feat(marker): job-løkke delt i adFieldJobs (beslutning) + adFieldWork (udsendelse) — høst m. aflæsningsvogne, klargøring, pleje, multi-tool
This commit is contained in:
@@ -0,0 +1,561 @@
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-- AD Field Work
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-- Udsendelse og opfølgning af markflådens sæt: AutoDrive kører sættet til markens F-markør, derfra starter
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-- Courseplay arbejdet (eget kursus, kopieret kursus eller multi-tool-bane), og når det er færdigt kører
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-- sættet hjem. Læssevogne tømmes af AutoDrive (Hent og aflever), aflæsningsvogne under høst er Courseplays
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-- combine-unloader. Beslutningen om HVAD der sendes ud ligger i ADFieldJobs.decide.
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ADFieldWork = {}
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ADFieldWork.ARRIVE_DISTANCE = 30
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ADFieldWork.IDLE_CONFIRM_MS = 5000
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ADFieldWork.START_TIMEOUT_MS = 60000
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ADFieldWork.COURSE_WAIT_MS = 180000
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ADFieldWork.PLAYER_DRIVING_KMH = 3
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-- riven skal være udfoldet og i gang, før nedlægningsområdet måles
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ADFieldWork.WINDROW_MEASURE_MS = 10000
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local function log(...) ADFieldJobs.log(...) end
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local function note(...) ADFieldJobs.note(...) end
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local function now() return ADFieldJobs.now 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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-- Parkerede køretøjer SOVER i FS25 (motoren kalder ikke onUpdate), så AutoDrives køreopgave står stille,
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-- til nogen vækker dem (in-game 25/9). Samme greb som flows (applyAndStart) + raiseActive fra AI-Bonden.
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local function wake(vehicle, kick)
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if vehicle.raiseActive ~= nil then vehicle:raiseActive() end
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if kick and vehicle.isServer and SpecializationUtil ~= nil and SpecializationUtil.raiseEvent ~= nil then
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SpecializationUtil.raiseEvent(vehicle, "onUpdate", 16, false, false, false)
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end
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end
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local function enableParkAtJobFinished(vehicle)
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local setting = vehicle.ad.settings ~= nil and vehicle.ad.settings.enableParkAtJobFinished or nil
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if setting ~= nil then
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setting.current = 2
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setting.new = 2
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end
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end
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local function helperCp(adEnv)
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return adEnv.ADStateModule ~= nil and adEnv.ADStateModule.HELPER_CP or 1
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end
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local function startAd(adEnv, vehicle, mode, firstId, secondId)
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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(false)
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if module.setActualFarmId ~= nil then module:setActualFarmId(vehicle:getOwnerFarmId()) 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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wake(vehicle, true)
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end
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-- AD-parkering: sidder på redskabet og kopieres af AD til traktorens stateModule (markør-INDEKS).
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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 ADFieldWork.getRigs(adEnv)
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local rigs = {}
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local state = ADFieldJobs.state
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for _, vehicle in ipairs(ADRunsController.getFarmVehicles(adEnv)) do
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local specs = ADCpBridge.getSpecs(vehicle)
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local role = ADFieldFleet.roleFromSpecs(specs)
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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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local rig = {
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id = id, vehicle = vehicle, role = role, label = ADRuns.vehicleLabel(vehicle),
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enabled = state.fleet[id] == true,
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-- optaget: vores egen opgave, et Smart Pickup-flow, eller AutoDrive/Courseplay kører den allerede
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-- (fx spillerens egen parkeringstur) — den må ikke kapres midt i en anden kørsel
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busy = state.assignments[id] ~= nil or ADRunsController.getRunForVehicle(vehicle) ~= nil
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or isAdActive(vehicle) or ADCpBridge.isWorking(vehicle),
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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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if role == "harvester" then rig.fruits = ADCpBridge.getHarvestFruits(vehicle) or {} end
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if role == "seeder" then
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rig.seedFruits = ADCpBridge.getSeedFruits(vehicle)
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rig.hasSeeds = ADCpBridge.hasSeeds(vehicle)
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end
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if role == "weeder" then rig.mechanical = ADCpBridge.isMechanicalWeeder(vehicle) end
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table.insert(rigs, rig)
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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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-- ---- lager ----
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-- Gårdens gæringssiloer for markens skår, nærmest marken først (produktioner skår -> SILAGE).
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function ADFieldWork.getFermenters(adEnv, farmId, windrowFillType, x, z)
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local silage = g_fillTypeManager ~= nil and g_fillTypeManager:getFillTypeIndexByName("SILAGE") or nil
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local result = {}
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for _, building in ipairs(ADBuildings.list(adEnv, farmId)) do
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local spec = building.kind == "factory" and building.placeable ~= nil and building.placeable.spec_productionPoint or nil
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local point = spec ~= nil and spec.productionPoint or nil
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if point ~= nil and ADFieldModel.isFermenter(point.productions, windrowFillType, silage) then
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local bx, _, bz = getWorldTranslation(building.placeable.rootNode)
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table.insert(result, {building = building, distance = (bx - (x or bx)) ^ 2 + (bz - (z or bz)) ^ 2})
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end
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end
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table.sort(result, function(a, b) return a.distance < b.distance end)
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local buildings = {}
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for _, entry in ipairs(result) do table.insert(buildings, entry.building) end
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return buildings
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end
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local function unloadMarkerIds(buildings)
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local markerIds = {}
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for _, building in ipairs(buildings) do
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for _, marker in ipairs(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 markerIds
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end
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-- Hvilken vare markens trin fører til lager: skår (ensilage), tørskår (hø) eller høstet afgrøde.
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function ADFieldWork.storeFillType(field, info)
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if field.stage == "harvesting" then return info.harvestFillType end
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local product = ADFieldModel.product(field.plan, field.kind or info.kind)
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return product == "hay" and info.hay or info.windrow
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end
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-- Tvunget lager -> de valgte; ensilage -> gæringssiloer før almindelige siloer (in-game 25/9: græs endte
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-- i en Farma-silo); hø og høst -> kun siloer (gæringssiloer laver også hø om til ensilage).
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function ADFieldWork.chooseStore(adEnv, field, info, vehicle, fillType)
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local isReachable = function(markerId) return ADUnloadWait.hasRouteTo(adEnv, vehicle, markerId) end
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local farmId = vehicle:getOwnerFarmId()
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if #field.plan.storeBuildingIds > 0 then
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local buildings = {}
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for _, buildingId in ipairs(field.plan.storeBuildingIds) do
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local building = ADBuildings.find(adEnv, farmId, buildingId)
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if building ~= nil then table.insert(buildings, building) end
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end
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return ADLoadSwap.findForcedDumpMarker(adEnv, vehicle, fillType, 1, unloadMarkerIds(buildings), isReachable)
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end
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local product = ADFieldModel.product(field.plan, field.kind or info.kind)
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if field.stage == "collecting" and product == "silage" then
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local fermenters = ADFieldWork.getFermenters(adEnv, farmId, fillType, info.x, info.z)
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if #fermenters > 0 then
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local store, why = ADLoadSwap.findForcedDumpMarker(adEnv, vehicle, fillType, 1, unloadMarkerIds(fermenters), isReachable)
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if store ~= nil then return store end
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log(field.id, "ingen gæringssilo kan tage græsset (%s) — bruger almindelig silo", tostring(why))
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end
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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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-- ---- kurser ----
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local function coursesOf(fieldId)
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ADFieldJobs.courses[fieldId] = ADFieldJobs.courses[fieldId] or {}
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return ADFieldJobs.courses[fieldId]
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end
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-- Kurset et trin skal genbruge ("mower"/"rake"): gemt kopi, ellers maskinens nuværende kursus.
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local function sourceCourse(adEnv, field, source)
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local saved = coursesOf(field.id)[source]
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if saved ~= nil then return saved end
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local vehicleId = source == "rake" and field.rakeVehicleId or field.mowVehicleId
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if vehicleId == nil then return nil end
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for _, vehicle in ipairs(ADRunsController.getFarmVehicles(adEnv)) do
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if ADRunsController.getVehicleId(vehicle) == vehicleId then return ADCpBridge.getCourse(vehicle) end
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end
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return nil
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end
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local function copyCourse(course)
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if course ~= nil and course.copy ~= nil then
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local ok, copy = pcall(course.copy, course)
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if ok and copy ~= nil then return copy end
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end
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return course
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end
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local function rememberCourse(field, key, vehicle)
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coursesOf(field.id)[key] = copyCourse(ADCpBridge.getCourse(vehicle))
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end
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-- ---- udsendelse ----
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local function restoreToolOffset(assignment)
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if assignment.restoreToolOffset ~= nil then
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ADCpBridge.setToolOffset(assignment.vehicle, assignment.restoreToolOffset)
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assignment.restoreToolOffset = nil
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end
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end
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function ADFieldWork.release(assignment, phase)
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restoreToolOffset(assignment)
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if assignment.handle ~= nil then assignment.handle.cancelled = true end
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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 fail(fieldId, text)
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note(fieldId, {retryAt = now() + ADFieldModel.RETRY_MS, reason = {text = tostring(text)}})
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log(fieldId, "%s", tostring(text))
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end
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-- Hvad et sæt skal kunne ud over rollen (afgrøde, frø, ukrudtets størrelse).
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local function acceptFor(field, info, role)
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if role == "harvester" then
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local fruit = info.fruitIndex
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return function(candidate) return fruit ~= nil and candidate.fruits ~= nil and candidate.fruits[fruit] == true end
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elseif role == "seeder" then
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local fruitIndex = ADFieldWork.sowFruitIndex(field)
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return function(candidate) return candidate.hasSeeds and fruitIndex ~= nil and candidate.seedFruits[fruitIndex] == true end
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elseif role == "weeder" then
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local large = (info.weed or 0) > ADFieldModel.WEED_MECHANICAL_MAX
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return function(candidate) return not (large and candidate.mechanical) end
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end
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return nil
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end
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function ADFieldWork.sowFruitIndex(field)
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local name = ADFieldModel.sowFruit(field)
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if name == nil or g_fruitTypeManager == nil then return nil end
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local fruit = g_fruitTypeManager:getFruitTypeByName(name)
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return fruit ~= nil and fruit.index or nil
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end
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-- Kan trinnet overhovedet begynde? (såning: afgrøde valgt og i såperioden)
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local function preflight(field, role)
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if role == "seeder" then
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local fruitIndex = ADFieldWork.sowFruitIndex(field)
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if fruitIndex == nil then return false, {key = "spu_field_reason_noSowFruit"} end
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if not ADCpBridge.isPlantableNow(fruitIndex) then
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return false, {key = "spu_field_reason_notPlantable", name = ADFieldModel.sowFruit(field)}
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end
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end
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return true
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end
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function ADFieldWork.dispatch(adEnv, field, info, decision)
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local role = decision.role
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local ok, reason = preflight(field, role)
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if not ok then
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note(field.id, {retryAt = now() + ADFieldModel.RETRY_MS, reason = reason})
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return
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end
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local candidates = ADFieldWork.getRigs(adEnv)
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local required = ADFieldModel.requiredWidth(field, role)
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local accept = acceptFor(field, info, role)
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local rigs, why, args
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if (decision.count or 1) > 1 then
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rigs, why, args = ADFieldFleet.pickMany(candidates, role, decision.count, info.x, info.z, required, accept)
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else
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local rig
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rig, why, args = ADFieldFleet.pick(candidates, role, info.x, info.z, required, accept)
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rigs = rig ~= nil and {rig} or nil
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end
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if rigs == nil then
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note(field.id, {reason = {key = "spu_field_reason_" .. tostring(why), role = role, args = args}})
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return
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end
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local count = #rigs
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local lanes = ADFieldModel.lanePositions(count)
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for index, rig in ipairs(rigs) do
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local assignment = {
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vehicleId = rig.id, vehicle = rig.vehicle, fieldId = field.id, role = role, stage = field.stage,
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helper = decision.helper == true, phase = "driving", since = now(), width = rig.width,
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groupSize = decision.helper and 1 or count, lane = count > 1 and lanes[index] or nil, leader = index == 1,
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fillType = decision.helper and info.harvestFillType or nil,
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}
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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)
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log(field.id, "%s '%s' sendt til %s (%.1f m%s)", role, rig.label, tostring(info.markerName), rig.width or 0,
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assignment.lane ~= nil and string.format(", bane %d", assignment.lane) or "")
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end
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note(field.id, {reason = false})
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end
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-- Læssevogn: AutoDrive overtager ved "fuld" (Hent og aflever F -> lager, hjælper = Courseplay).
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local function prepareCollector(adEnv, field, info, assignment)
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local vehicle = assignment.vehicle
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local store, why = ADFieldWork.chooseStore(adEnv, field, info, vehicle, ADFieldWork.storeFillType(field, info))
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if store == nil then
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ADFieldWork.release(assignment)
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fail(field.id, "intet lager: " .. tostring(why))
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return false
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end
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assignment.storeId = store.id
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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 = helperCp(adEnv)
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enableParkAtJobFinished(vehicle)
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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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return true
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end
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-- Aflæsningsvogn under høst: Courseplays combine-unloader med stationen fra silovalget.
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local function beginUnloader(adEnv, field, info, assignment)
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local vehicle = assignment.vehicle
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local fillType = assignment.fillType or info.harvestFillType
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local store, why = ADFieldWork.chooseStore(adEnv, field, info, vehicle, fillType)
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if store == nil then
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ADFieldWork.release(assignment)
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fail(field.id, "intet lager til høsten: " .. tostring(why))
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return
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end
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assignment.storeId = store.id
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local station = ADSmartPickup.getUnloadStationAtWayPointId(adEnv, store.id, vehicle:getOwnerFarmId())
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local markerPoint = adEnv.ADGraphManager:getWayPointById(info.markerId)
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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 = now()
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local handle, err = ADCpBridge.startUnloader(vehicle, point.x, point.z, markerPoint ~= nil and markerPoint.x or point.x,
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markerPoint ~= nil and markerPoint.z or point.z, station, function(ok, reason)
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if ok then
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assignment.phase = "working"
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assignment.since = now()
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log(field.id, "aflæsningsvogn '%s' følger høsteren -> %s", ADRuns.vehicleLabel(vehicle), tostring(store.name))
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else
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ADFieldWork.release(assignment)
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fail(field.id, "aflæsningsvogn: " .. tostring(reason))
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end
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end)
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if handle == nil then
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ADFieldWork.release(assignment)
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fail(field.id, "aflæsningsvogn: " .. 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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-- Multi-tool: følgere venter på lederens kursus for trinnet og kopierer det med deres bane.
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local function courseOptions(adEnv, field, assignment)
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local source = ADFieldModel.courseSource(field, assignment.role)
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if source ~= nil then
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local course = sourceCourse(adEnv, field, source)
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if course == nil then
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log(field.id, "intet %s-kursus kendt — Courseplay laver et nyt kursus til %s", source, assignment.role)
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end
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return {course = course, lane = assignment.lane}, source
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end
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if (assignment.groupSize or 1) > 1 then
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if assignment.leader then
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return {multiTools = assignment.groupSize, lane = assignment.lane}, nil
|
||||
end
|
||||
local shared = coursesOf(field.id)[field.stage]
|
||||
if shared == nil then return nil, nil end
|
||||
return {course = shared, lane = assignment.lane}, "multi"
|
||||
end
|
||||
return {}, nil
|
||||
end
|
||||
|
||||
local function beginWork(adEnv, field, info, assignment)
|
||||
local vehicle = assignment.vehicle
|
||||
if assignment.role == "unloader" then return beginUnloader(adEnv, field, info, assignment) end
|
||||
local opts, source = courseOptions(adEnv, field, assignment)
|
||||
if opts == nil then
|
||||
-- følger uden lederens kursus endnu
|
||||
if assignment.phase ~= "waitingCourse" then
|
||||
assignment.phase = "waitingCourse"
|
||||
assignment.since = now()
|
||||
end
|
||||
return
|
||||
end
|
||||
if assignment.role == "collector" and not prepareCollector(adEnv, field, info, assignment) then return end
|
||||
if assignment.role == "seeder" then
|
||||
local okSeed, seedError = ADCpBridge.setSeedFruit(vehicle, ADFieldWork.sowFruitIndex(field))
|
||||
if not okSeed then
|
||||
ADFieldWork.release(assignment)
|
||||
fail(field.id, "såmaskine: " .. tostring(seedError))
|
||||
return
|
||||
end
|
||||
end
|
||||
if source == "rake" and field.windrowOffset ~= nil and math.abs(field.windrowOffset) > 0.05 then
|
||||
local own = ADCpBridge.getToolOffset(vehicle)
|
||||
local target = ADFieldModel.collectorOffset(own, field.windrowOffset)
|
||||
if ADCpBridge.setToolOffset(vehicle, target) then
|
||||
assignment.restoreToolOffset = own
|
||||
log(field.id, "skår ligger %.1f m %s for rivens linje -> læssevognens forskydning %.1f m (var %.1f m)",
|
||||
math.abs(field.windrowOffset), field.windrowOffset > 0 and "til venstre" or "til højre", target, own)
|
||||
end
|
||||
end
|
||||
local point = info.points[1] or {x = info.x, z = info.z}
|
||||
assignment.phase = "starting"
|
||||
assignment.since = now()
|
||||
local handle, err = ADCpBridge.start(vehicle, point.x, point.z, function(ok, reason)
|
||||
if ok then
|
||||
assignment.phase = "working"
|
||||
assignment.since = now()
|
||||
if assignment.role == "mower" then
|
||||
note(field.id, {mowWidth = assignment.width, mowVehicleId = assignment.vehicleId})
|
||||
rememberCourse(field, "mower", vehicle)
|
||||
elseif assignment.role == "rake" then
|
||||
note(field.id, {rakeVehicleId = assignment.vehicleId})
|
||||
rememberCourse(field, "rake", vehicle)
|
||||
end
|
||||
if assignment.leader and (assignment.groupSize or 1) > 1 then
|
||||
rememberCourse(field, field.stage, vehicle)
|
||||
end
|
||||
log(field.id, "Courseplay startet (%s%s%s)", assignment.role,
|
||||
reason == "copied" and (", " .. tostring(source) .. "-kursus kopieret") or "",
|
||||
assignment.lane ~= nil and string.format(", bane %d", assignment.lane) or "")
|
||||
else
|
||||
ADFieldWork.release(assignment)
|
||||
fail(field.id, "Courseplay fejlede: " .. tostring(reason))
|
||||
end
|
||||
end, opts)
|
||||
if handle == nil then
|
||||
ADFieldWork.release(assignment)
|
||||
fail(field.id, "Courseplay kunne ikke startes: " .. tostring(err))
|
||||
return
|
||||
end
|
||||
assignment.handle = handle
|
||||
end
|
||||
|
||||
-- Sættet er færdigt: rest til lager (læsse-/aflæsningsvogn), ellers parkering.
|
||||
local function finishAssignment(adEnv, assignment)
|
||||
local vehicle = assignment.vehicle
|
||||
log(assignment.fieldId, "%s '%s' færdig", assignment.role, ADRuns.vehicleLabel(vehicle))
|
||||
-- læssevognen parkeres af AutoDrive selv (onCpFinished med parkering sat)
|
||||
local park = assignment.role ~= "collector" and parkMarkerId(adEnv, vehicle) or nil
|
||||
if park ~= nil then startAd(adEnv, vehicle, adEnv.AutoDrive.MODE_DRIVETO, park, nil) end
|
||||
restoreToolOffset(assignment)
|
||||
assignment.phase = "finished"
|
||||
table.insert(ADFieldJobs.finished, assignment)
|
||||
ADFieldJobs.state.assignments[assignment.vehicleId] = nil
|
||||
end
|
||||
|
||||
local function followWorking(adEnv, field, assignment)
|
||||
local vehicle = assignment.vehicle
|
||||
if assignment.role == "rake" and field.windrowOffset == nil and now() - assignment.since >= ADFieldWork.WINDROW_MEASURE_MS
|
||||
and ADCpBridge.isWorking(vehicle) then
|
||||
local offset = ADCpBridge.getWindrowOffset(vehicle)
|
||||
note(assignment.fieldId, {windrowOffset = offset or 0})
|
||||
log(assignment.fieldId, offset ~= nil and "river lægger skåret %.1f m fra sin kursuslinje (venstre +)" or "river: nedlægningsområde ikke fundet — regner med midten (%.1f m)", offset or 0)
|
||||
end
|
||||
if ADCpBridge.isWorking(vehicle) or isAdActive(vehicle) then
|
||||
assignment.idleSince = nil
|
||||
return
|
||||
end
|
||||
assignment.idleSince = assignment.idleSince or now()
|
||||
if now() - assignment.idleSince < ADFieldWork.IDLE_CONFIRM_MS then return end
|
||||
local rest = assignment.storeId ~= nil and not assignment.deliveredRest and restLoad(adEnv, vehicle) or 0
|
||||
if rest > 0 then
|
||||
-- CP færdig/stoppet med læs på: AD tømmer kun selv med parkering sat, så vi sender resten til lager
|
||||
assignment.deliveredRest = true
|
||||
assignment.idleSince = nil
|
||||
startAd(adEnv, vehicle, adEnv.AutoDrive.MODE_DELIVERTO, assignment.storeId, nil)
|
||||
log(assignment.fieldId, "'%s' kører rest-læs (%.0f l) til lager", ADRuns.vehicleLabel(vehicle), rest)
|
||||
return
|
||||
end
|
||||
finishAssignment(adEnv, assignment)
|
||||
end
|
||||
|
||||
function ADFieldWork.follow(adEnv, assignment)
|
||||
local vehicle = assignment.vehicle
|
||||
-- Kun når spilleren selv KØRER (bevæger sig uden Courseplay/AutoDrive) slippes sættet — at sidde i
|
||||
-- førersædet og kigge må ikke slippe det (in-game 25/9).
|
||||
local steeredByAi = ADCpBridge.isWorking(vehicle) or isAdActive(vehicle) or assignment.phase == "starting"
|
||||
local speed = vehicle.getLastSpeed ~= nil and vehicle:getLastSpeed() or 0
|
||||
if isControlledByPlayer(vehicle) and not steeredByAi and speed > ADFieldWork.PLAYER_DRIVING_KMH then
|
||||
log(assignment.fieldId, "'%s' frigivet — spilleren kører det", ADRuns.vehicleLabel(vehicle))
|
||||
return ADFieldWork.release(assignment)
|
||||
end
|
||||
local field = ADFieldJobs.getField(assignment.fieldId)
|
||||
local info = ADFields.getInfo(assignment.fieldId)
|
||||
wake(vehicle)
|
||||
if assignment.phase == "driving" then
|
||||
if not isAdActive(vehicle) and now() - assignment.since > 2000 then
|
||||
local x, z = vehiclePosition(vehicle)
|
||||
local wayPoint = info ~= nil and adEnv.ADGraphManager:getWayPointById(info.markerId) or nil
|
||||
local distance = wayPoint ~= nil and math.sqrt((wayPoint.x - x) ^ 2 + (wayPoint.z - z) ^ 2) or math.huge
|
||||
if distance <= ADFieldWork.ARRIVE_DISTANCE then
|
||||
beginWork(adEnv, field, info, assignment)
|
||||
else
|
||||
ADFieldWork.release(assignment)
|
||||
fail(assignment.fieldId, string.format("%s nåede ikke %s (%.0f m væk)", ADRuns.vehicleLabel(vehicle), tostring(info ~= nil and info.markerName or "?"), distance))
|
||||
end
|
||||
end
|
||||
elseif assignment.phase == "waitingCourse" then
|
||||
if now() - assignment.since > ADFieldWork.COURSE_WAIT_MS then
|
||||
ADFieldWork.release(assignment)
|
||||
fail(assignment.fieldId, "multi-tool: lederens kursus kom ikke (3 min)")
|
||||
elseif coursesOf(field.id)[field.stage] ~= nil then
|
||||
beginWork(adEnv, field, info, assignment)
|
||||
end
|
||||
elseif assignment.phase == "starting" then
|
||||
if now() - assignment.since > ADFieldWork.START_TIMEOUT_MS then
|
||||
ADFieldWork.release(assignment)
|
||||
fail(assignment.fieldId, "Courseplay svarede ikke (60 s)")
|
||||
end
|
||||
elseif assignment.phase == "working" then
|
||||
followWorking(adEnv, field, assignment)
|
||||
end
|
||||
end
|
||||
|
||||
-- Høsten er færdig: aflæsningsvognene stoppes; har de rest, kører den til lager, ellers parkering.
|
||||
function ADFieldWork.windDownHelpers(adEnv, fieldId, stage)
|
||||
for _, assignment in ipairs(ADFieldJobs.assignmentsFor(fieldId)) do
|
||||
if assignment.helper and assignment.stage == stage then
|
||||
if assignment.handle ~= nil then assignment.handle.cancelled = true end
|
||||
ADCpBridge.stop(assignment.vehicle)
|
||||
assignment.phase = "working"
|
||||
assignment.idleSince = nil
|
||||
log(fieldId, "aflæsningsvogn '%s' stoppes — høsten er færdig", ADRuns.vehicleLabel(assignment.vehicle))
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
function ADFieldWork.stopAll(adEnv, fieldId)
|
||||
for _, assignment in ipairs(ADFieldJobs.assignmentsFor(fieldId)) do
|
||||
pcall(stopAd, assignment.vehicle)
|
||||
ADCpBridge.stop(assignment.vehicle)
|
||||
ADFieldWork.release(assignment)
|
||||
end
|
||||
end
|
||||
Reference in New Issue
Block a user