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CombineUnloadAIDriver.lua
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--[[
This file is part of Courseplay (https://github.com/Courseplay/courseplay)
Copyright (C) 2020 Thomas Gärtner, Peter Vaiko
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
]]--
--[[
How do we make sure the unloader does not collide with the combine?
1. ProximitySensor
The ProximitySensor is a generic AIDriver feature.
The combine has a proximity sensor on the back and will slow down and stop
if something is in range.
The unloader has a proximity sensor on the front to prevent running into the combine
and to swerve other vehicles in case of a head on collision for example.
In some states, for instance when unloading choppers, the tractor disables the generic
speed control as it has to drive very close to the chopper.
There is an additional proximity sensor dedicated to following the chopper. This has
all controlling features disabled.
2. Turns
The combine stops when discharging during a turn, so at the end of a row or headland turn
it won't start the turn until it is empty.
3. Combine Ready For Unload
The unloader can also ask the combine if it is ready to unload (isReadyToUnload()), as we
expect the combine to know best when it is going to perform some maneuvers.
4. Cooperative Collision Avoidance Using the TrafficController
This is currently screwed up...
]]--
-- TODO: swerve to the correct direction at low angles
-- TODO: move back second unloader when first one moves back
-- TODO: recalculate path when stuck in traffic longer
---@class CombineUnloadAIDriver : AIDriver
CombineUnloadAIDriver = CpObject(AIDriver)
CombineUnloadAIDriver.safetyDistanceFromChopper = 0.75
CombineUnloadAIDriver.targetDistanceBehindChopper = 1
CombineUnloadAIDriver.targetOffsetBehindChopper = 3 -- 3 m to the right
CombineUnloadAIDriver.targetDistanceBehindReversingChopper = 2
CombineUnloadAIDriver.minDistanceFromReversingChopper = 10
CombineUnloadAIDriver.minDistanceFromWideTurnChopper = 5
CombineUnloadAIDriver.minDistanceWhenMovingOutOfWay = 5
CombineUnloadAIDriver.safeManeuveringDistance = 30 -- distance to keep from a combine not ready to unload
CombineUnloadAIDriver.unloaderFollowingDistance = 30 -- distance to keep between two unloaders assigned to the same chopper
CombineUnloadAIDriver.pathfindingRange = 5 -- won't do pathfinding if target is closer than this
CombineUnloadAIDriver.proximitySensorRange = 15
-- Developer hack: to check the class of an object one should use the is_a() defined in CpObject.lua.
-- However, when we reload classes on the fly during the development, the is_a() calls in other modules still
-- have the old class definition (for example CombineUnloadManager.lua) of this class and thus, is_a() fails.
-- Therefore, use this instead, this is safe after a reload.
CombineUnloadAIDriver.isACombineUnloadAIDriver = true
CombineUnloadAIDriver.myStates = {
ON_FIELD = {},
ON_UNLOAD_COURSE =
{checkForTrafficConflict = true, enableProximitySpeedControl = true, enableProximitySwerve = true},
WAITING_FOR_COMBINE_TO_CALL ={},
WAITING_FOR_PATHFINDER= {},
DRIVE_TO_COMBINE =
{checkForTrafficConflict = true, enableProximitySpeedControl = true, enableProximitySwerve = true},
DRIVE_TO_MOVING_COMBINE =
{checkForTrafficConflict = true, enableProximitySpeedControl = true, enableProximitySwerve = true},
DRIVE_TO_FIRST_UNLOADER =
{checkForTrafficConflict = true, enableProximitySpeedControl = true, enableProximitySwerve = true},
DRIVE_TO_UNLOAD_COURSE =
{checkForTrafficConflict = true, enableProximitySpeedControl = true, enableProximitySwerve = true},
UNLOADING_MOVING_COMBINE = {},
UNLOADING_STOPPED_COMBINE = {},
FOLLOW_CHOPPER =
{isUnloadingChopper = true, enableProximitySpeedControl = true},
FOLLOW_FIRST_UNLOADER =
{checkForTrafficConflict = true},
MOVE_BACK_FROM_REVERSING_CHOPPER =
{isUnloadingChopper = true},
MOVE_BACK_FROM_EMPTY_COMBINE = {},
MOVE_BACK_FULL = {},
HANDLE_CHOPPER_HEADLAND_TURN = {isUnloadingChopper = true, isHandlingChopperTurn = true},
HANDLE_CHOPPER_180_TURN =
{isUnloadingChopper = true, isHandlingChopperTurn = true, enableProximitySpeedControl = true},
FOLLOW_CHOPPER_THROUGH_TURN =
{isUnloadingChopper = true, isHandlingChopperTurn = true, enableProximitySpeedControl = true},
ALIGN_TO_CHOPPER_AFTER_TURN =
{isUnloadingChopper = true, isHandlingChopperTurn = true, enableProximitySpeedControl = true},
MOVING_OUT_OF_WAY = {isUnloadingChopper = true},
WAITING_FOR_MANEUVERING_COMBINE = {},
}
--- Constructor
function CombineUnloadAIDriver:init(vehicle)
courseplay.debugVehicle(11,vehicle,'CombineUnloadAIDriver:init()')
self.assignedCombinesSetting = AssignedCombinesSetting(vehicle)
AIDriver.init(self, vehicle)
self.debugChannel = 4
self.mode = courseplay.MODE_COMBI
self:initStates(CombineUnloadAIDriver.myStates)
self.combineOffset = 0
self.distanceToCombine = math.huge
self.distanceToFront = 0
self.combineToUnloadReversing = 0
self.doNotSwerveForVehicle = CpTemporaryObject()
self.justFinishedPathfindingForDistance = CpTemporaryObject()
end
function CombineUnloadAIDriver:getAssignedCombines()
return self.assignedCombinesSetting:getData()
end
function CombineUnloadAIDriver:getAssignedCombinesSetting()
return self.assignedCombinesSetting
end
function CombineUnloadAIDriver:setHudContent()
AIDriver.setHudContent(self)
courseplay.hud:setCombineUnloadAIDriverContent(self.vehicle,self.assignedCombinesSetting)
end
function CombineUnloadAIDriver:onWriteStream(streamId)
self.assignedCombinesSetting:onWriteStream(streamId)
AIDriver.onWriteStream(self,streamId)
end
function CombineUnloadAIDriver:onReadStream(streamId)
self.assignedCombinesSetting:onReadStream(streamId)
AIDriver.onReadStream(self,streamId)
end
function CombineUnloadAIDriver:debug(...)
local combineName = self.combineToUnload and (' -> ' .. nameNum(self.combineToUnload)) or '(unassigned)'
courseplay.debugVehicle(self.debugChannel, self.vehicle, combineName .. ': ' .. string.format( ... ))
end
function CombineUnloadAIDriver:start(startingPoint)
self:beforeStart()
-- disable the legacy collision detection snake
self:disableCollisionDetection()
self:resetPathfinder()
self:addChopperProximitySensor()
self.state = self.states.RUNNING
self.unloadCourse = Course(self.vehicle, self.vehicle.Waypoints)
self.ppc:setNormalLookaheadDistance()
if startingPoint:is(StartingPointSetting.START_WITH_UNLOAD) then
if CpManager.isDeveloper then
-- automatically select closest combine
self.assignedCombinesSetting:selectClosest()
end
self:info('Start unloading, waiting for a combine to call')
self:setNewState(self.states.ON_FIELD)
self:disableCollisionDetection()
self:setDriveUnloadNow(false)
self:startWaitingForCombine()
else
-- just to have a course set up in any case for PPC to work with until we find a combine/path
self:startCourse(self.unloadCourse, 1)
local ix = self.unloadCourse:getStartingWaypointIx(AIDriverUtil.getDirectionNode(self.vehicle), startingPoint)
self:info('AI driver in mode %d starting at %d/%d waypoints (%s)',
self:getMode(), ix, self.unloadCourse:getNumberOfWaypoints(), tostring(startingPoint))
self:startCourseWithPathfinding(self.unloadCourse, ix, 0, 0)
self:setNewState(self.states.ON_UNLOAD_COURSE)
end
self.distanceToFront = 0
end
function CombineUnloadAIDriver:dismiss()
local x,_,z = getWorldTranslation(self:getDirectionNode())
if self.combineToUnload then
self.combineToUnload.cp.driver:deregisterUnloader(self)
end
self:releaseUnloader()
if courseplay:isField(x, z) then
self:setNewState(self.states.ON_FIELD)
self:startWaitingForCombine()
end
AIDriver.dismiss(self)
end
function CombineUnloadAIDriver:drive(dt)
courseplay:updateFillLevelsAndCapacities(self.vehicle)
self:updateCombineStatus()
if self.state == self.states.ON_UNLOAD_COURSE then
self:driveUnloadCourse(dt)
self:enableFillTypeUnloading()
elseif self.state == self.states.ON_FIELD then
self.triggerHandler:disableFillTypeUnloading()
local renderOffset = self.vehicle.cp.coursePlayerNum * 0.03
self:renderText(0, 0.1 + renderOffset, "%s: self.onFieldState :%s", nameNum(self.vehicle), self.onFieldState.name)
self:driveOnField(dt)
end
end
--enables unloading for CombineUnloadAIDriver with triggerHandler, but gets overwritten by OverloaderAIDriver, as it's not needed for it.
function CombineUnloadAIDriver:enableFillTypeUnloading()
self.triggerHandler:enableFillTypeUnloading()
self.triggerHandler:enableFillTypeUnloadingBunkerSilo()
end
function CombineUnloadAIDriver:driveUnloadCourse(dt)
-- TODO: refactor that whole unload process, it was just copied from the legacy CP code
self:searchForTipTriggers()
local allowedToDrive, giveUpControl = self:onUnLoadCourse(true, dt)
if not allowedToDrive then
self:hold()
end
if not giveUpControl then
AIDriver.drive(self, dt)
end
end
function CombineUnloadAIDriver:resetPathfinder()
self.maxFruitPercent = 10
-- prefer driving on field, don't do this too aggressively until we take into account the field owner
-- otherwise we'll be driving through others' fields
self.offFieldPenalty = PathfinderUtil.defaultOffFieldPenalty
self.pathfinderFailureCount = 0
end
function CombineUnloadAIDriver:addForwardProximitySensor()
self:setFrontMarkerNode(self.vehicle)
self.forwardLookingProximitySensorPack = WideForwardLookingProximitySensorPack(
self.vehicle, self.ppc, self:getFrontMarkerNode(self.vehicle), self.proximitySensorRange, 1, 2)
end
--- Proximity sensor to check the chopper's distance
function CombineUnloadAIDriver:addChopperProximitySensor()
self:setFrontMarkerNode(self.vehicle)
---@type ProximitySensorPack
self.chopperProximitySensorPack = ProximitySensorPack('chopper',
self.vehicle, self.ppc, self:getFrontMarkerNode(self.vehicle), 10, 1.2, {0, 45, 90, -45, -90}, {0, 0, 0, 0, 0})
self.chopperProximitySensorPack:disableRotateToGoalPoint()
end
function CombineUnloadAIDriver:isTrafficConflictDetectionEnabled()
return self.trafficConflictDetectionEnabled and
(self.state == self.states.ON_UNLOAD_COURSE and self.state.properties.checkForTrafficConflict) or
(self.state == self.states.ON_FIELD and self.onFieldState.properties.checkForTrafficConflict)
end
function CombineUnloadAIDriver:isProximitySwerveEnabled(vehicle)
if vehicle == self.doNotSwerveForVehicle:get() then return false end
return (self.state == self.states.ON_UNLOAD_COURSE and self.state.properties.enableProximitySwerve) or
(self.state == self.states.ON_FIELD and self.onFieldState.properties.enableProximitySwerve)
end
function CombineUnloadAIDriver:isProximitySpeedControlEnabled()
return (self.state == self.states.ON_UNLOAD_COURSE and self.state.properties.enableProximitySpeedControl) or
(self.state == self.states.ON_FIELD and self.onFieldState.properties.enableProximitySpeedControl)
end
function CombineUnloadAIDriver:isWaitingForAssignment()
return self.state == self.states.ON_FIELD and self.onFieldState == self.states.WAITING_FOR_COMBINE_TO_CALL
end
function CombineUnloadAIDriver:startWaitingForCombine()
-- to always have a valid course (for the traffic conflict detector mainly)
self:startCourse(self:getStraightForwardCourse(25), 1)
self:setNewOnFieldState(self.states.WAITING_FOR_COMBINE_TO_CALL)
end
-- we want to come to a hard stop while the base class pathfinder is running (starting a course with pathfinding),
-- because the way AIDriver works, it'll initialize the PPC to the new course/waypoint, which will turn the
-- vehicle's wheels in that direction, and since setting speed to 0 will just let the vehicle roll for a while
-- it may be running into something (like the combine)
function CombineUnloadAIDriver:stopForPathfinding()
self:hold()
end
function CombineUnloadAIDriver:driveInDirection(dt,lx,lz,fwd,speed,allowedToDrive)
--AIVehicleUtil.driveInDirection(self.vehicle, dt, self.vehicle.cp.steeringAngle, 1, 0.5, 10, allowedToDrive, fwd, lx, lz, speed, 1)
-- TODO: use this directly everywhere, seems to work better than the vanilla AIVehicleUtil version
self:driveVehicleInDirection(dt, allowedToDrive, fwd, lx, lz, speed)
end
function CombineUnloadAIDriver:driveOnField(dt)
self:drawDebugInfo()
-- make sure if we have a combine we stay registered
if self.combineToUnload then
self.combineToUnload.cp.driver:registerUnloader(self)
end
-- safety check: combine has active AI driver
if self.combineToUnload and not self.combineToUnload.cp.driver:isActive() then
self:setSpeed(0)
elseif self.vehicle.cp.settings.forcedToStop:is(true) then
self:setSpeed(0)
elseif self.onFieldState == self.states.WAITING_FOR_COMBINE_TO_CALL then
local combineToWaitFor
if self:getDriveUnloadNow() or self:getAllTrailersFull() or self:shouldDriveOn() then
self:debug('Was waiting for a combine but drive now requested or trailer full')
self:startUnloadCourse()
return
end
-- check for an available combine but not in every loop, not needed
if g_updateLoopIndex % 100 == 0 then
self:debug('Check if there\'s a combine to unload, %s', self:getAssignedCombinesSetting())
self.combineToUnload, combineToWaitFor = g_combineUnloadManager:giveMeACombineToUnload(self.vehicle)
if self.combineToUnload ~= nil then
self:refreshHUD()
self:openCovers(self.vehicle)
self:startWorking()
else
if combineToWaitFor then
courseplay:setInfoText(self.vehicle, string.format("COURSEPLAY_WAITING_FOR_FILL_LEVEL;%s", nameNum(combineToWaitFor)));
else
courseplay:setInfoText(self.vehicle, "COURSEPLAY_NO_COMBINE_IN_REACH");
end
end
end
self:hold()
elseif self.onFieldState == self.states.WAITING_FOR_PATHFINDER then
-- just wait for the pathfinder to finish
self:setSpeed(0)
elseif self.onFieldState == self.states.DRIVE_TO_FIRST_UNLOADER then
-- previous first unloader not unloading anymore
if self:iAmFirstUnloader() then
-- switch to drive to chopper or following chopper
self:startWorking()
end
self:setFieldSpeed()
if self:isOkToStartFollowingFirstUnloader() then
self:startFollowingFirstUnloader()
end
elseif self.onFieldState == self.states.WAITING_FOR_FIRST_UNLOADER then
-- wait to become first unloader or until first unloader can be followed
if self:iAmFirstUnloader() then
-- switch to drive to chopper or following chopper
self:startWorking()
end
self:setSpeed(0)
if self:isOkToStartFollowingFirstUnloader() then
self:startFollowingFirstUnloader()
end
elseif self.onFieldState == self.states.DRIVE_TO_COMBINE then
self:driveToCombine()
elseif self.onFieldState == self.states.DRIVE_TO_MOVING_COMBINE then
self:driveToMovingCombine()
elseif self.onFieldState == self.states.UNLOADING_STOPPED_COMBINE then
self:unloadStoppedCombine()
elseif self.onFieldState == self.states.WAITING_FOR_MANEUVERING_COMBINE then
self:waitForManeuveringCombine()
elseif self.onFieldState == self.states.MOVING_OUT_OF_WAY then
self:moveOutOfWay()
elseif self.onFieldState == self.states.UNLOADING_MOVING_COMBINE then
self:disableProximitySpeedControl()
self:disableProximitySwerve()
self:unloadMovingCombine(dt)
elseif self.onFieldState == self.states.FOLLOW_CHOPPER then
self:followChopper()
elseif self.onFieldState == self.states.FOLLOW_FIRST_UNLOADER then
self:followFirstUnloader()
elseif self.onFieldState == self.states.HANDLE_CHOPPER_HEADLAND_TURN then
self:handleChopperHeadlandTurn()
elseif self.onFieldState == self.states.HANDLE_CHOPPER_180_TURN then
self:handleChopper180Turn()
elseif self.onFieldState == self.states.ALIGN_TO_CHOPPER_AFTER_TURN then
self:alignToChopperAfterTurn()
elseif self.onFieldState == self.states.FOLLOW_CHOPPER_THROUGH_TURN then
self:followChopperThroughTurn()
elseif self.onFieldState == self.states.DRIVE_TO_UNLOAD_COURSE then
self:setFieldSpeed()
-- try not crashing into our combine on the way to the unload course
if self.combineJustUnloaded and
not self.combineJustUnloaded.cp.driver:isChopper() and
self:isWithinSafeManeuveringDistance(self.combineJustUnloaded) and
self.combineJustUnloaded.cp.driver:isManeuvering() then
self:debugSparse('holding for maneuvering combine %s on the unload course', self.combineJustUnloaded:getName())
--self.combineJustUnloaded.cp.driver:hold()
end
elseif self.onFieldState == self.states.MOVE_BACK_FULL then
local _, dx, dz = self:getDistanceFromCombine(self.combineJustUnloaded)
-- drive back way further if we are behind a chopper to have room
local dDriveBack = math.abs(dx) < 3 and 0.75 * self.vehicle.cp.turnDiameter or -10
if dz > dDriveBack then
self:startUnloadCourse()
end
elseif self.onFieldState == self.states.MOVE_BACK_FROM_EMPTY_COMBINE then
-- drive back until the combine is in front of us
local _, _, dz = self:getDistanceFromCombine(self.combineJustUnloaded)
if dz > 0 then
self:startWaitingForCombine()
end
elseif self.onFieldState == self.states.MOVE_BACK_FROM_REVERSING_CHOPPER then
self:renderText(0, 0, "drive straight reverse :offset local :%s saved:%s", tostring(self.combineOffset), tostring(self.vehicle.cp.combineOffset))
local d = self:getDistanceFromCombine()
local combineSpeed = (self.combineToUnload.lastSpeedReal * 3600)
local speed = combineSpeed + MathUtil.clamp(self.minDistanceFromReversingChopper - d, -combineSpeed, self.vehicle.cp.speeds.reverse * 1.5)
self:renderText(0, 0.7, 'd = %.1f, distance diff = %.1f speed = %.1f', d, self.minDistanceFromReversingChopper - d, speed)
-- keep 15 m distance from chopper
self:setSpeed(speed)
if not self:isMyCombineReversing() then
-- resume forward course
self:startCourse(self.followCourse, self.followCourse:getCurrentWaypointIx())
self:setNewOnFieldState(self.states.HANDLE_CHOPPER_HEADLAND_TURN)
end
end
AIDriver.drive(self, dt)
end
function CombineUnloadAIDriver:setCombineToUnloadClient(combineToUnload)
self.combineToUnload = combineToUnload
self.combineToUnload.cp.driver:registerUnloader(self.vehicle)
end
function CombineUnloadAIDriver:getTractorsFillLevelPercent()
return self.tractorToFollow.cp.totalFillLevelPercent
end
function CombineUnloadAIDriver:getFillLevelPercent()
return self.vehicle.cp.totalFillLevelPercent
end
function CombineUnloadAIDriver:getNominalSpeed()
if self.state == self.states.ON_UNLOAD_COURSE then
return self:getRecordedSpeed()
else
return self:getFieldSpeed()
end
end
function CombineUnloadAIDriver:driveBesideCombine()
-- we don't want a moving target
self:fixAutoAimNode()
local targetNode = self:getTrailersTargetNode()
local _, offsetZ = self:getPipeOffset(self.combineToUnload)
-- TODO: this - 1 is a workaround the fact that we use a simple P controller instead of a PI
local _, _, dz = localToLocal(targetNode, self:getCombineRootNode(), 0, 0, - offsetZ - 1)
-- use a factor to make sure we reach the pipe fast, but be more gentle while discharging
local factor = self.combineToUnload.cp.driver:isDischarging() and 0.5 or 2
local speed = self.combineToUnload.lastSpeedReal * 3600 + MathUtil.clamp(-dz * factor, -10, 15)
-- slow down while the pipe is unfolding to avoid crashing onto it
if self.combineToUnload.cp.driver:isPipeMoving() then
speed = (math.min(speed, self.combineToUnload:getLastSpeed() + 2))
end
self:renderText(0, 0.02, "%s: driveBesideCombine: dz = %.1f, speed = %.1f, factor = %.1f",
nameNum(self.vehicle), dz, speed, factor)
if courseplay.debugChannels[self.debugChannel] then
DebugUtil.drawDebugNode(targetNode, 'target')
end
self:setSpeed(math.max(0, speed))
end
function CombineUnloadAIDriver:driveBesideChopper()
local targetNode = self:getTrailersTargetNode()
self:renderText(0, 0.02,"%s: driveBesideChopper:offset local :%s saved:%s",nameNum(self.vehicle),tostring(self.combineOffset),tostring(self.vehicle.cp.combineOffset))
self:releaseAutoAimNode()
local _, _, dz = localToLocal(targetNode, self:getCombineRootNode(), 0, 0, 5)
self:setSpeed(math.max(0, (self.combineToUnload.lastSpeedReal * 3600) + (MathUtil.clamp(-dz, -10, 15))))
end
function CombineUnloadAIDriver:driveBehindChopper()
self:renderText(0, 0.05, "%s: driveBehindChopper offset local :%s saved:%s",nameNum(self.vehicle),tostring(self.combineOffset),tostring(self.vehicle.cp.combineOffset))
self:fixAutoAimNode()
--get required Speed
self:setSpeed(self:getSpeedBehindChopper())
end
function CombineUnloadAIDriver:onEndCourse()
if self.state == self.states.ON_UNLOAD_COURSE then
self:setNewState(self.states.ON_FIELD)
self:startWaitingForCombine()
self:setDriveUnloadNow(false)
self:openCovers(self.vehicle)
self:disableCollisionDetection()
end
end
function CombineUnloadAIDriver:onLastWaypoint()
if self.state == self.states.ON_FIELD then
if self.onFieldState == self.states.DRIVE_TO_UNLOAD_COURSE then
self:setNewState(self.states.ON_UNLOAD_COURSE)
self:closeCovers(self.vehicle)
AIDriver.onLastWaypoint(self)
return
elseif self.onFieldState == self.states.DRIVE_TO_FIRST_UNLOADER then
self:startDrivingToChopper()
elseif self.onFieldState == self.states.DRIVE_TO_COMBINE or
self.onFieldState == self.states.DRIVE_TO_MOVING_COMBINE then
self:startWorking()
elseif self.onFieldState == self.states.MOVING_OUT_OF_WAY then
self:setNewOnFieldState(self.stateAfterMovedOutOfWay)
end
end
AIDriver.onLastWaypoint(self)
end
-- if closer than this to the last waypoint, start slowing down
function CombineUnloadAIDriver:getSlowDownDistanceBeforeLastWaypoint()
local d = AIDriver.defaultSlowDownDistanceBeforeLastWaypoint
-- in some states there's no need to slow down before reaching the last waypoints
if self.state == self.states.ON_FIELD then
if self.onFieldState == self.states.DRIVE_TO_FIRST_UNLOADER then
d = 0
else
-- in general, be more bold than the standard AI Driver to not waste time for rendezvous
d = AIDriver.defaultSlowDownDistanceBeforeLastWaypoint / 3
end
end
return d
end
function CombineUnloadAIDriver:setFieldSpeed()
if self.course then
self:setSpeed(self.vehicle.cp.speeds.field)
end
end
function CombineUnloadAIDriver:setNewState(newState)
self.state = newState
self:debug('setNewState: %s', self.state.name)
end
function CombineUnloadAIDriver:setNewOnFieldState(newState)
self.onFieldState = newState
self:debug('setNewOnFieldState: %s', self.onFieldState.name)
end
function CombineUnloadAIDriver:getCourseToAlignTo(vehicle,offset)
local waypoints = {}
for i=-20,20,5 do
local x,y,z = localToWorld(vehicle.rootNode,offset,0,i)
local point = { cx = x;
cy = y;
cz = z;
}
table.insert(waypoints,point)
end
local tempCourse = Course(self.vehicle,waypoints)
return tempCourse
end
function CombineUnloadAIDriver:getTrailersTargetNode()
local allTrailersFull = true
for i=1, #self.vehicle.cp.workTools do
local tipper = self.vehicle.cp.workTools[i]
local fillUnits = tipper:getFillUnits()
for j=1, #fillUnits do
local tipperFillType = tipper:getFillUnitFillType(j)
local combineFillType = self.combineToUnload and self.combineToUnload.cp.driver.combine:getFillUnitLastValidFillType(self.combineToUnload.cp.driver.combine:getCurrentDischargeNode().fillUnitIndex) or FillType.UNKNOWN
if tipper:getFillUnitFreeCapacity(j) > 0 then
allTrailersFull = false
if tipperFillType == FillType.UNKNOWN or tipperFillType == combineFillType or combineFillType == FillType.UNKNOWN then
local targetNode = tipper:getFillUnitAutoAimTargetNode(1)
if targetNode then
return targetNode, allTrailersFull
else
return tipper.rootNode, allTrailersFull
end
end
end
end
end
self:debugSparse('Can\'t find trailer target node')
return self.vehicle.cp.workTools[1].rootNode, allTrailersFull
end
function CombineUnloadAIDriver:getSpeedBesideChopper(targetNode)
local allowedToDrive = true
local baseNode = self:getPipesBaseNode(self.combineToUnload)
--Discharge Node to AutoAimNode
local wx, wy, wz = getWorldTranslation(targetNode)
--cpDebug:drawLine(dnX,dnY,dnZ, 100, 100, 100, wx,wy,wz)
-- pipe's local position in the trailer's coordinate system
local dx,_,dz = worldToLocal(baseNode, wx, wy, wz)
--am I too far in front but beside the chopper ?
if dz < 3 and math.abs(dx)< math.abs(self:getSavedCombineOffset())+1 then
allowedToDrive = false
end
-- negative speeds are invalid
return math.max(0, (self.combineToUnload.lastSpeedReal * 3600) + (MathUtil.clamp(-dz, -10, 15))), allowedToDrive
end
function CombineUnloadAIDriver:getSpeedBesideCombine(targetNode)
end
function CombineUnloadAIDriver:getSpeedBehindCombine()
if self.distanceToFront == 0 then
self:raycastFront()
return 0
else
self:raycastDistance(30)
end
local targetGap = 20
local targetDistance = self.distanceToCombine - targetGap
return (self.combineToUnload.lastSpeedReal * 3600) +(MathUtil.clamp(targetDistance,-10,15))
end
function CombineUnloadAIDriver:getSpeedBehindChopper()
local distanceToChoppersBack, _, dz = self:getDistanceFromCombine()
local fwdDistance = self.chopperProximitySensorPack:getClosestObjectDistanceAndRootVehicle()
if dz < 0 then
-- I'm way too forward, stop here as I'm most likely beside the chopper, let it pass before
-- moving to the middle
self:setSpeed(0)
end
local errorSafety = self.safetyDistanceFromChopper - fwdDistance
local errorTarget = self.targetDistanceBehindChopper - dz
local error = math.abs(errorSafety) < math.abs(errorTarget) and errorSafety or errorTarget
local deltaV = MathUtil.clamp(-error * 2, -10, 15)
local speed = (self.combineToUnload.lastSpeedReal * 3600) + deltaV
self:renderText(0, 0.7, 'd = %.1f, dz = %.1f, speed = %.1f, errSafety = %.1f, errTarget = %.1f',
distanceToChoppersBack, dz, speed, errorSafety, errorTarget)
return speed
end
function CombineUnloadAIDriver:getOffsetBehindChopper()
local distanceToChoppersBack, dx, dz = self:getDistanceFromCombine()
local rightDistance = self.chopperProximitySensorPack:getClosestObjectDistanceAndRootVehicle(-90)
local fwdRightDistance = self.chopperProximitySensorPack:getClosestObjectDistanceAndRootVehicle(-45)
local minDistance = math.min(rightDistance, fwdRightDistance / 1.4)
local currentOffsetX, _ = self.followCourse:getOffset()
-- TODO: course offset seems to be inverted
currentOffsetX = - currentOffsetX
local error
if dz < 0 and minDistance < 1000 then
-- proximity sensor in range, use that to adjust our target offset
-- TODO: use actual vehicle width instead of magic constant (we need to consider vehicle width
-- as the proximity sensor is in the middle
error = (self.safetyDistanceFromChopper + 1) - minDistance
self.targetOffsetBehindChopper = MathUtil.clamp(self.targetOffsetBehindChopper + 0.02 * error, -20, 20)
self:debug('err %.1f target %.1f', error, self.targetOffsetBehindChopper)
end
error = self.targetOffsetBehindChopper - currentOffsetX
local newOffset = currentOffsetX + error * 0.2
self:renderText(0, 0.68, 'right = %.1f, fwdRight = %.1f, current = %.1f, err = %1.f',
rightDistance, fwdRightDistance, currentOffsetX, error)
self:debug('right = %.1f, fwdRight = %.1f, current = %.1f, err = %1.f',
rightDistance, fwdRightDistance, currentOffsetX, error)
return MathUtil.clamp(-newOffset, -50, 50)
end
function CombineUnloadAIDriver:getSpeedBehindTractor(tractorToFollow)
local targetDistance = 35
local diff = courseplay:distanceToObject(self.vehicle, tractorToFollow) - targetDistance
return math.min(self.vehicle.cp.speeds.field,(tractorToFollow.lastSpeedReal*3600) +(MathUtil.clamp( diff,-10,25)))
end
function CombineUnloadAIDriver:getPipesBaseNode(combine)
return g_combineUnloadManager:getPipesBaseNode(combine)
end
function CombineUnloadAIDriver:getCombineIsTurning()
return self.combineToUnload.cp.driver and self.combineToUnload.cp.driver:isTurning()
end
-- TODO: remove this legacy function and use getPipeOffset everywhere
function CombineUnloadAIDriver:getCombineOffset(combine)
return g_combineUnloadManager:getCombinesPipeOffset(combine)
end
---@return number, number x and z offset of the pipe's end from the combine's root node in the Giants coordinate system
---(x > 0 left, z > 0 forward) corrected with the manual offset settings
function CombineUnloadAIDriver:getPipeOffset(combine)
return combine.cp.driver:getPipeOffset(-self.vehicle.cp.combineOffset, self.vehicle.cp.tipperOffset)
end
function CombineUnloadAIDriver:getChopperOffset(combine)
local pipeOffset = g_combineUnloadManager:getCombinesPipeOffset(combine)
local leftOk, rightOk = g_combineUnloadManager:getPossibleSidesToDrive(combine)
local currentOffset = self.combineOffset
local newOffset = currentOffset
-- fruit on both sides, stay behind the chopper
if not leftOk and not rightOk then
newOffset = 0
elseif leftOk and not rightOk then
-- no fruit to the left
if currentOffset >= 0 then
-- we are already on the left or middle, go to left
newOffset = pipeOffset
else
-- we are on the right, move to the middle
newOffset = 0
end
elseif not leftOk and rightOk then
-- no fruit to the right
if currentOffset <= 0 then
-- we are already on the right or in the middle, move to the right
newOffset = -pipeOffset
else
-- we are on the left, move to the middle
newOffset = 0
end
end
if newOffset ~= currentOffset then
self:debug('Change combine offset: %.1f -> %.1f (pipe %.1f), leftOk: %s rightOk: %s',
currentOffset, newOffset, pipeOffset, tostring(leftOk), tostring(rightOk))
end
return newOffset
end
function CombineUnloadAIDriver:setSavedCombineOffset(newOffset)
if self.vehicle.cp.combineOffsetAutoMode then
self.vehicle.cp.combineOffset = newOffset
self:refreshHUD()
return newOffset
else
--TODO Handle manual offsets
end
end
function CombineUnloadAIDriver:getSavedCombineOffset()
if self.vehicle.cp.combineOffset then
return self.vehicle.cp.combineOffset
end
-- else???? this does not make any sense, this is still just a nil ...
end
function CombineUnloadAIDriver:raycastFront()
local nx, ny, nz = localDirectionToWorld(self:getDirectionNode(), 0, 0, -1)
self.distanceToFront = 0
for x=-1.5,1.5,0.1 do
for y=0.2,3,0.1 do
local rx,ry,rz = localToWorld(self.vehicle.cp.directionNode, x, y, 10)
raycastAll(rx, ry, rz, nx, ny, nz, 'raycastFrontCallback', 10, self)
end
end
print(string.format("%s: self.distanceToFront(%s)",nameNum(self.vehicle),tostring(self.distanceToFront)))
end
function CombineUnloadAIDriver:raycastFrontCallback(hitObjectId, x, y, z, distance, nx, ny, nz, subShapeIndex)
if hitObjectId ~= 0 then
local object = g_currentMission:getNodeObject(hitObjectId)
if object and object == self.vehicle then
local frontDistance = 10 - distance
if self.distanceToFront < frontDistance then
self.distanceToFront = frontDistance
end
local colliNode = self.vehicle.cp.driver.collisionDetector.trafficCollisionTriggers[1]
local nodeX,nodeY,nodeZ = getWorldTranslation(colliNode)
local _,_,sz = worldToLocal(self:getDirectionNode(),nodeX,nodeY,nodeZ)
local Tx,Ty,Tz = getTranslation(colliNode,self:getDirectionNode());
if sz < self.distanceToFront+0.1 then
setTranslation(colliNode, Tx,Ty,Tz+(self.distanceToFront+0.1-sz))
end
else
return true
end
end
end
-- This all seems to be here to figure out how far we are from the combine
-- looks too complicated and fragile as it is using the collisionDetector internals and who knows where that
-- is in any moment.
function CombineUnloadAIDriver:raycastDistance(maxDistance)
self.distanceToCombine = math.huge
local colliNode = self.vehicle.cp.driver.collisionDetector.trafficCollisionTriggers[1]
local nodeX, nodeY, nodeZ = getWorldTranslation(colliNode)
local gx,gy,gz = localToWorld(self.combineToUnload.cp.directionNode,0,0, -(self:getCombinesMeasuredBackDistance()))
local lx,lz = AIVehicleUtil.getDriveDirection(colliNode, gx,gy,gz)
local terrain = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, gx, 1, gz);
local nx, ny, nz = localDirectionToWorld(colliNode, lx, 0, lz)
--cpDebug:drawLine(nodeX, nodeY, nodeZ, 100, 100, 100, nodeX+(nx*distance), nodeY+(ny*distance), nodeZ+(nz*distance))
for i=1,3 do
raycastAll(nodeX, terrain+i, nodeZ, nx, ny, nz, 'raycastDistanceCallback', maxDistance, self)
end
end
function CombineUnloadAIDriver:raycastDistanceCallback(hitObjectId, x, y, z, distance, nx, ny, nz, subShapeIndex)
if hitObjectId ~= 0 then
--print(string.format("%s in %s m",tostring(getName(hitObjectId)),tostring(distance)))
local object = g_currentMission:getNodeObject(hitObjectId)
if object and object == self.combineToUnload then
cpDebug:drawPoint(x, y, z, 1, 1 , 1);
self.distanceToCombine = math.min(distance,self.distanceToCombine)
else
return true
end
end
end
function CombineUnloadAIDriver:getCombinesMeasuredBackDistance()
return self.combineToUnload.cp.driver:getMeasuredBackDistance()
end
function CombineUnloadAIDriver:getCanShowDriveOnButton()
return self.state == self.states.ON_FIELD or AIDriver.getCanShowDriveOnButton(self)
end
function CombineUnloadAIDriver:setDriveNow()
if self.state == self.states.ON_FIELD then
self:debug('drive now requested, changing to unload course.')
self:releaseUnloader()
self:startUnloadCourse()
else
AIDriver.setDriveNow(self)
end
end
function CombineUnloadAIDriver:getAllTrailersFull()
local _, allFull = self:getTrailersTargetNode()
return allFull
end
function CombineUnloadAIDriver:shouldDriveOn()
return self:getFillLevelPercent() > self:getDriveOnThreshold()
end
function CombineUnloadAIDriver:getCombinesFillLevelPercent()
return g_combineUnloadManager:getCombinesFillLevelPercent(self.combineToUnload)
end
function CombineUnloadAIDriver:getFillLevelThreshold()
return self.vehicle.cp.settings.followAtFillLevel:get()
end
function CombineUnloadAIDriver:getDriveOnThreshold()
return self.vehicle.cp.settings.driveOnAtFillLevel:get()
end
function CombineUnloadAIDriver:onUserUnassignedActiveCombine()
self:debug('User unassigned active combine.')
self:releaseUnloader()
self:setNewOnFieldState(self.states.WAITING_FOR_COMBINE_TO_CALL)
end
function CombineUnloadAIDriver:releaseUnloader()
g_combineUnloadManager:releaseUnloaderFromCombine(self.vehicle, self.combineToUnload)
-- TODO: may not have to release the unloader at this point at all so no need to remember
self.combineJustUnloaded = self.combineToUnload
self.combineToUnload = nil
self:refreshHUD()
end
function CombineUnloadAIDriver:getImFirstOfTwoUnloaders()
return g_combineUnloadManager:getNumUnloaders(self.combineToUnload)==2 and g_combineUnloadManager:getUnloadersNumber(self.vehicle, self.combineToUnload) ==1
end
function CombineUnloadAIDriver:combineIsMakingPocket()
local combineDriver = self.combineToUnload.cp.driver
if combineDriver ~= nil then
return combineDriver.fieldworkUnloadOrRefillState == combineDriver.states.MAKING_POCKET
end
end
-- Make sure the autoAimTargetNode is not moving with the fill level
function CombineUnloadAIDriver:fixAutoAimNode()
self.autoAimNodeFixed = true
end
-- Release the auto aim target to restore default behaviour
function CombineUnloadAIDriver:releaseAutoAimNode()
self.autoAimNodeFixed = false
end
function CombineUnloadAIDriver:isAutoAimNodeFixed()
return self.autoAimNodeFixed
end
-- Make sure the autoAimTargetNode is not moving with the fill level (which adds realism trying to
-- distribute the load more evenly in the trailer but makes life difficult for us)
-- TODO: instead of turning it off completely, could try to reduce the range it is adjusted
function CombineUnloadAIDriver:updateFillUnitAutoAimTarget(superFunc,fillUnit)
local tractor = self.getAttacherVehicle and self:getAttacherVehicle() or nil
if tractor and tractor.cp.driver and tractor.cp.driver.isAutoAimNodeFixed and tractor.cp.driver:isAutoAimNodeFixed() then
local autoAimTarget = fillUnit.autoAimTarget
if autoAimTarget.node ~= nil then
if autoAimTarget.startZ ~= nil and autoAimTarget.endZ ~= nil then
setTranslation(autoAimTarget.node, autoAimTarget.baseTrans[1], autoAimTarget.baseTrans[2], autoAimTarget.startZ)
end
end
else
superFunc(self, fillUnit)
end
end
function CombineUnloadAIDriver:isWithinSafeManeuveringDistance(vehicle)
local d = calcDistanceFrom(self.vehicle.rootNode, AIDriverUtil.getDirectionNode(vehicle))
return d < self.safeManeuveringDistance
end
function CombineUnloadAIDriver:isBehindAndAlignedToChopper(maxDirectionDifferenceDeg)
local dx, _, dz = localToLocal(self.vehicle.rootNode, AIDriverUtil.getDirectionNode(self.combineToUnload), 0, 0, 0)
-- close enough and approximately same direction and behind and not too far to the left or right
return dz < 0 and MathUtil.vector2Length(dx, dz) < 30 and
TurnContext.isSameDirection(AIDriverUtil.getDirectionNode(self.vehicle), AIDriverUtil.getDirectionNode(self.combineToUnload),
maxDirectionDifferenceDeg or 45)
end
function CombineUnloadAIDriver:isBehindAndAlignedToCombine(maxDirectionDifferenceDeg)
local dx, _, dz = localToLocal(self.vehicle.rootNode, AIDriverUtil.getDirectionNode(self.combineToUnload), 0, 0, 0)
local pipeOffset = self:getPipeOffset(self.combineToUnload)
-- close enough and approximately same direction and behind and not too far to the left or right
return dz < 0 and math.abs(dx) < math.abs(1.5 * pipeOffset) and MathUtil.vector2Length(dx, dz) < 30 and
TurnContext.isSameDirection(AIDriverUtil.getDirectionNode(self.vehicle), AIDriverUtil.getDirectionNode(self.combineToUnload),
maxDirectionDifferenceDeg or 45)
end
--- In front of the combine, right distance from pipe to start unloading and the combine is moving
function CombineUnloadAIDriver:isInFrontAndAlignedToMovingCombine(maxDirectionDifferenceDeg)
local dx, _, dz = localToLocal(self.vehicle.rootNode, AIDriverUtil.getDirectionNode(self.combineToUnload), 0, 0, 0)
local pipeOffset = self:getPipeOffset(self.combineToUnload)
-- in front of the combine, close enough and approximately same direction, about pipe offset side distance
-- and is not waiting (stopped) for the unloader
if dz >= 0 and math.abs(dx) < math.abs(pipeOffset) * 1.5 and math.abs(dx) > math.abs(pipeOffset) * 0.5 and
MathUtil.vector2Length(dx, dz) < 30 and
TurnContext.isSameDirection(AIDriverUtil.getDirectionNode(self.vehicle), AIDriverUtil.getDirectionNode(self.combineToUnload),
maxDirectionDifferenceDeg or 30) and
not self.combineToUnload.cp.driver:willWaitForUnloadToFinish() then
return true
else
return false
end
end
function CombineUnloadAIDriver:isOkToStartFollowingChopper()
return self.combineToUnload.cp.driver:isChopper() and self:isBehindAndAlignedToChopper() and self:iAmFirstUnloader()
end
function CombineUnloadAIDriver:isFollowingChopper()