Merge pull request #2862 from Courseplay/ShovelImprovements

Shovel loader and bunker silo mode improvements

config/MasterTranslations.xml

@@ -687,6 +687,14 @@
 			<Text language="de"><![CDATA[Arbeitsbreite. Wert: 0 - 50]]></Text>
 			<Text language="en"><![CDATA[Work width. Value: 0 - 50]]></Text>
 		</Translation>
+		<Translation name="CP_vehicle_setting_levelerHeightOffset_title">
+			<Text language="de"><![CDATA[Versatz Schildhöhe]]></Text>
+			<Text language="en"><![CDATA[Shield height offset]]></Text>
+		</Translation>
+		<Translation name="CP_vehicle_setting_levelerHeightOffset_tooltip">
+			<Text language="de"><![CDATA[Höhenversatz vom Schild zum Boden. Wert: 0 - 1]]></Text>
+			<Text language="en"><![CDATA[Offset of the shield form the ground. Value: 0 - 1]]></Text>
+		</Translation>
 		<Translation name="CP_vehicle_setting_loadingShovelHeightOffset_title">
 			<Text language="de"><![CDATA[Versatz Schaufelhöhe.]]></Text>
 			<Text language="en"><![CDATA[Shovel hight offset.]]></Text>

config/VehicleSettingsSetup.xml

@@ -79,6 +79,8 @@
 		<Setting classType="AIParameterSettingList" name="loadingShovelHeightOffset" min="-1" max="1" incremental="0.1" default="0" unit="2" 
 				isVisible="isLoadingShovelOffsetSettingVisible" isDisabled="isLoadingShovelOffsetSettingDisabled" 
 				onChangeCallback="onCpLoadingShovelOffsetSettingChanged" vehicleConfiguration="loadingShovelOffset"/>
+		<Setting classType="AIParameterSettingList" name="levelerHeightOffset" min="0" max="0.5" incremental="0.05" default="0" unit="2" precision="3" 
+				isVisible="isLevelerHeightOffsetSettingVisible" isDisabled="isLevelerHeightOffsetSettingDisabled" />
 	</SettingSubTitle>
 
 	<SettingSubTitle title="combine" isVisible="areCombineSettingsVisible">

scripts/CpSettingsUtil.lua

@@ -35,9 +35,10 @@ CpSettingsUtil = {}
 				- isExpertModeOnly(bool): is the setting visible in the expert version?, default = false
 
 				- generateValuesFunction(string): dynamically adds value, when the setting is created.
-				- min (int): min value
-				- max (int): max value
+				- min (float): min value
+				- max (float): max value
 				- incremental (float): increment (optional), default "1"
+				- precision (float): optional rounding precision
 				- text(string): string to format the setting value with in the gui element.
 				- unit (int) : 1 == km/h, 2 == meters, 3 == ha (optional), 4 = percent (%), 5 = degrees (°)
 
@@ -89,9 +90,10 @@ function CpSettingsUtil.init()
 	schema:register(XMLValueType.BOOL, key.."#isExpertModeOnly", "Is enabled in simple mode?", false) -- optional
 
 	schema:register(XMLValueType.STRING, key .. "#generateValuesFunction", "Function to generate values.")
-	schema:register(XMLValueType.INT, key.."#min", "Setting min value")
-	schema:register(XMLValueType.INT, key.."#max", "Setting max value")
+	schema:register(XMLValueType.FLOAT, key.."#min", "Setting min value")
+	schema:register(XMLValueType.FLOAT, key.."#max", "Setting max value")
 	schema:register(XMLValueType.FLOAT, key.."#incremental", "Setting incremental", 1) -- optional
+	schema:register(XMLValueType.FLOAT, key.."#precision", "Setting precision", 2) -- optional
 	schema:register(XMLValueType.STRING, key.."#text", "Setting text") -- optional
 	schema:register(XMLValueType.INT, key .. "#unit", "Setting value unit (km/h, m ...)") --optional
 
@@ -205,6 +207,7 @@ function CpSettingsUtil.loadSettingsFromSetup(class, filePath)
 			settingParameters.min = xmlFile:getValue(baseKey.."#min")
 			settingParameters.max = xmlFile:getValue(baseKey.."#max")
 			settingParameters.incremental = MathUtil.round(xmlFile:getValue(baseKey.."#incremental"), 3)
+			settingParameters.precision = xmlFile:getValue(baseKey.."#precision", 2)
 			settingParameters.textStr = xmlFile:getValue(baseKey.."#text")
 			settingParameters.unit = xmlFile:getValue(baseKey.."#unit")
 

scripts/ai/AIDriveStrategyBunkerSilo.lua

@@ -47,16 +47,11 @@ function AIDriveStrategyBunkerSilo.new(customMt)
     AIDriveStrategyCourse.initStates(self, AIDriveStrategyBunkerSilo.myStates)
     self.state = self.states.DRIVING_TO_SILO
 
-    -- course offsets dynamically set by the AI and added to all tool and other offsets
-    self.aiOffsetX, self.aiOffsetZ = 0, 0
     self.debugChannel = CpDebug.DBG_SILO
-    ---@type ImplementController[]
-    self.controllers = {}
 	self.silo = nil
     self.siloController = nil
     self.drivingForwardsIntoSilo = true
     self.turnNode = CpUtil.createNode("turnNode", 0, 0, 0)
-
 
     self.isStuckTimer = Timer.new(self.isStuckMs)
     self.driveIntoSiloAttempts = 0
@@ -177,7 +172,7 @@ function AIDriveStrategyBunkerSilo:setAllStaticParameters()
                 else
                     self:startDrivingTemporaryOutOfSilo()
                 end
-            elseif self.siloController:hasNearbyUnloader() and self:isDrivingToParkPositionAllowed() then
+            elseif self.state == self.states.DRIVING_INTO_SILO and self.siloController:hasNearbyUnloader() and self:isDrivingToParkPositionAllowed() then
                 self:debug("Found an unloader nearby and is stuck, so immediately leave the silo.")
                 self:startDrivingOutOfSilo()
             end
@@ -292,15 +287,11 @@ end
 function AIDriveStrategyBunkerSilo:update(dt)
     AIDriveStrategyBunkerSilo:superClass().update(self, dt)
     self:updateImplementControllers(dt)
-
     if CpDebug:isChannelActive(self.debugChannel, self.vehicle) then
-        if self.course then
-            -- TODO_22 check user setting
-            if self.course:isTemporary() then
-                self.course:draw()
-            elseif self.ppc:getCourse():isTemporary() then
-                self.ppc:getCourse():draw()
-            end
+        if self.course and self.course:isTemporary() then
+            self.course:draw()
+        elseif self.ppc:getCourse():isTemporary() then
+            self.ppc:getCourse():draw()
         end
         if self.siloEndDetectionMarker ~= nil then
             DebugUtil.drawDebugNode(self.siloEndDetectionMarker, "siloEndDetectionMarker", false, 1)

scripts/ai/AIDriveStrategyShovelSiloLoader.lua

@@ -184,7 +184,7 @@ function AIDriveStrategyShovelSiloLoader:setAllStaticParameters()
     Markers.setMarkerNodes(self.vehicle)
     self.frontMarkerNode, self.backMarkerNode, self.frontMarkerDistance, self.backMarkerDistance = 
         Markers.getMarkerNodes(self.vehicle)
-    self.siloEndProximitySensor = SingleForwardLookingProximitySensorPack(self.vehicle, self.shovelController:getShovelNode(), 5, 1)
+    self.siloEndProximitySensor = SingleForwardLookingProximitySensorPack(self.vehicle, self.shovelController:getShovelNode(), 1, 1)
     self.heapNode = CpUtil.createNode("heapNode", 0, 0, 0, nil)
     self.lastTrailerSearch = 0
     self.isStuckTimer = Timer.new(self.isStuckMs)
@@ -275,9 +275,13 @@ function AIDriveStrategyShovelSiloLoader:getDriveData(dt, vX, vY, vZ)
             self.isStuckTimer:startIfNotRunning()
         end
         local _, _, closestObject = self.siloEndProximitySensor:getClosestObjectDistanceAndRootVehicle()
-        local isEndReached, maxSpeed = self.siloController:isEndReached(self.shovelController:getShovelNode(), 0)
-        if self.silo:isTheSameSilo(closestObject) or isEndReached then
-            self:debug("End wall detected or bunker silo end is reached.")
+        local isEndReached, maxSpeed = self.siloController:isEndReached(self.shovelController:getShovelNode(), 2)
+        self:setMaxSpeed(maxSpeed)
+        if isEndReached then
+            self:debug("End of the silo or heap was detected.")
+            self:startDrivingOutOfSilo()
+        elseif self.silo:isTheSameSilo(closestObject) and self.silo:isNodeInSilo(self.shovelController:getShovelNode()) then
+            self:debug("End wall of the silo was detected.")
             self:startDrivingOutOfSilo()
         end
         if self.shovelController:isFull() then 

scripts/ai/controllers/LevelerController.lua

@@ -44,6 +44,13 @@ function LevelerController:getDriveData()
     return nil, nil, nil, maxSpeed
 end
 
+function LevelerController:getTargetTerrainHeight()
+	local x, y, z = getWorldTranslation(self.levelerNode)
+	local terrainHeight = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, x, y, z)
+	--- Applies the setting offset, so the leveler is not directly on the ground.
+	return terrainHeight + self.settings.levelerHeightOffset:getValue()
+end
+
 --- Used when a wheel loader or a snowcat is used.
 --- Finds the correct cylindered axis.
 function LevelerController:setupCylinderedHeight()
@@ -87,7 +94,7 @@ end
 --- Used when a wheel loader or a snowcat is used.
 function LevelerController:updateCylinderedHeight(dt)
 	local x, y, z = getWorldTranslation(self.levelerNode)
-	local terrainHeight = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, x, y, z)
+	local terrainHeight = self:getTargetTerrainHeight()
 	local nx, ny, nz = localToWorld(self.levelerNode, 0, 0, 1)
 	local nTerrainHeight = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, nx, ny, nz)
 	local targetHeight = self:getTargetShieldHeight()
@@ -112,13 +119,13 @@ function LevelerController:setCylinderedLevelerRotation(dt, offsetDeg)
 	local _, dy, _ = localToWorld(self.levelerTool.node, 0, 0, 0)
 	local dx, _, dz = localToWorld(self.levelerNode, 0, 0, 0)
 	local _, ny, _ = worldToLocal(self.levelerTool.node, dx, dy, dz)
-	self:debug("dist: %.2f, ny: %.2f", dist, ny)
+--	self:debug("dist: %.2f, ny: %.2f", dist, ny)
 	local targetRot = math.asin(ny/dist) + math.rad(offsetDeg)
 	if ny > 0 then 
 		targetRot = -math.asin(-ny/dist) + math.rad(offsetDeg)
 	end
-	self:debug("curRot: %.2f, targetRot: %.2f, offset: %.2f, rotMin: %.2f, rotMax: %.2f", 
-				angle, targetRot, math.rad(offsetDeg), self.levelerTool.rotMin, self.levelerTool.rotMax)
+--	self:debug("curRot: %.2f, targetRot: %.2f, offset: %.2f, rotMin: %.2f, rotMax: %.2f", 
+--				angle, targetRot, math.rad(offsetDeg), self.levelerTool.rotMin, self.levelerTool.rotMax)
 
 	return ImplementUtil.moveMovingToolToRotation(self.levelerToolVehicle, self.levelerTool, dt,
 										 MathUtil.clamp(angle - targetRot, self.levelerTool.rotMin, self.levelerTool.rotMax))
@@ -149,7 +156,7 @@ function LevelerController:updateHeight(dt)
 	local jointDesc = spec.jointDesc
 	if self.driveStrategy:isLevelerLoweringAllowed() then 
 		local x, y, z = getWorldTranslation(self.levelerNode)
-		local terrainHeight = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, x, y, z)
+		local terrainHeight = self:getTargetTerrainHeight()
 		---target height of leveling, fill up is 0 by default
 		local targetHeight = self:getTargetShieldHeight()
 
@@ -225,7 +232,6 @@ end
 function LevelerController:updateShieldHeightOffset()
 	--- A small reduction to the offset, as the shield should be lifted after a only a bit silage.
 	local smallOffsetReduction = 0.3
-
 	--self.shieldHeightOffset = MathUtil.clamp(-self.levelerSpec.lastForce/self.levelerSpec.maxForce - smallOffsetReduction, 0, 1)
 end
 

scripts/ai/parameters/AIParameterSettingList.lua

@@ -22,7 +22,8 @@ function AIParameterSettingList:init(data, vehicle, class)
 		--- so we generate a series of float values and texts here.
 		self.data.values = {}
 		self.data.texts = {}
-		AIParameterSettingList.generateValues(self, self.data.values, self.data.texts, data.min, data.max, data.incremental, data.unit)
+		AIParameterSettingList.generateValues(self, self.data.values, self.data.texts,
+			data.min, data.max, data.incremental, data.unit, data.precision)
 		--- Same as above, make sure the values are copied.
 		self.values = table.copy(self.data.values)
 		if self.data.texts ~= nil then
@@ -73,27 +74,28 @@ function AIParameterSettingList:init(data, vehicle, class)
 
 end
 
-function AIParameterSettingList.getSpeedText(value)
+function AIParameterSettingList.getSpeedText(value, precision)
 	return string.format("%.1f %s", g_i18n:getSpeed(value), g_i18n:getSpeedMeasuringUnit())
 end
 
-function AIParameterSettingList.getDistanceText(value)
+function AIParameterSettingList.getDistanceText(value, precision)
+	precision = precision or 1
 	if g_Courseplay.globalSettings and g_Courseplay.globalSettings.distanceUnit:getValue() == g_Courseplay.globalSettings.IMPERIAL_UNIT  then 
 		return string.format("%.1f %s", value*AIParameterSettingList.FOOT_FACTOR, g_i18n:getText("CP_unit_foot"))
 	end
-	return string.format("%.1f %s", value, g_i18n:getText("CP_unit_meter"))
+	return string.format("%.".. tostring(precision) .. "f %s", value, g_i18n:getText("CP_unit_meter"))
 end
 
-function AIParameterSettingList.getAreaText(value)
+function AIParameterSettingList.getAreaText(value, precision)
 	return g_i18n:formatArea(value, 1, true)
 end
 
 AIParameterSettingList.UNITS_TEXTS = {
 	AIParameterSettingList.getSpeedText, --- km/h
 	AIParameterSettingList.getDistanceText, --- m
 	AIParameterSettingList.getAreaText, --- ha/arcs
-	function (value) return string.format("%d", value) .. "%" end,			--- percent
-	function (value) return string.format("%d", value) .. "°" end			--- degrees
+	function (value, precision) return string.format("%d", value) .. "%" end,			--- percent
+	function (value, precision) return string.format("%d", value) .. "°" end			--- degrees
 }
 
 AIParameterSettingList.UNITS_CONVERSION = {
@@ -113,12 +115,13 @@ AIParameterSettingList.INPUT_VALUE_THRESHOLD = 2
 ---@param max number
 ---@param inc number
 ---@param unit number
-function AIParameterSettingList:generateValues(values, texts, min, max, inc, unit)
+function AIParameterSettingList:generateValues(values, texts, min, max, inc, unit, precision)
 	inc = inc or 1
+	precision = precision or 2
 	for i=min, max, inc do 
 		table.insert(values, i)
-		local value = MathUtil.round(i, 2)
-		local text = unit and AIParameterSettingList.UNITS_TEXTS[unit] and AIParameterSettingList.UNITS_TEXTS[unit](value) or tostring(value)
+		local value = MathUtil.round(i, precision)
+		local text = unit and AIParameterSettingList.UNITS_TEXTS[unit] and AIParameterSettingList.UNITS_TEXTS[unit](value, precision - 1) or tostring(value)
 		table.insert(texts, text)
 	end
 end
@@ -233,12 +236,13 @@ end
 --- For all units that are not an SI unit ...
 function AIParameterSettingList:validateTexts()
 	local unit = self.data.unit
+	local precision = self.data.precision or 2
 	if unit then 
 		local unitStrFunc = AIParameterSettingList.UNITS_TEXTS[unit]
 		local fixedTexts = {}
 		for ix, value in ipairs(self.values) do 
-			local value = MathUtil.round(value, 2)
-			local text = unitStrFunc(value)
+			local value = MathUtil.round(value, precision)
+			local text = unitStrFunc(value, precision - 1)
 			fixedTexts[ix] = text
 		end
 		self.texts = fixedTexts

scripts/gui/hud/CpBunkerSiloWorkerHudPage.lua

@@ -23,6 +23,10 @@ function CpBunkerSiloWorkerHudPageElement:setupElements(baseHud, vehicle, lines,
 	}
 	self.driveDirectionBtn:setCallback(callback, callback)             			
 
+    --- Leveler height offset.
+    self.levelerHeightOffsetBtn = baseHud:addLineTextButton(self, 4, CpBaseHud.defaultFontSize, 
+        vehicle:getCpSettings().levelerHeightOffset) 
+
     --- Waiting at park position
 	local x, y = unpack(lines[1].left)
 	local xRight,_ = unpack(lines[1].right)
@@ -78,7 +82,12 @@ function CpBunkerSiloWorkerHudPageElement:updateContent(vehicle, status)
 	local driveDirection = vehicle:getCpBunkerSiloWorkerJobParameters().drivingForwardsIntoSilo
     self.driveDirectionBtn:setTextDetails(driveDirection:getTitle(), driveDirection:getString())
     self.driveDirectionBtn:setVisible(driveDirection:getIsVisible())
-    self.driveDirectionBtn:setDisabled(driveDirection:getIsDisabled())
+    self.driveDirectionBtn:setDisabled(not driveDirection:getIsVisible())
+
+    local heightOffset = vehicle:getCpSettings().levelerHeightOffset
+    self.levelerHeightOffsetBtn:setTextDetails(heightOffset:getTitle(), heightOffset:getString())
+    self.levelerHeightOffsetBtn:setVisible(heightOffset:getIsVisible())
+    self.levelerHeightOffsetBtn:setDisabled(heightOffset:getIsDisabled())
 
     local waitAt = vehicle:getCpBunkerSiloWorkerJobParameters().waitAtParkPosition
     self.waitAtBtn:setTextDetails(waitAt:getTitle(), waitAt:getString())