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combines.lua
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combines.lua
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local curFile = 'combines.lua';
local _;
function courseplay:getAllCombines()
local combines = {}
for _, vehicle in pairs(courseplay.combines) do
if vehicle.cp == nil then
vehicle.cp = {};
courseplay:setNameVariable(vehicle);
end;
if not courseplay:isAttachedCombine(vehicle) or (vehicle.attacherVehicle ~= nil and not vehicle.cp.isPoettingerMex6) then
table.insert(combines, vehicle);
end;
end;
return combines;
end;
-- find combines on the same field (texture)
function courseplay:updateReachableCombines(vehicle)
courseplay:debug(string.format("%s: updateReachableCombines()", nameNum(vehicle)), 4);
vehicle.cp.reachableCombines = {};
if not vehicle.cp.searchCombineAutomatically then
if not vehicle.cp.savedCombine then
-- manual mode, but no combine selected -> empty list
return;
end;
local combine = vehicle.cp.savedCombine
if combine.cp and combine.cp.isCheckedIn and not combine.cp.isChopper then
courseplay:debug(nameNum(vehicle)..": combine (id"..tostring(combine.id)..") is manually set, but already checked in", 4);
else
courseplay:debug(nameNum(vehicle)..": combine (id"..tostring(combine.id)..") is manually set", 4);
table.insert(vehicle.cp.reachableCombines, combine);
end
return;
end;
local allCombines = courseplay:getAllCombines();
courseplay:debug(string.format("%s: combines found: %d", nameNum(vehicle), #(allCombines)), 4)
--DEV: check field pairing using fieldDefs
local combineFound;
if courseplay.fields.numAvailableFields > 0 and vehicle.cp.searchCombineOnField > 0 then
local fieldData = courseplay.fields.fieldData[vehicle.cp.searchCombineOnField];
for k,combine in pairs(allCombines) do
local combineX,_,combineZ = getWorldTranslation(combine.cp.DirectionNode or combine.rootNode);
if combineX >= fieldData.dimensions.minX and combineX <= fieldData.dimensions.maxX and combineZ >= fieldData.dimensions.minZ and combineZ <= fieldData.dimensions.maxZ then
courseplay:debug(string.format('%s: combine %q is in field %d\'s dimensions', nameNum(vehicle), nameNum(combine), vehicle.cp.searchCombineOnField), 4);
-- if courseplay:pointInPolygonV2b(fieldData.points, combineX, combineZ, true) then
local _, pointInPoly, _, _ = courseplay.fields:getPolygonData(fieldData.points, combineX, combineZ, true, true, true);
if pointInPoly then
courseplay:debug(string.format('\tcombine is in field %d\'s poly', vehicle.cp.searchCombineOnField), 4);
courseplay:debug(string.format('%s: adding %q to reachableCombines table', nameNum(vehicle), nameNum(combine)), 4);
table.insert(vehicle.cp.reachableCombines, combine);
combineFound = true;
end;
end;
end;
courseplay:debug(string.format("%s: combines reachable: %d ", nameNum(vehicle), #(vehicle.cp.reachableCombines)), 4);
if combineFound then
return;
end;
end;
-- go through found combines
local lx, ly, lz;
for k, combine in pairs(allCombines) do
lx, ly, lz = getWorldTranslation(combine.cp.DirectionNode or combine.rootNode)
if courseplay:isLineField(vehicle.cp.DirectionNode, nil, nil, lx, lz) then
courseplay:debug(string.format('%s: adding %q to reachableCombines table', nameNum(vehicle), nameNum(combine)), 4);
table.insert(vehicle.cp.reachableCombines, combine);
end;
end;
courseplay:debug(string.format("%s: combines reachable: %d ", nameNum(vehicle), #(vehicle.cp.reachableCombines)), 4)
end;
function courseplay:registerAtCombine(callerVehicle, combine)
if combine.cp == nil then
combine.cp = {};
end;
courseplay:debug(string.format("%s: registering at combine %s", nameNum(callerVehicle), tostring(combine.name)), 4)
--courseplay:debug(tableShow(combine, tostring(combine.name), 4), 4)
local numAllowedCourseplayers = 1
callerVehicle.cp.calculatedCourseToCombine = false
if combine.courseplayers == nil then
combine.courseplayers = {};
end;
if combine.cp == nil then
combine.cp = {};
end;
if combine.cp.isChopper or combine.cp.isSugarBeetLoader then
numAllowedCourseplayers = CpManager.isDeveloper and 4 or 2;
else
if callerVehicle.cp.realisticDriving then
if combine.cp.wantsCourseplayer == true or combine.cp.fillLevel >= combine.cp.capacity then
courseplay:debug(string.format("%s: combine.cp.wantsCourseplayer(%s) or combine.cp.fillLevel >= combine.cp.capacity (%s)",nameNum(callerVehicle),tostring(combine.cp.wantsCourseplayer),tostring(combine.cp.fillLevel >= 0.99*combine.cp.capacity)),4)
else
-- force unload when combine is full
-- is the pipe on the correct side?
if (combine.turnStage ~= nil and combine.turnStage > 0) or combine.cp.turnStage ~= 0 then
courseplay:debug(nameNum(callerVehicle)..": combine is turning -> don't register tractor",4)
return false
end
local fruitSide = courseplay:sideToDrive(callerVehicle, combine, -10)
if fruitSide == "none" then
courseplay:debug(nameNum(callerVehicle)..": fruitSide is none -> try again with offset 0",4)
fruitSide = courseplay:sideToDrive(callerVehicle, combine, 0)
end
courseplay:debug(nameNum(callerVehicle)..": courseplay:sideToDrive = "..tostring(fruitSide),4)
if combine.cp.pipeSide == nil then
courseplay:getCombinesPipeSide(combine)
end
local pipeIsInFruit = (combine.cp.pipeSide == 1 and fruitSide == "left") or (combine.cp.pipeSide == -1 and fruitSide == "right")
if pipeIsInFruit then
courseplay:debug(nameNum(callerVehicle)..": path finding active and pipe(pipeSide "..tostring(combine.cp.pipeSide)..") is in fruit -> don't register tractor",4)
for k, reachableCombine in pairs(callerVehicle.cp.reachableCombines) do
if reachableCombine == combine then
courseplay:debug(nameNum(callerVehicle).."removing combine from reachable combines list",4)
callerVehicle.cp.reachableCombines[k] = nil
end
end
return false
else
courseplay:debug(nameNum(callerVehicle)..": path finding active and pipe(pipeSide "..tostring(combine.cp.pipeSide)..") is not in fruit -> register tractor",4)
end
end
else
courseplay:debug(nameNum(callerVehicle)..": path finding inactive",4)
end
end
if #(combine.courseplayers) == numAllowedCourseplayers then
courseplay:debug(string.format("%s (id %s): combine (id %s) is already registered", nameNum(callerVehicle), tostring(callerVehicle.id), tostring(combine.id)), 4);
return false
end
--THOMAS' best_combine START
if combine.cp.isCombine or (courseplay:isAttachedCombine(combine) and not courseplay:isSpecialChopper(combine)) then
if combine.cp.driverPriorityUseFillLevel then
local fillLevel = 0
local vehicle_ID = 0
for k, vehicle in pairs(CpManager.activeCoursePlayers) do
if vehicle.cp.combineID ~= nil then
if vehicle.cp.combineID == combine.id and vehicle.cp.activeCombine == nil then
courseplay:debug(tostring(vehicle.id).." : cp.callCombineFillLevel:"..tostring(vehicle.cp.callCombineFillLevel).." for combine.id:"..tostring(combine.id), 4)
if fillLevel <= vehicle.cp.callCombineFillLevel then
fillLevel = math.min(vehicle.cp.callCombineFillLevel,0.1)
vehicle_ID = vehicle.id
end
end
end
end
if vehicle_ID ~= callerVehicle.id then
courseplay:debug(nameNum(callerVehicle) .. " (id " .. tostring(callerVehicle.id) .. "): there's a tractor with more fillLevel that's trying to register: "..tostring(vehicle_ID), 4)
return false
else
courseplay:debug(nameNum(callerVehicle) .. " (id " .. tostring(callerVehicle.id) .. "): it's my turn", 4);
end
else
local distance = math.huge
local vehicle_ID = 0
for k, vehicle in pairs(CpManager.activeCoursePlayers) do
if vehicle.cp.combineID ~= nil then
--print(tostring(vehicle.name).." is calling for "..tostring(vehicle.cp.combineID).." combine.id= "..tostring(combine.id))
if vehicle.cp.combineID == combine.id and vehicle.cp.activeCombine == nil then
courseplay:debug(('%s (%d): distanceToCombine=%s for combine.id %s'):format(nameNum(vehicle), vehicle.id, tostring(vehicle.cp.distanceToCombine), tostring(combine.id)), 4);
if distance > vehicle.cp.distanceToCombine then
distance = vehicle.cp.distanceToCombine
vehicle_ID = vehicle.id
end
end
end
end
if vehicle_ID ~= callerVehicle.id then
courseplay:debug(nameNum(callerVehicle) .. " (id " .. tostring(callerVehicle.id) .. "): there's a closer tractor that's trying to register: "..tostring(vehicle_ID), 4)
return false
else
courseplay:debug(nameNum(callerVehicle) .. " (id " .. tostring(callerVehicle.id) .. "): it's my turn", 4);
end
end
end
--THOMAS' best_combine END
if #(combine.courseplayers) == numAllowedCourseplayers - 1 then
local frontTractor = combine.courseplayers[numAllowedCourseplayers - 1];
if frontTractor then
local canFollowFrontTractor = frontTractor.cp.totalFillLevelPercent and frontTractor.cp.totalFillLevelPercent >= callerVehicle.cp.followAtFillLevel;
courseplay:debug(string.format('%s: frontTractor (%s) fillLevelPct (%.1f), my followAtFillLevel=%d -> canFollowFrontTractor=%s', nameNum(callerVehicle), nameNum(frontTractor), frontTractor.cp.totalFillLevelPercent, callerVehicle.cp.followAtFillLevel, tostring(canFollowFrontTractor)), 4)
if not canFollowFrontTractor then
return false;
end;
end;
end;
-- you got a courseplayer, so stop yellin....
if combine.cp.wantsCourseplayer ~= nil and combine.cp.wantsCourseplayer == true then
combine.cp.wantsCourseplayer = false
end
courseplay:debug(string.format("%s is being checked in with %s", nameNum(callerVehicle), tostring(combine.name)), 4)
combine.cp.isCheckedIn = true;
callerVehicle.cp.callCombineFillLevel = nil
callerVehicle.cp.distanceToCombine = nil
callerVehicle.cp.combineID = nil
table.insert(combine.courseplayers, callerVehicle)
callerVehicle.cp.positionWithCombine = #(combine.courseplayers)
callerVehicle.cp.activeCombine = combine
callerVehicle.cp.reachableCombines = {}
courseplay:askForSpecialSettings(combine:getRootAttacherVehicle(), combine)
--OFFSET
if callerVehicle.cp.combineOffsetAutoMode == true or callerVehicle.cp.combineOffset == 0 then
if combine.cp.offset == nil then
--print("no saved offset - initialise")
courseplay:calculateInitialCombineOffset(callerVehicle, combine);
else
--print("take the saved cp.offset")
callerVehicle.cp.combineOffset = combine.cp.offset;
end;
end;
--END OFFSET
courseplay:addToCombinesIgnoreList(callerVehicle, combine);
return true;
end
function courseplay:unregisterFromCombine(vehicle, combine)
if vehicle.cp.activeCombine == nil or combine == nil then
return true
end
courseplay:debug(string.format("%s: unregistering from combine id(%s)", nameNum(vehicle), tostring(combine.id)), 4)
vehicle.cp.calculatedCourseToCombine = false;
courseplay:removeFromCombinesIgnoreList(vehicle, combine)
combine.cp.isCheckedIn = nil;
table.remove(combine.courseplayers, vehicle.cp.positionWithCombine)
-- updating positions of tractors
for k, tractor in pairs(combine.courseplayers) do
tractor.cp.positionWithCombine = k
end
vehicle.allow_follwing = false
vehicle.cp.positionWithCombine = nil
vehicle.cp.lastActiveCombine = vehicle.cp.activeCombine
vehicle.cp.activeCombine = nil
courseplay:setModeState(vehicle, 1);
if vehicle.trafficCollisionIgnoreList[combine.rootNode] == true then
vehicle.trafficCollisionIgnoreList[combine.rootNode] = nil
end
if combine.acParameters ~= nil and combine.acParameters.enabled and combine.isHired and not combine.cp.isDriving then
if combine.cp.turnStage ~= 0 then
combine.cp.turnStage = 0
end
end
return true
end
function courseplay:addToCombinesIgnoreList(vehicle, combine)
if combine == nil or combine.trafficCollisionIgnoreList == nil then
return
end
if combine.trafficCollisionIgnoreList[vehicle.rootNode] == nil then
combine.trafficCollisionIgnoreList[vehicle.rootNode] = true
end
end
function courseplay:removeFromCombinesIgnoreList(vehicle, combine)
if combine == nil or combine.trafficCollisionIgnoreList == nil then
return
end
if combine.trafficCollisionIgnoreList[vehicle.rootNode] == true then
combine.trafficCollisionIgnoreList[vehicle.rootNode] = nil
end
end
function courseplay:calculateInitialCombineOffset(vehicle, combine) --TODO (Jakob): combine this fn and calculateCombineOffset() into one single function
local curFile = "combines.lua";
local leftMarker, rightMarker;
local currentCutter;
combine.cp.lmX, combine.cp.rmX = 1.5, -1.5;
--print("run initial offset")
if combine.attachedCutters ~= nil then
for cutter, implement in pairs(combine.attachedCutters) do
if cutter.aiLeftMarker ~= nil then
if leftMarker == nil then
leftMarker = cutter.aiLeftMarker;
rightMarker = cutter.aiRightMarker;
currentCutter = cutter;
if leftMarker ~= nil and rightMarker ~= nil then
local x, y, z = getWorldTranslation(leftMarker);
combine.cp.lmX, _, _ = worldToLocal(currentCutter.rootNode, x, y, z);
x, y, z = getWorldTranslation(rightMarker)
combine.cp.rmX, _, _ = worldToLocal(currentCutter.rootNode, x, y, z);
end;
end;
end;
end;
end;
local prnX,prnY,prnZ, prnwX,prnwY,prnwZ, combineToPrnX,combineToPrnY,combineToPrnZ = 0,0,0, 0,0,0, 0,0,0;
if combine.pipeRaycastNode ~= nil then
prnwX, prnwY, prnwZ = getWorldTranslation(combine.pipeRaycastNode)
prnX, prnY, prnZ = getTranslation(combine.pipeRaycastNode)
combineToPrnX, combineToPrnY, combineToPrnZ = worldToLocal(combine.cp.DirectionNode or combine.rootNode, prnwX, prnwY, prnwZ)
if combine.cp.pipeSide == nil then
courseplay:getCombinesPipeSide(combine)
end
end;
--special combines
local specialOffset, chopperOffset = courseplay:getSpecialCombineOffset(combine);
if specialOffset then
vehicle.cp.combineOffset = specialOffset;
if chopperOffset then
combine.cp.offset = chopperOffset;
end;
-- combine // combine_offset is in auto mode
elseif not combine.cp.isChopper and combine.pipeCurrentState == 2 and combine.pipeRaycastNode ~= nil then -- pipe is extended
vehicle.cp.combineOffset = combineToPrnX;
courseplay:debug(string.format("%s(%i): %s @ %s: using combineToPrnX=%f, vehicle.cp.combineOffset=%f", curFile, debug.getinfo(1).currentline, nameNum(vehicle), tostring(combine.name), combineToPrnX, vehicle.cp.combineOffset), 4)
elseif not combine.cp.isChopper and combine.pipeRaycastNode ~= nil then -- pipe is closed
local raycastNodeParent = getParent(combine.pipeRaycastNode);
if raycastNodeParent == combine.rootNode then -- pipeRaycastNode is direct child of combine.root
vehicle.cp.combineOffset = prnX;
courseplay:debug(string.format("%s(%i): %s @ %s: combine.root > pipeRaycastNode / vehicle.cp.combineOffset=prnX=%f", curFile, debug.getinfo(1).currentline, nameNum(vehicle), tostring(combine.name), vehicle.cp.combineOffset), 4)
elseif getParent(raycastNodeParent) == combine.rootNode then -- pipeRaycastNode is direct child of pipe is direct child of combine.root
local pipeX, pipeY, pipeZ = getTranslation(raycastNodeParent)
vehicle.cp.combineOffset = pipeX - prnZ;
if prnZ == 0 or combine.cp.isGrimmeRootster604 then
vehicle.cp.combineOffset = pipeX - prnY;
end
courseplay:debug(string.format("%s(%i): %s @ %s: combine.root > pipe > pipeRaycastNode / vehicle.cp.combineOffset=pipeX-prnX=%f", curFile, debug.getinfo(1).currentline, nameNum(vehicle), tostring(combine.name), vehicle.cp.combineOffset), 4)
elseif combineToPrnX > combine.cp.lmX then
vehicle.cp.combineOffset = combineToPrnX + (5 * combine.cp.pipeSide);
courseplay:debug(string.format("%s(%i): %s @ %s: using combineToPrnX=%f, vehicle.cp.combineOffset=%f", curFile, debug.getinfo(1).currentline, nameNum(vehicle), tostring(combine.name), combineToPrnX, vehicle.cp.combineOffset), 4)
elseif combine.cp.lmX ~= nil then
if combine.cp.lmX > 0 then -- use leftMarker
vehicle.cp.combineOffset = combine.cp.lmX + 2.5;
courseplay:debug(string.format("%s(%i): %s @ %s: using leftMarker+2.5, vehicle.cp.combineOffset=%f", curFile, debug.getinfo(1).currentline, nameNum(vehicle), tostring(combine.name), vehicle.cp.combineOffset), 4);
end;
else --BACKUP
vehicle.cp.combineOffset = 8 * combine.cp.pipeSide;
end;
-- chopper
elseif combine.cp.isChopper then
courseplay:debug(string.format("%s(%i): %s @ %s: combine.cp.forcedSide=%s", curFile, debug.getinfo(1).currentline, nameNum(vehicle), combine.name, tostring(combine.cp.forcedSide)), 4);
if combine.cp.forcedSide ~= nil then
courseplay:debug(string.format("%s(%i): %s @ %s: combine.cp.forcedSide=%s, going by cp.forcedSide", curFile, debug.getinfo(1).currentline, nameNum(vehicle), tostring(combine.name), combine.cp.forcedSide), 4);
if combine.cp.forcedSide == "left" then
vehicle.sideToDrive = "left";
if combine.cp.lmX ~= nil then
vehicle.cp.combineOffset = combine.cp.lmX + 2.5;
else
vehicle.cp.combineOffset = 8;
end;
elseif combine.cp.forcedSide == "right" then
vehicle.sideToDrive = "right";
if combine.cp.lmX ~= nil then
vehicle.cp.combineOffset = (combine.cp.lmX + 2.5) * -1;
else
vehicle.cp.combineOffset = -8;
end;
end
else
courseplay:debug(string.format("%s(%i): %s @ %s: combine.cp.forcedSide=%s, going by fruit", curFile, debug.getinfo(1).currentline, nameNum(vehicle), tostring(combine.name), tostring(combine.cp.forcedSide)), 4);
local fruitSide = courseplay:sideToDrive(vehicle, combine, 5);
if fruitSide == "right" then
if combine.cp.lmX ~= nil then
vehicle.cp.combineOffset = math.max(combine.cp.lmX + 2.5, 7);
else --attached chopper
vehicle.cp.combineOffset = 7;
end;
elseif fruitSide == "left" then
if combine.cp.lmX ~= nil then
vehicle.cp.combineOffset = math.max(combine.cp.lmX + 2.5, 7) * -1;
else --attached chopper
vehicle.cp.combineOffset = -3;
end;
elseif fruitSide == "none" then
if combine.cp.lmX ~= nil then
vehicle.cp.combineOffset = math.max(combine.cp.lmX + 2.5, 7);
else --attached chopper
vehicle.cp.combineOffset = 7;
end;
end
--print("saving offset")
combine.cp.offset = math.abs(vehicle.cp.combineOffset)
end;
end;
end;
function courseplay:getSpecialCombineOffset(combine)
if combine.cp == nil then return nil; end;
if combine.cp.isChopper and combine.cp.workTools ~= nil then
for _,dolly in pairs(combine.cp.workTools) do
if dolly.haeckseldolly then
combine.haeckseldolly = true
if dolly.bunkerrechts then
return 6;
else
return -6;
end
end
end
if combine.haeckseldolly then
combine.haeckseldolly = nil
end
end
if combine.cp.isGrimmeRootster604 then
return -4.5,-4.5;
elseif combine.cp.isPoettingerMex5 then
return 5.5, 5.5;
end
if combine.cp.isSugarBeetLoader and combine.cp.isHolmerTerraFelis2 then
local utwX,utwY,utwZ = getWorldTranslation(combine.pipeRaycastNode);
local combineToUtwX,_,_ = worldToLocal(combine.cp.DirectionNode or combine.rootNode, utwX,utwY,utwZ);
return combineToUtwX;
end;
return nil;
end;
function courseplay:getCombinesPipeSide(combine)
local prnwX, prnwY, prnwZ = getWorldTranslation(combine.pipeRaycastNode)
local combineToPrnX, combineToPrnY, combineToPrnZ = worldToLocal(combine.cp.DirectionNode or combine.rootNode, prnwX, prnwY, prnwZ)
if combineToPrnX >= 0 then
combine.cp.pipeSide = 1; --left
--print("pipe is left")
else
combine.cp.pipeSide = -1; --right
--print("pipe is right")
end;
end
function courseplay:getTrailerInPipeRangeState(combine)
local validPipeState = 0;
for trailer,value in pairs(combine.overloading.trailersInRange) do
if value > 0 then
local fillType = combine.cp.fillType
if trailer:allowFillType(combine.cp.fillType) then
if trailer:getFillLevel(fillType) < trailer:getCapacity(fillType) then
validPipeState = 2;
break;
end
end
end
end
return validPipeState
end
function courseplay:releaseCombineStop(vehicle,combine)
if combine == nil and vehicle.cp.activeCombine == nil then
return
end
local combineToStart = combine or vehicle.cp.activeCombine
if combineToStart.aiIsStarted and combineToStart.cruiseControl.speed == 0 then
combineToStart.cruiseControl.speed = combineToStart.cp.lastCruiseControlSpeed
end
end