6.01.00112: moved tipper unloading to AIDriver

BGA reverse handling: record the course reverse into the silo. the last rev waypoint will be the unload point for the tipper. then the unloading will be handled as with the  reverse unload point.

AIDriver.lua

@@ -300,8 +300,10 @@ function AIDriver:driveCourse(dt)
 	end
 
 	-- use the recorded speed by default
-	self:setSpeed(self:getRecordedSpeed())
-
+	if not self:hasTipTrigger() then
+		self:setSpeed(self:getRecordedSpeed())
+	end
+
 	if self:getIsInFilltrigger() then
 		self:setSpeed(self.vehicle.cp.speeds.approach)
 	end
@@ -501,6 +503,9 @@ function AIDriver:isWaiting()
 	return self.state == self.states.STOPPED
 end
 
+function AIDriver:hasTipTrigger()
+	return self.vehicle.cp.currentTipTrigger ~= nil
+end
 
 --- Set the speed. The idea is that self.speed is reset at the beginning of every loop and
 -- every function calls setSpeed() and the speed will be set to the minimum
@@ -717,7 +722,7 @@ function AIDriver:dischargeAtUnloadPoint(dt,unloadPointIx)
 			z = courseplay:isNodeTurnedWrongWay(vehicle,tipRefpoint)and -z or z
 
 			local foundHeap = self:checkForHeapBehindMe(tipper)
-			print(string.format("foundHeap(%s) or z(%s) >= 0",tostring(foundHeap),tostring(z)))
+			--print(string.format("foundHeap(%s) or z(%s) >= 0",tostring(foundHeap),tostring(z)))
 
 			--when we reached the unload point, stop the tractor and inhibit any action from ppc till the trailer is empty
 			if (foundHeap or z >= 0) and tipper.cp.fillLevel ~= 0 or tipper:getTipState() ~= Trailer.TIPSTATE_CLOSED then
@@ -800,3 +805,86 @@ function AIDriver:checkForHeapBehindMe(tipper)
 		return true;
 	end
 end
+
+function AIDriver:dischargeAtTipTrigger(dt)
+	local trigger = self.vehicle.cp.currentTipTrigger
+	local allowedToDrive = true
+	if trigger ~= nil then
+		local isBGA = trigger.bunkerSilo ~= nil;
+		if isBGA then
+			if not self.ppc:isReversing() then
+				--we are going forward into the BGA silo, so tip when I'm in and adjust the speed
+				self:tipIntoBGASiloTipTrigger(dt)
+			else
+				--we are reversing into the BGA Silo. We are taking the last rev waypoint as virtual unloadpoint and start tipping there the same way as on unload point
+				allowedToDrive, takeOverSteering = self:dischargeAtUnloadPoint(dt,self.course:getLastReverseAt(self.ppc:getCurrentWaypointIx()))     
+			end
+		else
+			--using all standard tip triggers
+			allowedToDrive = self:tipIntoStandardTipTrigger()
+		end;
+	end
+	return allowedToDrive,takeOverSteering
+end
+
+function AIDriver:tipIntoStandardTipTrigger()
+	local stopForTipping = false
+	for _, tipper in pairs(self.vehicle.cp.workTools) do
+		if tipper.spec_dischargeable ~= nil then
+			for i=1,#tipper.spec_dischargeable.dischargeNodes do
+				if tipper:getCanDischargeToObject(tipper.spec_dischargeable.dischargeNodes[i])then
+					tipper:setDischargeState(Dischargeable.DISCHARGE_STATE_OBJECT)
+					stopForTipping = true
+				end
+			end
+		end
+	end
+
+	return not stopForTipping
+end
+
+function AIDriver:tipIntoBGASiloTipTrigger(dt)
+	local trigger = self.vehicle.cp.currentTipTrigger
+	for _, tipper in pairs (self.vehicle.cp.workTools) do
+		if tipper.spec_dischargeable ~= nil and trigger ~= nil then
+			--figure out , when i'm in the silo area
+			local currentDischargeNode = tipper:getCurrentDischargeNode().node
+			local x,y,z = getWorldTranslation(currentDischargeNode)
+			local tx,ty,tz = x,y,z+1
+			local x1,z1 = trigger.bunkerSiloArea.sx,trigger.bunkerSiloArea.sz
+			local x2,z2 = trigger.bunkerSiloArea.wx,trigger.bunkerSiloArea.wz
+			local x3,z3 = trigger.bunkerSiloArea.hx,trigger.bunkerSiloArea.hz
+			local trailerInTipRange = MathUtil.hasRectangleLineIntersection2D(x1,z1,x2-x1,z2-z1,x3-x1,z3-z1,x,z,tx-x,tz-z)
+
+			--tip when I'm inside the Silo
+			if trailerInTipRange then
+				if not self.unloadSpeed then
+					--calculate the speed needed to unload in this silo
+					local sx, sy, sz = worldToLocal(trigger.triggerStartId, x, y, z);
+					local ex, ey, ez = worldToLocal(trigger.triggerEndId, x, y, z);
+					local totalLength = courseplay:distance3D(sx, sy, sz, ex, ey, ez)
+					local fillDelta = self.vehicle.cp.totalFillLevel / self.vehicle.cp.totalCapacity;
+
+					local animation;
+					if tipper.spec_animatedVehicle.animations['tipAnimationBack'] ~= nil then
+						animation = tipper.spec_animatedVehicle.animations['tipAnimationBack'];
+					else
+						animation = {["duration"] = 15000, ["currentTime"] = 0}		--Set some defaults, so in case a weird anim name was used, at least we are not throwing an error
+					end
+					local totalTipDuration = (animation.duration- animation.currentTime)/1*fillDelta / 1000;
+					local meterPrSeconds = totalLength / totalTipDuration;
+					self.unloadSpeed = meterPrSeconds*3.6	
+				end
+
+				local tipState = tipper:getTipState()
+				if tipState == Trailer.TIPSTATE_CLOSED or tipState == Trailer.TIPSTATE_CLOSING then
+					tipper:setDischargeState(Dischargeable.DISCHARGE_STATE_GROUND)
+				end				
+			else
+				self.unloadSpeed = nil
+			end
+			self.speed = self.unloadSpeed or self.speed
+		end
+	end
+
+end

FillableFieldworkAIDriver.lua

@@ -190,31 +190,29 @@ function FillableFieldworkAIDriver:searchForRefillTriggers()
 	-- look straight ahead for now. The rest of CP looks into the direction of the 'current waypoint'
 	-- but we don't have that information (lx/lz) here. See if we can get away with this, should only
 	-- be a problem if we have a sharp curve around the trigger
-	if not self:getIsInFilltrigger() then
-		if not self.ppc:isReversing() then
-			local x, y, z = localToWorld(self.vehicle.cp.DirectionNode, 0, 1, 3)
-			local nx, ny, nz = localDirectionToWorld(self.vehicle.cp.DirectionNode, 0, -0.1, 1)
-			-- raycast start point in front of vehicle
-			courseplay:doTriggerRaycasts(self.vehicle, 'specialTrigger', 'fwd', true, x, y, z, nx, ny, nz)
+	if not self.ppc:isReversing() then
+		local x, y, z = localToWorld(self.vehicle.cp.DirectionNode, 0, 1, 3)
+		local nx, ny, nz = localDirectionToWorld(self.vehicle.cp.DirectionNode, 0, -0.1, 1)
+		-- raycast start point in front of vehicle
+		courseplay:doTriggerRaycasts(self.vehicle, 'specialTrigger', 'fwd', true, x, y, z, nx, ny, nz)
+
+		--create a hammerhead racast to get small triggerStartId
+		local x, y, z = localToWorld(self.vehicle.cp.DirectionNode, -1.5, 1, 10)
+		local nx, ny, nz = localDirectionToWorld(self.vehicle.cp.DirectionNode, 1, 0, 0)
+		courseplay:doTriggerRaycasts(self.vehicle, 'specialTrigger', 'fwd', false, x, y, z, nx, ny, nz,3)
+
+	else
+		for _,workTool in pairs(self.vehicle.cp.workTools) do
+			local node = workTool.cp.realTurningNode or workTool.rootNode ;
+			local x, y, z = localToWorld(node, 0, 2, 3)
+			local nx, ny, nz = localDirectionToWorld(node, 0, -0.1, -1)
+			-- raycast start point behind the workTool
+			courseplay:doTriggerRaycasts(self.vehicle, 'specialTrigger', 'rev', false, x, y, z, nx, ny, nz)
 
 			--create a hammerhead racast to get small triggerStartId
-			local x, y, z = localToWorld(self.vehicle.cp.DirectionNode, -1.5, 1, 10)
-			local nx, ny, nz = localDirectionToWorld(self.vehicle.cp.DirectionNode, 1, 0, 0)
-			courseplay:doTriggerRaycasts(self.vehicle, 'specialTrigger', 'fwd', false, x, y, z, nx, ny, nz,3)
-
-		else
-			for _,workTool in pairs(self.vehicle.cp.workTools) do
-				local node = workTool.cp.realTurningNode or workTool.rootNode ;
-				local x, y, z = localToWorld(node, 0, 2, 3)
-				local nx, ny, nz = localDirectionToWorld(node, 0, -0.1, -1)
-				-- raycast start point behind the workTool
-				courseplay:doTriggerRaycasts(self.vehicle, 'specialTrigger', 'rev', false, x, y, z, nx, ny, nz)
-
-				--create a hammerhead racast to get small triggerStartId
-				local x, y, z = localToWorld(node, -1.5, 1, -10)
-				local nx, ny, nz = localDirectionToWorld(node, 1, 0, 0)
-				courseplay:doTriggerRaycasts(self.vehicle, 'specialTrigger', 'rev', false, x, y, z, nx, ny, nz,3)
-			end
+			local x, y, z = localToWorld(node, -1.5, 1, -10)
+			local nx, ny, nz = localDirectionToWorld(node, 1, 0, 0)
+			courseplay:doTriggerRaycasts(self.vehicle, 'specialTrigger', 'rev', false, x, y, z, nx, ny, nz,3)
 		end
 	end
 end

GrainTransportAIDriver.lua

@@ -111,28 +111,6 @@ function GrainTransportAIDriver:onWaypointChange(newIx)
 
 end
 
-function GrainTransportAIDriver:hasTipTrigger()
-	-- TODO: come up with something better?
-	return self.vehicle.cp.currentTipTrigger ~= nil
-end
-
-function GrainTransportAIDriver:getSpeed()
-	if self:hasTipTrigger() then
-		-- slow down around the tip trigger
-		if self:getIsInBunksiloTrigger() then
-			return self.vehicle.cp.speeds.reverse
-		else
-			return 10
-		end
-	else
-		return AIDriver.getSpeed(self)
-	end
-end
-
-function GrainTransportAIDriver:getIsInBunksiloTrigger()
-	return self.vehicle.cp.backupUnloadSpeed ~= nil
-end
-
 function GrainTransportAIDriver:checkLastWaypoint()
 	local allowedToDrive = true
 	if self.ppc:reachedLastWaypoint() then
@@ -207,12 +185,13 @@ function GrainTransportAIDriver:unLoad(allowedToDrive, dt)
 		if self.vehicle.cp.totalFillLevel > 0
 			and self:hasTipTrigger()
 			and not self:isNearFillPoint() then
-			allowedToDrive, takeOverSteering = courseplay:unload_tippers(self.vehicle, allowedToDrive, dt);
+			self:setSpeed(self.vehicle.cp.speeds.approach)
+			allowedToDrive, takeOverSteering = self:dischargeAtTipTrigger(dt)
 			courseplay:setInfoText(self.vehicle, "COURSEPLAY_TIPTRIGGER_REACHED");
 		end
 		-- tractor reaches unloadPoint
 		if isNearUnloadPoint then
-			self:setSpeed(self.vehicle.cp.speeds.turn)
+			self:setSpeed(self.vehicle.cp.speeds.approach)
 			courseplay:setInfoText(self.vehicle, "COURSEPLAY_TIPTRIGGER_REACHED");
 			allowedToDrive, takeOverSteering = self:dischargeAtUnloadPoint(dt,unloadPointIx)
 		end

UnloadableFieldworkAIDriver.lua

@@ -80,15 +80,16 @@ function UnloadableFieldworkAIDriver:driveUnloadOrRefill(dt)
 	if self.vehicle.cp.totalFillLevel > 0 then
 		if self:hasTipTrigger() then
 			-- unload at tip trigger
-			allowedToDrive, takeOverSteering = courseplay:unload_tippers(self.vehicle, allowedToDrive);
+			self:setSpeed(self.vehicle.cp.speeds.approach)
+			allowedToDrive, takeOverSteering = self:dischargeAtTipTrigger(dt)
 			courseplay:setInfoText(self.vehicle,"COURSEPLAY_TIPTRIGGER_REACHED");
 			self:setSpeed(self.vehicle.cp.speeds.turn)
 		end		
 	end
 
 	-- tractor reaches unloadPoint
 	if isNearUnloadPoint then
-		self:setSpeed(self.vehicle.cp.speeds.turn)
+		self:setSpeed(self.vehicle.cp.speeds.approach)
 		courseplay:setInfoText(self.vehicle, "COURSEPLAY_TIPTRIGGER_REACHED");
 		allowedToDrive, takeOverSteering = self:dischargeAtUnloadPoint(dt,unloadPointIx)
 	end
@@ -105,10 +106,6 @@ function UnloadableFieldworkAIDriver:driveUnloadOrRefill(dt)
 	return takeOverSteering
 end
 
-function UnloadableFieldworkAIDriver:hasTipTrigger()
-	return self.vehicle.cp.currentTipTrigger ~= nil
-end
-
 function UnloadableFieldworkAIDriver:handlePipe()
 	if self.vehicle.spec_pipe then
 		if self.vehicle.cp.isChopper then

Waypoint.lua

@@ -307,6 +307,14 @@ function Course:isReverseAt(ix)
 	return self.waypoints[math.min(math.max(1, ix), #self.waypoints)].rev
 end
 
+function Course:getLastReverseAt(ix)
+	for i=ix,#self.waypoints do
+		if not self.waypoints[i].rev then
+			return i-1
+		end
+	end
+end
+
 function Course:isTurnStartAtIx(ix)
 	return self.waypoints[math.min(math.max(1, ix), #self.waypoints)].turnStart
 end

modDesc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="40">
-	<version>6.01.00111</version>
+	<version>6.01.00112</version>
 	<author><![CDATA[Courseplay.devTeam]]></author>
 	<title>
 		<br>CoursePlay SIX</br>

reverse.lua

@@ -37,7 +37,7 @@ function courseplay:goReverse(vehicle,lx,lz,mode2)
 		elseif vehicle.cp.mode ~= 9 then
 			-- Start: Fixes issue #525
 			local tx, ty, tz = localToWorld(vehicle.cp.DirectionNode, 0, 1, -3);
-			local nx, ny, nz = localDirectionToWorld(vehicle.cp.DirectionNode, lx, 0, lz);
+			local nx, ny, nz = localDirectionToWorld(vehicle.cp.DirectionNode, lx, -0,1, lz);
 			courseplay:doTriggerRaycasts(vehicle, 'tipTrigger', 'rev', false, tx, ty, tz, nx, ny, nz);
 			--  End:  Fixes issue #525
 		end
@@ -266,7 +266,7 @@ function courseplay:goReverse(vehicle,lx,lz,mode2)
 	end;
 
 	if (vehicle.cp.mode == courseplay.MODE_GRAIN_TRANSPORT or vehicle.cp.mode == courseplay.MODE_COMBI or vehicle.cp.mode == courseplay.MODE_FIELDWORK) and vehicle.cp.currentTipTrigger == nil and (vehicle.cp.totalFillLevel ~= nil and vehicle.cp.totalFillLevel > 0) then
-		local nx, ny, nz = localDirectionToWorld(node, lxTipper, 0, lzTipper);
+		local nx, ny, nz = localDirectionToWorld(node, lxTipper, -0.1, lzTipper);
 		courseplay:doTriggerRaycasts(vehicle, 'tipTrigger', 'rev', false, xTipper, yTipper + 1, zTipper, nx, ny, nz);
 	end;
 	courseplay:showDirection(vehicle.cp.DirectionNode,lx,lz, 0.7, 0, 1);

toolManager.lua

@@ -969,7 +969,7 @@ function courseplay:unload_tippers(vehicle, allowedToDrive,dt)
 	end;]]
 
 
-	local isBGA = ctt.bunkerSilo ~= nil  and vehicle.cp.handleAsOneSilo ~= true;
+	local isBGA = ctt.bunkerSilo ~= nil;
 	local bgaIsFull = isBGA and (ctt.fillLevel >= ctt.capacity);
 	if isBGA then
 		vehicle.cp.isBGATipping = true;
@@ -1263,7 +1263,6 @@ function courseplay:resetTipTrigger(vehicle, changeToForward)
 			vehicle.cp.isUnloaded = true;
 		end
 		vehicle.cp.currentTipTrigger = nil;
-		vehicle.cp.handleAsOneSilo = nil; -- Used for BGA tipping
 		vehicle.cp.isReverseBGATipping = nil; -- Used for reverse BGA tipping
 		vehicle.cp.isBGATipping = false;