package org.opentrafficsim.road.gtu;
   
   import static org.junit.jupiter.api.Assertions.assertEquals;
   import static org.junit.jupiter.api.Assertions.assertTrue;
   
   import java.util.ArrayList;
   import java.util.LinkedHashSet;
   import java.util.List;
   import java.util.Map;
  import java.util.Set;
  
  import org.djunits.unit.DurationUnit;
  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.Duration;
  import org.djunits.value.vdouble.scalar.Length;
  import org.djunits.value.vdouble.scalar.Speed;
  import org.djutils.draw.point.Point2d;
  import org.junit.jupiter.api.Test;
  import org.opentrafficsim.base.parameters.Parameters;
  import org.opentrafficsim.core.definitions.DefaultsNl;
  import org.opentrafficsim.core.dsol.AbstractOtsModel;
  import org.opentrafficsim.core.dsol.OtsModelInterface;
  import org.opentrafficsim.core.dsol.OtsSimulator;
  import org.opentrafficsim.core.dsol.OtsSimulatorInterface;
  import org.opentrafficsim.core.gtu.GtuType;
  import org.opentrafficsim.core.gtu.RelativePosition;
  import org.opentrafficsim.core.network.Node;
  import org.opentrafficsim.core.network.route.Route;
  import org.opentrafficsim.core.perception.HistoryManagerDevs;
  import org.opentrafficsim.road.DefaultTestParameters;
  import org.opentrafficsim.road.FixedCarFollowing;
  import org.opentrafficsim.road.definitions.DefaultsRoadNl;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlanner;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalRoutePlanner;
  import org.opentrafficsim.road.gtu.tactical.lmrs.Lmrs;
  import org.opentrafficsim.road.gtu.tactical.lmrs.LmrsFactory;
  import org.opentrafficsim.road.gtu.tactical.lmrs.LmrsFactory.Setting;
  import org.opentrafficsim.road.network.Lane;
  import org.opentrafficsim.road.network.LanePosition;
  import org.opentrafficsim.road.network.LaneType;
  import org.opentrafficsim.road.network.RoadNetwork;
  import org.opentrafficsim.road.network.factory.LaneFactory;
  import org.opentrafficsim.road.network.speed.LaneSpeedLimits;
  
  import nl.tudelft.simulation.dsol.SimRuntimeException;
  
  /**
   * Test the various methods of an AbstractLaneBasedGtu.<br>
   * As abstract classes cannot be directly
   * <p>
   * Copyright (c) 2013-2026 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 Alexander Verbraeck
   * @author Peter Knoppers
   */
  public final class AbstractLaneBasedGtuTest implements UNITS
  {
  
      /** */
      private AbstractLaneBasedGtuTest()
      {
          // do not instantiate test class
      }
  
      /**
       * Test that the constructor puts the supplied values in the correct fields, then check the motion of the GTU.
       * @throws Exception when something goes wrong (should not happen)
       */
      @Test
      public void abstractLaneBasedGtuTest() throws Exception
      {
          // This initialization code should probably be moved to a helper method that will be used in several tests.
          // First we need a set of Lanes
          // To create Lanes we need Nodes and a LaneType
          // And a simulator, but for that we first need something that implements OtsModelInterface
          OtsSimulatorInterface simulator = new OtsSimulator("abstractLaneBasedGtuTest");
          RoadNetwork network = new RoadNetwork("lane base gtu test network", simulator);
          OtsModelInterface model = new DummyModel(simulator);
          simulator.initialize(Duration.ZERO, Duration.ZERO, new Duration(1, DurationUnit.HOUR), model,
                  HistoryManagerDevs.noHistory(simulator));
          Node nodeAFrom = new Node(network, "AFrom", new Point2d(0, 0), Direction.ZERO);
          Node nodeATo = new Node(network, "ATo", new Point2d(1000, 0), Direction.ZERO);
          GtuType gtuType = DefaultsNl.CAR;
          LaneType laneType = DefaultsRoadNl.TWO_WAY_LANE;
  
          LaneSpeedLimits speedLimits =
                  new LaneSpeedLimits(new Speed(100, KM_PER_HOUR), Map.of(DefaultsNl.TRUCK, new Speed(80, KM_PER_HOUR)));
          Lane[] lanesGroupA =
                  LaneFactory.makeMultiLane(network, "A", nodeAFrom, nodeATo, null, 3, laneType, speedLimits, simulator);
          // A GTU can exist on several lanes at once; create another lane group to test that
          // Node nodeBFrom = new Node(network, "BFrom", new Point2d(10, 0), Direction.ZERO);
          // Node nodeBTo = new Node(network, "BTo", new Point2d(1000, 0), Direction.ZERO);
          // Lane[] lanesGroupB = LaneFactory.makeMultiLane(network, "B", nodeBFrom, nodeBTo, null, 3, laneType,
          // new Speed(100, KM_PER_HOUR), simulator, DefaultsNl.VEHICLE);
          Set<LanePosition> initialLongitudinalPositions = new LinkedHashSet<>(2);
 
         Length positionA = new Length(100, METER);
         initialLongitudinalPositions.add(new LanePosition(lanesGroupA[1], positionA));
         // Length positionB = new Length(90, METER);
         // initialLongitudinalPositions.add(new LanePosition(lanesGroupB[1], positionB));
         // A Car needs a CarFollowingModel
         Acceleration acceleration = new Acceleration(2, METER_PER_SECOND_2);
         Duration validFor = new Duration(0.5, SECOND);
         // A Car needs a lane change model
         // AbstractLaneChangeModel laneChangeModel = new Egoistic();
         // A Car needs an initial speed
         Speed initialSpeed = new Speed(50, KM_PER_HOUR);
         // Length of the Car
         Length carLength = new Length(4, METER);
         // Width of the Car
         Length carWidth = new Length(1.8, METER);
         // Maximum speed of the Car
         Speed maximumSpeed = new Speed(200, KM_PER_HOUR);
         // ID of the Car
         String carID = "theCar";
         // List of Nodes visited by the Car
         List<Node> nodeList = new ArrayList<Node>();
         nodeList.add(nodeAFrom);
         nodeList.add(nodeATo);
         // Route of the Car
         Route route = new Route("Route", gtuType, nodeList);
         // Now we can make a GTU
         Parameters parameters = DefaultTestParameters.create(); // new
                                                                 // BehavioralCharacteristics();
         // LaneBasedBehavioralCharacteristics drivingCharacteristics =
         // new LaneBasedBehavioralCharacteristics(gfm, laneChangeModel);
         LaneBasedGtu car = new LaneBasedGtu(carID, gtuType, carLength, carWidth, maximumSpeed, carLength.times(0.5), network);
         LaneBasedStrategicalPlanner strategicalPlanner = new LaneBasedStrategicalRoutePlanner(
                 new LmrsFactory<>(Lmrs::new)
                         .set(Setting.CAR_FOLLOWING_MODEL, (h, v) -> new FixedCarFollowing(acceleration).get()).create(car),
                 car);
         car.setParameters(parameters);
         car.init(strategicalPlanner, new LanePosition(lanesGroupA[1], positionA).getLocation(), initialSpeed);
         // Now we can verify the various fields in the newly created Car
         assertEquals(carID, car.getId(), "ID of the car should be identical to the provided one");
         // TODO: Test with gfm as part of tactical planner
         // assertEquals("GTU following model should be identical to the provided one", gfm, car
         // .getBehavioralCharacteristics().getGtuFollowingModel());
         assertEquals(carWidth, car.getWidth(), "Width should be identical to the provided width");
         assertEquals(carLength, car.getLength(), "Length should be identical to the provided length");
         assertEquals(gtuType, car.getType(), "GTU type should be identical to the provided one");
         assertEquals(positionA.getSI(), car.getPosition(lanesGroupA[1], car.getReference()).getSI(), 0.0001,
                 "front in lanesGroupA[1] is positionA");
         // assertEquals("acceleration is 0", 0, car.getAcceleration().getSI(), 0.00001);
         // edit wouter schakel: fixed acceleration model has a=2.0m/s^2, first plan is made during initialization
         assertEquals(2.0, car.getAcceleration().getSI(), 0.00001, "acceleration is 2");
         assertEquals(initialSpeed.getSI(), car.getSpeed().getSI(), 0.00001, "longitudinal speed is " + initialSpeed);
         assertEquals(0, car.getOperationalPlan().getStartTime().getSI(), 0.00001, "lastEvaluation time is 0");
         // Test the position(Lane, RelativePosition) method
         // WS: Removed as null check has been removed from position(...)
         // try
         // {
         // car.position(null, car.getFront());
         // fail("position on null lane should have thrown a NetworkException");
         // }
         // catch (GTUException ne)
         // {
         // // Ignore
         // }
         for (Lane[] laneGroup : new Lane[][] {lanesGroupA})// , lanesGroupB})
         {
             for (int laneIndex = 0; laneIndex < laneGroup.length; laneIndex++)
             {
                 Lane lane = laneGroup[laneIndex];
                 for (RelativePosition relativePosition : new RelativePosition[] {car.getFront(), car.getReference(),
                         car.getRear()})
                 {
                     // System.out.println("lane:" + lane + ", expectedException: " + expectException
                     // + ", relativePostion: " + relativePosition);
                     Length position = car.getPosition(lane, relativePosition);
                     Length expectedPosition = positionA;// laneGroup == lanesGroupA ? positionA : positionB;
                     expectedPosition = expectedPosition.plus(relativePosition.dx());
                     // System.out.println("reported position: " + position);
                     // System.out.println("expected position: " + expectedPosition);
                     assertEquals(expectedPosition.getSI(), position.getSI(), 0.0001, "Position should match initial position");
                 }
             }
         }
         // Assign a movement to the car (10 seconds of acceleration of 2 m/s/s)
         // scheduled event that moves the car at t=0
         assertEquals(0, car.getOperationalPlan().getStartTime().getSI(), 0.00001, "lastEvaluation time is 0");
         // assertEquals("nextEvaluation time is 0", 0, car.getOperationalPlan().getEndTime().getSI(), 0.00001);
         // edit wouter schakel: fixed acceleration model has t=10s, first plan is made during initialization
         assertEquals(0.5, car.getOperationalPlan().getEndTime().getSI(), 0.00001, "nextEvaluation time is 10");
         // Increase the simulator clock in small steps and verify the both positions on all lanes at each step
         double step = 0.01d;
         for (int i = 0;; i++)
         {
             Duration stepTime = Duration.ofSI(i * step);
             if (stepTime.getSI() > validFor.getSI())
             {
                 break;
             }
             if (stepTime.getSI() > 0.5)
             {
                 step = 0.1; // Reduce testing time by increasing the step size
             }
             // System.out.println("Simulating until " + stepTime.getSI());
             simulator.runUpTo(stepTime);
             while (simulator.isStartingOrRunning())
             {
                 try
                 {
                     Thread.sleep(1);
                 }
                 catch (InterruptedException ie)
                 {
                     ie = null; // ignore
                 }
             }
             // Debugging code that helped locate a problem in the DSOL runUpTo code.
             // System.out.println("stepTime is " + stepTime);
             // System.out.println("Car simulator time " + car.getSimulator().getSimulatorTime());
             // System.out.println("Simulator time is now " + simulator.getSimulatorTime());
             // if (simulator != car.getSimulator())
             // {
             // System.err.println("Car runs on a different simulator!");
             // }
             // System.out.println("operational plan is " + car.getOperationalPlan());
             // System.out.println("operational plan end time is " + car.getOperationalPlan().getEndTime());
             // car.getOperationalPlan().getEndTime();
             // if (stepTime.getSI() > 0)
             // {
             // assertEquals("nextEvaluation time is " + validFor, validFor.getSI(),
             // car.getOperationalPlan().getEndTime().getSI(), 0.0001);
             // assertEquals("acceleration is " + acceleration, acceleration.getSI(), car.getAcceleration().getSI(), 0.00001);
             // }
             Speed longitudinalSpeed = car.getSpeed();
             double expectedLongitudinalSpeed = initialSpeed.getSI() + stepTime.getSI() * acceleration.getSI();
             assertEquals(expectedLongitudinalSpeed, longitudinalSpeed.getSI(), 0.00001,
                     "longitudinal speed is " + expectedLongitudinalSpeed);
             for (RelativePosition relativePosition : new RelativePosition[] {car.getFront(), car.getRear()})
             {
                 LanePosition pos = car.getPosition();
                 // System.out.println("Fractional positions: " + positions);
                 assertTrue(null != pos, "Car should be in lane 1 of lane group A");
                 assertEquals(pos.getFraction() + relativePosition.dx().si / lanesGroupA[1].getLength().si,
                         car.getPosition(lanesGroupA[1], relativePosition).si / lanesGroupA[1].getLength().si, 0.0000001,
                         "fractional position should be equal to result of fractionalPosition(lane, ...)");
             }
             for (Lane[] laneGroup : new Lane[][] {lanesGroupA})// , lanesGroupB})
             {
                 for (int laneIndex = 0; laneIndex < laneGroup.length; laneIndex++)
                 {
                     Lane lane = laneGroup[laneIndex];
                     for (RelativePosition relativePosition : new RelativePosition[] {car.getFront(), car.getReference(),
                             car.getRear()})
                     {
                         // System.out.println("lane:" + lane + ", expectedException: " + expectException
                         // + ", relativePostion: " + relativePosition);
                         Length position = car.getPosition(lane, relativePosition);
                         Length expectedPosition = positionA;// laneGroup == lanesGroupA ? positionA : positionB;
                         expectedPosition =
                                 expectedPosition.plus(new Length(stepTime.getSI() * initialSpeed.getSI(), LengthUnit.SI));
                         expectedPosition = expectedPosition.plus(
                                 new Length(0.5 * acceleration.getSI() * stepTime.getSI() * stepTime.getSI(), LengthUnit.SI));
                         expectedPosition = expectedPosition.plus(relativePosition.dx());
                         // System.out.println("reported position: " + position);
                         // System.out.println("expected position: " + expectedPosition);
                         assertEquals(expectedPosition.getSI(), position.getSI(), 0.01,
                                 "Position should match initial position");
                         double fractionalPosition = car.getPosition(lane, relativePosition).si / lane.getLength().si;
                         expectedPosition = positionA;// laneGroup == lanesGroupA ? positionA : positionB;
                         expectedPosition =
                                 expectedPosition.plus(new Length(stepTime.getSI() * initialSpeed.getSI(), LengthUnit.SI));
                         expectedPosition = expectedPosition.plus(
                                 new Length(0.5 * acceleration.getSI() * stepTime.getSI() * stepTime.getSI(), LengthUnit.SI));
                         expectedPosition = expectedPosition.plus(relativePosition.dx());
                         // System.out.println("reported position: " + position);
                         // System.out.println("expected position: " + expectedPosition);
                         double expectedFractionalPosition = expectedPosition.getSI() / lane.getLength().getSI();
                         assertEquals(expectedFractionalPosition, fractionalPosition, 0.01,
                                 "Position should match initial position");
                     }
                 }
             }
         }
         // A GTU can exist on several lanes at once; create another lane group to test that
         Node nodeCFrom = new Node(network, "CFrom", new Point2d(10, 100), Direction.ZERO);
         Node nodeCTo = new Node(network, "CTo", new Point2d(1000, 0), Direction.ZERO);
         Lane[] lanesGroupC =
                 LaneFactory.makeMultiLane(network, "C", nodeCFrom, nodeCTo, null, 3, laneType, speedLimits, simulator);
         for (RelativePosition relativePosition : new RelativePosition[] {car.getFront(), car.getRear()})
         {
             LanePosition pos = car.getPosition();
             assertTrue(null != pos, "Car should be in lane 1 of lane group A");
             assertEquals(pos.getFraction() + relativePosition.dx().si / lanesGroupA[1].getLength().si,
                     car.getPosition(lanesGroupA[1], relativePosition).si / lanesGroupA[1].getLength().si, 0.0000001,
                     "fractional position should be equal to result of fractionalPosition(lane, ...)");
         }
         // TODO removeLane should throw an Error when the car is not on that lane (currently this is silently ignored)
         // TODO figure out why the added lane has a non-zero position
     }
 }
 
 /**
  * Dummy OtsModelInterface.
  * <p>
  * Copyright (c) 2013-2026 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 Peter Knoppers
  */
 class DummyModel extends AbstractOtsModel
 {
     /**
      * Constructor.
      * @param simulator the simulator to use
      */
     DummyModel(final OtsSimulatorInterface simulator)
     {
         super(simulator);
     }
 
     @Override
     public final void constructModel() throws SimRuntimeException
     {
         //
     }
 
     @Override
     public final RoadNetwork getNetwork()
     {
         return null;
     }
 
 }