu.lane.plan.operational.SimpleOperationalPlan;
  import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
  import org.opentrafficsim.road.gtu.lane.tactical.util.TrafficLightUtil;
  import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
  
  /**
   * <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/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 AccelerationTrafficLights implements AccelerationIncentive
  {
  
      /** {@inheritDoc} */
      @Override
      public final void accelerate(final SimpleOperationalPlan simplePlan, final RelativeLane lane, final Length mergeDistance,
              final LaneBasedGTU gtu, final LanePerception perception, final CarFollowingModel carFollowingModel,
              final Speed speed, final Parameters params, final SpeedLimitInfo speedLimitInfo)
              throws ParameterException, OperationalPlanException
      {
          Iterable<HeadwayTrafficLight> it =
                  perception.getPerceptionCategory(IntersectionPerception.class).getTrafficLights(lane);
          if (!lane.isCurrent() && mergeDistance.gt0())
          {
              it = new FilteredIterable<>(it, (trafficLight) ->
              {
                  return trafficLight.getDistance().gt(mergeDistance);
              });
          }
          it = onRoute(it, gtu);
          simplePlan.minimizeAcceleration(
                  TrafficLightUtil.respondToTrafficLights(params, it, carFollowingModel, speed, speedLimitInfo));
      }
  
      /** {@inheritDoc} */
      @Override
      public final String toString()
      {
          return "AccelerationTrafficLights";
      }
  
  }