feat(marker): job-løkke — AutoDrive til F-markør, Courseplay på marken, næste trin, gem
Afvigelser fra planen: starting-timeout 60 s og pause efter 'nåede ikke markøren' (undgår genudsendelse hvert sekund); J2-testen bruger en slået mark (readyRatio 0).
This commit is contained in:
@@ -0,0 +1,396 @@
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-- AD Field Jobs
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-- Markarbejdets job-løkke (hvert sekund): opdater klar-andel, start marker, send sæt ud, følg dem
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-- gennem AutoDrive-kørsel -> Courseplay-arbejde -> hjem, og gå videre til næste trin. decide() er ren
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-- og testet; resten oversætter til AutoDrive/Courseplay og er pcall'et pr. mark og pr. sæt.
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ADFieldJobs = {}
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ADFieldJobs.LOG_PREFIX = "ADSmartPickup: "
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ADFieldJobs.TICK_MS = 1000
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ADFieldJobs.ARRIVE_DISTANCE = 30
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ADFieldJobs.IDLE_CONFIRM_MS = 5000
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ADFieldJobs.START_TIMEOUT_MS = 60000
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ADFieldJobs.state = {fields = {}, fleet = {}, assignments = {}}
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ADFieldJobs.timer = 0
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ADFieldJobs.now = 0
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ADFieldJobs.loaded = false
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local ACTIVE_PHASES = {driving = true, starting = true, working = true}
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-- ---- ren beslutning ----
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function ADFieldJobs.decide(field, info, assignments, now)
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if field.stage == "ready" then
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if not ADFieldModel.shouldStart(field) then return {action = "none"} end
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if info == nil or info.markerId == nil then return {action = "wait"} end
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return {action = "start"}
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end
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if not ADFieldModel.isWorking(field) then return {action = "none"} end
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local active, finished = 0, 0
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for _, assignment in ipairs(assignments) do
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if ACTIVE_PHASES[assignment.phase] then active = active + 1 end
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if assignment.phase == "finished" or assignment.phase == "returning" then finished = finished + 1 end
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end
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if active == 0 and finished > 0 then
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local stillStanding = field.stage == "mowing" and info ~= nil and (info.readyRatio or 0) >= ADFieldModel.CUT_RATIO
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if not stillStanding then return {action = "advance"} end
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end
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if info == nil or info.markerId == nil then return {action = "wait"} end
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local role = ADFieldModel.wantsRig(field, active, now)
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if role ~= nil then return {action = "dispatch", role = role} end
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return {action = "none"}
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end
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-- ---- tilstand ----
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local function log(fieldId, fmt, ...)
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Logging.info(ADFieldJobs.LOG_PREFIX .. "F%s " .. fmt, tostring(fieldId), ...)
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end
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function ADFieldJobs.getField(id)
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return ADFieldJobs.state.fields[id] or ADFieldModel.newField(id)
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end
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local function setField(field)
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ADFieldJobs.state.fields[field.id] = field
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end
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function ADFieldJobs.assignmentsFor(fieldId)
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local list = {}
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for _, assignment in pairs(ADFieldJobs.state.assignments) do
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if assignment.fieldId == fieldId then table.insert(list, assignment) end
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end
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return list
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end
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function ADFieldJobs.save()
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local ok, err = pcall(ADFieldStorage.save, ADFieldJobs.state)
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if not ok then Logging.warning(ADFieldJobs.LOG_PREFIX .. "marker kunne ikke gemmes: %s", tostring(err)) end
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end
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function ADFieldJobs.load()
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local ok, loaded = pcall(ADFieldStorage.load)
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if ok then
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ADFieldJobs.state.fields, ADFieldJobs.state.fleet = loaded.fields, loaded.fleet
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else
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Logging.warning(ADFieldJobs.LOG_PREFIX .. "marker kunne ikke indlæses: %s", tostring(loaded))
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end
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ADFieldJobs.loaded = true
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end
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function ADFieldJobs.setPlan(id, changes)
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setField(ADFieldModel.with(ADFieldJobs.getField(id), {plan = changes}))
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ADFieldJobs.save()
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end
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function ADFieldJobs.requestStart(id)
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setField(ADFieldModel.with(ADFieldJobs.getField(id), {startRequested = true}))
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end
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local function note(fieldId, changes)
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setField(ADFieldModel.with(ADFieldJobs.getField(fieldId), changes))
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end
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function ADFieldJobs.toggleFleet(vehicleId)
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ADFieldJobs.state.fleet = ADFieldFleet.toggle(ADFieldJobs.state.fleet, vehicleId)
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ADFieldJobs.save()
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end
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-- ---- AutoDrive ----
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local function stateModule(vehicle)
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return vehicle.ad ~= nil and vehicle.ad.stateModule or nil
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end
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local function isAdActive(vehicle)
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local module = stateModule(vehicle)
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return module ~= nil and module:isActive()
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end
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local function stopAd(vehicle)
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if isAdActive(vehicle) then vehicle:stopAutoDrive() end
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end
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local function startAd(adEnv, vehicle, mode, firstId, secondId, withCp)
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local module = stateModule(vehicle)
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stopAd(vehicle)
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module:setMode(mode)
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module:setFirstMarkerByWayPointId(firstId)
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if secondId ~= nil then module:setSecondMarkerByWayPointId(secondId) end
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module:setStartHelper(withCp == true)
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if withCp then
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module.usedHelper = adEnv.ADStateModule ~= nil and adEnv.ADStateModule.HELPER_CP or 1
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if vehicle.ad.settings ~= nil and vehicle.ad.settings.enableParkAtJobFinished ~= nil then
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vehicle.ad.settings.enableParkAtJobFinished.current = 2
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vehicle.ad.settings.enableParkAtJobFinished.new = 2
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end
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end
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local farmId = vehicle:getOwnerFarmId()
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if module.setActualFarmId ~= nil then module:setActualFarmId(farmId) end
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module:raiseDirtyFlag()
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local current = module:getCurrentMode()
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if current ~= nil and current.start ~= nil then
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current:start(adEnv.AutoDrive.USER_PLAYER or 1)
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else
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vehicle:startAutoDrive()
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end
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end
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local function parkMarkerId(adEnv, vehicle)
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local module = stateModule(vehicle)
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local index = module ~= nil and module.getParkDestinationAtJobFinished ~= nil and module:getParkDestinationAtJobFinished() or nil
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if index == nil or index < 1 then return nil end
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local marker = adEnv.ADGraphManager:getMapMarkerById(index)
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return marker ~= nil and marker.id or nil
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end
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local function restLoad(adEnv, vehicle)
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local ok, level = pcall(function()
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return (adEnv.AutoDrive.getAllFillLevels(adEnv.AutoDrive.getAllUnits(vehicle)))
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end)
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return ok and tonumber(level) or 0
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end
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local function vehiclePosition(vehicle)
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local x, _, z = getWorldTranslation(vehicle.rootNode)
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return x, z
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end
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local function isControlledByPlayer(vehicle)
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return (vehicle.getIsControlled ~= nil and vehicle:getIsControlled()) or false
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end
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-- ---- flåde ----
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function ADFieldJobs.getRigs(adEnv)
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local rigs = {}
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for _, vehicle in ipairs(ADRunsController.getFarmVehicles(adEnv)) do
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local role = ADFieldFleet.roleFromSpecs(ADCpBridge.getSpecs(vehicle))
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local id = ADRunsController.getVehicleId(vehicle)
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if role ~= nil and id ~= nil then
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local x, z = vehiclePosition(vehicle)
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table.insert(rigs, {
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id = id, vehicle = vehicle, role = role, label = ADRuns.vehicleLabel(vehicle),
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enabled = ADFieldJobs.state.fleet[id] == true,
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busy = ADFieldJobs.state.assignments[id] ~= nil or ADRunsController.getRunForVehicle(vehicle) ~= nil,
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controlled = isControlledByPlayer(vehicle),
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width = ADCpBridge.getWorkWidth(vehicle), x = x, z = z,
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})
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end
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end
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return rigs
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end
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-- ---- silo ----
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local function chooseStore(adEnv, field, info, vehicle)
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local fillType = field.plan.product == "hay" and info.hay or info.windrow
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local isReachable = function(markerId) return ADUnloadWait.hasRouteTo(adEnv, vehicle, markerId) end
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if #field.plan.storeBuildingIds > 0 then
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local markerIds = {}
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for _, buildingId in ipairs(field.plan.storeBuildingIds) do
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local building = ADBuildings.find(adEnv, vehicle:getOwnerFarmId(), buildingId)
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for _, marker in ipairs(building ~= nil and ADBuildings.getMarkers(building, "unload") or {}) do
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table.insert(markerIds, marker.id)
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end
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end
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return ADLoadSwap.findForcedDumpMarker(adEnv, vehicle, fillType, 1, markerIds, isReachable)
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end
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return ADLoadSwap.findDumpMarker(adEnv, vehicle, fillType, 1, info.markerId, isReachable, nil, nil, false)
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end
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-- ---- udsendelse og opfølgning ----
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local function release(assignment, phase)
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assignment.phase = phase or "released"
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ADFieldJobs.state.assignments[assignment.vehicleId] = nil
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end
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local function dispatch(adEnv, field, info, role)
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local candidates = ADFieldJobs.getRigs(adEnv)
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local rig, reason, args = ADFieldFleet.pick(candidates, role, info.x, info.z, field.mowWidth)
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if rig == nil then
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note(field.id, {reason = {key = "spu_field_reason_" .. reason, role = role, args = args}})
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return
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end
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local assignment = {vehicleId = rig.id, vehicle = rig.vehicle, fieldId = field.id, role = role, phase = "driving", since = ADFieldJobs.now, width = rig.width}
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ADFieldJobs.state.assignments[rig.id] = assignment
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startAd(adEnv, rig.vehicle, adEnv.AutoDrive.MODE_DRIVETO, info.markerId, nil, false)
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log(field.id, "%s '%s' sendt til %s (%.1f m)", role, rig.label, tostring(info.markerName), rig.width)
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note(field.id, {reason = false})
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end
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local function beginWork(adEnv, field, info, assignment)
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local vehicle = assignment.vehicle
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if assignment.role == "collector" then
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local store, why = chooseStore(adEnv, field, info, vehicle)
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if store == nil then
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release(assignment)
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note(field.id, {retryAt = ADFieldJobs.now + ADFieldModel.RETRY_MS, reason = {text = tostring(why)}})
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log(field.id, "intet lager: %s", tostring(why))
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return
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end
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assignment.storeId = store.id
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-- AD overtager ved "fuld": Hent og aflever F -> silo, hjælper = Courseplay
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local module = stateModule(vehicle)
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module:setMode(adEnv.AutoDrive.MODE_PICKUPANDDELIVER)
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module:setFirstMarkerByWayPointId(info.markerId)
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module:setSecondMarkerByWayPointId(store.id)
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module:setStartHelper(true)
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module.usedHelper = adEnv.ADStateModule ~= nil and adEnv.ADStateModule.HELPER_CP or 1
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if vehicle.ad.settings ~= nil and vehicle.ad.settings.enableParkAtJobFinished ~= nil then
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vehicle.ad.settings.enableParkAtJobFinished.current = 2
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vehicle.ad.settings.enableParkAtJobFinished.new = 2
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end
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module:raiseDirtyFlag()
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log(field.id, "læssevogn '%s' aflæsser i %s", ADRuns.vehicleLabel(vehicle), tostring(store.name))
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end
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local point = info.points[1] or {x = info.x, z = info.z}
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assignment.phase = "starting"
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assignment.since = ADFieldJobs.now
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local handle, err = ADCpBridge.start(vehicle, point.x, point.z, function(ok, reason)
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if ok then
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assignment.phase = "working"
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assignment.since = ADFieldJobs.now
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if assignment.role == "mower" then
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note(field.id, {mowWidth = assignment.width})
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end
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log(field.id, "Courseplay startet (%s)", assignment.role)
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else
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release(assignment)
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note(field.id, {retryAt = ADFieldJobs.now + ADFieldModel.RETRY_MS, reason = {text = tostring(reason)}})
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log(field.id, "Courseplay fejlede: %s", tostring(reason))
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end
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end)
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if handle == nil then
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release(assignment)
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log(field.id, "Courseplay kunne ikke startes: %s", tostring(err))
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note(field.id, {retryAt = ADFieldJobs.now + ADFieldModel.RETRY_MS, reason = {text = tostring(err)}})
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return
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end
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assignment.handle = handle
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end
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local function follow(adEnv, assignment)
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local vehicle = assignment.vehicle
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if isControlledByPlayer(vehicle) then
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if assignment.handle ~= nil then assignment.handle.cancelled = true end
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log(assignment.fieldId, "'%s' frigivet — spilleren kører det", ADRuns.vehicleLabel(vehicle))
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return release(assignment)
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end
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local field = ADFieldJobs.getField(assignment.fieldId)
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local info = ADFields.getInfo(assignment.fieldId)
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if assignment.phase == "driving" then
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if not isAdActive(vehicle) and ADFieldJobs.now - assignment.since > 2000 then
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local x, z = vehiclePosition(vehicle)
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local wayPoint = adEnv.ADGraphManager:getWayPointById(info.markerId)
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local distance = wayPoint ~= nil and math.sqrt((wayPoint.x - x) ^ 2 + (wayPoint.z - z) ^ 2) or math.huge
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if distance <= ADFieldJobs.ARRIVE_DISTANCE then
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beginWork(adEnv, field, info, assignment)
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else
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log(assignment.fieldId, "'%s' nåede ikke %s (%.0f m væk)", ADRuns.vehicleLabel(vehicle), tostring(info.markerName), distance)
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release(assignment)
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note(assignment.fieldId, {retryAt = ADFieldJobs.now + ADFieldModel.RETRY_MS,
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reason = {text = string.format("%s nåede ikke %s", ADRuns.vehicleLabel(vehicle), tostring(info.markerName))}})
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end
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end
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elseif assignment.phase == "starting" then
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if ADFieldJobs.now - assignment.since > ADFieldJobs.START_TIMEOUT_MS then
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if assignment.handle ~= nil then assignment.handle.cancelled = true end
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release(assignment)
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note(assignment.fieldId, {retryAt = ADFieldJobs.now + ADFieldModel.RETRY_MS, reason = {text = "Courseplay svarede ikke (60 s)"}})
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log(assignment.fieldId, "Courseplay svarede ikke inden 60 s")
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end
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elseif assignment.phase == "working" then
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local busy = ADCpBridge.isWorking(vehicle) or isAdActive(vehicle)
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if busy then
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assignment.idleSince = nil
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else
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assignment.idleSince = assignment.idleSince or ADFieldJobs.now
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local rest = assignment.role == "collector" and assignment.storeId ~= nil and not assignment.deliveredRest and restLoad(adEnv, vehicle) or 0
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if rest > 0 and ADFieldJobs.now - assignment.idleSince >= ADFieldJobs.IDLE_CONFIRM_MS then
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-- CP færdig med læs på: AD tømmer kun selv med parkering sat, så vi sender resten til silo
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assignment.deliveredRest = true
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assignment.idleSince = nil
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startAd(adEnv, vehicle, adEnv.AutoDrive.MODE_DELIVERTO, assignment.storeId, nil, false)
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log(assignment.fieldId, "'%s' kører rest-læs (%.0f l) til silo", ADRuns.vehicleLabel(vehicle), rest)
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elseif ADFieldJobs.now - assignment.idleSince >= ADFieldJobs.IDLE_CONFIRM_MS then
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log(assignment.fieldId, "%s '%s' færdig", assignment.role, ADRuns.vehicleLabel(vehicle))
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local park = assignment.role ~= "collector" and parkMarkerId(adEnv, vehicle) or nil
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if park ~= nil then startAd(adEnv, vehicle, adEnv.AutoDrive.MODE_DRIVETO, park, nil, false) end
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assignment.phase = "finished"
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ADFieldJobs.finished = ADFieldJobs.finished or {}
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table.insert(ADFieldJobs.finished, assignment)
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ADFieldJobs.state.assignments[assignment.vehicleId] = nil
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end
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end
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end
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end
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function ADFieldJobs.stopField(adEnv, id)
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for _, assignment in ipairs(ADFieldJobs.assignmentsFor(id)) do
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if assignment.handle ~= nil then assignment.handle.cancelled = true end
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pcall(stopAd, assignment.vehicle)
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pcall(function() if assignment.vehicle.stopCurrentAIJob ~= nil and ADCpBridge.isWorking(assignment.vehicle) then assignment.vehicle:stopCurrentAIJob(AIMessageSuccessStoppedByUser.new()) end end)
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release(assignment)
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end
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setField(ADFieldModel.stop(ADFieldJobs.getField(id)))
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ADFieldJobs.save()
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log(id, "stoppet fra menuen")
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end
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local function finishedFor(fieldId)
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local list = {}
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for _, assignment in ipairs(ADFieldJobs.finished or {}) do
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if assignment.fieldId == fieldId then table.insert(list, assignment) end
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end
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return list
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end
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local function stepField(adEnv, info)
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local field = ADFieldModel.onReadiness(ADFieldJobs.getField(info.id), info.readyRatio or 0)
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setField(field)
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local assignments = ADFieldJobs.assignmentsFor(info.id)
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for _, done in ipairs(finishedFor(info.id)) do table.insert(assignments, done) end
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local decision = ADFieldJobs.decide(field, info, assignments, ADFieldJobs.now)
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if decision.action == "start" then
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setField(ADFieldModel.start(field))
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log(info.id, "starter (%s)", field.plan.product)
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ADFieldJobs.save()
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elseif decision.action == "advance" then
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local nextField = ADFieldModel.advance(field)
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setField(nextField)
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local remaining = {}
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for _, done in ipairs(ADFieldJobs.finished or {}) do
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if done.fieldId ~= info.id then table.insert(remaining, done) end
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end
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ADFieldJobs.finished = remaining
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log(info.id, "%s -> %s", field.stage, nextField.stage)
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ADFieldJobs.save()
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elseif decision.action == "dispatch" then
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dispatch(adEnv, field, info, decision.role)
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end
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end
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function ADFieldJobs.tick(adEnv, dt)
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ADFieldJobs.now = ADFieldJobs.now + dt
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ADFieldJobs.timer = ADFieldJobs.timer + dt
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if ADFieldJobs.timer < ADFieldJobs.TICK_MS then return end
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ADFieldJobs.timer = 0
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if not ADFieldJobs.loaded then ADFieldJobs.load() end
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local farmId = g_currentMission:getFarmId()
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ADFields.scanNext(adEnv, farmId)
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for _, assignment in pairs(ADFieldJobs.state.assignments) do
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local ok, err = pcall(follow, adEnv, assignment)
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if not ok then
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Logging.warning(ADFieldJobs.LOG_PREFIX .. "F%s opfølgning fejlede: %s", tostring(assignment.fieldId), tostring(err))
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release(assignment)
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end
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end
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for _, info in ipairs(ADFields.list()) do
|
||||
if info.mowable or ADFieldModel.isWorking(ADFieldJobs.getField(info.id)) then
|
||||
local ok, err = pcall(stepField, adEnv, info)
|
||||
if not ok then Logging.warning(ADFieldJobs.LOG_PREFIX .. "F%s fejl: %s", tostring(info.id), tostring(err)) end
|
||||
end
|
||||
end
|
||||
end
|
||||
Reference in New Issue
Block a user