317 lines
14 KiB
Lua
317 lines
14 KiB
Lua
-- AD Hitch
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-- Kobler redskaber på og af med AutoDrive.
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-- "Connect <navn>" (eller "Kobl <navn>"): markøren ligger lige under vognens trækøje med et bakkespor ned til
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-- den. Når en traktor har kørt AD "Kør til" dertil og står stille, kobles det redskab på, som spillet selv finder
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-- inden for koblingsafstand (samme kald som Courseplay bruger til skærebord: updateVehiclesInAttachRange +
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-- attachImplementFromInfo).
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-- "Afkobl <navn>" (eller "Kobl af", "Detach", "Disconnect"): ved ankomst kobles redskaberne BAG traktoren af;
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-- frontvægt og frontlæsser bliver siddende.
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-- ADHitch.fetch()/ADHitch.drop() er indgangen for flows/markarbejde: kør til markøren, kobl på/af, meld tilbage.
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ADHitch = {}
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ADHitch.LOG_PREFIX = "ADSmartPickup: kobling: "
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-- afkobling tjekkes først, så "Kobl af X" ikke læses som "Kobl <af X>"
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ADHitch.MARKER_PREFIXES = {
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{prefix = "afkobl", action = "detach"},
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{prefix = "kobl af", action = "detach"},
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{prefix = "detach", action = "detach"},
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{prefix = "disconnect", action = "detach"},
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{prefix = "connect", action = "attach"},
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{prefix = "kobl", action = "attach"},
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}
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ADHitch.TIMEOUT_REASON = {attach = "noAttachable", detach = "nothingToDetach"}
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ADHitch.ARRIVE_DISTANCE = 5 -- m fra markøren, AD standser traktoren tæt på waypointet
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ADHitch.STILL_SPEED = 1 -- km/t
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ADHitch.START_GRACE_MS = 3000 -- så længe må AD være om at komme i gang efter fetch/drop
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ADHitch.ACT_TIMEOUT_MS = 8000 -- så længe forsøges kobling/afkobling efter ankomst
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ADHitch.TICK_MS = 250
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-- ---- ren logik ----
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-- "Connect Bredal" -> "attach", "Bredal"; "Afkobl" -> "detach", ""; andre navne -> nil
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function ADHitch.parseMarker(name)
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if type(name) ~= "string" then return nil end
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local trimmed = name:match("^%s*(.-)%s*$")
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local lower = trimmed:lower()
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for _, entry in ipairs(ADHitch.MARKER_PREFIXES) do
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local prefix = entry.prefix
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if lower == prefix then return entry.action, "" end
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if lower:sub(1, #prefix + 1) == prefix .. " " then
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return entry.action, (trimmed:sub(#prefix + 2):match("^%s*(.-)$"))
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end
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end
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return nil
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end
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-- implements = {{z = position i traktorens rum, ...}} -> kun dem bag traktoren
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function ADHitch.rearImplements(implements)
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local rear = {}
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for _, implement in ipairs(implements or {}) do
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if implement.z ~= nil and implement.z < 0 then table.insert(rear, implement) end
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end
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return rear
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end
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-- konsol-argumenter "Connect Bredal > Start" -> "Connect Bredal", "Start" (mål nil uden ">")
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function ADHitch.parseTrip(...)
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local text = table.concat({...}, " ")
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local first, second = text:match("^%s*(.-)%s*>%s*(.-)%s*$")
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if first == nil then return (text:match("^%s*(.-)%s*$")), nil end
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return first, second
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end
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-- markers = {{name, id}} -> markøren med navnet (store/små bogstaver ligegyldigt)
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function ADHitch.findMarker(markers, name)
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if type(name) ~= "string" then return nil end
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local wanted = name:lower()
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for _, marker in pairs(markers or {}) do
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if type(marker.name) == "string" and marker.name:lower() == wanted then return marker end
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end
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return nil
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end
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-- state = {adActive, distance, speed}
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function ADHitch.hasArrived(state)
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return not state.adActive and state.distance <= ADHitch.ARRIVE_DISTANCE and state.speed <= ADHitch.STILL_SPEED
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end
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function ADHitch.newJob(markerId, markerName, action)
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return {markerId = markerId, markerName = markerName, action = action, state = "driving", elapsed = 0,
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actElapsed = 0, seenActive = false}
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end
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-- Et skridt i jobbet. succeeded = lykkedes kobling/afkobling i denne tick (kun relevant i "acting").
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-- Tilstande: driving -> acting -> done | failed (reason: stoppedAway / noAttachable / nothingToDetach)
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function ADHitch.step(job, state, dt, succeeded)
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if job.state == "driving" then
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job.elapsed = job.elapsed + dt
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if state.adActive then
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job.seenActive = true
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elseif ADHitch.hasArrived(state) then
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job.state = "acting"
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elseif state.distance > ADHitch.ARRIVE_DISTANCE and (job.seenActive or job.elapsed >= ADHitch.START_GRACE_MS) then
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job.state, job.reason = "failed", "stoppedAway"
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end
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elseif job.state == "acting" then
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if succeeded then
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job.state = "done"
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else
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job.actElapsed = job.actElapsed + dt
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if job.actElapsed >= ADHitch.ACT_TIMEOUT_MS then
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job.state, job.reason = "failed", ADHitch.TIMEOUT_REASON[job.action]
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end
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end
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end
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return job
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end
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-- ---- spil ----
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local jobs = setmetatable({}, {__mode = "k"}) -- [vehicle] = job (+ onDone)
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local tickTimer = 0
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local function vehicleName(vehicle)
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if type(vehicle) ~= "table" then return tostring(vehicle) end
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return vehicle.getFullName ~= nil and vehicle:getFullName() or tostring(vehicle.configFileName)
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end
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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 vehicleState(adEnv, vehicle, markerId)
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local module = stateModule(vehicle)
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local wayPoint = adEnv.ADGraphManager:getWayPointById(markerId)
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local distance = math.huge
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if wayPoint ~= nil and vehicle.rootNode ~= nil then
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local x, _, z = getWorldTranslation(vehicle.rootNode)
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distance = math.sqrt((x - wayPoint.x) ^ 2 + (z - wayPoint.z) ^ 2)
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end
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return {
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adActive = module ~= nil and module:isActive(),
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distance = distance,
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speed = vehicle.getLastSpeed ~= nil and vehicle:getLastSpeed() or 0,
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}
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end
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-- Kobler det redskab på, som spillet finder inden for koblingsafstand. -> ok, redskab eller årsag
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function ADHitch.tryAttach(vehicle)
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local spec = vehicle.spec_attacherJoints
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if spec == nil or AttacherJoints == nil or AttacherJoints.updateVehiclesInAttachRange == nil then
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return false, "noJoints"
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end
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AttacherJoints.updateVehiclesInAttachRange(vehicle, AttacherJoints.MAX_ATTACH_DISTANCE_SQ,
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AttacherJoints.MAX_ATTACH_ANGLE, true)
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local info = spec.attachableInfo
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if info == nil or info.attachable == nil then return false, "noAttachable" end
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local attacher = info.attacherVehicle or vehicle
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local farmId = vehicle.getActiveFarm ~= nil and vehicle:getActiveFarm() or vehicle:getOwnerFarmId()
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local allowed, warning = info.attachable:isAttachAllowed(farmId, attacher)
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if not allowed then return false, tostring(warning or "notAllowed") end
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attacher:attachImplementFromInfo(info)
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return true, info.attachable
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end
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-- Redskaber koblet direkte på traktoren, med deres placering langs traktoren (z > 0 foran, z < 0 bagved).
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local function attachedImplements(vehicle)
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local list = {}
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if vehicle.getAttachedImplements == nil then return list end
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for _, implement in ipairs(vehicle:getAttachedImplements()) do
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local jointDesc = vehicle.spec_attacherJoints.attacherJoints[implement.jointDescIndex]
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local node = jointDesc ~= nil and (jointDesc.jointTransform or jointDesc.rootNode) or nil
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if implement.object ~= nil and node ~= nil then
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local _, _, z = localToLocal(node, vehicle.rootNode, 0, 0, 0)
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table.insert(list, {object = implement.object, z = z, name = vehicleName(implement.object)})
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end
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end
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return list
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end
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-- Kobler redskaberne bag traktoren af. -> ok, navne eller årsag
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function ADHitch.tryDetach(vehicle)
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local rear = ADHitch.rearImplements(attachedImplements(vehicle))
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if #rear == 0 then return false, "nothingToDetach" end
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local names = {}
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for _, implement in ipairs(rear) do
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local object = implement.object
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local allowed, warning = true, nil
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if object.isDetachAllowed ~= nil then allowed, warning = object:isDetachAllowed() end
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if not allowed then return false, tostring(warning or "detachNotAllowed") end
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vehicle:detachImplementByObject(object)
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table.insert(names, implement.name)
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end
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return true, table.concat(names, ", ")
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end
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local function start(adEnv, vehicle, markerId, action, onDone)
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local marker = adEnv.ADGraphManager:getMapMarkerByWayPointId(markerId)
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local job = ADHitch.newJob(markerId, marker ~= nil and marker.name or tostring(markerId), action)
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job.onDone = onDone
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jobs[vehicle] = job
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ADFieldWork.startAd(adEnv, vehicle, adEnv.AutoDrive.MODE_DRIVETO, markerId)
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Logging.info(ADHitch.LOG_PREFIX .. "'%s' kører til '%s'", vehicleName(vehicle), job.markerName)
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return job
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end
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-- Kør til en Connect-markør og kobl på. onDone(vehicle, ok, redskab eller årsag) kaldes én gang.
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function ADHitch.fetch(adEnv, vehicle, markerId, onDone)
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return start(adEnv, vehicle, markerId, "attach", onDone)
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end
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-- Kør til en Afkobl-markør og kobl af. onDone(vehicle, ok, navne eller årsag) kaldes én gang.
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function ADHitch.drop(adEnv, vehicle, markerId, onDone)
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return start(adEnv, vehicle, markerId, "detach", onDone)
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end
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-- "Hent vogn og kør til": kør til Connect-markøren, kobl på, kør så med AD til målet.
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function ADHitch.trip(adEnv, vehicle, connectId, destinationId, onDone)
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return ADHitch.fetch(adEnv, vehicle, connectId, function(tractor, ok, detail)
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if not ok then
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if onDone ~= nil then onDone(tractor, false, detail) end
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return
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end
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local destination = adEnv.ADGraphManager:getMapMarkerByWayPointId(destinationId)
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ADFieldWork.startAd(adEnv, tractor, adEnv.AutoDrive.MODE_DRIVETO, destinationId)
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Logging.info(ADHitch.LOG_PREFIX .. "'%s' kører med '%s' til '%s'", vehicleName(tractor), vehicleName(detail),
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destination ~= nil and destination.name or tostring(destinationId))
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if onDone ~= nil then onDone(tractor, true, detail) end
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end)
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end
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-- Spilleren sender selv en traktor til en Connect-/Afkobl-markør med AD "Kør til": den kobles også.
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local function watchManualTrips(adEnv)
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for _, vehicle in ipairs(ADRunsController.getFarmVehicles(adEnv)) do
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local module = stateModule(vehicle)
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if jobs[vehicle] == nil and vehicle.spec_attacherJoints ~= nil and module ~= nil and module:isActive()
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and module:getMode() == adEnv.AutoDrive.MODE_DRIVETO then
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local marker = module:getFirstMarker()
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local action = marker ~= nil and ADHitch.parseMarker(marker.name) or nil
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if action ~= nil then jobs[vehicle] = ADHitch.newJob(marker.id, marker.name, action) end
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end
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end
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end
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local DONE_TEXT = {attach = "koblede '%s' på", detach = "koblede '%s' af"}
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local FAIL_TEXT = {attach = "kunne ikke koble på", detach = "kunne ikke koble af"}
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local function finish(vehicle, job, ok, detail)
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jobs[vehicle] = nil
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if ok then
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Logging.info(ADHitch.LOG_PREFIX .. "'%s' " .. DONE_TEXT[job.action] .. " ved '%s'", vehicleName(vehicle),
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vehicleName(detail), job.markerName)
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else
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Logging.warning(ADHitch.LOG_PREFIX .. "'%s' %s ved '%s': %s", vehicleName(vehicle), FAIL_TEXT[job.action],
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job.markerName, tostring(detail))
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end
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if job.onDone ~= nil then pcall(job.onDone, vehicle, ok, detail) end
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end
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local ACTIONS = {attach = ADHitch.tryAttach, detach = ADHitch.tryDetach}
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function ADHitch.tick(adEnv, dt)
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if adEnv == nil or adEnv.ADGraphManager == nil then return end
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tickTimer = tickTimer + dt
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if tickTimer < ADHitch.TICK_MS then return end
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local elapsed = tickTimer
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tickTimer = 0
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watchManualTrips(adEnv)
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for vehicle, job in pairs(jobs) do
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local succeeded, detail = false, nil
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if job.state == "acting" then
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succeeded, detail = ACTIONS[job.action](vehicle)
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if not succeeded then job.lastReason = detail end
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end
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ADHitch.step(job, vehicleState(adEnv, vehicle, job.markerId), elapsed, succeeded)
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if job.state == "done" then
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finish(vehicle, job, true, detail)
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elseif job.state == "failed" then
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finish(vehicle, job, false, job.lastReason or job.reason)
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end
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end
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end
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-- Konsol: "spuConnect" / "spuDetach" på den maskine spilleren sidder i.
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local function currentVehicle()
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return g_localPlayer ~= nil and g_localPlayer.getCurrentVehicle ~= nil and g_localPlayer:getCurrentVehicle() or nil
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end
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function ADHitch:consoleConnect()
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local vehicle = currentVehicle()
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if vehicle == nil then return "spuConnect: sæt dig i en traktor først" end
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local ok, detail = ADHitch.tryAttach(vehicle)
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if ok then return "spuConnect: koblede " .. vehicleName(detail) .. " på" end
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return "spuConnect: intet koblet på (" .. tostring(detail) .. ")"
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end
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function ADHitch:consoleDetach()
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local vehicle = currentVehicle()
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if vehicle == nil then return "spuDetach: sæt dig i en traktor først" end
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local ok, detail = ADHitch.tryDetach(vehicle)
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if ok then return "spuDetach: koblede " .. tostring(detail) .. " af" end
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return "spuDetach: intet koblet af (" .. tostring(detail) .. ")"
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end
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-- "spuTrip Connect Bredal > Start": maskinen spilleren sidder i henter vognen og kører til målet (spilleren
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-- kan blive siddende; AD kører også med spilleren i førerhuset).
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function ADHitch:consoleTrip(...)
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local vehicle = currentVehicle()
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if vehicle == nil then return "spuTrip: sæt dig i en traktor først" end
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local adEnv = ADFieldSilos ~= nil and ADFieldSilos.adEnv or nil
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if adEnv == nil then return "spuTrip: AutoDrive er ikke klar endnu" end
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local connectName, destinationName = ADHitch.parseTrip(...)
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local markers = adEnv.ADGraphManager:getMapMarkers()
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local connect, destination = ADHitch.findMarker(markers, connectName), ADHitch.findMarker(markers, destinationName)
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if connect == nil or ADHitch.parseMarker(connect.name) ~= "attach" then
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return "spuTrip: ukendt Connect-markør '" .. tostring(connectName) .. "'"
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end
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if destination == nil then return "spuTrip: ukendt mål '" .. tostring(destinationName) .. "' (brug: spuTrip Connect Bredal > Start)" end
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ADHitch.trip(adEnv, vehicle, connect.id, destination.id)
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return "spuTrip: " .. vehicleName(vehicle) .. " henter ved '" .. connect.name .. "' og kører til '" .. destination.name .. "'"
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end
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if addConsoleCommand ~= nil then
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addConsoleCommand("spuConnect", "Kobler nærmeste redskab på den maskine du sidder i", "consoleConnect", ADHitch)
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addConsoleCommand("spuTrip", "Hent vogn og kør: spuTrip Connect Bredal > Start", "consoleTrip", ADHitch)
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addConsoleCommand("spuDetach", "Kobler redskaberne bag den maskine du sidder i af", "consoleDetach", ADHitch)
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end
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