package org.opentrafficsim.demo.carFollowing;

import static org.opentrafficsim.core.gtu.GTUType.CAR;

import java.awt.geom.Rectangle2D;
import java.io.IOException;
import java.net.URL;
import java.rmi.RemoteException;
import java.util.HashMap;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
import java.util.Set;

import javax.naming.NamingException;
import javax.swing.JComponent;
import javax.swing.JPanel;
import javax.swing.JScrollPane;
import javax.swing.SwingUtilities;

import org.djunits.unit.DurationUnit;
import org.djunits.unit.LengthUnit;
import org.djunits.unit.SpeedUnit;
import org.djunits.unit.UNITS;
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.djunits.value.vdouble.scalar.Time;
import org.opentrafficsim.base.modelproperties.ProbabilityDistributionProperty;
import org.opentrafficsim.base.modelproperties.Property;
import org.opentrafficsim.base.modelproperties.PropertyException;
import org.opentrafficsim.base.modelproperties.SelectionProperty;
import org.opentrafficsim.core.dsol.OTSModelInterface;
import org.opentrafficsim.core.geometry.OTSGeometryException;
import org.opentrafficsim.core.geometry.OTSPoint3D;
import org.opentrafficsim.core.gtu.GTUDirectionality;
import org.opentrafficsim.core.gtu.GTUException;
import org.opentrafficsim.core.gtu.GTUType;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.core.network.OTSNetwork;
import org.opentrafficsim.core.network.OTSNode;
import org.opentrafficsim.core.network.route.Route;
import org.opentrafficsim.core.units.distributions.ContinuousDistDoubleScalar;
import org.opentrafficsim.demo.PropertiesParser;
import org.opentrafficsim.road.animation.AnimationToggles;
import org.opentrafficsim.road.gtu.animation.DefaultCarAnimation;
import org.opentrafficsim.road.gtu.lane.LaneBasedIndividualGTU;
import org.opentrafficsim.road.gtu.lane.tactical.following.GTUFollowingModelOld;
import org.opentrafficsim.road.gtu.lane.tactical.lanechangemobil.LaneChangeModel;
import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlanner;
import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlannerFactory;
import org.opentrafficsim.road.modelproperties.IDMPropertySet;
import org.opentrafficsim.road.network.factory.LaneFactory;
import org.opentrafficsim.road.network.lane.DirectedLanePosition;
import org.opentrafficsim.road.network.lane.Lane;
import org.opentrafficsim.road.network.lane.LaneType;
import org.opentrafficsim.road.network.lane.object.sensor.SinkSensor;
import org.opentrafficsim.road.network.lane.object.trafficlight.SimpleTrafficLight;
import org.opentrafficsim.road.network.lane.object.trafficlight.TrafficLight;
import org.opentrafficsim.road.network.lane.object.trafficlight.TrafficLightColor;
import org.opentrafficsim.simulationengine.AbstractWrappableAnimation;
import org.opentrafficsim.simulationengine.OTSSimulationException;

import nl.tudelft.simulation.dsol.SimRuntimeException;
import nl.tudelft.simulation.dsol.gui.swing.HTMLPanel;
import nl.tudelft.simulation.dsol.simtime.SimTimeDoubleUnit;
import nl.tudelft.simulation.dsol.simulators.DEVSSimulatorInterface;
import nl.tudelft.simulation.dsol.simulators.SimulatorInterface;
import nl.tudelft.simulation.jstats.distributions.DistTriangular;
import nl.tudelft.simulation.jstats.streams.MersenneTwister;
import nl.tudelft.simulation.jstats.streams.StreamInterface;

/**
 * Demonstration of a crossing with traffic lights.
 * <p>
 * Copyright (c) 2013-2018 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
 * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
 * <p>
 * $LastChangedDate: 2016-10-28 16:34:11 +0200 (Fri, 28 Oct 2016) $, @version $Revision: 2429 $, by $Author: pknoppers $,
 * initial version 12 nov. 2014 <br>
 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
 */
public class CrossingTrafficLights extends AbstractWrappableAnimation implements UNITS
{
    /** */
    private static final long serialVersionUID = 1L;

    /** The model. */
    private CrossingTrafficLightstModel model;

    /** Fixed green time. */
    protected static final Duration TGREEN = new Duration(39.0, DurationUnit.SI);

    /** Fixed yellow time. */
    protected static final Duration TYELLOW = new Duration(6.0, DurationUnit.SI);

    /** Fixed red time. */
    protected static final Duration TRED = new Duration(45.0, DurationUnit.SI);

    /**
     * Create a CrossingTrafficLights simulation.
     * @throws PropertyException when a property is not handled
     */
    public CrossingTrafficLights() throws PropertyException
    {
        this.properties.add(new SelectionProperty("LaneChanging", "Lane changing",
                "<html>The lane change strategies vary in politeness.<br>"
                        + "Two types are implemented:<ul><li>Egoistic (looks only at personal gain).</li>"
                        + "<li>Altruistic (assigns effect on new and current follower the same weight as "
                        + "the personal gain).</html>",
                new String[] { "Egoistic", "Altruistic" }, 0, false, 500));
        this.properties.add(new SelectionProperty("TacticalPlanner", "Tactical planner",
                "<html>The tactical planner determines if a lane change is desired and possible.</html>",
                new String[] { "IDM", "MOBIL/IDM", "DIRECTED/IDM", "LMRS", "Toledo" }, 0, false, 600));
    }

    /** {@inheritDoc} */
    @Override
    public final void stopTimersThreads()
    {
        super.stopTimersThreads();
        this.model = null;
    }

    /**
     * Main program.
     * @param args String[]; the command line arguments (not used)
     * @throws SimRuntimeException when simulation cannot be created with given parameters
     */
    public static void main(final String[] args) throws SimRuntimeException
    {
        SwingUtilities.invokeLater(new Runnable()
        {
            @SuppressWarnings("synthetic-access")
            @Override
            public void run()
            {
                try
                {
                    CrossingTrafficLights crossingTrafficLights = new CrossingTrafficLights();
                    List<Property<?>> localProperties = crossingTrafficLights.getProperties();
                    try
                    {
                        localProperties.add(new ProbabilityDistributionProperty("TrafficComposition", "Traffic composition",
                                "<html>Mix of passenger cars and trucks</html>", new String[] { "passenger car", "truck" },
                                new Double[] { 0.8, 0.2 }, false, 10));
                    }
                    catch (PropertyException exception)
                    {
                        exception.printStackTrace();
                    }
                    localProperties.add(new SelectionProperty("CarFollowingModel", "Car following model",
                            "<html>The car following model determines "
                                    + "the acceleration that a vehicle will make taking into account "
                                    + "nearby vehicles, infrastructural restrictions (e.g. speed limit, "
                                    + "curvature of the road) capabilities of the vehicle and personality "
                                    + "of the driver.</html>",
                            new String[] { "IDM", "IDM+" }, 1, false, 1));
                    localProperties.add(IDMPropertySet.makeIDMPropertySet("IDMCar", "Car",
                            new Acceleration(1.0, METER_PER_SECOND_2), new Acceleration(1.5, METER_PER_SECOND_2),
                            new Length(2.0, METER), new Duration(1.0, SECOND), 2));
                    localProperties.add(IDMPropertySet.makeIDMPropertySet("IDMTruck", "Truck",
                            new Acceleration(0.5, METER_PER_SECOND_2), new Acceleration(1.25, METER_PER_SECOND_2),
                            new Length(2.0, METER), new Duration(1.0, SECOND), 3));

                    crossingTrafficLights.buildAnimator(Time.ZERO, Duration.ZERO, new Duration(3600.0, SECOND), localProperties,
                            null, true);

                    crossingTrafficLights.panel.getTabbedPane().addTab("info", crossingTrafficLights.makeInfoPane());
                }
                catch (SimRuntimeException | NamingException | OTSSimulationException | PropertyException exception)
                {
                    exception.printStackTrace();
                }
            }
        });
    }

    /** {@inheritDoc} */
    @Override
    protected final void addAnimationToggles()
    {
        AnimationToggles.setTextAnimationTogglesStandard(this);
    }

    /** {@inheritDoc} */
    @Override
    protected final Rectangle2D makeAnimationRectangle()
    {
        return new Rectangle2D.Double(-50, -50, 100, 100);
    }

    /** {@inheritDoc} */
    @Override
    protected final OTSModelInterface makeModel()
    {
        this.model = new CrossingTrafficLightstModel(this.savedUserModifiedProperties);
        return this.model;
    }

    /**
     * @return an info pane to be added to the tabbed pane.
     */
    protected final JComponent makeInfoPane()
    {
        // Make the info tab
        String helpSource = "/" + CrossingTrafficLightstModel.class.getPackage().getName().replace('.', '/') + "/IDMPlus.html";
        URL page = CrossingTrafficLightstModel.class.getResource(helpSource);
        if (page != null)
        {
            try
            {
                HTMLPanel htmlPanel = new HTMLPanel(page);
                return new JScrollPane(htmlPanel);
            }
            catch (IOException exception)
            {
                exception.printStackTrace();
            }
        }
        return new JPanel();
    }

    /** {@inheritDoc} */
    @Override
    public final String shortName()
    {
        return "Crossing with Traffic Lights";
    }

    /** {@inheritDoc} */
    @Override
    public final String description()
    {
        return "<html><h1>Simulation of a crossing with traffic lights</h1>"
                + "Simulation of four double lane roads with a crossing in the middle.</html>";
    }

    /**
     * Simulate four double lane roads with a crossing in the middle.
     * <p>
     * Copyright (c) 2013-2018 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
     * <br>
     * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
     * </p>
     * $LastChangedDate: 2016-10-28 16:34:11 +0200 (Fri, 28 Oct 2016) $, @version $Revision: 2429 $, by $Author: pknoppers $,
     * initial version ug 1, 2014 <br>
     * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
     */
    class CrossingTrafficLightstModel implements OTSModelInterface, UNITS
    {
        /** */
        private static final long serialVersionUID = 20140815L;

        /** The simulator. */
        private DEVSSimulatorInterface.TimeDoubleUnit simulator;

        /** The network. */
        private final OTSNetwork network = new OTSNetwork("network");

        /** the random stream for this demo. */
        private StreamInterface stream = new MersenneTwister(555);

        /** The headway (inter-vehicle time) distribution. */
        private ContinuousDistDoubleScalar.Rel<Duration, DurationUnit> headwayDistribution =
                new ContinuousDistDoubleScalar.Rel<>(new DistTriangular(this.stream, 7, 9, 15), DurationUnit.SECOND);

        /** The speed distribution. */
        private ContinuousDistDoubleScalar.Rel<Speed, SpeedUnit> speedDistribution =
                new ContinuousDistDoubleScalar.Rel<>(new DistTriangular(this.stream, 50, 60, 70), SpeedUnit.KM_PER_HOUR);

        /** Number of cars created. */
        private int carsCreated = 0;

        /** Type of all GTUs. */
        private GTUType gtuType = CAR;

        /** The car following model, e.g. IDM Plus for cars. */
        private GTUFollowingModelOld carFollowingModel;

        /** The lane change model, e.g. Egoistic for cars. */
        private LaneChangeModel laneChangeModel;

        /** User settable properties. */
        private List<Property<?>> properties = null;

        /** the tactical planner factory for this model. */
        private LaneBasedStrategicalPlannerFactory<LaneBasedStrategicalPlanner> strategicalPlannerFactory;

        /** The speed limit on all Lanes. */
        private Speed speedLimit = new Speed(80, KM_PER_HOUR);

        /**
         * @param properties the user settable properties
         */
        CrossingTrafficLightstModel(final List<Property<?>> properties)
        {
            this.properties = properties;
        }

        /** {@inheritDoc} */
        @Override
        public final void constructModel(final SimulatorInterface<Time, Duration, SimTimeDoubleUnit> theSimulator)
                throws SimRuntimeException
        {
            this.simulator = (DEVSSimulatorInterface.TimeDoubleUnit) theSimulator;
            try
            {
                OTSNode[][] nodes = new OTSNode[4][4];
                nodes[0][0] = new OTSNode(this.network, "sn1", new OTSPoint3D(10, -500));
                nodes[0][1] = new OTSNode(this.network, "sn2", new OTSPoint3D(10, -20));
                nodes[0][2] = new OTSNode(this.network, "sn3", new OTSPoint3D(10, +20));
                nodes[0][3] = new OTSNode(this.network, "sn4", new OTSPoint3D(10, +5000));

                nodes[1][0] = new OTSNode(this.network, "we1", new OTSPoint3D(-500, -10));
                nodes[1][1] = new OTSNode(this.network, "we2", new OTSPoint3D(-20, -10));
                nodes[1][2] = new OTSNode(this.network, "we3", new OTSPoint3D(+20, -10));
                nodes[1][3] = new OTSNode(this.network, "we4", new OTSPoint3D(+5000, -10));

                nodes[2][0] = new OTSNode(this.network, "ns1", new OTSPoint3D(-10, +500));
                nodes[2][1] = new OTSNode(this.network, "ns2", new OTSPoint3D(-10, +20));
                nodes[2][2] = new OTSNode(this.network, "ns3", new OTSPoint3D(-10, -20));
                nodes[2][3] = new OTSNode(this.network, "ns4", new OTSPoint3D(-10, -5000));

                nodes[3][0] = new OTSNode(this.network, "ew1", new OTSPoint3D(+500, 10));
                nodes[3][1] = new OTSNode(this.network, "ew2", new OTSPoint3D(+20, 10));
                nodes[3][2] = new OTSNode(this.network, "ew3", new OTSPoint3D(-20, 10));
                nodes[3][3] = new OTSNode(this.network, "ew4", new OTSPoint3D(-5000, 10));

                LaneType laneType = LaneType.TWO_WAY_LANE;

                Map<Lane, SimpleTrafficLight> trafficLights = new HashMap<>();

                for (int i = 0; i < 4; i++)
                {
                    for (int j = 0; j < 3; j++)
                    {
                        Lane[] lanes = LaneFactory.makeMultiLane(this.network,
                                "Lane_" + nodes[i][j].getId() + "-" + nodes[i][j + 1].getId(), nodes[i][j], nodes[i][j + 1],
                                null, 2, laneType, this.speedLimit, this.simulator);
                        if (j == 0)
                        {
                            for (Lane lane : lanes)
                            {
                                this.simulator.scheduleEventRel(this.headwayDistribution.draw(), this, this, "generateCar",
                                        new Object[] { lane });
                                SimpleTrafficLight tl = new SimpleTrafficLight(lane.getId() + "_TL", lane,
                                        new Length(lane.getLength().minus(new Length(10.0, LengthUnit.METER))), this.simulator);
                                trafficLights.put(lane, tl);
                                if (i == 0 || i == 2)
                                {
                                    this.simulator.scheduleEventRel(Duration.ZERO, this, this, "changeTL", new Object[] { tl });
                                }
                                else
                                {
                                    this.simulator.scheduleEventRel(CrossingTrafficLights.TRED, this, this, "changeTL",
                                            new Object[] { tl });
                                }
                            }
                        }
                        if (j == 2)
                        {
                            for (Lane lane : lanes)
                            {
                                new SinkSensor(lane, new Length(500.0, METER), this.simulator);
                            }
                        }
                    }
                }

                this.carFollowingModel = PropertiesParser.parseGTUFollowingModelOld(this.properties, "Car");
                this.laneChangeModel = PropertiesParser.parseLaneChangeModel(this.properties);
                this.strategicalPlannerFactory = PropertiesParser.parseStrategicalPlannerFactory(this.properties,
                        this.carFollowingModel, this.laneChangeModel, this.stream);
            }
            catch (SimRuntimeException | NamingException | NetworkException | OTSGeometryException | PropertyException
                    | GTUException exception)
            {
                exception.printStackTrace();
            }
        }

        /**
         * Change the traffic light to a new color.
         * @param tl the traffic light
         * @throws SimRuntimeException when scheduling fails
         */
        protected final void changeTL(final TrafficLight tl) throws SimRuntimeException
        {
            if (tl.getTrafficLightColor().isRed())
            {
                tl.setTrafficLightColor(TrafficLightColor.GREEN);
                this.simulator.scheduleEventRel(CrossingTrafficLights.TGREEN, this, this, "changeTL", new Object[] { tl });
            }
            else if (tl.getTrafficLightColor().isGreen())
            {
                tl.setTrafficLightColor(TrafficLightColor.YELLOW);
                this.simulator.scheduleEventRel(CrossingTrafficLights.TYELLOW, this, this, "changeTL", new Object[] { tl });
            }
            else if (tl.getTrafficLightColor().isYellow())
            {
                tl.setTrafficLightColor(TrafficLightColor.RED);
                this.simulator.scheduleEventRel(CrossingTrafficLights.TRED, this, this, "changeTL", new Object[] { tl });
            }
        }

        /**
         * Generate cars at a fixed rate (implemented by re-scheduling this method).
         * @param lane the lane to generate the car on
         */
        protected final void generateCar(final Lane lane)
        {
            Length initialPosition = new Length(10, METER);
            Speed initialSpeed = new Speed(0, KM_PER_HOUR);
            Set<DirectedLanePosition> initialPositions = new LinkedHashSet<>(1);
            try
            {
                initialPositions.add(new DirectedLanePosition(lane, initialPosition, GTUDirectionality.DIR_PLUS));
                Length vehicleLength = new Length(4, METER);
                LaneBasedIndividualGTU gtu = new LaneBasedIndividualGTU("" + (++this.carsCreated), this.gtuType, vehicleLength,
                        new Length(1.8, METER), this.speedDistribution.draw(), vehicleLength.multiplyBy(0.5), this.simulator,
                        this.network);
                Route route = null;
                LaneBasedStrategicalPlanner strategicalPlanner = this.strategicalPlannerFactory.create(gtu, route, null, null);
                gtu.initWithAnimation(strategicalPlanner, initialPositions, initialSpeed, DefaultCarAnimation.class,
                        CrossingTrafficLights.this.getColorer());
                this.simulator.scheduleEventRel(this.headwayDistribution.draw(), this, this, "generateCar",
                        new Object[] { lane });
            }
            catch (SimRuntimeException | NamingException | NetworkException | GTUException | OTSGeometryException exception)
            {
                exception.printStackTrace();
            }
        }

        /** {@inheritDoc} */
        @Override
        public final SimulatorInterface<Time, Duration, SimTimeDoubleUnit> getSimulator()
        {
            return this.simulator;
        }

        /** {@inheritDoc} */
        @Override
        public OTSNetwork getNetwork()
        {
            return this.network;
        }

    }

}