package org.opentrafficsim.road.gtu.lane.control;
   
   import org.djunits.value.vdouble.scalar.Acceleration;
   import org.djunits.value.vdouble.scalar.Duration;
   import org.djunits.value.vdouble.scalar.Length;
   import org.opentrafficsim.base.parameters.ParameterException;
   import org.opentrafficsim.base.parameters.ParameterTypeDuration;
   import org.opentrafficsim.base.parameters.ParameterTypeLength;
   import org.opentrafficsim.base.parameters.Parameters;
  import org.opentrafficsim.base.parameters.constraint.NumericConstraint;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
  import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
  import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
  import org.opentrafficsim.road.gtu.lane.perception.categories.neighbors.LongitudinalControllerPerception;
  import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGtu;
  
  /**
   * Simple linear CACC controller.
   * <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/averbraeck">Alexander Verbraeck</a>
   * @author <a href="https://github.com/peter-knoppers">Peter Knoppers</a>
   * @author <a href="https://github.com/wjschakel">Wouter Schakel</a>
   */
  public abstract class AbstractActuatedControl implements LongitudinalControl
  {
  
      /** Time headway setting for ACC mode. */
      public static final ParameterTypeDuration TDACC = new ParameterTypeDuration("td ACC",
              "User defined time headway in ACC mode", Duration.instantiateSI(1.2), NumericConstraint.POSITIVE);
  
      /** Time headway setting for CACC mode. */
      public static final ParameterTypeDuration TDCACC = new ParameterTypeDuration("td CACC",
              "User defined time headway in CACC mode", Duration.instantiateSI(0.5), NumericConstraint.POSITIVE);
  
      /** (C)ACC stopping distance. */
      public static final ParameterTypeLength X0 = new ParameterTypeLength("x0 (C)ACC", "Stopping distance (C)ACC",
              Length.instantiateSI(3.0), NumericConstraint.POSITIVE);
  
      /** Delayed actuation. */
      private final DelayedActuation delayedActuation;
  
      /**
       * Constructor using default sensors with no delay.
       * @param delayedActuation delayed actuation
       */
      public AbstractActuatedControl(final DelayedActuation delayedActuation)
      {
          this.delayedActuation = delayedActuation;
      }
  
      /**
       * Delays the actuation of acceleration.
       * @param desiredAcceleration desired acceleration
       * @param gtu gtu
       * @return delayed acceleration
       */
      public Acceleration delayActuation(final Acceleration desiredAcceleration, final LaneBasedGtu gtu)
      {
          return this.delayedActuation.delayActuation(desiredAcceleration, gtu);
      }
  
      @Override
      public Acceleration getAcceleration(final LaneBasedGtu gtu, final Parameters settings)
      {
          try
          {
              PerceptionCollectable<HeadwayGtu, LaneBasedGtu> leaders = gtu.getTacticalPlanner().getPerception()
                      .getPerceptionCategory(LongitudinalControllerPerception.class).getLeaders();
              return delayActuation(getDesiredAcceleration(gtu, leaders, settings), gtu);
          }
          catch (OperationalPlanException exception)
          {
              throw new RuntimeException("Missing perception category LongitudinalControllerPerception", exception);
          }
          catch (ParameterException exception)
          {
              throw new RuntimeException("Missing parameter", exception);
          }
      }
  
      /**
       * Returns the desired acceleration from the longitudinal control.
       * @param gtu gtu
       * @param leaders leaders
       * @param settings system settings
       * @return desired acceleration
       * @throws ParameterException if parameter is not present
       */
      public abstract Acceleration getDesiredAcceleration(LaneBasedGtu gtu,
              PerceptionCollectable<HeadwayGtu, LaneBasedGtu> leaders, Parameters settings) throws ParameterException;
  
  }