| 90 | function AIDriveStrategyCombine:getDriveData(dt, vX,vY,vZ) |
| 91 | local isTurning = self.vehicle:getRootVehicle():getAIIsTurning() |
| 92 | |
| 93 | local allowedToDrive = true |
| 94 | local waitForStraw = false |
| 95 | local maxSpeed = math.huge |
| 96 | |
| 97 | for _, combine in pairs(self.combines) do |
| 98 | if not combine:getIsThreshingAllowed() then |
| 99 | self.vehicle:stopAIVehicle(AIVehicle.STOP_REASON_REGULAR) |
| 100 | self:debugPrint("Stopping AIVehicle - combine not allowed to thresh") |
| 101 | |
| 102 | return nil, nil, nil, nil, nil |
| 103 | end |
| 104 | |
| 105 | if combine.spec_pipe ~= nil then |
| 106 | local fillLevel = 0 |
| 107 | local capacity = 0 |
| 108 | |
| 109 | local trailerInTrigger = false |
| 110 | local invalidTrailerInTrigger = false |
| 111 | local dischargeNode = combine:getCurrentDischargeNode() |
| 112 | if dischargeNode ~= nil then |
| 113 | fillLevel = combine:getFillUnitFillLevel(dischargeNode.fillUnitIndex) |
| 114 | capacity = combine:getFillUnitCapacity(dischargeNode.fillUnitIndex) |
| 115 | end |
| 116 | |
| 117 | local trailer = NetworkUtil.getObject(combine.spec_pipe.nearestObjectInTriggers.objectId) |
| 118 | local trailerFillUnitIndex = combine.spec_pipe.nearestObjectInTriggers.fillUnitIndex |
| 119 | if trailer ~= nil then |
| 120 | trailerInTrigger = true |
| 121 | end |
| 122 | |
| 123 | if combine.spec_pipe.nearestObjectInTriggerIgnoreFillLevel then |
| 124 | invalidTrailerInTrigger = true |
| 125 | end |
| 126 | |
| 127 | local currentPipeTargetState = combine.spec_pipe.targetState |
| 128 | |
| 129 | if capacity == math.huge then |
| 130 | -- forage harvesters |
| 131 | if currentPipeTargetState ~= 2 then |
| 132 | combine:setPipeState(2) |
| 133 | end |
| 134 | |
| 135 | if not isTurning then |
| 136 | local targetObject, _ = combine:getDischargeTargetObject(dischargeNode) |
| 137 | allowedToDrive = trailerInTrigger and targetObject ~= nil |
| 138 | |
| 139 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 140 | if not trailerInTrigger then |
| 141 | self.vehicle:addAIDebugText("COMBINE -> Waiting for trailer enter the trigger") |
| 142 | elseif trailerInTrigger and targetObject == nil then |
| 143 | self.vehicle:addAIDebugText("COMBINE -> Waiting for pipe hitting the trailer") |
| 144 | end |
| 145 | end |
| 146 | end |
| 147 | else |
| 148 | -- combine harvesters |
| 149 | local pipeState = currentPipeTargetState |
| 150 | |
| 151 | if fillLevel > (0.8*capacity) then |
| 152 | if not self.beaconLightsActive then |
| 153 | self.vehicle:setAIMapHotspotBlinking(true) |
| 154 | self.vehicle:setBeaconLightsVisibility(true) |
| 155 | self.beaconLightsActive = true |
| 156 | end |
| 157 | |
| 158 | if not self.notificationGrainTankWarningShown then |
| 159 | g_currentMission:addIngameNotification(FSBaseMission.INGAME_NOTIFICATION_CRITICAL, string.format(g_i18n:getText("ingameNotification_aiVehicleReasonGrainTankIsNearlyFull"), self.vehicle:getCurrentHelper().name) ) |
| 160 | self.notificationGrainTankWarningShown = true |
| 161 | end |
| 162 | else |
| 163 | if self.beaconLightsActive then |
| 164 | self.vehicle:setAIMapHotspotBlinking(false) |
| 165 | self.vehicle:setBeaconLightsVisibility(false) |
| 166 | self.beaconLightsActive = false |
| 167 | end |
| 168 | |
| 169 | self.notificationGrainTankWarningShown = false |
| 170 | end |
| 171 | |
| 172 | if fillLevel == capacity then |
| 173 | pipeState = 2 |
| 174 | self.wasCompletelyFull = true |
| 175 | if self.notificationFullGrainTankShown ~= true then |
| 176 | g_currentMission:addIngameNotification(FSBaseMission.INGAME_NOTIFICATION_CRITICAL, string.format(g_i18n:getText(AIVehicle.REASON_TEXT_MAPPING[AIVehicle.STOP_REASON_GRAINTANK_IS_FULL]), self.vehicle:getCurrentHelper().name) ) |
| 177 | self.notificationFullGrainTankShown = true |
| 178 | end |
| 179 | else |
| 180 | self.notificationFullGrainTankShown = false |
| 181 | end |
| 182 | |
| 183 | if trailerInTrigger then |
| 184 | pipeState = 2 |
| 185 | end |
| 186 | |
| 187 | if not trailerInTrigger then |
| 188 | if fillLevel < capacity * 0.8 then |
| 189 | self.wasCompletelyFull = false |
| 190 | |
| 191 | if not combine:getIsTurnedOn() and combine:getCanBeTurnedOn() then |
| 192 | combine:setIsTurnedOn(true) |
| 193 | end |
| 194 | end |
| 195 | end |
| 196 | |
| 197 | if (not trailerInTrigger and not invalidTrailerInTrigger) and fillLevel < capacity then |
| 198 | pipeState = 1 |
| 199 | end |
| 200 | |
| 201 | if fillLevel < 0.1 then |
| 202 | if not combine.spec_pipe.aiFoldedPipeUsesTrailerSpace then |
| 203 | if not trailerInTrigger and not invalidTrailerInTrigger then |
| 204 | pipeState = 1 |
| 205 | end |
| 206 | |
| 207 | if not combine:getIsTurnedOn() and combine:getCanBeTurnedOn() then |
| 208 | combine:setIsTurnedOn(true) |
| 209 | end |
| 210 | end |
| 211 | |
| 212 | self.wasCompletelyFull = false |
| 213 | end |
| 214 | |
| 215 | if currentPipeTargetState ~= pipeState then |
| 216 | combine:setPipeState(pipeState) |
| 217 | end |
| 218 | |
| 219 | allowedToDrive = fillLevel < capacity |
| 220 | |
| 221 | if pipeState == 2 and self.wasCompletelyFull then |
| 222 | allowedToDrive = false |
| 223 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 224 | self.vehicle:addAIDebugText("COMBINE -> Waiting for trailer to unload") |
| 225 | end |
| 226 | end |
| 227 | |
| 228 | if isTurning and trailerInTrigger then |
| 229 | if combine:getCanDischargeToObject(dischargeNode) then |
| 230 | allowedToDrive = fillLevel == 0 |
| 231 | |
| 232 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 233 | if not allowedToDrive then |
| 234 | self.vehicle:addAIDebugText("COMBINE -> Unload to trailer on headland") |
| 235 | end |
| 236 | end |
| 237 | end |
| 238 | end |
| 239 | |
| 240 | local freeFillLevel = capacity - fillLevel |
| 241 | if freeFillLevel < self.slowDownFillLevel then |
| 242 | -- we want to drive at least 2 km/h to avoid combine stops too early |
| 243 | maxSpeed = 2 + (freeFillLevel / self.slowDownFillLevel) * self.slowDownStartSpeed |
| 244 | |
| 245 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 246 | self.vehicle:addAIDebugText(string.format("COMBINE -> Slow down because nearly full: %.2f", maxSpeed)) |
| 247 | end |
| 248 | end |
| 249 | end |
| 250 | |
| 251 | if not trailerInTrigger then |
| 252 | if combine.spec_combine.isSwathActive then |
| 253 | if combine.spec_combine.strawPSenabled then |
| 254 | waitForStraw = true |
| 255 | end |
| 256 | end |
| 257 | end |
| 258 | end |
| 259 | end |
| 260 | |
| 261 | if isTurning and waitForStraw then |
| 262 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 263 | self.vehicle:addAIDebugText("COMBINE -> Waiting for straw to drop") |
| 264 | end |
| 265 | |
| 266 | local h = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, self.vehicle.aiDriveTarget[1],0,self.vehicle.aiDriveTarget[2]) |
| 267 | local x,_,z = worldToLocal(self.vehicle:getAIVehicleDirectionNode(), self.vehicle.aiDriveTarget[1],h,self.vehicle.aiDriveTarget[2]) |
| 268 | local dist = MathUtil.vector2Length(vX-x, vZ-z) |
| 269 | return x, z, false, 10, dist |
| 270 | else |
| 271 | if not allowedToDrive then |
| 272 | return 0, 1, true, 0, math.huge |
| 273 | else |
| 274 | return nil, nil, nil, maxSpeed, nil |
| 275 | end |
| 276 | end |
| 277 | end |