AIDriveStrategyCombine
AIDriveStrategyCombine
Description
drive strategy to
- stop vehicle if grain tank of combine is full
- open/close pipe > Copyright (C) GIANTS Software GmbH, Confidential, All Rights Reserved.
Parent
Functions
getDriveData
Description
Definition
getDriveData()
Arguments
| any | dt |
|---|---|
| any | vX |
| any | vY |
| any | vZ |
Code
function AIDriveStrategyCombine:getDriveData(dt, vX,vY,vZ)
local rootVehicle = self.vehicle.rootVehicle
local isTurning = rootVehicle.getAIFieldWorkerIsTurning ~ = nil and rootVehicle:getAIFieldWorkerIsTurning()
local isCornerCutOutActive = rootVehicle.getAIFieldWorkerIsCornerCutOutActive ~ = nil and rootVehicle:getAIFieldWorkerIsCornerCutOutActive()
local allowedToDrive = true
local waitForStraw = false
local maxSpeed = math.huge
for _, combine in pairs( self.combines) do
if combine.spec_pipe ~ = nil then
local trailerInTrigger = false
local invalidTrailerInTrigger = false
local fillLevel = 0
local capacity = 0
local dischargeNode = combine:getCurrentDischargeNode()
if dischargeNode ~ = nil then
fillLevel = combine:getFillUnitFillLevel(dischargeNode.fillUnitIndex)
capacity = combine:getFillUnitCapacity(dischargeNode.fillUnitIndex)
end
local trailer = NetworkUtil.getObject(combine.spec_pipe.nearestObjectInTriggers.objectId)
if trailer ~ = nil then
trailerInTrigger = true
end
if combine.spec_pipe.nearestObjectInTriggerIgnoreFillLevel then
invalidTrailerInTrigger = true
end
local currentPipeTargetState = combine.spec_pipe.targetState
local currentPipeState = combine.spec_pipe.currentState
local turnOnAllowedStates = combine.spec_pipe.turnOnAllowedStates
if next(turnOnAllowedStates) = = nil then
turnOnAllowedStates = nil
end
if capacity = = math.huge then
-- forage harvesters
if currentPipeTargetState ~ = 2 then
combine:setPipeState( 2 )
end
if not isTurning and not isCornerCutOutActive then
local targetObject, _ = combine:getDischargeTargetObject(dischargeNode)
allowedToDrive = trailerInTrigger and targetObject ~ = nil
if VehicleDebug.state = = VehicleDebug.DEBUG_AI then
if not trailerInTrigger then
self.vehicle:addAIDebugText( "COMBINE -> Waiting for trailer enter the trigger" )
elseif trailerInTrigger and targetObject = = nil then
self.vehicle:addAIDebugText( "COMBINE -> Waiting for pipe hitting the trailer" )
end
end
end
else
-- combine harvesters
local pipeState = currentPipeTargetState
if fillLevel > ( 0.8 * capacity) then
if not self.beaconLightsActive then
self.vehicle:setAIMapHotspotBlinking( true )
self.vehicle:setBeaconLightsVisibility( true )
self.beaconLightsActive = true
end
if not self.notificationGrainTankWarningShown and self.vehicle:getOwnerFarmId() = = g_localPlayer.farmId then
g_currentMission:addIngameNotification(FSBaseMission.INGAME_NOTIFICATION_CRITICAL, string.format(g_i18n:getText( "ai_messageErrorTankIsNearlyFull" ), self.vehicle:getCurrentHelper().name) )
self.notificationGrainTankWarningShown = true
end
else
if self.beaconLightsActive then
self.vehicle:setAIMapHotspotBlinking( false )
self.vehicle:setBeaconLightsVisibility( false )
self.beaconLightsActive = false
end
self.notificationGrainTankWarningShown = false
end
if fillLevel = = capacity then
pipeState = 2
self.wasCompletelyFull = true
if not self.notificationFullGrainTankShown and self.vehicle:getOwnerFarmId() = = g_localPlayer.farmId then
g_currentMission:addIngameNotification(FSBaseMission.INGAME_NOTIFICATION_CRITICAL, string.format(g_i18n:getText( "ai_messageErrorTankIsFull" ), self.vehicle:getCurrentHelper().name) )
self.notificationFullGrainTankShown = true
end
else
self.notificationFullGrainTankShown = false
end
if trailerInTrigger then
-- if we have to turn off while lifting the pipe, we only lift if we have something loaded
if turnOnAllowedStates ~ = nil and turnOnAllowedStates[ 2 ] ~ = true then
if fillLevel > 0.1 then
pipeState = 2
end
else
pipeState = 2
end
end
if not trailerInTrigger then
if fillLevel < capacity * 0.8 then
self.wasCompletelyFull = false
if not combine:getIsTurnedOn() and combine:getCanBeTurnedOn() then
combine:aiImplementStartLine()
for i, implement in ipairs( self.vehicle:getAttachedAIImplements()) do
implement.object:aiImplementStartLine()
end
end
end
end
if ( not trailerInTrigger and not invalidTrailerInTrigger) and fillLevel < capacity then
pipeState = 1
end
if fillLevel < 0.1 then
if not combine.spec_pipe.aiFoldedPipeUsesTrailerSpace then
if not trailerInTrigger and not invalidTrailerInTrigger then
pipeState = 1
end
if not combine:getIsTurnedOn() and combine:getCanBeTurnedOn() then
combine:aiImplementStartLine()
for i, implement in ipairs( self.vehicle:getAttachedAIImplements()) do
implement.object:aiImplementStartLine()
end
end
end
self.wasCompletelyFull = false
end
if currentPipeTargetState ~ = pipeState then
combine:setPipeState(pipeState)
end
allowedToDrive = fillLevel < capacity
if turnOnAllowedStates ~ = nil and turnOnAllowedStates[currentPipeState] ~ = true then
allowedToDrive = false
if VehicleDebug.state = = VehicleDebug.DEBUG_AI then
self.vehicle:addAIDebugText( "COMBINE -> Stopping AI because we cannot overload while harvesting" )
end
end
if pipeState = = 2 and self.wasCompletelyFull then
allowedToDrive = false
if VehicleDebug.state = = VehicleDebug.DEBUG_AI then
self.vehicle:addAIDebugText( "COMBINE -> Waiting for trailer to unload" )
end
end
local freeFillLevel = capacity - fillLevel
if freeFillLevel < self.slowDownFillLevel then
-- we want to drive at least 2 km/h to avoid combine stops too early
maxSpeed = 2 + (freeFillLevel / self.slowDownFillLevel) * self.slowDownStartSpeed
if VehicleDebug.state = = VehicleDebug.DEBUG_AI then
self.vehicle:addAIDebugText( string.format( "COMBINE -> Slow down because nearly full: %.2f" , maxSpeed))
end
end
end
if isTurning and trailerInTrigger and capacity ~ = math.huge then
if combine:getCanDischargeToObject(dischargeNode) then
local spec_combine = combine.spec_combine
-- also include the delay buffer slots, so we fully empty the vehicle while a trailer is in range
if spec_combine.loadingDelay > 0 then
for i = 1 , #spec_combine.loadingDelaySlots do
local slot = spec_combine.loadingDelaySlots[i]
if slot.valid then
fillLevel = fillLevel + slot.fillLevelDelta
end
end
end
if fillLevel > 0 then
allowedToDrive = false
end
if VehicleDebug.state = = VehicleDebug.DEBUG_AI then
if not allowedToDrive then
self.vehicle:addAIDebugText( "COMBINE -> Unload to trailer on headland" )
end
end
end
end
if not trailerInTrigger then
if combine.spec_combine.isSwathActive then
if combine.spec_combine.strawPSenabled then
waitForStraw = true
end
end
end
else
local fillLevel = combine:getFillUnitFillLevel(combine.spec_combine.fillUnitIndex)
if fillLevel < 0.1 then
if not combine:getIsTurnedOn() and combine:getCanBeTurnedOn() then
combine:aiImplementStartLine()
for i, implement in ipairs( self.vehicle:getAttachedAIImplements()) do
implement.object:aiImplementStartLine()
end
end
end
end
end
if isTurning and waitForStraw then
if not self.waitForStrawModeActive then
self.waitForStrawModeActive = true
self.waitForStrawModeStartPosition[ 1 ], self.waitForStrawModeStartPosition[ 2 ] = vX, vZ
end
if VehicleDebug.state = = VehicleDebug.DEBUG_AI then
self.vehicle:addAIDebugText( "COMBINE -> Waiting for straw to drop" )
end
local x, _, z = localToWorld( self.vehicle:getAIDirectionNode(), 0 , 0 , - 10 )
local dist = MathUtil.vector2Length(vX - x, vZ - z)
return x, z, false , 6 , dist
else
if self.waitForStrawModeActive then
self.waitForStrawModeActive = false
self.waitForStrawModeReturnToStart = true
self.waitForStrawModeLastPosition[ 1 ], self.waitForStrawModeLastPosition[ 2 ] = vX, vZ
self.waitForStrawModeReturnToStartDistance = MathUtil.vector2Length(vX - self.waitForStrawModeStartPosition[ 1 ], vZ - self.waitForStrawModeStartPosition[ 2 ])
end
if self.waitForStrawModeReturnToStart then
local movedDistance = MathUtil.vector2Length(vX - self.waitForStrawModeLastPosition[ 1 ], vZ - self.waitForStrawModeLastPosition[ 2 ])
self.waitForStrawModeLastPosition[ 1 ], self.waitForStrawModeLastPosition[ 2 ] = vX, vZ
self.waitForStrawModeReturnToStartDistance = self.waitForStrawModeReturnToStartDistance - movedDistance
if self.waitForStrawModeReturnToStartDistance < 0 then
self.waitForStrawModeReturnToStart = false
else
if VehicleDebug.state = = VehicleDebug.DEBUG_AI then
self.vehicle:addAIDebugText( string.format( "COMBINE -> Returning to turn start position(%.1fm)" , self.waitForStrawModeReturnToStartDistance))
end
local x, z = self.waitForStrawModeStartPosition[ 1 ], self.waitForStrawModeStartPosition[ 2 ]
local dist = MathUtil.vector2Length(vX - x, vZ - z)
return x, z, true , 10 , dist
end
end
if not allowedToDrive then
return 0 , 1 , true , 0 , math.huge
else
return nil , nil , nil , maxSpeed, nil
end
end
end
new
Description
Definition
new()
Arguments
| any | reconstructionData |
|---|---|
| any | customMt |
Code
function AIDriveStrategyCombine.new(reconstructionData, customMt)
local self = AIDriveStrategy.new(reconstructionData, customMt or AIDriveStrategyCombine _mt)
self.combines = { }
self.notificationFullGrainTankShown = false
self.notificationGrainTankWarningShown = false
self.beaconLightsActive = false
self.slowDownFillLevel = 200
self.slowDownStartSpeed = 20
self.forageHarvesterFoundTimer = 0
self.waitForStrawModeActive = false
self.waitForStrawModeStartPosition = { 0 , 0 }
self.waitForStrawModeLastPosition = { 0 , 0 }
self.waitForStrawModeReturnToStart = false
self.waitForStrawModeReturnToStartDistance = 0
return self
end
setAIVehicle
Description
Definition
setAIVehicle()
Arguments
| any | vehicle |
|---|
Code
function AIDriveStrategyCombine:setAIVehicle(vehicle)
AIDriveStrategyCombine:superClass().setAIVehicle( self , vehicle)
for _, childVehicle in pairs( self.vehicle.rootVehicle.childVehicles) do
if SpecializationUtil.hasSpecialization( Combine , childVehicle.specializations) then
table.insert( self.combines, childVehicle)
end
end
end
update
Description
Definition
update()
Arguments
| any | dt |
|---|
Code
function AIDriveStrategyCombine:update(dt)
for _, combine in pairs( self.combines) do
if combine.spec_pipe ~ = nil then
local capacity = 0
local dischargeNode = combine:getCurrentDischargeNode()
if dischargeNode ~ = nil then
capacity = combine:getFillUnitCapacity(dischargeNode.fillUnitIndex)
end
if capacity = = math.huge then
local rootVehicle = self.vehicle.rootVehicle
if rootVehicle.getAIFieldWorkerIsTurning ~ = nil and not rootVehicle:getAIFieldWorkerIsTurning() then
local trailer = NetworkUtil.getObject(combine.spec_pipe.nearestObjectInTriggers.objectId)
if trailer ~ = nil then
local trailerFillUnitIndex = combine.spec_pipe.nearestObjectInTriggers.fillUnitIndex
local fillType = combine:getDischargeFillType(dischargeNode)
if fillType = = FillType.UNKNOWN then
-- if nothing is in combine fillUnit we just check if we're targetting the trailer with the trailers first fill type or the current fill type if something is loaded
fillType = trailer:getFillUnitFillType(trailerFillUnitIndex)
if fillType = = FillType.UNKNOWN then
fillType = trailer:getFillUnitFirstSupportedFillType(trailerFillUnitIndex)
end
combine:setForcedFillTypeIndex(fillType)
else
-- otherwise we check if the fill type of the combine is supported on the trailer
combine:setForcedFillTypeIndex( nil )
end
end
end
end
end
end
end
updateDriving
Description
Definition
updateDriving()
Arguments
| any | dt |
|---|
Code
function AIDriveStrategyCombine:updateDriving(dt)
end