package org.opentrafficsim.road.gtu.lane.tactical;
   
   import org.djunits.value.vdouble.scalar.Duration;
   import org.djunits.value.vdouble.scalar.Length;
   import org.djunits.value.vdouble.scalar.Time;
   import org.djutils.draw.point.OrientedPoint2d;
   import org.opentrafficsim.base.parameters.ParameterException;
   import org.opentrafficsim.core.geometry.OtsLine2d;
   import org.opentrafficsim.core.gtu.GtuException;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
  import org.opentrafficsim.core.gtu.plan.operational.Segments;
  import org.opentrafficsim.core.network.NetworkException;
  import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
  import org.opentrafficsim.road.gtu.lane.perception.CategoricalLanePerception;
  import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
  import org.opentrafficsim.road.gtu.lane.perception.categories.DefaultSimplePerception;
  import org.opentrafficsim.road.gtu.lane.perception.categories.DirectDefaultSimplePerception;
  import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;
  import org.opentrafficsim.road.gtu.lane.tactical.following.AccelerationStep;
  import org.opentrafficsim.road.gtu.lane.tactical.following.GtuFollowingModelOld;
  
  /**
   * Lane-based tactical planner that implements car following behavior. This tactical planner retrieves the car following model
   * from the strategical planner and will generate an operational plan for the GTU.
   * <p>
   * This lane-based tactical planner makes decisions based on headway (GTU following model). It can ask the strategic planner for
   * assistance on the route to take when the network splits.
   * <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>
   */
  public class LaneBasedGtuFollowingTacticalPlanner extends AbstractLaneBasedTacticalPlanner
  {
      /** */
      private static final long serialVersionUID = 20151125L;
  
      /**
       * Instantiate a tactical planner with just GTU following behavior and no lane changes.
       * @param carFollowingModel GtuFollowingModelOld; Car-following model.
       * @param gtu LaneBasedGtu; GTU
       */
      public LaneBasedGtuFollowingTacticalPlanner(final GtuFollowingModelOld carFollowingModel, final LaneBasedGtu gtu)
      {
          super(carFollowingModel, gtu, new CategoricalLanePerception(gtu));
          getPerception().addPerceptionCategory(new DirectDefaultSimplePerception(getPerception()));
      }
  
      /** {@inheritDoc} */
      @Override
      public final OperationalPlan generateOperationalPlan(final Time startTime,
              final OrientedPoint2d locationAtStartTime)
              throws OperationalPlanException, NetworkException, GtuException, ParameterException
      {
          // ask Perception for the local situation
          LaneBasedGtu laneBasedGTU = getGtu();
          LanePerception perception = getPerception();
  
          // if the GTU's maximum speed is zero (block), generate a stand still plan for one second
          if (laneBasedGTU.getMaximumSpeed().si < OperationalPlan.DRIFTING_SPEED_SI)
          {
              return OperationalPlan.standStill(getGtu(), getGtu().getLocation(), startTime, Duration.ONE);
          }
  
          // see how far we can drive
          Length maxDistance = laneBasedGTU.getParameters().getParameter(LOOKAHEAD);
          LanePathInfo lanePathInfo = buildLanePathInfo(laneBasedGTU, maxDistance);
  
          // look at the conditions for headway from a GTU in front
          DefaultSimplePerception simplePerception = perception.getPerceptionCategory(DefaultSimplePerception.class);
          Headway headwayGTU = simplePerception.getForwardHeadwayGtu();
          AccelerationStep accelerationStepGTU = null;
          if (headwayGTU.getDistance().ge(maxDistance))
          {
              // TODO I really don't like this -- if there is a lane drop at 20 m, the GTU should stop...
              accelerationStepGTU = ((GtuFollowingModelOld) getCarFollowingModel()).computeAccelerationStepWithNoLeader(
                      laneBasedGTU, lanePathInfo.path().getLength(), simplePerception.getSpeedLimit());
          }
          else
          {
              accelerationStepGTU =
                      ((GtuFollowingModelOld) getCarFollowingModel()).computeAccelerationStep(laneBasedGTU, headwayGTU.getSpeed(),
                              headwayGTU.getDistance(), lanePathInfo.path().getLength(), simplePerception.getSpeedLimit());
          }
  
          // look at the conditions for headway from an object in front
          Headway headwayObject = simplePerception.getForwardHeadwayObject();
          AccelerationStep accelerationStepObject = null;
          if (headwayObject.getDistance().ge(maxDistance))
          {
              accelerationStepObject = ((GtuFollowingModelOld) getCarFollowingModel()).computeAccelerationStepWithNoLeader(
                      laneBasedGTU, lanePathInfo.path().getLength(), simplePerception.getSpeedLimit());
          }
          else
          {
              accelerationStepObject = ((GtuFollowingModelOld) getCarFollowingModel()).computeAccelerationStep(laneBasedGTU,
                     headwayObject.getSpeed(), headwayObject.getDistance(), lanePathInfo.path().getLength(),
                     simplePerception.getSpeedLimit());
         }
 
         // see which one is most limiting
         AccelerationStep accelerationStep = accelerationStepGTU.getAcceleration().lt(accelerationStepObject.getAcceleration())
                 ? accelerationStepGTU : accelerationStepObject;
 
         // see if we have to continue standing still. In that case, generate a stand still plan
         if (accelerationStep.getAcceleration().si < 1E-6 && laneBasedGTU.getSpeed().si < OperationalPlan.DRIFTING_SPEED_SI)
         {
             return OperationalPlan.standStill(getGtu(), getGtu().getLocation(), startTime, Duration.ONE);
         }
         OtsLine2d path = lanePathInfo.path();
         OperationalPlan op = new OperationalPlan(getGtu(), path, startTime,
                 Segments.off(getGtu().getSpeed(), accelerationStep.getDuration(), accelerationStep.getAcceleration()));
         return op;
     }
 
     /** {@inheritDoc} */
     @Override
     public final String toString()
     {
         return "LaneBasedGtuFollowingTacticalPlanner [carFollowingModel=" + getCarFollowingModel() + "]";
     }
 }