Merge pull request #7423 from Courseplay/SugarCaneTrailerToolPositions

Added diff working tool positions and trigger fixes

AIDriver.lua

@@ -183,8 +183,11 @@ function AIDriver:init(vehicle)
 		self.settings:validateCurrentValues()
 	end
 	self:setHudContent()
+	---@type TriggerHandler
 	self.triggerHandler = TriggerHandler(self,self.vehicle,self:getSiloSelectedFillTypeSetting())
 	self.triggerHandler:enableFuelLoading()
+	---@type TriggerSensor
+	self.triggerSensor = TriggerSensor(self,self.vehicle)
 end
 
 ---This function is called once on the first update tick,
@@ -438,13 +441,13 @@ function AIDriver:update(dt)
 	self:resetSpeed()
 	self:updateLoadingText()
 	self.triggerHandler:onUpdate(dt)
+	self.triggerSensor:onUpdate(dt)
 	self:shouldDriverBeReleased()
-
-	self:updateDistanceMovedSinceStart(dt)
+	self:updateDistanceMovedSinceStart()
 end
 
 ---Update moved distance since start.
-function AIDriver:updateDistanceMovedSinceStart(dt)
+function AIDriver:updateDistanceMovedSinceStart()
 	self.movedDistance = self.movedDistance + self.vehicle.lastMovedDistance
 end
 
@@ -512,14 +515,9 @@ function AIDriver:driveCourse(dt)
 	if not self:hasTipTrigger() then
 		self:setSpeed(self:getRecordedSpeed())
 	end
-
-	local isInTrigger, isAugerWagonTrigger = self.triggerHandler:isInTrigger()
---	if self:getIsInFilltrigger() or self:hasTipTrigger() then-- or isInTrigger then
-	if isInTrigger then
+
+	if self.triggerHandler:isInTrigger() or self.triggerSensor:isNearTriggers() then
 		self:setSpeed(self.vehicle.cp.speeds.approach)
-		if isAugerWagonTrigger then
-			self:setSpeed(self.APPROACH_AUGER_TRIGGER_SPEED)
-		end
 	end
 
 	self:slowDownForWaitPoints()
@@ -1368,6 +1366,12 @@ function AIDriver:searchForTipTriggers()
 	end
 end
 
+function AIDriver:searchForLoadingFillingTriggers()
+	if self.ppc:getCurrentWaypointIx() > 2 and not self.ppc:reachedLastWaypoint() and not self.ppc:isReversing() then
+		self.triggerSensor:raycastLoadingFillingTriggers()
+	end
+end
+
 function AIDriver:onUnLoadCourse(allowedToDrive, dt)
 	-- Unloading
 	local takeOverSteering = false
@@ -2303,5 +2307,11 @@ function AIDriver:isWorkingToolPositionReached(dt,positionIx)
 end
 
 function AIDriver:getWorkingToolPositionsSetting()
-	--- override
+	if self:hasSugarCaneTrailerToolPositions() then 
+		return self.settings.sugarCaneTrailerToolPositions
+	end
+end
+
+function AIDriver:hasSugarCaneTrailerToolPositions()
+	return self.settings.sugarCaneTrailerToolPositions:getHasSugarCaneTrailer()
 end

AIDriverUtil.lua

@@ -399,4 +399,52 @@ function AIDriverUtil.getMixerWagonFillLevelForFillTypes(object,fillType)
 			end
 		end
 	end
-end
+end
+
+--- Is a sugarcane trailer attached ?
+---@param vehicle table
+function AIDriverUtil.hasSugarCaneTrailer(vehicle)
+	if vehicle.spec_shovel and vehicle.spec_trailer then 
+		return true
+	end
+	for _, implement in pairs(AIDriverUtil.getAllAttachedImplements(vehicle)) do
+		local object = implement.object
+		if object.spec_shovel and object.spec_trailer then 
+			return true
+		end
+	end
+end
+
+--- Are there any trailer under the pipe ?
+---@param pipe table 
+---@param shouldTrailerBeStandingStill boolean
+function AIDriverUtil.isTrailerUnderPipe(pipe,shouldTrailerBeStandingStill)
+	if not pipe then return end
+	for trailer, value in pairs(pipe.objectsInTriggers) do
+		if value > 0 then
+			if shouldTrailerBeStandingStill then 
+				local rootVehicle = trailer:getRootVehicle()
+				if rootVehicle then 
+					if AIDriverUtil.isStopped(rootVehicle) then 
+						return true
+					else 
+						return false
+					end
+				end
+			end
+			return true
+		end
+	end
+	return false
+end
+
+---Gets the total length of the vehicle and all it's implements.
+function AIDriverUtil.getVehicleAndImplementsTotalLength(vehicle)
+	local totalLength = vehicle.sizeLength
+	for _, implement in pairs(AIDriverUtil.getAllAttachedImplements(vehicle)) do
+		if implement.object ~= nil then
+			totalLength = totalLength + implement.object.sizeLength
+		end
+	end
+	return totalLength
+end 

CombineAIDriver.lua

@@ -105,6 +105,13 @@ function CombineAIDriver:init(vehicle)
 	self.unloadAIDriverToRendezvous = CpTemporaryObject()
 end
 
+function CombineAIDriver:postInit()
+    ---Refresh the Hud content here,as otherwise the moveable pipe is not 
+    ---detected the first time after loading a savegame. 
+    self:setHudContent()
+    UnloadableFieldworkAIDriver.postInit(self)
+end
+
 function CombineAIDriver:setUpPipe()
 	if self.vehicle.spec_pipe then
 		self.pipe = self.vehicle.spec_pipe
@@ -212,7 +219,7 @@ end
 
 function CombineAIDriver:drive(dt)
 	-- handle the pipe in any state
-	self:handlePipe()
+	self:handlePipe(dt)
 	-- the rest is the same as the parent class
 	UnloadableFieldworkAIDriver.drive(self, dt)
 end
@@ -1085,20 +1092,23 @@ function CombineAIDriver:isChopper()
 	return self.combine:getFillUnitCapacity(self.combine.fillUnitIndex) > 10000000
 end
 
-function CombineAIDriver:handlePipe()
+function CombineAIDriver:handlePipe(dt)
 	if self.pipe then
 		if self:isChopper() then
 			self:handleChopperPipe()
 		else
-			self:handleCombinePipe()
+			self:handleCombinePipe(dt)
 		end
 	end
 end
 
-function CombineAIDriver:handleCombinePipe()
+function CombineAIDriver:handleCombinePipe(dt)
 
   if self:isFillableTrailerUnderPipe() or self:isAutoDriveWaitingForPipe() or (self:isWaitingForUnload() and self.vehicle.cp.settings.pipeAlwaysUnfold:is(true)) then
 		self:openPipe()
+		if self.pipe and self.pipe.currentState == AIDriverUtil.PIPE_STATE_OPEN then 
+			self:isWorkingToolPositionReached(dt,1)
+		end
 	else
 		--wait until the objects under the pipe are gone
 		if self.pipe.numObjectsInTriggers <=0 then
@@ -1765,3 +1775,8 @@ function CombineAIDriver:isProximitySlowDownEnabled(vehicle)
 		return true
 	end
 end
+
+function CombineAIDriver:getWorkingToolPositionsSetting()
+	local setting = self.settings.pipeToolPositions
+	return setting:getHasMoveablePipe() and setting:hasValidToolPositions() and setting
+end

FieldSupplyAIDriver.lua

@@ -41,19 +41,26 @@ function FieldSupplyAIDriver:init(vehicle)
 	self.supplyState = self.states.ON_REFILL_COURSE
 	self.mode=courseplay.MODE_FIELD_SUPPLY
 	self.debugChannel = courseplay.DBG_MODE_8
-	self:setHudContent()
+end
+
+function FieldSupplyAIDriver:postInit()
+    ---Refresh the Hud content here,as otherwise the moveable pipe is not 
+    ---detected the first time after loading a savegame. 
+    self:setHudContent()
+    FillableFieldworkAIDriver.postInit(self)
 end
 
 function FieldSupplyAIDriver:setHudContent()
+	self:findPipe()
 	AIDriver.setHudContent(self)
 	courseplay.hud:setFieldSupplyAIDriverContent(self.vehicle)
 end
 --this one is should be better derived!!
 function FieldSupplyAIDriver:start(startingPoint)
 	self.refillState = self.states.REFILL_DONE
+	self.supplyState = self.states.ON_REFILL_COURSE
 	AIDriver.start(self,startingPoint)
 	self.state = self.states.ON_UNLOAD_OR_REFILL_COURSE
-	self:findPipe() --for Augerwagons
 end
 
 function FieldSupplyAIDriver:stop(msgReference)
@@ -84,9 +91,18 @@ function FieldSupplyAIDriver:drive(dt)
 	elseif self.supplyState == self.states.WAITING_FOR_GETTING_UNLOADED then
 		self:holdWithFuelSave()
 		self:updateInfoText()
-		if self.pipe then
-			self.pipe:setPipeState(AIDriverUtil.PIPE_STATE_OPEN)
+		if self.objectWithPipe then
 			self.triggerHandler:enableFillTypeUnloadingAugerWagon()
+			---TODO: Currently it's not possible to open the pipe after the mode 4 driver arrives,
+			---		 as there is not trigger to detect it, while the pipe is closed.
+
+		--	if AIDriverUtil.isTrailerUnderPipe(self.pipe,true) then 
+				--- Open the pipe if there is a trailer under the pipe and standing still.
+				self.objectWithPipe:setPipeState(AIDriverUtil.PIPE_STATE_OPEN)
+				self:isWorkingToolPositionReached(dt,1)
+		--	else 
+		--		self.objectWithPipe:setPipeState(AIDriverUtil.PIPE_STATE_CLOSED)
+		--	end
 		else
 			self.triggerHandler:enableFillTypeUnloading()
 		end
@@ -130,7 +146,7 @@ function FieldSupplyAIDriver:isFillLevelToContinueReached()
 		return
 	end
 	--pipe still opening wait!
-	if self.pipe and not self.pipe:getIsPipeStateChangeAllowed(AIDriverUtil.PIPE_STATE_CLOSED) then
+	if self.objectWithPipe and not self.objectWithPipe:getIsPipeStateChangeAllowed(AIDriverUtil.PIPE_STATE_CLOSED) then
 		return
 	end
 	local fillLevelInfo = {}
@@ -154,15 +170,16 @@ function FieldSupplyAIDriver:needsFillTypeLoading()
 end
 
 function FieldSupplyAIDriver:findPipe()
-    local implementWithPipe = AIDriverUtil.getImplementWithSpecialization(self.vehicle, Pipe)
+    local implementWithPipe = AIDriverUtil.getImplementWithSpecialization(self.vehicle, Pipe) or self.vehicle.spec_pipe and self.vehicle
     if implementWithPipe then
-        self.pipe = implementWithPipe
+		self.objectWithPipe = implementWithPipe
+		self.pipe = implementWithPipe.spec_pipe
     end
 end
 
 function FieldSupplyAIDriver:closePipeIfNeeded(isInWaitPointRange) 
-	if self.pipe and not self.isInWaitPointRange then
-		self.pipe:setPipeState(AIDriverUtil.PIPE_STATE_CLOSED)
+	if self.objectWithPipe and not self.isInWaitPointRange then
+		self.objectWithPipe:setPipeState(AIDriverUtil.PIPE_STATE_CLOSED)
 	end
 end
 
@@ -172,4 +189,9 @@ end
 
 function FieldSupplyAIDriver:getCanShowDriveOnButton()
 	return AIDriver.getCanShowDriveOnButton(self) or self.refillState == self.states.WAITING_FOR_GETTING_UNLOADED
+end
+
+function FieldSupplyAIDriver:getWorkingToolPositionsSetting()
+	local setting = self.settings.pipeToolPositions
+	return setting:getHasMoveablePipe() and setting:hasValidToolPositions() and setting
 end

FillableFieldworkAIDriver.lua

@@ -68,6 +68,7 @@ function FillableFieldworkAIDriver:driveUnloadOrRefill()
 	else
 		self:clearInfoText('NO_SELECTED_FILLTYPE')
 	end
+
 	local isNearWaitPoint, waitPointIx = self.course:hasWaitPointWithinDistance(self.ppc:getRelevantWaypointIx(), 25)
 	--this one is used to disable loading at the unloading stations,
 	--might be better to disable the triggerID for loading
@@ -91,6 +92,7 @@ function FillableFieldworkAIDriver:driveUnloadOrRefill()
 		-- just drive normally
 		self:setSpeed(self:getRecordedSpeed())
 		self:closePipeIfNeeded(isNearWaitPoint)
+		self:searchForLoadingFillingTriggers()
 	end	
 end
 

GrainTransportAIDriver.lua

@@ -70,9 +70,9 @@ function GrainTransportAIDriver:drive(dt)
 
 	local allowedToDrive = true
 	if self:getSiloSelectedFillTypeSetting():isEmpty() then 
-		courseplay:setInfoText(self.vehicle, "COURSEPLAY_MANUAL_LOADING")
 		--checking FillLevels, while loading at StartPoint 
 		if self.readyToLoadManualAtStart then 
+			courseplay:setInfoText(self.vehicle, "COURSEPLAY_MANUAL_LOADING")
 			self:setInfoText('REACHED_OVERLOADING_POINT')			
 			self:checkFillUnits()
 			if self.nextClosestExactFillRootNode then 

OverloaderAIDriver.lua

@@ -52,11 +52,7 @@ function OverloaderAIDriver:findPipeAndTrailer()
     if implementWithPipe then
         self.pipe = implementWithPipe.spec_pipe
 		self.objectWithPipe = implementWithPipe
-        self.moveablePipe = implementWithPipe.spec_cylindered
 		self:debug('Overloader found its pipe')
-		if self.moveablePipe then
-			self:debug('Overloader found moveable pipe')
-		end
     else
         self:debug('Overloader has no implement with pipe')
     end
@@ -66,7 +62,7 @@ end
 function OverloaderAIDriver:setHudContent()
 	CombineUnloadAIDriver.setHudContent(self)
 	self:findPipeAndTrailer()
-	courseplay.hud:setOverloaderAIDriverContent(self.vehicle,self.moveablePipe)
+	courseplay.hud:setOverloaderAIDriverContent(self.vehicle)
 end
 
 function OverloaderAIDriver:start(startingPoint)
@@ -79,23 +75,7 @@ function OverloaderAIDriver:start(startingPoint)
 end
 
 function OverloaderAIDriver:isTrailerUnderPipe(shouldTrailerBeStandingStill)
-    if not self.pipe then return end
-    for trailer, value in pairs(self.pipe.objectsInTriggers) do
-        if value > 0 then
-            if shouldTrailerBeStandingStill then 
-				local rootVehicle = trailer:getRootVehicle()
-				if rootVehicle then 
-					if rootVehicle:getLastSpeed(true) <1 then 
-						return true
-					else 
-						return false
-					end
-				end
-			end
-			return true
-        end
-    end
-    return false
+    return AIDriverUtil.isTrailerUnderPipe(self.pipe,shouldTrailerBeStandingStill)
 end
 
 function OverloaderAIDriver:driveUnloadCourse(dt)
@@ -135,10 +115,10 @@ function OverloaderAIDriver:driveUnloadCourse(dt)
     AIDriver.drive(self, dt)
 end
 
---if we have augerPipeToolPositions, then wait until we have set them
+--if we have pipeToolPositions, then wait until we have set them
 function OverloaderAIDriver:getWorkingToolPositionsSetting()
-    local setting = self.vehicle.cp.settings.augerPipeToolPositions
-    return self.moveablePipe and setting:hasValidToolPositions() and self.vehicle.cp.settings.augerPipeToolPositions
+    local setting = self.settings.pipeToolPositions
+    return setting:getHasMoveablePipe() and setting:hasValidToolPositions() and setting
 end
 
 function OverloaderAIDriver:isProximitySwerveEnabled(vehicle)