Merge pull request #2 from Courseplay/master

Rebase

AIDriver.lua

@@ -151,8 +151,8 @@ function AIDriver:init(vehicle)
 	-- same for allowedToDrive, is reset at the end of each loop to true and needs to be set to false
 	-- if someone wants to stop by calling hold()
 	self.allowedToDrive = true
-	self.collisionDetectionEnabled = false
-	self.collisionDetector = CollisionDetector(self.vehicle)
+	self.collisionDetectionEnabled = true
+	self.collisionDetector = nil
 	-- list of active messages to display
 	self.activeMsgReferences = {}
 	self.pathfinder = Pathfinder()
@@ -196,7 +196,9 @@ end
 function AIDriver:beforeStart()
 	self.turnIsDriving = false
 	self.nextCourse = nil
-	-- self:deleteCollisionDetector()		-- makes no sense to delete the detector here
+	if self.collisionDetector == nil then
+		self.collisionDetector = CollisionDetector(self.vehicle)
+	end
 	self:startEngineIfNeeded()
 end
 
@@ -216,8 +218,8 @@ end
 
 --- Dismiss the driver
 function AIDriver:dismiss()
-	if self.collisionDetector then		-- restore the default direction of the colli boxes
-		self.collisionDetector:reset()
+	if self.collisionDetector then
+		self.collisionDetector:reset()		-- restore the default direction of the colli boxes
 	end
 	self.vehicle:deactivateLights()
 	self:clearAllInfoTexts()
@@ -227,6 +229,7 @@ end
 --- Stop the driver
 -- @param reason as defined in globalInfoText.msgReference
 function AIDriver:stop(msgReference)
+	self:deleteCollisionDetector()
 	-- not much to do here, see the derived classes
 	self:setInfoText(msgReference)
 	self.state = self.states.STOPPED
@@ -738,6 +741,7 @@ function AIDriver:detectCollision(dt)
 		self:clearInfoText('TRAFFIC')
 	end
 
+	return self.allowedToDrive
 end
 
 function AIDriver:areBeaconLightsEnabled()
@@ -1354,4 +1358,4 @@ end
 
 function AIDriver:onUnBlocked()
 	self:debug('Unblocked...')
-end
+end

BaleLoaderAIDriver.lua

@@ -38,7 +38,10 @@ function BaleLoaderAIDriver.register()
 	BaleLoader.onAIImplementEnd = Utils.overwrittenFunction(BaleLoader.onAIImplementEnd,
 		function(self, superFunc)
 			if superFunc ~= nil then superFunc(self) end
-			self:doStateChange(BaleLoader.CHANGE_MOVE_TO_TRANSPORT);
+			local spec = self.spec_baleLoader
+			if not spec.grabberIsMoving and spec.grabberMoveState == nil and spec.isInWorkPosition then
+				self:doStateChange(BaleLoader.CHANGE_MOVE_TO_TRANSPORT);
+			end
 		end)
 
 	local baleLoaderRegisterEventListeners = function(vehicleType)
@@ -57,6 +60,13 @@ function BaleLoaderAIDriver:init(vehicle)
 	courseplay.debugVehicle(11,vehicle,'BaleLoaderAIDriver:init()')
 	UnloadableFieldworkAIDriver.init(self, vehicle)
 	self.baleLoader = FieldworkAIDriver.getImplementWithSpecialization(vehicle, BaleLoader)
+
+	-- Bale loaders have no AI markers (as they are not AIImplements according to Giants) so add a function here
+	-- to get the markers
+	self.baleLoader.getAIMarkers = function(self)
+		return UnloadableFieldworkAIDriver.getAIMarkersFromGrabberNode(self, self.spec_baleLoader)
+	end
+
 	self:initStates(BaleLoaderAIDriver.myStates)
 	self.manualUnloadNode = WaypointNode(self.vehicle:getName() .. 'unloadNode')
 	self:debug('Initialized, bale loader: %s', self.baleLoader:getName())
@@ -132,6 +142,15 @@ function BaleLoaderAIDriver:driveUnloadOrRefill(dt)
 				end
 			end
 		end
+	else
+		-- for some bale loaders the onAIImplementEnd() does not work seemingly because the grabber is still busy
+		-- with the last bale when switching to the unload course. Make sure here that it is moved to transport
+		-- position on the unload course
+		local spec = self.baleLoader.spec_baleLoader
+		if not spec.grabberIsMoving and spec.grabberMoveState == nil and spec.isInWorkPosition then
+			self:debug('Move grabber to transport position')
+			self.baleLoader:doStateChange(BaleLoader.CHANGE_MOVE_TO_TRANSPORT);
+		end
 	end
 	return false
 end

BaleWrapperAIDriver.lua

@@ -26,6 +26,14 @@ function BaleWrapperAIDriver:init(vehicle)
 	-- which is also a bale wrapper then we would probably have to put everything back into the baler.
 	BalerAIDriver.init(self, vehicle)
 	self.baleWrapper = FieldworkAIDriver.getImplementWithSpecialization(vehicle, BaleWrapper)
+
+	if not self.baler then
+		-- Bale wrappers which aren't balers have no AI markers as they have no pick up so add a function here
+		-- to get the markers
+		self.baleWrapper.getAIMarkers = function(self)
+			return UnloadableFieldworkAIDriver.getAIMarkersFromGrabberNode(self, self.spec_baleWrapper)
+		end
+	end
 end
 
 function BaleWrapperAIDriver:driveFieldwork()

CombineAIDriver.lua

@@ -53,6 +53,7 @@ function CombineAIDriver:init(vehicle)
 	self.pullBackDistanceEnd = self.pullBackDistanceStart + 10
 	-- when making a pocket, how far to back up before changing to forward
 	self.pocketReverseDistance = 25
+	self.lastEmptyTimestamp = 0
 
 	if self.vehicle.spec_combine then
 		self.combine = self.vehicle.spec_combine
@@ -621,7 +622,7 @@ end
 function CombineAIDriver:shouldStopForUnloading(pc)
 	local stop = false
 	if self.vehicle.cp.stopWhenUnloading and self.pipe then
-		if self.pipe.currentState == UnloadableFieldworkAIDriver.PIPE_STATE_OPEN and
+		if self.pipe.currentState == CombineAIDriver.PIPE_STATE_OPEN and
 			g_updateLoopIndex > self.lastEmptyTimestamp + 600 then
 			-- stop only if the pipe is open AND we have been emptied more than 1000 cycles ago.
 			-- this makes sure the combine will start driving after it is emptied but the trailer

FieldworkAIDriver.lua

@@ -339,7 +339,6 @@ end
 
 function FieldworkAIDriver:changeToFieldwork()
 	self:debug('change to fieldwork')
-	self:disableCollisionDetection()
 	self.state = self.states.ON_FIELDWORK_COURSE
 	self.fieldworkState = self.states.WAITING_FOR_LOWER
 	self:startWork()
@@ -972,9 +971,10 @@ function FieldworkAIDriver:setMarkers()
 	-- work areas of the vehicle itself
 	addMarkers(self.vehicle, referenceNode)
 	-- and then the work areas of all the implements
-	for _, implement in pairs(self.vehicle:getAttachedImplements()) do
+	for _, implement in pairs( self:getAllAIImplements(self.vehicle)) do
 		addMarkers(implement.object, referenceNode)
 	end
+
 	if #markers == 0 then
 		-- make sure we always have a default front/back marker, placed on the direction node if nothing else found
 		table.insert(markers, 0)
@@ -1028,7 +1028,7 @@ function FieldworkAIDriver:shouldLowerImplements(turnEndNode, reversing)
 		doLower = true
 	end
 	-- and then check all implements
-	for _, implement in ipairs(self.vehicle:getAttachedAIImplements()) do
+	for _, implement in ipairs(self:getAllAIImplements(self.vehicle)) do
 		if reversing then
 			-- when driving backward, all implements must reach the turn end node before lowering, hence the 'and'
 			doLower = doLower and self:shouldLowerThisImplement(implement.object, turnEndNode, reversing)
@@ -1073,7 +1073,7 @@ function FieldworkAIDriver:shouldRaiseImplements(turnStartNode)
 	-- see if the vehicle has AI markers -> has work areas (built-in implements like a mower or cotton harvester)
 	local doRaise = self:shouldRaiseThisImplement(self.vehicle, turnStartNode)
 	-- and then check all implements
-	for _, implement in ipairs(self.vehicle:getAttachedAIImplements()) do
+	for _, implement in ipairs(self:getAllAIImplements(self.vehicle)) do
 		-- only when _all_ implements can be raised will we raise them all, hence the 'and'
 		doRaise = doRaise and self:shouldRaiseThisImplement(implement.object, turnStartNode)
 	end
@@ -1095,9 +1095,32 @@ function FieldworkAIDriver:shouldRaiseThisImplement(object, turnStartNode)
 end
 
 function FieldworkAIDriver:onDraw()
-	if self.frontMarker and self.backMarker then
-		DebugUtil.drawDebugNode(self.frontMarker:getNode(), getName(self.frontMarker:getNode()))
-		DebugUtil.drawDebugNode(self.backMarker:getNode(), getName(self.backMarker:getNode()))
+
+	if not courseplay.debugChannels[6] then return end
+
+	local function showAIMarkersOfObject(object)
+		if object.getAIMarkers then
+			local aiLeftMarker, aiRightMarker, aiBackMarker = object:getAIMarkers()
+			if aiLeftMarker then
+				DebugUtil.drawDebugNode(aiLeftMarker, object:getName() .. ' AI Left')
+			end
+			if aiRightMarker then
+				DebugUtil.drawDebugNode(aiRightMarker, object:getName() .. ' AI Right')
+			end
+			if aiBackMarker then
+				DebugUtil.drawDebugNode(aiBackMarker, object:getName() .. ' AI Back')
+			end
+			DebugUtil.drawDebugNode(object.cp.DirectionNode or object.rootNode, object:getName() .. ' root')
+		end
+	end
+
+	showAIMarkersOfObject(self.vehicle)
+	-- draw the Giant's supplied AI markers for all implements
+	local implements = self:getAllAIImplements(self.vehicle)
+	if implements then
+		for _, implement in ipairs(implements) do
+			showAIMarkersOfObject(implement.object)
+		end
 	end
 	AIDriver.onDraw(self)
 end
@@ -1123,3 +1146,14 @@ function FieldworkAIDriver:getAIMarkersFromWorkAreas(object)
 	end
 end
 
+function FieldworkAIDriver:getAllAIImplements(object, implements)
+	if not implements then implements = {} end
+	for _, implement in ipairs(object:getAttachedImplements()) do
+		-- ignore everything which has no work area
+		if courseplay:hasWorkAreas(implement.object) then
+			table.insert(implements, implement)
+		end
+		self:getAllAIImplements(implement.object, implements)
+	end
+	return implements
+end

TrafficCollision.lua

@@ -31,6 +31,7 @@ function CollisionDetector:init(vehicle, course)
 	self.ignoredNodes = {}
 	self:addToIgnoreList(self.vehicle)
 	self.trafficCollisionTriggers = {}
+	self.trafficCollisionTriggers[1] = nil
 	self:createTriggers()
 	self:adaptCollisHeight()
 end
@@ -47,7 +48,6 @@ function CollisionDetector:delete()
 		self.collidingObjects = {}				-- clear all detected collisions
 		self.nCollidingObjects = 0				-- clear all detected collisions
 		self.ignoredNodes = {}					-- clear all detected collisions
-		self:addToIgnoreList(self.vehicle)
 	end
 end
 
@@ -71,18 +71,20 @@ function CollisionDetector:createTriggers()
 	end
 	self.vehicle.cp.trafficCollisionTriggerToTriggerIndex = {}
 	-- self.vehicle.aiTrafficCollisionTrigger = self.aiTrafficCollisionTrigger
-	for i = 1, self.vehicle.cp.numTrafficCollisionTriggers do
-		local newTrigger = clone(self.vehicle.aiTrafficCollisionTrigger, true)
-		self.trafficCollisionTriggers[i] = newTrigger
-		self.vehicle.cp.trafficCollisionTriggerToTriggerIndex[newTrigger] = i;
-		setName(newTrigger, 'cpAiCollisionTrigger ' .. tostring(i))
-		if i > 1 then
-			unlink(newTrigger)
-			link(self.trafficCollisionTriggers[i - 1], newTrigger)
-			setTranslation(newTrigger, 0, 0, 4)
+	if self.trafficCollisionTriggers[1] == nil then
+		for i = 1, self.vehicle.cp.numTrafficCollisionTriggers do
+			local newTrigger = clone(self.vehicle.aiTrafficCollisionTrigger, true)
+			self.trafficCollisionTriggers[i] = newTrigger
+			self.vehicle.cp.trafficCollisionTriggerToTriggerIndex[newTrigger] = i;
+			setName(newTrigger, 'cpAiCollisionTrigger ' .. tostring(i))
+			if i > 1 then
+				unlink(newTrigger)
+				link(self.trafficCollisionTriggers[i - 1], newTrigger)
+				setTranslation(newTrigger, 0, 0, 4)
+			end;
+			addTrigger(newTrigger, 'onCollision', self)
 		end;
-		addTrigger(newTrigger, 'onCollision', self)
-	end;
+	end
 end
 
 
@@ -98,6 +100,7 @@ function CollisionDetector:deleteTriggers()
 				delete(node)
 			end
 		end
+		self.trafficCollisionTriggers[i] = nil
 	end
 
 end
@@ -110,10 +113,10 @@ function CollisionDetector:addToIgnoreList(object)
 	self.ignoredNodes[object.rootNode] = true;
 	-- add the vehicle or implement's own collision trigger to the ignore list
 	-- local aiCollisionTrigger = courseplay:findAiCollisionTrigger(object)
-	if not courseplay:findAiCollisionTrigger(object) then return end
-	if object.aiCollisionTrigger then
-		self:debug('-- %q', getName(object.aiCollisionTrigger))
-		self.ignoredNodes[object.aiCollisionTrigger] = true
+	courseplay:findAiCollisionTrigger(object)		-- get aiTrafficCollisionTrigger for vehicles
+	if object.aiTrafficCollisionTrigger then
+		self:debug('-- %q', getName(object.aiTrafficCollisionTrigger))
+		self.ignoredNodes[object.aiTrafficCollisionTrigger] = true
 	end
 	if object.components then
 		self:debug('will ignore collisions with %q (%q) components', nameNum(object), tostring(object.cp.xmlFileName))
@@ -164,7 +167,7 @@ function CollisionDetector:getStatus(dt)
 				if collidingVehicle.isCpPathVehicle then
 					self:setPathVehiclesSpeed(collidingVehicle, dt)
 				end
-				if collidingVehicle.lastSpeedReal == nil or collidingVehicle.lastSpeedReal*3600 == 0 or not self:doesVehicleGoMyDirection(collidingVehicleId) then
+				if collidingVehicle.lastSpeedReal == nil or collidingVehicle.lastSpeedReal*3600 < 0.01 then		-- collidingVehicle not moving -> STOP
 					isInTraffic = true
 				else	
 					trafficSpeed = collidingVehicle.lastSpeedReal*3600

UnloadableFieldworkAIDriver.lua

@@ -39,8 +39,6 @@ function UnloadableFieldworkAIDriver:init(vehicle)
 	self:initStates(UnloadableFieldworkAIDriver.myStates)
 	self.mode = courseplay.MODE_FIELDWORK
 	self.stopImplementsWhileUnloadOrRefillOnField = false
-	self.lastEmptyTimestamp = 0
-
 end
 
 function UnloadableFieldworkAIDriver:setHudContent()
@@ -65,6 +63,16 @@ function UnloadableFieldworkAIDriver.create(vehicle)
 	end
 end
 
+-- Bale loaders / wrappers have no AI markers
+function UnloadableFieldworkAIDriver.getAIMarkersFromGrabberNode(object, spec)
+	-- use the grabber node for all markers if exists
+	if spec.baleGrabber and spec.baleGrabber.grabNode then
+		return spec.baleGrabber.grabNode, spec.baleGrabber.grabNode, spec.baleGrabber.grabNode
+	else
+		return object.rootNode, object.rootNode, object.rootNode
+	end
+end
+
 function UnloadableFieldworkAIDriver:drive(dt)
 	-- only reason we need this is to update the totalFillLevel for reverse.lua so it will
 	-- do a raycast for tip triggers (side effects, side effects all over the place, killing me...)

debug.lua

@@ -486,32 +486,6 @@ end
 
 function courseplay:showAIMarkers(vehicle)
 
-	if not courseplay.debugChannels[6] then return end
-
-	local function showAIMarkersOfObject(object)
-		if object.getAIMarkers then
-			local aiLeftMarker, aiRightMarker, aiBackMarker = object:getAIMarkers()
-			if aiLeftMarker then
-				DebugUtil.drawDebugNode(aiLeftMarker, object:getName() .. ' AI Left')
-			end
-			if aiRightMarker then
-				DebugUtil.drawDebugNode(aiRightMarker, object:getName() .. ' AI Right')
-			end
-			if aiBackMarker then
-				DebugUtil.drawDebugNode(aiBackMarker, object:getName() .. ' AI Back')
-			end
-			DebugUtil.drawDebugNode(object.cp.DirectionNode or object.rootNode, object:getName() .. ' root')
-		end
-	end
-
-	showAIMarkersOfObject(vehicle)
-	-- draw the Giant's supplied AI markers for all implements
-	local implements = vehicle:getAttachedImplements()
-	if implements then
-		for _, implement in ipairs(implements) do
-			showAIMarkersOfObject(implement.object)
-		end
-	end
 end
 
 --------------------------------------------------

helpers.lua

@@ -114,7 +114,7 @@ function courseplay:nilOrBool(variable, bool)
 end;
 
 function nameNum(vehicle, hideNum)
-	if vehicle == nil then
+	if vehicle == nil or not vehicle.getName then
 		return 'nil';
 	end;
 

modDesc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="40">
-	<version>6.01.00246</version>
+	<version>6.01.00254</version>
 	<author><![CDATA[Courseplay.devTeam]]></author>
 	<title>
 		<br>CoursePlay SIX</br>

turn.lua

@@ -693,6 +693,14 @@ function courseplay:turn(vehicle, dt, turnContext)
 	----------------------------------------------------------
 	--allowedToDrive = allowedToDrive and not courseplay:needToWaitForTools(vehicle)
 
+
+	if vehicle.cp.drivingMode:get() == DrivingModeSetting.DRIVING_MODE_AIDRIVER then
+		-- in AIDriver based modes do not call / use legacy collision code
+				allowedToDrive = vehicle.cp.driver:detectCollision(dt)
+	else
+		-- allowedToDrive = courseplay:checkTraffic(self, true, allowedToDrive)
+	end
+
 	----------------------------------------------------------
 	-- allowedToDrive false -> SLOW DOWN TO STOP
 	----------------------------------------------------------

vehicles.lua

@@ -1549,7 +1549,7 @@ function courseplay:findAiCollisionTrigger(vehicle)
 		end;
 	end;
 
-	if vehicle.aiTrafficCollisionTrigger == nil then
+	if vehicle.aiTrafficCollisionTrigger == nil and SpecializationUtil.hasSpecialization(AIVehicle, vehicle.specializations) then
 		print(string.format('## Courseplay: aiTrafficCollisionTrigger missing. Traffic collision prevention will not work! vehicle %s', nameNum(vehicle)));
 	end;