# Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
# Copyright (C) 2016-2019 German Aerospace Center (DLR) and others.
# SUMOPy module
# Copyright (C) 2012-2017 University of Bologna - DICAM
# This program and the accompanying materials
# are made available under the terms of the Eclipse Public License v2.0
# which accompanies this distribution, and is available at
# http://www.eclipse.org/legal/epl-v20.html
# SPDX-License-Identifier: EPL-2.0

# @file    prt-20-brokealloc.py
# @author  Joerg Schweizer
# @date

"""
This plugin provides methods to run and analyze PRT networks.

   
"""
import os
import sys
import numpy as np
import random
from agilepy.lib_base.processes import Process
#from xml.sax import saxutils, parse, handler


from coremodules.modules_common import *
import agilepy.lib_base.classman as cm
import agilepy.lib_base.arrayman as am
import agilepy.lib_base.xmlman as xm
#from agilepy.lib_base.misc import get_inversemap
#from agilepy.lib_base.geometry import find_area
#from agilepy.lib_base.processes import Process,CmlMixin,ff,call
from coremodules.network.network import SumoIdsConf
from coremodules.network.routing import edgedijkstra, get_mincostroute_edge2edge
from coremodules.simulation import sumo
from coremodules.simulation.sumo import traci
#from coremodules.network import routing

from coremodules.demand.virtualpop import StageTypeMixin
from coremodules.simulation import results as res

BERTHSTATES = {'free': 0, 'waiting': 1, 'boarding': 2, 'alighting': 3}
VEHICLESTATES = {'init': 0, 'waiting': 1, 'boarding': 2, 'alighting': 3,
                 'emptytrip': 4, 'occupiedtrip': 5, 'forewarding': 6, 'await_forwarding': 7}
LEADVEHICLESTATES = [VEHICLESTATES['boarding'], VEHICLESTATES['waiting'],
                     VEHICLESTATES['emptytrip'], VEHICLESTATES['occupiedtrip']]
STOPTYPES = {'person': 0, 'freight': 1, 'depot': 2, 'group': 3, 'mixed': 4}
# def detect_entered_left(x,y):
#    """
#    returns the enter and left elemets of list x (before)
#    and list y (after)
#    """
#    if len(x) == 0:
#        if len(y) == 0:
#            return


class PrtBerths(am.ArrayObjman):

    def __init__(self, ident, prtstops, **kwargs):
        # print 'PrtVehicles vtype id_default',vtypes.ids_sumo.get_id_from_index('passenger1')
        self._init_objman(ident=ident,
                          parent=prtstops,
                          name='PRT Berths',
                          info='PRT Berths.',
                          **kwargs)

        self._init_attributes()

    def _init_attributes(self):
        #vtypes = self.get_scenario().demand.vtypes
        net = self.get_scenario().net
        self.add(cm.AttrConf('length_default', 4.0,
                             groupnames=['parameters', 'options'],
                             name='Default length',
                             info='Default berth length.',
                             unit='m',
                             ))

        self.add_col(am.IdsArrayConf('ids_prtstop', self.parent,
                                     name='PRT stop ID',
                                     info='PRT stop ID',
                                     ))

        # states now dynamic, see prepare_sim
        if hasattr(self, 'states'):
            self.delete('states')
        # self.add_col(am.ArrayConf( 'states', default = BERTHSTATES['free'],
        #                            dtype = np.int32,
        #                            choices = BERTHSTATES,
        #                            name = 'state',
        #                            info = 'State of berth.',
        #                            ))

        self.add_col(am.ArrayConf('stoppositions', default=0.0,
                                  dtype=np.float32,
                                  name='Stop position',
                                  info='Position on edge where vehicle nose stops.',
                                  ))

    def prepare_sim(self, process):
        # print 'PrtBerths.prepare_sim'
        ids = self.get_ids()
        self.states = BERTHSTATES['free']*np.ones(np.max(ids)+1, dtype=np.int32)
        self.ids_veh = -1*np.ones(np.max(ids)+1, dtype=np.int32)
        return []  # berth has no update function

    def get_scenario(self):
        return self.parent.get_scenario()

    def get_prtvehicles(self):
        return self.parent.parent.prtvehicles

    def make(self, id_stop, position_from=None, position_to=None,
             n_berth=None,
             offset_firstberth=0.0, offset_stoppos=-0.0):
        stoplength = position_to-position_from
        print 'Berths.make', id_stop, stoplength

        # TODO: let define berth number either explicitely or through stoplength

        length_berth = self.length_default.get_value()
        positions = position_from + offset_firstberth\
            + np.arange(length_berth-offset_firstberth, stoplength+length_berth, length_berth) + offset_stoppos
        n_berth = len(positions)

        # force number of berth to be pair
        if n_berth % 2 == 1:
            positions = positions[1:]
            n_berth -= 1

        ids_berth = self.add_rows(n=n_berth,
                                  stoppositions=positions,
                                  ids_prtstop=id_stop * np.ones(n_berth, dtype=np.int32),
                                  )
        return ids_berth

    def set_prtvehicles(self, prtvehicles):
        """
        Defines attributes which are linked with prtvehicles
        """
        self.add_col(am.IdsArrayConf('ids_veh_allocated', prtvehicles,
                                     name='Alloc. veh ID',
                                     info='ID of  vehicle which have allocated this berth. -1 means no allocation.',
                                     ))


class PrtStops(am.ArrayObjman):
    def __init__(self, ident, prtservices, **kwargs):
        self._init_objman(ident=ident,
                          parent=prtservices,
                          name='Public transport stops',
                          info='Contains information on PRT stops.',
                          #xmltag = ('additional','busStop','stopnames'),
                          version=0.1,
                          **kwargs)
        self._init_attributes()

    def _init_attributes(self):
        self.add(cm.ObjConf(PrtBerths('berths', self)))

        berths = self.get_berths()
        net = self.get_scenario().net

        self.add(cm.AttrConf('time_update', 0.5,
                             groupnames=['parameters'],
                             name='Update time',
                             info="Update time for station.",
                             unit='s',
                             ))

        self.add(cm.AttrConf('time_kickout', 30.0,
                             groupnames=['parameters'],
                             name='Kickout time',
                             info="Time to kick out empty vehicles after vehicles behing have been occupied with passengers.",
                             unit='s',
                             ))
        self.add(cm.AttrConf('timeconst_flow', 0.98,
                             groupnames=['parameters'],
                             name='Flow time const',
                             info="Constant to update the moving average flow.",
                             ))

        if hasattr(self, 'time_update_man'):
            self.delete('time_update_man')
            self.delete('timehorizon')

        self.add_col(am.IdsArrayConf('ids_ptstop', net.ptstops,
                                     name='ID PT stop',
                                     info='ID of public transport stop. ',
                                     ))

        if hasattr(self, 'are_depot'):
            self.delete('are_depot')

        self.add_col(am.ArrayConf('types', default=STOPTYPES['person'],
                                  dtype=np.int32,
                                  perm='rw',
                                  choices=STOPTYPES,
                                  name='Type',
                                  info='Type of stop.',
                                  ))

        self.add_col(am.IdlistsArrayConf('ids_berth_alight', berths,
                                         #groupnames = ['_private'],
                                         name='Alight berth IDs',
                                         info="Alight berth IDs.",
                                         ))

        self.add_col(am.IdlistsArrayConf('ids_berth_board', berths,
                                         #groupnames = ['_private'],
                                         name='Board berth IDs',
                                         info="Board berth IDs.",
                                         ))

        # self.add_col(am.ArrayConf( 'inds_berth_alight_allocated', default = 0,
        #                            #groupnames = ['_private'],
        #                            dtype = np.int32,
        #                            perm = 'rw',
        #                            name = 'Ind aberth lastalloc',
        #                            info = 'Berth index of last allocated berth in alight zone.',
        #                            ))

        # self.add_col(am.ArrayConf( 'inds_berth_board_allocated', default = 0,
        #                            #groupnames = ['_private'],
        #                            dtype = np.int32,
        #                            perm = 'rw',
        #                            name = 'Ind bberth lastalloc',
        #                            info = 'Berth index of last allocated berth in boarding zone.',
        #                            ))

    def get_edges(self, ids_prtstop):
        net = self.get_scenario().net
        return net.lanes.ids_edge[net.ptstops.ids_lane[self.ids_ptstop[ids_prtstop]]]

    def get_berths(self):
        return self.berths.get_value()

    def get_scenario(self):
        return self.parent.get_scenario()

    def set_prtvehicles(self, prtvehicles):
        self.get_berths().set_prtvehicles(prtvehicles)

    def set_vehicleman(self, vehicleman):
        self.add(cm.ObjConf(vehicleman, is_child=False, groups=['_private']))

    def get_vehicleman(self):
        return self.vehicleman.get_value()

    def get_closest(self, coords):
        """
        Returns the closest prt stop for each coord in coords vector.
        """
        net = self.get_scenario().net
        ptstops = net.ptstops
        lanes = net.lanes
        n = len(coords)
        # print 'get_closest',n

        #ids_stop = self.get_ids()

        ids_prtstop = self.get_ids()
        ids_ptstop = self.ids_ptstop[ids_prtstop]
        coords_stop = ptstops.centroids[ids_ptstop]
        ids_edge_stop = net.lanes.ids_edge[ptstops.ids_lane[ids_ptstop]]

        inds_closest = np.zeros(n, dtype=np.int32)

        i = 0
        for coord in coords:
            ind_closest = np.argmin(np.sum((coord-coords_stop)**2, 1))
            inds_closest[i] = ind_closest
            i += 1

        ids_prtstop_closest = ids_prtstop[inds_closest]
        ids_edge_closest = ids_edge_stop[inds_closest]

        return ids_prtstop_closest, ids_edge_closest

    def get_waitpositions(self, ids, is_alight=False, offset=-0.0):
        """
        Assign a wait-position for each stop in ids

        offset is wait position relative to the vehicle nose.
        """
        # print 'get_waitpositions min(ids),max(ids)',min(ids),is_alight,max(ids),offset
        positions = np.zeros(len(ids), dtype=np.float32)
        randint = random.randint
        if is_alight:
            ids_berths = self.ids_berth_alight[ids]
        else:
            ids_berths = self.ids_berth_board[ids]

        stoppositions = self.get_berths().stoppositions
        # print '  ids_berths',ids_berths
        i = 0
        for id_stop, ids_berth in zip(ids, ids_berths):
            #ids_berth = ids_berths[id_stop]
            ind_berth = randint(0, len(ids_berth)-1)

            positions[i] = stoppositions[ids_berth[ind_berth]]
            # print '  id_stop,ids_berth,posiions',id_stop,ids_berth,stoppositions[ids_berth[ind_berth]]
            i += 1
            #positions[i] = stoppositions[ids_berth[randint(0,len(ids_berth))]]
        # for id_stop , pos in zip(ids, positions):
        #    print '  id_stop %d, is_alight = %s, pos %.2fm'%(id_stop, is_alight ,pos)

        return positions+offset

    def prepare_sim(self, process):
        print 'PrtStops.prepare_sim'
        net = self.get_scenario().net
        ptstops = net.ptstops
        ids_edge_sumo = net.edges.ids_sumo

        berths = self.get_berths()
        lanes = net.lanes
        ids_edge_sumo = net.edges.ids_sumo
        ids = self.get_ids()
        get_outgoing = net.edges.get_outgoing

        # station management
        self.ids_stop_to_ids_edge_sumo = np.zeros(np.max(ids)+1, dtype=np.object)

        ids_stopedge = lanes.ids_edge[ptstops.ids_lane[self.ids_ptstop[ids]]]

        # final stop at one meter before end of stopedge
        self.stoplines = np.zeros(np.max(ids)+1, dtype=np.float32)
        self.stoplines[ids] = net.edges.lengths[ids_stopedge]-12.0
        # print '  ids,self.stoplines[ids]',ids,self.stoplines[ids]
        self.ids_stop_to_ids_edge_sumo[ids] = ids_edge_sumo[ids_stopedge]

        self.ids_stop_to_ids_acceledge_sumo = np.zeros(np.max(ids)+1, dtype=np.object)
        for id_stop, id_stopedge in zip(ids, ids_stopedge):
            self.ids_stop_to_ids_acceledge_sumo[id_stop] = ids_edge_sumo[get_outgoing(id_stopedge)[0]]

        self.id_edge_sumo_to_id_stop = {}
        for id_stop, id_edge_sumo in zip(ids, self.ids_stop_to_ids_edge_sumo[ids]):
            self.id_edge_sumo_to_id_stop[id_edge_sumo] = id_stop

        self.inds_berth_alight_allocated = -1*np.ones(np.max(ids)+1, dtype=np.int32)
        self.inds_berth_board_allocated = -1*np.ones(np.max(ids)+1, dtype=np.int32)
        self.ids_vehs_alight_allocated = np.zeros(np.max(ids)+1, dtype=np.object)
        self.ids_vehs_board_allocated = np.zeros(np.max(ids)+1, dtype=np.object)

        # time when last platoon vehicle accumulation started
        # -1 means no platoon accumulation takes place
        self.times_plat_accumulate = -1*np.ones(np.max(ids)+1, dtype=np.int32)

        self.ids_vehs_sumo_prev = np.zeros(np.max(ids)+1, dtype=np.object)
        self.ids_vehs = np.zeros(np.max(ids)+1, dtype=np.object)
        self.ids_vehs_toallocate = np.zeros(np.max(ids)+1, dtype=np.object)
        #
        self.times_lastboard = 10**4*np.ones(np.max(ids)+1, dtype=np.int32)

        # for vehicle management
        self.numbers_veh = np.zeros(np.max(ids)+1, dtype=np.int32)
        self.numbers_person_wait = np.zeros(np.max(ids)+1, dtype=np.int32)
        self.flows_person = np.zeros(np.max(ids)+1, dtype=np.float32)
        self.ids_veh_lead = -1*np.ones(np.max(ids)+1, dtype=np.int32)
        #self.ids_veh_lastdep = -1*np.ones(np.max(ids)+1,dtype = np.int32)
        self.ids_vehs_prog = np.zeros(np.max(ids)+1, dtype=np.object)

        # person management
        self.ids_persons_sumo_prev = np.zeros(np.max(ids)+1, dtype=np.object)
        self.ids_persons_sumo_boarded = np.zeros(np.max(ids)+1, dtype=np.object)
        self.waittimes_persons = np.zeros(np.max(ids)+1, dtype=np.object)
        self.waittimes_tot = np.zeros(np.max(ids)+1, dtype=np.float32)

        virtualpop = self.get_scenario().demand.virtualpop
        stagelists = virtualpop.get_plans().stagelists
        ids_persons = virtualpop.get_ids()
        prttransits = self.parent.prttransits
        id_person_to_origs_dests = {}

        # if len(ids_persons)>0:
        # TODO: move to prtservices
        for id_person, stagelist in zip(ids_persons, stagelists[virtualpop.ids_plan[ids_persons]]):
            # print '  check dests of id_person',id_person
            for stages, id_stage in stagelist:
                if stages.ident == 'prttransits':
                    id_fromedge_sumo = ids_edge_sumo[stages.ids_fromedge[id_stage]]
                    id_toedge_sumo = ids_edge_sumo[stages.ids_toedge[id_stage]]
                    data_orig_dest = (self.id_edge_sumo_to_id_stop[id_fromedge_sumo],
                                      self.id_edge_sumo_to_id_stop[id_toedge_sumo],
                                      id_fromedge_sumo,
                                      id_toedge_sumo)

                    id_person_sumo = virtualpop.get_id_sumo_from_id(id_person)
                    if id_person_to_origs_dests.has_key(id_person_sumo):
                        id_person_to_origs_dests[id_person_sumo].append(data_orig_dest)
                    else:
                        id_person_to_origs_dests[id_person_sumo] = [data_orig_dest]
            # print '  prtdests = ',id_person_to_origs_dests[id_person_sumo]

        # print '   id_person_to_origs_dests=\n',id_person_to_origs_dests
        self.id_person_to_origs_dests = id_person_to_origs_dests

        # this is only used for crazy person stage detection
        # angles_stop =

        # various initianilizations
        for id_stop, id_edge_sumo in zip(ids, self.ids_stop_to_ids_edge_sumo[ids]):
            # set allocation index to last possible berth
            self.inds_berth_alight_allocated[id_stop] = len(self.ids_berth_alight[id_stop])
            self.inds_berth_board_allocated[id_stop] = len(self.ids_berth_board[id_stop])

            self.ids_vehs_alight_allocated[id_stop] = []
            self.ids_vehs_board_allocated[id_stop] = []

            self.ids_vehs_sumo_prev[id_stop] = set([])
            self.ids_persons_sumo_prev[id_stop] = set([])
            self.ids_persons_sumo_boarded[id_stop] = []
            self.waittimes_persons[id_stop] = {}
            self.ids_vehs[id_stop] = []
            self.ids_vehs_toallocate[id_stop] = []

            self.ids_vehs_prog[id_stop] = []

        #    traci.edge.subscribe(id_edge_sumo, [traci.constants.VAR_ARRIVED_VEHICLES_IDS])
        updatedata_berth = berths.prepare_sim(process)

        return [(self.time_update.get_value(), self.process_step),
                ]+updatedata_berth

    def process_step(self, process):
        simtime = process.simtime
        print 79*'_'
        print 'PrtStops.process_step'
        net = self.get_scenario().net
        ptstops = net.ptstops
        berths = self.get_berths()
        lanes = net.lanes
        ids_edge_sumo = net.edges.ids_sumo
        vehicles = self.parent.prtvehicles
        virtualpop = self.get_scenario().demand.virtualpop
        ids = self.get_ids()

        for id_stop, id_edge_sumo, ids_veh_sumo_prev, ids_person_sumo_prev in\
            zip(ids, self.ids_stop_to_ids_edge_sumo[ids],
                self.ids_vehs_sumo_prev[ids],
                self.ids_persons_sumo_prev[ids]):
            print '  '+60*'.'
            print '  process id_stop,id_edge_sumo', id_stop, id_edge_sumo
            if 1:

                # print '    ids_berth_alight',self.ids_berth_alight[id_stop]
                # print '    ids_berth_board',self.ids_berth_board[id_stop]
                print '    ids_vehs', self.ids_vehs[id_stop]
                print '    ids_vehs_toallocate', self.ids_vehs_toallocate[id_stop]
                print '    ids_vehs_alight_allocated', self.ids_vehs_alight_allocated[id_stop]
                print '    ids_vehs_board_allocated', self.ids_vehs_board_allocated[id_stop]
                print '    id_veh_lead prt.%d' % self.ids_veh_lead[id_stop]

                print '    inds_berth_alight_allocated', self.inds_berth_alight_allocated[id_stop]
                print '    inds_berth_board_allocated', self.inds_berth_board_allocated[id_stop]
                print '    numbers_person_wait', self.numbers_person_wait[id_stop]
                print '    flow_person', self.flows_person[id_stop]
                print '    waittimes_persons', self.waittimes_persons[id_stop]
                print '    waittimes_tot', self.waittimes_tot[id_stop]
                print '    ids_persons_sumo_boarded', self.ids_persons_sumo_boarded[id_stop]
                print '    times_lastboard', self.times_lastboard[id_stop]

            if 0:
                for id_veh_sumo in self.ids_vehs_sumo_prev[id_stop]:
                    print '    stopstate ', id_veh_sumo, bin(traci.vehicle.getStopState(id_veh_sumo))[2:]

            if 0:
                self.get_berthqueues(id_stop)

            # check for new vehicle arrivals/departures
            ids_veh_sumo = set(traci.edge.getLastStepVehicleIDs(id_edge_sumo))
            # print '    ids_veh_sumo_prev=',ids_veh_sumo_prev
            # print '    ids_veh_sumo=',ids_veh_sumo

            if ids_veh_sumo_prev != ids_veh_sumo:
                ids_veh_entered = vehicles.get_ids_from_ids_sumo(list(ids_veh_sumo.difference(ids_veh_sumo_prev)))
                ids_veh_left = vehicles.get_ids_from_ids_sumo(list(ids_veh_sumo_prev.difference(ids_veh_sumo)))
                for id_veh in ids_veh_entered:
                    self.enter(id_stop, id_veh)

                for id_veh in ids_veh_left:
                    self.exit(id_stop, id_veh)
                self.ids_vehs_sumo_prev[id_stop] = ids_veh_sumo
                # print '    ids_veh_sumo_entered',ids_veh_sumo_entered
                # print '    ids_veh_sumo_left',ids_veh_sumo_left

            # check whether allocated vehicles arrived at alighting berths
            ids_veh_remove = []
            for id_veh in self.ids_vehs_alight_allocated[id_stop]:
                # TODO: here we could also check vehicle position
                if traci.vehicle.isStopped(vehicles.get_id_sumo(id_veh)):
                    ids_veh_remove.append(id_veh)
                    id_berth_alight = vehicles.ids_berth[id_veh]
                    berths.ids_veh[id_berth_alight] = id_veh
                    berths.states[id_berth_alight] = BERTHSTATES['alighting']
                    vehicles.alight(id_veh)

            for id_veh in ids_veh_remove:
                self.ids_vehs_alight_allocated[id_stop].remove(id_veh)

            # check whether we can move vehicles from alighting to
            # boarding berths

            # TODO: here we must check if berth in boarding zone are free
            # AND if they are occupied with empty vehicles, those
            # vehicles need to be kicked out...but only in case
            # new vehicles are waiting to be allocated

            ids_berth_alight = self.ids_berth_alight[id_stop][::-1]
            ids_berth_board = self.ids_berth_board[id_stop][::-1]

            if len(self.ids_vehs_alight_allocated[id_stop]) == 0:
                # all vehicles did arrive in alight position

                # identify berth and vehicles ready to forward to boarding
                ids_veh_forward = []
                ids_berth_forward = []
                for id_berth_alight, id_veh in zip(
                    ids_berth_alight,
                    berths.ids_veh[ids_berth_alight],
                ):
                    print '    check alight->board  for veh prt.%d' % id_veh, 'at berth', id_berth_alight, berths.states[
                        id_berth_alight], berths.states[id_berth_alight] == BERTHSTATES['free']
                    if id_veh >= 0:  # is there a waiting vehicle
                        if vehicles.is_completed_alighting(id_veh):
                            ids_veh_forward.append(id_veh)
                            ids_berth_forward.append(id_veh)
                        else:
                            print '    vehicle has not finished alighting...'
                            # stop allocating berth in board zone
                            # to prevent allocations behind non-allocated vehicles
                            break

                n_veh_forward = len(ids_veh_forward)
                for id_berth_alight, id_veh in zip(
                    ids_berth_forward,
                    ids_veh_forward,
                ):

                    id_berth_board = self.allocate_board(id_stop, n_veh_forward)
                    print '    try allocate id_veh=prt.%d for berth id_berth_board=%d' % (id_veh, id_berth_board)
                    if id_berth_board >= 0:
                        # print '     send vehicle id_veh %d to id_berth_board %d'%(id_veh,id_berth_board)#,berths.stoppositions[id_berth_board]
                        berths.ids_veh[id_berth_alight] = -1
                        berths.states[id_berth_alight] = BERTHSTATES['free']

                        vehicles.control_stop_board(id_veh, id_stop, id_berth_board,
                                                    id_edge_sumo=self.ids_stop_to_ids_edge_sumo[id_stop],
                                                    position=berths.stoppositions[id_berth_board],
                                                    )
                        self.ids_vehs_board_allocated[id_stop].append(id_veh)

            # if all allocated vehicles found their berth and all berths are free, then
            # reset  alight allocation index
            print '  check for reset of alight allocation index'
            if len(self.ids_vehs_alight_allocated[id_stop]) == 0:
                if np.all(berths.states[ids_berth_alight] == BERTHSTATES['free']):
                    # print '    reset inds_berth_alight_allocated',self.inds_berth_alight_allocated[id_stop],'->',len(self.ids_berth_alight[id_stop])
                    self.inds_berth_alight_allocated[id_stop] = len(self.ids_berth_alight[id_stop])

                    # try to allocate unallocated vehicles
                    ids_veh_remove = []
                    for id_veh in self.ids_vehs_toallocate[id_stop]:
                        id_berth = self.allocate_alight(id_stop)
                        if id_berth < 0:
                            # allocation failed
                            # do nothing, vehicle continues to wait for allocation
                            pass
                        else:
                            # command vehicle to go to berth for alighting
                            # print '     send waiting vehicle id_veh %d to id_berth_alight %d'%(id_veh,id_berth)#,berths.stoppositions[id_berth]
                            self.parent.prtvehicles.control_stop_alight(id_veh, id_stop, id_berth,
                                                                        id_edge_sumo=self.ids_stop_to_ids_edge_sumo[id_stop],
                                                                        position=self.get_berths(
                                                                        ).stoppositions[id_berth],
                                                                        )
                            self.ids_vehs_alight_allocated[id_stop].append(id_veh)
                            ids_veh_remove.append(id_veh)

                    for id_veh in ids_veh_remove:
                        self.ids_vehs_toallocate[id_stop].remove(id_veh)

            # check whether allocated vehicles arrived at boarding berths
            ids_veh_remove = []
            for id_veh in self.ids_vehs_board_allocated[id_stop]:
                # TODO: here we could also check vehicle position
                if traci.vehicle.isStopped(vehicles.get_id_sumo(id_veh)):
                    ids_veh_remove.append(id_veh)
                    id_berth_board = vehicles.ids_berth[id_veh]
                    berths.ids_veh[id_berth_board] = id_veh
                    berths.states[id_berth_board] = BERTHSTATES['boarding']
                    vehicles.board(id_veh,
                                   id_edge_sumo=self.ids_stop_to_ids_edge_sumo[id_stop])

                    self.parent.vehicleman.indicate_trip_empty(id_veh, id_stop, simtime)
                    # vehicle could become potentially the lead vehicle
                    self.try_set_leadveh(id_stop, id_veh)

            for id_veh in ids_veh_remove:
                self.ids_vehs_board_allocated[id_stop].remove(id_veh)

            # if all allocated vehicles for board area
            # found their berth and all berths are free, then
            # reset  allocation index
            print '  board berth rest check', len(self.ids_vehs_board_allocated[id_stop]) == 0, np.all(
                berths.states[ids_berth_board] == BERTHSTATES['free']), berths.states[ids_berth_board]
            if (self.inds_berth_board_allocated[id_stop] == 0) & (len(self.ids_vehs_board_allocated[id_stop]) == 0):

                if np.all(berths.states[ids_berth_board] == BERTHSTATES['free']):
                    # print '    reset inds_berth_board_allocated to',len(self.ids_berth_board[id_stop])
                    self.inds_berth_board_allocated[id_stop] = len(self.ids_berth_board[id_stop])

            # check for new person entering/left the station edge
            ids_person_sumo = set(traci.edge.getLastStepPersonIDs(id_edge_sumo))
            if 0:
                for id_person_sumo in ids_person_sumo:
                    print '  id_person_sumo', id_person_sumo, traci.person.getRoadID(id_person_sumo)

            n_enter = 0
            if ids_person_sumo_prev != ids_person_sumo:

                # deal with persons who left the edge
                ids_person_sumo_left = ids_person_sumo_prev.difference(ids_person_sumo)
                for id_person_sumo in ids_person_sumo_left:
                    # print '  id_person_sumo_left pers',id_person_sumo,traci.person.getRoadID(id_person_sumo)
                    # print '  ids_person_sumo',ids_person_sumo
                    # tricky: if the person who left the edge id_edge_sumo
                    # shows still id_edge_sumo then this person is in a vehicle
                    if traci.person.getRoadID(id_person_sumo) == id_edge_sumo:
                        # print '  person boarded: pers',id_person_sumo,traci.person.getLanePosition(id_person_sumo)
                        self.ids_persons_sumo_boarded[id_stop].append(id_person_sumo)
                        self.waittimes_tot[id_stop] -= simtime - self.waittimes_persons[id_stop][id_person_sumo]
                        del self.waittimes_persons[id_stop][id_person_sumo]
                        self.numbers_person_wait[id_stop] -= 1

                # deal with persons who entered the edge
                ids_person_sumo_entered = ids_person_sumo.difference(ids_person_sumo_prev)
                for id_person_sumo in ids_person_sumo_entered:
                    # print '  id_person_sumo_entered pers',id_person_sumo,traci.person.getRoadID(id_person_sumo)
                    if self.id_person_to_origs_dests.has_key(id_person_sumo):
                        id_edge_sumo_dests = self.id_person_to_origs_dests[id_person_sumo]
                        # check if person still has a PRT trip

                        if len(id_edge_sumo_dests) > 0:
                            # check if next trip has origin edge equal to edge of this stop
                            if id_edge_sumo_dests[0][2] == id_edge_sumo:
                                self.waittimes_persons[id_stop][id_person_sumo] = simtime
                                n_enter += 1
                            # else:
                            #    print 'WARNING: person %s starts with % insted of %s.'%(id_person_sumo,id_edge_sumo_dests[0][2],id_edge_sumo)

                self.numbers_person_wait[id_stop] += n_enter
                self.ids_persons_sumo_prev[id_stop] = ids_person_sumo

            self.waittimes_tot += self.numbers_person_wait*self.time_update.get_value()

            timeconst_flow = self.timeconst_flow.get_value()
            self.flows_person[id_stop] = timeconst_flow*self.flows_person[id_stop] + \
                (1.0-timeconst_flow)*float(n_enter)/self.time_update.get_value()

            if 0:
                for id_person_sumo in ids_person_sumo_prev:
                    print '    ids_person_sumo=%s pos = %.2f ' % (
                        id_person_sumo, traci.person.getLanePosition(id_person_sumo))
                print '    ids_persons_sumo_boarded', self.ids_persons_sumo_boarded[id_stop]

            # check if boarding is completed in load area and program
            ids_berth_board = self.ids_berth_board[id_stop][::-1]
            for id_berth_board, id_veh in zip(
                ids_berth_board,
                berths.ids_veh[ids_berth_board],
            ):
                if id_veh >= 0:  # is there a waiting vehicle
                    if vehicles.is_completed_boarding(id_veh):
                        self.init_trip_occupied(id_stop,
                                                id_berth_board,
                                                id_veh,
                                                simtime)

            # check if there are passengers in the vehicles which wait for
            # alight allocate
            # TODO: can be replaced by a single instruction
            n_pax = 0
            for id_veh in self.ids_vehs_alight_allocated[id_stop]+self.ids_vehs_toallocate[id_stop]:
                if vehicles.states[id_veh] == VEHICLESTATES['occupiedtrip']:
                    n_pax += 1
            # print '    n_pax' ,n_pax
            # check whether to foreward vehicles in boarding berth

            # no foreward if all berth are free occupied vehicles
            if np.all(berths.states[ids_berth_board] == BERTHSTATES['free']):
                # print '    foreward all occupied id_stop,ids_berth_board',id_stop,ids_berth_board
                #self.foreward_boardzone(id_stop, ids_berth_board)
                self.times_lastboard[id_stop] = 10**4  # reset clock if all are free

            # foreward if there are passengers in unallocated vehicles
            elif (self.numbers_person_wait[id_stop] == 0) & (n_pax > 0):
                # passengers arriving, no persons waiting
                # kick out immediately
                self.foreward_boardzone(id_stop, ids_berth_board, simtime)

            # elif (self.numbers_person_wait[id_stop]>0) & (n_pax>0) & (self.times_lastboard[id_stop] == 10**4):
            elif ((self.numbers_person_wait[id_stop] > 0) | (n_pax > 0)) & (self.times_lastboard[id_stop] == 10**4):
                # passengers arriving but still persons boarding
                # reset kick-out counter
                self.times_lastboard[id_stop] = simtime

            elif simtime - self.times_lastboard[id_stop] > self.time_kickout.get_value():
                # print '  call foreward_boardzone timeout',process.simtime,self.times_lastboard[id_stop],process.simtime - self.times_lastboard[id_stop]
                self.foreward_boardzone(id_stop, ids_berth_board, simtime)

            # check whether a programmed vehicle can be started
            if self.types[id_stop] == STOPTYPES['group']:
                self.start_vehicles_platoon(id_stop, process)
            else:
                self.start_vehicles(id_stop, process)

    def start_vehicles(self, id_stop, process):
        print 'start_vehicles=\n', self.ids_vehs_prog[id_stop]
        i = 0
        vehicles = self.parent.prtvehicles
        ids_vehs_prog = self.ids_vehs_prog[id_stop]
        for time_start, id_veh, id_stop_target, is_started in ids_vehs_prog:
            if process.simtime > time_start:
                if not is_started:
                    if traci.vehicle.isStopped(vehicles.get_id_sumo(id_veh)):
                        self.parent.prtvehicles.reschedule_trip(id_veh, self.ids_stop_to_ids_edge_sumo[id_stop_target])
                        ids_vehs_prog[i][3] = True
            i += 1

    def start_vehicles_platoon(self, id_stop, process, timeout_platoon=40, n_platoon_max=8):
        print 'start_vehicles_platoon id_stop, times_plat_accumulate', id_stop, self.times_plat_accumulate[id_stop]
        print '  ids_vehs_prog=\n', self.ids_vehs_prog[id_stop]

        if self.times_plat_accumulate[id_stop] < 0:
            print '  accumulation has not even started'
            return

        vehicles = self.parent.prtvehicles
        ids_vehs_prog = self.ids_vehs_prog[id_stop]
        inds_platoon = []
        i = 0  # len(ids_vehs_prog)
        id_veh_nextplatoon = -1
        for time_start, id_veh, id_stop_target, is_started in ids_vehs_prog:  # [::-1]:

            if not is_started:
                if len(inds_platoon) == 0:
                    # check if first vehicle in platoon is stopped
                    if traci.vehicle.isStopped(vehicles.get_id_sumo(id_veh)):
                        inds_platoon.append(i)
                    else:
                        break
                else:
                    # append to platoon
                    inds_platoon.append(i)

            i += 1

        print '  trigger platoon?', inds_platoon, len(
            inds_platoon), n_platoon_max, process.simtime - self.times_plat_accumulate[id_stop], timeout_platoon
        if len(inds_platoon) == 0:
            return

        if (process.simtime - self.times_plat_accumulate[id_stop] > timeout_platoon)\
                | (len(inds_platoon) >= n_platoon_max):

            # platoon release triggered
            self._trigger_platoon(id_stop, inds_platoon)

    def _trigger_platoon(self, id_stop, inds_platoon):
        print 'trigger_platoon inds_platoon', inds_platoon
        ids_vehs_prog = self.ids_vehs_prog[id_stop]
        self.times_plat_accumulate[id_stop] = -1

        time_start, id_veh, id_stop_target, is_prog = ids_vehs_prog[inds_platoon[0]]
        self.parent.prtvehicles.reschedule_trip(id_veh, self.ids_stop_to_ids_edge_sumo[id_stop_target])
        ids_vehs_prog[inds_platoon[0]][3] = True
        # one vehicle platoon, no followers
        if len(inds_platoon) > 1:
            # try to concatenate followers
            for i in xrange(1, len(inds_platoon)):
                time_start_pre, id_veh_pre, id_stop_target_pre, is_prog_pre = ids_vehs_prog[inds_platoon[i-1]]
                time_start, id_veh, id_stop_target, is_prog = ids_vehs_prog[inds_platoon[i]]
                print '    check prt.%d' % ids_vehs_prog[inds_platoon[i]
                                                         ][1], 'with leader prt.%d' % ids_vehs_prog[inds_platoon[i-1]][1], id_stop_target == id_stop_target_pre
                if id_stop_target == id_stop_target_pre:
                    self.parent.prtvehicles.concatenate(id_veh, id_veh_pre)

                self.parent.prtvehicles.reschedule_trip(id_veh, self.ids_stop_to_ids_edge_sumo[id_stop_target])
                ids_vehs_prog[inds_platoon[i]][3] = True

    def try_set_leadveh(self, id_stop, id_veh):

        if self.ids_veh_lead[id_stop] >= 0:
            print 'try_set_leadveh leader already defined', id_stop, id_veh, self.ids_veh_lead[id_stop]
            return False
        else:
            ind_queue = self.ids_vehs[id_stop].index(id_veh)
            print 'try_set_leadveh id_stop, id_veh,ind_queue', id_stop, 'prt.%d' % id_veh, ind_queue, len(
                self.ids_vehs[id_stop]), len(self.ids_vehs_prog[id_stop])

            if ind_queue == 0:  # len(self.ids_vehs[id_stop])-1:
                print '  id_veh is new leader because last position', self.ids_vehs[id_stop].index(id_veh)
                print '  ids_vehs', self.ids_vehs[id_stop]
                self.set_leadveh(id_stop, id_veh)
                return True

            elif len(self.ids_vehs_prog[id_stop]) == ind_queue:
                print '   id_veh is new leader because all vehicles in front are already programmed'
                self.set_leadveh(id_stop, id_veh)
                return True
            # elif len(self.ids_vehs_prog[id_stop])>0:
            #    if (self.ids_vehs[id_stop][ind_queue-1] == self.ids_vehs_prog[id_stop][-1][1]) :
            #        print  '   id_veh is new leader because next vehicle %d is programmed'%(self.ids_vehs[id_stop][ind_queue-1],)
            #        self.set_leadveh(id_stop, id_veh)
            #        return True
            #    else:
            #        return False

            else:
                return False

    def set_leadveh(self, id_stop, id_veh):
        print 'set_leadveh id_stop=%d, prt.%d' % (id_stop, id_veh)
        self.ids_veh_lead[id_stop] = id_veh

    def program_leadveh(self, id_stop, id_veh, id_stop_target, time_start):
        print 'program_leadveh prt.%d  from id_stop %d to id_stop_target %d at %d' % (
            id_veh, id_stop, id_stop_target, time_start)
        # check also if occupied in the meanwhile?? need to know emptytrip or not...
        if id_veh == self.ids_veh_lead[id_stop]:
            # check in vehman:if self.parent.prtvehicles.is_still_empty(id_veh):

            if self.parent.prtvehicles.states[id_veh] == VEHICLESTATES['boarding']:
                id_berth_board = self.parent.prtvehicles.ids_berth[id_veh]
                self.init_trip_empty(id_stop, id_berth_board, id_veh, time_start, is_ask_vehman=False)

            self.ids_veh_lead[id_stop] = -1

            # format for programmed vehicle list:
            # [time_start, id_veh, id_stop_target,is_started]
            self.ids_vehs_prog[id_stop].append([time_start, id_veh, id_stop_target, False])

            if self.types[id_stop] == STOPTYPES['group']:
                # in platoon mode...
                # set a stop for this vehicle if there are only started, programmed
                # vehicles in front , or no vehicle

                # check if this vehicle needs to stop in front of the stopline
                # in order to hold up other vehicles in the platoon
                print '    check stopline', len(self.ids_vehs_prog[id_stop])
                print '     ids_vehs_prog ', self.ids_vehs_prog[id_stop]
                is_stop = True
                for i in range(len(self.ids_vehs_prog[id_stop])-2, -1, -1):
                    print '    check prt.%d' % self.ids_vehs_prog[id_stop][i][1], 'started', self.ids_vehs_prog[id_stop][i][3]
                    if not self.ids_vehs_prog[id_stop][i][3]:  # is already started
                        is_stop = False
                        break

                if is_stop:
                    # make this vehicle stop at stopline and reset platoon timer
                    self.parent.prtvehicles.set_stop(
                        id_veh, self.ids_stop_to_ids_edge_sumo[id_stop], self.stoplines[id_stop])
                    self.times_plat_accumulate[id_stop] = time_start

            # try make previous vehicle the lead  vehicle
            ind_queue = self.ids_vehs[id_stop].index(id_veh)

            # print '  ind_queue,queuelen,ok',ind_queue,len(self.ids_vehs[id_stop]),len(self.ids_vehs[id_stop]) > ind_queue+1
            if len(self.ids_vehs[id_stop]) > ind_queue+1:
                id_veh_newlead = self.ids_vehs[id_stop][ind_queue+1]
                print '  id_veh_newlead, state', id_veh_newlead, self.parent.prtvehicles.states[id_veh_newlead]
                if self.parent.prtvehicles.states[id_veh_newlead] in LEADVEHICLESTATES:
                    self.set_leadveh(id_stop, id_veh_newlead)

            print '  new lead veh prt.%d' % (self.ids_veh_lead[id_stop],)
            return True

        else:
            return False

    def init_trip_occupied(self, id_stop, id_berth, id_veh, simtime):
        # TODO: actually a berth method??
        berths = self.get_berths()

        print 'init_trip_occupied', id_stop, id_berth, 'prt.%d' % id_veh, 'simtime', simtime
        # identify whic of the boarding persons is in the
        # vehicle which completed boarding
        dist_min = np.inf
        id_person_sumo_inveh = None
        stoppos = berths.stoppositions[id_berth]

        for id_person_sumo in self.ids_persons_sumo_boarded[id_stop]:
            d = abs(stoppos - traci.person.getLanePosition(id_person_sumo))
            if d < dist_min:
                dist_min = d
                id_person_sumo_inveh = id_person_sumo

        if id_person_sumo_inveh is not None:
            # program vehicle to person's destination
            print '    found person,origs_dests', id_person_sumo_inveh, self.id_person_to_origs_dests[
                id_person_sumo_inveh]
            id_stop_orig, id_stop_dest, id_edge_sumo_from, id_edge_sumo_to = \
                self.id_person_to_origs_dests[id_person_sumo_inveh].pop(0)
            print '    found person', id_person_sumo_inveh, 'from', id_stop_orig, id_edge_sumo_from, ' to', id_edge_sumo_to, id_stop_dest

            stopline = self._get_stopline(id_stop, simtime)
            print '    simtime', simtime

            self.parent.prtvehicles.init_trip_occupied(
                id_veh, self.ids_stop_to_ids_edge_sumo[id_stop],
                stopline,
            )

            self.ids_persons_sumo_boarded[id_stop].remove(id_person_sumo_inveh)
            self.times_lastboard[id_stop] = simtime
            berths.states[id_berth] = BERTHSTATES['free']
            berths.ids_veh[id_berth] = -1
            # self.ids_vehs_outset[id_stop].add(id_veh)
            self.try_set_leadveh(id_stop, id_veh)
            self.parent.vehicleman.init_trip_occupied(id_veh, id_stop, id_stop_dest, simtime)

        else:
            print 'WARNING: on stop %d edge %s, berth %d no person found inside vehicle prt.%d' % (
                id_stop, self.ids_stop_to_ids_edge_sumo[id_stop], id_berth, id_veh)

    def _get_stopline(self, id_stop, simtime):
        if self.types[id_stop] == STOPTYPES['group']:
            print '    platooning...', id_stop, simtime
            if self.times_plat_accumulate[id_stop] < 0:  # len(self.ids_vehs_prog[id_stop]) == 0:
                print '      first in platoon-> stop it at exit-line', simtime
                #stopline = self.stoplines[id_stop]
                # actually not clear who will arrive first at the stopline
                # therefore do not stop. Stop must be set duruing rescheduling
                stopline = None
                self.times_plat_accumulate[id_stop] = simtime
                print '    times_plat_accumulate', self.times_plat_accumulate[id_stop], simtime
            else:
                print '      not first, let it approach previous veh.'
                stopline = None

        else:
            print '    no platooning: all vehicles stop and wait for start'
            stopline = self.stoplines[id_stop]
        print '    times_plat_accumulate', self.times_plat_accumulate[id_stop], 'simtime', simtime
        print '    stopline', stopline
        return stopline

    def init_trip_empty(self, id_stop, id_berth, id_veh, simtime, is_ask_vehman=True):
        print 'Stops.init_trip_empty  id_stop, id_berth, id_veh, is_ask_vehman', id_stop, id_berth, 'prt.%d' % id_veh, is_ask_vehman, 'simtime', simtime
        # TODO: actually a berth method??
        berths = self.get_berths()

        berths.states[id_berth] = BERTHSTATES['free']
        berths.ids_veh[id_berth] = -1

        # print '  proceed to stopline',self.stoplines[id_stop]
        stopline = self._get_stopline(id_stop, simtime)
        self.parent.prtvehicles.init_trip_empty(
            id_veh,
            self.ids_stop_to_ids_edge_sumo[id_stop],
            stopline)

        if is_ask_vehman:
            self.try_set_leadveh(id_stop, id_veh)
            #id_stop_target = self.parent.vehicleman.init_trip_empty(id_veh, id_stop)
            self.parent.vehicleman.init_trip_empty(id_veh, id_stop, simtime)

            # print 'init_trip_empty for',id_veh,' from',id_stop,'to',id_stop_target,id_edge_sumo_target
            #self.parent.prtvehicles.init_trip_empty(id_veh, self.ids_stop_to_ids_edge_sumo[id_stop_target])

        # else:
        #    self.parent.prtvehicles.init_trip_empty(id_veh, self.ids_stop_to_ids_edge_sumo[id_stop], -1)

        # self.ids_vehs_outset[id_stop].add(id_veh)

    def foreward_boardzone(self, id_stop,  ids_berth_board, simtime):
        print 'foreward_boardzone', id_stop, ids_berth_board, 'simtime', simtime
        berths = self.get_berths()
        #ids_berth_board = self.ids_berth_board[id_stop][::-1]
        # inds_o berths.states[ids_berth_board] != BERTHSTATES['free']
        for id_berth, state in zip(ids_berth_board, berths.states[ids_berth_board]):
            print '    id_berth,boarding?,id_veh', id_berth, state == BERTHSTATES['boarding'], berths.ids_veh[id_berth]
            if state == BERTHSTATES['boarding']:
                self.init_trip_empty(id_stop, id_berth, berths.ids_veh[id_berth], simtime)

        self.times_lastboard[id_stop] = 10**4  # reset last board counter

    def enter(self, id_stop, id_veh):
        print 'enter id_stop, id_veh', id_stop, 'prt.%d' % id_veh

        self.parent.prtvehicles.decatenate(id_veh)

        self.ids_vehs[id_stop].append(id_veh)

        # tell vehman that veh arrived
        #self.numbers_veh_arr[id_stop] -= 1
        self.parent.vehicleman.conclude_trip(id_veh, id_stop)

        self.numbers_veh[id_stop] += 1
        id_berth = self.allocate_alight(id_stop)
        if id_berth < 0:
            # allocation failed
            # command vehicle to slow down and wait for allocation
            self.ids_vehs_toallocate[id_stop].append(id_veh)
            self.parent.prtvehicles.control_slow_down(id_veh)
        else:
            # command vehicle to go to berth for alighting
            # print '     send entering vehicle id_veh %d to id_berth_alight %d'%(id_veh,id_berth)#,self.get_berths().stoppositions[id_berth]
            self.parent.prtvehicles.control_stop_alight(id_veh, id_stop, id_berth,
                                                        id_edge_sumo=self.ids_stop_to_ids_edge_sumo[id_stop],
                                                        position=self.get_berths().stoppositions[id_berth],
                                                        )
            self.ids_vehs_alight_allocated[id_stop].append(id_veh)

    def exit(self, id_stop, id_veh):
        print 'exit prt.%d at stop %d' % (id_veh, id_stop)
        self.ids_vehs[id_stop].remove(id_veh)
        #id_stop_target = self.parent.vehicleman.start_trip(id_veh, id_stop)
        #self.parent.prtvehicles.reschedule_trip(id_veh, self.ids_stop_to_ids_edge_sumo[id_stop_target])
        #ind_veh = -1
        print '  ids_vehs_prog=\n', self.ids_vehs_prog[id_stop]
        i = 0
        for time_start, id_veh_prog, id_stop_target, is_prog in self.ids_vehs_prog[id_stop]:
            if id_veh_prog == id_veh:
                self.ids_vehs_prog[id_stop].pop(i)
                break
            i = +1

        # self.ids_vehs_prog[id_stop].remove(id_veh)

        self.numbers_veh[id_stop] -= 1

    def allocate_alight(self, id_stop):

        # print 'allocate_alight',id_stop
        #self.inds_berth_alight_allocated [id_stop] = len(self.ids_berth_alight[id_stop])
        ind_berth = self.inds_berth_alight_allocated[id_stop]

        if ind_berth == 0:
            # no free berth :(
            return -1
        else:
            ind_berth -= 1
            self.inds_berth_alight_allocated[id_stop] = ind_berth
            return self.ids_berth_alight[id_stop][ind_berth]

    def allocate_board(self, id_stop, n_veh_alloc=0):
        # print 'allocate_alight',id_stop, id_veh_sumo
        #self.inds_berth_alight_allocated [id_stop] = len(self.ids_berth_alight[id_stop])
        ind_berth = self.inds_berth_board_allocated[id_stop]

        if ind_berth == 0:
            # no free berth :(
            return -1
        else:
            ind_berth -= 1
            self.inds_berth_board_allocated[id_stop] = ind_berth
            return self.ids_berth_board[id_stop][ind_berth]

    def allocate_board_test(self, id_stop, n_veh_alloc):
        """
        Return successive berth ID to be allocated for boarding
        at given stop ID.
        n_veh_forward is the number of vehicles which remain to be 
        allocated. 
        """
        # print 'allocate_alight',id_stop, n_veh_forward
        #self.inds_berth_alight_allocated [id_stop] = len(self.ids_berth_alight[id_stop])
        ind_berth = self.inds_berth_board_allocated[id_stop]

        if ind_berth == 0:
            # no free berth :(
            return -1
        else:
            if ind_berth <= n_veh_alloc:
                # less or equal allocation positions in board zone
                # then vehicles to be allocated
                ind_berth -= 1
                self.inds_berth_board_allocated[id_stop] = ind_berth
                return self.ids_berth_board[id_stop][ind_berth]
            else:
                # there are more allocation positions in board zone
                # then vehicles to be allocated
                ind_berth -= 1
                self.inds_berth_board_allocated[id_stop] = ind_berth
                return self.ids_berth_board[id_stop][ind_berth]

    def get_berthqueues(self, id_stop):
        # currently not used
        print 'get_berthqueues', id_stop
        # TODO: use stop angle and person angle to detect waiting persons
        ids_berth_board = self.ids_berth_board[id_stop]
        ids_person_sumo = self.ids_persons_sumo_prev[id_stop]
        positions = np.zeros(len(ids_person_sumo), dtype=np.float32)
        #stages  = np.zeros(len(ids_person_sumo),dtype = np.object)
        angles = np.zeros(len(ids_person_sumo), dtype=np.float32)
        stoppositions = self.get_berths().stoppositions[ids_berth_board]
        bins = [stoppositions[0]-1.0]+list(stoppositions)

        i = 0
        for id_person_sumo in ids_person_sumo:
            positions[i] = traci.person.getLanePosition(id_person_sumo)
            #stages[i]  =  traci.person.getParameter(id_person_sumo,'stage')
            angles[i] = traci.person.getAngle(id_person_sumo)
            i += 1

        queues, bins_after = np.histogram(positions, bins)
        print '  ids_person_sumo', ids_person_sumo
        print '  angles', angles
        print '  stages', stages
        print '  positions', positions
        print '  bins', bins
        print '  ids_berth_board=\n', ids_berth_board
        print '  queues=\n', queues
        return ids_berth_board, queues
        #ids_persons_berth = np.zeros()
        #queues_berth = np.zeros(len(ids_berth_board), dtype = np.int32)
        # for id_berth, stopposition in stoppositions:
        #    inds_person = np.abs(positions-stopposition)<1.0
        #
        #    #ids_persons_berth[id_berth] = ids_person_sumo[inds_person]

    def make_from_net(self):
        """
        Make prt stop database from PT stops in network.
        """
        print 'make_from_net'
        self.clear()
        net = self.get_scenario().net
        ptstops = net.ptstops

        ids_ptstop = ptstops.get_ids()
        id_mode_prt = self.parent.id_prtmode

        #ids_edges = net.lanes.ids_edge[ptstops.ids_lane[ids_ptstop]]
        #ids_lanes = net.edges.ids_lanes[ids_edges]
        ids_lane = ptstops.ids_lane[ids_ptstop]
        #edgelengths = net.edges.lengths

        for id_stop, id_lane, position_from, position_to in zip(
            ids_ptstop,
            # ids_lanes,
            ids_lane,
            ptstops.positions_from[ids_ptstop],
            ptstops.positions_to[ids_ptstop],
        ):
            # get allowed modes of lane with index 1
            modes_allow = net.lanes.modes_allow[id_lane]
            # print '  check id_stop, modes_allow, position_from, position_to',id_stop, modes_allow, position_from, position_to
            if id_mode_prt in modes_allow:
                self.make(id_stop,
                          position_from,
                          position_to)

    def make(self, id_ptstop, position_from, position_to):
        """
        Initialize a new prt stop and generate berth.
        """
        id_stop = self.add_row(ids_ptstop=id_ptstop)
        ids_berth = self.get_berths().make(id_stop, position_from=position_from,
                                           position_to=position_to)
        n_berth = len(ids_berth)
        n_berth_alight = int(0.5*n_berth)
        n_berth_board = n_berth-n_berth_alight
        self.ids_berth_alight[id_stop] = ids_berth[0:n_berth_alight]
        self.ids_berth_board[id_stop] = ids_berth[n_berth_alight:n_berth]
        return id_stop


class VehicleAdder(Process):
    def __init__(self,  vehicles, logger=None, **kwargs):
        print 'VehicleAdder.__init__', vehicles, vehicles.parent.get_ident()
        self._init_common('vehicleadder', name='Vehicle adder',
                          logger=logger,
                          info='Add vehicles to PRT stops of network.',
                          )
        self._vehicles = vehicles

        attrsman = self.set_attrsman(cm.Attrsman(self))

        self.n_vehicles = attrsman.add(cm.AttrConf('n_vehicles', kwargs.get('n_vehicles', -1),
                                                   groupnames=['options'],
                                                   perm='rw',
                                                   name='Number of vehicles',
                                                   info='Number of PRT vehicles to be added to the network. Use -1 to fill all present PRT stations.',
                                                   ))

    def do(self):
        print 'VehicleAdder.do'
        self._vehicles.add_to_net(n=self.n_vehicles)


class PrtVehicles(am.ArrayObjman):

    def __init__(self, ident, prtservices, **kwargs):
        # print 'PrtVehicles vtype id_default',vtypes.ids_sumo.get_id_from_index('passenger1')
        self._init_objman(ident=ident,
                          parent=prtservices,
                          name='PRT Veh.',
                          info='PRT vehicle database. These are shared vehicles.',
                          **kwargs)

        self._init_attributes()

    def _init_attributes(self):
        vtypes = self.get_scenario().demand.vtypes
        net = self.get_scenario().net

        # TODO: add/update vtypes here
        self.add_col(SumoIdsConf('Veh', xmltag='id'))

        if not hasattr(self, 'ids_vtype'):
            id_vtype = self.make_vtype()

            self.add_col(am.IdsArrayConf('ids_vtype', vtypes,
                                         id_default=id_vtype,
                                         groupnames=['state'],
                                         name='Veh. type',
                                         info='PRT vehicle type.',
                                         #xmltag = 'type',
                                         ))

        self.add_col(am.ArrayConf('states', default=VEHICLESTATES['init'],
                                  dtype=np.int32,
                                  choices=VEHICLESTATES,
                                  name='state',
                                  info='State of vehicle.',
                                  ))

        # self.add_col(am.IdsArrayConf( 'ids_targetprtstop', self.parent.prtstops,
        #                            groupnames = ['parameters'],
        #                            name = 'Target stop ID',
        #                            info = 'ID of current target PRT stop.',
        #                            ))

        self.add_col(am.IdsArrayConf('ids_currentedge', net.edges,
                                     groupnames=['state'],
                                     name='Current edge ID',
                                     info='Edge ID of most recent reported position.',
                                     ))

        # self.add_col(am.IdsArrayConf( 'ids_targetedge', net.edges,
        #                            groupnames = ['state'],
        #                            name = 'Target edge ID',
        #                            info = 'Target edge ID to be reached. This can be either intermediate target edges (), such as a compressor station.',
        #                            ))

    def make_vtype(self):
        id_vtype = self.get_scenario().demand.vtypes.add_vtype('PRT',
                                                               accel=2.5,
                                                               decel=2.5,
                                                               sigma=1.0,
                                                               length=3.5,
                                                               width=1.6,
                                                               height=1.7,
                                                               number_persons=1,
                                                               capacity_persons=1,
                                                               dist_min=0.5,
                                                               tau=0.8,
                                                               speed_max=10.0,
                                                               deviation_speed=0.01,  # slight deviation for better following
                                                               emissionclass='HBEFA3/zero',
                                                               id_mode=self.parent.id_prtmode,  # specifies mode for demand
                                                               color=np.array((255, 240, 0, 255), np.float32)/255.0,
                                                               shape_gui='evehicle',
                                                               times_boarding=1.5,
                                                               times_loading=20.0,
                                                               sublane_alignment_lat='center',
                                                               sublane_speed_max_lat=0.5,
                                                               sublane_gap_min_lat=0.24,
                                                               sublane_alignment_eager=1000000.0,
                                                               )
        return id_vtype

    def concatenate(self, id_veh, id_veh_pre):
        print 'concatenate prt.%d' % id_veh, 'prt.%d' % id_veh_pre
        id_veh_sumo = self.get_id_sumo(id_veh)
        traci.vehicle.setSpeedFactor(id_veh_sumo, 2.0)  # +random.uniform(-0.01,0.01)
        traci.vehicle.setImperfection(id_veh_sumo, 0.0)
        traci.vehicle.setAccel(id_veh_sumo, 3.5)
        traci.vehicle.setMinGap(id_veh_sumo, 0.01)
        traci.vehicle.setTau(id_veh_sumo, 0.2)

    def decatenate(self, id_veh):
        print 'decatenate prt.%d' % id_veh
        id_veh_sumo = self.get_id_sumo(id_veh)
        traci.vehicle.setSpeedFactor(id_veh_sumo, 1.0)  # +random.uniform(-0.01,0.01)
        traci.vehicle.setMinGap(id_veh_sumo, 0.01)
        traci.vehicle.setImperfection(id_veh_sumo, 1.0)
        traci.vehicle.setTau(id_veh_sumo, 0.8)
        traci.vehicle.setAccel(id_veh_sumo, 2.5)

    def prepare_sim(self, process):
        print 'PrtVehicles.prepare_sim'
        net = self.get_scenario().net
        ptstops = net.ptstops
        lanes = net.lanes
        ids_edge_sumo = net.edges.ids_sumo
        ids = self.get_ids()

        self.ids_berth = -1*np.ones(np.max(ids)+1, dtype=np.int32)

        # for id_veh, id_veh_sumo in zip(ids,self.ids_sumo[ids]):
        #    traci.vehicle.subscribe(id_veh_sumo,
        #                            [   traci.constants.VAR_ROAD_ID,
        #                                traci.constants.VAR_POSITION,
        #                                traci.constants.VAR_STOPSTATE,
        #                                ])
        return []  # currentlu vehicles are not updated

    def process_step(self, process):
        # print 'process_step',traci.vehicle.getSubscriptionResults()
        pass
        # VEHICLESTATES = {'init':0,'waiting':1,'boarding':2,'alighting':3,'emptytrip':4,'occupiedtrip':5,'forewarding':6}

    def control_slow_down(self, id_veh, speed=1.0, time_slowdown=5):
        print 'control_slow_down', self.get_id_sumo(id_veh)
        traci.vehicle.slowDown(self.get_id_sumo(id_veh), speed, time_slowdown)

    def control_stop_alight(self, id_veh, id_stop, id_berth,
                            id_edge_sumo=None,
                            position=None,
                            ):
        id_veh_sumo = self.get_id_sumo(id_veh)
        p = traci.vehicle.getLanePosition(id_veh_sumo)
        print 'control_stop_alight', id_veh_sumo, p, '->', position, 'id_berth', id_berth
        #d = position - p
        #v = traci.vehicle.getSpeed(id_veh_sumo)
        #d_save = 1.0/(2*2.5)*(v**2)
        # print '  v=',v
        # print '  d,d_save',d,d_save
        self.states[id_veh] = VEHICLESTATES['forewarding']
        self.ids_berth[id_veh] = id_berth
        traci.vehicle.setStop(self.get_id_sumo(id_veh),
                              id_edge_sumo,
                              pos=position,
                              flags=0,
                              laneIndex=1,
                              )

    def control_stop_board(self, id_veh, id_stop, id_berth,
                           id_edge_sumo=None,
                           position=None,
                           ):

        print 'control_stop_board', self.get_id_sumo(id_veh), id_stop, id_berth, id_edge_sumo, position

        id_veh_sumo = self.get_id_sumo(id_veh)
        # print 'control_stop_board',id_veh_sumo,traci.vehicle.getLanePosition(id_veh_sumo),'->',position,id_berth
        self.ids_berth[id_veh] = id_berth
        self.states[id_veh] = VEHICLESTATES['forewarding']
        traci.vehicle.resume(id_veh_sumo)

        traci.vehicle.setStop(id_veh_sumo,
                              id_edge_sumo,
                              startPos=position-4.0,
                              pos=position,
                              flags=2,  # park and trigger 1+2,#
                              laneIndex=1,
                              )

    def alight(self, id_veh):
        print 'alight', self.get_id_sumo(id_veh)
        # TODO: necessary to keep copy of state?
        self.states[id_veh] = VEHICLESTATES['alighting']
        # traci.vehicle.getStopState(self.get_id_sumo(id_veh))
        # VEHICLESTATES = {'init':0,'waiting':1,'boarding':2,'alighting'

    def board(self, id_veh, id_edge_sumo=None, position=None):
        print 'board', self.get_id_sumo(id_veh)
        # TODO: necessary to keep copy of state?
        self.states[id_veh] = VEHICLESTATES['boarding']
        #id_veh_sumo = self.get_id_sumo(id_veh)
        # print 'board',id_veh_sumo,'stopstate',bin(traci.vehicle.getStopState(id_veh_sumo ))[2:]
        # print '  ',dir(traci.vehicle)
        # traci.vehicle.getLastStepPersonIDs()
        # traci.vehicle.getStopState(self.get_id_sumo(id_veh))
        # VEHICLESTATES = {'init':0,'waiting':1,'boarding':2,'alighting'
        #traci.vehicle.setRoute(id_veh_sumo, [id_edge_sumo])
        # traci.vehicle.resume(id_veh_sumo)

        # traci.vehicle.setStop(  self.get_id_sumo(id_veh),
        #                        traci.vehicle.getRoadID(id_veh_sumo),
        #                        pos = traci.vehicle.getLanePosition(id_veh_sumo),
        #                        flags= 2,#
        #                        laneIndex= 1,
        #                        )
        # print 'board ',id_veh_sumo, traci.vehicle.getStopState(id_veh_sumo )# bin(traci.vehicle.getStopState(id_veh_sumo ))[2:]

    def set_stop(self, id_veh, id_edge_sumo, stopline):
        print 'set_stop', self.get_id_sumo(id_veh), stopline
        traci.vehicle.setStop(self.get_id_sumo(id_veh),
                              id_edge_sumo,
                              pos=stopline,
                              laneIndex=1,
                              )

    def is_completed_alighting(self, id_veh):
        # print 'is_completed_alighting',self.get_id_sumo(id_veh),self.states[id_veh],self.states[id_veh] == VEHICLESTATES['alighting'],traci.vehicle.getPersonNumber(self.get_id_sumo(id_veh)),type(traci.vehicle.getPersonNumber(self.get_id_sumo(id_veh)))
        if self.states[id_veh] == VEHICLESTATES['alighting']:
            if traci.vehicle.getPersonNumber(self.get_id_sumo(id_veh)) == 0:
                print 'is_completed_alighting', self.get_id_sumo(id_veh), 'completed alighting'
                self.states[id_veh] = VEHICLESTATES['await_forwarding']
                return True
            else:
                return False
        elif self.states[id_veh] == VEHICLESTATES['await_forwarding']:
            return True
        else:
            print 'WARNING: strange vehicle state %s while alighting prt.%d' % (self.states[id_veh], id_veh)
            return True

    def is_completed_boarding(self, id_veh):
        # print 'is_completed_boarding',self.get_id_sumo(id_veh),self.states[id_veh],self.states[id_veh] == VEHICLESTATES['boarding'],traci.vehicle.getPersonNumber(self.get_id_sumo(id_veh)),type(traci.vehicle.getPersonNumber(self.get_id_sumo(id_veh)))
        if self.states[id_veh] == VEHICLESTATES['boarding']:
            if traci.vehicle.getPersonNumber(self.get_id_sumo(id_veh)) == 1:
                print 'is_completed_boarding', self.get_id_sumo(id_veh), 'completed boarding'
                self.states[id_veh] = VEHICLESTATES['waiting']
                return True
            else:
                False

        else:
            return True

    def init_trip_occupied(self, id_veh, id_edge_sumo, stopline=None):
        id_veh_sumo = self.get_id_sumo(id_veh)
        print 'init_trip_occupied', self.get_id_sumo(id_veh), id_edge_sumo, stopline
        # print '  current route:',traci.vehicle.getRoute(id_veh_sumo)
        self.states[id_veh] = VEHICLESTATES['occupiedtrip']

        traci.vehicle.resume(id_veh_sumo)
        #traci.vehicle.changeTarget(self.get_id_sumo(id_veh), id_edge_sumo_dest)
        #traci.vehicle.changeTarget(self.get_id_sumo(id_veh), id_edge_sumo_dest)
        if stopline is not None:
            traci.vehicle.setStop(id_veh_sumo,
                                  id_edge_sumo,
                                  pos=stopline,
                                  laneIndex=1,
                                  )
        else:
            speed_crawl = 1.0
            time_accel = 4.0
            #traci.vehicle.slowDown(id_veh_sumo, speed_crawl, time_accel)

    def init_trip_empty(self, id_veh, id_edge_sumo, stopline=None):
        print 'Vehicles.init_trip_empty', self.get_id_sumo(id_veh), id_edge_sumo, stopline
        self.states[id_veh] = VEHICLESTATES['emptytrip']
        id_veh_sumo = self.get_id_sumo(id_veh)
        traci.vehicle.resume(id_veh_sumo)
        #traci.vehicle.changeTarget(id_veh_sumo, id_edge_sumo_to)
        if stopline is not None:
            # if stopline>=0:
            traci.vehicle.setStop(id_veh_sumo,
                                  id_edge_sumo,
                                  pos=stopline,
                                  laneIndex=1,
                                  )
        else:
            speed_crawl = 1.0
            time_accel = 4.0
            #traci.vehicle.slowDown(id_veh_sumo, speed_crawl, time_accel)

    def reschedule_trip(self, id_veh, id_edge_sumo_to):
        print 'reschedule_trip', self.get_id_sumo(id_veh), id_edge_sumo_to
        id_veh_sumo = self.get_id_sumo(id_veh)
        if traci.vehicle.isStopped(id_veh_sumo):
            traci.vehicle.resume(id_veh_sumo)
        traci.vehicle.changeTarget(id_veh_sumo, id_edge_sumo_to)
        traci.vehicle.slowDown(id_veh_sumo, 13.0, 5.0)

    def add_to_net(self, n=-1, length_veh_av=4.0):
        """
        Add n PRT vehicles to network
        If n = -1 then fill up stops with vehicles.
        """
        print 'PrtVehicles.make', n, length_veh_av
        # self.clear()
        net = self.get_scenario().net
        ptstops = net.ptstops
        prtstops = self.parent.prtstops
        lanes = net.lanes
        ids_prtstop = prtstops.get_ids()
        ids_ptstop = prtstops.ids_ptstop[ids_prtstop]
        ids_veh = []
        n_stop = len(prtstops)

        for id_prt, id_edge, pos_from, pos_to in zip(
            ids_prtstop,
            lanes.ids_edge[ptstops.ids_lane[ids_ptstop]],
            ptstops.positions_from[ids_ptstop],
            ptstops.positions_to[ids_ptstop],
        ):
            # TODO: here we can select depos or distribute a
            # fixed number of vehicles or put them into berth
            # print '  ',pos_to,pos_from,int((pos_to-pos_from)/length_veh_av)
            if n > 0:
                n_veh_per_stop = int(float(n)/n_stop+0.5)
            else:
                n_veh_per_stop = int((pos_to-pos_from)/length_veh_av)
            print '  n,n_stop,n_veh_per_stop', n, n_stop, n_veh_per_stop
            for i in range(n_veh_per_stop):
                id_veh = self.add_row(ids_stop_target=id_prt,
                                      ids_currentedge=id_edge,
                                      )

                self.ids_sumo[id_veh] = self.get_id_sumo(id_veh)
                ids_veh.append(id_veh)

        return ids_veh

    # def write_veh
    #

    def get_scenario(self):
        return self.parent.get_scenario()

    def get_vtypes(self):
        """
        Returns a set with all used PRT vehicle types.
        """
        # print 'Vehicles_individual.get_vtypes',self.cols.vtype
        return set(self.ids_vtype.get_value())

    def get_id_sumo(self, id_veh):
        return 'prt.%s' % (id_veh)

    def get_id_from_id_sumo(self, id_veh_sumo):
        if len(id_veh_sumo.split('.')) == 2:
            prefix, id_veh = id_veh_sumo.split('.')
            if prefix == 'prt':
                return int(id_veh)
            else:
                return -1
        return -1

    def get_ids_from_ids_sumo(self, ids_veh_sumo):
        n = len(ids_veh_sumo)
        ids = np.zeros(n, np.int32)
        for i in xrange(n):
            ids[i] = self.get_id_from_id_sumo(ids_veh_sumo[i])
        return ids

    def get_id_line_xml(self):
        return 'prt'


class PrtTransits(StageTypeMixin):
    def __init__(self, ident, population, name='Ride on PRT', info='Ride on Personal Rapid Transit network.'):
        self.init_stagetype(ident,
                            population, name=name,
                            info=info,
                            )
        self._init_attributes()

    def _init_attributes(self):
        edges = self.parent.get_net().edges

        self.add_col(am.IdsArrayConf('ids_fromedge', edges,
                                     groupnames=['parameters'],
                                     name='Edge ID from',
                                     info='Edge ID of departure PRT station.',
                                     ))

        self.add_col(am.IdsArrayConf('ids_toedge', edges,
                                     groupnames=['parameters'],
                                     name='Edge ID to',
                                     info='Edge ID of destination PRT station.',
                                     ))

    def set_prtservice(self, prtservice):
        self.add(cm.ObjConf(prtservice, is_child=False, groups=['_private']))

    def get_prtservice(self):
        return self.prtservice.get_value()

    def prepare_planning(self):
        pass

    def append_stage(self, id_plan, time_start=-1.0,
                     duration=0.0,
                     id_fromedge=-1, id_toedge=-1, **kwargs):
        """
        Appends a PRT transit stage to plan id_plan.

        """
        # print 'PrtTransits.append_stage',id_stage

        id_stage, time_end = StageTypeMixin.append_stage(self,
                                                         id_plan,
                                                         time_start,
                                                         durations=duration,
                                                         ids_fromedge=id_fromedge,
                                                         ids_toedge=id_toedge,
                                                         )

        # add this stage to the vehicle database
        # ind_ride gives the index of this ride (within the same plan??)
        #ind_ride = self.parent.get_individualvehicles().append_ride(id_veh, id_stage)
        return id_stage, time_end

    def to_xml(self, id_stage, fd, indent=0):
        # <ride from="1/3to0/3" to="0/4to1/4" lines="train0"/>
        net = self.parent.get_net()
        #ids_stoplane = net.ptstops.ids_lane
        #ids_laneedge = net.lanes.ids_edge
        ids_sumoedge = net.edges.ids_sumo

        #ind = self.get_ind(id_stage)
        fd.write(xm.start('ride', indent=indent))
        fd.write(xm.num('from', ids_sumoedge[self.ids_fromedge[id_stage]]))
        fd.write(xm.num('to', ids_sumoedge[self.ids_toedge[id_stage]]))
        fd.write(xm.num('lines', 'prt'))
        # if self.cols.pos_edge_from[ind]>0:
        #    fd.write(xm.num('departPos', self.cols.pos_edge_from[ind]))
        # if self.cols.pos_edge_to[ind]>0:
        #    fd.write(xm.num('arrivalPos', self.cols.pos_edge_to[ind]))

        fd.write(xm.stopit())  # ends stage


class VehicleMan(am.ArrayObjman):
    def __init__(self, ident, prtservices, **kwargs):
        self._init_objman(ident=ident,
                          parent=prtservices,
                          name='PRT vehicle management',
                          info='PRT vehicle management.',
                          #xmltag = ('additional','busStop','stopnames'),
                          version=0.0,
                          **kwargs)

        self._init_attributes()
        self._init_constants()

    def _init_attributes(self):
        self.add(cm.AttrConf('time_update', 2.0,
                             groupnames=['parameters'],
                             name='Man. update time',
                             info="Update time for vehicle management.",
                             unit='s',
                             ))

        # self.time_update.set(5.0)

        self.add(cm.AttrConf('time_update_flows', 10.0,
                             groupnames=['parameters'],
                             name='Flow update time',
                             info="Update time for flow estimations.",
                             unit='s',
                             ))
        # self.time_update.set(10.0)
        # if hasattr(self,'time_flowaverage'):
        #    self.delete('time_flowaverage')

        self.add(cm.AttrConf('time_est_max', 1200,
                             groupnames=['parameters'],
                             name='prediction interval',
                             info="Prediction time range of vehicle management.",
                             unit='s',
                             ))

        self.add(cm.AttrConf('time_search_occupied', 10.0,
                             groupnames=['parameters'],
                             name='Occupied search time',
                             info="Time interval for search of optimum departure time in case of an occupied vehicle trip.",
                             unit='s',
                             ))

        self.add(cm.AttrConf('time_search_empty', 20.0,
                             groupnames=['parameters'],
                             name='Empty search time',
                             info="Time interval for search of optimum departure time in case of an empty vehicle trip.",
                             unit='s',
                             ))

        self.add(cm.AttrConf('weight_demand', 0.01,
                             groupnames=['parameters'],
                             name='Demand weight',
                             info="Weight of current demand at stations when assigning empty vehicles trips.",
                             ))

        self.add(cm.AttrConf('weight_flow', 1.0,
                             groupnames=['parameters'],
                             name='Flow weight',
                             info="Weight of flows (changes in demand over time) at stations when assigning empty vehicles trips.",
                             ))

        self.add(cm.AttrConf('constant_timeweight', 0.005,
                             groupnames=['parameters'],
                             name='Time weight const.',
                             info="Constant for the exponential decay function weighting the time instance in the optimization function.",
                             unit='1/s',
                             ))

    # def set_stops(self,vehicleman):
    #    self.add( cm.ObjConf( stops, is_child = False,groups = ['_private']))

    def get_stops(self):
        return self.parent.prtstops

    def get_vehicles(self):
        return self.parent.prtvehicles

    def get_scenario(self):
        return self.parent.parent.get_scenario()

    def prepare_sim(self, process):
        print 'VehicleMan.prepare_sim'
        net = self.get_scenario().net
        # station management
        # self.ids_stop_to_ids_edge_sumo = np.zeros(np.max(ids)+1,dtype = np.object)

        self.ids_stop = self.get_stops().get_ids()
        n_stoparray = np.max(self.ids_stop)+1
        self.numbers_veh_arr = np.zeros(n_stoparray, dtype=np.int32)

        self.n_est_max = self.time_est_max.get_value()/self.time_update_flows.get_value()
        self.inflows_sched = np.zeros((n_stoparray, self.n_est_max), dtype=np.int32)

        # vehicle management
        self.ids_veh = self.get_vehicles().get_ids()
        n_veharray = np.max(self.ids_veh)+1

        # could go in vehicle array
        self.ids_stop_target = -1*np.ones(n_veharray, dtype=np.int32)
        self.ids_stop_current = -1*np.ones(n_veharray, dtype=np.int32)
        self.times_order = 10**6*np.ones(n_veharray, dtype=np.int32)
        # self.occupiedtrips_new = []#?? put this is also in general time scheme with more urgency??
        #self.emptytrips_new = []

        # from veh arrays
        #self.are_emptytrips = np.zeros(n_veharray, dtype = np.bool)

        # logging
        results = process.get_results()
        if results is not None:
            time_update_flows = self.time_update_flows.get_value()
            n_timesteps = int(process.duration/time_update_flows+1)
            results.prtstopresults.init_recording(n_timesteps, time_update_flows)

        self.log_inflows_temp = np.zeros(n_stoparray, dtype=np.int32)

        return [(self.time_update.get_value(), self.process_step),
                (self.time_update_flows.get_value(), self.update_flows),
                ]

    def update_flows(self, process):
        # update flow prediction
        self.inflows_sched[:, 0] = 0
        self.inflows_sched = np.roll(self.inflows_sched, -1)
        time_update_flows = self.time_update_flows.get_value()
        timestep = (process.simtime - process.simtime_start)/time_update_flows

        stops = self.get_stops()
        ids_stop = self.ids_stop
        prtstopresults = process.get_results().prtstopresults
        prtstopresults.record(timestep, ids_stop,
                              inflows_veh=self.log_inflows_temp[ids_stop]/time_update_flows,
                              inflows_veh_sched=self.inflows_sched[ids_stop, 0]/time_update_flows,
                              numbers_person_wait=stops.numbers_person_wait[ids_stop],
                              waittimes_tot=stops.waittimes_tot[ids_stop],
                              inflows_person=stops.flows_person[ids_stop],
                              )

        self.log_inflows_temp[:] = 0

    def process_step(self, process):
        print 79*'M'
        print 'VehicleMan.process_step'

        stops = self.get_stops()
        #vehicles = self.get_vehicles()

        has_programmed = True
        while has_programmed:
            has_programmed = False
            ids_veh_lead = stops.ids_veh_lead[self.ids_stop]
            inds_valid = np.flatnonzero(ids_veh_lead >= 0)
            if len(inds_valid) > 0:
                has_programmed |= self.push_occupied_leadvehs(ids_veh_lead[inds_valid], process)
                has_programmed |= self.push_empty_leadvehs(ids_veh_lead[inds_valid], process)
                has_programmed |= self.pull_empty_leadvehs(ids_veh_lead[inds_valid], process)
            else:
                # no more leaders
                has_programmed = False
        print '\n terminated vehicle man n_est_max', self.n_est_max
        print '  inflows_sched=\n', self.inflows_sched

    def push_occupied_leadvehs(self, ids_veh_lead, process):
        n_timeslot_offset = 3
        n_searchint = int(self.time_search_occupied.get_value()/self.time_update_flows.get_value()+0.5)
        stops = self.get_stops()
        vehicles = self.get_vehicles()

        inds_valid = np.flatnonzero(vehicles.states[ids_veh_lead] == VEHICLESTATES['occupiedtrip'])
        if len(inds_valid) == 0:
            return False
        print 'push_occupied_leadvehs ids_veh_lead', ids_veh_lead[inds_valid]
        times_stop_to_stop = self.parent.times_stop_to_stop
        ids_stop_current = self.ids_stop_current[ids_veh_lead[inds_valid]]
        ids_stop_target = self.ids_stop_target[ids_veh_lead[inds_valid]]
        durations_est = times_stop_to_stop[ids_stop_current, ids_stop_target]
        # print '  duration_est, t_est_max',durations_est,self.n_est_max*self.time_update_flows.get_value()

        inds_time_min = n_timeslot_offset+np.array(np.clip(np.array(1.0*durations_est/self.time_update_flows.get_value(
        ), dtype=np.int32), 0, self.n_est_max-n_searchint-n_timeslot_offset), dtype=np.int32)
        inds_time_max = inds_time_min+n_searchint
        print '  inds_time_min unclipped', n_timeslot_offset + \
            np.array(1.0*durations_est/self.time_update_flows.get_value(), dtype=np.int32)
        print '  inds_time_min   clipped', inds_time_min
        # print '  inds_time_max',inds_time_max, self.inflows_sched.shape

        for id_veh_lead, state, id_stop_current, id_stop_target, time_order, ind_min, ind_max, duration_est\
                in zip(
                    ids_veh_lead[inds_valid],
                    vehicles.states[ids_veh_lead[inds_valid]],
                    self.ids_stop_current[ids_veh_lead[inds_valid]],
                    self.ids_stop_target[ids_veh_lead[inds_valid]],
                    self.times_order[ids_veh_lead[inds_valid]],
                    inds_time_min,
                    inds_time_max,
                    durations_est,
                ):

            print '    check veh', id_veh_lead, state, 'id_stop_current', id_stop_current, 'id_stop_target', id_stop_target

            #VEHICLESTATES = {'init':0,'waiting':1,'boarding':2,'alighting':3,'emptytrip':4,'occupiedtrip':5,'forewarding':6}
            # if state == VEHICLESTATES['occupiedtrip']:

            #ids_stop = list(self.ids_stop)
            # ids_stop.remove(id_stop)
            #costs = (stops.numbers_person_wait[ids_stop]-stops.numbers_veh[ids_stop]-self.numbers_veh_arr[ids_stop])/self.parent.times_stop_to_stop[id_stop,ids_stop]
            #ids_stop [np.argmax(costs)]
            inds_time = np.arange(ind_min, ind_max)
            costs = self.inflows_sched[id_stop_target, inds_time]
            print '    inds_time', inds_time
            print '    inflows_sched', costs
            ind_time_depart = inds_time[np.argmin(costs)]

            time_depart = process.simtime + ind_time_depart*self.time_update_flows.get_value()-duration_est
            print '      ind_time_depart, time_arr, duration_est', ind_time_depart, process.simtime + \
                ind_time_depart*self.time_update_flows.get_value(), duration_est
            print '      time_order', time_order, 'time_depart', time_depart, 'delay', time_depart-time_order

            stops.program_leadveh(id_stop_current, id_veh_lead, id_stop_target, time_depart)
            self.numbers_veh_arr[id_stop_target] += 1
            self.inflows_sched[id_stop_target, ind_time_depart] += 1

        return True  # at least one vehicle assigned

    def push_empty_leadvehs(self, ids_veh_lead, process):
        n_timeslot_offset = 3
        stops = self.get_stops()
        vehicles = self.get_vehicles()
        inds_valid = np.flatnonzero(vehicles.states[ids_veh_lead] == VEHICLESTATES['emptytrip'])
        if len(inds_valid) == 0:
            return False

        print 'push_empty_leadvehs ids_veh_lead', ids_veh_lead[inds_valid]
        times_stop_to_stop = self.parent.times_stop_to_stop
        ids_stop_current = self.ids_stop_current[ids_veh_lead[inds_valid]]

        n_stop_target = len(self.ids_stop)
        ids_stop_target = self.ids_stop.reshape(n_stop_target, 1)
        flow_person_est = (stops.flows_person[ids_stop_target] *
                           self.time_update_flows.get_value()).reshape(n_stop_target, 1)
        n_searchint = int(self.time_search_empty.get_value()/self.time_update_flows.get_value()+0.5)
        inds_search_base = n_timeslot_offset + \
            np.arange(n_searchint, dtype=np.int32) * np.ones((n_stop_target, n_searchint), dtype=np.int32)

        #self.numbers_veh = np.zeros(np.max(ids)+1, dtype = np.int32)
        #self.numbers_person_wait = np.zeros(np.max(ids)+1, dtype = np.int32)
        #self.flows_person = np.zeros(np.max(ids)+1, dtype = np.float32)
        #self.ids_veh_lead = -1*np.ones(np.max(ids)+1,dtype = np.int32)
        #self.ids_vehs_prog = np.zeros(np.max(ids)+1,dtype = np.object)
        is_started = False
        for id_veh_lead, id_stop_current, time_order, \
                in zip(
                    ids_veh_lead[inds_valid],
                    self.ids_stop_current[ids_veh_lead[inds_valid]],
                    self.times_order[ids_veh_lead[inds_valid]],
                ):

            #id_stop_target = self.get_stop_emptytrip(id_stop_current)

            durations_est = times_stop_to_stop[id_stop_current, ids_stop_target]
            ind_stop_current = np.flatnonzero(durations_est == 0)[0]
            print '    check veh', id_veh_lead, 'id_stop_current', id_stop_current, 'ind_stop_current', ind_stop_current
            inds_time_min = np.array(np.clip(np.array(1.0*durations_est/self.time_update_flows.get_value(),
                                                      dtype=np.int32), 0, self.n_est_max-n_searchint), dtype=np.int32)
            inds_search = inds_search_base + inds_time_min.reshape(n_stop_target, 1)
            timeweight = np.exp(self.constant_timeweight.get_value() * inds_search*self.time_update_flows.get_value())

            # print '  demand',stops.numbers_person_wait[ids_stop_target]
            if 1:
                print '  waittimes_tot', stops.waittimes_tot[ids_stop_target]
                print '  numbers_person_wait', stops.numbers_person_wait[ids_stop_target]
                print '  flow_person_est', flow_person_est
                print '  inflows_sched', self.inflows_sched[ids_stop_target, inds_search]
                print '  delta flow', (flow_person_est-self.inflows_sched[ids_stop_target, inds_search])
                print '  demandcomp', self.weight_demand.get_value() * stops.numbers_person_wait[ids_stop_target]
                print '  flowcomp', self.weight_flow.get_value(
                ) * (flow_person_est-self.inflows_sched[ids_stop_target, inds_search])

                print '  flow_person_est', flow_person_est

            # costs = (   self.weight_demand.get_value() * stops.waittimes_tot[ids_stop_target]\
            #            + self.weight_flow.get_value() * (flow_person_est-self.inflows_sched[ids_stop_target, inds_search])\
            #         )* timeweight
            costs = (self.weight_demand.get_value() * stops.numbers_person_wait[ids_stop_target]
                     + self.weight_flow.get_value() * (flow_person_est-self.inflows_sched[ids_stop_target, inds_search])
                     ) * timeweight

            #costs = np.exp(+self.inflows_sched[ids_stop_target, inds_search]-flow_person_est)*timeweight
            #costs = (self.inflows_sched[ids_stop_target, inds_search]-flow_person_est)*timeweight
            costs[ind_stop_current, :] = -999999
            if 1:
                # print '    flow_person_est',flow_person_#est
                print '    timeweight', timeweight
                print '    durations_est', durations_est
                print '    inds_search_base', inds_search_base
                print '    inds_search unclipped\n', inds_search_base + \
                    np.array(1.0*durations_est/self.time_update_flows.get_value(),
                             dtype=np.int32).reshape(n_stop_target, 1)
                print '    inds_search clipped  \n', inds_search
                print '    inds_time_min', inds_time_min
                print '    ind_stop_current', ind_stop_current, durations_est[ind_stop_current]
                print '    costs=\n', costs
            # constant_timeweight

            #
            ind_target = np.argmax(costs)
            ind_stop_target = ind_target/n_searchint
            #ind_time_arrive = ind_target%n_searchint+inds_time_min[ind_stop_target]
            ind_time_delta = ind_target % n_searchint
            ind_time_arrive = inds_search[ind_stop_target, ind_time_delta]
            if 1:
                print '    ind_target,n_searchint,ind_stop_target,ind_time_delta', ind_target, n_searchint, ind_target/n_searchint, ind_time_delta
                print '    ind_delta_depart,c_min', costs[ind_stop_target, ind_time_delta]
                print '    inds_time_min,ind_time_arrive', inds_time_min[ind_stop_target], ind_time_arrive

            id_stop_target = ids_stop_target[ind_stop_target][0]
            time_depart = process.simtime + ind_time_arrive * \
                self.time_update_flows.get_value()-durations_est[ind_stop_target]
            print '\n     id_stop_target', id_stop_target
            print '     time_order', time_order, 'time_depart', time_depart, 'delay', time_depart-time_order

            stops.program_leadveh(id_stop_current, id_veh_lead, id_stop_target, time_depart)
            is_started = True

            self.numbers_veh_arr[id_stop_target] += 1
            self.inflows_sched[id_stop_target, ind_time_arrive] += 1

        return is_started

    def pull_empty_leadvehs(self, ids_veh_lead, process):

        n_timeslot_offset = 2

        #self.numbers_veh = np.zeros(np.max(ids)+1, dtype = np.int32)
        #self.numbers_person_wait = np.zeros(np.max(ids)+1, dtype = np.int32)

        # inds_valid = np.flatnonzero(    (vehicles.states[ids_veh_lead] == VEHICLESTATES['waiting'])\
        #                                & (stops.numbers_person_wait[self.ids_stop_current[ids_veh_lead]] == 0))
        print 'pull_empty_leadvehs'
        stops = self.get_stops()
        vehicles = self.get_vehicles()
        times_stop_to_stop = self.parent.times_stop_to_stop

        # get potential pull vehicles
        inds_valid = np.flatnonzero((vehicles.states[ids_veh_lead] == VEHICLESTATES['boarding'])
                                    & (stops.numbers_person_wait[self.ids_stop_current[ids_veh_lead]] == 0))

        print '  states', vehicles.states[ids_veh_lead], VEHICLESTATES['boarding']
        print '  numbers_person_wait', stops.numbers_person_wait[self.ids_stop_current[ids_veh_lead]]
        print '  &', (vehicles.states[ids_veh_lead] == VEHICLESTATES['boarding'])\
            & (stops.numbers_person_wait[self.ids_stop_current[ids_veh_lead]] == 0)
        print '   origins inds_valid', inds_valid
        if len(inds_valid) == 0:
            print '    all stops busy'
            return False

        ids_veh_lead = ids_veh_lead[inds_valid]
        ids_stop_current = self.ids_stop_current[ids_veh_lead]

        print '  available for pulling ids_veh_lead', ids_veh_lead
        # print '    ids_stop_current',ids_stop_current
        # get potential target station with demand
        demands = stops.numbers_person_wait[self.ids_stop]\
            - (0.5*stops.numbers_veh[self.ids_stop]
               + self.numbers_veh_arr[self.ids_stop])
        inds_valid = np.flatnonzero(demands > 0)
        print '  targets inds_valid', inds_valid
        if len(inds_valid) == 0:
            print '  no demand'
            return False

        ids_stop_target = self.ids_stop[inds_valid]
        demands = demands[inds_valid]
        print '  ids_stop_current', ids_stop_current
        print '  ids_stop_target', ids_stop_target
        print '  demands', demands
        # calculate cost matrix with id_stop_current in rows and id_stop_target

        #n_origin = len(ids_stop_current)
        #n_targets = len(ids_stop_target)
        times = times_stop_to_stop[ids_stop_current, :][:, ids_stop_target]
        times[times == 0] = 99999
        timeweight = np.exp(-self.constant_timeweight.get_value() * times)
        #costs = times_stop_to_stop[ids_stop_current,:][:,ids_stop_target]
        #costs[costs == 0] = 99999
        print '  timeweight\n', timeweight

        costs = timeweight * demands
        #costs = np.zeros(costs.size, np.float32)-demands

        inds_pull = np.argmax(costs, 1)
        print '  costs\n', costs
        print '  ->inds_pull,ids_stop_target', inds_pull, ids_stop_target[inds_pull]

        durations_est = times_stop_to_stop[ids_stop_current, ids_stop_target[inds_pull]]
        print '  duration_est, t_est_max', durations_est, self.n_est_max*self.time_update_flows.get_value()

        inds_time_min = n_timeslot_offset+np.array(np.clip(np.array(1.0*durations_est/self.time_update_flows.get_value(
        ), dtype=np.int32), 0, self.n_est_max-1-n_timeslot_offset), dtype=np.int32)
        inds_time_max = inds_time_min+2
        print '  inds_time_min', inds_time_min
        print '  inds_time_max', inds_time_max

        is_started = False
        for id_veh_lead, state, id_stop_current, id_stop_target, time_order, ind_min, ind_max, duration_est\
                in zip(
                    ids_veh_lead,
                    vehicles.states[ids_veh_lead],
                    ids_stop_current,
                    ids_stop_target[inds_pull],
                    self.times_order[ids_veh_lead],
                    inds_time_min,
                    inds_time_max,
                    durations_est,
                ):

            print '    check veh prt.%d' % (
                id_veh_lead), state, 'id_stop_current', id_stop_current, 'id_stop_target', id_stop_target

            #VEHICLESTATES = {'init':0,'waiting':1,'boarding':2,'alighting':3,'emptytrip':4,'occupiedtrip':5,'forewarding':6}
            # if state == VEHICLESTATES['occupiedtrip']:

            #ids_stop = list(self.ids_stop)
            # ids_stop.remove(id_stop)
            #costs = (stops.numbers_person_wait[ids_stop]-stops.numbers_veh[ids_stop]-self.numbers_veh_arr[ids_stop])/self.parent.times_stop_to_stop[id_stop,ids_stop]
            #ids_stop [np.argmax(costs)]
            inds_time = np.arange(ind_min, ind_max)
            costs = self.inflows_sched[id_stop_current, inds_time]
            ind_time_depart = inds_time[np.argmin(costs)]

            self.inflows_sched[id_stop_target, ind_time_depart] += 1
            time_depart = process.simtime + ind_time_depart*self.time_update_flows.get_value()-duration_est

            # this is a workarouned that vehicle does first reach the stopline
            # before it gets rescheduled...try with stoplinecheck

            # if time_depart < process.simtime+15:
            #    time_depart = process.simtime+15
            print '      ind_time_depart, time_arr, duration_est', ind_time_depart, process.simtime + \
                ind_time_depart*self.time_update_flows.get_value(), duration_est
            print '      time_order', time_order, 'time_depart', time_depart, 'delay', time_depart-time_order

            stops.program_leadveh(id_stop_current, id_veh_lead, id_stop_target, time_depart)
            self.numbers_veh_arr[id_stop_target] += 1
            is_started = True

        return is_started

    def init_trip_occupied(self, id_veh, id_stop_from, id_stop_to, time_order):
        # print 'init_trip_occupied from',id_veh, id_stop_from, id_stop_to
        # search closest stop
        #self.are_emptytrips[id_veh] = False

        self.ids_stop_current[id_veh] = id_stop_from
        self.ids_stop_target[id_veh] = id_stop_to
        self.times_order[id_veh] = time_order
        # print '  to stop',id_stop
        # return id_stop_to

    def init_trip_empty(self, id_veh, id_stop, time_order):
        print 'VehMan.init_trip_empty id_veh prt.%d,id_stop %d' % (id_veh, id_stop)
        # search closest stop
        self.ids_stop_current[id_veh] = id_stop
        self.times_order[id_veh] = time_order
        #self.are_emptytrips[id_veh] = True
        #id_stop_target = ids_stop[random.randint(0,len(ids_stop)-1)]
        # print '  to stop',id_stop
        # return id_stop_target

    def indicate_trip_empty(self, id_veh, id_stop, time_order):
        # print 'indicate_trip_empty id_veh,id_stop',id_veh,id_stop
        # search closest stop
        self.ids_stop_current[id_veh] = id_stop
        self.times_order[id_veh] = time_order

    def get_stop_emptytrip(self, id_stop):
        stops = self.get_stops()
        ids_stop = list(self.ids_stop)
        ids_stop.remove(id_stop)
        costs = (stops.numbers_person_wait[ids_stop]-stops.numbers_veh[ids_stop] -
                 self.numbers_veh_arr[ids_stop])/self.parent.times_stop_to_stop[id_stop, ids_stop]

        return ids_stop[np.argmax(costs)]

    def conclude_trip(self, id_veh, id_stop):
        self.ids_stop_target[id_veh] = -1
        self.numbers_veh_arr[id_stop] -= 1

        # measures actually arrived vehicles at stop
        # accumulates counts over one flow measurement interval
        self.log_inflows_temp[id_stop] += 1


class PrtService(cm.BaseObjman):
    def __init__(self, ident, demand=None,
                 name='PRT service', info='PRT service',
                 **kwargs):
            # print 'PrtService.__init__',name

        self._init_objman(ident=ident, parent=demand,
                          name=name, info=info, **kwargs)

        attrsman = self.set_attrsman(cm.Attrsman(self))

        self._init_attributes()
        self._init_constants()

    def get_scenario(self):
        return self.parent.parent

    def _init_attributes(self):
        print 'PrtService._init_attributes', hasattr(self, 'prttransit')
        attrsman = self.get_attrsman()
        scenario = self.get_scenario()
        # here we ged classes not vehicle type
        # specific vehicle type within a class will be generated later
        modechoices = scenario.net.modes.names.get_indexmap()

        # print '  modechoices',modechoices
        self.id_prtmode = attrsman.add(am.AttrConf('id_prtmode',  modechoices['custom1'],
                                                   groupnames=['options'],
                                                   choices=modechoices,
                                                   name='Mode',
                                                   info='PRT transport mode (or vehicle class).',
                                                   ))

        self.prtstops = attrsman.add(cm.ObjConf(PrtStops('prtstops', self)))
        self.prtvehicles = attrsman.add(cm.ObjConf(PrtVehicles('prtvehicles', self)))
        self.vehicleman = attrsman.add(cm.ObjConf(VehicleMan('vehicleman', self)))

        # --------------------------------------------------------------------
        # prt transit table
        # attention: prttransits will be a child of virtual pop,
        # and a link from prt service

        # if not hasattr(self,'prttransit'):
        virtualpop = self.parent.virtualpop
        prttransits = virtualpop.add_stagetype('prttransits', PrtTransits)
        # print '  prttransits =',prttransits,
        self.prttransits = attrsman.add(
            cm.ObjConf(prttransits, is_child=False),
            is_overwrite=False,
        )
        self.prttransits.set_prtservice(self)

        # temporary attrfix
        #prtserviceconfig = self.parent.get_attrsman().prtservice
        #prtserviceconfig.groupnames = []
        #prtserviceconfig.add_groupnames(['demand objects'])

    def _init_constants(self):
        # print 'PrtService._init_constants',self,self.parent
        self.times_stop_to_stop = None
        self._results = None

    # def get_trips(self):
    #    return self.prtvehicles

    def get_vtypes(self):

        ids_vtypes = set(self.prtvehicles.ids_vtype.get_value())
        return ids_vtypes

    def get_writexmlinfo(self, is_route=False):
        """
        Returns three array where the first array is the 
        begin time of the first vehicle and the second array is the
        write function to be called for the respectice vehicle and
        the third array contains the vehicle ids

        Method used to sort trips when exporting to route or trip xml file
        """
        print 'PRT.get_writexmlinfo'

        # time of first PRT vehicle(s) to be inserted
        t_start = 0.0

        # time betwenn insertion of consecutive vehicles at same stop
        t_delta = 10  # s

        n_veh = len(self.prtvehicles)
        times_depart = np.zeros(n_veh, dtype=np.int32)
        writefuncs = np.zeros(n_veh, dtype=np.object)
        writefuncs[:] = self.write_prtvehicle_xml
        ids_veh = self.prtvehicles.get_ids()

        id_edge_prev = -1
        i = 0
        t0 = t_start
        for id_edge in self.prtvehicles.ids_currentedge[ids_veh]:
            print '  id_edge, t_start, id_edge_prev', id_edge, t0, id_edge_prev
            times_depart[i] = t0
            t0 += t_delta
            if id_edge != id_edge_prev:
                t0 = t_start
                id_edge_prev = 1*id_edge
            i += 1

        return times_depart, writefuncs, ids_veh

    def write_prtvehicle_xml(self,  fd, id_veh, time_begin, indent=2):
        print 'write_prtvehicle_xml', id_veh, time_begin
        # TODO: actually this should go in prtvehicles
        #time_veh_wait_after_stop = 3600
        net = self.get_scenario().net
        #lanes = net.lanes
        edges = net.edges
        #ind_ride = rides.get_inds(id_stage)
        #id_veh = rides.ids_veh[id_stage]
        prtvehicles = self.prtvehicles
        #ptstops = net.ptstops
        #prtstops = self.parent.prtstops
        #ids_prtstop = prtstops.get_ids()
        #ids_ptstop = prtstops.ids_ptstop[id_stop]
        # lanes.ids_edge[ptstops.ids_lane[ids_ptstop]],
        #id_lane_from = parking.ids_lane[id_parking_from]
        #laneindex_from =  lanes.indexes[id_lane_from]
        #pos_from = parking.positions[id_parking_from]

        #id_parking_to = rides.ids_parking_to[id_stage]
        #id_lane_to = parking.ids_lane[id_parking_to]
        #laneindex_to =  lanes.indexes[id_lane_to]
        #pos_to = parking.positions[id_parking_to]

        # write unique veh ID to prevent confusion with other veh declarations
        fd.write(xm.start('vehicle id="%s"' % prtvehicles.get_id_sumo(id_veh), indent+2))

        fd.write(xm.num('depart', '%d' % time_begin))
        fd.write(xm.num('type', self.parent.vtypes.ids_sumo[prtvehicles.ids_vtype[id_veh]]))
        fd.write(xm.num('line', prtvehicles.get_id_line_xml()))
        fd.write(xm.stop())

        # write route
        fd.write(xm.start('route', indent+4))
        # print '  edgeindex[ids_edge]',edgeindex[ids_edge]
        fd.write(xm.arr('edges', [edges.ids_sumo[prtvehicles.ids_currentedge[id_veh]]]))

        # does not seem to have an effect, always starts at base????
        fd.write(xm.num('departPos', 'base'))
        #fd.write(xm.num('departLane', laneindex_from ))
        fd.write(xm.stopit())

        # write depart stop
        # fd.write(xm.start('stop',indent+4))
        #fd.write(xm.num('lane', edges.ids_sumo[lanes.ids_edge[id_lane_from]]+'_%d'%laneindex_from ))
        #fd.write(xm.num('duration', time_veh_wait_after_stop))
        #fd.write(xm.num('startPos', pos_from ))
        #fd.write(xm.num('endPos', pos_from + parking.lengths[id_parking_from]))
        #fd.write(xm.num('triggered', "True"))
        # fd.write(xm.stopit())

        fd.write(xm.end('vehicle', indent+2))

    # def make_stops_and_vehicles(self, n_veh = -1):
    #    self.prtstops.make_from_net()
    #    self.prtvehicles.make(n_veh)
    #    self.make_times_stop_to_stop()

    def prepare_sim(self, process):
        print 'prepare_sim', self.ident
        # print '  self.times_stop_to_stop',self.times_stop_to_stop
        if self.times_stop_to_stop is None:
            self.make_times_stop_to_stop()
        updatedata = self.prtvehicles.prepare_sim(process)
        updatedata += self.prtstops.prepare_sim(process)
        updatedata += self.vehicleman.prepare_sim(process)
        print 'PrtService.prepare_sim updatedata', updatedata
        return updatedata

    # def process_step(self, process):
    #    self.prtvehicles.process_step(process)
    #    self.prtstops.process_step(process)

    def update(self):
        pass
        # person
        # http://www.sumo.dlr.de/daily/pydoc/traci._person.html
        # interesting
        #getPosition3D(self, personID)

        # get edge id
        # getRoadID(self, personID)

        # next edge or empty string at end of stage
        #getNextEdge(self, personID)

        # getLanePosition(self, personID)

        # getWaitingTime(self, personID)

        # vehicle
        # http://www.sumo.dlr.de/daily/pydoc/traci._vehicle.html

        # interesting:

        # The vehicle's destination edge is set to the given edge id. The route is rebuilt.
        #changeTarget(id_sumo_veh, id_sumo_edge)

        # getRoute
        # getRoute(string) -> list(string)
        # returns the ids of the edges the vehicle's route is made of.

        #rerouteTraveltime(self, vehID, currentTravelTimes=True)

        # getStopState
        #        getStopState(string) -> integer

        # or
        #'isAtBusStop', 'isAtContainerStop', 'isRouteValid', 'isStopped', 'isStoppedParking', 'isStoppedTriggered',

        # setBusStop(self, vehID, stopID, duration=2147483647, until=-1, flags=0)

        #setStop(self, vehID, edgeID, pos=1.0, laneIndex=0, duration=2147483647, flags=0, startPos=-1001.0, until=-1)

        # to make it a follower or leader
        #setType(self, vehID, typeID)

        # to reroute over compressors.....reroute after setting via!!
        # setVia(self, vehID, edgeList)

        # slow down in stops
        # slowDown(self, vehID, speed, duration)

        #traci.vehicle.setSpeed(id_veh_last, v_parking)
        #traci.vehicle.setRoute(id_veh_last, route_return)
        #traci.vehicle.setStop(id_veh_last, edgeid_return, pos= edgelength_return-20.0, laneIndex=0, duration = 15000)

        # edge
        #getLastStepPersonIDs(self, edgeID)
        # getLastStepPersonIDs(string) -> list(string)

        # Returns the ids of the persons on the given edge during the last time step.

        #getLastStepVehicleIDs(self, edgeID)
        # getLastStepVehicleIDs(string) -> list(string)

    def make_plans_prt(self, ids_person=None):
        # routing necessary?
        landuse = self.get_landuse()
        facilities = landuse.facilities

        scenario = self.parent.get_scenario()
        vp = self.parent.get_scenario().demand.virtualpop

        edges = scenario.net.edges
        lanes = scenario.net.lanes
        modes = scenario.net.modes

        walks = vp.get_walks()
        prttransits = self.prttransits
        #transits = vp.get_transits()
        #ptstops = vp.get_ptstops()
        #ptlines = vp.get_ptlines()

        #ptfstar = ptlinks.get_fstar()
        #pttimes = ptlinks.get_times()
        #stops_to_enter, stops_to_exit = ptlinks.get_stops_to_enter_exit()

        #ids_stoplane = ptstops.ids_lane
        #ids_laneedge = scenario.net.lanes.ids_edge

        times_est_plan = vp.plans.get_value().times_est
        # here we can determine edge weights for different modes

        # centralize:
        walks.prepare_planning()
        prttransits.prepare_planning()
        id_prtmode = self.id_prtmode
        if ids_person is None:
            # print '  ids_mode_preferred',self.ids_mode_preferred.value
            # print '  private',MODES['private']
            # print '  ',self.ids_mode_preferred == MODES['private']

            ids_person = self.select_ids(
                self.ids_mode_preferred.get_value() == id_prtmode,
            )

        ids_plan = vp.add_plans(ids_person)

        n_plans = len(ids_plan)

        print 'make_plans_prt n_plans=', n_plans

        #ids_veh = self.get_individualvehicles().assign_to_persons(ids_person)
        inds_pers = self.get_inds(ids_person)
        # self.persons.cols.mode_preferred[inds_pers]='private'

        times_start = self.times_start.value[inds_pers]
        inds_fac_home = facilities.get_inds(self.ids_fac_home.value[inds_pers])
        inds_fac_activity = facilities.get_inds(self.ids_fac_activity.value[inds_pers])

        centroids_home = facilities.centroids.value[inds_fac_home]
        centroids_activity = facilities.centroids.value[inds_fac_activity]

        ids_edge_home = facilities.ids_roadedge_closest.value[inds_fac_home]
        poss_edge_home = facilities.positions_roadedge_closest.value[inds_fac_home]

        ids_edge_activity = facilities.ids_roadedge_closest.value[inds_fac_activity]
        poss_edge_activity = facilities.positions_roadedge_closest.value[inds_fac_activity]

        # find closest prt stop!!
        ids_stop_home = ptstops.get_closest(centroids_home)
        ids_stop_activity = ptstops.get_closest(centroids_activity)

        ids_stopedge_home = ids_laneedge[ids_stoplane[ids_stop_home]]
        ids_stopedge_activity = ids_laneedge[ids_stoplane[ids_stop_activity]]

        poss_stop_home = 0.5*(ptstops.positions_from[ids_stop_home]
                              + ptstops.positions_to[ids_stop_home])
        poss_stop_activity = 0.5*(ptstops.positions_from[ids_stop_activity]
                                  + ptstops.positions_to[ids_stop_activity])

        i = 0
        for id_person, id_plan, time_start, id_edge_home, pos_edge_home, id_edge_activity, pos_edge_activity, id_stop_home, id_stopedge_home, pos_stop_home, id_stop_activity, id_stopedge_activity, pos_stop_activity\
                in zip(ids_person, ids_plan, times_start,  ids_edge_home, poss_edge_home, ids_edge_activity, poss_edge_activity, ids_stop_home, ids_stopedge_home, poss_stop_home, ids_stop_activity, ids_stopedge_activity, poss_stop_activity):
            self.plans.value.set_row(id_plan, ids_person=id_person)

            print 79*'_'
            print '  id_plan=%d, id_person=%d, ' % (id_plan, id_person)

            id_stage_walk1, time = walks.append_stage(id_plan, time_start,
                                                      id_edge_from=id_edge_home,
                                                      position_edge_from=pos_edge_home,
                                                      id_edge_to=id_stopedge_home,
                                                      position_edge_to=pos_stop_home,  # -7.0,
                                                      )

            # print '    id_stopedge_home',id_stopedge_home
            # print '    pos_stop_home',pos_stop_home

            # print
            # print '    id_stopedge_activity',id_stopedge_activity
            # print '    pos_stop_activity',pos_stop_activity
            # print
            # print '    id_stop_home',id_stop_home
            # print '    id_stop_activity',id_stop_activity

            durations, linktypes, ids_line, ids_fromstop, ids_tostop =\
                ptlinks.route(id_stop_home, id_stop_activity,
                              fstar=ptfstar, times=pttimes,
                              stops_to_enter=stops_to_enter,
                              stops_to_exit=stops_to_exit)

            # print '  routing done. make plan..'

            if len(linktypes) > 0:
                if linktypes[-1] == type_walk:  # is last stage a walk?
                        # remove it, because will go directly to destination
                    linktypes = linktypes[:-1]
                    ids_line = ids_line[:-1]
                    durations = durations[:-1]
                    ids_fromstop = ids_fromstop[:-1]
                    ids_tostop = ids_tostop[:-1]

            # print '  ids_line    ',ids_line
            # print '  ids_fromstop',ids_fromstop
            # print '  ids_tostop  ',ids_tostop

            if len(linktypes) > 0:  # is there any public transport line to take?

                # go though PT links and generate transits and walks to trasfer
                ids_stopedge_from = ids_laneedge[ids_stoplane[ids_fromstop]]
                ids_stopedge_to = ids_laneedge[ids_stoplane[ids_tostop]]
                poss_stop_from = 0.5*(ptstops.positions_from[ids_fromstop]
                                      + ptstops.positions_to[ids_fromstop])
                poss_stop_to = 0.5*(ptstops.positions_from[ids_tostop]
                                    + ptstops.positions_to[ids_tostop])

                # this is wait time buffer to be added to the successive stage
                # as waiting is currently not modelled as an extra stage
                duration_wait = 0.0

                # create stages for PT
                for linktype, id_line, duration,\
                    id_stopedge_from, pos_fromstop,\
                    id_stopedge_to, pos_tostop in\
                        zip(linktypes,
                            ids_line,
                            durations,
                            ids_stopedge_from, poss_stop_from,
                            ids_stopedge_to, poss_stop_to,
                            ):
                    # print '    stage for linktype %2d fromedge %s toedge %s'%(linktype, edges.ids_sumo[id_stopedge_from],edges.ids_sumo[id_stopedge_to] )

                    if linktype == type_transit:  # transit!
                        id_stage_transit, time = transits.append_stage(
                            id_plan, time,
                            id_line=id_line,
                            duration=duration+duration_wait,
                            id_fromedge=id_stopedge_from,
                            id_toedge=id_stopedge_to,
                        )
                        duration_wait = 0.0

                    elif linktype == type_walk:  # walk to transfer

                        id_stage_transfer, time = walks.append_stage(
                            id_plan, time,
                            id_edge_from=id_stopedge_from,
                            position_edge_from=pos_fromstop,
                            id_edge_to=id_stopedge_to,
                            position_edge_to=pos_tostop,
                            duration=duration+duration_wait,
                        )
                        duration_wait = 0.0

                    else:  # all other link time are no modelld
                        # do not do anything , just add wait time to next stage
                        duration_wait += duration

                # walk from final stop to activity
                # print '    Stage for linktype %2d fromedge %s toedge %s'%(linktype, edges.ids_sumo[id_stopedge_to],edges.ids_sumo[id_edge_activity] )
                id_stage_walk2, time = walks.append_stage(id_plan, time,
                                                          id_edge_from=id_stopedge_to,
                                                          position_edge_from=pos_tostop,
                                                          id_edge_to=id_edge_activity,
                                                          position_edge_to=pos_edge_activity,
                                                          )

            else:
                # there is no public transport line linking these nodes.
                # Modify walk directly from home to activity
                time = walks.modify_stage(id_stage_walk1, time_start,
                                          id_edge_from=id_edge_home,
                                          position_edge_from=pos_edge_home,
                                          id_edge_to=id_edge_activity,
                                          position_edge_to=pos_edge_activity,
                                          )

            # store time estimation for this plan
            times_est_plan[id_plan] = time-time_start

    def make_times_stop_to_stop(self, fstar=None, times=None):
        # print 'make_times_stop_to_stop'
        if fstar is None:
            fstar = self.get_fstar()
            times = self.get_times(fstar)

        if len(fstar) == 0:
            self.times_stop_to_stop = [[]]
            return

        ids_prtstop = self.prtstops.get_ids()

        ids_edge = self.prtstops.get_edges(ids_prtstop)
        # print '  ids_prtstop,ids_edge',ids_prtstop,ids_edge
        n_elem = np.max(ids_prtstop)+1
        stop_to_stop = np.zeros((n_elem, n_elem), dtype=np.int32)

        ids_edge_to_ids_prtstop = np.zeros(np.max(ids_edge)+1, dtype=np.int32)
        ids_edge_to_ids_prtstop[ids_edge] = ids_prtstop

        ids_edge_target = set(ids_edge)

        for id_stop, id_edge in zip(ids_prtstop, ids_edge):
            # print '    id_stop, id_edge',id_stop, id_edge

            # remove origin from target
            ids_edge_target.discard(id_edge)

            costs, routes = edgedijkstra(id_edge,
                                         ids_edge_target=ids_edge_target,
                                         weights=times, fstar=fstar
                                         )

            # print '    ids_edge_target',ids_edge_target
            # print '    costs\n',   costs
            # print '    routes\n',   routes

            # TODO: could be vectorialized, but not so easy
            for id_edge_target in ids_edge_target:
                #stop_to_stop[id_edge,id_edge_target] = costs[id_edge_target]
                # print '     stop_orig,stop_target,costs ',ids_edge_to_ids_prtstop[id_edge],ids_edge_to_ids_prtstop[id_edge_target],costs[id_edge_target]
                # stop_to_stop[ids_edge_to_ids_prtstop[[id_edge,id_edge_target]]]=costs[id_edge_target]
                stop_to_stop[ids_edge_to_ids_prtstop[id_edge],
                             ids_edge_to_ids_prtstop[id_edge_target]] = costs[id_edge_target]

            # put back origin to targets (probably not the best way)
            ids_edge_target.add(id_edge)
            # print '    ids_edge_target (all)',ids_edge_target

            # print '    stop_to_stop',stop_to_stop
            # TODO: here we could also store the routes

        self.times_stop_to_stop = stop_to_stop
        self.ids_edge_to_ids_prtstop = ids_edge_to_ids_prtstop
        print '  times_stop_to_stop=\n', self.times_stop_to_stop

    def get_fstar(self):
        """
        Returns the forward star graph of the network as dictionary:
            fstar[id_fromedge] = set([id_toedge1, id_toedge2,...])
        """
        # print 'get_fstar'
        net = self.get_scenario().net
        # prt mode
        id_mode = self.id_prtmode

        #ids_edge = self.get_ids()
        #fstar = np.array(np.zeros(np.max(ids_edge)+1, np.obj))
        fstar = {}
        connections = net.connections
        lanes = net.lanes
        inds_con = connections.get_inds()
        ids_fromlane = connections.ids_fromlane.get_value()[inds_con]
        ids_modes_allow = lanes.modes_allow[ids_fromlane]
        ids_fromedge = lanes.ids_edge[ids_fromlane]
        ids_toedge = lanes.ids_edge[connections.ids_tolane.get_value()[inds_con]]
        # print '  ids_fromedge',ids_fromedge
        # print '  ids_modes_allow',ids_modes_allow
        for id_fromedge, id_toedge, ids_mode_allow in\
                zip(ids_fromedge, ids_toedge, ids_modes_allow):
            if len(ids_mode_allow) > 0:
                if ids_mode_allow[-1] == id_mode:
                    if fstar.has_key(id_fromedge):
                        fstar[id_fromedge].add(id_toedge)
                    else:
                        fstar[id_fromedge] = set([id_toedge])

        return fstar

    def get_times(self, fstar):
        """
        Returns freeflow travel times for all edges.
        The returned array represents the speed and the index corresponds to
        edge IDs.

        """
        if len(fstar) == 0:
            return []

        net = self.get_scenario().net
        #id_mode = net.modes.get_id_mode(mode)
        id_mode = self.id_prtmode
        # print 'get_times id_mode,is_check_lanes,speed_max',id_mode,is_check_lanes,speed_max
        ids_edge = np.array(fstar.keys(), dtype=np.int32)

        times = np.array(np.zeros(np.max(ids_edge)+1, np.float32))
        speeds = net.edges.speeds_max[ids_edge]

        # limit allowed speeds with max speeds of mode
        speeds = np.clip(speeds, 0.0, net.modes.speeds_max[id_mode])

        times[ids_edge] = net.edges.lengths[ids_edge]/speeds

        return times

    def get_scenario(self):
        return self.parent.parent

    def get_landuse(self):
        return self.get_scenario().landuse

    def make_plans_prt(self, ids_person=None):
        # routing necessary?

        scenario = self.get_scenario()
        edges = scenario.net.edges
        lanes = scenario.net.lanes
        modes = scenario.net.modes

        landuse = scenario.landuse
        facilities = landuse.facilities

        virtualpop = self.parent.virtualpop
        walks = virtualpop.get_walks()
        #transits = virtualpop.get_transits()

        #ptstops = virtualpop.get_ptstops()
        #ptlines = virtualpop.get_ptlines()

        #ptlinks = ptlines.ptlinks.get_value()
        #ptlinktypes = ptlinks.types.choices
        #type_enter = ptlinktypes['enter']
        #type_transit = ptlinktypes['transit']
        #type_board = ptlinktypes['board']
        #type_alight = ptlinktypes['alight']
        #type_transfer = ptlinktypes['transfer']
        #type_walk = ptlinktypes['walk']
        #type_exit = ptlinktypes['exit']

        #ptfstar = ptlinks.get_fstar()
        #pttimes = ptlinks.get_times()
        #stops_to_enter, stops_to_exit = ptlinks.get_stops_to_enter_exit()

        #ids_prtstoplane = ptstops.ids_lane
        #ids_laneedge = scenario.net.lanes.ids_edge

        if self.times_stop_to_stop is None:
            self.make_times_stop_to_stop()

        times_est_plan = virtualpop.plans.get_value().times_est
        # here we can determine edge weights for different modes
        walks.prepare_planning()
        # transits.prepare_planning()

        if ids_person is None:
            # print '  ids_mode_preferred',self.ids_mode_preferred.value
            # print '  private',MODES['private']
            # print '  ',self.ids_mode_preferred == MODES['private']

            ids_person = virtualpop.select_ids(
                virtualpop.ids_mode_preferred.get_value() == self.id_prtmode,
            )

        ids_plan = virtualpop.add_plans(ids_person)

        n_plans = len(ids_plan)

        print 'make_plans_prt n_plans=', n_plans

        #ids_veh = self.get_individualvehicles().assign_to_persons(ids_person)
        inds_pers = virtualpop.get_inds(ids_person)
        # self.persons.cols.mode_preferred[inds_pers]='private'

        times_start = virtualpop.times_start.value[inds_pers]
        inds_fac_home = facilities.get_inds(virtualpop.ids_fac_home.value[inds_pers])
        inds_fac_activity = facilities.get_inds(virtualpop.ids_fac_activity.value[inds_pers])

        # debug
        ids_fac_home = virtualpop.ids_fac_home.value[inds_pers]
        ids_fac_activity = virtualpop.ids_fac_activity.value[inds_pers]

        centroids_home = facilities.centroids.value[inds_fac_home]
        centroids_activity = facilities.centroids.value[inds_fac_activity]

        ids_edge_home = facilities.ids_roadedge_closest.value[inds_fac_home]
        poss_edge_home = facilities.positions_roadedge_closest.value[inds_fac_home]

        ids_edge_activity = facilities.ids_roadedge_closest.value[inds_fac_activity]
        poss_edge_activity = facilities.positions_roadedge_closest.value[inds_fac_activity]

        ids_stop_home, ids_stopedge_home = self.prtstops.get_closest(centroids_home)
        ids_stop_activity, ids_stopedge_activity = self.prtstops.get_closest(centroids_activity)

        poss_stop_home = self.prtstops.get_waitpositions(ids_stop_home, is_alight=False, offset=-0.5)
        poss_stop_activity = self.prtstops.get_waitpositions(ids_stop_activity, is_alight=True, offset=-0.5)

        #ids_stopedge_home = ids_laneedge[ids_stoplane[ids_stop_home]]
        #ids_stopedge_activity = ids_laneedge[ids_stoplane[ids_stop_activity]]

        # poss_stop_home = 0.5*(  ptstops.positions_from[ids_stop_home]\
        #                        +ptstops.positions_to[ids_stop_home])
        # poss_stop_activity = 0.5*(  ptstops.positions_from[ids_stop_activity]\
        #                            +ptstops.positions_to[ids_stop_activity])

        i = 0
        for id_person, id_plan, time_start, id_fac_home, id_edge_home, pos_edge_home, id_fac_activity, id_edge_activity, pos_edge_activity, id_stop_home, id_stopedge_home, pos_stop_home, id_stop_activity, id_stopedge_activity, pos_stop_activity\
                in zip(ids_person, ids_plan, times_start, ids_fac_home, ids_edge_home, poss_edge_home, ids_fac_activity, ids_edge_activity, poss_edge_activity, ids_stop_home, ids_stopedge_home, poss_stop_home, ids_stop_activity, ids_stopedge_activity, poss_stop_activity):

            # can be done before??
            virtualpop.plans.value.set_row(id_plan, ids_person=id_person)
            #virtualpop.plans.value.ids_person[id_plan] = id_person
            print 79*'_'
            print '  id_plan=%d, id_person=%d, ' % (id_plan, id_person)
            print '    id_fac_home = %d, id_edge_home = %d, id_stopedge_home=%d' % (
                id_fac_home, id_edge_home, id_stopedge_home)
            print '    id_fac_activity = %d, id_edge_activity = %d, id_stopedge_activity=%d' % (
                id_fac_activity, id_edge_activity, id_stopedge_activity)
            # are nearest stops different?
            if id_stop_home != id_stop_activity:
                # so walk to prt stop
                id_stage_walk1, time = walks.append_stage(id_plan, time_start,
                                                          id_edge_from=id_edge_home,
                                                          position_edge_from=pos_edge_home,
                                                          id_edge_to=id_stopedge_home,
                                                          position_edge_to=pos_stop_home,
                                                          )
                # take PRT
                # self.ids_edge_to_ids_prtstop
                id_stopedge_home, pos_stop_home
                id_stage_transit, time = self.prttransits.append_stage(
                    id_plan, time,
                    duration=self.times_stop_to_stop[id_stop_home, id_stop_activity],
                    id_fromedge=id_stopedge_home,
                    id_toedge=id_stopedge_activity,
                )

                # walk from PRT stop to activity
                id_stage_transfer, time = walks.append_stage(
                    id_plan, time,
                    id_edge_from=id_stopedge_activity,
                    position_edge_from=pos_stop_activity,  # should be -1 to indicate whatever position. Check in toxml
                    id_edge_to=id_edge_activity,
                    position_edge_to=pos_edge_activity,
                )

            else:
                # origin and destination stop are identical.
                # walk directly from home to activity
                id_stage_walk1, time = walks.append_stage(id_plan, time_start,
                                                          id_edge_from=id_edge_home,
                                                          position_edge_from=pos_edge_home,
                                                          id_edge_to=id_edge_activity,
                                                          position_edge_to=pos_edge_activity,
                                                          )

            # store time estimation for this plan
            print '  id_plan,time,time_start', id_plan, time, time_start
            times_est_plan[id_plan] = time-time_start

    def config_results(self, results):

        # keep a link to results here because needed to
        # log data during simulation
        # this link should not be followed during save process
        self._results = results

        tripresults = res.Tripresults('prttripresults', results,
                                      self.prtvehicles,
                                      self.parent.get_net().edges,
                                      name='PRT trip results',
                                      info='Table with simulation results for each PRT vehicle. The results refer to the vehicle journey over the entire simulation period.',
                                      )
        results.config(tripresults, groupnames=['Trip results'])

        prtstopresults = Stopresults('prtstopresults', results, self.prtstops)
        results.config(prtstopresults, groupnames=['PRT results'])

    def get_results(self):
        return self._results

    def process_results(self, results, process=None):
        pass


class Stopresults(am.ArrayObjman):
    def __init__(self, ident, results, prtstops,
                 name='Stop results',
                 info='Table with simulation results of stops generated from vehicle management.',
                 **kwargs):

        self._init_objman(ident=ident,
                          parent=results,  # main results object
                          info=info,
                          name=name,
                          **kwargs)

        self.add(cm.AttrConf('time_step', 5.0,
                             groupnames=['parameters'],
                             name='Step time',
                             info="Time of one recording step.",
                             unit='s',
                             ))

        #self.add(cm.ObjConf(prtstops, is_child = False, groupnames = ['_private']))

        self.add_col(am.IdsArrayConf('ids_stop', prtstops,
                                     groupnames=['state'],
                                     is_index=True,
                                     name='PRT stop ID',
                                     info='ID of PRT stop.',
                                     ))

        attrinfos = [
            ('inflows_veh', {'name': 'Vehicle in-flows', 'unit': '1/s',
                             'dtype': np.float32, 'info': 'Vehicle flow into the stop over time.'}),
            ('inflows_veh_sched', {'name': 'Sched. vehicle in-flows', 'unit': '1/s',
                                   'dtype': np.float32, 'info': 'Scheduled vehicle flow into the stop over time.'}),
            ('inflows_person', {'name': 'Person in-flows', 'unit': '1/s',
                                'dtype': np.float32, 'info': 'Person flow into the stop over time.'}),
            ('numbers_person_wait', {'name': 'waiting person',         'dtype': np.int32,
                                     'info': 'Number of waiting persons at stop over time.'}),
            ('waittimes_tot', {'name': 'total wait time',         'dtype': np.float32,
                               'info': 'Wait times of all waiting persons at a stop over time.'}),
        ]

        for attrname, kwargs in attrinfos:
            self.add_resultattr(attrname, **kwargs)

    def get_dimensions(self):
        return len(self), len(self.inflows_veh.get_default())

    def get_prtstops(self):
        # return self.prtstops.get_value()
        return self.ids_stop.get_linktab()

    def init_recording(self, n_timesteps, time_step):
        print 'init_recording n_timesteps, time_step', n_timesteps, time_step
        self.clear()

        self.time_step.set_value(time_step)

        for attrconfig in self.get_stopresultattrconfigs():
            print '  reset attrconfig', attrconfig.attrname
            attrconfig.set_default(np.zeros(n_timesteps, dtype=attrconfig.get_dtype()))
            attrconfig.reset()
            # print '  default=',attrconfig.get_default(),attrconfig.get_default().dtype
        ids_stop = self.ids_stop.get_linktab().get_ids()
        # print '  ids_stop',ids_stop
        self.add_rows(n=len(ids_stop), ids_stop=ids_stop)

    def record(self, timestep, ids, **kwargs):
        inds = self.ids_stop.get_linktab().get_inds(ids)
        for attrname, values in kwargs.iteritems():
            getattr(self, attrname).get_value()[inds, timestep] = values

    def get_stopresultattrconfigs(self):
        return self.get_attrsman().get_group_attrs('PRT results').values()

    def get_persons(self):
        return self.ids_person.get_linktab()

    def add_resultattr(self, attrname, **kwargs):
        self.add_col(am.ArrayConf(attrname, 0, groupnames=['PRT results', 'results'], **kwargs))

    def import_xml(self, datapaths):
        # no imports, data come from prtservice
        pass
