feat(marker): halm efter høst — hakkes, samles op til silo eller presses til baller + ballesamler (CP BALE_FINDER); græsvalg også ved græs-mål

FS25_ADSmartPickup/adFieldWork.lua

@@ -166,6 +166,9 @@ end
 -- Hvilken vare markens trin fører til lager: skår (ensilage), tørskår (hø) eller høstet afgrøde.
 function ADFieldWork.storeFillType(field, info)
     if field.stage == "harvesting" then return info.harvestFillType end
+    if field.stage == "strawCollecting" or field.stage == "baling" or field.stage == "baleCollecting" then
+        return g_fillTypeManager:getFillTypeIndexByName("STRAW")
+    end
     local product = ADFieldModel.product(field.plan, field.kind or info.kind)
     return product == "hay" and info.hay or info.windrow
 end
@@ -202,11 +205,11 @@ local function coursesOf(fieldId)
     return ADFieldJobs.courses[fieldId]
 end
 
--- Kurset et trin skal genbruge ("mower"/"rake"): gemt kopi, ellers maskinens nuværende kursus.
+-- Kurset et trin skal genbruge ("mower"/"rake"/"harvester"): gemt kopi, ellers maskinens nuværende kursus.
 local function sourceCourse(adEnv, field, source)
     local saved = coursesOf(field.id)[source]
     if saved ~= nil then return saved end
-    local vehicleId = source == "rake" and field.rakeVehicleId or field.mowVehicleId
+    local vehicleId = source == "rake" and field.rakeVehicleId or source == "harvester" and field.harvestVehicleId or field.mowVehicleId
     if vehicleId == nil then return nil end
     for _, vehicle in ipairs(ADRunsController.getFarmVehicles(adEnv)) do
         if ADRunsController.getVehicleId(vehicle) == vehicleId then return ADCpBridge.getCourse(vehicle) end
@@ -435,6 +438,51 @@ local function beginUnloader(adEnv, field, info, assignment)
     assignment.handle = handle
 end
 
+-- Ballesamler: Courseplays ballefinder; fuld vogn tømmes af AutoDrive i nærmeste ballelager (palleskur der
+-- tager halmballer), som læssevognen. Uden lager stopper den når den er fuld.
+local function beginBaleCollector(adEnv, field, info, assignment)
+    local vehicle = assignment.vehicle
+    local farmId = vehicle:getOwnerFarmId()
+    local straw = g_fillTypeManager:getFillTypeIndexByName("STRAW")
+    local isReachable = function(markerId) return ADUnloadWait.hasRouteTo(adEnv, vehicle, markerId) end
+    local store = ADSources.findPalletStore(adEnv, vehicle, straw, nil, isReachable, farmId)
+    if store ~= nil then
+        pcall(function()
+            local module = stateModule(vehicle)
+            module:setMode(adEnv.AutoDrive.MODE_PICKUPANDDELIVER)
+            module:setFirstMarkerByWayPointId(info.markerId)
+            module:setSecondMarkerByWayPointId(store.wayPointId)
+            module:setStartHelper(true)
+            module.usedHelper = helperCp(adEnv)
+            enableParkAtJobFinished(vehicle)
+            module:raiseDirtyFlag()
+        end)
+        assignment.adHandlesEnd = true
+        log(field.id, "ballesamler '%s' kører fulde læs til %s", ADRuns.vehicleLabel(vehicle), tostring(store.name))
+    else
+        log(field.id, "intet ballelager med plads og vej fundet — ballesamleren stopper når den er fuld")
+    end
+    local point = info.points[1] or {x = info.x, z = info.z}
+    assignment.phase = "starting"
+    assignment.since = now()
+    local handle, err = ADCpBridge.startBaleFinder(vehicle, point.x, point.z, function(ok, reason)
+        if ok then
+            assignment.phase = "working"
+            assignment.since = now()
+            log(field.id, "Courseplay startet (ballesamler)")
+        else
+            ADFieldWork.release(assignment)
+            fail(field.id, "ballesamler: " .. tostring(reason))
+        end
+    end)
+    if handle == nil then
+        ADFieldWork.release(assignment)
+        fail(field.id, "ballesamler: " .. tostring(err))
+        return
+    end
+    assignment.handle = handle
+end
+
 -- Multi-tool: følgere venter på lederens kursus for trinnet og kopierer det med deres bane.
 local function courseOptions(adEnv, field, assignment)
     local source = ADFieldModel.courseSource(field, assignment.role)
@@ -459,6 +507,12 @@ end
 local function beginWork(adEnv, field, info, assignment)
     local vehicle = assignment.vehicle
     if assignment.role == "unloader" then return beginUnloader(adEnv, field, info, assignment) end
+    if assignment.role == "baleCollector" then return beginBaleCollector(adEnv, field, info, assignment) end
+    -- høsteren: halmskår efter planen (hakkes = fra; samles op/presses = skår)
+    if assignment.role == "harvester" then
+        local keepStraw = field.plan.straw == "collect" or field.plan.straw == "bale"
+        ADCpBridge.setStrawSwath(vehicle, keepStraw)
+    end
     local opts, source = courseOptions(adEnv, field, assignment)
     if opts == nil then
         -- følger uden lederens kursus endnu
@@ -504,6 +558,9 @@ local function beginWork(adEnv, field, info, assignment)
             elseif assignment.role == "rake" then
                 note(field.id, {rakeVehicleId = assignment.vehicleId})
                 rememberCourse(field, "rake", vehicle)
+            elseif assignment.role == "harvester" then
+                note(field.id, {harvestVehicleId = assignment.vehicleId})
+                rememberCourse(field, "harvester", vehicle)
             end
             if assignment.leader and (assignment.groupSize or 1) > 1 then
                 rememberCourse(field, field.stage, vehicle)