Merge pull request #1122 from Courseplay/OrchardDriver

Orchard driver

Courseplay.lua

@@ -162,6 +162,9 @@ function Courseplay:update(dt)
 end
 
 function Courseplay:draw()
+	if not g_gui:getIsGuiVisible() then
+		g_vineScanner:draw()
+	end
 	g_devHelper:draw()
 	CpDebug:draw()
 	if not g_gui:getIsGuiVisible() then
@@ -218,7 +221,8 @@ function Courseplay:load()
 	g_assignedCoursesManager:registerXmlSchema()
 
 	--- Register additional AI messages.
-	AIMessageErrorIsFull.register()
+	AIMessageErrorIsFull.register()	
+	g_vineScanner:setup()
 end
 
 ------------------------------------------------------------------------------------------------------------------------

config/VehicleConfigurations.xml

@@ -90,9 +90,21 @@ You can define the following custom settings:
     <!--[GIANTS]-->
 
     <!-- Harvesters -->
+
+    <!--vehicles\newHolland-->
+    <Vehicle name="braud9070L.xml"
+             raiseLate="true"
+             lowerEarly="true"
+             turnRadius="5"
+    />
+    <Vehicle name="braud9090X.xml"
+             raiseLate="true"
+             lowerEarly="true"
+             turnRadius="5"
+    />
     <!-- Implements -->
 
-    <!-- Agromasz POV 5XL -->
+    <!--\vehicles\agromasz-->
     <Vehicle name="pov5xl.xml"
              raiseLate="true"
              lowerEarly="true"
@@ -102,7 +114,7 @@ You can define the following custom settings:
              toolOffsetX="-2.7"
              turnRadius="15"
     />
-    <!--\Vehicles\amazone-->
+    <!--\vehicles\amazone-->
     <Vehicle name="citan15001C.xml"
              implementWheelAlwaysOnGround = "true"
     />
@@ -210,8 +222,16 @@ You can define the following custom settings:
     <Vehicle name="agrisemCultiplowPlatinum8m.xml"
              turnRadius = "7"
     />
+    <!--\vehicles\proviti-->
+    <Vehicle name="mp122Ocea.xml"
+             toolOffsetX="-1.2"
+             raiseLate="true"
+             lowerEarly="true"
+             turnRadius="5"
+    />
 
     <!--Tractors-->
+
     <!--\vehicles\stara-->
     <Vehicle name="imperador3.xml"
              ignoreCollisionBoxesWhenFolded="true"

config/VineCourseGeneratorSettingsSetup.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+
+<!-- 
+	All the course generator settings can be setup here.
+	For documentation look up the CpSettingUtil.lua.
+-->
+
+<Settings prefixText="CP_vehicle_vineCourseGeneratorSetting_" autoUpdateGui="true">
+    <SettingSubTitle title="basic">
+        <Setting classType="AIParameterSettingList" name="vineCenterOffset" default = "0">
+            <Values>
+                <Value name="VINE_CENTER_OFFSET_LEFT">-1</Value>
+                <Value name="VINE_CENTER_OFFSET_CENTER">0</Value>
+                <Value name="VINE_CENTER_OFFSET_RIGHT">1</Value>
+            </Values>
+            <Texts>
+                <Text>left</Text>
+                <Text>center</Text>
+                <Text>right</Text>
+            </Texts>
+        </Setting>
+        <Setting classType="AIParameterSettingList" name="vineMultiTools" min="1" max="5" default="1"/>
+        <Setting classType="AIParameterSettingList" name="vineRowsToSkip" min="0" max="1" default="0"/>
+    </SettingSubTitle>
+</Settings>

modDesc.xml

@@ -74,6 +74,7 @@ Funktionen:
 		<sourceFile filename="scripts/field/CustomField.lua"/>
 		<sourceFile filename="scripts/field/CustomFieldManager.lua"/>
 		<sourceFile filename="scripts/field/FieldScanner.lua"/>
+		<sourceFile filename="scripts/field/VineScanner.lua"/>
 		<sourceFile filename="scripts/pathfinder/BinaryHeap.lua"/>
 		<sourceFile filename="scripts/pathfinder/State3D.lua"/>
 		<sourceFile filename="scripts/pathfinder/AnalyticSolution.lua"/>
@@ -97,6 +98,7 @@ Funktionen:
 		<sourceFile filename="scripts/ai/AIDriveStrategyCombineCourse.lua"/>
 		<sourceFile filename="scripts/ai/AIDriveStrategyPlowCourse.lua"/>
 		<sourceFile filename="scripts/ai/AIDriveStrategyFindBales.lua"/>
+		<sourceFile filename="scripts/ai/AIDriveStrategyVineFieldWorkCourse.lua"/>
 		<sourceFile filename="scripts/ai/AIMessages.lua"/>
 		<sourceFile filename="scripts/ai/Markers.lua"/>
 		<sourceFile filename="scripts/ai/ProximitySensor.lua"/>
@@ -116,6 +118,7 @@ Funktionen:
 		<sourceFile filename="scripts/ai/controllers/StonePickerController.lua"/>
 		<sourceFile filename="scripts/ai/controllers/CombineController.lua"/>
 		<sourceFile filename="scripts/ai/controllers/MotorController.lua"/>
+		<sourceFile filename="scripts/ai/controllers/VineCutterController.lua"/>
 		<sourceFile filename="scripts/ai/BaleToCollect.lua"/>
 		<sourceFile filename="scripts/ai/FillLevelManager.lua"/>
 		<sourceFile filename="scripts/ai/InfoTextsManager.lua"/>

scripts/ai/AIDriveStrategyCombineCourse.lua

@@ -1110,7 +1110,7 @@ function AIDriveStrategyCombineCourse:startTurn(ix)
 		elseif self.course:isOnConnectingTrack(ix) then
 			self:debug('Headland turn but this a connecting track, use normal turn maneuvers.')
 			AIDriveStrategyCombineCourse.superClass().startTurn(self, ix)
-		elseif self.course:isOnOutermostHeadland(ix) and self.settings.turnOnField:getValue() then
+		elseif self.course:isOnOutermostHeadland(ix) and self:isTurnOnFieldActive() then
 			self:debug('Creating a pocket in the corner so the combine stays on the field during the turn')
 			self.aiTurn = CombinePocketHeadlandTurn(self.vehicle, self, self.ppc, self.turnContext,
 					self.course, self:getWorkWidth())

scripts/ai/AIDriveStrategyDriveToFieldWorkStart.lua

@@ -80,6 +80,9 @@ function AIDriveStrategyDriveToFieldWorkStart:start(course, startIx, jobParamete
         self.vehicle:prepareForAIDriving()
         self:startCourseWithPathfinding(course, startIx)
     end
+    --- Saves the course start position, so it can be given to the job instance.
+    local x, _, z = course:getWaypointPosition(startIx)
+    self.startPosition = {x = x, z = z}
 end
 
 function AIDriveStrategyDriveToFieldWorkStart:update()
@@ -94,6 +97,10 @@ function AIDriveStrategyDriveToFieldWorkStart:isWorkStartReached()
     return self.state == self.states.WORK_START_REACHED
 end
 
+function AIDriveStrategyDriveToFieldWorkStart:getStartPosition()
+    return self.startPosition
+end
+
 function AIDriveStrategyDriveToFieldWorkStart:getDriveData(dt, vX, vY, vZ)
     local moveForwards = not self.ppc:isReversing()
     local gx, gz

scripts/ai/AIDriveStrategyFieldWorkCourse.lua

@@ -244,6 +244,7 @@ function AIDriveStrategyFieldWorkCourse:initializeImplementControllers(vehicle)
     self:addImplementController(vehicle, CombineController, Combine, defaultDisabledStates)
 
     self:addImplementController(vehicle, MotorController, Motorized, {})
+    self:addImplementController(vehicle, VineCutterController, VineCutter, defaultDisabledStates)
 end
 
 function AIDriveStrategyFieldWorkCourse:lowerImplements()    
@@ -441,7 +442,7 @@ function AIDriveStrategyFieldWorkCourse:startTurn(ix)
     self.ppc:setShortLookaheadDistance()
     self.turnContext = TurnContext(self.course, ix, ix + 1, self.turnNodes, self:getWorkWidth(), fm, bm,
             self:getTurnEndSideOffset(), self:getTurnEndForwardOffset())
-    if AITurn.canMakeKTurn(self.vehicle, self.turnContext, self.workWidth) then
+    if AITurn.canMakeKTurn(self.vehicle, self.turnContext, self.workWidth, self:isTurnOnFieldActive()) then
         self.aiTurn = KTurn(self.vehicle, self, self.ppc, self.turnContext, self.workWidth)
     else
         self.aiTurn = CourseTurn(self.vehicle, self, self.ppc, self.turnContext, self.course, self.workWidth)
@@ -612,6 +613,10 @@ function AIDriveStrategyFieldWorkCourse:updateCpStatus(status)
     end
 end
 
+function AIDriveStrategyFieldWorkCourse:isTurnOnFieldActive()
+    return self.settings.turnOnField:getValue()
+end
+
 -----------------------------------------------------------------------------------------------------------------------
 --- Convoy management
 -----------------------------------------------------------------------------------------------------------------------

scripts/ai/AIDriveStrategyVineFieldWorkCourse.lua

@@ -0,0 +1,42 @@
+--[[
+This file is part of Courseplay (https://github.com/Courseplay/Courseplay_FS22)
+Copyright (C) 2021 Peter Vaiko
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Drive strategy for driving a vine field work course
+
+]]--
+
+---@class AIDriveStrategyVineFieldWorkCourse : AIDriveStrategyFieldWorkCourse
+AIDriveStrategyVineFieldWorkCourse = {}
+local AIDriveStrategyVineFieldWorkCourse_mt = Class(AIDriveStrategyVineFieldWorkCourse, AIDriveStrategyFieldWorkCourse)
+
+function AIDriveStrategyVineFieldWorkCourse.new(customMt)
+    if customMt == nil then
+        customMt = AIDriveStrategyVineFieldWorkCourse_mt
+    end
+    local self = AIDriveStrategyFieldWorkCourse.new(customMt)
+
+    return self
+end
+
+function AIDriveStrategyVineFieldWorkCourse:setAIVehicle(...)
+    AIDriveStrategyVineFieldWorkCourse:superClass().setAIVehicle(self, ...)
+end
+
+--- Always disables turn on field.
+function AIDriveStrategyVineFieldWorkCourse:isTurnOnFieldActive()
+    return false
+end

scripts/ai/Markers.lua

@@ -39,7 +39,7 @@ local function setBackMarkerNode(vehicle, measuredBackDistance)
                 debugText, backMarkerOffset, dBetweenRootAndReverserNode)
     else
         referenceNode = vehicle.rootNode
-        backMarkerOffset = - vehicle.sizeLength / 2 + vehicle.lengthOffset
+        backMarkerOffset = - vehicle.size.length / 2 + vehicle.size.lengthOffset
         CpUtil.debugVehicle(CpDebug.DBG_IMPLEMENTS,'Using the vehicle\'s root node for the rear proximity sensor, %d m from root node', backMarkerOffset)
     end
 
@@ -74,10 +74,16 @@ function Markers.setMarkerNodes(vehicle, measuredBackDistance)
 end
 
 function Markers.getFrontMarkerNode(vehicle)
-    return g_vehicleMarkers[vehicle] and g_vehicleMarkers[vehicle].frontMarkerNode
+    if not g_vehicleMarkers[vehicle] or not g_vehicleMarkers[vehicle].frontMarkerNode then
+        setFrontMarkerNode(vehicle)
+    end
+    return g_vehicleMarkers[vehicle].frontMarkerNode
 end
 
 function Markers.getBackMarkerNode(vehicle)
-    return g_vehicleMarkers[vehicle] and g_vehicleMarkers[vehicle].backMarkerNode
+    if not g_vehicleMarkers[vehicle] or not g_vehicleMarkers[vehicle].backMarkerNode then
+        setBackMarkerNode(vehicle)
+    end
+    return g_vehicleMarkers[vehicle].backMarkerNode
 end
 

scripts/ai/WorkWidthUtil.lua

@@ -130,9 +130,9 @@ function WorkWidthUtil.getAIMarkers(object, logPrefix, suppressLog)
         aiLeftMarker, aiRightMarker, aiBackMarker = WorkWidthUtil.getAIMarkersFromWorkAreas(object)
         if not aiLeftMarker or not aiRightMarker or not aiLeftMarker then
             if not suppressLog then
-                WorkWidthUtil.debug(object, logPrefix, 'has no work areas, giving up')
+                WorkWidthUtil.debug(object, logPrefix, 'has no work areas, giving up, will use front/back markers')
             end
-            return nil, nil, nil
+            return Markers.getFrontMarkerNode(object), Markers.getFrontMarkerNode(object), Markers.getBackMarkerNode(object)
         else
             if not suppressLog then WorkWidthUtil.debug(object, logPrefix, 'AI markers from work area set') end
             return aiLeftMarker, aiRightMarker, aiBackMarker

scripts/ai/controllers/VineCutterController.lua

@@ -0,0 +1,31 @@
+--- Makes sure the vine harvester is stop, once it's full.
+--- The vine harvester isn't using the combine drive strategy, as there is some bug.
+---@class VineCutterController : ImplementController
+VineCutterController = CpObject(ImplementController)
+
+function VineCutterController:init(vehicle, vineCutter)
+    ImplementController.init(self, vehicle, vineCutter)
+	self.vineCutterSpec = vineCutter.spec_vineCutter
+	self.combine = AIUtil.getAllChildVehiclesWithSpecialization(vehicle, Combine)[1]
+	self.combineSpec = self.combine.spec_combine
+end
+
+function VineCutterController:getIsFull()
+	return self.combine:getFillUnitFreeCapacity(self.combineSpec.fillUnitIndex) <= 0
+end
+
+function VineCutterController:update()
+	if self:getIsFull() then 
+		self.vehicle:stopCurrentAIJob(AIMessageErrorIsFull.new())
+	end
+end
+
+--- Waits while it's full or unloading finished.
+function VineCutterController:getDriveData()
+	local maxSpeed
+	if self:getIsFull() then 
+		maxSpeed = 0
+	end
+
+	return nil, nil, nil, maxSpeed
+end

scripts/ai/jobs/CpAIJobFieldWork.lua

@@ -14,7 +14,7 @@ function CpAIJobFieldWork.new(isServer, customMt)
 
 	self.lastPositionX, self.lastPositionZ = math.huge, math.huge
 	self.hasValidPosition = false
-
+	self.foundVines = nil
 	self.selectedFieldPlot = FieldPlot(g_currentMission.inGameMenu.ingameMap)
 	self.selectedFieldPlot:setVisible(false)
 	return self
@@ -80,12 +80,18 @@ function CpAIJobFieldWork:validateFieldSetup(isValid, errorMessage)
 
 	-- everything else is valid, now find the field
 	local tx, tz = self.fieldPositionParameter:getPosition()
-
+	self.hasValidPosition = false
+	self.foundVines = nil
 	local isCustomField
 	self.fieldPolygon, isCustomField = CpFieldUtil.getFieldPolygonAtWorldPosition(tx, tz)
 
 	if self.fieldPolygon then
 		self.hasValidPosition = true
+		self.foundVines = g_vineScanner:findVineNodesInField(self.fieldPolygon, tx, tz, self.customField~=nil)
+		if self.foundVines then 
+			self.fieldPolygon = g_vineScanner:getCourseGeneratorVertices(0, tx, tz)
+		end
+
 		self.selectedFieldPlot:setWaypoints(self.fieldPolygon)
 		self.selectedFieldPlot:setVisible(true)
 		self.selectedFieldPlot:setBrightColor(true)
@@ -169,7 +175,24 @@ function CpAIJobFieldWork:onClickGenerateFieldWorkCourse()
 	local vehicle = self.vehicleParameter:getVehicle()
 	local settings = vehicle:getCourseGeneratorSettings()
 	local tx, tz = self.fieldPositionParameter:getPosition()
-	local status, ok, course = CourseGeneratorInterface.generate(self.fieldPolygon,
+	local status, ok, course
+	if self.foundVines then 
+		local vineSettings = vehicle:getCpVineSettings()
+		local vertices, width, startingPoint, rowAngleDeg = g_vineScanner:getCourseGeneratorVertices(
+			vineSettings.vineCenterOffset:getValue(),
+			tx, tz
+		)
+		status, ok, course = CourseGeneratorInterface.generateVineCourse(vertices,
+			startingPoint,
+			width,
+			AIUtil.getTurningRadius(vehicle),
+			rowAngleDeg,
+			vineSettings.vineRowsToSkip:getValue(),
+			vineSettings.vineMultiTools:getValue()
+		)
+	else 
+
+		status, ok, course = CourseGeneratorInterface.generate(self.fieldPolygon,
 			{x = tx, z = tz},
 			settings.isClockwise:getValue(),
 			settings.workWidth:getValue(),
@@ -182,12 +205,14 @@ function CpAIJobFieldWork:onClickGenerateFieldWorkCourse()
 			settings.rowDirection:getValue(),
 			settings.manualRowAngleDeg:getValue(),
 			settings.rowsToSkip:getValue(),
+			false,
 			settings.rowsPerLand:getValue(),
 			settings.islandBypassMode:getValue(),
 			settings.fieldMargin:getValue(),
 			settings.multiTools:getValue(),
 			self:isPipeOnLeftSide(vehicle)
-	)
+		)
+	end
 	CpUtil.debugFormat(CpDebug.DBG_COURSES, 'Course generator returned status %s, ok %s, course %s', status, ok, course)
 	if not status then
 		g_gui:showInfoDialog({
@@ -229,4 +254,18 @@ function CpAIJobFieldWork:stop(aiMessage)
 	if vehicle and vehicle.spec_aiFieldWorker.isActive then 
 		vehicle.spec_aiFieldWorker.isActive = false
 	end
+end
+
+function CpAIJobFieldWork:getCourseGeneratorSettings()
+	local vehicle = self:getVehicle()
+	if self.foundVines then 
+		return vehicle, vehicle:getCpVineSettingsTable(), CpCourseGeneratorSettings.getVineSettingSetup(vehicle)
+	end
+	return vehicle, vehicle:getCourseGeneratorSettingsTable(), CpCourseGeneratorSettings.getSettingSetup(vehicle)
+end
+
+function CpAIJobFieldWork:setStartPosition(startPosition)
+	if self.fieldWorkTask then
+		self.fieldWorkTask:setStartPosition(startPosition)
+	end
 end

scripts/ai/tasks/CpAITaskDriveTo.lua

@@ -28,6 +28,7 @@ function CpAITaskDriveTo:stop()
     AITask.stop(self)
 end
 
-function CpAITaskDriveTo:onTargetReached()
+function CpAITaskDriveTo:onTargetReached(startPosition)
     self.isFinished = true
+    self.job:setStartPosition(startPosition)
 end