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CombineAIDriver.lua
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--[[
This file is part of Courseplay (https://github.com/Courseplay/courseplay)
Copyright (C) 2019 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/>.
]]
---@class CombineAIDriver : UnloadableFieldworkAIDriver
CombineAIDriver = CpObject(UnloadableFieldworkAIDriver)
-- fill level when we start making a pocket to unload if we are on the outermost headland
CombineAIDriver.pocketFillLevelFullPercentage = 95
CombineAIDriver.safeUnloadDistanceBeforeEndOfRow = 40
CombineAIDriver.myStates = {
PULLING_BACK_FOR_UNLOAD = {},
WAITING_FOR_UNLOAD_AFTER_PULLED_BACK = {},
RETURNING_FROM_PULL_BACK = {},
REVERSING_TO_MAKE_A_POCKET = {},
MAKING_POCKET = {},
WAITING_FOR_UNLOAD_IN_POCKET = {},
WAITING_FOR_UNLOAD_BEFORE_STARTING_NEXT_ROW = {},
UNLOADING_BEFORE_STARTING_NEXT_ROW = {},
WAITING_FOR_UNLOAD_AFTER_FIELDWORK_ENDED = {},
WAITING_FOR_UNLOADER_TO_LEAVE = {},
RETURNING_FROM_POCKET = {},
DRIVING_TO_SELF_UNLOAD = {},
SELF_UNLOADING = {},
DRIVING_TO_SELF_UNLOAD_AFTER_FIELDWORK_ENDED = {},
SELF_UNLOADING_AFTER_FIELDWORK_ENDED = {},
RETURNING_FROM_SELF_UNLOAD = {}
}
-- Developer hack: to check the class of an object one should use the is_a() defined in CpObject.lua.
-- However, when we reload classes on the fly during the development, the is_a() calls in other modules still
-- have the old class definition (for example CombineUnloadManager.lua) of this class and thus, is_a() fails.
-- Therefore, use this instead, this is safe after a reload.
CombineAIDriver.isACombineAIDriver = true
function CombineAIDriver:init(vehicle)
courseplay.debugVehicle(courseplay.DBG_AI_DRIVER, vehicle, 'CombineAIDriver:init()')
UnloadableFieldworkAIDriver.init(self, vehicle)
self:initStates(CombineAIDriver.myStates)
self.fruitLeft, self.fruitRight = 0, 0
self.litersPerMeter = 0
self.litersPerSecond = 0
self.fillLevelAtLastWaypoint = 0
self.beaconLightsActive = false
self.lastEmptyTimestamp = 0
self.pipeOffsetX = 0
self.unloaders = {}
self:initUnloadStates()
if self.vehicle.spec_combine then
self.combine = self.vehicle.spec_combine
else
local combineImplement = AIDriverUtil.getAIImplementWithSpecialization(self.vehicle, Combine)
local peletizerImplement = FS19_addon_strawHarvest and
AIDriverUtil.getAIImplementWithSpecialization(self.vehicle, FS19_addon_strawHarvest.StrawHarvestPelletizer) or nil
if combineImplement then
self.combine = combineImplement.spec_combine
elseif peletizerImplement then
self.combine = peletizerImplement
self.combine.fillUnitIndex = 1
self.combine.spec_aiImplement.rightMarker = self.combine.rootNode
self.combine.spec_aiImplement.leftMarker = self.combine.rootNode
self.combine.spec_aiImplement.backMarker = self.combine.rootNode
else
self:error('Vehicle is not a combine and could not find implement with spec_combine')
end
end
self:setUpPipe()
self:checkMarkers()
-- distance to keep to the right (>0) or left (<0) when pulling back to make room for the tractor
self.pullBackRightSideOffset = math.abs(self.pipeOffsetX) - self.vehicle.cp.workWidth / 2 + 5
self.pullBackRightSideOffset = self.pipeOnLeftSide and self.pullBackRightSideOffset or -self.pullBackRightSideOffset
-- should be at pullBackRightSideOffset to the right or left at pullBackDistanceStart
self.pullBackDistanceStart = self.vehicle.cp.turnDiameter --* 0.7
-- and back up another bit
self.pullBackDistanceEnd = self.pullBackDistanceStart + 5
-- when making a pocket, how far to back up before changing to forward
self.pocketReverseDistance = 25
-- register ourselves at our boss
g_combineUnloadManager:addCombineToList(self.vehicle, self)
self:measureBackDistance()
self.vehicleIgnoredByFrontProximitySensor = CpTemporaryObject()
self.waitingForUnloaderAtEndOfRow = CpTemporaryObject()
-- if this is not nil, we have a pending rendezvous
---@type CpTemporaryObject
self.unloadAIDriverToRendezvous = CpTemporaryObject()
end
function CombineAIDriver:setUpPipe()
if self.vehicle.spec_pipe then
self.pipe = self.vehicle.spec_pipe
self.objectWithPipe = self.vehicle
else
local implementWithPipe = AIDriverUtil.getAIImplementWithSpecialization(self.vehicle, Pipe)
if implementWithPipe then
self.pipe = implementWithPipe.spec_pipe
self.objectWithPipe = implementWithPipe
else
self:info('Could not find implement with pipe')
end
end
if self.pipe then
-- check the pipe length:
-- unfold everything, open the pipe, check the side offset, then close pipe, fold everything back (if it was folded)
local wasFolded, wasClosed
if self.vehicle.spec_foldable then
wasFolded = not self.vehicle.spec_foldable:getIsUnfolded()
if wasFolded then
Foldable.setAnimTime(self.vehicle.spec_foldable, self.vehicle.spec_foldable.startAnimTime == 1 and 0 or 1, true)
end
end
if self.pipe.currentState == AIDriverUtil.PIPE_STATE_CLOSED then
wasClosed = true
if self.pipe.animation.name then
self.pipe:setAnimationTime(self.pipe.animation.name, 1, true)
else
-- as seen in the Giants pipe code
self.objectWithPipe:setPipeState(AIDriverUtil.PIPE_STATE_OPEN, true)
self.objectWithPipe:updatePipeNodes(999999, nil)
end
end
local dischargeNode = self:getCurrentDischargeNode()
self:fixDischargeDistance(dischargeNode)
local dx, _, _ = localToLocal(dischargeNode.node, self.combine.rootNode, 0, 0, 0)
self.pipeOnLeftSide = dx >= 0
self:debug('Pipe on left side %s', tostring(self.pipeOnLeftSide))
-- use self.combine so attached harvesters have the offset relative to the harvester's root node
-- (and thus, does not depend on the angle between the tractor and the harvester)
self.pipeOffsetX, _, self.pipeOffsetZ = localToLocal(dischargeNode.node, self.combine.rootNode, 0, 0, 0)
self:debug('Pipe offset: x = %.1f, z = %.1f', self.pipeOffsetX, self.pipeOffsetZ)
if wasClosed then
if self.pipe.animation.name then
self.pipe:setAnimationTime(self.pipe.animation.name, 0, true)
else
self.objectWithPipe:setPipeState(AIDriverUtil.PIPE_STATE_CLOSED, true)
self.objectWithPipe:updatePipeNodes(999999, nil)
end
end
if self.vehicle.spec_foldable then
if wasFolded then
Foldable.setAnimTime(self.vehicle.spec_foldable, self.vehicle.spec_foldable.startAnimTime == 1 and 1 or 0, true)
end
end
else
-- make sure pipe offset has a value until CombineUnloadManager as cleaned up as it calls getPipeOffset()
-- periodically even when CP isn't driving, and even for cotton harvesters...
self.pipeOffsetX, self.pipeOffsetZ = 0, 0
self.pipeOnLeftSide = true
end
end
-- This part of an ugly workaround to make the chopper pickups work
function CombineAIDriver:checkMarkers()
for _, implement in pairs( self:getAllAIImplements(self.vehicle)) do
local aiLeftMarker, aiRightMarker, aiBackMarker = implement.object:getAIMarkers()
if not aiLeftMarker or not aiRightMarker or not aiBackMarker then
self.notAllImplementsHaveAiMarkers = true
return
end
end
end
--- Get the combine object, this can be different from the vehicle in case of tools towed or mounted on a tractor
function CombineAIDriver:getCombine()
return self.combine
end
function CombineAIDriver:start(startingPoint)
self:clearAllUnloaderInformation()
self:addBackwardProximitySensor()
UnloadableFieldworkAIDriver.start(self, startingPoint)
-- we work with the traffic conflict detector and the proximity sensors instead
self:disableCollisionDetection()
self:fixMaxRotationLimit()
local total, pipeInFruit = self.fieldworkCourse:setPipeInFruitMap(self.pipeOffsetX, self.vehicle.cp.workWidth)
local ix = self.fieldworkCourse:getStartingWaypointIx(AIDriverUtil.getDirectionNode(self.vehicle), startingPoint)
self:shouldStrawSwathBeOn(ix)
self.fillLevelFullPercentage = self.normalFillLevelFullPercentage
self:debug('Pipe in fruit map created, there are %d non-headland waypoints, of which at %d the pipe will be in the fruit',
total, pipeInFruit)
end
function CombineAIDriver:stop(msgReference)
self:resetFixMaxRotationLimit()
UnloadableFieldworkAIDriver.stop(self,msgReference)
end
function CombineAIDriver:setHudContent()
UnloadableFieldworkAIDriver.setHudContent(self)
courseplay.hud:setCombineAIDriverContent(self.vehicle)
end
function CombineAIDriver:drive(dt)
-- handle the pipe in any state
self:handlePipe()
-- the rest is the same as the parent class
UnloadableFieldworkAIDriver.drive(self, dt)
end
function CombineAIDriver:onEndCourse()
local fillLevel = self.vehicle:getFillUnitFillLevel(self.combine.fillUnitIndex)
if self.state == self.states.ON_FIELDWORK_COURSE and
self.fieldworkState == self.states.UNLOAD_OR_REFILL_ON_FIELD then
if self.fieldworkUnloadOrRefillState == self.states.DRIVING_TO_SELF_UNLOAD then
self:debug('Self unloading point reached, fill level %.1f.', fillLevel)
self.fieldworkUnloadOrRefillState = self.states.SELF_UNLOADING
elseif self.fieldworkUnloadOrRefillState == self.states.DRIVING_TO_SELF_UNLOAD_AFTER_FIELDWORK_ENDED then
self:debug('Self unloading point reached after fieldwork ended, fill level %.1f.', fillLevel)
self.fieldworkUnloadOrRefillState = self.states.SELF_UNLOADING_AFTER_FIELDWORK_ENDED
end
elseif self.state == self.states.ON_FIELDWORK_COURSE and fillLevel > 0 then
if self.vehicle.cp.settings.selfUnload:is(true) and self:startSelfUnload() then
self:debug('Start self unload after fieldwork ended')
self:raiseImplements()
self.fieldworkState = self.states.UNLOAD_OR_REFILL_ON_FIELD
self.fieldworkUnloadOrRefillState = self.states.DRIVING_TO_SELF_UNLOAD_AFTER_FIELDWORK_ENDED
self.ppc:setShortLookaheadDistance()
self:disableCollisionDetection()
else
self:setInfoText(self:getFillLevelInfoText())
-- let AutoDrive know we are done and can unload
self:debug('Fieldwork done, fill level is %.1f, now waiting to be unloaded.', fillLevel)
self.fieldworkState = self.states.UNLOAD_OR_REFILL_ON_FIELD
self.fieldworkUnloadOrRefillState = self.states.WAITING_FOR_UNLOAD_AFTER_FIELDWORK_ENDED
end
else
UnloadableFieldworkAIDriver.onEndCourse(self)
end
end
function CombineAIDriver:onWaypointPassed(ix)
if self.state == self.states.ON_FIELDWORK_COURSE and
(self.fieldworkUnloadOrRefillState == self.states.DRIVING_TO_SELF_UNLOAD or
self.fieldworkUnloadOrRefillState == self.states.DRIVING_TO_SELF_UNLOAD_AFTER_FIELDWORK_ENDED or
self.fieldworkUnloadOrRefillState == self.states.RETURNING_FROM_SELF_UNLOAD) then
-- nothing to do while driving to unload and back
return UnloadableFieldworkAIDriver.onWaypointPassed(self, ix)
end
self:checkFruit()
-- make sure we start making a pocket while we still have some fill capacity left as we'll be
-- harvesting fruit while making the pocket unless we have self unload turned on
if self:shouldMakePocket() and self.vehicle.cp.settings.selfUnload:is(false) then
self.fillLevelFullPercentage = self.pocketFillLevelFullPercentage
end
self:shouldStrawSwathBeOn(ix)
if self.state == self.states.ON_FIELDWORK_COURSE and self.fieldworkState == self.states.WORKING then
self:checkDistanceUntilFull(ix)
end
if self.state == self.states.ON_FIELDWORK_COURSE and
self.fieldworkState == self.states.UNLOAD_OR_REFILL_ON_FIELD and
self.fieldworkUnloadOrRefillState == self.states.MAKING_POCKET and
self.unloadInPocketIx and ix == self.unloadInPocketIx then
-- we are making a pocket and reached the waypoint where we are going to stop and wait for unload
self:debug('Waiting for unload in the pocket')
self:setInfoText(self:getFillLevelInfoText())
self.fieldworkUnloadOrRefillState = self.states.WAITING_FOR_UNLOAD_IN_POCKET
end
if self.returnedFromPocketIx and self.returnedFromPocketIx == ix then
-- back to normal look ahead distance for PPC, no tight turns are needed anymore
self:debug('Reset PPC to normal lookahead distance')
self.ppc:setNormalLookaheadDistance()
end
UnloadableFieldworkAIDriver.onWaypointPassed(self, ix)
end
function CombineAIDriver:isWaitingInPocket()
return self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_UNLOAD_IN_POCKET
end
function CombineAIDriver:changeToFieldworkUnloadOrRefill()
self:checkFruit()
-- TODO: check around turn maneuvers we may not want to pull back before a turn
if self.vehicle.cp.settings.selfUnload:is(true) and self:startSelfUnload() then
self:debug('Start self unload')
self:raiseImplements()
self.fieldworkState = self.states.UNLOAD_OR_REFILL_ON_FIELD
self.fieldworkUnloadOrRefillState = self.states.DRIVING_TO_SELF_UNLOAD
self.ppc:setShortLookaheadDistance()
self:disableCollisionDetection()
elseif self.vehicle.cp.settings.useRealisticDriving:is(true) and self:shouldMakePocket() then
-- I'm on the edge of the field or fruit is on both sides, make a pocket on the right side and wait there for the unload
local pocketCourse, nextIx = self:createPocketCourse()
if pocketCourse then
self:debug('No room to the left, making a pocket for unload')
self.fieldworkState = self.states.UNLOAD_OR_REFILL_ON_FIELD
self.fieldworkUnloadOrRefillState = self.states.REVERSING_TO_MAKE_A_POCKET
-- raise header for reversing
self:raiseImplements()
self:startCourse(pocketCourse, 1, self.course, nextIx)
-- tighter turns
self.ppc:setShortLookaheadDistance()
else
-- revert to normal behavior
UnloadableFieldworkAIDriver.changeToFieldworkUnloadOrRefill(self)
end
elseif self.vehicle.cp.settings.useRealisticDriving:is(true) and self:shouldPullBack() then
-- is our pipe in the fruit? (assuming pipe is on the left side)
local pullBackCourse = self:createPullBackCourse()
if pullBackCourse then
pullBackCourse:print()
self:debug('Pipe in fruit, pulling back to make room for unloading')
self.fieldworkState = self.states.UNLOAD_OR_REFILL_ON_FIELD
self.fieldworkUnloadOrRefillState = self.states.WAITING_FOR_STOP
self.courseAfterPullBack = self.course
self.ixAfterPullBack = self.ppc:getLastPassedWaypointIx() or self.ppc:getCurrentWaypointIx()
-- tighter turns
self.ppc:setShortLookaheadDistance()
self:startCourse(pullBackCourse, 1)
else
-- revert to normal behavior
UnloadableFieldworkAIDriver.changeToFieldworkUnloadOrRefill(self)
end
else
-- pipe not in fruit, combine not on outermost headland, just do the normal thing
UnloadableFieldworkAIDriver.changeToFieldworkUnloadOrRefill(self)
end
end
function CombineAIDriver:driveFieldwork(dt)
self:checkRendezvous()
self:checkBlockingUnloader()
return UnloadableFieldworkAIDriver.driveFieldwork(self, dt)
end
function CombineAIDriver:startWaitingForUnloadBeforeNextRow()
self:debug('Waiting for unload before starting the next row')
self.waitingForUnloaderAtEndOfRow:set(true, 30000)
self.fieldworkState = self.states.UNLOAD_OR_REFILL_ON_FIELD
self.fieldworkUnloadOrRefillState = self.states.WAITING_FOR_UNLOAD_BEFORE_STARTING_NEXT_ROW
end
--- Stop for unload/refill while driving the fieldwork course
function CombineAIDriver:driveFieldworkUnloadOrRefill()
if self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_STOP then
self:setSpeed(0)
-- wait until we stopped before raising the implements
if self:isStopped() then
self:debug('Raise implements and start pulling back')
self:raiseImplements()
self.fieldworkUnloadOrRefillState = self.states.PULLING_BACK_FOR_UNLOAD
end
elseif self.fieldworkUnloadOrRefillState == self.states.PULLING_BACK_FOR_UNLOAD then
self:setSpeed(self.vehicle.cp.speeds.reverse)
elseif self.fieldworkUnloadOrRefillState == self.states.REVERSING_TO_MAKE_A_POCKET then
self:setSpeed(self.vehicle.cp.speeds.reverse)
elseif self.fieldworkUnloadOrRefillState == self.states.MAKING_POCKET then
self:setSpeed(self:getWorkSpeed())
elseif self.fieldworkUnloadOrRefillState == self.states.RETURNING_FROM_PULL_BACK then
self:setSpeed(self.vehicle.cp.speeds.turn)
elseif self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_UNLOAD_IN_POCKET or
self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_UNLOAD_AFTER_PULLED_BACK or
self.fieldworkUnloadOrRefillState == self.states.UNLOADING_BEFORE_STARTING_NEXT_ROW then
if self:unloadFinished() then
-- reset offset to return to the original up/down row after we unloaded in the pocket
self.aiDriverOffsetX = 0
self:clearInfoText(self:getFillLevelInfoText())
-- wait a bit after the unload finished to give a chance to the unloader to move away
self.stateBeforeWaitingForUnloaderToLeave = self.fieldworkUnloadOrRefillState
self.fieldworkUnloadOrRefillState = self.states.WAITING_FOR_UNLOADER_TO_LEAVE
self.waitingForUnloaderSince = self.vehicle.timer
self:debug('Unloading finished, wait for the unloader to leave...')
else
self:setSpeed(0)
end
elseif self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_UNLOAD_BEFORE_STARTING_NEXT_ROW then
self:setSpeed(0)
if self:isDischarging() then
self:cancelRendezvous()
self.fieldworkUnloadOrRefillState = self.states.UNLOADING_BEFORE_STARTING_NEXT_ROW
self:debug('Unloading started at end of row')
end
if not self.waitingForUnloaderAtEndOfRow:get() then
local unloaderWhoDidNotShowUp = self.unloadAIDriverToRendezvous:get()
self:cancelRendezvous()
if unloaderWhoDidNotShowUp then unloaderWhoDidNotShowUp:onMissedRendezvous(self) end
self:debug('Waited for unloader at the end of the row but it did not show up, try to continue')
self:changeToFieldwork()
end
elseif self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_UNLOAD_AFTER_FIELDWORK_ENDED then
local fillLevel = self.vehicle:getFillUnitFillLevel(self.combine.fillUnitIndex)
if fillLevel < 0.01 then
self:clearInfoText(self:getFillLevelInfoText())
self:debug('Unloading finished after fieldwork ended, end course')
UnloadableFieldworkAIDriver.onEndCourse(self)
else
self:setSpeed(0)
end
elseif self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_UNLOADER_TO_LEAVE then
self:setSpeed(0)
-- TODO: instead of just wait a few seconds we could check if the unloader has actually left
if self.waitingForUnloaderSince + 5000 < self.vehicle.timer then
if self.stateBeforeWaitingForUnloaderToLeave == self.states.WAITING_FOR_UNLOAD_AFTER_PULLED_BACK then
local pullBackReturnCourse = self:createPullBackReturnCourse()
if pullBackReturnCourse then
self.fieldworkUnloadOrRefillState = self.states.RETURNING_FROM_PULL_BACK
self:debug('Unloading finished, returning to fieldwork on return course')
self:startCourse(pullBackReturnCourse, 1, self.courseAfterPullBack, self.ixAfterPullBack)
else
self:debug('Unloading finished, returning to fieldwork directly')
self:startCourse(self.courseAfterPullBack, self.ixAfterPullBack)
self.ppc:setNormalLookaheadDistance()
self:changeToFieldwork()
end
elseif self.stateBeforeWaitingForUnloaderToLeave == self.states.WAITING_FOR_UNLOAD_IN_POCKET then
self:debug('Unloading in pocket finished, returning to fieldwork')
self.fillLevelFullPercentage = self.normalFillLevelFullPercentage
self:changeToFieldwork()
elseif self.stateBeforeWaitingForUnloaderToLeave == self.states.UNLOADING_BEFORE_STARTING_NEXT_ROW then
self:debug('Unloading before next row finished, returning to fieldwork')
self:changeToFieldwork()
else
self:debug('Unloading finished, previous state not known, returning to fieldwork')
self:changeToFieldwork()
end
end
elseif self.fieldworkUnloadOrRefillState == self.states.DRIVING_TO_SELF_UNLOAD then
self:setSpeed(self.vehicle.cp.speeds.field)
elseif self.fieldworkUnloadOrRefillState == self.states.DRIVING_TO_SELF_UNLOAD_AFTER_FIELDWORK_ENDED then
self:setSpeed(self.vehicle.cp.speeds.field)
elseif self.fieldworkUnloadOrRefillState == self.states.SELF_UNLOADING then
self:setSpeed(0)
if self:unloadFinished() then
self:debug('Self unloading finished, returning to fieldwork')
if self:returnToFieldworkAfterSelfUnloading() then
self.fieldworkUnloadOrRefillState = self.states.RETURNING_FROM_SELF_UNLOAD
else
self:startFieldworkWithPathfinding(self.aiDriverData.continueFieldworkAtWaypoint)
end
self.ppc:setNormalLookaheadDistance()
end
elseif self.fieldworkUnloadOrRefillState == self.states.SELF_UNLOADING_AFTER_FIELDWORK_ENDED then
self:setSpeed(0)
if self:unloadFinished() then
self:debug('Self unloading finished after fieldwork ended, returning to fieldwork')
UnloadableFieldworkAIDriver.onEndCourse(self)
end
elseif self.fieldworkUnloadOrRefillState == self.states.RETURNING_FROM_SELF_UNLOAD then
self:setSpeed(self.vehicle.cp.speeds.field)
else
UnloadableFieldworkAIDriver.driveFieldworkUnloadOrRefill(self)
end
end
function CombineAIDriver:onLastWaypoint()
if self.fieldworkState == self.states.UNLOAD_OR_REFILL_ON_FIELD and
self.fieldworkUnloadOrRefillState == self.states.PULLING_BACK_FOR_UNLOAD then
-- pulled back, now wait for unload
self.fieldworkUnloadOrRefillState = self.states.WAITING_FOR_UNLOAD_AFTER_PULLED_BACK
self:debug('Pulled back, now wait for unload')
self:setInfoText(self:getFillLevelInfoText())
else
UnloadableFieldworkAIDriver.onLastWaypoint(self)
end
end
function CombineAIDriver:onNextCourse(ix)
if self.fieldworkState == self.states.UNLOAD_OR_REFILL_ON_FIELD then
if self.fieldworkUnloadOrRefillState == self.states.RETURNING_FROM_PULL_BACK then
self:debug('Pull back finished, returning to fieldwork')
self:changeToFieldwork()
elseif self.fieldworkUnloadOrRefillState == self.states.RETURNING_FROM_SELF_UNLOAD then
self:debug('Back from self unload, returning to fieldwork')
self:changeToFieldwork()
elseif self.fieldworkUnloadOrRefillState == self.states.REVERSING_TO_MAKE_A_POCKET then
self:debug('Reversed, now start making a pocket to waypoint %d', self.unloadInPocketIx)
self:lowerImplements()
self.fieldworkUnloadOrRefillState = self.states.MAKING_POCKET
self.aiDriverOffsetX = self.pullBackRightSideOffset
end
elseif self.fieldworkState == self.states.TURNING then
self.ppc:setNormalLookaheadDistance()
-- make sure the next waypoint is in front of us. It can be behind us after a turn with multitools where the
-- x offset is high (wide tools)
self.ppc:initialize(self.course:getNextFwdWaypointIxFromVehiclePosition(ix, self:getDirectionNode(), 0))
UnloadableFieldworkAIDriver.onNextCourse(self)
else
UnloadableFieldworkAIDriver.onNextCourse(self)
end
end
function CombineAIDriver:unloadFinished()
local discharging = true
local dischargingNow = false
if self.pipe then
dischargingNow = self.pipe:getDischargeState() ~= Dischargeable.DISCHARGE_STATE_OFF
end
--wait for 10 frames before taking discharging as false
if not dischargingNow then
self.notDischargingSinceLoopIndex =
self.notDischargingSinceLoopIndex and self.notDischargingSinceLoopIndex or g_updateLoopIndex
if g_updateLoopIndex - self.notDischargingSinceLoopIndex > 10 then
discharging = false
end
else
self.notDischargingSinceLoopIndex = nil
end
local fillLevel = self.vehicle:getFillUnitFillLevel(self.combine.fillUnitIndex)
-- unload is done when fill levels are ok (not full) and not discharging anymore (either because we
-- are empty or the trailer is full)
return (self:allFillLevelsOk() and not discharging) or fillLevel < 0.1
end
function CombineAIDriver:shouldMakePocket()
if self.fruitLeft > 0.75 and self.fruitRight > 0.75 then
-- fruit both sides
return true
elseif self.pipeOnLeftSide then
-- on the outermost headland clockwise (field edge)
return not self.fieldOnLeft
else
-- on the outermost headland counterclockwise (field edge)
return not self.fieldOnRight
end
end
function CombineAIDriver:shouldPullBack()
return self:isPipeInFruit()
end
function CombineAIDriver:isPipeOnLeft()
return self.pipeOnLeftSide
end
function CombineAIDriver:isPipeInFruit()
-- is our pipe in the fruit?
if self.pipeOnLeftSide then
return self.fruitLeft > self.fruitRight
else
return self.fruitLeft < self.fruitRight
end
end
function CombineAIDriver:checkFruit()
-- getValidityOfTurnDirections() wants to have the vehicle.aiDriveDirection, so get that here.
local dx,_,dz = localDirectionToWorld(self.vehicle:getAIVehicleDirectionNode(), 0, 0, 1)
local length = MathUtil.vector2Length(dx,dz)
dx = dx / length
dz = dz / length
self.vehicle.aiDriveDirection = {dx, dz}
-- getValidityOfTurnDirections works only if all AI Implements have aiMarkers. Since
-- we make all Cutters AI implements, even the ones which do not have AI markers (such as the
-- chopper pickups which do not work with the Giants helper) we have to make sure we don't call
-- getValidityOfTurnDirections for those
if self.notAllImplementsHaveAiMarkers then
self.fruitLeft, self.fruitRight = 0, 0
else
self.fruitLeft, self.fruitRight = AIVehicleUtil.getValidityOfTurnDirections(self.vehicle)
end
local x, _, z = localToWorld(self:getDirectionNode(), self.vehicle.cp.workWidth, 0, 0)
self.fieldOnLeft = courseplay:isField(x, z, 1, 1)
x, _, z = localToWorld(self:getDirectionNode(), -self.vehicle.cp.workWidth, 0, 0)
self.fieldOnRight = courseplay:isField(x, z, 1, 1)
self:debug('Fruit left: %.2f right %.2f, field on left %s, right %s',
self.fruitLeft, self.fruitRight, tostring(self.fieldOnLeft), tostring(self.fieldOnRight))
end
function CombineAIDriver:checkDistanceUntilFull(ix)
-- calculate fill rate so the combine driver knows if it can make the next row without unloading
local fillLevel = self.vehicle:getFillUnitFillLevel(self.combine.fillUnitIndex)
if ix > 1 then
if self.fillLevelAtLastWaypoint and self.fillLevelAtLastWaypoint > 0 and self.fillLevelAtLastWaypoint <= fillLevel then
local litersPerMeter = (fillLevel - self.fillLevelAtLastWaypoint) / self.course:getDistanceToNextWaypoint(ix - 1)
-- make sure it won't end up being inf
local litersPerSecond = math.min(1000, (fillLevel - self.fillLevelAtLastWaypoint) /
((self.vehicle.timer - (self.fillLevelLastCheckedTime or self.vehicle.timer)) / 1000))
-- smooth everything a bit, also ignore 0
self.litersPerMeter = litersPerMeter > 0 and (self.litersPerMeter + litersPerMeter) / 2 or self.litersPerMeter
self.litersPerSecond = litersPerSecond > 0 and (self.litersPerSecond + litersPerSecond) / 2 or self.litersPerSecond
self.fillLevelAtLastWaypoint = (self.fillLevelAtLastWaypoint + fillLevel) / 2
else
-- no history yet, so make sure we don't end up with some unrealistic numbers
self.waypointIxWhenFull = nil
self.litersPerMeter = 0
self.litersPerSecond = 0
self.fillLevelAtLastWaypoint = fillLevel
end
self.fillLevelLastCheckedTime = self.vehicle.timer
self:debug('Fill rate is %.1f l/m, %.1f l/s', self.litersPerMeter, self.litersPerSecond)
end
local litersUntilFull = self.combine:getFillUnitCapacity(self.combine.fillUnitIndex) - fillLevel
local dUntilFull = litersUntilFull / self.litersPerMeter * 0.9 -- safety margin
self.secondsUntilFull = self.litersPerSecond > 0 and (litersUntilFull / self.litersPerSecond) or nil
self.waypointIxWhenFull = self.course:getNextWaypointIxWithinDistance(ix, dUntilFull) or self.course:getNumberOfWaypoints()
self.distanceToWaypointWhenFull =
self.course:getDistanceBetweenWaypoints(self.waypointIxWhenFull, self.course:getCurrentWaypointIx())
self:debug('Will be full at waypoint %d in %d m',
self.waypointIxWhenFull or -1, self.distanceToWaypointWhenFull)
end
function CombineAIDriver:checkRendezvous()
if self.fieldworkState == self.states.WORKING then
if self.unloadAIDriverToRendezvous:get() then
local d = self.fieldworkCourse:getDistanceBetweenWaypoints(self.fieldworkCourse:getCurrentWaypointIx(),
self.agreedUnloaderRendezvousWaypointIx)
if d < 10 then
self:debugSparse('Slow down around the unloader rendezvous waypoint %d to let the unloader catch up',
self.agreedUnloaderRendezvousWaypointIx)
self:setSpeed(self:getWorkSpeed() / 2)
local dToTurn = self.fieldworkCourse:getDistanceToNextTurn(self.agreedUnloaderRendezvousWaypointIx) or math.huge
if dToTurn < 20 then
self:debug('Unloader rendezvous waypoint %d is before a turn, waiting for the unloader here',
self.agreedUnloaderRendezvousWaypointIx)
self:startWaitingForUnloadBeforeNextRow()
end
elseif self.fieldworkCourse:getCurrentWaypointIx() > self.agreedUnloaderRendezvousWaypointIx then
self:debug('Unloader missed the rendezvous at %d', self.agreedUnloaderRendezvousWaypointIx)
local unloaderWhoDidNotShowUp = self.unloadAIDriverToRendezvous:get()
-- need to call this before onMissedRendezvous as the unloader will call back to set up a new rendezvous
-- and we don't want to cancel that right away
self:cancelRendezvous()
unloaderWhoDidNotShowUp:onMissedRendezvous(self)
end
if self:isDischarging() then
self:debug('Discharging, cancelling unloader rendezvous')
self:cancelRendezvous()
end
end
end
end
function CombineAIDriver:hasRendezvousWith(unloadAIDriver)
return self.unloadAIDriverToRendezvous:get() == unloadAIDriver
end
function CombineAIDriver:cancelRendezvous()
local unloader = self.unloadAIDriverToRendezvous:get()
self:debug('Rendezvous with %s at waypoint %d cancelled',
unloader and nameNum(self.unloadAIDriverToRendezvous:get() or 'N/A'),
self.agreedUnloaderRendezvousWaypointIx or -1)
self.agreedUnloaderRendezvousWaypointIx = nil
self.unloadAIDriverToRendezvous:set(nil, 0)
end
--- Before the unloader asks for a rendezvous (which may result in a lengthy pathfinding to figure out
--- the distance), it should check if the combine is willing to rendezvous.
function CombineAIDriver:isWillingToRendezvous()
if self.state ~= self.states.ON_FIELDWORK_COURSE then
self:debug('not on fieldwork course, will not rendezvous')
return nil
elseif self.vehicle.cp.settings.allowUnloadOnFirstHeadland:is(false) and
self.fieldworkCourse:isOnHeadland(self.fieldworkCourse:getCurrentWaypointIx(), 1) then
self:debug('on first headland and unload not allowed on first headland, will not rendezvous')
return nil
end
return true
end
--- When the unloader asks us for a rendezvous, provide him with a waypoint index to meet us.
--- This waypoint should be a good location to unload (pipe not in fruit, not in a turn, etc.)
--- If no such waypoint found, reject the rendezvous.
---@param unloaderEstimatedSecondsEnroute number minimum time the unloader needs to get to the combine
---@param unloadAIDriver CombineUnloadAIDriver the driver requesting the rendezvous
---@param isPipeInFruitAllowed boolean a rendezvous waypoint where the pipe is in fruit is ok
---@return Waypoint, number, number waypoint to meet the unloader, index of waypoint, time we need to reach that waypoint
function CombineAIDriver:getUnloaderRendezvousWaypoint(unloaderEstimatedSecondsEnroute, unloadAIDriver, isPipeInFruitAllowed)
local dToUnloaderRendezvous = unloaderEstimatedSecondsEnroute * self:getWorkSpeed() / 3.6
-- this is where we'll be when the unloader gets here
local unloaderRendezvousWaypointIx = self.fieldworkCourse:getNextWaypointIxWithinDistance(
self.fieldworkCourse:getCurrentWaypointIx(), dToUnloaderRendezvous) or
self.fieldworkCourse:getNumberOfWaypoints()
self:debug('Rendezvous request: seconds until full: %d, unloader ETE: %d (around my wp %d, in %d meters), full at waypoint %d, ',
self.secondsUntilFull or -1, unloaderEstimatedSecondsEnroute, unloaderRendezvousWaypointIx, dToUnloaderRendezvous,
self.waypointIxWhenFull or -1)
-- rendezvous at whichever is closer
unloaderRendezvousWaypointIx = math.min(unloaderRendezvousWaypointIx, self.waypointIxWhenFull or unloaderRendezvousWaypointIx)
-- now check if this is a good idea
self.agreedUnloaderRendezvousWaypointIx = self:findBestWaypointToUnload(unloaderRendezvousWaypointIx, isPipeInFruitAllowed)
if self.agreedUnloaderRendezvousWaypointIx then
self.unloadAIDriverToRendezvous:set(unloadAIDriver, 1000 * (unloaderEstimatedSecondsEnroute + 30))
self:debug('Rendezvous with unloader at waypoint %d in %d m', self.agreedUnloaderRendezvousWaypointIx, dToUnloaderRendezvous)
return self.fieldworkCourse:getWaypoint(self.agreedUnloaderRendezvousWaypointIx),
self.agreedUnloaderRendezvousWaypointIx, unloaderEstimatedSecondsEnroute
else
self:cancelRendezvous()
self:debug('Rendezvous with unloader rejected')
return nil, 0, 0
end
end
function CombineAIDriver:canUnloadWhileMovingAtWaypoint(ix)
if self.fieldworkCourse:isPipeInFruitAt(ix) then
self:debug('pipe would be in fruit at the planned rendezvous waypoint %d', ix)
return false
end
if self.vehicle.cp.settings.allowUnloadOnFirstHeadland:is(false) and self.fieldworkCourse:isOnHeadland(ix, 1) then
self:debug('planned rendezvous waypoint %d is on first headland, no unloading of moving combine there', ix)
return false
end
return true
end
-- TODO: put this in onBlocked()?
function CombineAIDriver:checkBlockingUnloader()
if not self.backwardLookingProximitySensorPack then return end
local d, blockingVehicle = self.backwardLookingProximitySensorPack:getClosestObjectDistanceAndRootVehicle()
if d < 1000 and blockingVehicle and self:isStopped() and self:isReversing() and not self:isWaitingForUnload() then
self:debugSparse('Can\'t reverse, %s at %.1f m is blocking', blockingVehicle:getName(), d)
if blockingVehicle.cp.driver and blockingVehicle.cp.driver.onBlockingOtherVehicle then
blockingVehicle.cp.driver:onBlockingOtherVehicle(self.vehicle)
end
end
end
function CombineAIDriver:checkFruitAtNode(node, offsetX, offsetZ)
local x, _, z = localToWorld(node, offsetX, 0, offsetZ or 0)
local hasFruit, fruitValue = PathfinderUtil.hasFruit(x, z, 5, 3)
return hasFruit, fruitValue
end
--- Is pipe in fruit according to the current field harvest state at waypoint?
function CombineAIDriver:isPipeInFruitAtWaypointNow(course, ix)
if not self.aiDriverData.fruitCheckHelperWpNode then
self.aiDriverData.fruitCheckHelperWpNode = WaypointNode(nameNum(self.vehicle) .. 'fruitCheckHelperWpNode')
end
self.aiDriverData.fruitCheckHelperWpNode:setToWaypoint(course, ix)
local hasFruit, fruitValue = self:checkFruitAtNode(self.aiDriverData.fruitCheckHelperWpNode.node, self.pipeOffsetX)
self:debug('at waypoint %d pipe in fruit %s (fruitValue %.1f)', ix, tostring(hasFruit), fruitValue or 0)
return hasFruit, fruitValue
end
--- Find the best waypoint to unload.
---@param ix number waypoint index we want to start unloading, either because that's about where
--- we'll rendezvous the unloader or we'll be full there.
---@return number best waypoint to unload, ix may be adjusted to make sure it isn't in a turn or
--- the fruit is not in the pipe.
function CombineAIDriver:findBestWaypointToUnload(ix, isPipeInFruitAllowed)
if self.fieldworkCourse:isOnHeadland(ix) then
return self:findBestWaypointToUnloadOnHeadland(ix)
else
return self:findBestWaypointToUnloadOnUpDownRows(ix, isPipeInFruitAllowed)
end
end
function CombineAIDriver:findBestWaypointToUnloadOnHeadland(ix)
if self.vehicle.cp.settings.allowUnloadOnFirstHeadland:is(false) and
self.fieldworkCourse:isOnHeadland(ix, 1) then
self:debug('planned rendezvous waypoint %d is on first headland, no unloading of moving combine there', ix)
return nil
end
if self.fieldworkCourse:isTurnStartAtIx(ix) then
-- on the headland, use the wp after the turn, the one before may be very far, especially on a
-- transition from headland to up/down rows.
return ix + 1
else
return ix
end
end
--- We calculated a waypoint to meet the unloader (either because it asked for it or we think we'll need
--- to unload. Now make sure that this location is not around a turn or the pipe isn't in the fruit by
--- trying to move it up or down a bit. If that's not possible, just leave it and see what happens :)
function CombineAIDriver:findBestWaypointToUnloadOnUpDownRows(ix, isPipeInFruitAllowed)
local dToNextTurn = self.fieldworkCourse:getDistanceToNextTurn(ix) or math.huge
local lRow, ixAtRowStart = self.fieldworkCourse:getRowLength(ix)
local pipeInFruit = self.fieldworkCourse:isPipeInFruitAt(ix)
local currentIx = self.fieldworkCourse:getCurrentWaypointIx()
local newWpIx = ix
self:debug('Looking for a waypoint to unload around %d on up/down row, pipe in fruit %s, dToNextTurn: %d m, lRow = %d m',
ix, tostring(pipeInFruit), dToNextTurn, lRow or 0)
if pipeInFruit and not isPipeInFruitAllowed then --if the pipe is in fruit AND the user selects 'avoid fruit'
if ixAtRowStart then
if ixAtRowStart > currentIx then
-- have not started the previous row yet
self:debug('Pipe would be in fruit at waypoint %d. Check previous row', ix)
pipeInFruit, _ = self.fieldworkCourse:isPipeInFruitAt(ixAtRowStart - 2) -- wp before the turn start
if not pipeInFruit then
local lPreviousRow, ixAtPreviousRowStart = self.fieldworkCourse:getRowLength(ixAtRowStart - 1)
self:debug('pipe not in fruit in the previous row (%d m, ending at wp %d), rendezvous at %d',
lPreviousRow, ixAtRowStart - 1, newWpIx)
newWpIx = math.max(ixAtRowStart - 3, ixAtPreviousRowStart, currentIx)
else
self:debug('Pipe in fruit in previous row too, rejecting rendezvous')
newWpIx = nil
end
else
-- previous row already started. Could check next row but that means the rendezvous would be after
-- the combine turns, and we'd be in the way during the turn, so rather not worry about the next row
-- until the combine gets there.
self:debug('Pipe would be in fruit at waypoint %d. Previous row is already started, no rendezvous', ix)
newWpIx = nil
end
else
self:debug('Could not determine row length, rejecting rendezvous')
newWpIx = nil
end
else
if (pipeInFruit) then
self:debug('pipe would be in fruite at waypoint %d, acceptable for user', ix)
else
self:debug('pipe is not in fruit at %d. If it is towards the end of the row, bring it up a bit', ix)
end
-- so we'll have some distance for unloading
if ixAtRowStart and dToNextTurn < CombineAIDriver.safeUnloadDistanceBeforeEndOfRow then
local safeIx = self.fieldworkCourse:getPreviousWaypointIxWithinDistance(ix,
CombineAIDriver.safeUnloadDistanceBeforeEndOfRow)
newWpIx = math.max(ixAtRowStart + 1, safeIx or -1, ix - 4)
end
end
-- no better idea, just use the original estimated, making sure we avoid turn start waypoints
if newWpIx and self.fieldworkCourse:isTurnStartAtIx(newWpIx) then
self:debug('Calculated rendezvous waypoint is at turn start, moving it up')
-- make sure it is not on the turn start waypoint
return math.max(newWpIx - 1, currentIx)
else
return newWpIx
end
end
function CombineAIDriver:updateLightsOnField()
-- handle beacon lights to call unload driver
-- copy/paste from AIDriveStrategyCombine
local fillLevel = self.vehicle:getFillUnitFillLevel(self.combine.fillUnitIndex)
local capacity = self.vehicle:getFillUnitCapacity(self.combine.fillUnitIndex)
if fillLevel > (0.8 * capacity) then
if not self.beaconLightsActive then
self.vehicle:setAIMapHotspotBlinking(true)
self.vehicle:setBeaconLightsVisibility(true)
self.beaconLightsActive = true
end
else
if self.beaconLightsActive then
self.vehicle:setAIMapHotspotBlinking(false)
self.vehicle:setBeaconLightsVisibility(false)
self.beaconLightsActive = false
end
end
end
--- Create a temporary course to pull back to the right when the pipe is in the fruit so the tractor does not have
-- to drive in the fruit to get under the pipe
function CombineAIDriver:createPullBackCourse()
-- all we need is a waypoint on our right side towards the back
self.returnPoint = {}
self.returnPoint.x, _, self.returnPoint.z = getWorldTranslation(self.vehicle.rootNode)
local dx,_,dz = localDirectionToWorld(self:getDirectionNode(), 0, 0, 1)
self.returnPoint.rotation = MathUtil.getYRotationFromDirection(dx, dz)
dx,_,dz = localDirectionToWorld(self:getDirectionNode(), 0, 0, -1)
local x1, _, z1 = localToWorld(self:getDirectionNode(), -self.pullBackRightSideOffset, 0, -self.pullBackDistanceStart)
local x2, _, z2 = localToWorld(self:getDirectionNode(), -self.pullBackRightSideOffset, 0, -self.pullBackDistanceEnd)
-- both points must be on the field
if courseplay:isField(x1, z1) and courseplay:isField(x2, z2) then
local referenceNode, debugText = AIDriverUtil.getReverserNode(self.vehicle)
if referenceNode then
self:debug('Using %s to start pull back course', debugText)
else
referenceNode = AIDriverUtil.getDirectionNode(self.vehicle)
self:debug('Using the direction node to start pull back course')
end
-- don't make this too complicated, just create a straight line on the left/right side (depending on
-- where the pipe is and rely on the PPC, no need for generating fancy curves
return Course.createFromNode(self.vehicle, referenceNode,
-self.pullBackRightSideOffset, 0, -self.pullBackDistanceEnd, -2, true)
else
self:debug("Pull back course would be outside of the field")
return nil
end
end
--- Get the area the unloader should avoid when approaching the combine.
--- Main (and for now, only) use case is to prevent the unloader to cross in front of the combine after the
--- combine pulled back full with pipe in the fruit, making room for the unloader on its left side.
--- @return table, number, number, number, number node, xOffset, zOffset, width, length : the area to avoid is
--- a length x width m rectangle, the rectangle's bottom right corner (when looking from node) is at xOffset/zOffset
--- from node.
function CombineAIDriver:getAreaToAvoid()
if self:isWaitingForUnloadAfterPulledBack() then
local xOffset = self.vehicle.cp.workWidth / 2
local zOffset = 0
local length = self.pullBackDistanceEnd
local width = self.pullBackRightSideOffset
return PathfinderUtil.Area(AIDriverUtil.getDirectionNode(self.vehicle), xOffset, zOffset, width, length)
end
end
function CombineAIDriver:createPullBackReturnCourse()
-- nothing fancy here either, just move forward a few meters before returning to the fieldwork course
local referenceNode = AIDriverUtil.getDirectionNode(self.vehicle)
return Course.createFromNode(self.vehicle, referenceNode, 0, 0, 6, 2, false)
end
--- Create a temporary course to make a pocket in the fruit on the right (or left), so we can move into that pocket and
--- wait for the unload there. This way the unload tractor does not have to leave the field.
--- We create a temporary course to reverse back far enough. After that, we return to the main course but
--- set an offset to the right (or left)
function CombineAIDriver:createPocketCourse()
local startIx = self.ppc:getLastPassedWaypointIx() or self.ppc:getCurrentWaypointIx()
-- find the waypoint we want to back up to
local backIx = self.course:getPreviousWaypointIxWithinDistance(startIx, self.pocketReverseDistance)
if not backIx then return nil end
-- this is where we'll stop in the pocket for unload
self.unloadInPocketIx = startIx - 2
-- this where we are back on track after returning from the pocket
self.returnedFromPocketIx = self.ppc:getCurrentWaypointIx()
self:debug('Backing up %.1f meters from waypoint %d to %d to make a pocket', self.pocketReverseDistance, startIx, backIx)
if startIx - backIx > 2 then
local pocketReverseWaypoints = {}
for i = startIx, backIx, -1 do
if self.course:isTurnStartAtIx(i) then
self:debug('There is a turn behind me at waypoint %d, no pocket', i)
return nil
end
local x, _, z = self.course:getWaypointPosition(i)
table.insert(pocketReverseWaypoints, {x = x, z = z, rev = true})
end
return Course(self.vehicle, pocketReverseWaypoints, true), backIx + 1
else
self:debug('Not enough waypoints behind me, no pocket')
return nil
end
end
--- Disable auto stop for choppers as when we stop the engine they'll also raise implements and the way we restart them
--- won't lower the header. So for now, just don't let them to stop the engine
function CombineAIDriver:isEngineAutoStopEnabled()
return not self:isChopper() and AIDriver.isEngineAutoStopEnabled(self)
end
--- Compatibility function for turn.lua to check if the vehicle should stop during a turn (for example while it
--- is held for unloading or waiting for the straw swath to stop
--- Turn.lua calls this in every cycle during the turn and will stop the vehicle if this returns true.
---@param isApproaching boolean if true we are still in the turn approach phase (still working on the field,
---not yet reached the turn start
---@param isHeadlandCorner boolean is this a headland turn?
function CombineAIDriver:holdInTurnManeuver(isApproaching, isHeadlandCorner)
local discharging = self:isDischarging() and not self:isChopper()
local waitForStraw = self.combine.strawPSenabled and not isApproaching and not isHeadlandCorner
self:debugSparse('discharging %s, held for unload %s, straw active %s, approaching = %s',
tostring(discharging), tostring(self.heldForUnloadRefill), tostring(self.combine.strawPSenabled), tostring(isApproaching))
return discharging or self.heldForUnloadRefill or waitForStraw
end
--- Should we return to the first point of the course after we are done?
function CombineAIDriver:shouldReturnToFirstPoint()
-- Combines stay where they are after finishing work
-- TODO: call unload driver
return false
end
--- Interface for Mode 2 and AutoDrive
---@return boolean true when the combine is waiting to be unloaded
function CombineAIDriver:isWaitingForUnload()
return self.state == self.states.ON_FIELDWORK_COURSE and
self.fieldworkState == self.states.UNLOAD_OR_REFILL_ON_FIELD and
(self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_UNLOAD_OR_REFILL or
self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_UNLOAD_IN_POCKET or
self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_UNLOAD_AFTER_PULLED_BACK or
self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_UNLOAD_AFTER_FIELDWORK_ENDED)
end
--- Interface for AutoDrive
---@return boolean true when the combine is waiting to be unloaded after it ended the course
function CombineAIDriver:isWaitingForUnloadAfterCourseEnded()
return self.state == self.states.ON_FIELDWORK_COURSE and
self.fieldworkState == self.states.UNLOAD_OR_REFILL_ON_FIELD and
self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_UNLOAD_AFTER_FIELDWORK_ENDED
end
--- Interface for Mode 2
---@return boolean true when the combine is waiting to after it pulled back.
function CombineAIDriver:isWaitingForUnloadAfterPulledBack()
return self.state == self.states.ON_FIELDWORK_COURSE and
self.fieldworkState == self.states.UNLOAD_OR_REFILL_ON_FIELD and
self.fieldworkUnloadOrRefillState == self.states.WAITING_FOR_UNLOAD_AFTER_PULLED_BACK
end
function CombineAIDriver:createTurnCourse()
return CombineCourseTurn(self.vehicle, self, self.turnContext, self.fieldworkCourse)
end