package org.opentrafficsim.road.gtu.lane.tactical.util;
   
   import java.io.Serializable;
   
   import org.djunits.unit.DurationUnit;
   import org.djunits.unit.LengthUnit;
   import org.djunits.value.vdouble.scalar.Acceleration;
   import org.djunits.value.vdouble.scalar.Duration;
   import org.djunits.value.vdouble.scalar.Length;
  import org.djunits.value.vdouble.scalar.Speed;
  import org.opentrafficsim.base.parameters.ParameterException;
  import org.opentrafficsim.base.parameters.Parameters;
  import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
  import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
  
  /**
   * Utility class that stores duration and end-speed for a given anticipated movement.
   * <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://tudelft.nl/staff/p.knoppers-1">Peter Knoppers</a>
   * @author <a href="https://github.com/wjschakel">Wouter Schakel</a>
   * @param duration Duration; duration of movement
   * @param endSpeed Speed; end speed of movement
   */
  public final record AnticipationInfo(Duration duration, Speed endSpeed) implements Serializable
  {
  
      /** */
      private static final long serialVersionUID = 20160811L;
  
      /**
       * Returns info of the anticipation assuming constant acceleration.
       * @param distance Length; distance to cover
       * @param initialSpeed Speed; initial speed
       * @param acceleration Acceleration; (assumed) acceleration
       * @return duration to cover given distance with given initial speed and acceleration
       */
      public static AnticipationInfo anticipateMovement(final Length distance, final Speed initialSpeed,
              final Acceleration acceleration)
      {
          return anticipateMovementSpeedLimited(distance, initialSpeed, acceleration, Speed.POSITIVE_INFINITY);
      }
  
      /**
       * Returns info of the anticipation assuming constant acceleration, without exceeding maximum speed.
       * @param distance Length; distance to cover
       * @param initialSpeed Speed; initial speed
       * @param acceleration Acceleration; (assumed) acceleration
       * @param maxSpeed Speed; maximum speed
       * @return duration to cover given distance with given initial speed and acceleration, without exceeding maximum speed
       */
      public static AnticipationInfo anticipateMovementSpeedLimited(final Length distance, final Speed initialSpeed,
              final Acceleration acceleration, final Speed maxSpeed)
      {
          if (distance.lt0())
          {
              return new AnticipationInfo(Duration.ZERO, initialSpeed);
          }
          // solve constant speed movement
          if (acceleration.eq(Acceleration.ZERO))
          {
              if (initialSpeed.gt0())
              {
                  return new AnticipationInfo(distance.divide(initialSpeed), initialSpeed);
              }
              // stand-still, so infinite
              return new AnticipationInfo(new Duration(Double.POSITIVE_INFINITY, DurationUnit.SI), Speed.ZERO);
          }
          // solve parabolic movement
          double tmp = initialSpeed.si * initialSpeed.si + 2.0 * acceleration.si * distance.si;
          if (tmp < 0)
          {
              // will never cover distance due to deceleration
              return new AnticipationInfo(new Duration(Double.POSITIVE_INFINITY, DurationUnit.SI), Speed.ZERO);
          }
          // parabolic solution
          Duration d = new Duration((Math.sqrt(tmp) - initialSpeed.si) / acceleration.si, DurationUnit.SI);
          // check max speed
          Speed endSpeed = initialSpeed.plus(acceleration.times(d));
          if (endSpeed.le(maxSpeed))
          {
              return new AnticipationInfo(d, endSpeed);
          }
          // maximum speed exceeded, calculate in two steps
          Duration d1 = maxSpeed.minus(initialSpeed).divide(acceleration);
          Length x2 = new Length(distance.si - initialSpeed.si * d1.si - .5 * acceleration.si * d1.si * d1.si, LengthUnit.SI);
          return new AnticipationInfo(d1.plus(x2.divide(maxSpeed)), maxSpeed);
      }
  
      /**
       * Returns info of the anticipation using free acceleration from car-following model.
       * @param distance Length; distance to cover
       * @param initialSpeed Speed; initial speed
       * @param parameters Parameters; parameters of the anticipated GTU
       * @param carFollowingModel CarFollowingModel; car-following model of the anticipated GTU
       * @param speedLimitInfo SpeedLimitInfo; speed limit info of the anticipated GTU
      * @param timeStep Duration; time step to use
      * @return info regarding anticipation of movement
      * @throws ParameterException if parameter is not defined
      */
     public static AnticipationInfo anticipateMovementFreeAcceleration(final Length distance, final Speed initialSpeed,
             final Parameters parameters, final CarFollowingModel carFollowingModel, final SpeedLimitInfo speedLimitInfo,
             final Duration timeStep) throws ParameterException
     {
         if (distance.lt0())
         {
             return new AnticipationInfo(Duration.ZERO, initialSpeed);
         }
         Duration out = Duration.ZERO;
         if (distance.lt0())
         {
             return new AnticipationInfo(out, initialSpeed);
         }
         Length xCumul = Length.ZERO;
         Speed speed = initialSpeed;
         while (xCumul.lt(distance))
         {
             Acceleration a = CarFollowingUtil.freeAcceleration(carFollowingModel, parameters, speed, speedLimitInfo);
             Length add = new Length(speed.si * timeStep.si + .5 * a.si * timeStep.si * timeStep.si, LengthUnit.SI);
             Length remain = distance.minus(xCumul);
             if (add.lt(remain))
             {
                 xCumul = xCumul.plus(add);
                 speed = speed.plus(a.times(timeStep));
                 out = out.plus(timeStep);
             }
             else
             {
                 Duration timeInStep;
                 double tmp = Math.sqrt(2 * a.si * remain.si + speed.si * speed.si) - speed.si;
                 if (tmp < 0.000001)
                 {
                     // (near) constant speed
                     timeInStep = remain.divide(speed);
                 }
                 else
                 {
                     timeInStep = new Duration(tmp / a.si, DurationUnit.SI);
                     speed = speed.plus(a.times(timeInStep));
                 }
                 out = out.plus(timeInStep);
                 return new AnticipationInfo(out, speed);
             }
         }
         // should not happen
         throw new RuntimeException("Distance for anticipation of conflict movement is surpassed.");
     }
 
 }