package org.opentrafficsim.road.gtu.lane.tactical.lmrs;
   
   import java.util.SortedSet;
   
   import org.djunits.value.vdouble.scalar.Speed;
   import org.opentrafficsim.base.parameters.ParameterException;
   import org.opentrafficsim.base.parameters.ParameterTypeDouble;
   import org.opentrafficsim.base.parameters.ParameterTypeSpeed;
   import org.opentrafficsim.base.parameters.ParameterTypes;
  import org.opentrafficsim.base.parameters.Parameters;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
  import org.opentrafficsim.road.gtu.lane.perception.InfrastructureLaneChangeInfo;
  import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
  import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
  import org.opentrafficsim.road.gtu.lane.perception.categories.InfrastructurePerception;
  import org.opentrafficsim.road.gtu.lane.perception.categories.neighbors.NeighborsPerception;
  import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGtu;
  import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.Desire;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.LmrsParameters;
  import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.MandatoryIncentive;
  
  /**
   * Incentive that lets drivers queue in an adjacent lane as soon as the speed is low in the adjacent lane, and stopping in the
   * current lane might block traffic towards other directions.
   * <p>
   * Copyright (c) 2013-2023 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
   * BSD-style license. See <a href="https://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
   * </p>
   * @author <a href="https://github.com/averbraeck">Alexander Verbraeck</a>
   * @author <a href="https://tudelft.nl/staff/p.knoppers-1">Peter Knoppers</a>
   * @author <a href="https://dittlab.tudelft.nl">Wouter Schakel</a>
   */
  public class IncentiveGetInLane implements MandatoryIncentive
  {
  
      /** Congestion speed threshold parameter type. */
      protected static final ParameterTypeSpeed VCONG = ParameterTypes.VCONG;
  
      /** Hierarchy parameter. */
      protected static final ParameterTypeDouble SOCIO = LmrsParameters.SOCIO;
  
      /** {@inheritDoc} */
      @Override
      public Desire determineDesire(final Parameters parameters, final LanePerception perception,
              final CarFollowingModel carFollowingModel, final Desire mandatoryDesire)
              throws ParameterException, OperationalPlanException
      {
  
          Speed vCong = parameters.getParameter(VCONG);
          double socio = parameters.getParameter(SOCIO);
          InfrastructurePerception infra = perception.getPerceptionCategory(InfrastructurePerception.class);
          NeighborsPerception neighbors = perception.getPerceptionCategory(NeighborsPerception.class);
          SortedSet<InfrastructureLaneChangeInfo> info = infra.getInfrastructureLaneChangeInfo(RelativeLane.CURRENT);
          double dCur = info.isEmpty() ? Double.POSITIVE_INFINITY
                  : info.first().getRemainingDistance().si / info.first().getRequiredNumberOfLaneChanges();
          double left = 0;
          double right = 0;
          double vCur = Double.POSITIVE_INFINITY;
  
          for (RelativeLane lane : new RelativeLane[] {RelativeLane.LEFT, RelativeLane.RIGHT})
          {
              if (infra.getCrossSection().contains(lane))
              {
                  SortedSet<InfrastructureLaneChangeInfo> adjInfo = infra.getInfrastructureLaneChangeInfo(lane);
                  double dAdj = adjInfo.isEmpty() ? Double.POSITIVE_INFINITY
                          : adjInfo.first().getRemainingDistance().si / adjInfo.first().getRequiredNumberOfLaneChanges();
                  if (!info.isEmpty() && !info.first().isDeadEnd() && dCur < dAdj)
                  {
                      double v = Double.POSITIVE_INFINITY;
                      for (HeadwayGtu neighbor : neighbors.getLeaders(lane))
                      {
                          v = Math.min(v, neighbor.getSpeed().si);
                      }
                      if (lane.isLeft())
                      {
                          double d = Math.max(0.0, 1.0 - v / vCong.si);
                          left += d;
                          // right -= d;
                      }
                      else
                      {
                          double d = Math.max(0.0, 1.0 - v / vCong.si);
                          right += d;
                          // left -= d;
                      }
                  }
                  if (!adjInfo.isEmpty() && !adjInfo.first().isDeadEnd()
                          && (info.isEmpty() || (!info.isEmpty() && !info.first().isDeadEnd())) && dCur > dAdj)
                  {
                      if (Double.isInfinite(vCur))
                      {
                          for (HeadwayGtu neighbor : neighbors.getLeaders(RelativeLane.CURRENT))
                          {
                              vCur = Math.min(vCur, neighbor.getSpeed().si);
                          }
                      }
                      if (lane.isLeft())
                      {
                         left -= Math.max(0.0, 1.0 - vCur / vCong.si);
                     }
                     else
                     {
                         right -= Math.max(0.0, 1.0 - vCur / vCong.si);
                     }
                 }
             }
         }
         return new Desire(left * socio, right * socio);
     }
 
     /** {@inheritDoc} */
     @Override
     public final String toString()
     {
         return "IncentiveGetInLane";
     }
 
 }