feat(kobling): rummelig koblingsrækkevidde (3 m) og bakning de sidste 3-8 m hen til vognens trækøje ved Connect-markører; lagervisning: bredere mængde-/rate-kolonner så teksten ikke klippes (v1.53.0.0)

FS25_ADSmartPickup/adHitch.lua

@@ -27,6 +27,8 @@ ADHitch.ACT_TIMEOUT_MS = 8000      -- så længe forsøges kobling efter ankomst
 ADHitch.DETACH_TIMEOUT_MS = 20000  -- afkobling: redskabet skal måske foldes ud først (plov: "unfold the tool")
 ADHitch.TICK_MS = 250
 ADHitch.ROUTE_WAIT_MS = 10000     -- pause ved almindelige markører midt i en tur
+ADHitch.ROOMY_ATTACH_DISTANCE = 3  -- m: koblingsrækkevidde når spillets egen ikke rækker
+ADHitch.CREPT_EXTRA_DISTANCE = 8   -- m: ekstra ankomstafstand når traktoren har bakket hen til vognen
 
 -- ---- ren logik ----
 
@@ -91,9 +93,13 @@ function ADHitch.findMarker(markers, name)
     return nil
 end
 
--- state = {adActive, distance, speed}
+-- state = {adActive, distance, speed, arriveDistance?} (arriveDistance: udvidet, når traktoren har bakket hen til vognen)
+local function arriveDistanceOf(state)
+    return state.arriveDistance or ADHitch.ARRIVE_DISTANCE
+end
+
 function ADHitch.hasArrived(state)
-    return not state.adActive and state.distance <= ADHitch.ARRIVE_DISTANCE and state.speed <= ADHitch.STILL_SPEED
+    return not state.adActive and state.distance <= arriveDistanceOf(state) and state.speed <= ADHitch.STILL_SPEED
 end
 
 function ADHitch.newJob(markerId, markerName, action)
@@ -110,7 +116,7 @@ function ADHitch.step(job, state, dt, succeeded)
             job.seenActive = true
         elseif ADHitch.hasArrived(state) then
             job.state = "acting"
-        elseif state.distance > ADHitch.ARRIVE_DISTANCE and (job.seenActive or job.elapsed >= ADHitch.START_GRACE_MS) then
+        elseif state.distance > arriveDistanceOf(state) and (job.seenActive or job.elapsed >= ADHitch.START_GRACE_MS) then
             job.state, job.reason = "failed", "stoppedAway"
         end
     elseif job.state == "acting" then
@@ -181,9 +187,14 @@ function ADHitch.tryAttach(vehicle)
     if spec == nil or AttacherJoints == nil or AttacherJoints.updateVehiclesInAttachRange == nil then
         return false, "noJoints"
     end
+    -- spillets egen rækkevidde først, så en rummeligere (spillet retter selv vognen ind ved koblingen)
     AttacherJoints.updateVehiclesInAttachRange(vehicle, AttacherJoints.MAX_ATTACH_DISTANCE_SQ,
         AttacherJoints.MAX_ATTACH_ANGLE, true)
     local info = spec.attachableInfo
+    if (info == nil or info.attachable == nil) and ADHitch.ROOMY_ATTACH_DISTANCE ^ 2 > AttacherJoints.MAX_ATTACH_DISTANCE_SQ then
+        AttacherJoints.updateVehiclesInAttachRange(vehicle, ADHitch.ROOMY_ATTACH_DISTANCE ^ 2, AttacherJoints.MAX_ATTACH_ANGLE, true)
+        info = spec.attachableInfo
+    end
     if info == nil or info.attachable == nil then return false, "noAttachable" end
     local attacher = info.attacherVehicle or vehicle
     local farmId = vehicle.getActiveFarm ~= nil and vehicle:getActiveFarm() or vehicle:getOwnerFarmId()
@@ -272,6 +283,13 @@ local function start(adEnv, vehicle, markerId, action, onDone)
     return job
 end
 
+-- Kørende kobl-på-job for traktoren (til bakningen de sidste meter), ellers nil.
+function ADHitch.pendingAttach(vehicle)
+    local job = jobs[vehicle]
+    if job ~= nil and job.action == "attach" and job.state == "driving" then return job end
+    return nil
+end
+
 -- Afbryd et hente-/koble-job (Stop alt, høsten slut, spilleren overtager): intet kobles på bagefter, og
 -- onDone kaldes ikke. -> true hvis der var et job.
 function ADHitch.cancel(vehicle)
@@ -410,7 +428,9 @@ function ADHitch.tick(adEnv, dt)
             succeeded, detail = ACTIONS[job.action](vehicle)
             if not succeeded then job.lastReason = detail end
         end
-        ADHitch.step(job, vehicleState(adEnv, vehicle, job.markerId), elapsed, succeeded)
+        local state = vehicleState(adEnv, vehicle, job.markerId)
+        if job.crept then state.arriveDistance = ADHitch.ARRIVE_DISTANCE + ADHitch.CREPT_EXTRA_DISTANCE end
+        ADHitch.step(job, state, elapsed, succeeded)
         if job.state == "done" then
             finish(vehicle, job, true, detail)
         elseif job.state == "failed" then

FS25_ADSmartPickup/adHitchCreep.lua

@@ -0,0 +1,193 @@
+-- AD Hitch Creep
+-- Bak de sidste meter hen til vognen: når AD "Kør til" når en Connect-markør, og vognens trækøje står 3-8 m
+-- lige bag traktorens krog, lægges en lille bakke-opgave i AD's kø før stop. Traktoren bakker i krybefart og
+-- standser, så snart spillet ser vognen inden for koblingsrækkevidde; ADHitch kobler derefter på som før.
+-- AD's egen bak-kollisionssensor bruges ikke: den ser vognen selv som forhindring.
+
+ADHitchCreep = {}
+ADHitchCreep.LOG_PREFIX = "ADSmartPickup: kobling: "
+ADHitchCreep.ROOMY_ATTACH_DISTANCE = 3  -- m: herinden for kobler ADHitch direkte (samme som ADHitch.ROOMY_ATTACH_DISTANCE)
+ADHitchCreep.CREEP_MAX_DISTANCE = 8     -- m: længere væk end det bakkes ikke — markøren ligger forkert
+ADHitchCreep.CREEP_MAX_LATERAL = 1.5    -- m til siden: mere end det rammer en lige bakning ikke trækøjet
+ADHitchCreep.CREEP_TIMEOUT_MS = 25000
+ADHitchCreep.CREEP_SPEED = 2            -- km/t
+ADHitchCreep.AWAY_TOLERANCE = 1         -- m: længere væk end ved start = den bakker forkert
+ADHitchCreep.RANGE_CHECK_MS = 250
+
+-- ---- ren logik ----
+
+-- offset = {x, z}: vognens trækøje i traktorens rum set fra krogen (z < 0 = bagved) -> "attach" | "creep" | "none"
+function ADHitchCreep.plan(offset)
+    if offset == nil then return "none" end
+    local distance = math.sqrt(offset.x ^ 2 + offset.z ^ 2)
+    if distance <= ADHitchCreep.ROOMY_ATTACH_DISTANCE then return "attach" end
+    if offset.z >= 0 or distance > ADHitchCreep.CREEP_MAX_DISTANCE or math.abs(offset.x) > ADHitchCreep.CREEP_MAX_LATERAL then
+        return "none"
+    end
+    return "creep"
+end
+
+-- s = {inRange, distance, startDistance, elapsedMs, passed} -> "done" | "drive" | "giveUp"
+function ADHitchCreep.step(s)
+    if s.inRange then return "done" end
+    if (s.elapsedMs or 0) >= ADHitchCreep.CREEP_TIMEOUT_MS then return "giveUp" end
+    if s.passed then return "giveUp" end
+    if s.distance > s.startDistance + ADHitchCreep.AWAY_TOLERANCE then return "giveUp" end
+    return "drive"
+end
+
+-- ---- spil ----
+
+local function worldPos(node)
+    local x, y, z = getWorldTranslation(node)
+    return {x = x, y = y, z = z}
+end
+
+local function vehicleName(vehicle)
+    return vehicle ~= nil and vehicle.getName ~= nil and vehicle:getName() or "?"
+end
+
+-- Traktorens ledige bagerste krog-noder.
+local function freeRearJoints(vehicle)
+    local spec = vehicle.spec_attacherJoints
+    if spec == nil or spec.attacherJoints == nil or vehicle.rootNode == nil then return {} end
+    local used = {}
+    for _, implement in ipairs(spec.attachedImplements or {}) do
+        if implement.jointDescIndex ~= nil then used[implement.jointDescIndex] = true end
+    end
+    local joints = {}
+    for index, joint in ipairs(spec.attacherJoints) do
+        if not used[index] and joint.jointTransform ~= nil then
+            local p = worldPos(joint.jointTransform)
+            local _, _, lz = worldToLocal(vehicle.rootNode, p.x, p.y, p.z)
+            if lz < 0 then table.insert(joints, joint.jointTransform) end
+        end
+    end
+    return joints
+end
+
+-- Vognens trækøje i traktorens rum set fra krogen.
+local function offsetOf(vehicle, jointNode, targetNode)
+    local j, t = worldPos(jointNode), worldPos(targetNode)
+    local x, _, z = worldDirectionToLocal(vehicle.rootNode, t.x - j.x, 0, t.z - j.z)
+    return {x = x, z = z}
+end
+
+-- Nærmeste frakoblede redskab (samme gård) med et trækøje bag en ledig krog. -> {wagon, joint, target, offset, plan} | nil
+function ADHitchCreep.findTarget(vehicle)
+    local joints = freeRearJoints(vehicle)
+    if #joints == 0 or g_currentMission == nil or g_currentMission.vehicleSystem == nil then return nil end
+    local farmId = vehicle.getOwnerFarmId ~= nil and vehicle:getOwnerFarmId() or nil
+    local best, bestDistance = nil, math.huge
+    for _, object in pairs(g_currentMission.vehicleSystem.vehicles or {}) do
+        local attachable = object.spec_attachable
+        if object ~= vehicle and attachable ~= nil and object.spec_motorized == nil and attachable.inputAttacherJoints ~= nil
+            and (object.getAttacherVehicle == nil or object:getAttacherVehicle() == nil)
+            and (farmId == nil or object.getOwnerFarmId == nil or object:getOwnerFarmId() == farmId) then
+            for _, input in ipairs(attachable.inputAttacherJoints) do
+                if input.node ~= nil then
+                    for _, joint in ipairs(joints) do
+                        local offset = offsetOf(vehicle, joint, input.node)
+                        local distance = math.sqrt(offset.x ^ 2 + offset.z ^ 2)
+                        if distance < bestDistance and distance <= ADHitchCreep.CREEP_MAX_DISTANCE + 2 then
+                            bestDistance = distance
+                            best = {wagon = object, joint = joint, target = input.node, offset = offset}
+                        end
+                    end
+                end
+            end
+        end
+    end
+    if best ~= nil then best.plan = ADHitchCreep.plan(best.offset) end
+    return best
+end
+
+local function isInRange(vehicle, wagon)
+    local spec = vehicle.spec_attacherJoints
+    if spec == nil or AttacherJoints == nil or AttacherJoints.updateVehiclesInAttachRange == nil then return false end
+    AttacherJoints.updateVehiclesInAttachRange(vehicle, ADHitchCreep.ROOMY_ATTACH_DISTANCE ^ 2, AttacherJoints.MAX_ATTACH_ANGLE, true)
+    local info = spec.attachableInfo
+    return info ~= nil and info.attachable == wagon
+end
+
+-- AD-opgave (samme metoder som AD's AbstractTask).
+local CreepTask = {}
+CreepTask.__index = CreepTask
+
+function CreepTask.new(adEnv, vehicle, target)
+    return setmetatable({adEnv = adEnv, vehicle = vehicle, target = target, elapsedMs = 0, checkMs = 0, inRange = false}, CreepTask)
+end
+
+function CreepTask:setUp()
+    local offset = offsetOf(self.vehicle, self.target.joint, self.target.target)
+    self.startDistance = math.sqrt(offset.x ^ 2 + offset.z ^ 2)
+    Logging.info(ADHitchCreep.LOG_PREFIX .. "'%s' bakker %.1f m hen til '%s' (%.1f m til siden)", vehicleName(self.vehicle),
+        self.startDistance, vehicleName(self.target.wagon), offset.x)
+end
+
+function CreepTask:finish(action, distance)
+    local sdm = self.vehicle.ad.specialDrivingModule
+    if sdm ~= nil and sdm.stopVehicle ~= nil then sdm:stopVehicle() end
+    if action == "done" then
+        Logging.info(ADHitchCreep.LOG_PREFIX .. "'%s' står ved '%s' — kobler på", vehicleName(self.vehicle), vehicleName(self.target.wagon))
+    else
+        Logging.warning(ADHitchCreep.LOG_PREFIX .. "'%s' opgav at bakke hen til '%s' (%.1f m tilbage efter %d s)", vehicleName(self.vehicle),
+            vehicleName(self.target.wagon), distance, math.floor(self.elapsedMs / 1000))
+    end
+    local taskModule = self.adEnv.ADTaskModule
+    self.vehicle.ad.taskModule:setCurrentTaskFinished(taskModule ~= nil and taskModule.DONT_PROPAGATE or 1)
+end
+
+function CreepTask:update(dt)
+    self.elapsedMs = self.elapsedMs + dt
+    self.checkMs = self.checkMs + dt
+    if self.target.wagon.getAttacherVehicle ~= nil and self.target.wagon:getAttacherVehicle() ~= nil then
+        return self:finish("giveUp", 0) -- en anden har taget vognen
+    end
+    local offset = offsetOf(self.vehicle, self.target.joint, self.target.target)
+    local distance = math.sqrt(offset.x ^ 2 + offset.z ^ 2)
+    if self.checkMs >= ADHitchCreep.RANGE_CHECK_MS then
+        self.checkMs = 0
+        self.inRange = isInRange(self.vehicle, self.target.wagon)
+    end
+    local action = ADHitchCreep.step({inRange = self.inRange, distance = distance, startDistance = self.startDistance,
+        elapsedMs = self.elapsedMs, passed = offset.z > 0.5})
+    if action ~= "drive" then return self:finish(action, distance) end
+
+    local autoDrive, vehicle = self.adEnv.AutoDrive, self.vehicle
+    local p = worldPos(self.target.target)
+    local lx, lz = autoDrive.getDriveDirection(vehicle, p.x, p.y, p.z)
+    local sdm = vehicle.ad.specialDrivingModule
+    if sdm ~= nil and sdm.releaseVehicle ~= nil then sdm:releaseVehicle() end
+    if vehicle.startMotor ~= nil and not vehicle:getIsMotorStarted() and vehicle:getCanMotorRun() then vehicle:startMotor() end
+    -- som AD's ADSpecialDrivingModule:driveReverse (ikke-guidet): retning spejles ved bakning
+    autoDrive.driveInDirection(vehicle, dt, 30, 0.3, 0.2, 20, true, false, -lx, -lz, ADHitchCreep.CREEP_SPEED, 1)
+end
+
+function CreepTask:abort() end
+function CreepTask:finished() end
+function CreepTask:getInfoText() return "Bakker hen til vognen" end
+function CreepTask:getI18nInfo() return "" end
+function CreepTask:getExcludedVehiclesForCollisionCheck() return {self.target.wagon} end
+
+local isInstalled = false
+
+-- DriveToMode:handleFinishedTask lægger StopAndDisableADTask i køen; bakningen lægges ind lige før.
+function ADHitchCreep.install(adEnv)
+    local mode = adEnv ~= nil and adEnv.DriveToMode or nil
+    if isInstalled or mode == nil or mode.handleFinishedTask == nil or ADHitch == nil or ADHitch.pendingAttach == nil then return end
+    isInstalled = true
+    local original = mode.handleFinishedTask
+    mode.handleFinishedTask = function(self)
+        local ok, err = pcall(function()
+            local job = self.driveToDestinationTask ~= nil and ADHitch.pendingAttach(self.vehicle) or nil
+            if job == nil or job.markerId ~= self.destinationID then return end
+            local target = ADHitchCreep.findTarget(self.vehicle)
+            if target == nil or target.plan ~= "creep" then return end
+            job.crept = true
+            self.vehicle.ad.taskModule:addTask(CreepTask.new(adEnv, self.vehicle, target))
+        end)
+        if not ok then Logging.warning(ADHitchCreep.LOG_PREFIX .. "bakning til vognen: %s", tostring(err)) end
+        return original(self)
+    end
+end

FS25_ADSmartPickup/adSmartPickup.lua

@@ -1138,6 +1138,9 @@ local function installHook(adEnv)
     if ADOutbound ~= nil and ADOutbound.install ~= nil then
         ADOutbound.install(adEnv)
     end
+    if ADHitchCreep ~= nil and ADHitchCreep.install ~= nil then
+        ADHitchCreep.install(adEnv)
+    end
 
     Logging.info(ADSmartPickup.LOG_PREFIX .. "aktiv (mindst fyldte silo med varen; flere valgte varer = behovsstyret forsyning; Wait-punkter for rest-læs; udkørsel til silo/salg)")
 end

FS25_ADSmartPickup/gui/SmartPickupFrame.xml

@@ -126,20 +126,20 @@
         <!-- vare: +/– navn · bjælke · mængde · værdi · netto/døgn og rækkevidde (klikbar) -->
         <Bitmap profile="fs25_multiTextOptionContainer" id="itemPrefab">
             <Text profile="spuCellBold" name="c1" position="20px 0px" size="170px 40px" textMaxWidth="165px"/>
-            <Bitmap profile="spuBarBg" name="barBg" position="190px 0px"/>
+            <Bitmap profile="spuBarBg" name="barBg" position="190px 0px" size="140px 16px"/>
-            <Bitmap profile="spuBar" name="bar" position="190px 0px"/>
+            <Bitmap profile="spuBar" name="bar" position="190px 0px" size="140px 16px"/>
-            <Text profile="spuCell" name="c2" position="400px 0px" size="140px 40px" textMaxWidth="135px"/>
+            <Text profile="spuCell" name="c2" position="340px 0px" size="160px 40px" textMaxWidth="155px"/>
-            <Text profile="spuCell" name="c3" position="540px 0px" size="110px 40px" textMaxWidth="105px"/>
+            <Text profile="spuCell" name="c3" position="500px 0px" size="105px 40px" textMaxWidth="100px"/>
-            <Text profile="spuCell" name="c4" position="650px 0px" size="160px 40px" textMaxWidth="155px"/>
+            <Text profile="spuCell" name="c4" position="605px 0px" size="225px 40px" textMaxWidth="220px"/>
         </Bitmap>
         <!-- bygning under en udfoldet vare: indrykket navn · tynd bjælke · mængde · værdi · procent -->
         <Bitmap profile="fs25_multiTextOptionContainer" id="subPrefab">
             <Text profile="spuCellDim" name="c1" position="45px 0px" size="145px 40px" textMaxWidth="140px"/>
-            <Bitmap profile="spuBarThinBg" name="barBg" position="190px 0px"/>
+            <Bitmap profile="spuBarThinBg" name="barBg" position="190px 0px" size="140px 10px"/>
-            <Bitmap profile="spuBarThin" name="bar" position="190px 0px"/>
+            <Bitmap profile="spuBarThin" name="bar" position="190px 0px" size="140px 10px"/>
-            <Text profile="spuCellDim" name="c2" position="400px 0px" size="140px 40px" textMaxWidth="135px"/>
+            <Text profile="spuCellDim" name="c2" position="340px 0px" size="160px 40px" textMaxWidth="155px"/>
-            <Text profile="spuCellDim" name="c3" position="540px 0px" size="110px 40px" textMaxWidth="105px"/>
+            <Text profile="spuCellDim" name="c3" position="500px 0px" size="105px 40px" textMaxWidth="100px"/>
-            <Text profile="spuCellDim" name="c4" position="650px 0px" size="160px 40px" textMaxWidth="155px"/>
+            <Text profile="spuCellDim" name="c4" position="605px 0px" size="225px 40px" textMaxWidth="220px"/>
         </Bitmap>
         <!-- udkørsel: én række pr. vare med politik Fra/Lager/Salg/Salg, ellers lager -->
         <Bitmap profile="fs25_multiTextOptionContainer" id="productPrefab">

FS25_ADSmartPickup/modDesc.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8" standalone="no"?>
 <modDesc descVersion="107">
     <author>masterdraco</author>
-    <version>1.52.1.0</version>
+    <version>1.53.0.0</version>
     <title>
         <en>AD Smart Pickup</en>
     </title>
@@ -47,6 +47,7 @@
         <sourceFile filename="adFieldSilos.lua"/>
         <sourceFile filename="adCpResume.lua"/>
         <sourceFile filename="adHitch.lua"/>
+        <sourceFile filename="adHitchCreep.lua"/>
         <sourceFile filename="adPool.lua"/>
         <sourceFile filename="adFlowWagons.lua"/>
         <sourceFile filename="adFleetNames.lua"/>

tests/test_adHitch.lua

@@ -30,6 +30,10 @@ check("ankomst: stoppet ved markør", H.hasArrived({adActive = false, distance =
 check("ankomst: AD kører stadig", H.hasArrived({adActive = true, distance = 0.5, speed = 0}), false)
 check("ankomst: for langt væk", H.hasArrived({adActive = false, distance = 9, speed = 0}), false)
 check("ankomst: ruller stadig", H.hasArrived({adActive = false, distance = 1, speed = 3}), false)
+-- efter at have bakket hen til vognen står traktoren længere fra markøren
+check("ankomst: bakket til vognen, udvidet afstand", H.hasArrived({adActive = false, distance = 9, speed = 0, arriveDistance = 13}), true)
+local crept = H.step(H.newJob(1, "Connect x", "attach"), {adActive = false, distance = 9, speed = 3, arriveDistance = 13}, 4000, false)
+check("vagt: bakket, ruller lidt -> ikke 'stoppedAway'", crept.state, "driving")
 -- vagten: efter ankomst forsøges koblingen et stykke tid, derefter opgives den
 local job = H.newJob(25, "Connect Bredal", "attach")
 check("job: venter på AD", job.state, "driving")

tests/test_adHitchCreep.lua

@@ -0,0 +1,26 @@
+-- Kør: luajit tests/test_adHitchCreep.lua   (fra repo-roden)
+dofile("FS25_ADSmartPickup/adHitchCreep.lua")
+local C = ADHitchCreep
+local failures = 0
+local function check(name, actual, expected)
+    if actual == expected then print("OK   " .. name) else
+        failures = failures + 1
+        print(string.format("FAIL %s: forventede %s, fik %s", name, tostring(expected), tostring(actual)))
+    end
+end
+-- plan: vognens trækøje i traktorens rum set fra krogen (x = til siden, z < 0 = bagved)
+check("plan: inden for rummelig rækkevidde -> kobl direkte", C.plan({x = 0.4, z = -2.0}), "attach")
+check("plan: 5 m lige bagved -> bak", C.plan({x = 0.3, z = -5.0}), "creep")
+check("plan: lidt til siden -> bak", C.plan({x = -1.2, z = -6.0}), "creep")
+check("plan: for langt til siden -> intet", C.plan({x = 2.5, z = -5.0}), "none")
+check("plan: for langt bagved -> intet", C.plan({x = 0, z = -12.0}), "none")
+check("plan: foran traktoren -> intet", C.plan({x = 0, z = 5.0}), "none")
+check("plan: ingen vogn -> intet", C.plan(nil), "none")
+-- skridt under bakningen
+check("skridt: vognen inden for rækkevidde -> færdig", C.step({inRange = true, distance = 2.5, startDistance = 6, elapsedMs = 3000}), "done")
+check("skridt: på vej -> kør", C.step({inRange = false, distance = 4, startDistance = 6, elapsedMs = 3000}), "drive")
+check("skridt: for længe -> giv op", C.step({inRange = false, distance = 4, startDistance = 6, elapsedMs = C.CREEP_TIMEOUT_MS}), "giveUp")
+check("skridt: kører væk fra vognen -> giv op", C.step({inRange = false, distance = 7.5, startDistance = 6, elapsedMs = 3000}), "giveUp")
+check("skridt: forbi vognen uden kobling -> giv op", C.step({inRange = false, distance = 0.3, startDistance = 6, elapsedMs = 3000, passed = true}), "giveUp")
+print(failures == 0 and "\nALLE TESTS OK" or ("\n" .. failures .. " FEJL"))
+os.exit(failures == 0 and 0 or 1)