package org.opentrafficsim.road.gtu.lane.changing;
   
   import static org.junit.jupiter.api.Assertions.assertEquals;
   
   import java.util.Collection;
   import java.util.LinkedHashSet;
   import java.util.Map;
   
   import javax.naming.NamingException;
  
  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.djunits.value.vdouble.scalar.Time;
  import org.djutils.draw.point.Point2d;
  import org.junit.jupiter.api.Test;
  import org.opentrafficsim.base.geometry.OtsLine2d;
  import org.opentrafficsim.base.parameters.ParameterSet;
  import org.opentrafficsim.base.parameters.ParameterTypes;
  import org.opentrafficsim.core.definitions.DefaultsNl;
  import org.opentrafficsim.core.dsol.AbstractOtsModel;
  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.LateralDirectionality;
  import org.opentrafficsim.core.network.NetworkException;
  import org.opentrafficsim.core.network.Node;
  import org.opentrafficsim.core.perception.HistoryManagerDevs;
  import org.opentrafficsim.road.DefaultTestParameters;
  import org.opentrafficsim.road.definitions.DefaultsRoadNl;
  import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
  import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;
  import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGtuSimple;
  import org.opentrafficsim.road.gtu.lane.tactical.LaneBasedCfLcTacticalPlanner;
  import org.opentrafficsim.road.gtu.lane.tactical.following.AbstractIdm;
  import org.opentrafficsim.road.gtu.lane.tactical.following.IdmPlusOld;
  import org.opentrafficsim.road.gtu.lane.tactical.lanechangemobil.AbstractLaneChangeModel;
  import org.opentrafficsim.road.gtu.lane.tactical.lanechangemobil.Altruistic;
  import org.opentrafficsim.road.gtu.lane.tactical.lanechangemobil.Egoistic;
  import org.opentrafficsim.road.gtu.lane.tactical.lanechangemobil.LaneMovementStep;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlanner;
  import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalRoutePlanner;
  import org.opentrafficsim.road.network.RoadNetwork;
  import org.opentrafficsim.road.network.lane.CrossSectionLink;
  import org.opentrafficsim.road.network.lane.Lane;
  import org.opentrafficsim.road.network.lane.LaneGeometryUtil;
  import org.opentrafficsim.road.network.lane.LanePosition;
  import org.opentrafficsim.road.network.lane.LaneType;
  import org.opentrafficsim.road.network.lane.changing.LaneKeepingPolicy;
  
  import nl.tudelft.simulation.dsol.SimRuntimeException;
  
  /**
   * Test some very basic properties of lane change models.
   * <p>
   * Copyright (c) 2013-2024 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/peter-knoppers">Peter Knoppers</a>
   */
  public class LaneChangeModelTest extends AbstractOtsModel implements UNITS
  {
      /** */
      private static final long serialVersionUID = 20150313;
  
      /** The network. */
      private RoadNetwork network;
  
      /**
       */
      public LaneChangeModelTest()
      {
          super(new OtsSimulator("LaneChangeModelTest"));
          this.network = new RoadNetwork("lane change model test network", getSimulator());
      }
  
      /**
       * Create a Link.
       * @param network the network
       * @param name name of the new Link
       * @param from start node of the new Link
       * @param to end node of the new Link
       * @param width the width of the new Link
       * @param simulator the simulator
       * @return Link
       * @throws NetworkException if link already exists in the network, if name of the link is not unique, or if the start node
       *             or the end node of the link are not registered in the network
       */
      private static CrossSectionLink makeLink(final RoadNetwork network, final String name, final Node from, final Node to,
              final Length width, final OtsSimulatorInterface simulator) throws NetworkException
      {
          // TODO create a LinkAnimation if the simulator is compatible with that.
          // FIXME The current LinkAnimation is too bad to use...
         Point2d[] coordinates = new Point2d[] {new Point2d(from.getPoint().x, from.getPoint().y),
                 new Point2d(to.getPoint().x, to.getPoint().y)};
         OtsLine2d line = new OtsLine2d(coordinates);
         CrossSectionLink link =
                 new CrossSectionLink(network, name, from, to, DefaultsNl.ROAD, line, null, LaneKeepingPolicy.KEEPRIGHT);
         return link;
     }
 
     /**
      * Create one Lane.
      * @param link the link that owns the new Lane
      * @param id the id of the lane, has to be unique within the link
      * @param laneType the type of the new Lane
      * @param latPos the lateral position of the new Lane with respect to the design line of the link
      * @param width the width of the new Lane
      * @return Lane
      * @throws NamingException on ???
      * @throws NetworkException on ??
      */
     private static Lane makeLane(final CrossSectionLink link, final String id, final LaneType laneType, final Length latPos,
             final Length width) throws NamingException, NetworkException
     {
         // XXX Decide what type of overtaking conditions we want in this test
         Lane result = LaneGeometryUtil.createStraightLane(link, id, latPos, latPos, width, width, laneType,
                 Map.of(DefaultsNl.VEHICLE, new Speed(100, KM_PER_HOUR)));
         return result;
     }
 
     /**
      * Create a simple straight road with the specified number of Lanes.
      * @param network the network
      * @param name name of the Link
      * @param from starting node of the new Lane
      * @param to ending node of the new Lane
      * @param laneType the type of GTU that can use the lanes
      * @param laneCount number of lanes in the road
      * @param simulator the simulator
      * @return array containing the new Lanes
      * @throws Exception when something goes wrong (should not happen)
      */
     public static Lane[] makeMultiLane(final RoadNetwork network, final String name, final Node from, final Node to,
             final LaneType laneType, final int laneCount, final OtsSimulatorInterface simulator) throws Exception
     {
         Length width = new Length(laneCount * 4.0, METER);
         final CrossSectionLink link = makeLink(network, name, from, to, width, simulator);
         Lane[] result = new Lane[laneCount];
         width = new Length(4.0, METER);
         for (int laneIndex = 0; laneIndex < laneCount; laneIndex++)
         {
             // successive lanes have a more negative offset => more to the RIGHT
             Length latPos = new Length((-0.5 - laneIndex) * width.getSI(), METER);
             result[laneIndex] = makeLane(link, "lane." + laneIndex, laneType, latPos, width);
         }
         return result;
     }
 
     /**
      * Test that a vehicle in the left lane changes to the right lane if that is empty, or there is enough room.
      * @throws Exception when something goes wrong (should not happen)
      */
     @Test
     public final void changeRight() throws Exception
     {
         GtuType gtuType = DefaultsNl.CAR;
         LaneType laneType = DefaultsRoadNl.TWO_WAY_LANE;
         int laneCount = 2;
         this.simulator.initialize(Time.ZERO, Duration.ZERO, new Duration(3600.0, DurationUnit.SECOND), this,
                 HistoryManagerDevs.noHistory(this.simulator));
         Lane[] lanes = makeMultiLane(this.network, "Road with two lanes",
                 new Node(this.network, "From", new Point2d(0, 0), Direction.ZERO),
                 new Node(this.network, "To", new Point2d(200, 0), Direction.ZERO), laneType, laneCount, this.simulator);
 
         // Let's see if adjacent lanes are accessible
         // lanes: | 0 : 1 : 2 | in case of three lanes
         assertEquals(0, lanes[0].accessibleAdjacentLanesLegal(LateralDirectionality.LEFT, gtuType).size(),
                 "Leftmost lane should not have accessible adjacent lanes on the LEFT side");
         assertEquals(1, lanes[0].accessibleAdjacentLanesLegal(LateralDirectionality.RIGHT, gtuType).size(),
                 "Leftmost lane should have one accessible adjacent lane on the RIGHT side");
         assertEquals(1, lanes[1].accessibleAdjacentLanesLegal(LateralDirectionality.LEFT, gtuType).size(),
                 "Rightmost lane should have one accessible adjacent lane on the LEFT side");
         assertEquals(0, lanes[1].accessibleAdjacentLanesLegal(LateralDirectionality.RIGHT, gtuType).size(),
                 "Rightmost lane should not have accessible adjacent lanes on the RIGHT side");
 
         AbstractLaneChangeModel laneChangeModel = new Egoistic();
         ParameterSet parameters = DefaultTestParameters.create();
         // LaneBasedBehavioralCharacteristics drivingCharacteristics =
         // new LaneBasedBehavioralCharacteristics(new IDMPlusOld(new Acceleration(1, METER_PER_SECOND_2), new Acceleration(
         // 1.5, METER_PER_SECOND_2), new Length(2, METER), new Duration(1, SECOND), 1d), laneChangeModel);
         LaneBasedGtu car = new LaneBasedGtu("ReferenceCar", gtuType, new Length(4, METER), new Length(2, METER),
                 new Speed(150, KM_PER_HOUR), Length.instantiateSI(2.0), this.network);
         LaneBasedStrategicalPlanner strategicalPlanner = new LaneBasedStrategicalRoutePlanner(
                 new LaneBasedCfLcTacticalPlanner(new IdmPlusOld(), laneChangeModel, car), car);
         car.setParameters(parameters);
         car.init(strategicalPlanner, new LanePosition(lanes[1], new Length(100, METER)), new Speed(100, KM_PER_HOUR));
         car.getTacticalPlanner().getPerception().perceive();
         Collection<Headway> sameLaneGTUs = new LinkedHashSet<>();
         sameLaneGTUs.add(new HeadwayGtuSimple(car.getId(), car.getType(), Length.ZERO, Length.ZERO, car.getLength(),
                 car.getSpeed(), car.getAcceleration(), null));
         Collection<Headway> preferredLaneGTUs = new LinkedHashSet<>();
         Collection<Headway> nonPreferredLaneGTUs = new LinkedHashSet<>();
         LaneMovementStep laneChangeModelResult = laneChangeModel.computeLaneChangeAndAcceleration(car, sameLaneGTUs,
                 preferredLaneGTUs, nonPreferredLaneGTUs, new Speed(100, KM_PER_HOUR), new Acceleration(0.3, METER_PER_SECOND_2),
                 new Acceleration(0.1, METER_PER_SECOND_2), new Acceleration(-0.3, METER_PER_SECOND_2));
         // System.out.println(laneChangeModelResult.toString());
         assertEquals(LateralDirectionality.RIGHT, laneChangeModelResult.getLaneChangeDirection(),
                 "Vehicle want to change to the right lane");
         Length rear = car.position(lanes[0], car.getRear());
         Length front = car.position(lanes[0], car.getFront());
         Length reference = car.position(lanes[0], RelativePosition.REFERENCE_POSITION);
         // System.out.println("rear: " + rear);
         // System.out.println("front: " + front);
         // System.out.println("reference: " + reference);
         Length vehicleLength = front.minus(rear);
         Length collisionStart = reference.minus(vehicleLength);
         Length collisionEnd = reference.plus(vehicleLength);
         for (double pos = collisionStart.getSI() + 0.01; pos < collisionEnd.getSI() - 0.01; pos += 0.1)
         {
             parameters = DefaultTestParameters.create();
             // parameters = new BehavioralCharacteristics();
             // parameters.setParameter(ParameterTypes.A, new Acceleration(1, METER_PER_SECOND_2));
             // parameters.setParameter(ParameterTypes.B, new Acceleration(1.5, METER_PER_SECOND_2));
             // parameters.setParameter(ParameterTypes.S0, new Length(2, METER));
             // parameters.setParameter(ParameterTypes.T, new Duration(1, SECOND));
             // parameters.setParameter(ParameterTypes.A, new Acceleration(1, METER_PER_SECOND_2));
             // parameters.setParameter(AbstractIDM.DELTA, 1d);
             // drivingCharacteristics =
             // new LaneBasedBehavioralCharacteristics(new IDMPlusOld(new Acceleration(1, METER_PER_SECOND_2),
             // new Acceleration(1.5, METER_PER_SECOND_2), new Length(2, METER), new Duration(1, SECOND), 1d),
             // laneChangeModel);
             LaneBasedGtu collisionCar = new LaneBasedGtu("LaneChangeBlockingCarAt" + pos, gtuType, vehicleLength,
                     new Length(2, METER), new Speed(150, KM_PER_HOUR), vehicleLength.times(0.5), this.network);
             strategicalPlanner = new LaneBasedStrategicalRoutePlanner(
                     new LaneBasedCfLcTacticalPlanner(new IdmPlusOld(), laneChangeModel, collisionCar), collisionCar);
             collisionCar.setParameters(parameters);
             collisionCar.init(strategicalPlanner, new LanePosition(lanes[1], new Length(pos, METER)),
                     new Speed(100, KM_PER_HOUR));
             preferredLaneGTUs.clear();
             HeadwayGtuSimple collisionHWGTU = new HeadwayGtuSimple(collisionCar.getId(), collisionCar.getType(),
                     new Length(pos - reference.getSI(), LengthUnit.SI), collisionCar.getLength(), collisionCar.getWidth(),
                     collisionCar.getSpeed(), collisionCar.getAcceleration(), null);
             preferredLaneGTUs.add(collisionHWGTU);
             laneChangeModelResult = new Egoistic().computeLaneChangeAndAcceleration(car, sameLaneGTUs, preferredLaneGTUs,
                     nonPreferredLaneGTUs, new Speed(100, KM_PER_HOUR), new Acceleration(0.3, METER_PER_SECOND_2),
                     new Acceleration(0.1, METER_PER_SECOND_2), new Acceleration(-0.3, METER_PER_SECOND_2));
             // System.out.println(laneChangeModelResult.toString());
             assertEquals(null, laneChangeModelResult.getLaneChangeDirection(),
                     "Vehicle cannot to change to the right lane because that would result in an immediate collision");
         }
         for (double pos = 0; pos < 180; pos += 5) // beyond 180m, a GTU gets a plan beyond the 200m long network
         {
             parameters = new ParameterSet();
             parameters.setParameter(ParameterTypes.A, new Acceleration(1, METER_PER_SECOND_2));
             parameters.setParameter(ParameterTypes.B, new Acceleration(1.5, METER_PER_SECOND_2));
             parameters.setParameter(ParameterTypes.S0, new Length(2, METER));
             parameters.setParameter(ParameterTypes.T, new Duration(1, SECOND));
             parameters.setParameter(ParameterTypes.A, new Acceleration(1, METER_PER_SECOND_2));
             parameters.setDefaultParameter(ParameterTypes.LOOKAHEAD);
             parameters.setDefaultParameter(ParameterTypes.LOOKBACKOLD);
             parameters.setParameter(AbstractIdm.DELTA, 1d);
             // drivingCharacteristics =
             // new LaneBasedBehavioralCharacteristics(new IDMPlusOld(new Acceleration(1, METER_PER_SECOND_2),
             // new Acceleration(1.5, METER_PER_SECOND_2), new Length(2, METER), new Duration(1, SECOND), 1d),
             // laneChangeModel);
             LaneBasedGtu otherCar = new LaneBasedGtu("OtherCarAt" + pos, gtuType, vehicleLength, new Length(2, METER),
                     new Speed(150, KM_PER_HOUR), vehicleLength.times(0.5), this.network);
             strategicalPlanner = new LaneBasedStrategicalRoutePlanner(
                     new LaneBasedCfLcTacticalPlanner(new IdmPlusOld(), laneChangeModel, otherCar), otherCar);
             otherCar.setParameters(parameters);
             otherCar.init(strategicalPlanner, new LanePosition(lanes[1], new Length(pos, METER)), new Speed(100, KM_PER_HOUR));
             preferredLaneGTUs.clear();
             HeadwayGtuSimple collisionHWGTU = new HeadwayGtuSimple(otherCar.getId(), otherCar.getType(),
                     new Length(pos - car.position(lanes[0], car.getReference()).getSI(), LengthUnit.SI), otherCar.getLength(),
                     otherCar.getWidth(), otherCar.getSpeed(), otherCar.getAcceleration(), null);
             preferredLaneGTUs.add(collisionHWGTU);
             laneChangeModelResult = new Egoistic().computeLaneChangeAndAcceleration(car, sameLaneGTUs, preferredLaneGTUs,
                     nonPreferredLaneGTUs, new Speed(100, KM_PER_HOUR), new Acceleration(0.3, METER_PER_SECOND_2),
                     new Acceleration(0.1, METER_PER_SECOND_2), new Acceleration(-0.3, METER_PER_SECOND_2));
             // System.out.println(String.format("pos=%5fm Egoistic: %s", pos, laneChangeModelResult.toString()));
             laneChangeModelResult = new Altruistic().computeLaneChangeAndAcceleration(car, sameLaneGTUs, preferredLaneGTUs,
                     nonPreferredLaneGTUs, new Speed(100, KM_PER_HOUR), new Acceleration(0.3, METER_PER_SECOND_2),
                     new Acceleration(0.1, METER_PER_SECOND_2), new Acceleration(-0.3, METER_PER_SECOND_2));
             // System.out.println(String.format("pos=%5fm Altruistic: %s", pos, laneChangeModelResult.toString()));
             // assertEquals(
             // "Vehicle cannot to change to the right lane because that would result in an immediate collision",
             // null, laneChangeModelResult.getLaneChange());
         }
     }
 
     // TODO test/prove the expected differences between Egoistic and Altruistic
     // TODO prove that the most restrictive car in the other lane determines what happens
     // TODO test merge into overtaking lane
 
     @Override
     public void constructModel() throws SimRuntimeException
     {
         // DO NOTHING
     }
 
     @Override
     public final RoadNetwork getNetwork()
     {
         return this.network;
     }
 
 }