feat(marker): sideriver — mål hvor riven lægger skåret, forskyd læssevognen tilsvarende (v1.24.0.0)

Brugerkrav 25/9: alle river-typer skal virke. Nedlægningsområdet (runtime-felt eller riverens XML) måles i traktorens ramme mens riven arbejder; læssevognen på rivens kursus får CP-toolOffsetX = egen - skårets forskydning og får sin værdi tilbage når den slippes.
2026-09-25 23:35:42 +02:00
parent ba88eb5f99
commit cf7a2a51e5
13 changed files with 166 additions and 6 deletions
@@ -74,6 +74,68 @@ function ADCpBridge.isWorking(vehicle)
    return vehicle.getIsAIActive ~= nil and vehicle:getIsAIActive() or false
 end

+-- Courseplays værktøjsforskydning (venstre positiv) på køretøjet; den der flytter kursuslinjen.
+function ADCpBridge.getToolOffset(vehicle)
+    if vehicle == nil or vehicle.getCpSettings == nil then return 0 end
+    local ok, value = pcall(function() return vehicle:getCpSettings().toolOffsetX:getValue() end)
+    return ok and type(value) == "number" and value or 0
+end
+
+function ADCpBridge.setToolOffset(vehicle, value)
+    if vehicle == nil or vehicle.getCpSettings == nil then return false end
+    return (pcall(function() vehicle:getCpSettings().toolOffsetX:setFloatValue(value) end))
+end
+
+-- Riverens XML: workArea-nr (1-baseret) -> dropWindrowWorkAreaIndex. Bruges når spillet ikke har feltet
+-- på workArea-tabellen. Cachet pr. fil.
+ADCpBridge.dropIndexCache = {}
+function ADCpBridge.readDropIndicesFromXml(fileName)
+    if ADCpBridge.dropIndexCache[fileName] ~= nil then return ADCpBridge.dropIndexCache[fileName] end
+    local indices = {}
+    local ok = pcall(function()
+        local xmlFile = XMLFile.load("adspuRake", fileName)
+        if xmlFile == nil then return end
+        local position = 0
+        xmlFile:iterate("vehicle.workAreas.workArea", function(_, key)
+            position = position + 1
+            local dropIndex = xmlFile:getInt(key .. ".windrower#dropWindrowWorkAreaIndex")
+            if dropIndex ~= nil then indices[position] = dropIndex end
+        end)
+        xmlFile:delete()
+    end)
+    if not ok then indices = {} end
+    ADCpBridge.dropIndexCache[fileName] = indices
+    return indices
+end
+
+-- Hvor langt til venstre (positiv) for rivens kursuslinje skåret lægges: midten af nedlægningsområdet i
+-- traktorens ramme minus rivens egen CP-forskydning. Midterrive ≈ 0, siderive fx 3 m. nil = ingen river.
+function ADCpBridge.getWindrowOffset(vehicle)
+    local root = vehicle.rootNode
+    local sum, count = 0, 0
+    for _, object in ipairs(collect(vehicle)) do
+        local areas = object.spec_windrower ~= nil and object.spec_workArea ~= nil and object.spec_workArea.workAreas or nil
+        if areas ~= nil then
+            local fromXml = nil
+            for position, workArea in ipairs(areas) do
+                local dropIndex = workArea.dropWindrowWorkAreaIndex
+                if dropIndex == nil and object.configFileName ~= nil then
+                    fromXml = fromXml or ADCpBridge.readDropIndicesFromXml(object.configFileName)
+                    dropIndex = fromXml[position]
+                end
+                local drop = dropIndex ~= nil and areas[dropIndex] or nil
+                if drop ~= nil and drop.width ~= nil and drop.height ~= nil then
+                    local widthX = localToLocal(drop.width, root, 0, 0, 0)
+                    local heightX = localToLocal(drop.height, root, 0, 0, 0)
+                    sum, count = sum + (widthX + heightX) / 2, count + 1
+                end
+            end
+        end
+    end
+    if count == 0 then return nil end
+    return sum / count - ADCpBridge.getToolOffset(vehicle)
+end
+
 -- Køretøjets nuværende Courseplay-kursus (slåmaskinens kursus genbruges af de næste trin).
 function ADCpBridge.getCourse(vehicle)
    if vehicle == nil or vehicle.getFieldWorkCourse == nil then return nil end
@@ -11,6 +11,8 @@ ADFieldJobs.ARRIVE_DISTANCE = 30
 ADFieldJobs.IDLE_CONFIRM_MS = 5000
 ADFieldJobs.START_TIMEOUT_MS = 60000
 ADFieldJobs.PLAYER_DRIVING_KMH = 3
+-- riven skal være udfoldet og i gang, før nedlægningsområdet måles
+ADFieldJobs.WINDROW_MEASURE_MS = 10000
 -- Courseplay kan efterlade hjørner på skæve marker: efter så mange færdige slå-ture går marken videre.
 ADFieldJobs.MAX_MOW_PASSES = 2
 ADFieldJobs.state = {fields = {}, fleet = {}, assignments = {}}
@@ -239,7 +241,16 @@ local function forgetFinished(fieldId)
    ADFieldJobs.finished = remaining
 end

+-- Læssevognens oprindelige CP-forskydning sættes tilbage, når mod'en slipper den.
+local function restoreToolOffset(assignment)
+    if assignment.restoreToolOffset ~= nil then
+        ADCpBridge.setToolOffset(assignment.vehicle, assignment.restoreToolOffset)
+        assignment.restoreToolOffset = nil
+    end
+end
+
 local function release(assignment, phase)
+    restoreToolOffset(assignment)
    assignment.phase = phase or "released"
    ADFieldJobs.state.assignments[assignment.vehicleId] = nil
 end
@@ -317,6 +328,15 @@ local function beginWork(adEnv, field, info, assignment)
    if source ~= nil and course == nil then
        log(field.id, "intet %s-kursus kendt — Courseplay laver et nyt kursus til %s", source, assignment.role)
    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 handle, err = ADCpBridge.start(vehicle, point.x, point.z, function(ok, reason)
        if ok then
            assignment.phase = "working"
@@ -382,6 +402,12 @@ local function follow(adEnv, assignment)
            log(assignment.fieldId, "Courseplay svarede ikke inden 60 s")
        end
    elseif assignment.phase == "working" then
+        if assignment.role == "rake" and field.windrowOffset == nil and ADFieldJobs.now - assignment.since >= ADFieldJobs.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
        local busy = ADCpBridge.isWorking(vehicle) or isAdActive(vehicle)
        if busy then
            assignment.idleSince = nil
@@ -398,6 +424,7 @@ local function follow(adEnv, assignment)
                log(assignment.fieldId, "%s '%s' færdig", assignment.role, ADRuns.vehicleLabel(vehicle))
                local park = assignment.role ~= "collector" and parkMarkerId(adEnv, vehicle) or nil
                if park ~= nil then startAd(adEnv, vehicle, adEnv.AutoDrive.MODE_DRIVETO, park, nil, false) end
+                restoreToolOffset(assignment)
                assignment.phase = "finished"
                ADFieldJobs.finished = ADFieldJobs.finished or {}
                table.insert(ADFieldJobs.finished, assignment)
@@ -11,6 +11,7 @@ ADFieldModel.CP_MAX_WIDTH = 50
 ADFieldModel.WIDTH_TOLERANCE = 0.05
 ADFieldModel.RETRY_MS = 300000
 ADFieldModel.MAX_COLLECTORS = 2
+ADFieldModel.CP_MAX_TOOL_OFFSET = 10

 ADFieldModel.ROLES = {mowing = "mower", tedding = "tedder", raking = "rake", collecting = "collector"}
 local KNOWN_STAGES = {idle = true, ready = true, mowing = true, tedding = true, raking = true, collecting = true, done = true}
@@ -110,6 +111,7 @@ function ADFieldModel.start(field)
    copy.mowWidth = nil
    copy.mowVehicleId = nil
    copy.rakeVehicleId = nil
+    copy.windrowOffset = nil
    return copy
 end

@@ -169,6 +171,13 @@ function ADFieldModel.with(field, changes)
    return copy
 end

+-- Læssevognens Courseplay-forskydning når den kører rivens kursus: pickuppen skal ligge over skåret, der
+-- ligger windrowOffset m til venstre (positiv) for rivens kursuslinje. Courseplay tillader ±10 m.
+function ADFieldModel.collectorOffset(ownOffset, windrowOffset)
+    local offset = (ownOffset or 0) - (windrowOffset or 0)
+    return math.max(-ADFieldModel.CP_MAX_TOOL_OFFSET, math.min(ADFieldModel.CP_MAX_TOOL_OFFSET, offset))
+end
+
 function ADFieldModel.toRecord(field)
    return {
        id = field.id, stage = field.stage, mode = field.plan.mode, product = field.plan.product,
@@ -176,6 +185,7 @@ function ADFieldModel.toRecord(field)
        mowWidth = field.mowWidth or 0,
        mowVehicle = field.mowVehicleId or "",
        rakeVehicle = field.rakeVehicleId or "",
+        windrowOffset = field.windrowOffset ~= nil and string.format("%.2f", field.windrowOffset) or "",
    }
 end

@@ -189,5 +199,6 @@ function ADFieldModel.fromRecord(record)
    field.mowWidth = (record.mowWidth or 0) > 0 and record.mowWidth or nil
    field.mowVehicleId = record.mowVehicle ~= nil and record.mowVehicle ~= "" and record.mowVehicle or nil
    field.rakeVehicleId = record.rakeVehicle ~= nil and record.rakeVehicle ~= "" and record.rakeVehicle or nil
+    field.windrowOffset = tonumber(record.windrowOffset)
    return field
 end
@@ -30,6 +30,7 @@ function ADFieldStorage.save(state)
        xmlFile:setFloat(key .. "#mowWidth", record.mowWidth)
        xmlFile:setString(key .. "#mowVehicle", record.mowVehicle)
        xmlFile:setString(key .. "#rakeVehicle", record.rakeVehicle)
+        xmlFile:setString(key .. "#windrowOffset", record.windrowOffset)
        index = index + 1
    end
    local vehicleIndex = 0
@@ -55,6 +56,7 @@ function ADFieldStorage.load()
            rake = xmlFile:getInt(key .. "#rake"), store = xmlFile:getString(key .. "#store"),
            mowWidth = xmlFile:getFloat(key .. "#mowWidth"), mowVehicle = xmlFile:getString(key .. "#mowVehicle"),
            rakeVehicle = xmlFile:getString(key .. "#rakeVehicle"),
+            windrowOffset = xmlFile:getString(key .. "#windrowOffset"),
        })
        if field.id ~= nil then result.fields[field.id] = field end
    end)
@@ -111,6 +111,10 @@ function SmartPickupFrame:fillFieldDetail(adEnv, info)
    if field.mowWidth ~= nil then
        self:addTextRow(string.format(i18n:getText("spu_field_mowWidth"), field.mowWidth))
    end
+    if field.plan.rake and field.windrowOffset ~= nil then
+        self:addTextRow(string.format(i18n:getText("spu_field_windrowOffset"), math.abs(field.windrowOffset),
+            i18n:getText(math.abs(field.windrowOffset) <= 0.05 and "spu_field_side_center" or (field.windrowOffset > 0 and "spu_field_side_left" or "spu_field_side_right"))))
+    end
    self:fillFieldStoreRows(adEnv, info, field)
 end

@@ -87,6 +87,10 @@
        <text name="spu_field_noRigs" text="ingen køretøjer med slåmaskine, vender, river eller læssevogn"/>
        <text name="spu_field_status" text="Marker i gang: %d af %d"/>
        <text name="spu_field_startRequested" text="F%d startes, når en maskine er ledig"/>
+        <text name="spu_field_windrowOffset" text="    Riven lægger skåret %.1f m %s — læssevognen forskydes tilsvarende"/>
+        <text name="spu_field_side_center" text="i midten"/>
+        <text name="spu_field_side_left" text="til venstre"/>
+        <text name="spu_field_side_right" text="til højre"/>
        <text name="spu_button_start" text="Start run"/>
        <text name="spu_button_stop" text="Stop run"/>
        <text name="spu_button_new" text="Nyt run"/>
@@ -87,6 +87,10 @@
        <text name="spu_field_noRigs" text="no vehicles with mower, tedder, rake or loading wagon"/>
        <text name="spu_field_status" text="Fields in progress: %d of %d"/>
        <text name="spu_field_startRequested" text="F%d starts when a machine is free"/>
+        <text name="spu_field_windrowOffset" text="    The rake drops the swath %.1f m %s — the loading wagon is offset to match"/>
+        <text name="spu_field_side_center" text="in the middle"/>
+        <text name="spu_field_side_left" text="to the left"/>
+        <text name="spu_field_side_right" text="to the right"/>
        <text name="spu_button_start" text="Start run"/>
        <text name="spu_button_stop" text="Stop run"/>
        <text name="spu_button_new" text="New run"/>
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8" standalone="no"?>
 <modDesc descVersion="107">
    <author>masterdraco</author>
-    <version>1.23.0.0</version>
+    <version>1.24.0.0</version>
    <title>
        <en>AD Smart Pickup</en>
    </title>