183 lines
7.9 KiB
Lua
183 lines
7.9 KiB
Lua
-- AD Hitch
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-- Kobler redskaber på med AutoDrive. En markør der hedder "Connect <navn>" (eller "Kobl <navn>") ligger lige
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-- under vognens trækøje, med et bakkespor ned til den. Når en traktor har kørt AD "Kør til" til sådan en markør
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-- og står stille, kobles det redskab på, som spillet selv finder inden for koblingsafstand (samme kald som
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-- Courseplay bruger til skærebord: updateVehiclesInAttachRange + attachImplementFromInfo).
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-- ADHitch.fetch() er indgangen for flows/markarbejde: kør til markøren, kobl på, meld tilbage.
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ADHitch = {}
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ADHitch.LOG_PREFIX = "ADSmartPickup: kobling: "
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ADHitch.PREFIXES = {"connect", "kobl"}
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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
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ADHitch.ATTACH_TIMEOUT_MS = 8000 -- så længe forsøges koblingen efter ankomst
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ADHitch.TICK_MS = 250
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-- ---- ren logik ----
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-- "Connect Bredal" -> "Bredal"; "Connect" -> ""; andre navne -> nil
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function ADHitch.connectTarget(name)
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if type(name) ~= "string" then return nil end
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local trimmed = name:match("^%s*(.-)%s*$")
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local lower = trimmed:lower()
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for _, prefix in ipairs(ADHitch.PREFIXES) do
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if lower == prefix then return "" end
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if lower:sub(1, #prefix + 1) == prefix .. " " then
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return (trimmed:sub(#prefix + 2):match("^%s*(.-)$"))
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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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-- 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)
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return {markerId = markerId, markerName = markerName, state = "driving", elapsed = 0, attachElapsed = 0,
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seenActive = false}
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end
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-- Et skridt i jobbet. attached = lykkedes koblingsforsøget i denne tick (kun relevant i "attaching").
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-- Tilstande: driving -> attaching -> done | failed (reason: stoppedAway / noAttachable)
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function ADHitch.step(job, state, dt, attached)
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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 = "attaching"
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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 == "attaching" then
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if attached then
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job.state = "done"
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else
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job.attachElapsed = job.attachElapsed + dt
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if job.attachElapsed >= ADHitch.ATTACH_TIMEOUT_MS then job.state, job.reason = "failed", "noAttachable" 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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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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-- Kør til en Connect-markør og kobl på. onDone(vehicle, ok, implementOrReason) kaldes én gang.
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function ADHitch.fetch(adEnv, vehicle, markerId, 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))
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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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-- Spilleren sender selv en traktor til en Connect-markør med AD "Kør til": den kobles også på.
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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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if marker ~= nil and ADHitch.connectTarget(marker.name) ~= nil then
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jobs[vehicle] = ADHitch.newJob(marker.id, marker.name)
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end
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end
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end
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end
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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' koblede '%s' på ved '%s'", vehicleName(vehicle), vehicleName(detail),
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job.markerName)
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else
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Logging.warning(ADHitch.LOG_PREFIX .. "'%s' kunne ikke koble på ved '%s': %s", vehicleName(vehicle),
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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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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 attached, detail = false, nil
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if job.state == "attaching" then
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attached, detail = ADHitch.tryAttach(vehicle)
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if not attached then job.lastReason = detail end
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end
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ADHitch.step(job, vehicleState(adEnv, vehicle, job.markerId), elapsed, attached)
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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" kobler det nærmeste redskab på den maskine spilleren sidder i.
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function ADHitch:consoleConnect()
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local vehicle = g_localPlayer ~= nil and g_localPlayer.getCurrentVehicle ~= nil and g_localPlayer:getCurrentVehicle() or nil
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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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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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end
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