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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.
When unloading choppers, the tractor disables the generic speed control as it has to
drive very close to the chopper.
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...
]]--
---@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.safeManeuveringDistance = 30 -- distance to keep from a combine not ready to unload
CombineUnloadAIDriver.pathfindingRange = 5 -- won't do pathfinding if target is closer than this
CombineUnloadAIDriver.myStates = {
ON_FIELD = {},
ON_STREET = {},
WAITING_FOR_COMBINE_TO_CALL ={},
WAITING_FOR_PATHFINDER={},
FINDPATH_TO_TRACTOR={},
DRIVE_TO_COMBINE = {},
DRIVE_TO_MOVING_COMBINE = {},
DRIVE_TO_TRACTOR={},
DRIVE_TO_UNLOAD_COURSE ={},
DRIVE_BESIDE_TRACTOR ={},
ALIGN_TO_TRACTOR = {},
GET_ALIGNCOURSE_TO_TRACTOR ={},
UNLOADING_MOVING_COMBINE ={},
UNLOADING_STOPPED_COMBINE = {},
FOLLOW_CHOPPER ={},
FOLLOW_TRACTOR = {},
DRIVE_BACK_FROM_REVERSING_CHOPPER ={},
DRIVE_BACK_FROM_EMPTY_COMBINE = {},
DRIVE_BACK_FROM_REVERSING_TRACTOR = {},
DRIVE_BACK_FULL ={},
HANDLE_CHOPPER_HEADLAND_TURN = {},
HANDLE_CHOPPER_180_TURN = {},
FOLLOW_CHOPPER_THROUGH_TURN = {},
ALIGN_TO_CHOPPER_AFTER_TURN = {},
MOVING_OUT_OF_WAY = {},
WAITING_FOR_MANEUVERING_COMBINE = {}
}
--- Constructor
function CombineUnloadAIDriver:init(vehicle)
courseplay.debugVehicle(11,vehicle,'CombineUnloadAIDriver:init()')
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.vehicle.cp.possibleCombines ={}
self.vehicle.cp.assignedCombines ={}
self.vehicle.cp.combinesListHUDOffset = 0
self.combineToUnloadReversing = 0
end
function CombineUnloadAIDriver:writeUpdateStream(streamId)
AIDriver.writeUpdateStream(self,streamId)
end
function CombineUnloadAIDriver:readUpdateStream(streamId)
AIDriver.readUpdateStream(self,streamId)
end
function CombineUnloadAIDriver:setHudContent()
courseplay.hud:setCombineUnloadAIDriverContent(self.vehicle)
end
function CombineUnloadAIDriver:debug(...)
local combineName = self.combineToUnload and nameNum(self.combineToUnload) or 'N/A'
courseplay.debugVehicle(self.debugChannel, self.vehicle, ' -> ' .. combineName .. ': ' .. string.format( ... ))
end
function CombineUnloadAIDriver:start(startingPoint)
self:beforeStart()
self:addForwardProximitySensor()
self.state = self.states.RUNNING
self.unloadCourse = Course(self.vehicle, self.vehicle.Waypoints)
-- 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)
self.ppc:setNormalLookaheadDistance()
if startingPoint:is(StartingPointSetting.START_WITH_UNLOAD) then
self:debug('Start unloading, waiting for a combine to call')
self:setNewState(self.states.ON_FIELD)
self:setNewOnFieldState(self.states.WAITING_FOR_COMBINE_TO_CALL)
self:disableCollisionDetection()
self:setDriveUnloadNow(false)
else
self:debug('Start on unload course')
local ix = self.unloadCourse:getStartingWaypointIx(AIDriverUtil.getDirectionNode(self.vehicle), startingPoint)
self:startCourseWithPathfinding(self.unloadCourse, ix, 0, 0)
self:setNewState(self.states.ON_STREET)
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:setNewOnFieldState(self.states.WAITING_FOR_COMBINE_TO_CALL)
end
AIDriver.dismiss(self)
end
function CombineUnloadAIDriver:drive(dt)
courseplay:updateFillLevelsAndCapacities(self.vehicle)
self:updateCombineStatus()
if self.state == self.states.ON_STREET then
-- disable speed control as it messes up the speed control during unload
-- TODO: refactor that whole unload process, it was just copied from the legacy CP code
self.forwardLookingProximitySensorPack:disableSpeedControl()
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
elseif self.state == self.states.ON_FIELD then
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
-- 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:stopAndWait(dt)
self:driveInDirection(dt,0,1,true,0,false)
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.forcedToStop 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.combineToUnload, combineToWaitFor = g_combineUnloadManager:giveMeACombineToUnload(self.vehicle)
if self.combineToUnload ~= nil then
self:refreshHUD()
courseplay:openCloseCover(self.vehicle, courseplay.OPEN_COVERS)
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.FINDPATH_TO_TRACTOR then
--get coords of the combine
local zOffset = -20
local cx,cy,cz = localToWorld(self.tractorToFollow.rootNode,0,0,zOffset)
if not courseplay:isField(cx,cz,0.1,0.1) then
zOffset = 0
end
if self:driveToNodeWithPathfinding(self.tractorToFollow.rootNode, 0, zOffset, 0, self.tractorToFollow) then
self:setNewOnFieldState(self.states.DRIVE_TO_TRACTOR)
self.lastTractorsCoords = { x=cx;
y=cy;
z=cz;
}
end
elseif self.onFieldState == self.states.DRIVE_TO_TRACTOR then
self.forwardLookingProximitySensorPack:enableSpeedControl()
--if I'm the first Unloader switch to follow chopper
if g_combineUnloadManager:getUnloadersNumber(self.vehicle, self.combineToUnload) == 1 then
self:setNewOnFieldState(self.states.WAITING_FOR_PATHFINDER)
end
--check whether the tractor moved meanwhile
if courseplay:distanceToPoint(self.tractorToFollow,self.lastTractorsCoords.x,self.lastTractorsCoords.y,self.lastTractorsCoords.z) > 50 then
self:setNewOnFieldState(self.states.FINDPATH_TO_TRACTOR)
end
--if we are in range , change to align mode
local cx,cy,cz = getWorldTranslation(self.combineToUnload.rootNode)
if courseplay:distanceToPoint(self.vehicle,cx,cy,cz) < 50 then
self:setNewOnFieldState(self.states.GET_ALIGNCOURSE_TO_TRACTOR)
end
--use trafficController
if not self:trafficControlOK() then
local blockingVehicle = g_currentMission.nodeToObject[g_trafficController:getBlockingVehicleId(self.vehicle.rootNode)]
if blockingVehicle and blockingVehicle ~= self.tractorToFollow then
g_trafficController:solve(self.vehicle.rootNode)
self:hold()
end
else
g_trafficController:resetSolver(self.vehicle.rootNode)
end
elseif self.onFieldState == self.states.DRIVE_TO_COMBINE then
self.forwardLookingProximitySensorPack:enableSpeedControl()
courseplay:setInfoText(self.vehicle, "COURSEPLAY_DRIVE_TO_COMBINE");
self:setFieldSpeed()
--use trafficController
if not self:trafficControlOK() then
self:debugSparse('Traffic conflict, stop.')
self:hold()
end
-- stop when too close to a combine not ready to unload (wait until it is done with turning for example)
if self:isWithinSafeManeuveringDistance(self.combineToUnload) then
self:debugSparse('Too close to maneuvering combine, stop.')
--self:hold()
else
self:setFieldSpeed()
end
if self:isOkToStartUnloadingCombine() then
self:startUnloadingCombine()
elseif self:isOkToStartFollowingChopper() then
self:startFollowingChopper()
end
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:setSpeed(self.vehicle.cp.speeds.reverse)
elseif self.onFieldState == self.states.GET_ALIGNCOURSE_TO_TRACTOR then
local tempCourseToAlign = self:getCourseToAlignTo(self.tractorToFollow,0)
if tempCourseToAlign ~= nil then
self:startCourseWithAlignment(tempCourseToAlign, 1)
self:setNewOnFieldState(self.states.ALIGN_TO_TRACTOR)
end
elseif self.onFieldState == self.states.ALIGN_TO_TRACTOR then
courseplay:setInfoText(self.vehicle, "COURSEPLAY_FOLLOWING_TRACTOR");
if self:tractorIsReversing() then
self:hold()
end
--if we are in range , change to follow mode
local sx,sy,sz = getWorldTranslation(self.vehicle.rootNode)
local dx,dy,dz = worldToLocal(self.tractorToFollow.rootNode,sx,sy,sz)
if math.abs(dx)< 2 and dz > -40 and dz < 0 then
self:setNewOnFieldState(self.states.FOLLOW_TRACTOR)
end
--use trafficController
if not self:trafficControlOK() then
local blockingVehicle = g_currentMission.nodeToObject[g_trafficController:getBlockingVehicleId(self.vehicle.rootNode)]
if blockingVehicle and blockingVehicle ~= self.tractorToFollow then
g_trafficController:solve(self.vehicle.rootNode)
self:hold()
end
else
g_trafficController:resetSolver(self.vehicle.rootNode)
end
elseif self.onFieldState == self.states.UNLOADING_MOVING_COMBINE then
self.forwardLookingProximitySensorPack:disableSpeedControl()
self:unloadMovingCombine(dt)
elseif self.onFieldState == self.states.FOLLOW_CHOPPER then
self:followChopper()
elseif self.onFieldState == self.states.FOLLOW_TRACTOR then
courseplay:setInfoText(self.vehicle, "COURSEPLAY_FOLLOWING_TRACTOR");
-- if the tractor is nearly full, pull over to take over the pipe
if self:getTractorsFillLevelPercent() > 90 and self:getChopperOffset(self.combineToUnload) ~= 0 then
self:setNewOnFieldState(self.states.DRIVE_BESIDE_TRACTOR)
end
--if I'm the first Unloader switch to follow chopper
if g_combineUnloadManager:getUnloadersNumber(self.vehicle, self.combineToUnload) == 1 then
self:setNewOnFieldState(self.states.FOLLOW_CHOPPER)
end
--self:setSavedCombineOffset(self.tractorToFollow.cp.combineOffset)
--if chopper is turning , wait till turn is done
if self:getCombineIsTurning() then
self:hold()
elseif not self.allowedToDrive then
--reset because AIDriver:resetSpeed() is not called here
self:resetSpeed()
end
--if the tractor is reversing, drive backwards
if self:tractorIsReversing() then
local reverseCourse = self:getStraightReverseCourse()
AIDriver.startCourse(self,reverseCourse,1)
self:setNewOnFieldState(self.states.DRIVE_BACK_FROM_REVERSING_TRACTOR )
end
self:driveBehindTractor(dt)
return
elseif self.onFieldState == self.states.DRIVE_BESIDE_TRACTOR then
if g_combineUnloadManager:getUnloadersNumber(self.vehicle, self.combineToUnload) == 1 then
self:setNewOnFieldState(self.states.FOLLOW_CHOPPER)
end
if self:getCombineIsTurning() then
self:hold()
end
self:driveBesideTractor(dt)
return
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
--use trafficController
if not self:trafficControlOK() then
-- TODO: don't solve anything for now, just wait
--g_trafficController:solve(self.vehicle.rootNode)
self:debugSparse('holding due to traffic')
self:hold()
else
g_trafficController:resetSolver(self.vehicle.rootNode)
end
-- try not crashing into our combine on the way to the unload course
if self.combineJustUnloaded and self:isWithinSafeManeuveringDistance(self.combineJustUnloaded)
and self.combineJustUnloaded.cp.driver:isManeuvering() then
self:debugSparse('holding combine %s while leaving for the unload course', self.combineJustUnloaded:getName())
self.combineJustUnloaded.cp.driver:hold()
end
elseif self.onFieldState == self.states.DRIVE_BACK_FULL then
local _, dx, dz = self:getDistanceFromCombine()
-- drive back way further if we are behind a chopper to have room
local dDriveBack = dx < 3 and 0.75 * self.vehicle.cp.turnDiameter or 0
if dz > dDriveBack then
self:releaseUnloader()
self:startUnloadCourse()
else
self:holdCombine()
end
if self:getImFirstOfTwoUnloaders() and self:getChopperOffset(self.combineToUnload) ~= 0 then
if not self:getCombineIsTurning() then
if not self.combineToUnload.cp.driver:isStopped() then
self:hold()
end
else
self:holdCombine()
end
end
elseif self.onFieldState == self.states.DRIVE_BACK_FROM_EMPTY_COMBINE then
-- drive back until the combine is in front of us
local _, _, dz = self:getDistanceFromCombine()
if dz > 0 then
self:releaseUnloader()
self:setNewOnFieldState(self.states.WAITING_FOR_COMBINE_TO_CALL)
else
self:holdCombine()
end
elseif self.onFieldState == self.states.DRIVE_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
elseif self.onFieldState == self.states.DRIVE_BACK_FROM_REVERSING_TRACTOR then
if not self:tractorIsReversing() then
self:setNewOnFieldState(self.states.FOLLOW_TRACTOR)
end
end
AIDriver.drive(self, dt)
end
function CombineUnloadAIDriver:getTractorsFillLevelPercent()
return self.tractorToFollow.cp.totalFillLevelPercent
end
function CombineUnloadAIDriver:getFillLevelPercent()
return self.vehicle.cp.totalFillLevelPercent
end
function CombineUnloadAIDriver:holdCombine()
self:debugSparse('Holding combine.')
self.combineToUnload.cp.driver:hold()
end
function CombineUnloadAIDriver:getRecordedSpeed()
-- default is the street speed (reduced in corners)
if self.state == self.states.ON_STREET then
local speed = self:getDefaultStreetSpeed(self.ppc:getCurrentWaypointIx()) or self.vehicle.cp.speeds.street
if self.vehicle.cp.speeds.useRecordingSpeed then
-- use default street speed if there's no recorded speed.
speed = math.min(self.course:getAverageSpeed(self.ppc:getCurrentWaypointIx(), 4) or speed, speed)
end
--course end
if self.ppc:getCurrentWaypointIx()+3 >= self.course:getNumberOfWaypoints() then
speed= self.vehicle.cp.speeds.approach
end
return speed
else
return self.vehicle.cp.speeds.field
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)
self:renderText(0, 0.02, "%s: driveBesideCombine: dz = %.1f, speed = %.1f, factor = %.1f",
nameNum(self.vehicle), dz, speed, factor)
DebugUtil.drawDebugNode(targetNode, 'target')
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)
renderText(0.2,0.325,0.02,string.format("dz: %.1f", dz))
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:driveBehindTractor(dt)
local allowedToDrive = true
local fwd = true
--get direction to drive to
local gx,gy,gz = self:getDrivingCoordsBehindTractor(self.tractorToFollow)
local lx,lz = AIVehicleUtil.getDriveDirection(self.vehicle.cp.directionNode, gx,gy,gz);
--get required Speed
local speed = self:getSpeedBehindTractor(self.tractorToFollow)
if not courseplay:isField(gx, gz) then
allowedToDrive = false
end
allowedToDrive = allowedToDrive and self.allowedToDrive
self:renderText(0, 0.05, "%s: driveBehindTractor distance: %.2f",nameNum(self.vehicle),courseplay:distanceToObject(self.vehicle, self.tractorToFollow))
self: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)
end
function CombineUnloadAIDriver:driveBesideTractor(dt)
local allowedToDrive = true
local speed = 0
local fwd = true
--get direction to drive to
local gx,gy,gz = self:getDrivingCoordsBesideTractor(self.tractorToFollow)
local lx,lz = AIVehicleUtil.getDriveDirection(self.vehicle.cp.directionNode, gx,gy,gz);
--get required Speed
local targetNode = self:getTrailersTargetNode()
speed, allowedToDrive = self:getSpeedBesideChopper(targetNode)
allowedToDrive = allowedToDrive and self.allowedToDrive
self:renderText(0, 0.05, "driveBesideTractor distance: %.2f",courseplay:distanceToObject(self.vehicle, self.tractorToFollow))
self: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)
end
function CombineUnloadAIDriver:onEndCourse()
if self.state == self.states.ON_STREET then
self:setNewState(self.states.ON_FIELD)
self:setNewOnFieldState(self.states.WAITING_FOR_COMBINE_TO_CALL)
self:setDriveUnloadNow(false)
courseplay:openCloseCover(self.vehicle, courseplay.OPEN_COVERS)
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_STREET)
self:setNewOnFieldState(self.states.WAITING_FOR_COMBINE_TO_CALL)
self:enableCollisionDetection()
courseplay:openCloseCover(self.vehicle, courseplay.CLOSE_COVERS)
AIDriver.onLastWaypoint(self)
g_trafficController:cancel(self.vehicle.rootNode)
return
elseif self.onFieldState == self.states.ALIGN_TO_TRACTOR then
self:setNewOnFieldState(self.states.FOLLOW_TRACTOR)
g_trafficController:cancel(self.vehicle.rootNode)
elseif self.onFieldState == self.states.DRIVE_TO_COMBINE or
self.onFieldState == self.states.DRIVE_TO_MOVING_COMBINE then
g_trafficController:cancel(self.vehicle.rootNode)
self:startWorking()
elseif self.onFieldState == self.states.MOVING_OUT_OF_WAY then
self:setNewOnFieldState(self.stateAfterMovedOutOfWay)
end
end
AIDriver.onLastWaypoint(self)
end
function CombineUnloadAIDriver:setFieldSpeed()
if self.course then
-- slow down a bit towards the end of the course.
if self.course:getNumberOfWaypoints() - self.course:getCurrentWaypointIx() < 10 then
self:setSpeed(self.vehicle.cp.speeds.field / 2)
else
self:setSpeed(self.vehicle.cp.speeds.field)
end
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:getStraightReverseCourse(length)
local waypoints = {}
local l = length or 100
for i=0, -l, -5 do
local x, y, z = localToWorld(self.trailerToFill.rootNode, 0, 0, i)
table.insert(waypoints, {x = x, y = y, z = z, rev = true})
end
return Course(self.vehicle, waypoints, true)
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
self.trailerToFill = tipper
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:getDrivingCoordsBeside()
-- TODO: use localToLocal
-- target position 5 m in front of the tractor
local tx, ty, tz = localToWorld(AIDriverUtil.getDirectionNode(self.vehicle), 0, 0, 5)
-- tractor's local position in the combine's coordinate system
local sideShift, _, backShift = worldToLocal(self.combineToUnload.cp.directionNode, tx, ty, tz)
local backDistance = self:getCombinesMeasuredBackDistance() + 3
-- unit vector from the combine to the target
local origLx, origLz = AIVehicleUtil.getDriveDirection(self.combineToUnload.cp.directionNode, tx, ty, tz)
local lx, lz = origLx, origLz
local isBeside = false
if self.combineOffset > 0 then
-- pipe on the right
lx = math.max(0.25, lx)
--if I'm on the wrong side, drive to combines back first
if backShift > 0 and sideShift < 0 then
-- front of the combine or on the left
lx = 0
lz= -1
end
else
lx = math.min(-0.25, lx)
--if I'm on the wrong side, drive to combines back first
if backShift > 0 and sideShift > 0 then
-- front of the combine or on the right
lx = 0
lz= -1
end
end
-- no idea how are we calculating this, especially the backDistance part does not seem to make sense with lx
local rayLength = (math.abs(self.combineOffset)*math.abs(lx)) + (backDistance - (backDistance * math.abs(lx)))
-- this is waaay too complicated, why not just use
local nx, _, nz = localDirectionToWorld(self.combineToUnload.cp.directionNode, lx, 0, lz)
local cx, cy, cz = getWorldTranslation(self.combineToUnload.cp.directionNode)
local x, y, z = cx + (nx * rayLength), cy, cz + (nz * rayLength)
local offsetDifference = self.combineOffset - sideShift
--self:debug('lz %.1f, lx %.1f, raylength %.1f, backdistance %.1f, sideshift %.1f, backsift %.1f', lz, lx, rayLength, backDistance, sideShift , backShift)
local distanceToTarget = courseplay:distance(tx, tz, x, z)
--we are on the correct side but not close to the target point, so got directly to the offsetTarget
if self.combineOffset > 0 then
if origLx > 0 then
--print("distanceToTarget: "..tostring(distanceToTarget))
isBeside = distanceToTarget > 4
end
else
if origLx < 0 then
--print("distanceToTarget: "..tostring(distanceToTarget))
isBeside = distanceToTarget > 4
end
end
isBeside = isBeside or math.abs(offsetDifference) < 0.5
if lz > 0 or isBeside then
x, y, z = localToWorld(self.combineToUnload.cp.directionNode, self.combineOffset, 0, backShift)
cpDebug:drawLine(cx, cy + 1, cz, 1, 0, 0, x, y + 1, z)
else
cpDebug:drawLine(cx, cy + 1, cz, 0, 1, 0, x, y + 1, z)
end
return x, y, z, isBeside
end
function CombineUnloadAIDriver:getDrivingCoordsBehind()
local tx,ty,tz = localToWorld(self:getDirectionNode(),0,0,5)
local sideShift,_,backShift = worldToLocal(self.combineToUnload.cp.directionNode,tx,ty,tz)
local x,y,z = 0,0,0
local sx,sy,sz = getWorldTranslation(self:getDirectionNode())
local _,_,backShiftNode = worldToLocal(self.combineToUnload.cp.directionNode,sx,sy,sz)
if backShiftNode > -self:getCombinesMeasuredBackDistance() then
local lx,lz = AIVehicleUtil.getDriveDirection(self.combineToUnload.cp.directionNode, tx,ty,tz);
local cx,cy,cz = getWorldTranslation(self.combineToUnload.cp.directionNode)
local fixOffset = g_combineUnloadManager:getCombinesPipeOffset(self.combineToUnload)
if sideShift > 0 then
x,y,z = localToWorld(self.combineToUnload.cp.directionNode,fixOffset,0,backShift)
else
x,y,z = localToWorld(self.combineToUnload.cp.directionNode,-fixOffset,0,backShift)
end
cpDebug:drawLine(cx,cy+1,cz, 100, 100, 100, x,cy+1,z)
else
x,y,z = localToWorld(self.combineToUnload.cp.directionNode,0,0, - (self:getCombinesMeasuredBackDistance()))
end
--just Debug
local colliNode = self.vehicle.cp.driver.collisionDetector.trafficCollisionTriggers[1]
local sx,sy,sz = getWorldTranslation(colliNode)
cpDebug:drawLine(sx,sy,sz, 100, 100, 100, x,sy,z)
--
return x,y,z
end
function CombineUnloadAIDriver:getDrivingCoordsBehindTractor(tractorToFollow)
local sx,sy,sz = localToWorld(self:getDirectionNode(),0,0,5)
local sideShift,_,backShift = worldToLocal(tractorToFollow.cp.directionNode,sx,sy,sz)
local tx,ty,tz = localToWorld(tractorToFollow.cp.directionNode,0,0,math.max(-30,backShift))
return tx,ty,tz
end
function CombineUnloadAIDriver:getDrivingCoordsBesideTractor(tractorToFollow)
local offset = self:getChopperOffset(self.combineToUnload)
local sx,sy,sz = localToWorld(self:getDirectionNode(),0,0,5)
local sideShift,_,backShift = worldToLocal(tractorToFollow.cp.directionNode,sx,sy,sz)
local newX = 0
if offset < 0 then
newX = - 4.5
else
newX = 4.5
end
local tx,ty,tz = localToWorld(tractorToFollow.cp.directionNode,newX,0,math.max(-20,backShift))
cpDebug:drawLine(sx,sy+1,sz, 100, 100, 100, tx,ty+1,tz)
return tx,ty,tz
end
function CombineUnloadAIDriver:getZOffsetToCoordsBehind()
local colliNode = self.vehicle.cp.driver.collisionDetector.trafficCollisionTriggers[1]
local sx,sy,sz = getWorldTranslation(colliNode)
local _,_,z = worldToLocal(self.combineToUnload.cp.directionNode,sx,sy,sz)
return -(z + self:getCombinesMeasuredBackDistance())
end
function CombineUnloadAIDriver:getSpeedBesideChopper(targetNode)
local allowedToDrive = true
local baseNode = self:getPipesBaseNode(self.combineToUnload)
local bnX, bnY, bnZ = getWorldTranslation(baseNode)
--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
renderText(0.2,0.225,0.02,string.format("dz:%s",tostring(dz)))
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
--renderText(0.2,0.195,0.02,string.format("self.distanceToCombine:%s, targetDistance:%s speed:%s",tostring(self.distanceToCombine),tostring(targetDistance),tostring((self.combineToUnload.lastSpeedReal * 3600) +(MathUtil.clamp(targetDistance,-10,15)))))
return (self.combineToUnload.lastSpeedReal * 3600) +(MathUtil.clamp(targetDistance,-10,15))
end
function CombineUnloadAIDriver:getSpeedBehindChopper()
local distanceToChoppersBack, _, dz = self:getDistanceFromCombine()
local fwdDistance = self.forwardLookingProximitySensorPack: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.forwardLookingProximitySensorPack:getClosestObjectDistanceAndRootVehicle(-90)
local fwdRightDistance = self.forwardLookingProximitySensorPack: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