feat(kobling): Connect-markører — traktor der kører AD 'Kør til' en 'Connect <navn>'-markør kobler redskabet bag sig på ved ankomst; ADHitch.fetch til flows, konsol spuConnect (v1.46.0.0)

2026-09-28 17:07:07 +02:00
parent 5a715bc3e9
commit fde3fd4399
4 changed files with 236 additions and 1 deletions
@@ -0,0 +1,182 @@
+-- AD Hitch
+-- Kobler redskaber på med AutoDrive. En markør der hedder "Connect <navn>" (eller "Kobl <navn>") ligger lige
+-- under vognens trækøje, med et bakkespor ned til den. Når en traktor har kørt AD "Kør til" til sådan en markør
+-- og står stille, kobles det redskab på, som spillet selv finder inden for koblingsafstand (samme kald som
+-- Courseplay bruger til skærebord: updateVehiclesInAttachRange + attachImplementFromInfo).
+-- ADHitch.fetch() er indgangen for flows/markarbejde: kør til markøren, kobl på, meld tilbage.
+
+ADHitch = {}
+ADHitch.LOG_PREFIX = "ADSmartPickup: kobling: "
+ADHitch.PREFIXES = {"connect", "kobl"}
+ADHitch.ARRIVE_DISTANCE = 5        -- m fra markøren, AD standser traktoren tæt på waypointet
+ADHitch.STILL_SPEED = 1            -- km/t
+ADHitch.START_GRACE_MS = 3000      -- så længe må AD være om at komme i gang efter fetch
+ADHitch.ATTACH_TIMEOUT_MS = 8000   -- så længe forsøges koblingen efter ankomst
+ADHitch.TICK_MS = 250
+
+-- ---- ren logik ----
+
+-- "Connect Bredal" -> "Bredal"; "Connect" -> ""; andre navne -> nil
+function ADHitch.connectTarget(name)
+    if type(name) ~= "string" then return nil end
+    local trimmed = name:match("^%s*(.-)%s*$")
+    local lower = trimmed:lower()
+    for _, prefix in ipairs(ADHitch.PREFIXES) do
+        if lower == prefix then return "" end
+        if lower:sub(1, #prefix + 1) == prefix .. " " then
+            return (trimmed:sub(#prefix + 2):match("^%s*(.-)$"))
+        end
+    end
+    return nil
+end
+
+-- state = {adActive, distance, speed}
+function ADHitch.hasArrived(state)
+    return not state.adActive and state.distance <= ADHitch.ARRIVE_DISTANCE and state.speed <= ADHitch.STILL_SPEED
+end
+
+function ADHitch.newJob(markerId, markerName)
+    return {markerId = markerId, markerName = markerName, state = "driving", elapsed = 0, attachElapsed = 0,
+        seenActive = false}
+end
+
+-- Et skridt i jobbet. attached = lykkedes koblingsforsøget i denne tick (kun relevant i "attaching").
+-- Tilstande: driving -> attaching -> done | failed (reason: stoppedAway / noAttachable)
+function ADHitch.step(job, state, dt, attached)
+    if job.state == "driving" then
+        job.elapsed = job.elapsed + dt
+        if state.adActive then
+            job.seenActive = true
+        elseif ADHitch.hasArrived(state) then
+            job.state = "attaching"
+        elseif state.distance > ADHitch.ARRIVE_DISTANCE and (job.seenActive or job.elapsed >= ADHitch.START_GRACE_MS) then
+            job.state, job.reason = "failed", "stoppedAway"
+        end
+    elseif job.state == "attaching" then
+        if attached then
+            job.state = "done"
+        else
+            job.attachElapsed = job.attachElapsed + dt
+            if job.attachElapsed >= ADHitch.ATTACH_TIMEOUT_MS then job.state, job.reason = "failed", "noAttachable" end
+        end
+    end
+    return job
+end
+
+-- ---- spil ----
+
+local jobs = setmetatable({}, {__mode = "k"}) -- [vehicle] = job (+ onDone)
+local tickTimer = 0
+
+local function vehicleName(vehicle)
+    return vehicle.getFullName ~= nil and vehicle:getFullName() or tostring(vehicle.configFileName)
+end
+
+local function stateModule(vehicle)
+    return vehicle.ad ~= nil and vehicle.ad.stateModule or nil
+end
+
+local function vehicleState(adEnv, vehicle, markerId)
+    local module = stateModule(vehicle)
+    local wayPoint = adEnv.ADGraphManager:getWayPointById(markerId)
+    local distance = math.huge
+    if wayPoint ~= nil and vehicle.rootNode ~= nil then
+        local x, _, z = getWorldTranslation(vehicle.rootNode)
+        distance = math.sqrt((x - wayPoint.x) ^ 2 + (z - wayPoint.z) ^ 2)
+    end
+    return {
+        adActive = module ~= nil and module:isActive(),
+        distance = distance,
+        speed = vehicle.getLastSpeed ~= nil and vehicle:getLastSpeed() or 0,
+    }
+end
+
+-- Kobler det redskab på, som spillet finder inden for koblingsafstand. -> ok, redskab eller årsag
+function ADHitch.tryAttach(vehicle)
+    local spec = vehicle.spec_attacherJoints
+    if spec == nil or AttacherJoints == nil or AttacherJoints.updateVehiclesInAttachRange == nil then
+        return false, "noJoints"
+    end
+    AttacherJoints.updateVehiclesInAttachRange(vehicle, AttacherJoints.MAX_ATTACH_DISTANCE_SQ,
+        AttacherJoints.MAX_ATTACH_ANGLE, true)
+    local info = spec.attachableInfo
+    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()
+    local allowed, warning = info.attachable:isAttachAllowed(farmId, attacher)
+    if not allowed then return false, tostring(warning or "notAllowed") end
+    attacher:attachImplementFromInfo(info)
+    return true, info.attachable
+end
+
+-- Kør til en Connect-markør og kobl på. onDone(vehicle, ok, implementOrReason) kaldes én gang.
+function ADHitch.fetch(adEnv, vehicle, markerId, onDone)
+    local marker = adEnv.ADGraphManager:getMapMarkerByWayPointId(markerId)
+    local job = ADHitch.newJob(markerId, marker ~= nil and marker.name or tostring(markerId))
+    job.onDone = onDone
+    jobs[vehicle] = job
+    ADFieldWork.startAd(adEnv, vehicle, adEnv.AutoDrive.MODE_DRIVETO, markerId)
+    Logging.info(ADHitch.LOG_PREFIX .. "'%s' kører til '%s'", vehicleName(vehicle), job.markerName)
+    return job
+end
+
+-- Spilleren sender selv en traktor til en Connect-markør med AD "Kør til": den kobles også på.
+local function watchManualTrips(adEnv)
+    for _, vehicle in ipairs(ADRunsController.getFarmVehicles(adEnv)) do
+        local module = stateModule(vehicle)
+        if jobs[vehicle] == nil and vehicle.spec_attacherJoints ~= nil and module ~= nil and module:isActive()
+            and module:getMode() == adEnv.AutoDrive.MODE_DRIVETO then
+            local marker = module:getFirstMarker()
+            if marker ~= nil and ADHitch.connectTarget(marker.name) ~= nil then
+                jobs[vehicle] = ADHitch.newJob(marker.id, marker.name)
+            end
+        end
+    end
+end
+
+local function finish(vehicle, job, ok, detail)
+    jobs[vehicle] = nil
+    if ok then
+        Logging.info(ADHitch.LOG_PREFIX .. "'%s' koblede '%s' på ved '%s'", vehicleName(vehicle), vehicleName(detail),
+            job.markerName)
+    else
+        Logging.warning(ADHitch.LOG_PREFIX .. "'%s' kunne ikke koble på ved '%s': %s", vehicleName(vehicle),
+            job.markerName, tostring(detail))
+    end
+    if job.onDone ~= nil then pcall(job.onDone, vehicle, ok, detail) end
+end
+
+function ADHitch.tick(adEnv, dt)
+    if adEnv == nil or adEnv.ADGraphManager == nil then return end
+    tickTimer = tickTimer + dt
+    if tickTimer < ADHitch.TICK_MS then return end
+    local elapsed = tickTimer
+    tickTimer = 0
+    watchManualTrips(adEnv)
+    for vehicle, job in pairs(jobs) do
+        local attached, detail = false, nil
+        if job.state == "attaching" then
+            attached, detail = ADHitch.tryAttach(vehicle)
+            if not attached then job.lastReason = detail end
+        end
+        ADHitch.step(job, vehicleState(adEnv, vehicle, job.markerId), elapsed, attached)
+        if job.state == "done" then
+            finish(vehicle, job, true, detail)
+        elseif job.state == "failed" then
+            finish(vehicle, job, false, job.lastReason or job.reason)
+        end
+    end
+end
+
+-- Konsol: "spuConnect" kobler det nærmeste redskab på den maskine spilleren sidder i.
+function ADHitch:consoleConnect()
+    local vehicle = g_localPlayer ~= nil and g_localPlayer.getCurrentVehicle ~= nil and g_localPlayer:getCurrentVehicle() or nil
+    if vehicle == nil then return "spuConnect: sæt dig i en traktor først" end
+    local ok, detail = ADHitch.tryAttach(vehicle)
+    if ok then return "spuConnect: koblede " .. vehicleName(detail) .. " på" end
+    return "spuConnect: intet koblet på (" .. tostring(detail) .. ")"
+end
+
+if addConsoleCommand ~= nil then
+    addConsoleCommand("spuConnect", "Kobler nærmeste redskab på den maskine du sidder i", "consoleConnect", ADHitch)
+end
@@ -1272,6 +1272,12 @@ function ADSmartPickup:update(dt)
            Logging.warning(ADSmartPickup.LOG_PREFIX .. "marksilo-flow fejlede: %s", tostring(errSilos))
        end
    end
+    if ADHitch ~= nil then
+        local okHitch, errHitch = pcall(ADHitch.tick, getAutoDriveEnv(), dt)
+        if not okHitch then
+            Logging.warning(ADSmartPickup.LOG_PREFIX .. "kobling fejlede: %s", tostring(errHitch))
+        end
+    end
    if ADStuckDiag ~= nil then pcall(ADStuckDiag.tick, dt) end
    if ADRunsController ~= nil and ADRunsController.adoptLoadedThrottled ~= nil then
        pcall(ADRunsController.adoptLoadedThrottled, getAutoDriveEnv(), dt)
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8" standalone="no"?>
 <modDesc descVersion="107">
    <author>masterdraco</author>
-    <version>1.45.1.0</version>
+    <version>1.46.0.0</version>
    <title>
        <en>AD Smart Pickup</en>
    </title>
@@ -46,6 +46,7 @@
        <sourceFile filename="adFieldSiloConfig.lua"/>
        <sourceFile filename="adFieldSilos.lua"/>
        <sourceFile filename="adCpResume.lua"/>
+        <sourceFile filename="adHitch.lua"/>
        <sourceFile filename="adFieldJobs.lua"/>
        <sourceFile filename="adMonthView.lua"/>
        <sourceFile filename="adProfiler.lua"/>