AIFieldWorker

AIFieldWorker

Description

Specialization for extending vehicles to by used by AI helpers

Functions

• aiContinue
• onReadStream
• onWriteStream
• prerequisitesPresent
• saveToXMLFile
• updateAIFieldWorker
• updateAIFieldWorkerDriveStrategies

aiContinue

Description

Definition

aiContinue()

Arguments

any	superFunc

Code

function AIFieldWorker:aiContinue(superFunc)
    superFunc( self )

    local spec = self.spec_aiFieldWorker
    if spec.isActive and not spec.isTurning then
        self:raiseAIEvent( "onAIFieldWorkerContinue" , "onAIImplementContinue" )
    end

    spec.isBlocked = false
end

onReadStream

Description

Called on client side on join

Definition

onReadStream(integer streamId, Connection connection)

Arguments

integer	streamId	streamId
Connection	connection	connection

Code

function AIFieldWorker:onReadStream(streamId, connection)
    if streamReadBool(streamId) then
        self:startFieldWorker()
    end
end

onWriteStream

Description

Called on server side on join

Definition

onWriteStream(integer streamId, Connection connection)

Arguments

integer	streamId	streamId
Connection	connection	connection

Code

function AIFieldWorker:onWriteStream(streamId, connection)
    local spec = self.spec_aiFieldWorker
    streamWriteBool(streamId, spec.isActive)
end

prerequisitesPresent

Description

Checks if all prerequisite specializations are loaded

Definition

prerequisitesPresent(table specializations)

Arguments

table	specializations	specializations

Return Values

table	hasPrerequisite	true if all prerequisite specializations are loaded

Code

function AIFieldWorker.prerequisitesPresent(specializations)
    return SpecializationUtil.hasSpecialization( AIJobVehicle , specializations)
    and SpecializationUtil.hasSpecialization( Drivable , specializations)
end

saveToXMLFile

Description

Definition

saveToXMLFile()

Arguments

any	xmlFile
any	key
any	usedModNames

Code

function AIFieldWorker:saveToXMLFile(xmlFile, key, usedModNames)
    local spec = self.spec_aiFieldWorker
    if spec.isActive ~ = nil then
        xmlFile:setValue(key .. "#isActive" , spec.isActive)
    end

    if spec.driveStrategies ~ = nil and #spec.driveStrategies > 0 then
        spec.reconstructionData = { }
        for i, strategy in ipairs(spec.driveStrategies) do
            if strategy.fillReconstructionData ~ = nil then
                strategy:fillReconstructionData(spec.reconstructionData)
            end
        end
    end

    for strategyIndex, strategyData in ipairs( AIFieldWorker.registeredDriveStrategies) do
        if strategyData.class.saveToXML ~ = nil then
            strategyData.class.saveToXML(spec.reconstructionData, xmlFile, key)
        end
    end
end

updateAIFieldWorker

Description

Definition

updateAIFieldWorker(float dt)

Arguments

float	dt	time since last call in ms

Code

function AIFieldWorker:updateAIFieldWorker(dt)
    local spec = self.spec_aiFieldWorker

    self:clearAIDebugTexts()
    self:clearAIDebugLines()

    if self:getIsFieldWorkActive() then
        if #spec.driveStrategies > 0 then
            local vX,vY,vZ = getWorldTranslation( self:getAISteeringNode())

            local tX, tZ, moveForwards, maxSpeedStra, maxSpeed, distanceToStop
            for _, driveStrategy in ipairs(spec.driveStrategies) do
                tX, tZ, moveForwards, maxSpeedStra, distanceToStop = driveStrategy:getDriveData(dt, vX,vY,vZ)
                maxSpeed = math.min(maxSpeedStra or math.huge, maxSpeed or math.huge)
                if tX ~ = nil or not self:getIsFieldWorkActive() then
                    break
                end
            end

            if tX = = nil or MathUtil.isNan(tX) or MathUtil.isNan(tZ) then
                if self:getIsFieldWorkActive() then -- check if AI is still active, because it might have been kicked by a strategy
                    self:stopCurrentAIJob( AIMessageSuccessFinishedJob.new())
                end
            end

            if not self:getIsFieldWorkActive() then
                return
            end

            local minimumSpeed = 5
            local lookAheadDistance = 5

            -- use different settings while turning
                -- so we are more pricise when stopping at end point in small turning segments
                if self:getAIFieldWorkerIsTurning() then
                    minimumSpeed = 1.5
                    lookAheadDistance = 2
                end

                local distSpeed = math.max(minimumSpeed, maxSpeed * math.min( 1 , distanceToStop / lookAheadDistance))
                local speedLimit, _ = self:getSpeedLimit( true )
                maxSpeed = math.min(maxSpeed, distSpeed, speedLimit)
                maxSpeed = math.min(maxSpeed, self:getCruiseControlMaxSpeed())

                if VehicleDebug.state = = VehicleDebug.DEBUG_AI then
                    self:addAIDebugText( string.format( " = = = > maxSpeed = %.2f" , maxSpeed))
                end

                -- set drive values
                spec.aiDriveParams.moveForwards = moveForwards
                spec.aiDriveParams.tX = tX
                spec.aiDriveParams.tY = vY
                spec.aiDriveParams.tZ = tZ
                spec.aiDriveParams.maxSpeed = maxSpeed
                spec.aiDriveParams.valid = true
            end

            if spec.aiDriveParams.valid then
                local moveForwards = spec.aiDriveParams.moveForwards
                local tX = spec.aiDriveParams.tX
                local tY = spec.aiDriveParams.tY
                local tZ = spec.aiDriveParams.tZ
                local maxSpeed = spec.aiDriveParams.maxSpeed

                local pX, _, pZ
                if moveForwards then
                    pX, _, pZ = worldToLocal( self:getAISteeringNode(), tX, tY, tZ)
                else
                        pX, _, pZ = worldToLocal( self:getAIReverserNode(), tX, tY, tZ)
                    end

                    local acceleration = 1.0
                    local isAllowedToDrive = maxSpeed ~ = 0

                    AIVehicleUtil.driveToPoint( self , dt, acceleration, isAllowedToDrive, moveForwards, pX, pZ, maxSpeed)
                end

                self:raiseAIEvent( "onAIFieldWorkerActive" , "onAIImplementActive" )
            end
        end

updateAIFieldWorkerDriveStrategies

Description

Set drive strategies depending on the vehicle

Definition

updateAIFieldWorkerDriveStrategies()

Code

function AIFieldWorker:updateAIFieldWorkerDriveStrategies()
    local spec = self.spec_aiFieldWorker

    if #spec.aiImplementList > 0 then
        if spec.driveStrategies ~ = nil and #spec.driveStrategies > 0 then
            for i = #spec.driveStrategies, 1 , - 1 do
                spec.driveStrategies[i]:delete()
                table.remove(spec.driveStrategies, i)
            end
            spec.driveStrategies = { }
        end

        for strategyIndex, strategyData in ipairs( AIFieldWorker.registeredDriveStrategies) do
            for _, childVehicle in pairs( self.rootVehicle.childVehicles) do -- using all vehicles since the combine can also be standalone without cutter - so no ai implement
                if strategyData.func(childVehicle) then
                    table.insert(spec.driveStrategies, strategyData.class.new(spec.reconstructionData))
                    break
                end
            end
        end

        for i = 1 , #spec.driveStrategies do
            spec.driveStrategies[i]:setAIVehicle( self )
        end
    end
end