WeedSpotSpray

WeedSpotSpray

Description

Specialization for spot spraying of weeds

Functions

• addExtendedSprayerNozzleEffect
• addWeedSpotSpraySensorNodes
• getIsSpotSprayEnabled
• getSprayerUsage
• initSpecialization
• loadWorkAreaFromXML
• onEndWorkAreaProcessing
• onLoad
• onPreLoad
• prerequisitesPresent
• registerEventListeners
• registerFunctions
• registerOverwrittenFunctions
• updateExtendedSprayerNozzleEffectState

addExtendedSprayerNozzleEffect

Description

Definition

addExtendedSprayerNozzleEffect()

Arguments

any	superFunc
any	effectData
any	effectNode
any	linkNode
any	linkNodeData

Code

function WeedSpotSpray:addExtendedSprayerNozzleEffect(superFunc, effectData, effectNode, linkNode, linkNodeData)
    if not superFunc( self , effectData, effectNode, linkNode, linkNodeData) then
        return false
    end

    return true
end

addWeedSpotSpraySensorNodes

Description

Definition

addWeedSpotSpraySensorNodes()

Arguments

any	linkData

Code

function WeedSpotSpray:addWeedSpotSpraySensorNodes(linkData)
    for _, sensorNodeData in pairs(linkData.sensorNodes) do
        local linkNode
        if sensorNodeData.nodeName ~ = nil then
            if self.i3dMappings[sensorNodeData.nodeName] ~ = nil then
                linkNode = self.i3dMappings[sensorNodeData.nodeName].nodeId
            end
        end

        if linkNode ~ = nil then
            local sensorNode, hasBracket = g_precisionFarming:getClonedSprayerWeedSensorNode(sensorNodeData.id)
            if sensorNode ~ = nil then
                link(linkNode, sensorNode)
                setTranslation(sensorNode, sensorNodeData.translation[ 1 ], sensorNodeData.translation[ 2 ], sensorNodeData.translation[ 3 ])
                setRotation(sensorNode, sensorNodeData.rotation[ 1 ], sensorNodeData.rotation[ 2 ], sensorNodeData.rotation[ 3 ])

                if hasBracket and sensorNodeData.bracketSize ~ = 1 then
                    setScale(getChildAt(sensorNode, 0 ), 1 , sensorNodeData.bracketSize, sensorNodeData.bracketSize)
                end
            end
        end
    end
end

getIsSpotSprayEnabled

Description

Definition

getIsSpotSprayEnabled()

Code

function WeedSpotSpray:getIsSpotSprayEnabled()
    return self [ WeedSpotSpray.SPEC_TABLE_NAME].isEnabled
end

getSprayerUsage

Description

Definition

getSprayerUsage()

Arguments

any	superFunc
any	fillType
any	dt

Code

function WeedSpotSpray:getSprayerUsage(superFunc, fillType, dt)
    local spec = self [ WeedSpotSpray.SPEC_TABLE_NAME]

    local usage = superFunc( self , fillType, dt)
    spec.lastRegularUsage = usage

    if self.getNumExtendedSprayerNozzleEffectsActive ~ = nil then
        local _, alpha = self:getNumExtendedSprayerNozzleEffectsActive()
        usage = usage * alpha
    end

    return usage
end

initSpecialization

Description

Definition

initSpecialization()

Code

function WeedSpotSpray.initSpecialization()
    g_vehicleConfigurationManager:addConfigurationType( "weedSpotSpray" , g_i18n:getText( "configuration_weedSpotSpray" ), "weedSpotSpray" , VehicleConfigurationItem )
end

loadWorkAreaFromXML

Description

Definition

loadWorkAreaFromXML()

Arguments

any	superFunc
any	workArea
any	xmlFile
any	key

Code

function WeedSpotSpray:loadWorkAreaFromXML(superFunc, workArea, xmlFile, key)
    if not superFunc( self , workArea, xmlFile, key) then
        return false
    end

    if self [ WeedSpotSpray.SPEC_TABLE_NAME].isEnabled then
        workArea.disableBackwards = true -- do not allow backwards spraying as the cameras are in front of the sprayer
        end

        return true
    end

onEndWorkAreaProcessing

Description

Definition

onEndWorkAreaProcessing()

Arguments

any	dt

Code

function WeedSpotSpray:onEndWorkAreaProcessing(dt)
    local spec = self [ WeedSpotSpray.SPEC_TABLE_NAME]

    if self:getLastSpeed() > 0.5 then
        local specSprayer = self.spec_sprayer
        if self.isServer then
            if specSprayer.workAreaParameters.isActive then
                local sprayFillType = specSprayer.workAreaParameters.sprayFillType
                if sprayFillType = = FillType.HERBICIDE then
                    local sprayVehicle = specSprayer.workAreaParameters.sprayVehicle
                    local usage = specSprayer.workAreaParameters.usage
                    if sprayVehicle ~ = nil or self:getIsAIActive() then
                        self:updatePFStatistic( "usedHerbicide" , usage)
                        self:updatePFStatistic( "usedHerbicideRegular" , spec.lastRegularUsage)
                    end
                end
            end
        end
    end
end

onLoad

Description

Definition

onLoad()

Arguments

any	savegame

Code

function WeedSpotSpray:onLoad(savegame)
    local spec = self [ WeedSpotSpray.SPEC_TABLE_NAME]

    spec.lastRegularUsage = 0

    spec.weedDetectionStates = { }
    local weedSystem = g_currentMission.weedSystem
    local replacementData = weedSystem:getHerbicideReplacements()
    if replacementData.weed ~ = nil then
        for sourceState, targetState in pairs(replacementData.weed.replacements) do
            if targetState ~ = 0 then -- ignore preventative spraying
                spec.weedDetectionStates[sourceState] = true
            end
        end
    end

    if spec.isEnabled then
        if g_precisionFarming ~ = nil then
            local linkData, _ = g_precisionFarming:getSprayerNodeData( self.configFileName, self.configurations)
            if linkData ~ = nil then
                self:addWeedSpotSpraySensorNodes(linkData)
            end
        end
    end

    spec.weedMapId, spec.weedFirstChannel, spec.weedNumChannels = g_currentMission.weedSystem:getDensityMapData()
    spec.groundTypeMapId, spec.groundTypeFirstChannel, spec.groundTypeNumChannels = g_currentMission.fieldGroundSystem:getDensityMapData(FieldDensityMap.GROUND_TYPE)
    spec.sprayTypeMapId, spec.sprayTypeFirstChannel, spec.sprayTypeNumChannels = g_currentMission.fieldGroundSystem:getDensityMapData(FieldDensityMap.SPRAY_TYPE)
end

onPreLoad

Description

Definition

onPreLoad()

Arguments

any	savegame

Code

function WeedSpotSpray:onPreLoad(savegame)
    local spec = self [ WeedSpotSpray.SPEC_TABLE_NAME]

    spec.isEnabled = ( self.configurations[ "weedSpotSpray" ] or 1 ) > 1
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 WeedSpotSpray.prerequisitesPresent(specializations)
    return SpecializationUtil.hasSpecialization( Sprayer , specializations) and SpecializationUtil.hasSpecialization( PrecisionFarmingStatistic , specializations)
end

registerEventListeners

Description

Definition

registerEventListeners()

Arguments

any	vehicleType

Code

function WeedSpotSpray.registerEventListeners(vehicleType)
    SpecializationUtil.registerEventListener(vehicleType, "onPreLoad" , WeedSpotSpray )
    SpecializationUtil.registerEventListener(vehicleType, "onLoad" , WeedSpotSpray )
    SpecializationUtil.registerEventListener(vehicleType, "onEndWorkAreaProcessing" , WeedSpotSpray )
end

registerFunctions

Description

Definition

registerFunctions()

Arguments

any	vehicleType

Code

function WeedSpotSpray.registerFunctions(vehicleType)
    SpecializationUtil.registerFunction(vehicleType, "getIsSpotSprayEnabled" , WeedSpotSpray.getIsSpotSprayEnabled)
    SpecializationUtil.registerFunction(vehicleType, "addWeedSpotSpraySensorNodes" , WeedSpotSpray.addWeedSpotSpraySensorNodes)
end

registerOverwrittenFunctions

Description

Definition

registerOverwrittenFunctions()

Arguments

any	vehicleType

Code

function WeedSpotSpray.registerOverwrittenFunctions(vehicleType)
    SpecializationUtil.registerOverwrittenFunction(vehicleType, "getSprayerUsage" , WeedSpotSpray.getSprayerUsage)
    SpecializationUtil.registerOverwrittenFunction(vehicleType, "addExtendedSprayerNozzleEffect" , WeedSpotSpray.addExtendedSprayerNozzleEffect)
    SpecializationUtil.registerOverwrittenFunction(vehicleType, "updateExtendedSprayerNozzleEffectState" , WeedSpotSpray.updateExtendedSprayerNozzleEffectState)
    SpecializationUtil.registerOverwrittenFunction(vehicleType, "loadWorkAreaFromXML" , WeedSpotSpray.loadWorkAreaFromXML)
end

updateExtendedSprayerNozzleEffectState

Description

Definition

updateExtendedSprayerNozzleEffectState()

Arguments

any	superFunc
any	effectData
any	dt
any	isTurnedOn
any	lastSpeed

Code

function WeedSpotSpray:updateExtendedSprayerNozzleEffectState(superFunc, effectData, dt, isTurnedOn, lastSpeed)
    local isActive, amountScale = superFunc( self , effectData, dt, isTurnedOn, lastSpeed)

    local spec = self [ WeedSpotSpray.SPEC_TABLE_NAME]
    if isActive and spec.isEnabled then
        if self.movingDirection < 0 or(lastSpeed or 0 ) < 0.25 then
            isActive = false
        end
    end

    if isActive then
        local sprayFillType = self.spec_sprayer.workAreaParameters.sprayFillType
        if sprayFillType = = FillType.HERBICIDE then
            if spec.isEnabled then
                local x, y, z = localToWorld(effectData.effectNode, 0 , 0 , 1 )
                local densityBits = getDensityAtWorldPos(spec.weedMapId, x, y, z)
                local weedState = bit32.band(bit32.rshift(densityBits, spec.weedFirstChannel), 2 ^ spec.weedNumChannels - 1 )

                if not spec.weedDetectionStates[weedState] then
                    isActive = false
                end
            else
                    local x, y, z = localToWorld(effectData.effectNode, 0 , 0 , 1 )
                    local densityBitsGround = getDensityAtWorldPos(spec.groundTypeMapId, x, y, z)
                    local groundTypeValue = bit32.band(bit32.rshift(densityBitsGround, spec.groundTypeFirstChannel), 2 ^ spec.groundTypeNumChannels - 1 )
                    local groundType = FieldGroundType.getTypeByValue(groundTypeValue)

                    if groundType = = FieldGroundType.NONE then
                        isActive = false
                    end
                end
            elseif sprayFillType = = FillType.LIQUIDFERTILIZER then
                    local x, y, z = localToWorld(effectData.effectNode, 0 , 0 , 1.5 )
                    local densityBitsGround = getDensityAtWorldPos(spec.groundTypeMapId, x, y, z)
                    local groundTypeValue = bit32.band(bit32.rshift(densityBitsGround, spec.groundTypeFirstChannel), 2 ^ spec.groundTypeNumChannels - 1 )
                    local groundType = FieldGroundType.getTypeByValue(groundTypeValue)

                    if groundType = = FieldGroundType.NONE then
                        isActive = false
                    end

                    if isActive then
                        local densityBitsSpray = densityBitsGround
                        if spec.sprayTypeMapId ~ = spec.groundTypeMapId then
                            densityBitsSpray = getDensityAtWorldPos(spec.sprayTypeMapId, x, y, z)
                        end

                        local sprayValue = bit32.band(bit32.rshift(densityBitsSpray, spec.sprayTypeFirstChannel), 2 ^ spec.sprayTypeNumChannels - 1 )
                        local sprayType = FieldSprayType.getTypeByValue(sprayValue)

                        if sprayType = = FieldSprayType.FERTILIZER then
                            isActive = false
                        end
                    end
                end
            end

            return isActive, amountScale
        end