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toolManager.lua
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local abs, cos, sin, min, max, deg = math.abs, math.cos, math.sin, math.min, math.max, math.deg;
local _;
-- ##### MANAGING TOOLS ##### --
function courseplay:attachImplement(implement)
-- Update Vehicle
if implement.className ~= 'RailroadVehicle' then
if implement ~= nil then
local attacherVehicle = implement:getAttacherVehicle()
if attacherVehicle.spec_aiVehicle then
attacherVehicle.cp.tooIsDirty = true;
end;
end
courseplay:setAttachedCombine(self);
end
end;
AttacherJoints.attachImplement = Utils.appendedFunction(AttacherJoints.attachImplement, courseplay.attachImplement);
function courseplay:onPostDetachImplement(implementIndex)
--- Update Vehicle
self.cp.tooIsDirty = true;
local sAI= self:getAttachedImplements()
if sAI[implementIndex].object == self.cp.attachedCombine then
self.cp.attachedCombine = nil;
courseplay:setMinHudPage(self);
end
end;
--AttacherJoints.detachImplement = Utils.appendedFunction(AttacherJoints.detachImplement, courseplay.detachImplement);
--Tommi disabled it self is allways nil
function courseplay:resetTools(vehicle)
vehicle.cp.workTools = {}
-- are there any tippers?
vehicle.cp.hasAugerWagon = false;
vehicle.cp.hasSugarCaneAugerWagon = false;
vehicle.cp.hasSugarCaneTrailer = false
vehicle.cp.hasFertilizerSowingMachine = nil;
vehicle.cp.workToolAttached = courseplay:updateWorkTools(vehicle, vehicle);
-- Ryan prints fillTypeManager table. Nice cause it prints out all the fillTypes print_r(g_fillTypeManager)
-- Reset fill type.
--[[
if #vehicle.cp.workTools > 0 and vehicle.cp.workTools[1].cp.hasSpecializationFillable and vehicle.cp.workTools[1].allowFillFromAir and vehicle.cp.workTools[1].allowTipDischarge then
if vehicle.cp.siloSelectedFillType == FillType.UNKNOWN or (vehicle.cp.siloSelectedFillType ~= FillType.UNKNOWN and not vehicle.cp.workTools[1]:allowFillType(vehicle.cp.siloSelectedFillType)) then
vehicle.cp.siloSelectedFillType = vehicle.cp.workTools[1]:getFirstEnabledFillType();
print("toolManager(41): setting siloSelectedFillType to "..tostring(vehicle.cp.siloSelectedFillType))
end;
else
vehicle.cp.siloSelectedFillType = FillType.UNKNOWN;
print("toolManager(45): setting siloSelectedFillType to "..tostring(vehicle.cp.siloSelectedFillType))
end;]]
vehicle.cp.easyFillTypeList = courseplay:getEasyFillTypeList(vehicle);
vehicle.cp.siloSelectedEasyFillType = 0;
courseplay:changeSiloFillType(vehicle, 1, vehicle.cp.siloSelectedFillType);
if vehicle.cp.hud.currentPage == 1 then
courseplay.hud:setReloadPageOrder(vehicle, 1, true);
end;
courseplay:calculateWorkWidth(vehicle, true);
vehicle.cp.currentTrailerToFill = nil;
vehicle.cp.trailerFillDistance = nil;
vehicle.cp.tooIsDirty = false;
end;
function courseplay:changeSiloFillType(vehicle, modifyer, currentSelectedFilltype)
local eftl = vehicle.cp.easyFillTypeList;
local newVal = 1;
if currentSelectedFilltype and currentSelectedFilltype ~= FillType.UNKNOWN then
for index, fillType in ipairs(eftl) do
if currentSelectedFilltype == fillType then
newVal = index;
end;
end;
else
newVal = vehicle.cp.siloSelectedEasyFillType + modifyer
if newVal < 1 then
newVal = #eftl;
elseif newVal > #eftl then
newVal = 1;
end
end;
if vehicle.cp.siloSelectedFillType ~= eftl[newVal] then
--Mode 1 Run Counter Reset
vehicle.cp.runCounter = 0;
courseplay:changeRunCounter(vehicle, false)
end
vehicle.cp.siloSelectedEasyFillType = newVal;
vehicle.cp.siloSelectedFillType = eftl[newVal];
end;
function courseplay:getAvailableFillTypes(object, fillUnitIndex)
-- We really should be using getFillUnitSupportedFillTypes(fillUnitIndex) TODO Make a loop to go through it.
if fillUnitIndex == nil then
local fillTypes = {}
if object.spec_fillUnit then
for fillUnitIndex, fillUnit in ipairs(object:getFillUnits()) do
for fillType, enabled in pairs(object:getFillUnitSupportedFillTypes(fillUnitIndex)) do
if fillType ~= g_fillTypeManager.UNKNOWN and enabled then
fillTypes[fillType] = enabled;
end;
end;
end;
end;
return fillTypes
end
return object:getFillUnitSupportedFillTypes(fillUnitIndex)
-- Old Stuff incase the above method doesn't work like old
--[[ if fillUnitIndex == nil then
local fillTypes = {}
if object.fillUnits then
for _, fillUnit in pairs(object.fillUnits) do
for fillType, enabled in pairs(fillUnit.fillTypes) do
if fillType ~= FillType.UNKNOWN and enabled then
fillTypes[fillType] = enabled;
end;
end;
end;
end;
end; ]]
end;
--TODO Tommi Remove if not used anymore
function courseplay:getAllAvailableFillTypes(vehicle)
local fillTypes = {};
if #vehicle.cp.workTools > 0 then
for _, workTool in pairs(vehicle.cp.workTools) do
local toolFillTypes = courseplay:getAvailableFillTypes(workTool);
for fillType, enabled in pairs(toolFillTypes) do
if fillType ~= FillType.UNKNOWN and enabled then
fillTypes[fillType] = enabled;
end;
end
end;
end;
return fillTypes;
end;
function courseplay:getEasyFillTypeList(vehicle)
local easyFillTypeList = {};
local fillUnitHasMoreFillTypes = false
local filltypes ={}
local tempList = {}
if #vehicle.cp.workTools > 0 then
for _, workTool in pairs(vehicle.cp.workTools) do
if workTool.spec_fillUnit then
local fillUnits = workTool:getFillUnits()
for i=1,#fillUnits do
fillUnitHasMoreFillTypes, filltypes = courseplay:getFillUnitHasMoreFillTypes(workTool,i)
if fillUnitHasMoreFillTypes then
for index,fillType in pairs(filltypes) do
if not tempList[fillType] then
tempList[fillType] = true;
end
end
end
end
end
end
end
for FillType,_ in pairs (tempList) do
table.insert(easyFillTypeList,FillType)
end
return easyFillTypeList;
end;
function courseplay:getFillUnitHasMoreFillTypes(workTool, index)
local unitsFillTypes = workTool:getFillUnitSupportedFillTypes(index)
local counter = 0
local fillTypesList = {}
for fillType,enabled in pairs(unitsFillTypes) do
counter = counter+1;
table.insert(fillTypesList, fillType)
end
if counter > 1 then
return true,fillTypesList;
else
return false
end
end
function courseplay:isAttachedCombine(workTool)
return (workTool.typeName~= nil and (workTool.typeName == 'attachableCombine' or workTool.typeName == 'attachableCombine_mouseControlled'))
or (not workTool.cp.hasSpecializationDrivable and workTool.hasPipe and not workTool.cp.isAugerWagon and not workTool.cp.isLiquidManureOverloader)
or courseplay:isSpecialChopper(workTool)
or workTool.cp.isAttachedCombine
end;
function courseplay:isAttachedMixer(workTool)
return workTool.typeName == "mixerWagon" or (not workTool.cp.hasSpecializationDrivable and workTool.cp.hasSpecializationMixerWagon)
end;
function courseplay:isAttacherModule(workTool)
if workTool.spec_attacherJoints.attacherJoint then
local workToolsWheels = workTool:getWheels();
return (workTool.spec_attacherJoints.attacherJoint.jointType == AttacherJoints.JOINTTYPE_SEMITRAILER and (not workToolsWheels or (workToolsWheels and #workToolsWheels == 0))) or workTool.cp.isAttacherModule == true;
end;
return false;
end;
function courseplay:isBaleLoader(workTool) -- is the tool a bale loader?
return workTool.cp.hasSpecializationBaleLoader or (workTool.balesToLoad ~= nil and workTool.baleGrabber ~=nil and workTool.grabberIsMoving~= nil);
end;
function courseplay:isBaler(workTool) -- is the tool a baler?
return workTool.cp.hasSpecializationBaler or workTool.balerUnloadingState ~= nil or courseplay:isSpecialBaler(workTool);
end;
function courseplay:isBigM(workTool)
return workTool.cp.hasSpecializationDrivable and courseplay:isMower(workTool);
end;
function courseplay:isCombine(workTool)
return workTool.cp.hasSpecializationCombine and workTool.startThreshing ~= nil and workTool.cp.capacity ~= nil and workTool.cp.capacity > 0;
end;
function courseplay:isChopper(workTool)
return workTool.cp.hasSpecializationCombine and workTool.startThreshing ~= nil and workTool.cp.capacity == 0 or courseplay:isSpecialChopper(workTool);
end;
function courseplay:isFoldable(workTool) --is the tool foldable?
return workTool.cp.hasSpecializationFoldable and workTool.spec_foldable.foldingParts ~= nil and #workTool.spec_foldable.foldingParts > 0;
end;
function courseplay:isFrontloader(workTool)
return workTool.cp.hasSpecializationCylindered and workTool.cp.hasSpecializationAnimatedVehicle and not workTool.cp.hasSpecializationShovel and workTool.cp.capacity == nil;
end;
function courseplay:isHarvesterSteerable(workTool)
return Utils.getNoNil(workTool.typeName == "selfPropelledPotatoHarvester" or workTool.cp.isHarvesterSteerable, false);
end;
function courseplay:isHarvesterAttachable(workTool)
return Utils.getNoNil(workTool.cp.isHarvesterAttachable, false);
end;
function courseplay:isHookLift(workTool)
if workTool.spec_attacherJoints.attacherJoint then
return workTool.spec_attacherJoints.attacherJoint.jointType == AttacherJoints.JOINTTYPE_HOOKLIFT;
end;
return false;
end
function courseplay:isMixer(workTool)
return workTool.typeName == "selfPropelledMixerWagon" or (workTool.cp.hasSpecializationDrivable and workTool.cp.hasSpecializationMixerWagon)
end;
function courseplay:isMower(workTool)
return workTool.cp.hasSpecializationMower or courseplay:isSpecialMower(workTool);
end;
function courseplay:isRoundbaler(workTool) -- is the tool a roundbaler?
return courseplay:isBaler(workTool) and workTool.spec_baler ~= nil and (workTool.spec_baler.baleCloseAnimationName ~= nil and workTool.spec_baler.baleUnloadAnimationName ~= nil or courseplay:isSpecialRoundBaler(workTool));
end;
function courseplay:isSowingMachine(workTool) -- is the tool a sowing machine?
return workTool.cp.hasSpecializationSowingMachine or courseplay:isSpecialSowingMachine(workTool);
end;
function courseplay:isSpecialChopper(workTool)
return workTool.typeName == "woodCrusherTrailer" or workTool.cp.isPoettingerMex5 or workTool.cp.isTraileredChopper
end
function courseplay:isSprayer(workTool) -- is the tool a sprayer/spreader?
return workTool.cp.hasSpecializationSprayer or courseplay:isSpecialSprayer(workTool)
end;
function courseplay:isWheelloader(workTool)
return workTool.typeName:match("wheelLoader");
end;
-- UPDATE WORKTOOL DATA
function courseplay:updateWorkTools(vehicle, workTool, isImplement)
if not isImplement then
cpPrintLine(6, 3);
courseplay:debug(('%s: updateWorkTools(%s, %q, isImplement=false) (mode=%d)'):format(nameNum(vehicle),tostring(vehicle.name), nameNum(workTool), vehicle.cp.mode), 6);
else
cpPrintLine(6);
courseplay:debug(('%s: updateWorkTools(%s, %q, isImplement=true)'):format(nameNum(vehicle),tostring(vehicle.name), nameNum(workTool)), 6);
end;
-- Reset distances if in debug mode 6.
if courseplay.debugChannels[6] ~= nil and courseplay.debugChannels[6] == true then
workTool.cp.distances = nil;
end;
courseplay:setNameVariable(workTool);
courseplay:setOwnFillLevelsAndCapacities(workTool,vehicle.cp.mode)
local hasWorkTool = false;
local hasWaterTrailer = false
-- MODE 1 + 2: GRAIN TRANSPORT / COMBI MODE
if vehicle.cp.mode == 1 or vehicle.cp.mode == 2 then
if workTool.spec_dischargeable and workTool.cp.capacity and workTool.cp.capacity > 0.1 then
hasWorkTool = true;
vehicle.cp.workTools[#vehicle.cp.workTools + 1] = workTool;
end;
-- MODE 3: AUGERWAGON
elseif vehicle.cp.mode == 3 then
if workTool.cp.isAugerWagon then
hasWorkTool = true;
vehicle.cp.workTools[#vehicle.cp.workTools + 1] = workTool;
end
-- MODE 4: FERTILIZER AND SEEDING
elseif vehicle.cp.mode == 4 then
local isSprayer, isSowingMachine = courseplay:isSprayer(workTool), courseplay:isSowingMachine(workTool);
if isSprayer or isSowingMachine or workTool.cp.isTreePlanter or workTool.cp.isKuhnDC401 or workTool.cp.isKuhnHR4004 then
hasWorkTool = true;
vehicle.cp.workTools[#vehicle.cp.workTools + 1] = workTool;
courseplay:setMarkers(vehicle, workTool)
vehicle.cp.hasMachinetoFill = true;
vehicle.cp.noStopOnEdge = isSprayer and not (isSowingMachine or workTool.cp.isTreePlanter);
vehicle.cp.noStopOnTurn = isSprayer and not (isSowingMachine or workTool.cp.isTreePlanter);
if isSprayer then
vehicle.cp.hasSprayer = true;
end;
if isSowingMachine then
vehicle.cp.hasSowingMachine = true;
end;
end;
-- MODE 5: TRANSFER
elseif vehicle.cp.mode == 5 then
-- For reversing purpose
if isImplement then
hasWorkTool = true;
vehicle.cp.workTools[#vehicle.cp.workTools + 1] = workTool;
end;
-- DO NOTHING
-- MODE 6: FIELDWORK
elseif vehicle.cp.mode == 6 then
if (courseplay:isBaler(workTool)
or courseplay:isBaleLoader(workTool)
or courseplay:isSpecialBaleLoader(workTool)
or workTool.cp.hasSpecializationCultivator
or courseplay:isCombine(workTool)
or workTool.cp.hasSpecializationFruitPreparer
or workTool.cp.hasSpecializationPlow
or workTool.cp.hasSpecializationTedder
or workTool.cp.hasSpecializationWindrower
or workTool.cp.hasSpecializationCutter
or workTool.spec_dischargeable
or courseplay:isMower(workTool)
or courseplay:isAttachedCombine(workTool)
or courseplay:isFoldable(workTool))
and not courseplay:isSprayer(workTool)
and not courseplay:isSowingMachine(workTool)
then
hasWorkTool = true;
vehicle.cp.workTools[#vehicle.cp.workTools + 1] = workTool;
courseplay:setMarkers(vehicle, workTool);
vehicle.cp.noStopOnTurn = courseplay:isBaler(workTool) or courseplay:isBaleLoader(workTool) or courseplay:isSpecialBaleLoader(workTool) or workTool.cp.hasSpecializationCutter;
vehicle.cp.noStopOnEdge = courseplay:isBaler(workTool) or courseplay:isBaleLoader(workTool) or courseplay:isSpecialBaleLoader(workTool) or workTool.cp.hasSpecializationCutter;
if workTool.cp.hasSpecializationPlow then
vehicle.cp.hasPlow = true;
if workTool.spec_plow.rotationPart.turnAnimation ~= nil then
vehicle.cp.rotateablePlow = workTool;
end;
end;
if courseplay:isBaleLoader(workTool) or courseplay:isSpecialBaleLoader(workTool) then
vehicle.cp.hasBaleLoader = true;
if vehicle.cp.lastValidTipDistance == nil then
vehicle.cp.lastValidTipDistance = 0
end;
end;
if courseplay:isHarvesterAttachable(workTool) then
vehicle.cp.hasHarvesterAttachable = true;
end;
if courseplay:isSpecialChopper(workTool) then
vehicle.cp.hasSpecialChopper = true;
end;
end;
-- MODE 8: LIQUID MANURE TRANSFER
elseif vehicle.cp.mode == 8 then
if workTool.cp.hasSpecializationFillable and ((workTool.overloading ~= nil or workTool.setIsReFilling ~= nil) or workTool.cp.isFuelTrailer or workTool.cp.isWaterTrailer) then
hasWorkTool = true;
vehicle.cp.workTools[#vehicle.cp.workTools + 1] = workTool;
vehicle.cp.hasMachinetoFill = true;
workTool.cp.waterReceiverTrigger = nil; -- water trailer: make sure it has no saved unloading water trigger
end;
hasWaterTrailer = workTool.cp.isWaterTrailer
-- MODE 9: FILL AND EMPTY SHOVEL
elseif vehicle.cp.mode == 9 then
if not isImplement and (courseplay:isWheelloader(workTool) or workTool.typeName == 'frontloader' or courseplay:isMixer(workTool)) then
hasWorkTool = true;
vehicle.cp.workTools[#vehicle.cp.workTools + 1] = workTool;
workTool.cp.shovelState = 1;
elseif isImplement and (courseplay:isFrontloader(workTool) or workTool.cp.hasSpecializationShovel) then
hasWorkTool = true;
vehicle.cp.workTools[#vehicle.cp.workTools + 1] = workTool;
workTool.spec_attachable.attacherVehicle.cp.shovelState = 1
end;
-- MODE 10:Leveler
elseif vehicle.cp.mode == 10 then
if isImplement and workTool.cp.hasSpecializationLeveler then
hasWorkTool = true;
vehicle.cp.workTools[#vehicle.cp.workTools + 1] = workTool;
end;
end;
--belongs to mode4 but should be considered even if the mode is not set correctely
if workTool.spec_sprayer ~= nil and workTool.spec_sowingMachine ~= nil then
vehicle.cp.hasFertilizerSowingMachine = true;
end
--belongs to mode3 but should be considered even if the mode is not set correctely
if workTool.cp.isAugerWagon then
vehicle.cp.hasAugerWagon = true;
if workTool.cp.isSugarCaneAugerWagon then
vehicle.cp.hasSugarCaneAugerWagon = true
end
end;
if workTool.cp.isSugarCaneTrailer then
vehicle.cp.hasSugarCaneTrailer = true
end
vehicle.cp.hasWaterTrailer = hasWaterTrailer
if hasWorkTool then
courseplay:debug(('%s: workTool %q added to workTools (index %d)'):format(nameNum(vehicle), nameNum(workTool), #vehicle.cp.workTools), 6);
end;
--------------------------------------------------
if not isImplement or hasWorkTool or workTool.cp.isNonTippersHandledWorkTool then
-- SPECIAL SETTINGS
courseplay:askForSpecialSettings(vehicle, workTool);
--FOLDING PARTS: isFolded/isUnfolded states
courseplay:setFoldedStates(workTool);
end;
-- REVERSE PROPERTIES
courseplay:getReverseProperties(vehicle, workTool);
-- aiTurnNoBackward
if isImplement and hasWorkTool then
if not vehicle.cp.aiTurnNoBackward and workTool.cp.notToBeReversed then
vehicle.cp.aiTurnNoBackward = true;
courseplay:debug(('%s: workTool.cp.notToBeReversed == true --> vehicle.cp.aiTurnNoBackward = true'):format(nameNum(workTool)), 6);
end;
end;
-- TRAFFIC COLLISION IGNORE LIST
courseplay:debug(('%s: adding %q (%q) to cpTrafficCollisionIgnoreList'):format(nameNum(vehicle), nameNum(workTool), tostring(workTool.cp.xmlFileName)), 3);
vehicle.cpTrafficCollisionIgnoreList[workTool.rootNode] = true;
-- TRAFFIC COLLISION IGNORE LIST (components)
if workTool.components ~= nil then
courseplay:debug(('%s: adding %q (%q) components to cpTrafficCollisionIgnoreList'):format(nameNum(vehicle), nameNum(workTool), tostring(workTool.cp.xmlFileName)), 3);
for i,component in pairs(workTool.components) do
vehicle.cpTrafficCollisionIgnoreList[component.node] = true;
end;
end;
-- CHECK ATTACHED IMPLEMENTS
for k,impl in pairs(workTool:getAttachedImplements()) do
local implIsWorkTool = courseplay:updateWorkTools(vehicle, impl.object, true);
if implIsWorkTool then
hasWorkTool = true;
end;
end;
-- STEERABLE (vehicle)
if not isImplement then
vehicle.cp.numWorkTools = #vehicle.cp.workTools;
-- list debug
if courseplay.debugChannels[3] then
cpPrintLine(6);
courseplay:debug(('%s cpTrafficCollisionIgnoreList'):format(nameNum(vehicle)), 3);
for a,b in pairs(vehicle.cpTrafficCollisionIgnoreList) do
if g_currentMission.nodeToObject[ a ] then
local name = g_currentMission.nodeToObject[a].name;
courseplay:debug(('\\___ [%s] = %s (%q)'):format(tostring(a), tostring(name), tostring(getName(a))), 3);
end
end;
end;
-- TURN DIAMETER
if g_server ~= nil then
courseplay:setAutoTurnDiameter(vehicle, hasWorkTool);
end
-- TIP REFERENCE POINTS
courseplay:setTipRefOffset(vehicle);
-- TIPPER COVERS
vehicle.cp.tipperHasCover = false;
vehicle.cp.tippersWithCovers = {};
if hasWorkTool then
courseplay:setTipperCoverData(vehicle);
end;
-- FINAL WORKTOOLS TABLE DEBUG
if courseplay.debugChannels[6] then
cpPrintLine(6);
if vehicle.cp.numWorkTools > 0 then
courseplay:debug(('%s: workTools:'):format(nameNum(vehicle)), 6);
for i=1, vehicle.cp.numWorkTools do
courseplay:debug(('\\___ [%d] = %s'):format(i, nameNum(vehicle.cp.workTools[i])), 6);
end;
else
courseplay:debug(('%s: no workTools set'):format(nameNum(vehicle)), 6);
end;
end;
end;
--------------------------------------------------
if not isImplement then
cpPrintLine(6, 3);
end;
return hasWorkTool;
end;
function courseplay:setTipRefOffset(vehicle)
vehicle.cp.tipRefOffset = 0;
for i=1, vehicle.cp.numWorkTools do
vehicle.cp.workTools[i].cp.rearTipRefPoint = nil;
if vehicle.cp.hasMachinetoFill then
vehicle.cp.tipRefOffset = 1.5;
elseif vehicle.cp.workTools[i].rootNode ~= nil and vehicle.cp.workTools[i].tipReferencePoints ~= nil then
if #(vehicle.cp.workTools[i].tipReferencePoints) > 1 then
for n=1 ,#(vehicle.cp.workTools[i].tipReferencePoints) do
local tipperX, tipperY, tipperZ = getWorldTranslation(vehicle.cp.workTools[i].tipReferencePoints[n].node);
local tipRefPointX, tipRefPointY, tipRefPointZ = worldToLocal(vehicle.cp.workTools[i].rootNode, tipperX, tipperY, tipperZ);
courseplay:debug(string.format("point%s : tipRefPointX (%s), tipRefPointY (%s), tipRefPointZ(%s)",tostring(n),tostring(tipRefPointX),tostring(tipRefPointY),tostring( tipRefPointZ)),13)
tipRefPointX = abs(tipRefPointX);
if tipRefPointX > vehicle.cp.tipRefOffset then
if tipRefPointX > 0.1 then
vehicle.cp.tipRefOffset = tipRefPointX;
else
vehicle.cp.tipRefOffset = 0
end;
end
-- Find the rear tipRefpoint in case we are BGA tipping.
if tipRefPointX < 0.1 and tipRefPointZ < 0 then
if not vehicle.cp.workTools[i].cp.rearTipRefPoint or vehicle.cp.workTools[i].tipReferencePoints[n].width > vehicle.cp.workTools[i].tipReferencePoints[vehicle.cp.workTools[i].cp.rearTipRefPoint].width then
vehicle.cp.workTools[i].cp.rearTipRefPoint = n;
courseplay:debug(string.format("%s: Found rear TipRefPoint: %d - tipRefPointZ = %f", nameNum(vehicle), n, tipRefPointZ), 13);
end;
end;
end;
else
vehicle.cp.workTools[i].cp.rearTipRefPoint = 1
vehicle.cp.tipRefOffset = 0;
end;
end;
end;
end;
--- Create two markers (offset distances from the root/direction node of the vehicle):
-- frontMarker: distance of the outermost work area limit from the root/direction node.
-- backMarker: distance of the innermost work area limit from the root/direction node.
function courseplay:setMarkers(vehicle, object)
if object.cp.attachedCuttersVar ~= nil and not object.cp.hasSpecializationFruitPreparer and not courseplay:isAttachedCombine(object) then
courseplay.debugVehicle(6, vehicle, 'setMarkers(): %s is a combine -> not setting work areas', tostring(object.name))
return;
end
if object.cp.noWorkArea then
courseplay.debugVehicle(6, vehicle, 'setMarkers(): %s is special tool configured for no work areas', tostring(object.name))
return;
end;
local realDirectionNode = vehicle.isReverseDriving and vehicle.cp.reverseDrivingDirectionNode or vehicle.cp.DirectionNode;
local aLittleBitMore = 1;
local pivotJointNode = courseplay:getPivotJointNode(object);
object.cp.backMarkerOffset = nil;
object.cp.aiFrontMarker = nil;
-- Get and set vehicle distances if not set
local vehicleDistances = vehicle.cp.distances or courseplay:getDistances(vehicle);
-- Get and set object distances if not set
local objectDistances = object.cp.distances or courseplay:getDistances(object);
-- get the behindest and the frontest points :-) ( as offset to root node)
local activeInputAttacherJoint = object.getActiveInputAttacherJoint and object:getActiveInputAttacherJoint()
if not activeInputAttacherJoint then
courseplay.debugVehicle(6, vehicle, 'setMarkers(): no attacher joints')
return
end
if not courseplay:hasWorkAreas(object) then
if courseplay:isWheeledWorkTool(object) and activeInputAttacherJoint.jointType and vehicleDistances.turningNodeToRearTrailerAttacherJoints[activeInputAttacherJoint.jointType] then
-- Calculate the offset based on the distances
local ztt = vehicleDistances.turningNodeToRearTrailerAttacherJoints[activeInputAttacherJoint.jointType] * -1;
local backMarkerCorrection = Utils.getNoNil(object.cp.backMarkerOffsetCorection, 0);
if vehicle.cp.backMarkerOffset == nil or (abs(backMarkerCorrection) > 0 and ztt + backMarkerCorrection > vehicle.cp.backMarkerOffset) then
vehicle.cp.backMarkerOffset = abs(backMarkerCorrection) > 0 and ztt + backMarkerCorrection or 0;
end
local frontMarkerCorrection = Utils.getNoNil(object.cp.frontMarkerOffsetCorection, 0);
if vehicle.cp.aiFrontMarker == nil or (abs(frontMarkerCorrection) > 0 and ztt + frontMarkerCorrection < vehicle.cp.aiFrontMarker) then
vehicle.cp.aiFrontMarker = abs(frontMarkerCorrection) > 0 and ztt + frontMarkerCorrection or -3;
end
courseplay:debug(('%s: setMarkers(): cp.backMarkerOffset = %s, cp.aiFrontMarker = %s'):format(nameNum(vehicle), tostring(vehicle.cp.backMarkerOffset), tostring(vehicle.cp.aiFrontMarker)), 6);
else
--- Set front and back marker to default values, so we don't check again.
if vehicle.cp.backMarkerOffset == nil then
vehicle.cp.backMarkerOffset = 0;
end
if vehicle.cp.aiFrontMarker == nil then
vehicle.cp.aiFrontMarker = -3;
end
courseplay:debug(('%s: setMarkers(): %s has no workAreas -> return '):format(nameNum(vehicle), tostring(object.name)), 6);
end;
return;
end
-- TODO: figure out what other types to avoid, the FS17 types ending with DROP do not seem to exist anymore
local avoidType = {
[WorkAreaType.RIDGEMARKER] = true
}
for k, area in courseplay:workAreaIterator(object) do
if not avoidType[area.type] then
for j,node in pairs(area) do
if j == "start" or j == "height" or j == "width" then
local x, y, z;
local ztt = 0;
local type;
if pivotJointNode and activeInputAttacherJoint.jointType and vehicleDistances.turningNodeToRearTrailerAttacherJoints[activeInputAttacherJoint.jointType] then
type = "Pivot Trailer";
-- TODO: use localToLocal instead of a getWorldTranslation and a worldToLocal
x, y, z = getWorldTranslation(pivotJointNode);
-- Get the marker offset from the pivot node.
_, _, ztt = worldToLocal(node, x, y, z);
-- Calculate the offset based on the distances
ztt = ((vehicleDistances.turningNodeToRearTrailerAttacherJoints[activeInputAttacherJoint.jointType] + objectDistances.attacherJointToPivot) * -1) - ztt;
elseif courseplay:isWheeledWorkTool(object) and activeInputAttacherJoint.jointType and vehicleDistances.turningNodeToRearTrailerAttacherJoints[activeInputAttacherJoint.jointType] then
type = "Trailer";
x, y, z = getWorldTranslation(activeInputAttacherJoint.node)
-- Get the marker offset from the pivot node.
_, _, ztt = worldToLocal(node, x, y, z);
-- Calculate the offset based on the distances
ztt = (vehicleDistances.turningNodeToRearTrailerAttacherJoints[activeInputAttacherJoint.jointType] * -1) - ztt;
else
type = "Vehicle";
x, y, z = getWorldTranslation(node);
_, _, ztt = worldToLocal(realDirectionNode, x, y, z);
end;
courseplay.debugVehicle(6, vehicle, '%s %s (%s) %s: ztt = %.2f',
object:getName(), type, g_workAreaTypeManager.workAreaTypes[area.type].name, tostring(j), ztt)
if object.cp.backMarkerOffset == nil or ztt + Utils.getNoNil(object.cp.backMarkerOffsetCorection, 0) > object.cp.backMarkerOffset then
object.cp.backMarkerOffset = ztt + Utils.getNoNil(object.cp.backMarkerOffsetCorection, 0);
end
if object.cp.aiFrontMarker == nil or ztt + Utils.getNoNil(object.cp.frontMarkerOffsetCorection, 0) < object.cp.aiFrontMarker then
object.cp.aiFrontMarker = ztt + Utils.getNoNil(object.cp.frontMarkerOffsetCorection, 0);
end
end
end
else
courseplay.debugVehicle(6, vehicle, "Avoiding workArea Type %s", g_workAreaTypeManager.workAreaTypes[area.type].name)
end;
end
if vehicle.cp.backMarkerOffset == nil or object.cp.backMarkerOffset < (vehicle.cp.backMarkerOffset + aLittleBitMore) then
vehicle.cp.backMarkerOffset = object.cp.backMarkerOffset - aLittleBitMore;
end
if vehicle.cp.aiFrontMarker == nil or object.cp.aiFrontMarker > (vehicle.cp.aiFrontMarker - aLittleBitMore) then
vehicle.cp.aiFrontMarker = object.cp.aiFrontMarker + aLittleBitMore * 0.75;
end
courseplay:debug(('%s: setMarkers(): cp.backMarkerOffset = %s, cp.aiFrontMarker = %s'):format(nameNum(vehicle), tostring(vehicle.cp.backMarkerOffset), tostring(vehicle.cp.aiFrontMarker)), 6);
end;
function courseplay:setFoldedStates(object)
if courseplay:isFoldable(object) and object.spec_foldable.turnOnFoldDirection then
cpPrintLine(17);
courseplay:debug(nameNum(object) .. ': setFoldedStates()', 17);
object.cp.realUnfoldDirection = object.spec_foldable.turnOnFoldDirection;
if object.cp.foldingPartsStartMoveDirection and object.cp.foldingPartsStartMoveDirection ~= 0 and object.cp.foldingPartsStartMoveDirection ~= object.spec_foldable.turnOnFoldDirection then
object.cp.realUnfoldDirection = object.spec_foldable.turnOnFoldDirection * object.cp.foldingPartsStartMoveDirection;
end;
if object.cp.realUnfoldDirectionIsReversed then
object.cp.realUnfoldDirection = -object.cp.realUnfoldDirection;
end;
courseplay:debug(string.format('startAnimTime=%s, turnOnFoldDirection=%s, foldingPartsStartMoveDirection=%s --> realUnfoldDirection=%s', tostring(object.startAnimTime), tostring(object.turnOnFoldDirection), tostring(object.cp.foldingPartsStartMoveDirection), tostring(object.cp.realUnfoldDirection)), 17);
for i,foldingPart in pairs(object.spec_foldable.foldingParts) do
foldingPart.isFoldedAnimTime = 0;
foldingPart.isFoldedAnimTimeNormal = 0;
foldingPart.isUnfoldedAnimTime = foldingPart.animDuration;
foldingPart.isUnfoldedAnimTimeNormal = 1;
if object.cp.realUnfoldDirection < 0 then
foldingPart.isFoldedAnimTime = foldingPart.animDuration;
foldingPart.isFoldedAnimTimeNormal = 1;
foldingPart.isUnfoldedAnimTime = 0;
foldingPart.isUnfoldedAnimTimeNormal = 0;
end;
courseplay:debug(string.format('\tfoldingPart %d: isFoldedAnimTime=%s (normal: %d), isUnfoldedAnimTime=%s (normal: %d)', i, tostring(foldingPart.isFoldedAnimTime), foldingPart.isFoldedAnimTimeNormal, tostring(foldingPart.isUnfoldedAnimTime), foldingPart.isUnfoldedAnimTimeNormal), 17);
end;
cpPrintLine(17);
end;
end;
function courseplay:setTipperCoverData(vehicle)
for i=1, vehicle.cp.numWorkTools do
local workTool = vehicle.cp.workTools[i];
-- Default Giants trailers
if workTool.cp.hasSpecializationCover and not workTool.cp.isStrawBlower then
courseplay:debug(string.format('Implement %q has a cover (hasSpecializationCover == true)', tostring(workTool.name)), 6);
local data = {
coverType = 'defaultGiants',
tipperIndex = i,
};
table.insert(vehicle.cp.tippersWithCovers, data);
vehicle.cp.tipperHasCover = true;
-- TODO: Delete old mod code if sure not needed anymore.
-- Example: for mods trailer that don't use the default cover specialization. Look at openCloseCover() to see how this is used!
else--if workTool.cp.isCoverVehicle then
--courseplay:debug(string.format('Implement %q has a cover (isCoverVehicle == true)', tostring(workTool.name)), 6);
--vehicle.cp.tipperHasCover = true;
--local coverItems = someCreatedCoverList;
--local data = {
-- coverType = 'CoverVehicle',
-- tipperIndex = i,
-- coverItems = coverItems,
-- showCoverWhenTipping = true
--};
--table.insert(vehicle.cp.tippersWithCovers, data);
end;
end;
end;
function courseplay:setAutoTurnDiameter(vehicle, hasWorkTool)
cpPrintLine(6, 3);
local turnRadius, turnRadiusAuto = 10, 10;
vehicle.cp.turnDiameterAuto = vehicle.cp.vehicleTurnRadius * 2;
courseplay:debug(('%s: Set turnDiameterAuto to %.2fm (2 x vehicleTurnRadius)'):format(nameNum(vehicle), vehicle.cp.turnDiameterAuto), 6);
-- Check if we have worktools and if we are in a valid mode
if hasWorkTool and (vehicle.cp.mode == 2 or vehicle.cp.mode == 3 or vehicle.cp.mode == 4 or vehicle.cp.mode == 6) then
courseplay:debug(('%s: getHighestToolTurnDiameter(%s)'):format(nameNum(vehicle), vehicle.name), 6);
local toolTurnDiameter = courseplay:getHighestToolTurnDiameter(vehicle);
-- If the toolTurnDiameter is bigger than the turnDiameterAuto, then set turnDiameterAuto to toolTurnDiameter
if toolTurnDiameter > vehicle.cp.turnDiameterAuto then
courseplay:debug(('%s: toolTurnDiameter(%.2fm) > turnDiameterAuto(%.2fm), turnDiameterAuto set to %.2fm'):format(nameNum(vehicle), toolTurnDiameter, vehicle.cp.turnDiameterAuto, toolTurnDiameter), 6);
vehicle.cp.turnDiameterAuto = toolTurnDiameter;
end;
end;
if vehicle.cp.turnDiameterAutoMode then
vehicle.cp.turnDiameter = vehicle.cp.turnDiameterAuto;
courseplay:debug(('%s: turnDiameterAutoMode is active: turnDiameter set to %.2fm'):format(nameNum(vehicle), vehicle.cp.turnDiameterAuto), 6);
end;
cpPrintLine(6, 1);
end;
--##################################################
-- ##### LOADING TOOLS ##### --
function courseplay:load_tippers(vehicle, allowedToDrive)
--- vehicle.cp.tipperLoadMode == num
-- 0 = No loading mode is set. Will continue driving forward until mode 1 or 2 is set
-- 1 = Load at silo trigger. Will continue driving forward until the trailer is centered underneath the silo trigger, then stop and fill up
-- 2 = Stop at underneath wp 1 for field loading
if vehicle.cp.currentTrailerToFill == nil then
vehicle.cp.currentTrailerToFill = 1;
end
local currentTrailer = vehicle.cp.workTools[vehicle.cp.currentTrailerToFill];
local driveOn = vehicle.cp.isLoaded;
if not currentTrailer.cp.realUnloadOrFillNode and not driveOn then
currentTrailer.cp.realUnloadOrFillNode = courseplay:getRealUnloadOrFillNode(currentTrailer);
if not currentTrailer.cp.realUnloadOrFillNode then
if vehicle.cp.numWorkTools > vehicle.cp.currentTrailerToFill then
vehicle.cp.currentTrailerToFill = vehicle.cp.currentTrailerToFill + 1;
else
driveOn = true;
end;
end;
end;
if vehicle.cp.tipperLoadMode == 0 and not driveOn then
if vehicle.cp.ppc:haveJustPassedWaypoint(1) and currentTrailer.cp.currentSiloTrigger == nil then
--- We must be on an loading point at a field so we stop under wp1 and wait for trailer to be filled up
vehicle.cp.tipperLoadMode = 2;
elseif currentTrailer.cp.currentSiloTrigger then
--- We have an silo trigger, so we go load at silo trigger mode
vehicle.cp.tipperLoadMode = 1;
else
--- We were not able to determine what mode to set, so we move further forward until one is set.
return allowedToDrive;
end;
end;
local unloadDistance = 1000;
local trailerX,_,trailerZ = getWorldTranslation(currentTrailer.cp.realUnloadOrFillNode);
if not driveOn then
if vehicle.cp.tipperLoadMode == 1 then
local directionNode = vehicle.aiVehicleDirectionNode or vehicle.cp.DirectionNode;
local _,vehicleY,_ = getWorldTranslation(directionNode);
local _,_,z = worldToLocal(directionNode, trailerX, vehicleY, trailerZ);
vehicle.cp.trailerFillDistance = z + 0.5;
if currentTrailer.cp.currentSiloTrigger ~= nil then
local triggerX,_,triggerZ = getWorldTranslation(currentTrailer.cp.currentSiloTrigger.rootNode);
_,_,unloadDistance = worldToLocal(directionNode, triggerX, vehicleY, triggerZ);
courseplay:debug(string.format('%s: Silo Trigger unloadDistance = %.2f vehicle.cp.trailerFillDistance = %.4s', nameNum(vehicle), unloadDistance, tostring(vehicle.cp.trailerFillDistance)), 2);
end;
elseif vehicle.cp.tipperLoadMode == 2 then
local cx, cz = vehicle.Waypoints[2].cx, vehicle.Waypoints[2].cz;
if not vehicle.cp.trailerFillDistance then
vehicle.cp.trailerFillDistance = courseplay:distance(cx, cz, trailerX, trailerZ) + 0.5;
end;
unloadDistance = courseplay:distance(cx, cz, trailerX, trailerZ);
courseplay:debug(string.format('%s: Non Silo unloadDistance = %.2f vehicle.cp.trailerFillDistance = %.4s', nameNum(vehicle), unloadDistance, tostring(vehicle.cp.trailerFillDistance)), 2);
end;
end;
if vehicle.cp.tipperLoadMode == 1 and currentTrailer.cp.currentSiloTrigger ~= nil and not driveOn then
local acceptedFillType = false;
local siloTrigger = currentTrailer.cp.currentSiloTrigger;
if courseplay:fillTypesMatch(vehicle, siloTrigger, currentTrailer) then
--if not printOnce then
-- printOnce = true
-- courseplay.alreadyPrinted = {}
-- courseplay:printMeThisTable(siloTrigger,0,4,"siloTrigger")
--
--end
--siloTrigger.source
local siloIsEmpty = false --siloTrigger:getFillLevel(vehicle.cp.siloSelectedFillType) <= 1;
if not siloTrigger.isLoading and not siloIsEmpty and unloadDistance < vehicle.cp.trailerFillDistance then
if siloTrigger:getIsActivatable(currentTrailer) then
courseplay:setFillOnTrigger(vehicle,currentTrailer,true,siloTrigger)
end
--siloTrigger:startFill(vehicle.cp.siloSelectedFillType);
courseplay:setCustomTimer(vehicle, 'siloEmptyMessageDelay', 1);
courseplay:debug(('%s: SiloTrigger: selectedFillType = %s, isLoading = %s'):format(nameNum(vehicle), tostring(g_fillTypeManager.indexToName[siloTrigger.selectedFillType]), tostring(siloTrigger.isLoading)), 2);
elseif siloTrigger.isLoading then
courseplay:setCustomTimer(vehicle, 'siloEmptyMessageDelay', 1);
elseif siloIsEmpty and vehicle.cp.totalFillLevelPercent < vehicle.cp.driveOnAtFillLevel and courseplay:timerIsThrough(vehicle, 'siloEmptyMessageDelay') then
CpManager:setGlobalInfoText(vehicle, 'FARM_SILO_IS_EMPTY');
end;
else
CpManager:setGlobalInfoText(vehicle, 'FARM_SILO_NO_FILLTYPE');
end;
end;
-- drive on when required fill level is reached
if not driveOn and (courseplay:timerIsThrough(vehicle, 'fillLevelChange') or vehicle.cp.prevFillLevelPct == nil) then
if vehicle.cp.prevFillLevelPct ~= nil and vehicle.cp.totalFillLevelPercent == vehicle.cp.prevFillLevelPct and vehicle.cp.totalFillLevelPercent > vehicle.cp.driveOnAtFillLevel then
driveOn = true;
end;
vehicle.cp.prevFillLevelPct = vehicle.cp.totalFillLevelPercent;
courseplay:setCustomTimer(vehicle, 'fillLevelChange', 7);
end;
if vehicle.cp.totalFillLevelPercent == 100 or driveOn then
vehicle.cp.prevFillLevelPct = nil;
courseplay:setIsLoaded(vehicle, true);
vehicle.cp.trailerFillDistance = nil;
vehicle.cp.currentTrailerToFill = nil;
vehicle.cp.tipperLoadMode = 0;
courseplay:changeRunCounter(vehicle, true)
return allowedToDrive;
end;
if currentTrailer.cp.realUnloadOrFillNode and vehicle.cp.trailerFillDistance then
if courseplay:getFreeCapacity(currentTrailer,vehicle.cp.siloSelectedFillType) == 0 then
--or currentTrailer.cp.currentSiloTrigger ~= nil and not (courseplay:getFreeCapacity(currentTrailer,vehicle.cp.siloSelectedFillType) > 0 and #currentTrailer:getFillUnitsWithFillType(vehicle.cp.siloSelectedFillType) > 0) then
if vehicle.cp.numWorkTools > vehicle.cp.currentTrailerToFill then
vehicle.cp.currentTrailerToFill = vehicle.cp.currentTrailerToFill + 1;
else
vehicle.cp.prevFillLevelPct = nil;
courseplay:setIsLoaded(vehicle, true);
vehicle.cp.trailerFillDistance = nil;
vehicle.cp.currentTrailerToFill = nil;
vehicle.cp.tipperLoadMode = 0;
end;
else
courseplay:debug(string.format('%s: Stop the tipper unloadDistance = %.4s vehicle.cp.trailerFillDistance = %.4s waypointindex = %s', nameNum(vehicle), tostring(unloadDistance), tostring(vehicle.cp.trailerFillDistance), tostring(vehicle.cp.waypointIndex)), 2);
if unloadDistance < vehicle.cp.trailerFillDistance then
allowedToDrive = false;
end;
end;
end;
-- normal mode if all tippers are empty
return allowedToDrive;
end
-- ##################################################
-- ##### UNLOADING TOOLS ##### --
function courseplay:unload_tippers(vehicle, allowedToDrive,dt)
local ctt = vehicle.cp.currentTipTrigger;
local takeOverSteering = false
--[[if ctt.getTipDistanceFromTrailer == nil then
courseplay:debug(nameNum(vehicle) .. ": getTipDistanceFromTrailer function doesn't exist for currentTipTrigger - unloading function aborted", 2);
return allowedToDrive;
end]]
-- If we are less than 15 waypoints from the end point, don't reset the stopAtEndMode1 (We might be at the same silo as we are filling from)
if vehicle.cp.waypointIndex + 20 < vehicle.cp.numWaypoints then
vehicle.cp.stopAtEndMode1 = false;
end;
--[[
-- If the tipTrigger is full, then drive on to see if there is
local freeCapacity = 0;
if ctt.bunkerSilo then
freeCapacity = ctt.capacity - ctt.fillLevel;
else
for _, tipper in pairs(vehicle.cp.workTools) do
if ctt.animalHusbandry then
if ctt.animalHusbandry:getHasSpaceForTipping(tipper.cp.fillType) then
freeCapacity = 100
end
elseif tipper.spec_dischargeable ~= nil then
freeCapacity = freeCapacity + courseplay:getTipTriggerFreeCapacity(ctt, tipper.cp.fillType);
if tipper.cp.isTipping then
vehicle.cp.isTipping = true;
end;
end;
end;
end
if freeCapacity == 0 then
if vehicle.cp.isTipping then
if not courseplay.SiloIsFullMessageTimeOn then
courseplay:setCustomTimer(vehicle, 'SiloIsFullMessage', 5);
courseplay.SiloIsFullMessageTimeOn = true;
end;
if courseplay:timerIsThrough(vehicle, 'SiloIsFullMessage') then
courseplay:resetTipTrigger(vehicle)
courseplay:resetCustomTimer(vehicle, 'SiloIsFullMessage', true);
courseplay.SiloIsFullMessageTimeOn = nil;
vehicle.cp.isTipping = false;
if vehicle.cp.mode == 1 then
vehicle.cp.stopAtEndMode1 = true;
end
end;
CpManager:setGlobalInfoText(vehicle, 'FARM_SILO_IS_FULL')
else
courseplay:resetTipTrigger(vehicle)
courseplay:resetCustomTimer(vehicle, 'SiloIsFullMessage', true);
courseplay.SiloIsFullMessageTimeOn = nil;
if vehicle.cp.mode == 1 then
vehicle.cp.stopAtEndMode1 = true;
end
end;
return allowedToDrive;
end;]]
local isBGA = ctt.bunkerSilo ~= nil and vehicle.cp.handleAsOneSilo ~= true;
local bgaIsFull = isBGA and (ctt.fillLevel >= ctt.capacity);
if isBGA then
vehicle.cp.isBGATipping = true;
end;
for k, tipper in pairs(vehicle.cp.workTools) do
if tipper.spec_dischargeable ~= nil then
local allowedToDriveBackup = allowedToDrive;
local fillType = tipper.cp.fillType;
local currentDischargeNode = tipper:getCurrentDischargeNode()
local distanceToTrigger, bestTipReferencePoint = 0, currentDischargeNode;
--find the best TipPoint
if not tipper:getCanDischargeToObject(currentDischargeNode) then
for i=1,#tipper.spec_dischargeable.dischargeNodes do
if tipper:getCanDischargeToObject(tipper.spec_dischargeable.dischargeNodes[i])then