MP: do not slow down for player driven unloader #6536 (#6591)

Now the combine checks if a nearby vehicle is driven by the player
and won't slow down if this vehicle is in the proximity sensor's range.

AIDriver.lua

@@ -1908,6 +1908,11 @@ function AIDriver:checkSafetyConstraints(maxSpeed, allowedToDrive, moveForwards)
 	return math.min(proximityLimitedSpeed, trafficLimitedSpeed), allowedToDrive, moveForwards
 end
 
+------------------------------------------------------------------------------------------------------------------------
+--- Proximity sensor control
+------------------------------------------------------------------------------------------------------------------------
+--- proximity speed control enabled/disabled: if disabled, all of the vehicle's proximity sensors are deactivated and
+--- won't see anything, therefore, no stopping/slowing down/swerving on obstacles
 function AIDriver:enableProximitySpeedControl()
 	self.proximitySpeedControlEnabled = true
 end
@@ -1920,6 +1925,8 @@ function AIDriver:isProximitySpeedControlEnabled()
 	return self.proximitySpeedControlEnabled
 end
 
+--- proximity swerve enabled/disabled: will try to swerve for other vehicles when enabled. Will swerve for CP driven
+--- vehicles only when driving in a different direction (heading difference > 45 degrees)
 function AIDriver:enableProximitySwerve()
 	self.proximitySwerveEnabled = true
 end
@@ -1928,10 +1935,20 @@ function AIDriver:disableProximitySwerve()
 	self.proximitySwerveEnabled = false
 end
 
+--- proximity swerve enabled is checked with isProximitySwerveEnabled() and thus can be extended in derived classes with
+--- checking for the specific vehicle.
 function AIDriver:isProximitySwerveEnabled(vehicle)
 	return self.proximitySwerveEnabled
 end
 
+
+--- proximity slow down: slowing down when close to another vehicle
+--- proximity slow down is checked with isProximitySlowDownEnabled() and thus can be extended in derived classes with
+--- checking for the specific vehicle.
+function AIDriver:isProximitySlowDownEnabled(vehicle)
+	return true
+end
+
 --- Temporarily ignore vehicle for the forward proximity sensor
 function AIDriver:ignoreVehicleProximity(vehicleToIgnore, ttlMs)
 	if self.forwardLookingProximitySensorPack then
@@ -1961,6 +1978,7 @@ AIDriver.psStateNoVehicle = {name = 'no vehicle'}
 AIDriver.psStateReverse = {name = 'reverse'}
 AIDriver.psStateSwerve = {name = 'swerve'}
 AIDriver.psStateSlowDown = {name = 'slow down'}
+AIDriver.psStateSlowDownDisabled = {name = 'slow down disabled'}
 AIDriver.psStateReverse = {name = 'reverse'}
 AIDriver.psStateStop = {name = 'stop'}
 
@@ -2026,14 +2044,16 @@ function AIDriver:checkProximitySensor(maxSpeed, allowedToDrive, moveForwards)
 		debug(AIDriver.psStateNoObstacle, '')
 		return maxSpeed, allowedToDrive, moveForwards
 	end
-	-- something in range, reduce speed proportionally
+
+	-- something in range, reduce speed proportionally when enabled
 	local deltaV = maxSpeed - AIDriver.proximityMinLimitedSpeed
-	local newSpeed = AIDriver.proximityMinLimitedSpeed + normalizedD * deltaV
+	local slowSpeed = AIDriver.proximityMinLimitedSpeed + normalizedD * deltaV
+	local newSpeed = maxSpeed
 	local sameDirection = TurnContext.isSameDirection(
 			AIDriverUtil.getDirectionNode(self.vehicle), AIDriverUtil.getDirectionNode(vehicle), 45)
 	-- check for nil and NaN
 	if deg and deg == deg and self:isProximitySwerveEnabled(vehicle) and
-			(not sameDirection or not vehicle:getIsCourseplayDriving())then
+			(not sameDirection or not vehicle:getIsCourseplayDriving()) then
 		local dx = dAvg * math.sin(math.rad(deg))
 		-- which direction to swerve (have a little bias for right, sorry UK folks :)
 		local dir = dx > -1.2 and 1 or -1
@@ -2044,13 +2064,23 @@ function AIDriver:checkProximitySensor(maxSpeed, allowedToDrive, moveForwards)
 		local error = setPoint - dx
 		local offsetChange = 0.5 * error
 		self.course:changeTemporaryOffsetX(offsetChange, 1000)
-		debug(AIDriver.psStateSwerve, 'dAvg = %.1f (%d), slow down, speed = %.1f, swerve dx = %.1f, setPoint = %.1f, error = %.1f, offsetChange = %.1f',
+		-- always slow down when swerving
+		newSpeed = slowSpeed
+		debug(AIDriver.psStateSwerve, 'dAvg = %.1f (%d), speed = %.1f, swerve dx = %.1f, setPoint = %.1f, error = %.1f, offsetChange = %.1f',
 				dAvg, 100 * normalizedD, newSpeed, dx, setPoint, error, offsetChange)
 	else
-		self:setInfoText('SLOWING_DOWN_FOR_TRAFFIC')
+		if self:isProximitySlowDownEnabled(vehicle) then
+			newSpeed = slowSpeed
+			self:setInfoText('SLOWING_DOWN_FOR_TRAFFIC')
+			debug(AIDriver.psStateSlowDown, 'proximity: d = %.1f (%d), speed = %.1f, deg = %.1f',
+					d, 100 * normalizedD, newSpeed, deg)
+		else
+			newSpeed = maxSpeed
+			debug(AIDriver.psStateSlowDownDisabled, 'proximity: d = %.1f (%d), speed = %.1f, deg = %.1f',
+					d, 100 * normalizedD, newSpeed, deg)
+		end
+		-- not swerving, reset offset
 		self.course:setTemporaryOffset(0, 0, 6000)
-		debug(AIDriver.psStateSlowDown, 'proximity: d = %.1f (%d), slow down, speed = %.1f, deg = %.1f',
-				d, 100 * normalizedD, newSpeed, deg)
 	end
 	return newSpeed, allowedToDrive, moveForwards
 end

CombineAIDriver.lua

@@ -1602,4 +1602,25 @@ function CombineAIDriver:addForwardProximitySensor()
 	self:setFrontMarkerNode(self.vehicle)
 	self.forwardLookingProximitySensorPack = WideForwardLookingProximitySensorPack(
 			self.vehicle, self.ppc, self:getFrontMarkerNode(self.vehicle), self.proximitySensorRange, 1, self.vehicle.cp.workWidth)
-end
+end
+
+--- Check the vehicle in the proximity sensor's range. If it is player driven, don't slow them down when hitting this
+--- vehicle.
+--- Note that we don't really know if the player is to unload the combine, this will disable all proximity check for
+--- player driven vehicles.
+function CombineAIDriver:isProximitySlowDownEnabled(vehicle)
+	-- if not on fieldwork, always enable slowing down
+	if self.state ~= self.states.ON_FIELDWORK_COURSE then return true end
+
+	-- CP drives other vehicle, it'll take care of everything, including enable/disable
+	-- the proximity sensor when unloading
+	if vehicle.cp.driver and vehicle.cp.driver.isActive and vehicle.cp.driver:isActive() then return true end
+
+	if vehicle and vehicle:getIsEntered() then
+		self:debugSparse('human player in nearby %s not driven by CP so do not slow down for it', nameNum(vehicle))
+		-- trust the player to avoid collisions
+		return false
+	else
+		return true
+	end
+end

CombineUnloadAIDriver.lua

@@ -2073,37 +2073,6 @@ function CombineUnloadAIDriver:drawDebugInfo()
 
 end
 
-
---- If the player drives the unloader, check the vicinity  for combines driven by courseplay
---- and tell them to ignore this vehicle so their proximity sensor won't slow them down when hitting this vehicle.
---- Note that we don't really know if the player is to unload the combine, this will disable all proximity check for
---- player driven vehicles.
-function CombineUnloadAIDriver.disableProximitySensorForNonCourseplayDriver(unloader)
-	if not g_server then return end
-	-- CP drives unloader, it'll take care of everything
-	if unloader.cp.driver and unloader.cp.driver.isActive and unloader.cp.driver:isActive() then return end
-	-- TODO: maybe check for AutoDrive? Or better provide and interface to AutoDrive to disable the proximity sensor?
-	-- no player in unloader, so do not ignore this vehicle
-	if not unloader:getIsEntered() then return end
-
-	-- find combines driven by CP around unloader
-	if g_currentMission then
-		for _, vehicle in pairs(g_currentMission.vehicles) do
-			if vehicle.cp.driver and vehicle.cp.driver.is_a and vehicle.cp.driver:is_a(CombineAIDriver) then
-				local d = calcDistanceFrom(unloader.rootNode, vehicle.rootNode)
-				if d < CombineUnloadAIDriver.safeManeuveringDistance then
-					vehicle.cp.driver:ignoreVehicleProximity(unloader, 3000)
-					--TODO: figure out a possible debug channel, if needed
-
-					--if g_updateLoopIndex % 500 == 0 then
-						--courseplay.infoVehicle(vehicle, 'Proximity sensor deactivated for player driven %s', nameNum(unloader))
-					--end
-				end
-			end
-		end
-	end
-end
-
 function CombineUnloadAIDriver:renderText(x, y, ...)
 
 	if not courseplay.debugChannels[self.debugChannel] then return end

base.lua

@@ -773,8 +773,6 @@ function courseplay:onUpdate(dt)
 		courseplay:record(self);
 	end;
 
-	CombineUnloadAIDriver.disableProximitySensorForNonCourseplayDriver(self)
-
 	-- we are in drive mode and single player /MP server
 	if self.cp.isDriving and g_server ~= nil then
 		for refIdx,_ in pairs(CpManager.globalInfoText.msgReference) do