package org.opentrafficsim.road.gtu.lane.perception.headway;
   
   import java.util.EnumSet;
   
   import org.djunits.value.vdouble.scalar.Acceleration;
   import org.djunits.value.vdouble.scalar.Length;
   import org.djunits.value.vdouble.scalar.Speed;
   import org.opentrafficsim.base.parameters.Parameters;
   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.LaneBasedGTU;
  import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
  import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
  import org.opentrafficsim.road.network.speed.SpeedLimitTypes;
  
  /**
   * Container for a reference to information about a (lane based) GTU and a headway. The Headway can store information about GTUs
   * or objects ahead of the reference GTU, behind the reference GTU, or (partially) parallel to the reference GTU. In addition to
   * the (perceived) headway, several other pieces of information can be stored, such as (perceived) speed, (perceived)
   * acceleration, (perceived) turn indicators, and (perceived) braking lights. <br>
   * This particular version returns behavioral information about the observed GTU objects based on their real state.<br>
   * Special care must be taken in curves when perceiving headway of a GTU or object on an adjacent lane.The question is whether
   * we perceive the parallel or ahead/behind based on a line perpendicular to the front/back of the GTU (rectangular), or
   * perpendicular to the center line of the lane (wedge-shaped in case of a curve). The difficulty of a wedge-shaped situation is
   * that reciprocity might be violated: in case of a clothoid, for instance, it is not sure that the point on the center line
   * when projected from lane 1 to lane 2 is the same as the projection from lane 2 to lane 1. The same holds for shapes with
   * sharp bends. Therefore, algorithms implementing headway should only project the <i>reference point</i> of the reference GTU
   * on the center line of the adjacent lane, and then calculate the forward position and backward position on the adjacent lane
   * based on the reference point. Still, our human perception of what is parallel and what not, is not reflected by fractional
   * positions. See examples in
   * <a href= "http://simulation.tudelft.nl:8085/browse/OTS-113">http://simulation.tudelft.nl:8085/browse/OTS-113</a>.
   * <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: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
   * initial version May 27, 2016 <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 HeadwayGTUReal extends AbstractHeadway implements HeadwayGTU
  {
      /** */
      private static final long serialVersionUID = 20170324L;
  
      /** Stored speed limit info of the observed GTU. */
      private SpeedLimitInfo speedLimitInfo;
  
      /** Wrapped GTU. */
      private final LaneBasedGTU gtu;
  
      /** Whether the GTU is facing the same direction. */
      private final boolean facingSameDirection;
  
      /**
       * Construct a new Headway information object, for a GTU ahead of us or behind us.
       * @param gtu LaneBasedGTU; the observed GTU, can not be null.
       * @param distance the distance to the other object; if this constructor is used, distance cannot be null.
       * @param facingSameDirection boolean; whether the GTU is facing the same direction.
       * @throws GTUException when id is null, objectType is null, or parameters are inconsistent
       */
      public HeadwayGTUReal(final LaneBasedGTU gtu, final Length distance, final boolean facingSameDirection) throws GTUException
      {
          super(distance);
          this.gtu = gtu;
          this.facingSameDirection = facingSameDirection;
      }
  
      /**
       * Construct a new Headway information object, for a GTU parallel with us.
       * @param gtu LaneBasedGTU; the observed GTU, can not be null.
       * @param overlapFront the front-front distance to the other GTU; if this constructor is used, this value cannot be null.
       * @param overlap the 'center' overlap with the other GTU; if this constructor is used, this value cannot be null.
       * @param overlapRear the rear-rear distance to the other GTU; if this constructor is used, this value cannot be null.
       * @param facingSameDirection boolean; whether the GTU is facing the same direction.
       * @throws GTUException when id is null, or parameters are inconsistent
       */
      public HeadwayGTUReal(final LaneBasedGTU gtu, final Length overlapFront, final Length overlap, final Length overlapRear,
              final boolean facingSameDirection) throws GTUException
      {
          super(overlapFront, overlap, overlapRear);
          this.gtu = gtu;
          this.facingSameDirection = facingSameDirection;
      }
  
      /**
       * Creates speed limit prospect for given GTU.
       * @param wrappedGtu LaneBasedGTU; gtu to the the speed limit prospect for
       * @return speed limit prospect for given GTU
       */
      private SpeedLimitInfo getSpeedLimitInfo(final LaneBasedGTU wrappedGtu)
      {
          SpeedLimitInfonetwork/speed/SpeedLimitInfo.html#SpeedLimitInfo">SpeedLimitInfo sli = new SpeedLimitInfo();
          sli.addSpeedInfo(SpeedLimitTypes.MAX_VEHICLE_SPEED, wrappedGtu.getMaximumSpeed());
          try
          {
             sli.addSpeedInfo(SpeedLimitTypes.FIXED_SIGN,
                     wrappedGtu.getReferencePosition().getLane().getSpeedLimit(wrappedGtu.getGTUType()));
         }
         catch (NetworkException | GTUException exception)
         {
             throw new RuntimeException("Could not obtain speed limit from lane for perception.", exception);
         }
         return sli;
     }
 
     /** {@inheritDoc} */
     @Override
     public final CarFollowingModel getCarFollowingModel()
     {
         return this.gtu.getTacticalPlanner().getCarFollowingModel();
     }
 
     /** {@inheritDoc} */
     @Override
     public final Parameters getParameters()
     {
         return this.gtu.getParameters();
     }
 
     /** {@inheritDoc} */
     @Override
     public final SpeedLimitInfo getSpeedLimitInfo()
     {
         if (this.speedLimitInfo == null)
         {
             this.speedLimitInfo = getSpeedLimitInfo(this.gtu);
         }
         return this.speedLimitInfo;
     }
 
     /** {@inheritDoc} */
     @Override
     public final Route getRoute()
     {
         return this.gtu.getStrategicalPlanner().getRoute();
     }
 
     /**
      * {@inheritDoc} <br>
      * <br>
      * <b>Note: when moving a {@code HeadwayGTURealDirect}, only headway, speed and acceleration may be considered to be delayed
      * and anticipated. Other information is taken from the actual GTU at the time {@code moved()} is called.</b>
      */
     @Override
     public final HeadwayGTU moved(final Length headway, final Speed speed, final Acceleration acceleration)
     {
         try
         {
             return new HeadwayGTURealCopy(getId(), getGtuType(), headway, getLength(), getWidth(), speed, acceleration,
                     getCarFollowingModel(), getParameters(), getSpeedLimitInfo(), getRoute(), getDesiredSpeed(),
                     getGtuStatus());
         }
         catch (GTUException exception)
         {
             // input should be consistent
             throw new RuntimeException("Exception while copying Headway GTU.", exception);
         }
     }
 
     /**
      * Returns an array with GTU status.
      * @return array with GTU status
      */
     private GTUStatus[] getGtuStatus()
     {
         EnumSet<GTUStatus> gtuStatus = EnumSet.noneOf(GTUStatus.class);
         if (isLeftTurnIndicatorOn())
         {
             gtuStatus.add(GTUStatus.LEFT_TURNINDICATOR);
         }
         if (isRightTurnIndicatorOn())
         {
             gtuStatus.add(GTUStatus.RIGHT_TURNINDICATOR);
         }
         if (isBrakingLightsOn())
         {
             gtuStatus.add(GTUStatus.BRAKING_LIGHTS);
         }
         if (isEmergencyLightsOn())
         {
             gtuStatus.add(GTUStatus.EMERGENCY_LIGHTS);
         }
         if (isHonking())
         {
             gtuStatus.add(GTUStatus.HONK);
         }
         return gtuStatus.toArray(new GTUStatus[gtuStatus.size()]);
     }
 
     /** {@inheritDoc} */
     @Override
     public final String getId()
     {
         return this.gtu.getId();
     }
 
     /** {@inheritDoc} */
     @Override
     public final Length getLength()
     {
         return this.gtu.getLength();
     }
 
     /** {@inheritDoc} */
     @Override
     public Length getWidth()
     {
         return this.gtu.getWidth();
     }
 
     /** {@inheritDoc} */
     @Override
     public final Speed getSpeed()
     {
         return this.gtu.getSpeed();
     }
 
     /** {@inheritDoc} */
     @Override
     public Speed getDesiredSpeed()
     {
         return this.gtu.getDesiredSpeed();
     }
 
     /** {@inheritDoc} */
     @Override
     public final ObjectType getObjectType()
     {
         return ObjectType.GTU;
     }
 
     /** {@inheritDoc} */
     @Override
     public final Acceleration getAcceleration()
     {
         return this.gtu.getAcceleration();
     }
 
     /** {@inheritDoc} */
     @Override
     public final GTUType getGtuType()
     {
         return this.gtu.getGTUType();
     }
 
     /** {@inheritDoc} */
     @Override
     public final boolean isFacingSameDirection()
     {
         return this.facingSameDirection;
     }
 
     /** {@inheritDoc} */
     @Override
     public final boolean isBrakingLightsOn()
     {
         // TODO
         return false;
     }
 
     /** {@inheritDoc} */
     @Override
     public final boolean isLeftTurnIndicatorOn()
     {
         return this.gtu.getTurnIndicatorStatus().isLeft();
     }
 
     /** {@inheritDoc} */
     @Override
     public final boolean isRightTurnIndicatorOn()
     {
         return this.gtu.getTurnIndicatorStatus().isRight();
     }
 
     /** {@inheritDoc} */
     @Override
     public final boolean isEmergencyLightsOn()
     {
         return this.gtu.getTurnIndicatorStatus().isHazard();
     }
 
     /** {@inheritDoc} */
     @Override
     public final boolean isHonking()
     {
         // TODO
         return false;
     }
 
     /** {@inheritDoc} */
     @Override
     public final String toString()
     {
         return "HeadwayGTUReal [speedLimitInfo=" + this.speedLimitInfo + ", gtu=" + this.gtu + ", facingSameDirection="
                 + this.facingSameDirection + "]";
     }
 
 }