package org.opentrafficsim.road.gtu.lane.plan.operational;
   
   import org.djunits.value.vdouble.scalar.Acceleration;
   import org.djunits.value.vdouble.scalar.Duration;
   import org.djunits.value.vdouble.scalar.Length;
   import org.djutils.exceptions.Throw;
   import org.opentrafficsim.base.logger.Logger;
   import org.opentrafficsim.core.gtu.GtuException;
   import org.opentrafficsim.core.gtu.TurnIndicatorIntent;
  import org.opentrafficsim.core.gtu.TurnIndicatorStatus;
  import org.opentrafficsim.core.network.LateralDirectionality;
  import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
  
  /**
   * Simplified plan containing an acceleration value and possible lane change direction.
   * <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 class SimpleOperationalPlan
  {
  
      /** Acceleration. */
      private Acceleration acceleration;
  
      /** Duration of the plan. */
      private final Duration duration;
  
      /** Deviation from center line. */
      private final Length deviation;
  
      /** Lane change direction. */
      private final LateralDirectionality laneChangeDirection;
  
      /** Indicator intent. */
      private TurnIndicatorIntent indicatorIntent = TurnIndicatorIntent.NONE;
  
      /** Distance to object causing turn indicator intent. */
      private Length indicatorObjectDistance = null;
  
      /**
       * Constructor.
       * @param acceleration acceleration
       * @param duration duration
       */
      public SimpleOperationalPlan(final Acceleration acceleration, final Duration duration)
      {
          this(acceleration, duration, Length.ZERO, LateralDirectionality.NONE);
      }
  
      /**
       * Constructor.
       * @param acceleration acceleration
       * @param duration duration
       * @param deviation deviation from center line, positive values is left
       */
      public SimpleOperationalPlan(final Acceleration acceleration, final Duration duration, final Length deviation)
      {
          this(acceleration, duration, deviation, LateralDirectionality.NONE);
      }
  
      /**
       * Constructor.
       * @param acceleration acceleration
       * @param duration duration
       * @param laneChangeDirection lane change direction, may be {@code null}.
       */
      public SimpleOperationalPlan(final Acceleration acceleration, final Duration duration,
              final LateralDirectionality laneChangeDirection)
      {
          this(acceleration, duration, Length.ZERO, laneChangeDirection);
      }
  
      /**
       * Constructor.
       * @param acceleration acceleration
       * @param duration duration
       * @param deviation deviation from center line, positive values is left
       * @param laneChangeDirection lane change direction, may be {@code null}.
       */
      public SimpleOperationalPlan(final Acceleration acceleration, final Duration duration, final Length deviation,
              final LateralDirectionality laneChangeDirection)
      {
          Throw.whenNull(acceleration, "Acceleration may not be null.");
          Throw.whenNull(duration, "Duration may not be null.");
          Throw.whenNull(deviation, "Deviation may not be null.");
          Throw.whenNull(laneChangeDirection, "Lane change direction may not be null.");
          checkAcceleration(acceleration);
          this.acceleration = Acceleration.max(Acceleration.ofSI(-100.0), acceleration);
          this.duration = duration;
          this.deviation = deviation;
          this.laneChangeDirection = laneChangeDirection;
      }
  
     /**
      * Return acceleration.
      * @return acceleration.
      */
     public final Acceleration getAcceleration()
     {
         return this.acceleration;
     }
 
     /**
      * Sets acceleration.
      * @param acceleration acceleration
      */
     public final void setAcceleration(final Acceleration acceleration)
     {
         checkAcceleration(acceleration);
         this.acceleration = acceleration;
     }
 
     /**
      * Return duration.
      * @return duration.
      */
     public Duration getDuration()
     {
         return this.duration;
     }
 
     /**
      * Return deviation.
      * @return deviation.
      */
     public Length getDeviation()
     {
         return this.deviation;
     }
 
     /**
      * Return whether this plan is a lane change plan.
      * @return if lane change.
      */
     public final boolean isLaneChange()
     {
         return this.laneChangeDirection != LateralDirectionality.NONE;
     }
 
     /**
      * Return lane change direction.
      * @return laneChangeDirection, may be NONE if no lane change.
      */
     public final LateralDirectionality getLaneChangeDirection()
     {
         return this.laneChangeDirection;
     }
 
     /**
      * Set minimum of current and given acceleration.
      * @param a acceleration to set if lower than current acceleration
      */
     public final void minimizeAcceleration(final Acceleration a)
     {
         checkAcceleration(a);
         this.acceleration = Acceleration.max(Acceleration.ofSI(-100.0), Acceleration.min(this.acceleration, a));
     }
 
     /**
      * Check acceleration level.
      * @param a acceleration
      */
     private void checkAcceleration(final Acceleration a)
     {
         if (a.equals(Acceleration.NEGATIVE_INFINITY) || a.equals(Acceleration.NEG_MAXVALUE))
         {
             Logger.ots().error("Model has calculated a negative infinite or negative max value acceleration.");
         }
     }
 
     /**
      * Returns indicator intent.
      * @return indicatorIntent.
      */
     public final TurnIndicatorIntent getIndicatorIntent()
     {
         return this.indicatorIntent;
     }
 
     /**
      * Set left indicator intent. Any intent given with distance overrules this intent.
      */
     public final void setIndicatorIntentLeft()
     {
         if (this.indicatorObjectDistance != null)
         {
             return;
         }
         if (this.indicatorIntent.isRight())
         {
             this.indicatorIntent = TurnIndicatorIntent.CONFLICTING;
         }
         else
         {
             this.indicatorIntent = TurnIndicatorIntent.LEFT;
         }
     }
 
     /**
      * Set right indicator intent. Any intent given with distance overrules this intent.
      */
     public final void setIndicatorIntentRight()
     {
         if (this.indicatorObjectDistance != null)
         {
             return;
         }
         if (this.indicatorIntent.isLeft())
         {
             this.indicatorIntent = TurnIndicatorIntent.CONFLICTING;
         }
         else
         {
             this.indicatorIntent = TurnIndicatorIntent.RIGHT;
         }
     }
 
     /**
      * Set left indicator intent. Intent with smallest provided distance has priority.
      * @param distance distance to object pertaining to the turn indicator intent
      */
     public final void setIndicatorIntentLeft(final Length distance)
     {
         if (compareAndIgnore(distance))
         {
             return;
         }
         if (this.indicatorIntent.isRight())
         {
             this.indicatorIntent = TurnIndicatorIntent.CONFLICTING;
         }
         else
         {
             this.indicatorIntent = TurnIndicatorIntent.LEFT;
         }
 
     }
 
     /**
      * Set right indicator intent. Intent with smallest provided distance has priority.
      * @param distance distance to object pertaining to the turn indicator intent
      */
     public final void setIndicatorIntentRight(final Length distance)
     {
         if (compareAndIgnore(distance))
         {
             return;
         }
         if (this.indicatorIntent.isLeft())
         {
             this.indicatorIntent = TurnIndicatorIntent.CONFLICTING;
         }
         else
         {
             this.indicatorIntent = TurnIndicatorIntent.RIGHT;
         }
     }
 
     /**
      * Compares distances and returns whether the given distance (and intent) can be ignored.
      * @param distance distance to object of intent
      * @return whether the given distance can be ignored
      */
     private boolean compareAndIgnore(final Length distance)
     {
         if (this.indicatorObjectDistance != null)
         {
             if (this.indicatorObjectDistance.lt(distance))
             {
                 // disregard input; the intent from larger distance
                 return true;
             }
             if (this.indicatorObjectDistance.gt(distance))
             {
                 // disregard existing; the intent from larger distance
                 this.indicatorIntent = TurnIndicatorIntent.NONE; // prevents a set to CONFLICTING
             }
         }
         else
         {
             // disregard existing; the intent without distance
             this.indicatorIntent = TurnIndicatorIntent.NONE; // prevents a set to CONFLICTING
         }
         return false;
     }
 
     @Override
     @SuppressWarnings("checkstyle:designforextension")
     public String toString()
     {
         return "SimpleOperationalPlan [Acceleration=" + this.acceleration + ", change=" + this.laneChangeDirection
                 + ", indicator intent=" + this.indicatorIntent + "]";
     }
 
     /**
      * Set turn indicator.
      * @param gtu LaneBasedGtu to set the indicator on
      * @throws GtuException if GTU does not support the indicator
      */
     public final void setTurnIndicator(final LaneBasedGtu gtu) throws GtuException
     {
         if (this.indicatorIntent.isLeft())
         {
             gtu.setTurnIndicatorStatus(TurnIndicatorStatus.LEFT);
         }
         else if (this.indicatorIntent.isRight())
         {
             gtu.setTurnIndicatorStatus(TurnIndicatorStatus.RIGHT);
         }
         else
         {
             gtu.setTurnIndicatorStatus(TurnIndicatorStatus.NONE);
         }
     }
 
 }